*v 0008 *n code=0000 name="Slate" *n code=0001 name="Supervisor" *n code=0002 name="Module Loader" *n code=0003 name="ComponentRegistry" *n code=0004 name="controlThread" *n code=0005 name="SyncHandler" *n code=0006 name="controlThread ThreadHandler" *n code=0007 name="CycleStarter" *n code=0008 name="CommandExec" *n code=0009 name="CommandExec ThreadHandler" *n code=000A name="CommandLine" *n code=000B name="CommandLine ThreadHandler" *n code=000C name="logger" *n code=000D name="logger ThreadHandler" *n code=000E name="LogSplitter" *n code=000F name="Config/secure" *n code=0010 name="Config/Sensor" *n code=0011 name="Config/Dock" *n code=0012 name="Config/Sample" *n code=0013 name="Config/workSite" *n code=0014 name="Config/Guidance" *n code=0015 name="Config/Estimation" *n code=0016 name="Config/Servo" *n code=0017 name="Config/Simulator" *n code=0018 name="Config/Derivation" *n code=0019 name="Config/logger" *n code=001A name="Config/vehicle" *n code=001B name="Config/Navigation" *n code=001C name="Config/BIT" *n code=001D name="Config/Science" *n code=001E name="Config/Control" *n code=001F name="Config/Battery" *n code=0020 name="VerticalControl" *n code=0021 name="HorizontalControl" *n code=0022 name="SpeedControl" *n code=0023 name="LoopControl" *n code=0024 name="DepthRateCalculator" *n code=0025 name="PitchRateCalculator" *n code=0026 name="SpeedCalculator" *n code=0027 name="YawRateCalculator" *n code=0028 name="ElevatorOffsetCalculator" *n code=0029 name="AHRS_M2" *n code=002A name="BackseatComponent" *n code=002B name="BackseatComponent ThreadHandler" *n code=002C name="LcmUniversalReporter" *n code=002D name="BPC1" *n code=002E name="DAT" *n code=002F name="DAT ThreadHandler" *n code=0030 name="DataOverHttps" *n code=0031 name="DataOverHttps ThreadHandler" *n code=0032 name="Depth_Keller" *n code=0033 name="DropWeight" *n code=0034 name="NAL9602" *n code=0035 name="Onboard" *n code=0036 name="Onboard ThreadHandler" *n code=0037 name="Power24vConverter" *n code=0038 name="Radio_Surface" *n code=0039 name="Radio_Surface ThreadHandler" *n code=003A name="RDI_Pathfinder" *n code=003B name="Sonardyne_Nano" *n code=003C name="TrnDataBridge" *n code=003D name="TrnDataBridge ThreadHandler" *n code=003E name="DeadReckonUsingMultipleVelocitySources" *n code=003F name="NavChart" *n code=0040 name="UniversalFixResidualReporter" *n code=0041 name="SBIT" *n code=0042 name="IBIT" *n code=0043 name="CBIT" *n code=0044 name="BuoyancyServo" *n code=0045 name="ElevatorServo" *n code=0046 name="DockingStepper" *n code=0047 name="MassServo" *n code=0048 name="RudderServo" *n code=0049 name="ThrusterServo" *n code=004A name="CTD_Seabird" *n code=004B name="CTD_Seabird ThreadHandler" *n code=004C name="PAR_Licor" *n code=004D name="WetLabsBB2FL" *n code=004E name="WetLabsBB2FL ThreadHandler" *n code=004F name="WetLabsUBAT" *n code=0050 name="WetLabsUBAT ThreadHandler" *n code=0051 name="MissionManager" *n code=0052 name="Reporter" *n code=0053 name="NavChartDb" *n code=0054 name="NavChartDb ThreadHandler" *n code=0055 name="DefaultWithUndock" *n code=0056 name="DefaultWithUndock:A.Wait" *n code=0057 name="DefaultWithUndock:LeaveDock" *n code=0058 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=0059 name="DefaultWithUndock:LeaveDock:A_Timeout:A" *n code=005A name="DefaultWithUndock:LeaveDock:A." *n code=005B name="DefaultWithUndock:LeaveDock:B.Undock" *n code=005C name="DefaultWithUndock:SurfaceDefault" *n code=005D name="DefaultWithUndock:SurfaceDefault:A.GoToSurface" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" *n code=0065 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *n code=0066 name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=0067 name="DefaultWithUndock:D" *n code=0068 name="DefaultWithUndock:E.Execute" *n code=0069 name="keepstation" *n code=006A name="keepstation:NeedComms" *n code=006B name="keepstation:NeedComms:A" *n code=006C name="keepstation:NeedComms:B.GoToSurface" *n code=006D name="keepstation:NeedComms:C" *n code=006E name="keepstation:NeedComms:C:A_Timeout" *n code=006F name="keepstation:NeedComms:C:A_Timeout:A" *n code=0070 name="keepstation:NeedComms:D" *n code=0071 name="keepstation:NeedComms:D:A_Timeout" *n code=0072 name="keepstation:NeedComms:D:A_Timeout:A" *n code=0073 name="keepstation:NeedComms:E" *n code=0074 name="keepstation:NeedComms:E:A_Timeout" *n code=0075 name="keepstation:NeedComms:E:A_Timeout:A" *n code=0076 name="keepstation:B" *n code=0077 name="keepstation:StandardEnvelopes" *n code=0078 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" *n code=0079 name="keepstation:StandardEnvelopes:B.DepthEnvelope" *n code=007A name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=007B name="keepstation:D" *n code=007C name="keepstation:E" *n code=007D name="keepstation:BackseatDriver" *n code=007E name="keepstation:BackseatDriver:A.BackseatDriver" *n code=007F name="keepstation:PowerOnly" *n code=0080 name="keepstation:PowerOnly:A" *n code=0081 name="keepstation:PowerOnly:B" *n code=0082 name="keepstation:PowerOnly:C" *n code=0083 name="keepstation:PowerOnly:D" *n code=0084 name="keepstation:PowerOnly:E.Wait" *n code=0085 name="keepstation:H.Pitch" *n code=0086 name="keepstation:StartingMission" *n code=0087 name="keepstation:TransitToStation" *n code=0088 name="keepstation:TransitToStation:A.Buoyancy" *n code=0089 name="keepstation:TransitToStation:B.Pitch" *n code=008A name="keepstation:TransitToStation:C.SetSpeed" *n code=008B name="keepstation:TransitToStation:Wpt1.Waypoint" *n code=008C name="keepstation:OnStation" *n code=008D name="keepstation:KeepStation" *n code=008E name="keepstation:KeepStation:A" *n code=008F name="keepstation:KeepStation:B.Pitch" *n code=0090 name="keepstation:KeepStation:C.KeepStation" *n code=0091 name="keepstation:KeepStation:D.Wait" *n code=0092 name="lineCaptureHoming" *n code=0093 name="lineCaptureHoming:Science" *n code=0094 name="lineCaptureHoming:Science:A" *n code=0095 name="lineCaptureHoming:Science:B" *n code=0096 name="lineCaptureHoming:Science:C" *n code=0097 name="lineCaptureHoming:Science:D" *n code=0098 name="lineCaptureHoming:Science:E" *n code=0099 name="lineCaptureHoming:Science:F" *n code=009A name="lineCaptureHoming:Science:Read_Oil" *n code=009B name="lineCaptureHoming:Science:OceanCurrent" *n code=009C name="lineCaptureHoming:Science:OceanCurrent:A." *n code=009D name="lineCaptureHoming:Science:PeakDetectChl" *n code=009E name="lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth" *n code=009F name="lineCaptureHoming:Science:PeakDetectChl:B" *n code=00A0 name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=00A1 name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=00A2 name="lineCaptureHoming:Science:PeakDetectNO3" *n code=00A3 name="lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth" *n code=00A4 name="lineCaptureHoming:Science:PeakDetectNO3:B" *n code=00A5 name="lineCaptureHoming:Science:PeakDetectOil" *n code=00A6 name="lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth" *n code=00A7 name="lineCaptureHoming:Science:PeakDetectOil:B" *n code=00A8 name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=00A9 name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=00AA name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=00AB name="lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth" *n code=00AC name="lineCaptureHoming:Science:PeakDetectFDOM:B" *n code=00AD name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=00AE name="lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth" *n code=00AF name="lineCaptureHoming:Science:PeakDetectSalinity:B" *n code=00B0 name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=00B1 name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=00B2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=00B3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth" *n code=00B4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B" *n code=00B5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=00B6 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth" *n code=00B7 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B" *n code=00B8 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00B9 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth" *n code=00BA name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B" *n code=00BB name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00BC name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth" *n code=00BD name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B" *n code=00BE name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=00BF name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=00C0 name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=00C1 name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=00C2 name="lineCaptureHoming:StandardEnvelopes" *n code=00C3 name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=00C4 name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=00C5 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=00C6 name="lineCaptureHoming:C" *n code=00C7 name="lineCaptureHoming:D" *n code=00C8 name="lineCaptureHoming:E" *n code=00C9 name="lineCaptureHoming:NeedComms" *n code=00CA name="lineCaptureHoming:NeedComms:A" *n code=00CB name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=00CC name="lineCaptureHoming:NeedComms:C" *n code=00CD name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=00CE name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=00CF name="lineCaptureHoming:NeedComms:D" *n code=00D0 name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=00D1 name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=00D2 name="lineCaptureHoming:NeedComms:E" *n code=00D3 name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=00D4 name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=00D5 name="lineCaptureHoming:G" *n code=00D6 name="lineCaptureHoming:H" *n code=00D7 name="lineCaptureHoming:MicromodemComms" *n code=00D8 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=00D9 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=00DA name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=00DB name="lineCaptureHoming:J" *n code=00DC name="lineCaptureHoming:LineCapture" *n code=00DD name="lineCaptureHoming:LineCapture:A" *n code=00DE name="lineCaptureHoming:LineCapture:B" *n code=00DF name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=00E0 name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=00E1 name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=00E2 name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=00E3 name="lineCaptureHoming:LineCapture:D" *n code=00E4 name="lineCaptureHoming:LineCapture:E" *n code=00E5 name="lineCaptureHoming:LineCapture:F" *n code=00E6 name="lineCaptureHoming:LineCapture:G" *n code=00E7 name="lineCaptureHoming:LineCapture:H" *n code=00E8 name="lineCaptureHoming:LineCapture:HoldMass" *n code=00E9 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=00EA name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=00EB name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=00EC name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=00ED name="lineCaptureHoming:LineCapture:HomingSequence" *n code=00EE name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=00EF name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=00F0 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=00F1 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=00F2 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=00F3 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00F4 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=00F5 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=00F6 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=00F7 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=00F8 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=00F9 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=00FA name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=00FB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=00FC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=00FD name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=00FE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=00FF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=0100 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=0101 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=0102 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=0103 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=0104 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=0105 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=0106 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=0107 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=0108 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=0109 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=010A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=010B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=010C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=010D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=010E name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=010F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=0110 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=0111 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=0112 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=0113 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=0114 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=0115 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=0116 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=0117 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=0118 name="lineCaptureHoming:LineCapture:L.Wait" *n code=0119 name="lineCaptureHoming:LineCapture:M" *n code=011A name="lineCaptureHoming:L" *n code=011B name="lineCaptureHoming:M" *n code=011C name="lineCaptureHoming:N" *n code=011D name="lineCaptureHoming:O" *n code=011E name="lineCaptureHoming:P" *n code=011F name="lineCaptureHoming:Q" *n code=0120 name="lineCaptureHoming:U" *n code=0121 name="lineCaptureHoming:TrackAC." *n code=0122 name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=0123 name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=0124 name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=0125 name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=0126 name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=0127 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=0128 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=0129 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=012A name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=012B name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=012C name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=012D name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=012E name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=012F name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=0130 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=0131 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=0132 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=0133 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=0134 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=0135 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=0136 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=0137 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=0138 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=0139 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=013A name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=013B name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=013C name="lineCaptureHoming:restartDHCP" *n code=013D name="lineCaptureHoming:restartDHCP:A" *n code=013E name="lineCaptureHoming:restartDHCP:B.Execute" *n code=013F name="lineCaptureHoming:StartingMission" *n code=0140 name="lineCaptureHoming:Z" *n code=0141 name="lineCaptureHoming:BA.Execute" *n code=0142 name="lineCaptureHoming:InitialDive" *n code=0143 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=0144 name="lineCaptureHoming:InitialDive:B.Mass" *n code=0145 name="lineCaptureHoming:InitialDive:C.Pitch" *n code=0146 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=0147 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=0148 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=0149 name="lineCaptureHoming:RepeatHack" *n code=014A name="lineCaptureHoming:RepeatHack:A" *n code=014B name="lineCaptureHoming:Lap" *n code=014C name="lineCaptureHoming:Lap:A" *n code=014D name="lineCaptureHoming:Lap:B" *n code=014E name="lineCaptureHoming:Lap:C" *n code=014F name="lineCaptureHoming:Lap:D" *n code=0150 name="lineCaptureHoming:Lap:E" *n code=0151 name="lineCaptureHoming:Lap:Docked" *n code=0152 name="lineCaptureHoming:Lap:Docked:A" *n code=0153 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=0154 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=0155 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=0156 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=0157 name="lineCaptureHoming:Lap:Docked:C" *n code=0158 name="lineCaptureHoming:Lap:Docked:D" *n code=0159 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=015A name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=015B name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=015C name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=015D name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=015E name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=015F name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=0160 name="lineCaptureHoming:Lap:Docked:Detach" *n code=0161 name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=0162 name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=0163 name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=0164 name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=0165 name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=0166 name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=0167 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=0168 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=0169 name="lineCaptureHoming:Lap:Docked:Drift" *n code=016A name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=016B name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n code=016C name="lineCaptureHoming:Lap:Docked:Drift:C.Pitch" *n code=016D name="lineCaptureHoming:Lap:Docked:Drift:D.Point" *n code=016E name="lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed" *n code=016F name="lineCaptureHoming:Lap:Docked:Drift:F.Wait" *n code=0170 name="OnDock" *n code=0171 name="OnDock:StandardEnvelopes" *n code=0172 name="OnDock:StandardEnvelopes:A.AltitudeEnvelope" *n code=0173 name="OnDock:StandardEnvelopes:B.DepthEnvelope" *n code=0174 name="OnDock:StandardEnvelopes:C.OffshoreEnvelope" *n code=0175 name="OnDock:B" *n code=0176 name="OnDock:C" *n code=0177 name="OnDock:D" *n code=0178 name="OnDock:E" *n code=0179 name="OnDock:BackseatDriver" *n code=017A name="OnDock:BackseatDriver:A.BackseatDriver" *n code=017B name="OnDock:PowerOnly" *n code=017C name="OnDock:PowerOnly:A" *n code=017D name="OnDock:PowerOnly:B" *n code=017E name="OnDock:PowerOnly:C" *n code=017F name="OnDock:PowerOnly:D" *n code=0180 name="OnDock:PowerOnly:E.Wait" *n code=0181 name="OnDock:dataRead" *n code=0182 name="OnDock:dataRead:A" *n code=0183 name="OnDock:dataRead:B.Wait" *n code=0184 name="OnDock:science" *n code=0185 name="OnDock:science:Science" *n code=0186 name="OnDock:science:Science:A" *n code=0187 name="OnDock:science:Science:B" *n code=0188 name="OnDock:science:Science:C" *n code=0189 name="OnDock:science:Science:D" *n code=018A name="OnDock:science:Science:E" *n code=018B name="OnDock:science:Science:F" *n code=018C name="OnDock:science:Science:Read_Oil" *n code=018D name="OnDock:science:Science:OceanCurrent" *n code=018E name="OnDock:science:Science:OceanCurrent:A." *n code=018F name="OnDock:science:Science:PeakDetectChl" *n code=0190 name="OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth" *n code=0191 name="OnDock:science:Science:PeakDetectChl:B" *n code=0192 name="OnDock:science:Science:HighestChlPeakReport" *n code=0193 name="OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=0194 name="OnDock:science:Science:PeakDetectNO3" *n code=0195 name="OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth" *n code=0196 name="OnDock:science:Science:PeakDetectNO3:B" *n code=0197 name="OnDock:science:Science:PeakDetectOil" *n code=0198 name="OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth" *n code=0199 name="OnDock:science:Science:PeakDetectOil:B" *n code=019A name="OnDock:science:Science:HighestOilPeakReport" *n code=019B name="OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=019C name="OnDock:science:Science:PeakDetectFDOM" *n code=019D name="OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth" *n code=019E name="OnDock:science:Science:PeakDetectFDOM:B" *n code=019F name="OnDock:science:Science:PeakDetectSalinity" *n code=01A0 name="OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth" *n code=01A1 name="OnDock:science:Science:PeakDetectSalinity:B" *n code=01A2 name="OnDock:science:Science:HighestSaltPeakReport" *n code=01A3 name="OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=01A4 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI" *n code=01A5 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth" *n code=01A6 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B" *n code=01A7 name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI" *n code=01A8 name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth" *n code=01A9 name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B" *n code=01AA name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms" *n code=01AB name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth" *n code=01AC name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B" *n code=01AD name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates" *n code=01AE name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth" *n code=01AF name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B" *n code=01B0 name="OnDock:science:Science:ChlThreshTrigger" *n code=01B1 name="OnDock:science:Science:ChlThreshTrigger:A.ValueDetect" *n code=01B2 name="OnDock:science:Science:ChlThreshTrigger:B" *n code=01B3 name="OnDock:science:Science:ChlThreshTrigger:C" *n code=01B4 name="OnDock:J." *n code=01B5 name="OnDock:K" *n code=01B6 name="OnDock:L.Execute" *n code=01B7 name="OnDock:PeriodicCheck" *n code=01B8 name="OnDock:PeriodicCheck:CheckIP" *n code=01B9 name="OnDock:PeriodicCheck:CheckIP:A.Execute" *n code=01BA name="OnDock:PeriodicCheck:CheckIP:B.Wait" *n code=01BB name="OnDock:N.Docked" *n code=01BC name="OnDock:Detach" *n code=01BD name="OnDock:Detach:A" *n code=01BE name="OnDock:Detach:B.Undock" *n code=01BF name="undock" *n code=01C0 name="undock:StandardEnvelopes" *n code=01C1 name="undock:StandardEnvelopes:A.AltitudeEnvelope" *n code=01C2 name="undock:StandardEnvelopes:B.DepthEnvelope" *n code=01C3 name="undock:StandardEnvelopes:C.OffshoreEnvelope" *n code=01C4 name="undock:B" *n code=01C5 name="undock:C" *n code=01C6 name="undock:D" *n code=01C7 name="undock:BackseatDriver" *n code=01C8 name="undock:BackseatDriver:A.BackseatDriver" *n code=01C9 name="undock:PowerOnly" *n code=01CA name="undock:PowerOnly:A" *n code=01CB name="undock:PowerOnly:B" *n code=01CC name="undock:PowerOnly:C" *n code=01CD name="undock:PowerOnly:D" *n code=01CE name="undock:PowerOnly:E.Wait" *n code=01CF name="undock:G" *n code=01D0 name="undock:H" *n code=01D1 name="undock:I.Execute" *n code=01D2 name="undock:Detach" *n code=01D3 name="undock:Detach:A." *n code=01D4 name="undock:Detach:B" *n code=01D5 name="undock:Detach:C" *n code=01D6 name="undock:Detach:D.Undock" *n code=01D7 name="undock:Detach:D.Undock:A_Timeout" *n code=01D8 name="undock:Detach:D.Undock:A_Timeout:A" *n code=01D9 name="undock:Detach:D.Undock:A_Timeout:B" *n code=01DA name="undock:Detach:SurfaceCheck" *n code=01DB name="undock:Detach:SurfaceCheck:A" *n code=01DC name="undock:Detach:SurfaceCheck:B" *n code=01DD name="undock:Transit" *n code=01DE name="undock:Transit:BuoyancyHold.Buoyancy" *n code=01DF name="undock:Transit:MassHold.Pitch" *n code=01E0 name="undock:Transit:C.Pitch" *n code=01E1 name="undock:Transit:D.SetSpeed" *n code=01E2 name="undock:Transit:Wpt1.Waypoint" *n code=01E3 name="transit" *n code=01E4 name="transit:NeedComms" *n code=01E5 name="transit:NeedComms:A" *n code=01E6 name="transit:NeedComms:B.GoToSurface" *n code=01E7 name="transit:NeedComms:C" *n code=01E8 name="transit:NeedComms:C:A_Timeout" *n code=01E9 name="transit:NeedComms:C:A_Timeout:A" *n code=01EA name="transit:NeedComms:D" *n code=01EB name="transit:NeedComms:D:A_Timeout" *n code=01EC name="transit:NeedComms:D:A_Timeout:A" *n code=01ED name="transit:NeedComms:E" *n code=01EE name="transit:NeedComms:E:A_Timeout" *n code=01EF name="transit:NeedComms:E:A_Timeout:A" *n code=01F0 name="transit:B" *n code=01F1 name="transit:C" *n code=01F2 name="transit:StandardEnvelopes" *n code=01F3 name="transit:StandardEnvelopes:A.AltitudeEnvelope" *n code=01F4 name="transit:StandardEnvelopes:B.DepthEnvelope" *n code=01F5 name="transit:StandardEnvelopes:C.OffshoreEnvelope" *n code=01F6 name="transit:E" *n code=01F7 name="transit:F" *n code=01F8 name="transit:G" *n code=01F9 name="transit:BackseatDriver" *n code=01FA name="transit:BackseatDriver:A.BackseatDriver" *n code=01FB name="transit:PowerOnly" *n code=01FC name="transit:PowerOnly:A" *n code=01FD name="transit:PowerOnly:B" *n code=01FE name="transit:PowerOnly:C" *n code=01FF name="transit:PowerOnly:D" *n code=0200 name="transit:PowerOnly:E.Wait" *n code=0201 name="transit:BuoyancyHold.Buoyancy" *n code=0202 name="transit:MassHold.Pitch" *n code=0203 name="transit:Transit" *n code=0204 name="transit:Transit:A.Pitch" *n code=0205 name="transit:Transit:B.SetSpeed" *n code=0206 name="transit:Transit:Wpt1.Waypoint" *n code=0207 name="transit:Transit:PhoneHome" *e code=0000 elementURI="acoustic_receive_time" type=04 *e code=0001 elementURI="acoustic_transmit_time" type=04 *e code=0002 elementURI="acoustic_contact_direction_vehicle_frame" type=14 blobType=11 fixedSize=0003 *e code=0003 elementURI="acoustic_contact_address" type=04 *e code=0004 elementURI="acoustic_contact_range" type=04 *e code=0005 elementURI="concentration_of_colored_dissolved_organic_matter_in_sea_water" type=04 *e code=0006 elementURI="depth" type=04 *e code=0007 elementURI="depth_rate" type=04 *e code=0008 elementURI="direction_of_sea_water_velocity" type=04 *e code=0009 elementURI="distance_from_shore" type=04 *e code=000A elementURI="downwelling_photosynthetic_photon_flux_in_sea_water" type=04 *e code=000B elementURI="downward_sea_water_velocity" type=04 *e code=000C elementURI="eastward_sea_water_velocity" type=04 *e code=000D elementURI="fix_distance_made_good" type=04 *e code=000E elementURI="fix_horizontal_path_length_since_last_fix" type=04 *e code=000F elementURI="fix_residual_distance" type=04 *e code=0010 elementURI="fix_residual_bearing" type=04 *e code=0011 elementURI="fix_residual_percent_distance_traveled" type=04 *e code=0012 elementURI="grid_latitude" type=04 *e code=0013 elementURI="grid_longitude" type=04 *e code=0014 elementURI="height_above_sea_floor" type=04 *e code=0015 elementURI="horizontal_path_length_since_last_fix" type=04 *e code=0016 elementURI="northward_sea_water_velocity" type=04 *e code=0017 elementURI="latitude" type=04 *e code=0018 elementURI="latitude_fix" type=04 *e code=0019 elementURI="location_fix" type=14 blobType=11 fixedSize=0002 *e code=001A elementURI="longitude" type=04 *e code=001B elementURI="longitude_fix" type=04 *e code=001C elementURI="mission_started" type=04 *e code=001D elementURI="mass_concentration_of_chlorophyll_in_sea_water" type=04 *e code=001E elementURI="mass_concentration_of_oxygen_in_sea_water" type=04 *e code=001F elementURI="mass_concentration_of_petroleum_hydrocarbons_in_sea_water" type=04 *e code=0020 elementURI="mole_concentration_of_nitrate_in_sea_water" type=04 *e code=0021 elementURI="platform_average_current" type=04 *e code=0022 elementURI="platform_average_power" type=04 *e code=0023 elementURI="platform_battery_charge" type=04 *e code=0024 elementURI="platform_battery_charge_usage" type=04 *e code=0025 elementURI="platform_battery_energy_usage" type=04 *e code=0026 elementURI="platform_battery_voltage" type=04 *e code=0027 elementURI="platform_battery_fully_charged" type=04 *e code=0028 elementURI="platform_battery_discharging" type=04 *e code=0029 elementURI="platform_buoyancy_position" type=04 *e code=002A elementURI="platform_communications" type=04 *e code=002B elementURI="platform_conversation" type=04 *e code=002C elementURI="platform_course" type=04 *e code=002D elementURI="platform_distance_wrt_ground" type=04 *e code=002E elementURI="platform_distance_wrt_sea_water" type=04 *e code=002F elementURI="platform_elevator_angle" type=04 *e code=0030 elementURI="platform_fault" type=04 *e code=0031 elementURI="platform_fault_leak" type=04 *e code=0032 elementURI="platform_magnetic_orientation" type=04 *e code=0033 elementURI="platform_mass_position" type=04 *e code=0034 elementURI="platform_orientation" type=04 *e code=0035 elementURI="platform_orientation_matrix" type=14 blobType=11 fixedSize=0003,0003 *e code=0036 elementURI="platform_pitch_angle" type=04 *e code=0037 elementURI="platform_pitch_rate" type=04 *e code=0038 elementURI="platform_pressure" type=04 *e code=0039 elementURI="platform_propeller_rotation_rate" type=04 *e code=003A elementURI="platform_relative_humidity" type=04 *e code=003B elementURI="platform_roll_angle" type=04 *e code=003C elementURI="platform_roll_rate" type=04 *e code=003D elementURI="platform_rudder_angle" type=04 *e code=003E elementURI="platform_speed_wrt_ground" type=04 *e code=003F elementURI="platform_speed_wrt_sea_water" type=04 *e code=0040 elementURI="platform_temperature" type=04 *e code=0041 elementURI="platform_vehicle_power" type=04 *e code=0042 elementURI="platform_velocity_wrt_ground" type=14 blobType=11 fixedSize=0003 *e code=0043 elementURI="platform_velocity_wrt_sea_water" type=14 blobType=11 fixedSize=0003 *e code=0044 elementURI="platform_x_sea_water_velocity" type=04 *e code=0045 elementURI="platform_x_velocity_wrt_ground" type=04 *e code=0046 elementURI="platform_x_velocity_wrt_sea_water" type=04 *e code=0047 elementURI="platform_x_velocity_current" type=04 *e code=0048 elementURI="platform_y_sea_water_velocity" type=04 *e code=0049 elementURI="platform_y_velocity_wrt_ground" type=04 *e code=004A elementURI="platform_y_velocity_wrt_sea_water" type=04 *e code=004B elementURI="platform_y_velocity_current" type=04 *e code=004C elementURI="platform_yaw_angle" type=04 *e code=004D elementURI="platform_yaw_rate" type=04 *e code=004E elementURI="platform_z_sea_water_velocity" type=04 *e code=004F elementURI="platform_z_velocity_wrt_ground" type=04 *e code=0050 elementURI="platform_z_velocity_wrt_sea_water" type=04 *e code=0051 elementURI="platform_z_velocity_current" type=04 *e code=0052 elementURI="projection_x_coordinate" type=04 *e code=0053 elementURI="projection_y_coordinate" type=04 *e code=0054 elementURI="projection_zone" type=04 *e code=0055 elementURI="sea_floor_depth_below_geoid" type=04 *e code=0056 elementURI="sea_water_density" type=04 *e code=0057 elementURI="sea_water_electrical_conductivity" type=04 *e code=0058 elementURI="sea_water_potential_density" type=04 *e code=0059 elementURI="sea_water_potential_temperature" type=04 *e code=005A elementURI="sea_water_pressure" type=04 *e code=005B elementURI="sea_water_rhodamine" type=04 *e code=005C elementURI="sea_water_salinity" type=04 *e code=005D elementURI="sea_water_sigma_t" type=04 *e code=005E elementURI="sea_water_sigma_theta" type=04 *e code=005F elementURI="sea_water_speed" type=04 *e code=0060 elementURI="sea_water_temperature" type=04 *e code=0061 elementURI="speed_of_sound_in_sea_water" type=04 *e code=0062 elementURI="surface_eastward_sea_water_velocity" type=04 *e code=0063 elementURI="surface_northward_sea_water_velocity" type=04 *e code=0064 elementURI="time" type=04 *e code=0065 elementURI="time_fix" type=04 *e code=0066 elementURI="upward_derivative_of_sea_water_temperature" type=04 *e code=0067 elementURI="volume_backwards_scattering_coefficient_of_radiative_flux_in_sea_water" type=04 *e code=0068 elementURI="controlThread.enableBroadcast" type=02 *e code=0069 elementURI="CycleStarter.enableBroadcast" type=02 *e code=006A elementURI="CycleStarter.time" type=00 *e code=006B elementURI="CommandExec.enableBroadcast" type=02 *e code=006C elementURI="NAL9602.strobeMode" type=02 *e code=006D elementURI="Dock.docking_state_cmd" type=02 *e code=006E elementURI="Dock.docking_state" type=02 *e code=006F elementURI="WetLabsUBAT.enableUBAT" type=02 *e code=0070 elementURI="IBIT.IBITRunning" type=02 *e code=0071 elementURI="CBIT.GFActive" type=02 *e code=0072 elementURI="CommandExec.platform_conversation" type=00 *e code=0073 elementURI="CommandLine.enableBroadcast" type=02 *e code=0074 elementURI="logger.enableBroadcast" type=02 *e code=0075 elementURI="LogSplitter.enableBroadcast" type=02 *e code=0076 elementURI="LogSplitter.platform_communications" type=00 *e code=0077 elementURI="Vehicle.dashIP" type=01 *e code=0078 elementURI="Vehicle.dashPath" type=01 *e code=0079 elementURI="Vehicle.dashPort" type=01 *e code=007A elementURI="Vehicle.dashSSL" type=01 *e code=007B elementURI="Vehicle.hostname" type=01 *e code=007C elementURI="Vehicle.imei" type=01 *e code=007D elementURI="Vehicle.imeiPassword" type=01 *e code=007E elementURI="Vehicle.keyText" type=01 *e code=007F elementURI="AHRS_M2.loadAtStartup" type=01 *e code=0080 elementURI="AHRS_M2.simulateHardware" type=01 *e code=0081 elementURI="AHRS_M2.boresightMatrix" type=01 *e code=0082 elementURI="AHRS_M2.magDeviation" type=01 *e code=0083 elementURI="AHRS_M2.minNumPointsCal" type=01 *e code=0084 elementURI="AHRS_M2.power" type=01 *e code=0085 elementURI="AHRS_M2.readAccelerations" type=01 *e code=0086 elementURI="AHRS_M2.readAngularVelocities" type=01 *e code=0087 elementURI="AHRS_M2.readMagnetics" type=01 *e code=0088 elementURI="AHRS_M2.verbosity" type=01 *e code=0089 elementURI="AMEcho.loadAtStartup" type=01 *e code=008A elementURI="AMEcho.simulateHardware" type=01 *e code=008B elementURI="AMEcho.enabled" type=01 *e code=008C elementURI="AMEcho.depthThreshold" type=01 *e code=008D elementURI="AcousticModem_Benthos_ATM900.loadAtStartup" type=01 *e code=008E elementURI="AcousticModem_Benthos_ATM900.simulateHardware" type=01 *e code=008F elementURI="AcousticModem_Benthos_ATM900.txPower" type=01 *e code=0090 elementURI="AcousticModem_Benthos_ATM900.localAddress" type=01 *e code=0091 elementURI="AcousticModem_Benthos_ATM900.sbdAddress" type=01 *e code=0092 elementURI="AcousticModem_Benthos_ATM900.transponderAddress" type=01 *e code=0093 elementURI="AcousticModem_Benthos_ATM900.sendExpress" type=01 *e code=0094 elementURI="AcousticModem_Benthos_ATM900.surfaceThreshold" type=01 *e code=0095 elementURI="AcousticModem_Benthos_ATM900.verbosity" type=01 *e code=0096 elementURI="BackseatComponent.loadAtStartup" type=01 *e code=0097 elementURI="BackseatComponent.simulateHardware" type=01 *e code=0098 elementURI="BackseatComponent.shutdownCmd" type=01 *e code=0099 elementURI="BackseatComponent.lcmListenerTimeout" type=01 *e code=009A elementURI="BackseatComponent.verbosity" type=01 *e code=009B elementURI="BackseatComponent.alwaysOn" type=01 *e code=009C elementURI="BackseatComponent.needs24v" type=01 *e code=009D elementURI="BackseatComponent.poTimeout" type=01 *e code=009E elementURI="BackseatComponent.missionCritical" type=01 *e code=009F elementURI="BioacousticsDataBridge.loadAtStartup" type=01 *e code=00A0 elementURI="BPC1.loadAtStartup" type=01 *e code=00A1 elementURI="BPC1.simulateHardware" type=01 *e code=00A2 elementURI="BPC1.batteryMissingStickThreshold" type=01 *e code=00A3 elementURI="BPC1.batteryMuxCycleTime" type=01 *e code=00A4 elementURI="BPC1.batterySamplingInterval" type=01 *e code=00A5 elementURI="BPC1.batteryStickCommsTimeout" type=01 *e code=00A6 elementURI="BPCW.loadAtStartup" type=01 *e code=00A7 elementURI="BPCW.simulateHardware" type=01 *e code=00A8 elementURI="BPCW.batterySamplingInterval" type=01 *e code=00A9 elementURI="BPCW.batteryStickCommsTimeout" type=01 *e code=00AA elementURI="BR_Ping1D.loadAtStartup" type=01 *e code=00AB elementURI="BR_Ping1D.interval" type=01 *e code=00AC elementURI="BR_Ping1D.simulateHardware" type=01 *e code=00AD elementURI="BR_Ping1D.verbosity" type=01 *e code=00AE elementURI="BR_Ping1D.minRange" type=01 *e code=00AF elementURI="BR_Ping1D.maxRange" type=01 *e code=00B0 elementURI="BR_Ping1D.soundSpeed" type=01 *e code=00B1 elementURI="BR_Ping1D.autoMode" type=01 *e code=00B2 elementURI="BR_Ping1D.gainIndex" type=01 *e code=00B3 elementURI="BR_Ping1D.minConfidence" type=01 *e code=00B4 elementURI="BR_Ping1D.pingEnable" type=01 *e code=00B5 elementURI="BR_Ping1D.writeUniversal" type=01 *e code=00B6 elementURI="DataOverHttps.loadAtStartup" type=01 *e code=00B7 elementURI="DataOverHttps.simulateHardware" type=01 *e code=00B8 elementURI="DataOverHttps.connectionTimeout" type=01 *e code=00B9 elementURI="DataOverHttps.period" type=01 *e code=00BA elementURI="DataOverHttps.power" type=01 *e code=00BB elementURI="DataOverHttps.timeout" type=01 *e code=00BC elementURI="DataOverHttps.verbosity" type=01 *e code=00BD elementURI="DAT.loadAtStartup" type=01 *e code=00BE elementURI="DAT.simulateHardware" type=01 *e code=00BF elementURI="DAT.missionCritical" type=01 *e code=00C0 elementURI="DAT.maxAckTimeouts" type=01 *e code=00C1 elementURI="DAT.convertPhaseDataToDirection" type=01 *e code=00C2 elementURI="DAT.ignoreElevationAngle" type=01 *e code=00C3 elementURI="DAT.txPower" type=01 *e code=00C4 elementURI="DAT.sbdAddress" type=01 *e code=00C5 elementURI="DAT.transponderAddress" type=01 *e code=00C6 elementURI="DAT.sendExpress" type=01 *e code=00C7 elementURI="DAT.surfaceThreshold" type=01 *e code=00C8 elementURI="DAT.verbosity" type=01 *e code=00C9 elementURI="DAT.deviceRequestCount" type=01 *e code=00CA elementURI="DATMMP.loadAtStartup" type=01 *e code=00CB elementURI="DATMMP.simulateHardware" type=01 *e code=00CC elementURI="DATMMP.maxAckTimeouts" type=01 *e code=00CD elementURI="DATMMP.convertPhaseDataToDirection" type=01 *e code=00CE elementURI="DATMMP.ignoreElevationAngle" type=01 *e code=00CF elementURI="DATMMP.txPower" type=01 *e code=00D0 elementURI="DATMMP.sbdAddress" type=01 *e code=00D1 elementURI="DATMMP.transponderAddress" type=01 *e code=00D2 elementURI="DATMMP.sendExpress" type=01 *e code=00D3 elementURI="DATMMP.surfaceThreshold" type=01 *e code=00D4 elementURI="DATMMP.deviceRequestCount" type=01 *e code=00D5 elementURI="DDM.loadAtStartup" type=01 *e code=00D6 elementURI="DDM.simulateHardware" type=01 *e code=00D7 elementURI="DDM.currentLimit" type=01 *e code=00D8 elementURI="DDM.PWMLimit" type=01 *e code=00D9 elementURI="DDM.verbosity" type=01 *e code=00DA elementURI="DUSBL_Hydroid.loadAtStartup" type=01 *e code=00DB elementURI="DUSBL_Hydroid.simulateHardware" type=01 *e code=00DC elementURI="DUSBL_Hydroid.defaultTurnAroundTime" type=01 *e code=00DD elementURI="DUSBL_Hydroid.defaultSoundSpeed" type=01 *e code=00DE elementURI="DUSBL_Hydroid.detectionThreshold" type=01 *e code=00DF elementURI="DUSBL_Hydroid.recieveTimeout" type=01 *e code=00E0 elementURI="DUSBL_Hydroid.transmitLockout" type=01 *e code=00E1 elementURI="DUSBL_Hydroid.transponderCode" type=01 *e code=00E2 elementURI="DUSBL_Hydroid.numberOfPingsRequested" type=01 *e code=00E3 elementURI="DUSBL_Hydroid.verbosity" type=01 *e code=00E4 elementURI="DUSBL_Hydroid.xCenter" type=01 *e code=00E5 elementURI="DUSBL_Hydroid.yCenter" type=01 *e code=00E6 elementURI="Depth_Keller.loadAtStartup" type=01 *e code=00E7 elementURI="Depth_Keller.simulateHardware" type=01 *e code=00E8 elementURI="Depth_Keller.maxPressBound" type=01 *e code=00E9 elementURI="Depth_Keller.minPressBound" type=01 *e code=00EA elementURI="Depth_Keller.offset" type=01 *e code=00EB elementURI="Depth_Keller.power" type=01 *e code=00EC elementURI="Depth_Keller.scale" type=01 *e code=00ED elementURI="DepthKeller33X.loadAtStartup" type=01 *e code=00EE elementURI="DepthKeller33X.simulateHardware" type=01 *e code=00EF elementURI="DepthKeller33X.maxPressBound" type=01 *e code=00F0 elementURI="DepthKeller33X.minPressBound" type=01 *e code=00F1 elementURI="DepthKeller33X.offset" type=01 *e code=00F2 elementURI="DropWeight.loadAtStartup" type=01 *e code=00F3 elementURI="DropWeight.simulateHardware" type=01 *e code=00F4 elementURI="DVL_micro.loadAtStartup" type=01 *e code=00F5 elementURI="DVL_micro.simulateHardware" type=01 *e code=00F6 elementURI="DVL_micro.magDeviation" type=01 *e code=00F7 elementURI="DVL_micro.pitchOffset" type=01 *e code=00F8 elementURI="DVL_micro.power" type=01 *e code=00F9 elementURI="DVL_micro.rollOffset" type=01 *e code=00FA elementURI="GobyModem.loadAtStartup" type=01 *e code=00FB elementURI="GobyModem.simulateHardware" type=01 *e code=00FC elementURI="GobyModem.modemType" type=01 *e code=00FD elementURI="GobyModem.networkIds" type=01 *e code=00FE elementURI="GobyModem.maxDistance" type=01 *e code=00FF elementURI="GobyModem.transBaud" type=01 *e code=0100 elementURI="Micromodem.verbosity" type=01 *e code=0101 elementURI="Micromodem.loadAtStartup" type=01 *e code=0102 elementURI="Micromodem.simulateHardware" type=01 *e code=0103 elementURI="Micromodem.localAddress" type=01 *e code=0104 elementURI="Micromodem.destinationAddress" type=01 *e code=0105 elementURI="Micromodem.dataRate" type=01 *e code=0106 elementURI="Micromodem.sendExpress" type=01 *e code=0107 elementURI="Micromodem.acousticResponseTimeout" type=01 *e code=0108 elementURI="Micromodem.resendPeriod" type=01 *e code=0109 elementURI="Micromodem.surfaceThreshold" type=01 *e code=010A elementURI="Micromodem.pwrampTXLevel" type=01 *e code=010B elementURI="Micromodem.centerFrequency" type=01 *e code=010C elementURI="Micromodem.bandwidth" type=01 *e code=010D elementURI="Micromodem.dusblPingCode" type=01 *e code=010E elementURI="Micromodem.rangeTxSeqCode" type=01 *e code=010F elementURI="Micromodem.rangeTxFreq" type=01 *e code=0110 elementURI="Micromodem.rangeTxTime" type=01 *e code=0111 elementURI="Micromodem.rangeRxTime" type=01 *e code=0112 elementURI="Micromodem.rangeTAT" type=01 *e code=0113 elementURI="Micromodem.trans1Channel" type=01 *e code=0114 elementURI="Micromodem.trans2Channel" type=01 *e code=0115 elementURI="Micromodem.trans3Channel" type=01 *e code=0116 elementURI="Micromodem.trans4Channel" type=01 *e code=0117 elementURI="MultiRay.loadAtStartup" type=01 *e code=0118 elementURI="MultiRay.simulateHardware" type=01 *e code=0119 elementURI="MultiRay.brightnessWhite" type=01 *e code=011A elementURI="MultiRay.brightnessRed" type=01 *e code=011B elementURI="NAL9602.loadAtStartup" type=01 *e code=011C elementURI="NAL9602.simulateHardware" type=01 *e code=011D elementURI="NAL9602.gpsFailTimeout" type=01 *e code=011E elementURI="NAL9602.iridiumMTQueueTimeout" type=01 *e code=011F elementURI="NAL9602.power" type=01 *e code=0120 elementURI="NAL9602.power_platform_communications" type=01 *e code=0121 elementURI="NAL9602.requestGGA" type=01 *e code=0122 elementURI="NAL9602.fastGPSFix" type=01 *e code=0123 elementURI="NAL9602.handleZDAMessages" type=01 *e code=0124 elementURI="NAL9602.maxDownlinkMsgSize" type=01 *e code=0125 elementURI="NAL9602.maxUplinkMsgSize" type=01 *e code=0126 elementURI="NanoDVR.loadAtStartup" type=01 *e code=0127 elementURI="NanoDVR.simulateHardware" type=01 *e code=0128 elementURI="NanoDVR.sampleTime" type=01 *e code=0129 elementURI="Onboard.loadAtStartup" type=01 *e code=012A elementURI="Onboard.simulateHardware" type=01 *e code=012B elementURI="OnboardBattery.mainBatterySysNode" type=01 *e code=012C elementURI="OnboardBattery.backupBatterySysNode" type=01 *e code=012D elementURI="OnboardPressure.coefA0" type=01 *e code=012E elementURI="OnboardPressure.coefB1" type=01 *e code=012F elementURI="OnboardPressure.coefB2" type=01 *e code=0130 elementURI="OnboardPressure.coefC12" type=01 *e code=0131 elementURI="Onboard.power" type=01 *e code=0132 elementURI="OnboardPressure.intercept" type=01 *e code=0133 elementURI="OnboardPressure.slope" type=01 *e code=0134 elementURI="Phins_Multibeam.loadAtStartup" type=01 *e code=0135 elementURI="Phins_Multibeam.simulateHardware" type=01 *e code=0136 elementURI="Power24vConverter.loadAtStartup" type=01 *e code=0137 elementURI="Power24vConverter.simulateHardware" type=01 *e code=0138 elementURI="PowerOnly.loadAtStartup" type=01 *e code=0139 elementURI="PowerOnly.simulateHardware" type=01 *e code=013A elementURI="PowerOnly.sampleTime" type=01 *e code=013B elementURI="PowerOnly.sampleTime1" type=01 *e code=013C elementURI="PowerOnly.sampleTime2" type=01 *e code=013D elementURI="PowerOnly.sampleTime3" type=01 *e code=013E elementURI="PNI_TCM.loadAtStartup" type=01 *e code=013F elementURI="PNI_TCM.simulateHardware" type=01 *e code=0140 elementURI="PNI_TCM.magDeviation" type=01 *e code=0141 elementURI="PNI_TCM.pitchOffset" type=01 *e code=0142 elementURI="PNI_TCM.power" type=01 *e code=0143 elementURI="PNI_TCM.readMagnetics" type=01 *e code=0144 elementURI="PNI_TCM.rollOffset" type=01 *e code=0145 elementURI="PNI_TCM.verbosity" type=01 *e code=0146 elementURI="Radio_Surface.loadAtStartup" type=01 *e code=0147 elementURI="Radio_Surface.simulateHardware" type=01 *e code=0148 elementURI="Radio_Surface.manageDockNetwork" type=01 *e code=0149 elementURI="Radio_Surface.power" type=01 *e code=014A elementURI="RDI_Pathfinder.loadAtStartup" type=01 *e code=014B elementURI="RDI_Pathfinder.simulateHardware" type=01 *e code=014C elementURI="RDI_Pathfinder.usePD6" type=01 *e code=014D elementURI="RDI_PathfinderUp.loadAtStartup" type=01 *e code=014E elementURI="RDI_PathfinderUp.simulateHardware" type=01 *e code=014F elementURI="Rowe_600.loadAtStartup" type=01 *e code=0150 elementURI="Rowe_600.simulateHardware" type=01 *e code=0151 elementURI="Rowe_600.acousticBlankingDistance" type=01 *e code=0152 elementURI="Rowe_600.altitudeAccuracy" type=01 *e code=0153 elementURI="Rowe_600.bottomTrackVelocityAccuracy" type=01 *e code=0154 elementURI="Rowe_600.headingOffset" type=01 *e code=0155 elementURI="Rowe_600.maxSpeed" type=01 *e code=0156 elementURI="Rowe_600.numberOfBeams" type=01 *e code=0157 elementURI="Rowe_600.numberOfBins" type=01 *e code=0158 elementURI="Rowe_600.pausePeriod" type=01 *e code=0159 elementURI="Rowe_600.pitchOffset" type=01 *e code=015A elementURI="Rowe_600.rollOffset" type=01 *e code=015B elementURI="Rowe_600.sampleTime" type=01 *e code=015C elementURI="Rowe_600.verbosity" type=01 *e code=015D elementURI="Rowe_600.waterReferenceLayerBin" type=01 *e code=015E elementURI="Rowe_600.waterTrackVelocityAccuracy" type=01 *e code=015F elementURI="Rowe_600.writeAmplitudeProfile" type=01 *e code=0160 elementURI="Rowe_600.writeBeamVelocityProfile" type=01 *e code=0161 elementURI="Rowe_600.writeCorrelationProfile" type=01 *e code=0162 elementURI="Rowe_600.writeEarthVelocityProfile" type=01 *e code=0163 elementURI="Rowe_600.writeGoodBeamPingsProfile" type=01 *e code=0164 elementURI="Rowe_600.writeGoodEarthPingsProfile" type=01 *e code=0165 elementURI="Rowe_600.writeInstrumentVelocityProfile" type=01 *e code=0166 elementURI="Rowe_600.writeRawEnsemble" type=01 *e code=0167 elementURI="SCPI.loadAtStartup" type=01 *e code=0168 elementURI="SCPI.simulateHardware" type=01 *e code=0169 elementURI="SCPI.sampleTime" type=01 *e code=016A elementURI="Sonardyne_Nano.loadAtStartup" type=01 *e code=016B elementURI="Sonardyne_Nano.simulateHardware" type=01 *e code=016C elementURI="Sonardyne_Nano.chargeMin" type=01 *e code=016D elementURI="Sonardyne_Nano.chargeMax" type=01 *e code=016E elementURI="TrnDataBridge.loadAtStartup" type=01 *e code=016F elementURI="TrnDataBridge.simulateHardware" type=01 *e code=0170 elementURI="TrnDataBridge.trn_lcm_channel" type=01 *e code=0171 elementURI="Waterlinked.loadAtStartup" type=01 *e code=0172 elementURI="Waterlinked.simulateHardware" type=01 *e code=0173 elementURI="Dock.lat" type=01 *e code=0174 elementURI="Dock.lon" type=01 *e code=0175 elementURI="Dock.depth" type=01 *e code=0176 elementURI="Dock.transponderCode" type=01 *e code=0177 elementURI="Docked.dockingDepthOffset" type=01 *e code=0178 elementURI="Docked.dockRange" type=01 *e code=0179 elementURI="Docked.dockPitch" type=01 *e code=017A elementURI="Docked.detachTimeout" type=01 *e code=017B elementURI="Docked.dockTimeout" type=01 *e code=017C elementURI="Docked.dataTimeout" type=01 *e code=017D elementURI="Docked.rangeTimeout" type=01 *e code=017E elementURI="Docked.verbose" type=01 *e code=017F elementURI="LineCapture.midcourseSpeed" type=01 *e code=0180 elementURI="LineCapture.midcourseDepth" type=01 *e code=0181 elementURI="LineCapture.midcourseTimeout" type=01 *e code=0182 elementURI="LineCapture.terminalRange" type=01 *e code=0183 elementURI="LineCapture.acousticTimeout" type=01 *e code=0184 elementURI="LineCapture.armRange" type=01 *e code=0185 elementURI="LineCapture.armSpeed" type=01 *e code=0186 elementURI="LineCapture.lockoutRange" type=01 *e code=0187 elementURI="LineCapture.shortFinalRange" type=01 *e code=0188 elementURI="LineCapture.interceptTimeout" type=01 *e code=0189 elementURI="LineCapture.latchDelayTimeout" type=01 *e code=018A elementURI="LineCapture.rolloutDistance" type=01 *e code=018B elementURI="LineCapture.rolloutSpeed" type=01 *e code=018C elementURI="LineCapture.rolloutTimeout" type=01 *e code=018D elementURI="LineCapture.rolloutMaxTimeout" type=01 *e code=018E elementURI="LineCapture.kpHeadingTerminalGuidance" type=01 *e code=018F elementURI="LineCapture.kiHeadingTerminalGuidance" type=01 *e code=0190 elementURI="LineCapture.kpHeadingFinalApproach" type=01 *e code=0191 elementURI="LineCapture.kiHeadingFinalApproach" type=01 *e code=0192 elementURI="LineCapture.navigationGain" type=01 *e code=0193 elementURI="LineCapture.verbose" type=01 *e code=0194 elementURI="LineCapture.searchTimeout" type=01 *e code=0195 elementURI="LineCapture.searchCircleRadius" type=01 *e code=0196 elementURI="LineCapture.openLoopFlyby" type=01 *e code=0197 elementURI="LineCapture.numHeadingUpdatesFlyby" type=01 *e code=0198 elementURI="SetNav.dockRange" type=01 *e code=0199 elementURI="SetNav.rangeTimeout" type=01 *e code=019A elementURI="Undock.undockDepth" type=01 *e code=019B elementURI="Undock.undockRange" type=01 *e code=019C elementURI="Undock.undockTimeout" type=01 *e code=019D elementURI="Undock.reverseThrustTimeout" type=01 *e code=019E elementURI="Undock.verbose" type=01 *e code=019F elementURI="Config/workSite.initLat" type=00 *e code=01A0 elementURI="Config/workSite.initLon" type=00 *e code=01A1 elementURI="Config/workSite.startupScript" type=00 *e code=01A2 elementURI="Config/workSite.defaultScript" type=00 *e code=01A3 elementURI="Config/workSite.beacon1Address" type=00 *e code=01A4 elementURI="Config/workSite.beacon1Lat" type=00 *e code=01A5 elementURI="Config/workSite.beacon1Lon" type=00 *e code=01A6 elementURI="Config/workSite.beacon1Depth" type=00 *e code=01A7 elementURI="Config/workSite.beacon2Address" type=00 *e code=01A8 elementURI="Config/workSite.beacon2Lat" type=00 *e code=01A9 elementURI="Config/workSite.beacon2Lon" type=00 *e code=01AA elementURI="Config/workSite.beacon2Depth" type=00 *e code=01AB elementURI="Config/workSite.beacon3Address" type=00 *e code=01AC elementURI="Config/workSite.beacon3Lat" type=00 *e code=01AD elementURI="Config/workSite.beacon3Lon" type=00 *e code=01AE elementURI="Config/workSite.beacon3Depth" type=00 *e code=01AF elementURI="StratificationFrontDetector.loadAtStartup" type=01 *e code=01B0 elementURI="StratificationFrontDetector.temperatureFront" type=01 *e code=01B1 elementURI="StratificationFrontDetector.salinityFront" type=01 *e code=01B2 elementURI="StratificationFrontDetector.highWaterMark" type=01 *e code=01B3 elementURI="StratificationFrontDetector.threshold_VTHI" type=01 *e code=01B4 elementURI="StratificationFrontDetector.threshold_VSHI" type=01 *e code=01B5 elementURI="StratificationFrontDetector.verbosity" type=01 *e code=01B6 elementURI="DepAvgTempFrontDetector.loadAtStartup" type=01 *e code=01B7 elementURI="DepAvgTempFrontDetector.cntThreshold" type=01 *e code=01B8 elementURI="DepAvgTempFrontDetector.tempHoriGradThreshold" type=01 *e code=01B9 elementURI="DepAvgTempFrontDetector.verbosity" type=01 *e code=01BA elementURI="BuoyancyServo.loadAtStartup" type=01 *e code=01BB elementURI="BuoyancyServo.simulateHardware" type=01 *e code=01BC elementURI="BuoyancyServo.accel" type=01 *e code=01BD elementURI="BuoyancyServo.currLimit" type=01 *e code=01BE elementURI="BuoyancyServo.limitHi" type=01 *e code=01BF elementURI="BuoyancyServo.limitLo" type=01 *e code=01C0 elementURI="BuoyancyServo.overloadTimeout" type=01 *e code=01C1 elementURI="BuoyancyServo.pidW" type=01 *e code=01C2 elementURI="BuoyancyServo.pidX" type=01 *e code=01C3 elementURI="BuoyancyServo.pidY" type=01 *e code=01C4 elementURI="BuoyancyServo.powerOffTimeout" type=01 *e code=01C5 elementURI="BuoyancyServo.powerOnTimeout" type=01 *e code=01C6 elementURI="BuoyancyServo.velocity" type=01 *e code=01C7 elementURI="BuoyancyServo.checkingTimeout" type=01 *e code=01C8 elementURI="BuoyancyServo.countsPerCC" type=01 *e code=01C9 elementURI="BuoyancyServo.deviationVolume" type=01 *e code=01CA elementURI="BuoyancyServo.fastPumpCoefficient" type=01 *e code=01CB elementURI="BuoyancyServo.fastPumpDepth" type=01 *e code=01CC elementURI="BuoyancyServo.offsetVolume" type=01 *e code=01CD elementURI="DockingServo.loadAtStartup" type=01 *e code=01CE elementURI="DockingServo.simulateHardware" type=01 *e code=01CF elementURI="DockingServo.countsPerDeg" type=01 *e code=01D0 elementURI="DockingServo.currLimit" type=01 *e code=01D1 elementURI="DockingServo.deviationAngle" type=01 *e code=01D2 elementURI="DockingServo.limitHi" type=01 *e code=01D3 elementURI="DockingServo.limitLo" type=01 *e code=01D4 elementURI="DockingServo.mtrCenter" type=01 *e code=01D5 elementURI="DockingServo.offsetAngle" type=01 *e code=01D6 elementURI="DockingServo.pidW" type=01 *e code=01D7 elementURI="DockingServo.pidX" type=01 *e code=01D8 elementURI="DockingServo.pidY" type=01 *e code=01D9 elementURI="DockingServo.powerOnTimeout" type=01 *e code=01DA elementURI="DockingServo.openAngle" type=01 *e code=01DB elementURI="DockingServo.closedAngle" type=01 *e code=01DC elementURI="DockingStepper.loadAtStartup" type=01 *e code=01DD elementURI="DockingStepper.simulateHardware" type=01 *e code=01DE elementURI="DockingStepper.openValue" type=01 *e code=01DF elementURI="DockingStepper.closedValue" type=01 *e code=01E0 elementURI="DockingStepper.slideValue" type=01 *e code=01E1 elementURI="DockingStepper.deviationValue" type=01 *e code=01E2 elementURI="DockingStepper.currLimit" type=01 *e code=01E3 elementURI="DockingStepper.velocity" type=01 *e code=01E4 elementURI="DockingStepper.powerOnTimeout" type=01 *e code=01E5 elementURI="DockingStepper.powerOffTimeout" type=01 *e code=01E6 elementURI="ElevatorServo.loadAtStartup" type=01 *e code=01E7 elementURI="ElevatorServo.simulateHardware" type=01 *e code=01E8 elementURI="ElevatorServo.countsPerDeg" type=01 *e code=01E9 elementURI="ElevatorServo.currLimit" type=01 *e code=01EA elementURI="ElevatorServo.deviationAngle" type=01 *e code=01EB elementURI="ElevatorServo.limitHi" type=01 *e code=01EC elementURI="ElevatorServo.limitLo" type=01 *e code=01ED elementURI="ElevatorServo.mtrCenter" type=01 *e code=01EE elementURI="ElevatorServo.offsetAngle" type=01 *e code=01EF elementURI="ElevatorServo.pidW" type=01 *e code=01F0 elementURI="ElevatorServo.pidX" type=01 *e code=01F1 elementURI="ElevatorServo.pidY" type=01 *e code=01F2 elementURI="ElevatorServo.powerOnTimeout" type=01 *e code=01F3 elementURI="MassServo.loadAtStartup" type=01 *e code=01F4 elementURI="MassServo.simulateHardware" type=01 *e code=01F5 elementURI="MassServo.accel" type=01 *e code=01F6 elementURI="MassServo.currLimit" type=01 *e code=01F7 elementURI="MassServo.limitHi" type=01 *e code=01F8 elementURI="MassServo.limitLo" type=01 *e code=01F9 elementURI="MassServo.overloadTimeout" type=01 *e code=01FA elementURI="MassServo.powerOnTimeout" type=01 *e code=01FB elementURI="MassServo.velocity" type=01 *e code=01FC elementURI="MassServo.deviationDistance" type=01 *e code=01FD elementURI="MassServo.tksPerMM" type=01 *e code=01FE elementURI="MassServo.totalTks" type=01 *e code=01FF elementURI="RudderServo.loadAtStartup" type=01 *e code=0200 elementURI="RudderServo.simulateHardware" type=01 *e code=0201 elementURI="RudderServo.countsPerDeg" type=01 *e code=0202 elementURI="RudderServo.currLimit" type=01 *e code=0203 elementURI="RudderServo.deviationAngle" type=01 *e code=0204 elementURI="RudderServo.limitHi" type=01 *e code=0205 elementURI="RudderServo.limitLo" type=01 *e code=0206 elementURI="RudderServo.mtrCenter" type=01 *e code=0207 elementURI="RudderServo.offsetAngle" type=01 *e code=0208 elementURI="RudderServo.pidW" type=01 *e code=0209 elementURI="RudderServo.pidX" type=01 *e code=020A elementURI="RudderServo.pidY" type=01 *e code=020B elementURI="RudderServo.powerOnTimeout" type=01 *e code=020C elementURI="ThrusterHE.loadAtStartup" type=01 *e code=020D elementURI="ThrusterHE.simulateHardware" type=01 *e code=020E elementURI="ThrusterHE.deviation" type=01 *e code=020F elementURI="ThrusterHE.allowableBadVelocity" type=01 *e code=0210 elementURI="ThrusterHE.ratedSpeed" type=01 *e code=0211 elementURI="ThrusterHE.powerOnTimeout" type=01 *e code=0212 elementURI="ThrusterHE.bestEffortMode" type=01 *e code=0213 elementURI="ThrusterServo.loadAtStartup" type=01 *e code=0214 elementURI="ThrusterServo.simulateHardware" type=01 *e code=0215 elementURI="ThrusterServo.accel" type=01 *e code=0216 elementURI="ThrusterServo.currLimit" type=01 *e code=0217 elementURI="ThrusterServo.overloadTimeout" type=01 *e code=0218 elementURI="ThrusterServo.pidW" type=01 *e code=0219 elementURI="ThrusterServo.pidX" type=01 *e code=021A elementURI="ThrusterServo.pidY" type=01 *e code=021B elementURI="ThrusterServo.powerOnTimeout" type=01 *e code=021C elementURI="ThrusterServo.allowableBadVelocity" type=01 *e code=021D elementURI="ThrusterServo.deviation" type=01 *e code=021E elementURI="ThrusterServo.encoderTks" type=01 *e code=021F elementURI="ThrusterServo.tksPerRev" type=01 *e code=0220 elementURI="ExternalSim.loadAtStartup" type=01 *e code=0221 elementURI="ExternalSim.SimDaemonServer" type=01 *e code=0222 elementURI="ExternalSimGazebo.loadAtStartup" type=01 *e code=0223 elementURI="InternalSim.loadAtStartup" type=01 *e code=0224 elementURI="NavigationSim.loadAtStartup" type=01 *e code=0225 elementURI="InternalEnvSim.loadAtStartup" type=01 *e code=0226 elementURI="InternalEnvSim.nc3File" type=01 *e code=0227 elementURI="InternalEnvSim.var1" type=01 *e code=0228 elementURI="InternalEnvSim.var2" type=01 *e code=0229 elementURI="InternalEnvSim.var3" type=01 *e code=022A elementURI="InternalEnvSim.var4" type=01 *e code=022B elementURI="InternalEnvSim.var5" type=01 *e code=022C elementURI="InternalEnvSim.var6" type=01 *e code=022D elementURI="InternalEnvSim.att1" type=01 *e code=022E elementURI="InternalEnvSim.att2" type=01 *e code=022F elementURI="InternalEnvSim.att3" type=01 *e code=0230 elementURI="InternalEnvSim.att4" type=01 *e code=0231 elementURI="InternalEnvSim.att5" type=01 *e code=0232 elementURI="InternalEnvSim.att6" type=01 *e code=0233 elementURI="InternalEnvSim.timeAdjust" type=01 *e code=0234 elementURI="Simulator.initLat" type=01 *e code=0235 elementURI="Simulator.initLon" type=01 *e code=0236 elementURI="Simulator.initPitch" type=01 *e code=0237 elementURI="Simulator.initRoll" type=01 *e code=0238 elementURI="Simulator.initYaw" type=01 *e code=0239 elementURI="Simulator.initZ" type=01 *e code=023A elementURI="Simulator.initP" type=01 *e code=023B elementURI="Simulator.initQ" type=01 *e code=023C elementURI="Simulator.initR" type=01 *e code=023D elementURI="Simulator.initU" type=01 *e code=023E elementURI="Simulator.initV" type=01 *e code=023F elementURI="Simulator.initW" type=01 *e code=0240 elementURI="Simulator.initMassPosition" type=01 *e code=0241 elementURI="Simulator.initBuoyancyPosition" type=01 *e code=0242 elementURI="Simulator.mass" type=01 *e code=0243 elementURI="Simulator.volume" type=01 *e code=0244 elementURI="Simulator.effDragCoef" type=01 *e code=0245 elementURI="Simulator.Xuabu" type=01 *e code=0246 elementURI="Simulator.centerOfMassX" type=01 *e code=0247 elementURI="Simulator.centerOfMassY" type=01 *e code=0248 elementURI="Simulator.centerOfMassZ" type=01 *e code=0249 elementURI="Simulator.centerOfBuoyX" type=01 *e code=024A elementURI="Simulator.centerOfBuoyY" type=01 *e code=024B elementURI="Simulator.centerOfBuoyZ" type=01 *e code=024C elementURI="Simulator.cylinderLength" type=01 *e code=024D elementURI="Simulator.cylinderRadius" type=01 *e code=024E elementURI="Simulator.lowerRudX" type=01 *e code=024F elementURI="Simulator.lowerRudY" type=01 *e code=0250 elementURI="Simulator.lowerRudZ" type=01 *e code=0251 elementURI="Simulator.upperRudX" type=01 *e code=0252 elementURI="Simulator.upperRudY" type=01 *e code=0253 elementURI="Simulator.upperRudZ" type=01 *e code=0254 elementURI="Simulator.portElevX" type=01 *e code=0255 elementURI="Simulator.portElevY" type=01 *e code=0256 elementURI="Simulator.portElevZ" type=01 *e code=0257 elementURI="Simulator.stbdElevX" type=01 *e code=0258 elementURI="Simulator.stbdElevY" type=01 *e code=0259 elementURI="Simulator.stbdElevZ" type=01 *e code=025A elementURI="Simulator.designOmega" type=01 *e code=025B elementURI="Simulator.designPropEff" type=01 *e code=025C elementURI="Simulator.designSpeed" type=01 *e code=025D elementURI="Simulator.designThrust" type=01 *e code=025E elementURI="Simulator.designTorque" type=01 *e code=025F elementURI="Simulator.dropWt1Mass" type=01 *e code=0260 elementURI="Simulator.dropWt1Volume" type=01 *e code=0261 elementURI="Simulator.dropWt1X" type=01 *e code=0262 elementURI="Simulator.dropWt1Y" type=01 *e code=0263 elementURI="Simulator.dropWt1Z" type=01 *e code=0264 elementURI="Simulator.movableMass" type=01 *e code=0265 elementURI="Simulator.centerOfMovableMassX" type=01 *e code=0266 elementURI="Simulator.centerOfMovableMassY" type=01 *e code=0267 elementURI="Simulator.centerOfMovableMassZ" type=01 *e code=0268 elementURI="Simulator.Ixx" type=01 *e code=0269 elementURI="Simulator.Iyy" type=01 *e code=026A elementURI="Simulator.Izz" type=01 *e code=026B elementURI="Simulator.Kpdot" type=01 *e code=026C elementURI="Simulator.Kvdot" type=01 *e code=026D elementURI="Simulator.Mqdot" type=01 *e code=026E elementURI="Simulator.Mwdot" type=01 *e code=026F elementURI="Simulator.Nrdot" type=01 *e code=0270 elementURI="Simulator.Nvdot" type=01 *e code=0271 elementURI="Simulator.Xudot" type=01 *e code=0272 elementURI="Simulator.Ypdot" type=01 *e code=0273 elementURI="Simulator.Yrdot" type=01 *e code=0274 elementURI="Simulator.Yvdot" type=01 *e code=0275 elementURI="Simulator.Zqdot" type=01 *e code=0276 elementURI="Simulator.Zwdot" type=01 *e code=0277 elementURI="Simulator.Kpabp" type=01 *e code=0278 elementURI="Simulator.Mpr" type=01 *e code=0279 elementURI="Simulator.Mqabq" type=01 *e code=027A elementURI="Simulator.Muq" type=01 *e code=027B elementURI="Simulator.Muw" type=01 *e code=027C elementURI="Simulator.Mwabw" type=01 *e code=027D elementURI="Simulator.Npq" type=01 *e code=027E elementURI="Simulator.Nrabr" type=01 *e code=027F elementURI="Simulator.Nur" type=01 *e code=0280 elementURI="Simulator.Nuv" type=01 *e code=0281 elementURI="Simulator.Nvabv" type=01 *e code=0282 elementURI="Simulator.Xqq" type=01 *e code=0283 elementURI="Simulator.Xrr" type=01 *e code=0284 elementURI="Simulator.Xvr" type=01 *e code=0285 elementURI="Simulator.Xvv" type=01 *e code=0286 elementURI="Simulator.Xwq" type=01 *e code=0287 elementURI="Simulator.Xww" type=01 *e code=0288 elementURI="Simulator.Yrabr" type=01 *e code=0289 elementURI="Simulator.Yur" type=01 *e code=028A elementURI="Simulator.Yuv" type=01 *e code=028B elementURI="Simulator.Yvabv" type=01 *e code=028C elementURI="Simulator.Ywp" type=01 *e code=028D elementURI="Simulator.Zqabq" type=01 *e code=028E elementURI="Simulator.Zuq" type=01 *e code=028F elementURI="Simulator.Zuw" type=01 *e code=0290 elementURI="Simulator.Zvp" type=01 *e code=0291 elementURI="Simulator.Zwabw" type=01 *e code=0292 elementURI="Simulator.Kvt2" type=01 *e code=0293 elementURI="Simulator.stallAngle" type=01 *e code=0294 elementURI="Simulator.wideHystRud" type=01 *e code=0295 elementURI="Simulator.centerHystRud" type=01 *e code=0296 elementURI="Simulator.speedRud" type=01 *e code=0297 elementURI="Simulator.wideHystElev" type=01 *e code=0298 elementURI="Simulator.centerHystElev" type=01 *e code=0299 elementURI="Simulator.speedElev" type=01 *e code=029A elementURI="Simulator.aspectRatio" type=01 *e code=029B elementURI="Simulator.finArea" type=01 *e code=029C elementURI="Simulator.CDc" type=01 *e code=029D elementURI="Simulator.dCL" type=01 *e code=029E elementURI="Simulator.density" type=01 *e code=029F elementURI="Simulator.eastCurrent" type=01 *e code=02A0 elementURI="Simulator.magneticVariation" type=01 *e code=02A1 elementURI="Simulator.mixedLayerDepth" type=01 *e code=02A2 elementURI="Simulator.northCurrent" type=01 *e code=02A3 elementURI="Simulator.s300" type=01 *e code=02A4 elementURI="Simulator.sMixed" type=01 *e code=02A5 elementURI="Simulator.soundSpeed" type=01 *e code=02A6 elementURI="Simulator.sss" type=01 *e code=02A7 elementURI="Simulator.sst" type=01 *e code=02A8 elementURI="Simulator.t300" type=01 *e code=02A9 elementURI="Simulator.tMixed" type=01 *e code=02AA elementURI="Simulator.vertCurrent" type=01 *e code=02AB elementURI="Simulator.oceanModelData" type=01 *e code=02AC elementURI="Simulator.defaultDensity" type=01 *e code=02AD elementURI="Simulator.centerHystMovableMass" type=01 *e code=02AE elementURI="Simulator.speedMovableMass" type=01 *e code=02AF elementURI="Simulator.wideHystMovableMass" type=01 *e code=02B0 elementURI="Simulator.centerHystBuoyancy" type=01 *e code=02B1 elementURI="Simulator.speedBuoyancy" type=01 *e code=02B2 elementURI="Simulator.wideHystBuoyancy" type=01 *e code=02B3 elementURI="Simulator.buoyancyNeutralOffset" type=01 *e code=02B4 elementURI="Simulator.entrainedAir" type=01 *e code=02B5 elementURI="Simulator.massPositionOffset" type=01 *e code=02B6 elementURI="Simulator.bottomLockGone" type=01 *e code=02B7 elementURI="Simulator.numberOfHomingTragets" type=01 *e code=02B8 elementURI="Simulator.homingSensorTat" type=01 *e code=02B9 elementURI="Simulator.dvlxScale" type=01 *e code=02BA elementURI="Simulator.dvlyScale" type=01 *e code=02BB elementURI="Simulator.dvlzScale" type=01 *e code=02BC elementURI="Simulator.sizeDqueueDat" type=01 *e code=02BD elementURI="Simulator.sizeDqueueYaw" type=01 *e code=02BE elementURI="Simulator.psiDat" type=01 *e code=02BF elementURI="Simulator.psiDvl" type=01 *e code=02C0 elementURI="Simulator.slantNoise" type=01 *e code=02C1 elementURI="Simulator.bearingNoise" type=01 *e code=02C2 elementURI="Simulator.inclNoise" type=01 *e code=02C3 elementURI="Simulator.ahrsNoiseAmplitude" type=01 *e code=02C4 elementURI="Simulator.depthNoiseAmplitude" type=01 *e code=02C5 elementURI="DepthRateCalculator.loadAtStartup" type=01 *e code=02C6 elementURI="TempGradientCalculator.loadAtStartup" type=01 *e code=02C7 elementURI="TempGradientCalculator.binsizeDep" type=01 *e code=02C8 elementURI="TempGradientCalculator.depDeepBndForAvg" type=01 *e code=02C9 elementURI="TempGradientCalculator.depShallowBndForAvg" type=01 *e code=02CA elementURI="TempGradientCalculator.extensionDep" type=01 *e code=02CB elementURI="TempGradientCalculator.numConsecutiveDepths" type=01 *e code=02CC elementURI="TempGradientCalculator.numProfilesGap" type=01 *e code=02CD elementURI="TempGradientCalculator.numProfilesLP" type=01 *e code=02CE elementURI="TempGradientCalculator.threshDepChangeAbs" type=01 *e code=02CF elementURI="PitchRateCalculator.loadAtStartup" type=01 *e code=02D0 elementURI="SpeedCalculator.loadAtStartup" type=01 *e code=02D1 elementURI="SpeedCalculator.speedAccuracy" type=01 *e code=02D2 elementURI="VerticalHomogeneityIndexCalculator.loadAtStartup" type=01 *e code=02D3 elementURI="VerticalHomogeneityIndexCalculator.depth1" type=01 *e code=02D4 elementURI="VerticalHomogeneityIndexCalculator.depth2" type=01 *e code=02D5 elementURI="VerticalHomogeneityIndexCalculator.depth3" type=01 *e code=02D6 elementURI="VerticalHomogeneityIndexCalculator.depth4" type=01 *e code=02D7 elementURI="VerticalHomogeneityIndexCalculator.depthWindow" type=01 *e code=02D8 elementURI="VerticalHomogeneityIndexCalculator.verbosity" type=01 *e code=02D9 elementURI="VerticalHomogeneityIndexCalculator.medianFilterLengthSalt" type=01 *e code=02DA elementURI="YawRateCalculator.loadAtStartup" type=01 *e code=02DB elementURI="ElevatorOffsetCalculator.loadAtStartup" type=01 *e code=02DC elementURI="ElevatorOffsetCalculator.targetConfidenceLevel" type=01 *e code=02DD elementURI="ElevatorOffsetCalculator.targetErrorBound" type=01 *e code=02DE elementURI="ElevatorOffsetCalculator.verbosity" type=01 *e code=02DF elementURI="ShortestDistanceToPolygonSidesCalculator.loadAtStartup" type=01 *e code=02E0 elementURI="ShortestDistanceToPolygonSidesCalculator.verbosity" type=01 *e code=02E1 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex1" type=01 *e code=02E2 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex1" type=01 *e code=02E3 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex2" type=01 *e code=02E4 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex2" type=01 *e code=02E5 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex3" type=01 *e code=02E6 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex3" type=01 *e code=02E7 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex4" type=01 *e code=02E8 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex4" type=01 *e code=02E9 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex5" type=01 *e code=02EA elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex5" type=01 *e code=02EB elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex6" type=01 *e code=02EC elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex6" type=01 *e code=02ED elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex7" type=01 *e code=02EE elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex7" type=01 *e code=02EF elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex8" type=01 *e code=02F0 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex8" type=01 *e code=02F1 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex9" type=01 *e code=02F2 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex9" type=01 *e code=02F3 elementURI="ShortestDistanceToPolygonSidesCalculator.latVertex10" type=01 *e code=02F4 elementURI="ShortestDistanceToPolygonSidesCalculator.lonVertex10" type=01 *e code=02F5 elementURI="Vehicle.name" type=01 *e code=02F6 elementURI="Vehicle.id" type=01 *e code=02F7 elementURI="Vehicle.kmlColor" type=01 *e code=02F8 elementURI="Vehicle.argoPlatform" type=01 *e code=02F9 elementURI="Vehicle.argoProgram" type=01 *e code=02FA elementURI="Vehicle.checkMTQueue" type=01 *e code=02FB elementURI="Vehicle.sendDataToShore" type=01 *e code=02FC elementURI="Vehicle.useTlLoader" type=01 *e code=02FD elementURI="AHRS_M2.loadControl" type=01 *e code=02FE elementURI="AHRS_M2.uart" type=01 *e code=02FF elementURI="AHRS_M2.baud" type=01 *e code=0300 elementURI="Aanderaa_O2.loadControl" type=01 *e code=0301 elementURI="Aanderaa_O2.uart" type=01 *e code=0302 elementURI="Aanderaa_O2.baud" type=01 *e code=0303 elementURI="AcousticModem_Benthos_ATM900.loadControl" type=01 *e code=0304 elementURI="AcousticModem_Benthos_ATM900.uart" type=01 *e code=0305 elementURI="AcousticModem_Benthos_ATM900.baud" type=01 *e code=0306 elementURI="AcousticModem_Benthos_ATM900.loadControl2" type=01 *e code=0307 elementURI="AMEcho.loadControl" type=01 *e code=0308 elementURI="AMEcho.uart" type=01 *e code=0309 elementURI="AMEcho.baud" type=01 *e code=030A elementURI="BackseatComponent.loadControl" type=01 *e code=030B elementURI="BackseatComponent.loadControl2" type=01 *e code=030C elementURI="BackseatComponent.uart" type=01 *e code=030D elementURI="BackseatComponent.baud" type=01 *e code=030E elementURI="BPC1A.uart" type=01 *e code=030F elementURI="BPC1A.baud" type=01 *e code=0310 elementURI="BPC1B.uart" type=01 *e code=0311 elementURI="BPC1B.baud" type=01 *e code=0312 elementURI="BPCWA.uart" type=01 *e code=0313 elementURI="BPCWA.baud" type=01 *e code=0314 elementURI="BPCWB.uart" type=01 *e code=0315 elementURI="BPCWB.baud" type=01 *e code=0316 elementURI="BuoyancyServo.loadControl" type=01 *e code=0317 elementURI="BuoyancyServo.uart" type=01 *e code=0318 elementURI="BuoyancyServo.baud" type=01 *e code=0319 elementURI="CANONSampler.loadControl" type=01 *e code=031A elementURI="CANONSampler.uart" type=01 *e code=031B elementURI="CANONSampler.baud" type=01 *e code=031C elementURI="CBITMainGroundfault.ad" type=01 *e code=031D elementURI="CBITMainGroundfault.adRes" type=01 *e code=031E elementURI="CBITMainGroundfault.adTimeout" type=01 *e code=031F elementURI="CBITMainGroundfault.adVref" type=01 *e code=0320 elementURI="CBITWaterAlarmBow.ad" type=01 *e code=0321 elementURI="CBITWaterAlarmBow.adRes" type=01 *e code=0322 elementURI="CBITWaterAlarmBow.adVref" type=01 *e code=0323 elementURI="CBITWaterAlarmStern.ad" type=01 *e code=0324 elementURI="CBITWaterAlarmStern.adRes" type=01 *e code=0325 elementURI="CBITWaterAlarmStern.adVref" type=01 *e code=0326 elementURI="CBITWaterAlarmAux.ad" type=01 *e code=0327 elementURI="CBITWaterAlarmAux.adRes" type=01 *e code=0328 elementURI="CBITWaterAlarmAux.adVref" type=01 *e code=0329 elementURI="CTD_NeilBrown.loadControl" type=01 *e code=032A elementURI="CTD_NeilBrown.uart" type=01 *e code=032B elementURI="CTD_NeilBrown.baud" type=01 *e code=032C elementURI="CTD_Seabird.loadControl" type=01 *e code=032D elementURI="CTD_Seabird.uart" type=01 *e code=032E elementURI="CTD_Seabird.baud" type=01 *e code=032F elementURI="DAT.loadControl" type=01 *e code=0330 elementURI="DAT.uart" type=01 *e code=0331 elementURI="DAT.baud" type=01 *e code=0332 elementURI="DATMMP.loadControl" type=01 *e code=0333 elementURI="DATMMP.uart" type=01 *e code=0334 elementURI="DATMMP.baud" type=01 *e code=0335 elementURI="DDM.loadControl" type=01 *e code=0336 elementURI="DDM.uart" type=01 *e code=0337 elementURI="DDM.baud" type=01 *e code=0338 elementURI="Depth_Keller.loadControl" type=01 *e code=0339 elementURI="Depth_Keller.ad" type=01 *e code=033A elementURI="Depth_Keller.adRes" type=01 *e code=033B elementURI="Depth_Keller.adTimeout" type=01 *e code=033C elementURI="Depth_Keller.adVref" type=01 *e code=033D elementURI="DepthKeller33X.loadControl" type=01 *e code=033E elementURI="DepthKeller33X.uart" type=01 *e code=033F elementURI="DepthKeller33X.baud" type=01 *e code=0340 elementURI="DockingServo.loadControl" type=01 *e code=0341 elementURI="DockingServo.uart" type=01 *e code=0342 elementURI="DockingServo.baud" type=01 *e code=0343 elementURI="DockingStepper.loadControl" type=01 *e code=0344 elementURI="DockingStepper.uart" type=01 *e code=0345 elementURI="DockingStepper.baud" type=01 *e code=0346 elementURI="DUSBL_Hydroid.loadControl" type=01 *e code=0347 elementURI="DUSBL_Hydroid.uart" type=01 *e code=0348 elementURI="DUSBL_Hydroid.baud" type=01 *e code=0349 elementURI="DVL_micro.loadControl" type=01 *e code=034A elementURI="DVL_micro.uart" type=01 *e code=034B elementURI="DVL_micro.baud" type=01 *e code=034C elementURI="ElevatorServo.loadControl" type=01 *e code=034D elementURI="ElevatorServo.uart" type=01 *e code=034E elementURI="ElevatorServo.baud" type=01 *e code=034F elementURI="ESPComponent.loadControl" type=01 *e code=0350 elementURI="ESPComponent.loadControl2" type=01 *e code=0351 elementURI="ESPComponent.uart" type=01 *e code=0352 elementURI="ESPComponent.consoleUart" type=01 *e code=0353 elementURI="ESPComponent.baud" type=01 *e code=0354 elementURI="MassServo.loadControl" type=01 *e code=0355 elementURI="MassServo.uart" type=01 *e code=0356 elementURI="MassServo.baud" type=01 *e code=0357 elementURI="Micromodem.loadControl" type=01 *e code=0358 elementURI="Micromodem.uart" type=01 *e code=0359 elementURI="Micromodem.baud" type=01 *e code=035A elementURI="MultiRay.loadControl" type=01 *e code=035B elementURI="MultiRay.uart" type=01 *e code=035C elementURI="MultiRay.loadControl2" type=01 *e code=035D elementURI="MultiRay.uart2" type=01 *e code=035E elementURI="MultiRay.baud" type=01 *e code=035F elementURI="NAL9602.loadControl" type=01 *e code=0360 elementURI="NAL9602.uart" type=01 *e code=0361 elementURI="NAL9602.baud" type=01 *e code=0362 elementURI="NanoDVR.loadControl" type=01 *e code=0363 elementURI="NanoDVR.uart" type=01 *e code=0364 elementURI="NanoDVR.baud" type=01 *e code=0365 elementURI="OnboardHumidity.i2c" type=01 *e code=0366 elementURI="OnboardHumidity.i2cAddr" type=01 *e code=0367 elementURI="OnboardPressure.i2c" type=01 *e code=0368 elementURI="OnboardPressure.i2cAddr" type=01 *e code=0369 elementURI="PAR_Licor.loadControl" type=01 *e code=036A elementURI="PAR_Licor.ad" type=01 *e code=036B elementURI="PAR_Licor.adRes" type=01 *e code=036C elementURI="PAR_Licor.adTimeout" type=01 *e code=036D elementURI="PAR_Licor.adVref" type=01 *e code=036E elementURI="Phins_Multibeam.loadControl" type=01 *e code=036F elementURI="PNI_TCM.loadControl" type=01 *e code=0370 elementURI="PNI_TCM.uart" type=01 *e code=0371 elementURI="PNI_TCM.baud" type=01 *e code=0372 elementURI="Power24vConverter.loadControl" type=01 *e code=0373 elementURI="PowerOnly.loadControl" type=01 *e code=0374 elementURI="PowerOnly.loadControl2" type=01 *e code=0375 elementURI="PowerOnly.loadControl3" type=01 *e code=0376 elementURI="Radio_Surface.loadControl" type=01 *e code=0377 elementURI="RDI_Pathfinder.loadControl" type=01 *e code=0378 elementURI="RDI_Pathfinder.uart" type=01 *e code=0379 elementURI="RDI_Pathfinder.baud" type=01 *e code=037A elementURI="Rowe_600.loadControl" type=01 *e code=037B elementURI="Rowe_600.uart" type=01 *e code=037C elementURI="Rowe_600.baud" type=01 *e code=037D elementURI="RudderServo.loadControl" type=01 *e code=037E elementURI="RudderServo.uart" type=01 *e code=037F elementURI="RudderServo.baud" type=01 *e code=0380 elementURI="SCPI.loadControl" type=01 *e code=0381 elementURI="SCPI.uart" type=01 *e code=0382 elementURI="SCPI.baud" type=01 *e code=0383 elementURI="Sonardyne_Nano.loadControl" type=01 *e code=0384 elementURI="Sonardyne_Nano.uart" type=01 *e code=0385 elementURI="Sonardyne_Nano.baud" type=01 *e code=0386 elementURI="ThrusterServo.loadControl" type=01 *e code=0387 elementURI="ThrusterServo.uart" type=01 *e code=0388 elementURI="ThrusterServo.baud" type=01 *e code=0389 elementURI="ThrusterHE.loadControl" type=01 *e code=038A elementURI="ThrusterHE.uart" type=01 *e code=038B elementURI="ThrusterHE.baud" type=01 *e code=038C elementURI="VemcoVR2C.loadControl" type=01 *e code=038D elementURI="VemcoVR2C.uart" type=01 *e code=038E elementURI="VemcoVR2C.baud" type=01 *e code=038F elementURI="Waterlinked.loadControl" type=01 *e code=0390 elementURI="Waterlinked.uart" type=01 *e code=0391 elementURI="Waterlinked.baud" type=01 *e code=0392 elementURI="WetLabsBB2FL.loadControl" type=01 *e code=0393 elementURI="WetLabsBB2FL.uart" type=01 *e code=0394 elementURI="WetLabsBB2FL.baud" type=01 *e code=0395 elementURI="WetLabsSeaOWL_UV_A.loadControl" type=01 *e code=0396 elementURI="WetLabsSeaOWL_UV_A.uart" type=01 *e code=0397 elementURI="WetLabsSeaOWL_UV_A.baud" type=01 *e code=0398 elementURI="WetLabsUBAT.loadControl" type=01 *e code=0399 elementURI="WetLabsUBAT.uart" type=01 *e code=039A elementURI="WetLabsUBAT.baud" type=01 *e code=039B elementURI="DeadReckonUsingMultipleVelocitySources.loadAtStartup" type=01 *e code=039C elementURI="DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier" type=01 *e code=039D elementURI="DeadReckonUsingMultipleVelocitySources.allowableFailures" type=01 *e code=039E elementURI="DeadReckonUsingMultipleVelocitySources.orientationStaleAfter" type=01 *e code=039F elementURI="DeadReckonUsingMultipleVelocitySources.velocityStaleAfter" type=01 *e code=03A0 elementURI="DeadReckonUsingMultipleVelocitySources.verbosity" type=01 *e code=03A1 elementURI="DeadReckonUsingSpeedCalculator.loadAtStartup" type=01 *e code=03A2 elementURI="DeadReckonUsingSpeedCalculator.accuracyPremultiplier" type=01 *e code=03A3 elementURI="DeadReckonUsingSpeedCalculator.allowableFailures" type=01 *e code=03A4 elementURI="DeadReckonUsingSpeedCalculator.orientationStaleAfter" type=01 *e code=03A5 elementURI="DeadReckonUsingSpeedCalculator.velocityStaleAfter" type=01 *e code=03A6 elementURI="DeadReckonUsingSpeedCalculator.verbosity" type=01 *e code=03A7 elementURI="DeadReckonWithRespectToWater.loadAtStartup" type=01 *e code=03A8 elementURI="DeadReckonWithRespectToWater.accuracyPremultiplier" type=01 *e code=03A9 elementURI="DeadReckonWithRespectToWater.allowableFailures" type=01 *e code=03AA elementURI="DeadReckonWithRespectToWater.orientationStaleAfter" type=01 *e code=03AB elementURI="DeadReckonWithRespectToWater.velocityStaleAfter" type=01 *e code=03AC elementURI="DeadReckonWithRespectToWater.verbosity" type=01 *e code=03AD elementURI="DeadReckonWithRespectToSeafloor.loadAtStartup" type=01 *e code=03AE elementURI="DeadReckonWithRespectToSeafloor.accuracyPremultiplier" type=01 *e code=03AF elementURI="DeadReckonWithRespectToSeafloor.allowableFailures" type=01 *e code=03B0 elementURI="DeadReckonWithRespectToSeafloor.orientationStaleAfter" type=01 *e code=03B1 elementURI="DeadReckonWithRespectToSeafloor.velocityStaleAfter" type=01 *e code=03B2 elementURI="DeadReckonWithRespectToSeafloor.verbosity" type=01 *e code=03B3 elementURI="DeadReckonUsingDVLWaterTrack.loadAtStartup" type=01 *e code=03B4 elementURI="DeadReckonUsingDVLWaterTrack.accuracyPremultiplier" type=01 *e code=03B5 elementURI="DeadReckonUsingDVLWaterTrack.allowableFailures" type=01 *e code=03B6 elementURI="DeadReckonUsingDVLWaterTrack.orientationStaleAfter" type=01 *e code=03B7 elementURI="DeadReckonUsingDVLWaterTrack.velocityStaleAfter" type=01 *e code=03B8 elementURI="DeadReckonUsingDVLWaterTrack.verbosity" type=01 *e code=03B9 elementURI="DeadReckonUsingCompactModelForecast.loadAtStartup" type=01 *e code=03BA elementURI="DeadReckonUsingCompactModelForecast.accuracyPremultiplier" type=01 *e code=03BB elementURI="DeadReckonUsingCompactModelForecast.allowableFailures" type=01 *e code=03BC elementURI="DeadReckonUsingCompactModelForecast.orientationStaleAfter" type=01 *e code=03BD elementURI="DeadReckonUsingCompactModelForecast.velocityStaleAfter" type=01 *e code=03BE elementURI="DeadReckonUsingCompactModelForecast.verbosity" type=01 *e code=03BF elementURI="LBLNavigation.loadAtStartup" type=01 *e code=03C0 elementURI="LBLNavigation.verbosity" type=01 *e code=03C1 elementURI="LBLNavigation.speedOfSound" type=01 *e code=03C2 elementURI="LBLNavigation.navigationError" type=01 *e code=03C3 elementURI="LBLNavigation.baselineLockout" type=01 *e code=03C4 elementURI="LBLNavigation.advancePing" type=01 *e code=03C5 elementURI="LBLNavigation.advancePosition" type=01 *e code=03C6 elementURI="LBLNavigation.maxPositionChange" type=01 *e code=03C7 elementURI="LBLNavigation.maxSpeedWrtTransponder" type=01 *e code=03C8 elementURI="LBLNavigation.pingFilterSize" type=01 *e code=03C9 elementURI="LBLNavigation.maxPingAgeInFilter" type=01 *e code=03CA elementURI="LBLNavigation.maxPingAge" type=01 *e code=03CB elementURI="LBLNavigation.fixFilterSize" type=01 *e code=03CC elementURI="LBLNavigation.fixHalfLifeInFilter" type=01 *e code=03CD elementURI="NavChart.loadAtStartup" type=01 *e code=03CE elementURI="NavChart.UseChartAltitude" type=01 *e code=03CF elementURI="NavChartDb.charts" type=01 *e code=03D0 elementURI="NavChartDb.cycleTimeout" type=01 *e code=03D1 elementURI="UniversalFixResidualReporter.loadAtStartup" type=01 *e code=03D2 elementURI="UniversalFixResidualReporter.verbosity" type=01 *e code=03D3 elementURI="WorkSite.loadAtStartup" type=01 *e code=03D4 elementURI="WorkSite.writeInterval" type=01 *e code=03D5 elementURI="WorkSite.verbosity" type=01 *e code=03D6 elementURI="CBIT.loadAtStartup" type=01 *e code=03D7 elementURI="CBIT.simulateHardware" type=01 *e code=03D8 elementURI="CBIT.stopDepth" type=01 *e code=03D9 elementURI="CBIT.abortDepth" type=01 *e code=03DA elementURI="CBIT.humidityThreshold" type=01 *e code=03DB elementURI="CBIT.pressureThreshold" type=01 *e code=03DC elementURI="CBIT.tempThreshold" type=01 *e code=03DD elementURI="CBIT.navErrorThreshold" type=01 *e code=03DE elementURI="CBIT.runNavErrorCritical" type=01 *e code=03DF elementURI="CBIT.abortDepthTimeout" type=01 *e code=03E0 elementURI="CBIT.battFailReport" type=01 *e code=03E1 elementURI="CBIT.battFailReportTime" type=01 *e code=03E2 elementURI="CBIT.battTempThreshold" type=01 *e code=03E3 elementURI="CBIT.envTimeout" type=01 *e code=03E4 elementURI="CBIT.runElevOffsetCalc" type=01 *e code=03E5 elementURI="CBIT.runFaultClassifier" type=01 *e code=03E6 elementURI="CBIT.vehicleOpen" type=01 *e code=03E7 elementURI="CBIT.allowAuxLeak" type=01 *e code=03E8 elementURI="CBIT.gfChanA0_Threshold" type=01 *e code=03E9 elementURI="CBIT.gfChanA1_Threshold" type=01 *e code=03EA elementURI="CBIT.gfChanA2_Threshold" type=01 *e code=03EB elementURI="CBIT.gfChanA3_Threshold" type=01 *e code=03EC elementURI="CBIT.gfChanB0_Threshold" type=01 *e code=03ED elementURI="CBIT.gfChanB1_Threshold" type=01 *e code=03EE elementURI="CBIT.gfChanB2_Threshold" type=01 *e code=03EF elementURI="CBIT.gfChanB3_Threshold" type=01 *e code=03F0 elementURI="CBIT.gfScanTimeout" type=01 *e code=03F1 elementURI="CBIT.gfBattOffset" type=01 *e code=03F2 elementURI="CBIT.gf24Offset" type=01 *e code=03F3 elementURI="CBIT.gf12Offset" type=01 *e code=03F4 elementURI="CBIT.gf5Offset" type=01 *e code=03F5 elementURI="CBIT.gf3_3Offset" type=01 *e code=03F6 elementURI="CBIT.gf3_15Offset" type=01 *e code=03F7 elementURI="CBIT.gfCommOffset" type=01 *e code=03F8 elementURI="SBIT.loadAtStartup" type=01 *e code=03F9 elementURI="SBIT.simulateHardware" type=01 *e code=03FA elementURI="SBIT.kernelRelease" type=01 *e code=03FB elementURI="SBIT.kernelVersion" type=01 *e code=03FC elementURI="IBIT.loadAtStartup" type=01 *e code=03FD elementURI="IBIT.batteryCapacityThreshold" type=01 *e code=03FE elementURI="IBIT.batteryVoltageThreshold" type=01 *e code=03FF elementURI="Aanderaa_O2.loadAtStartup" type=01 *e code=0400 elementURI="Aanderaa_O2.simulateHardware" type=01 *e code=0401 elementURI="Aanderaa_O2.model" type=01 *e code=0402 elementURI="Aanderaa_O2.power" type=01 *e code=0403 elementURI="CANONSampler.loadAtStartup" type=01 *e code=0404 elementURI="CANONSampler.simulateHardware" type=01 *e code=0405 elementURI="CANONSampler.rotateOnly" type=01 *e code=0406 elementURI="CANONSampler.sampleTimeout" type=01 *e code=0407 elementURI="CTD_NeilBrown.loadAtStartup" type=01 *e code=0408 elementURI="CTD_NeilBrown.simulateHardware" type=01 *e code=0409 elementURI="CTD_NeilBrown.maxPressBound" type=01 *e code=040A elementURI="CTD_NeilBrown.minPressBound" type=01 *e code=040B elementURI="CTD_NeilBrown.maxSalinityBound" type=01 *e code=040C elementURI="CTD_NeilBrown.minSalinityBound" type=01 *e code=040D elementURI="CTD_NeilBrown.offset" type=01 *e code=040E elementURI="CTD_NeilBrown.power" type=01 *e code=040F elementURI="CTD_Seabird.loadAtStartup" type=01 *e code=0410 elementURI="CTD_Seabird.simulateHardware" type=01 *e code=0411 elementURI="CTD_Seabird.maxPressBound" type=01 *e code=0412 elementURI="CTD_Seabird.minPressBound" type=01 *e code=0413 elementURI="CTD_Seabird.maxSalinityBound" type=01 *e code=0414 elementURI="CTD_Seabird.minSalinityBound" type=01 *e code=0415 elementURI="CTD_Seabird.offset" type=01 *e code=0416 elementURI="CTD_Seabird.verbosity" type=01 *e code=0417 elementURI="CTD_Seabird.SBE43FSerialNumber" type=01 *e code=0418 elementURI="CTD_Seabird.oxygenCalCoeffFOffset" type=01 *e code=0419 elementURI="CTD_Seabird.oxygenCalCoeffSoc" type=01 *e code=041A elementURI="CTD_Seabird.oxygenCalCoeffA" type=01 *e code=041B elementURI="CTD_Seabird.oxygenCalCoeffB" type=01 *e code=041C elementURI="CTD_Seabird.oxygenCalCoeffC" type=01 *e code=041D elementURI="CTD_Seabird.oxygenCalCoeffE" type=01 *e code=041E elementURI="ESPComponent.loadAtStartup" type=01 *e code=041F elementURI="ESPComponent.simulateHardware" type=01 *e code=0420 elementURI="ESPComponent.connectTimeout" type=01 *e code=0421 elementURI="ESPComponent.debug" type=01 *e code=0422 elementURI="ESPComponent.espLogFilterRegex" type=01 *e code=0423 elementURI="ESPComponent.espServerHost" type=01 *e code=0424 elementURI="ESPComponent.filterCompleteTimeout" type=01 *e code=0425 elementURI="ESPComponent.filterResultTimeout" type=01 *e code=0426 elementURI="ESPComponent.initialPromptTimeout" type=01 *e code=0427 elementURI="ESPComponent.loadCartridgeTimeout" type=01 *e code=0428 elementURI="ESPComponent.poTimeout" type=01 *e code=0429 elementURI="ESPComponent.poRetryWait" type=01 *e code=042A elementURI="ESPComponent.power" type=01 *e code=042B elementURI="ESPComponent.pppConnect" type=01 *e code=042C elementURI="ESPComponent.pppFlow" type=01 *e code=042D elementURI="ESPComponent.processCompleteTimeout" type=01 *e code=042E elementURI="ESPComponent.processResultTimeout" type=01 *e code=042F elementURI="ESPComponent.sampleTimeout" type=01 *e code=0430 elementURI="ESPComponent.socketServerPort" type=01 *e code=0431 elementURI="ESPComponent.stopResultTimeout" type=01 *e code=0432 elementURI="ESPComponent.upsync" type=01 *e code=0433 elementURI="ESPComponent.upsyncTimeout" type=01 *e code=0434 elementURI="PAR_Licor.loadAtStartup" type=01 *e code=0435 elementURI="PAR_Licor.simulateHardware" type=01 *e code=0436 elementURI="PAR_Licor.adcCal" type=01 *e code=0437 elementURI="PAR_Licor.darkCount" type=01 *e code=0438 elementURI="PAR_Licor.maxBound" type=01 *e code=0439 elementURI="PAR_Licor.maxValidPitch" type=01 *e code=043A elementURI="PAR_Licor.minBound" type=01 *e code=043B elementURI="PAR_Licor.minValidPitch" type=01 *e code=043C elementURI="PAR_Licor.multiplier" type=01 *e code=043D elementURI="PAR_Licor.parCal" type=01 *e code=043E elementURI="PAR_Licor.serial" type=01 *e code=043F elementURI="VemcoVR2C.loadAtStartup" type=01 *e code=0440 elementURI="VemcoVR2C.simulateHardware" type=01 *e code=0441 elementURI="VemcoVR2C0.power" type=01 *e code=0442 elementURI="WetLabsBB2FL.loadAtStartup" type=01 *e code=0443 elementURI="WetLabsBB2FL.simulateHardware" type=01 *e code=0444 elementURI="WetLabsBB2FL.chlAccuracy" type=01 *e code=0445 elementURI="WetLabsBB2FL.cdomAccuracy" type=01 *e code=0446 elementURI="WetLabsBB2FL.darkCounts470" type=01 *e code=0447 elementURI="WetLabsBB2FL.darkCounts650" type=01 *e code=0448 elementURI="WetLabsBB2FL.darkCountsChl" type=01 *e code=0449 elementURI="WetLabsBB2FL.darkCountsCDOM" type=01 *e code=044A elementURI="WetLabsBB2FL.power" type=01 *e code=044B elementURI="WetLabsBB2FL.scaleFactor470" type=01 *e code=044C elementURI="WetLabsBB2FL.scaleFactor650" type=01 *e code=044D elementURI="WetLabsBB2FL.scaleFactorChl" type=01 *e code=044E elementURI="WetLabsBB2FL.scaleFactorCDOM" type=01 *e code=044F elementURI="WetLabsBB2FL.serial" type=01 *e code=0450 elementURI="WetLabsSeaOWL_UV_A.loadAtStartup" type=01 *e code=0451 elementURI="WetLabsSeaOWL_UV_A.simulateHardware" type=01 *e code=0452 elementURI="WetLabsSeaOWL_UV_A.chlAccuracy" type=01 *e code=0453 elementURI="WetLabsSeaOWL_UV_A.darkCounts700" type=01 *e code=0454 elementURI="WetLabsSeaOWL_UV_A.darkCountsChl" type=01 *e code=0455 elementURI="WetLabsSeaOWL_UV_A.darkCountsFDOM" type=01 *e code=0456 elementURI="WetLabsSeaOWL_UV_A.darkCountsOil" type=01 *e code=0457 elementURI="WetLabsSeaOWL_UV_A.fdomAccuracy" type=01 *e code=0458 elementURI="WetLabsSeaOWL_UV_A.oilAccuracy" type=01 *e code=0459 elementURI="WetLabsSeaOWL_UV_A.period" type=01 *e code=045A elementURI="WetLabsSeaOWL_UV_A.power" type=01 *e code=045B elementURI="WetLabsSeaOWL_UV_A.scaleFactor700" type=01 *e code=045C elementURI="WetLabsSeaOWL_UV_A.scaleFactorChl" type=01 *e code=045D elementURI="WetLabsSeaOWL_UV_A.scaleFactorFDOM" type=01 *e code=045E elementURI="WetLabsSeaOWL_UV_A.scaleFactorOil" type=01 *e code=045F elementURI="WetLabsSeaOWL_UV_A.serial" type=01 *e code=0460 elementURI="WetLabsSeaOWL_UV_A.timeout" type=01 *e code=0461 elementURI="WetLabsUBAT.loadAtStartup" type=01 *e code=0462 elementURI="WetLabsUBAT.simulateHardware" type=01 *e code=0463 elementURI="WetLabsUBAT.serial" type=01 *e code=0464 elementURI="WetLabsUBAT.flowrateCalibCoeff" type=01 *e code=0465 elementURI="WetLabsUBAT.minFlowrate" type=01 *e code=0466 elementURI="WetLabsUBAT.optionalArgs" type=01 *e code=0467 elementURI="WetLabsUBAT.emulateHardware" type=01 *e code=0468 elementURI="HorizontalControl.loadAtStartup" type=01 *e code=0469 elementURI="HorizontalControl.kdHeading" type=01 *e code=046A elementURI="HorizontalControl.kiHeading" type=01 *e code=046B elementURI="HorizontalControl.kiwpHeading" type=01 *e code=046C elementURI="HorizontalControl.kpHeading" type=01 *e code=046D elementURI="HorizontalControl.kwpHeading" type=01 *e code=046E elementURI="HorizontalControl.maxHdgAccel" type=01 *e code=046F elementURI="HorizontalControl.maxHdgInt" type=01 *e code=0470 elementURI="HorizontalControl.maxHdgRate" type=01 *e code=0471 elementURI="HorizontalControl.maxKxte" type=01 *e code=0472 elementURI="HorizontalControl.rudDeadband" type=01 *e code=0473 elementURI="HorizontalControl.rudLimit" type=01 *e code=0474 elementURI="LoopControl.loadAtStartup" type=01 *e code=0475 elementURI="LoopControl.nominalDt" type=01 *e code=0476 elementURI="SpeedControl.loadAtStartup" type=01 *e code=0477 elementURI="SpeedControl.propPitch" type=01 *e code=0478 elementURI="VerticalControl.loadAtStartup" type=01 *e code=0479 elementURI="VerticalControl.buoyancyDefault" type=01 *e code=047A elementURI="VerticalControl.buoyancyLimitHiCC" type=01 *e code=047B elementURI="VerticalControl.buoyancyLimitLoCC" type=01 *e code=047C elementURI="VerticalControl.buoyancyNeutral" type=01 *e code=047D elementURI="VerticalControl.buoyancyPumpDepth" type=01 *e code=047E elementURI="VerticalControl.depthDeadband" type=01 *e code=047F elementURI="VerticalControl.depthRateDeadband" type=01 *e code=0480 elementURI="VerticalControl.depthRateSamples" type=01 *e code=0481 elementURI="VerticalControl.dropWtDepthExcursion" type=01 *e code=0482 elementURI="VerticalControl.dropWtOverrideDelay" type=01 *e code=0483 elementURI="VerticalControl.elevDeadband" type=01 *e code=0484 elementURI="VerticalControl.elevLimit" type=01 *e code=0485 elementURI="VerticalControl.elevTurnTime" type=01 *e code=0486 elementURI="VerticalControl.excursionDepthTimeout" type=01 *e code=0487 elementURI="VerticalControl.kdDepth" type=01 *e code=0488 elementURI="VerticalControl.kdDepthBuoy" type=01 *e code=0489 elementURI="VerticalControl.kdDepthRateBuoy" type=01 *e code=048A elementURI="VerticalControl.kdPitchElevator" type=01 *e code=048B elementURI="VerticalControl.kdPitchMass" type=01 *e code=048C elementURI="VerticalControl.kiDepth" type=01 *e code=048D elementURI="VerticalControl.kiDepthBuoy" type=01 *e code=048E elementURI="VerticalControl.kiDepthOff" type=01 *e code=048F elementURI="VerticalControl.kiDepthRateBuoy" type=01 *e code=0490 elementURI="VerticalControl.kiPitchElevator" type=01 *e code=0491 elementURI="VerticalControl.kiPitchMass" type=01 *e code=0492 elementURI="VerticalControl.kpDepth" type=01 *e code=0493 elementURI="VerticalControl.kpDepthBuoy" type=01 *e code=0494 elementURI="VerticalControl.kpDepthRateBuoy" type=01 *e code=0495 elementURI="VerticalControl.kpPitchElevator" type=01 *e code=0496 elementURI="VerticalControl.kpPitchMass" type=01 *e code=0497 elementURI="VerticalControl.limitDepthTrajectory" type=01 *e code=0498 elementURI="VerticalControl.massBackOnGoToSurface" type=01 *e code=0499 elementURI="VerticalControl.massDeadband" type=01 *e code=049A elementURI="VerticalControl.massDefault" type=01 *e code=049B elementURI="VerticalControl.massFilterLimit" type=01 *e code=049C elementURI="VerticalControl.massFilterWidth" type=01 *e code=049D elementURI="VerticalControl.massPositionLimitAft" type=01 *e code=049E elementURI="VerticalControl.massPositionLimitFwd" type=01 *e code=049F elementURI="VerticalControl.massTurnTime" type=01 *e code=04A0 elementURI="VerticalControl.maxBuoyDiveAccel" type=01 *e code=04A1 elementURI="VerticalControl.maxBuoyDiveRate" type=01 *e code=04A2 elementURI="VerticalControl.maxBuoyInt" type=01 *e code=04A3 elementURI="VerticalControl.maxDepthInt" type=01 *e code=04A4 elementURI="VerticalControl.maxDiveAccel" type=01 *e code=04A5 elementURI="VerticalControl.maxDiveRate" type=01 *e code=04A6 elementURI="VerticalControl.maxPitchElevatorInt" type=01 *e code=04A7 elementURI="VerticalControl.maxPitchMassInt" type=01 *e code=04A8 elementURI="VerticalControl.maxPitchRate" type=01 *e code=04A9 elementURI="VerticalControl.minAscendPitch" type=01 *e code=04AA elementURI="VerticalControl.minDepthExcursion" type=01 *e code=04AB elementURI="VerticalControl.pitchLimit" type=01 *e code=04AC elementURI="VerticalControl.pitchTimeoutGoToSurface" type=01 *e code=04AD elementURI="VerticalControl.stopDepthExcursion" type=01 *e code=04AE elementURI="VerticalControl.stopOverrideDelay" type=01 *e code=04AF elementURI="VerticalControl.stopOverrideDelayBuoy" type=01 *e code=04B0 elementURI="VerticalControl.surfaceThreshold" type=01 *e code=04B1 elementURI="VerticalControl.useElevIntInDepthMode" type=01 *e code=04B2 elementURI="VerticalControl.massOnlyForceInt" type=01 *e code=04B3 elementURI="Config/Battery.stick1" type=00 *e code=04B4 elementURI="Config/Battery.stick2" type=00 *e code=04B5 elementURI="Config/Battery.stick3" type=00 *e code=04B6 elementURI="Config/Battery.stick4" type=00 *e code=04B7 elementURI="Config/Battery.stick5" type=00 *e code=04B8 elementURI="Config/Battery.stick6" type=00 *e code=04B9 elementURI="Config/Battery.stick7" type=00 *e code=04BA elementURI="Config/Battery.stick8" type=00 *e code=04BB elementURI="Config/Battery.stick9" type=00 *e code=04BC elementURI="Config/Battery.stick10" type=00 *e code=04BD elementURI="Config/Battery.stick11" type=00 *e code=04BE elementURI="Config/Battery.stick12" type=00 *e code=04BF elementURI="Config/Battery.stick13" type=00 *e code=04C0 elementURI="Config/Battery.stick14" type=00 *e code=04C1 elementURI="Config/Battery.stick15" type=00 *e code=04C2 elementURI="Config/Battery.stick16" type=00 *e code=04C3 elementURI="Config/Battery.stick17" type=00 *e code=04C4 elementURI="Config/Battery.stick18" type=00 *e code=04C5 elementURI="Config/Battery.stick19" type=00 *e code=04C6 elementURI="Config/Battery.stick20" type=00 *e code=04C7 elementURI="Config/Battery.stick21" type=00 *e code=04C8 elementURI="Config/Battery.stick22" type=00 *e code=04C9 elementURI="Config/Battery.stick23" type=00 *e code=04CA elementURI="Config/Battery.stick24" type=00 *e code=04CB elementURI="Config/Battery.stick25" type=00 *e code=04CC elementURI="Config/Battery.stick26" type=00 *e code=04CD elementURI="Config/Battery.stick27" type=00 *e code=04CE elementURI="Config/Battery.stick28" type=00 *e code=04CF elementURI="Config/Battery.stick29" type=00 *e code=04D0 elementURI="Config/Battery.stick30" type=00 *e code=04D1 elementURI="Config/Battery.stick31" type=00 *e code=04D2 elementURI="Config/Battery.stick32" type=00 *e code=04D3 elementURI="Config/Battery.stick33" type=00 *e code=04D4 elementURI="Config/Battery.stick34" type=00 *e code=04D5 elementURI="Config/Battery.stick35" type=00 *e code=04D6 elementURI="Config/Battery.stick36" type=00 *e code=04D7 elementURI="Config/Battery.stick37" type=00 *e code=04D8 elementURI="Config/Battery.stick38" type=00 *e code=04D9 elementURI="Config/Battery.stick39" type=00 *e code=04DA elementURI="Config/Battery.stick40" type=00 *e code=04DB elementURI="Config/Battery.stick41" type=00 *e code=04DC elementURI="Config/Battery.stick42" type=00 *e code=04DD elementURI="Config/Battery.stick43" type=00 *e code=04DE elementURI="Config/Battery.stick44" type=00 *e code=04DF elementURI="Config/Battery.stick45" type=00 *e code=04E0 elementURI="Config/Battery.stick46" type=00 *e code=04E1 elementURI="Config/Battery.stick47" type=00 *e code=04E2 elementURI="Config/Battery.stick48" type=00 *e code=04E3 elementURI="Config/Battery.stick49" type=00 *e code=04E4 elementURI="Config/Battery.stick50" type=00 *e code=04E5 elementURI="Config/Battery.stick51" type=00 *e code=04E6 elementURI="Config/Battery.stick52" type=00 *e code=04E7 elementURI="Config/Battery.stick53" type=00 *e code=04E8 elementURI="Config/Battery.stick54" type=00 *e code=04E9 elementURI="Config/Battery.stick55" type=00 *e code=04EA elementURI="Config/Battery.stick56" type=00 *e code=04EB elementURI="Config/Battery.stick57" type=00 *e code=04EC elementURI="Config/Battery.stick58" type=00 *e code=04ED elementURI="Config/Battery.stick59" type=00 *e code=04EE elementURI="Config/Battery.stick60" type=00 *e code=04EF elementURI="Config/Battery.stick61" type=00 *e code=04F0 elementURI="Config/Battery.stick62" type=00 *e code=04F1 elementURI="VerticalControl.enableBroadcast" type=02 *e code=04F2 elementURI="VerticalControl.verticalMode" type=02 *e code=04F3 elementURI="VerticalControl.depthCmd" type=02 *e code=04F4 elementURI="VerticalControl.depthRateCmd" type=02 *e code=04F5 elementURI="VerticalControl.pitchCmd" type=02 *e code=04F6 elementURI="VerticalControl.pitchRateCmd" type=02 *e code=04F7 elementURI="VerticalControl.buoyancyCmd" type=02 *e code=04F8 elementURI="VerticalControl.massPositionCmd" type=02 *e code=04F9 elementURI="VerticalControl.elevatorAngleCmd" type=02 *e code=04FA elementURI="LoopControl.periodCmd" type=02 *e code=04FB elementURI="SpeedControl.speedCmd" type=02 *e code=04FC elementURI="VerticalControl.depth2buoyIntInternal" type=02 *e code=04FD elementURI="VerticalControl.depthErrorInternal" type=02 *e code=04FE elementURI="VerticalControl.depthIntegralInternal" type=02 *e code=04FF elementURI="VerticalControl.dtInternal" type=02 *e code=0500 elementURI="VerticalControl.elevatorIntegralInternal" type=02 *e code=0501 elementURI="VerticalControl.massIntegralInternal" type=02 *e code=0502 elementURI="VerticalControl.massPitchErrorInternal" type=02 *e code=0503 elementURI="VerticalControl.pitchInternal" type=02 *e code=0504 elementURI="VerticalControl.smoothDepthInternal" type=02 *e code=0505 elementURI="VerticalControl.elevatorAngleAction" type=02 *e code=0506 elementURI="VerticalControl.massPositionAction" type=02 *e code=0507 elementURI="VerticalControl.buoyancyAction" type=02 *e code=0508 elementURI="HorizontalControl.enableBroadcast" type=02 *e code=0509 elementURI="HorizontalControl.horizontalMode" type=02 *e code=050A elementURI="HorizontalControl.latitudeCmd" type=02 *e code=050B elementURI="HorizontalControl.longitudeCmd" type=02 *e code=050C elementURI="HorizontalControl.headingCmd" type=02 *e code=050D elementURI="HorizontalControl.headingRateCmd" type=02 *e code=050E elementURI="HorizontalControl.rudderAngleCmd" type=02 *e code=050F elementURI="HorizontalControl.bearingCmd" type=02 *e code=0510 elementURI="HorizontalControl.kdHeadingOverride" type=02 *e code=0511 elementURI="HorizontalControl.kiHeadingOverride" type=02 *e code=0512 elementURI="HorizontalControl.kpHeadingOverride" type=02 *e code=0513 elementURI="HorizontalControl.headingCmdInternal" type=02 *e code=0514 elementURI="HorizontalControl.smoothHeadingCmdInternal" type=02 *e code=0515 elementURI="HorizontalControl.headingIntegralInternal" type=02 *e code=0516 elementURI="HorizontalControl.xteIntegralInternal" type=02 *e code=0517 elementURI="HorizontalControl.xteInternal" type=02 *e code=0518 elementURI="HorizontalControl.kxteInternal" type=02 *e code=0519 elementURI="HorizontalControl.bearingInternal" type=02 *e code=051A elementURI="HorizontalControl.kpHeadingInternal" type=02 *e code=051B elementURI="HorizontalControl.kiHeadingInternal" type=02 *e code=051C elementURI="HorizontalControl.kdHeadingInternal" type=02 *e code=051D elementURI="HorizontalControl.rudderAngleAction" type=02 *e code=051E elementURI="SpeedControl.enableBroadcast" type=02 *e code=051F elementURI="SpeedControl.propOmegaAction" type=02 *e code=0520 elementURI="LoopControl.enableBroadcast" type=02 *e code=0521 elementURI="DepthRateCalculator.enableBroadcast" type=02 *e code=0522 elementURI="DepthRateCalculator.depth_rate" type=00 *e code=0523 elementURI="PitchRateCalculator.enableBroadcast" type=02 *e code=0524 elementURI="PitchRateCalculator.platform_pitch_rate" type=00 *e code=0525 elementURI="SpeedCalculator.enableBroadcast" type=02 *e code=0526 elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=00 *e code=0527 elementURI="SpeedCalculator.platform_x_velocity_wrt_sea_water" type=00 *e code=0528 elementURI="SpeedCalculator.platform_distance_wrt_sea_water" type=00 *e code=0529 elementURI="YawRateCalculator.enableBroadcast" type=02 *e code=052A elementURI="YawRateCalculator.platform_yaw_rate" type=00 *e code=052B elementURI="ElevatorOffsetCalculator.enableBroadcast" type=02 *e code=052C elementURI="ElevatorOffsetCalculator.elevator_angle_average" type=02 *e code=052D elementURI="ElevatorOffsetCalculator.elevator_angle_variance" type=02 *e code=052E elementURI="ElevatorOffsetCalculator.elevator_angle_error_bound" type=02 *e code=052F elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_speed_identifier" type=02 *e code=0530 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier" type=02 *e code=0531 elementURI="ElevatorOffsetCalculator.elevator_angle_cmd_mass_position_identifier" type=02 *e code=0532 elementURI="AHRS_M2.enableBroadcast" type=02 *e code=0533 elementURI="AHRS_M2.component_voltage" type=02 *e code=0534 elementURI="AHRS_M2.component_avgVoltage" type=02 *e code=0535 elementURI="AHRS_M2.component_current" type=02 *e code=0536 elementURI="AHRS_M2.component_avgCurrent" type=02 *e code=0537 elementURI="AHRS_M2.component_discreteIn" type=02 *e code=0538 elementURI="AHRS_M2.platform_magnetic_orientation" type=00 *e code=0539 elementURI="AHRS_M2.platform_pitch_angle" type=00 *e code=053A elementURI="AHRS_M2.platform_roll_angle" type=00 *e code=053B elementURI="AHRS_M2.platform_orientation" type=00 *e code=053C elementURI="AHRS_M2.platform_orientation_matrix" type=12 blobType=11 fixedSize=0003,0003 *e code=053D elementURI="AHRS_M2.calibration_state" type=02 *e code=053E elementURI="AHRS_M2.orientation_error" type=02 *e code=053F elementURI="AHRS_M2.orientation" type=02 *e code=0540 elementURI="AHRS_M2.temperature" type=02 *e code=0541 elementURI="AHRS_M2.acceleration_along_xyz" type=12 blobType=11 fixedSize=0003 *e code=0542 elementURI="AHRS_M2.angular_velocity_along_xyz" type=12 blobType=11 fixedSize=0003 *e code=0543 elementURI="AHRS_M2.magnetic_field_along_xyz" type=12 blobType=11 fixedSize=0003 *e code=0544 elementURI="AHRS_M2.number_of_calbration_points" type=02 *e code=0545 elementURI="BackseatComponent.enableBroadcast" type=02 *e code=0546 elementURI="BackseatComponent.component_voltage" type=02 *e code=0547 elementURI="BackseatComponent.component_avgVoltage" type=02 *e code=0548 elementURI="BackseatComponent.component_current" type=02 *e code=0549 elementURI="BackseatComponent.component_avgCurrent" type=02 *e code=054A elementURI="BackseatComponent.component_discreteIn" type=02 *e code=054B elementURI="BackseatComponent.handled_message" type=02 *e code=054C elementURI="Power24vConverter.power24vConverter" type=02 *e code=054D elementURI="BackseatComponent.power_backseat" type=02 *e code=054E elementURI="LcmUniversalReporter.enableBroadcast" type=02 *e code=054F elementURI="BPC1.enableBroadcast" type=02 *e code=0550 elementURI="BPC1.reserve_battery_charge" type=02 *e code=0551 elementURI="BPC1.reserve_battery_voltage" type=02 *e code=0552 elementURI="BPC1.battery_charging_sticks" type=02 *e code=0553 elementURI="BPC1.platform_battery_charge" type=00 *e code=0554 elementURI="BPC1.platform_battery_voltage" type=00 *e code=0555 elementURI="BPC1.platform_battery_discharging" type=00 *e code=0556 elementURI="BPC1.BattCapacity_1" type=00 *e code=0557 elementURI="BPC1.BattCurrent_1" type=00 *e code=0558 elementURI="BPC1.BattStatus_1" type=00 *e code=0559 elementURI="BPC1.BattTemp_1" type=00 *e code=055A elementURI="BPC1.BattVoltage_1" type=00 *e code=055B elementURI="BPC1.BattCapacity_2" type=00 *e code=055C elementURI="BPC1.BattCurrent_2" type=00 *e code=055D elementURI="BPC1.BattStatus_2" type=00 *e code=055E elementURI="BPC1.BattTemp_2" type=00 *e code=055F elementURI="BPC1.BattVoltage_2" type=00 *e code=0560 elementURI="BPC1.BattCapacity_3" type=00 *e code=0561 elementURI="BPC1.BattCurrent_3" type=00 *e code=0562 elementURI="BPC1.BattStatus_3" type=00 *e code=0563 elementURI="BPC1.BattTemp_3" type=00 *e code=0564 elementURI="BPC1.BattVoltage_3" type=00 *e code=0565 elementURI="BPC1.BattCapacity_4" type=00 *e code=0566 elementURI="BPC1.BattCurrent_4" type=00 *e code=0567 elementURI="BPC1.BattStatus_4" type=00 *e code=0568 elementURI="BPC1.BattTemp_4" type=00 *e code=0569 elementURI="BPC1.BattVoltage_4" type=00 *e code=056A elementURI="BPC1.BattCapacity_5" type=00 *e code=056B elementURI="BPC1.BattCurrent_5" type=00 *e code=056C elementURI="BPC1.BattStatus_5" type=00 *e code=056D elementURI="BPC1.BattTemp_5" type=00 *e code=056E elementURI="BPC1.BattVoltage_5" type=00 *e code=056F elementURI="BPC1.BattCapacity_6" type=00 *e code=0570 elementURI="BPC1.BattCurrent_6" type=00 *e code=0571 elementURI="BPC1.BattStatus_6" type=00 *e code=0572 elementURI="BPC1.BattTemp_6" type=00 *e code=0573 elementURI="BPC1.BattVoltage_6" type=00 *e code=0574 elementURI="BPC1.BattCapacity_7" type=00 *e code=0575 elementURI="BPC1.BattCurrent_7" type=00 *e code=0576 elementURI="BPC1.BattStatus_7" type=00 *e code=0577 elementURI="BPC1.BattTemp_7" type=00 *e code=0578 elementURI="BPC1.BattVoltage_7" type=00 *e code=0579 elementURI="BPC1.BattCapacity_8" type=00 *e code=057A elementURI="BPC1.BattCurrent_8" type=00 *e code=057B elementURI="BPC1.BattStatus_8" type=00 *e code=057C elementURI="BPC1.BattTemp_8" type=00 *e code=057D elementURI="BPC1.BattVoltage_8" type=00 *e code=057E elementURI="BPC1.BattCapacity_9" type=00 *e code=057F elementURI="BPC1.BattCurrent_9" type=00 *e code=0580 elementURI="BPC1.BattStatus_9" type=00 *e code=0581 elementURI="BPC1.BattTemp_9" type=00 *e code=0582 elementURI="BPC1.BattVoltage_9" type=00 *e code=0583 elementURI="BPC1.BattCapacity_10" type=00 *e code=0584 elementURI="BPC1.BattCurrent_10" type=00 *e code=0585 elementURI="BPC1.BattStatus_10" type=00 *e code=0586 elementURI="BPC1.BattTemp_10" type=00 *e code=0587 elementURI="BPC1.BattVoltage_10" type=00 *e code=0588 elementURI="BPC1.BattCapacity_11" type=00 *e code=0589 elementURI="BPC1.BattCurrent_11" type=00 *e code=058A elementURI="BPC1.BattStatus_11" type=00 *e code=058B elementURI="BPC1.BattTemp_11" type=00 *e code=058C elementURI="BPC1.BattVoltage_11" type=00 *e code=058D elementURI="BPC1.BattCapacity_12" type=00 *e code=058E elementURI="BPC1.BattCurrent_12" type=00 *e code=058F elementURI="BPC1.BattStatus_12" type=00 *e code=0590 elementURI="BPC1.BattTemp_12" type=00 *e code=0591 elementURI="BPC1.BattVoltage_12" type=00 *e code=0592 elementURI="BPC1.BattCapacity_13" type=00 *e code=0593 elementURI="BPC1.BattCurrent_13" type=00 *e code=0594 elementURI="BPC1.BattStatus_13" type=00 *e code=0595 elementURI="BPC1.BattTemp_13" type=00 *e code=0596 elementURI="BPC1.BattVoltage_13" type=00 *e code=0597 elementURI="BPC1.BattCapacity_14" type=00 *e code=0598 elementURI="BPC1.BattCurrent_14" type=00 *e code=0599 elementURI="BPC1.BattStatus_14" type=00 *e code=059A elementURI="BPC1.BattTemp_14" type=00 *e code=059B elementURI="BPC1.BattVoltage_14" type=00 *e code=059C elementURI="BPC1.BattCapacity_15" type=00 *e code=059D elementURI="BPC1.BattCurrent_15" type=00 *e code=059E elementURI="BPC1.BattStatus_15" type=00 *e code=059F elementURI="BPC1.BattTemp_15" type=00 *e code=05A0 elementURI="BPC1.BattVoltage_15" type=00 *e code=05A1 elementURI="BPC1.BattCapacity_16" type=00 *e code=05A2 elementURI="BPC1.BattCurrent_16" type=00 *e code=05A3 elementURI="BPC1.BattStatus_16" type=00 *e code=05A4 elementURI="BPC1.BattTemp_16" type=00 *e code=05A5 elementURI="BPC1.BattVoltage_16" type=00 *e code=05A6 elementURI="BPC1.BattCapacity_17" type=00 *e code=05A7 elementURI="BPC1.BattCurrent_17" type=00 *e code=05A8 elementURI="BPC1.BattStatus_17" type=00 *e code=05A9 elementURI="BPC1.BattTemp_17" type=00 *e code=05AA elementURI="BPC1.BattVoltage_17" type=00 *e code=05AB elementURI="BPC1.BattCapacity_18" type=00 *e code=05AC elementURI="BPC1.BattCurrent_18" type=00 *e code=05AD elementURI="BPC1.BattStatus_18" type=00 *e code=05AE elementURI="BPC1.BattTemp_18" type=00 *e code=05AF elementURI="BPC1.BattVoltage_18" type=00 *e code=05B0 elementURI="BPC1.BattCapacity_19" type=00 *e code=05B1 elementURI="BPC1.BattCurrent_19" type=00 *e code=05B2 elementURI="BPC1.BattStatus_19" type=00 *e code=05B3 elementURI="BPC1.BattTemp_19" type=00 *e code=05B4 elementURI="BPC1.BattVoltage_19" type=00 *e code=05B5 elementURI="BPC1.BattCapacity_20" type=00 *e code=05B6 elementURI="BPC1.BattCurrent_20" type=00 *e code=05B7 elementURI="BPC1.BattStatus_20" type=00 *e code=05B8 elementURI="BPC1.BattTemp_20" type=00 *e code=05B9 elementURI="BPC1.BattVoltage_20" type=00 *e code=05BA elementURI="BPC1.BattCapacity_21" type=00 *e code=05BB elementURI="BPC1.BattCurrent_21" type=00 *e code=05BC elementURI="BPC1.BattStatus_21" type=00 *e code=05BD elementURI="BPC1.BattTemp_21" type=00 *e code=05BE elementURI="BPC1.BattVoltage_21" type=00 *e code=05BF elementURI="BPC1.BattCapacity_22" type=00 *e code=05C0 elementURI="BPC1.BattCurrent_22" type=00 *e code=05C1 elementURI="BPC1.BattStatus_22" type=00 *e code=05C2 elementURI="BPC1.BattTemp_22" type=00 *e code=05C3 elementURI="BPC1.BattVoltage_22" type=00 *e code=05C4 elementURI="BPC1.BattCapacity_23" type=00 *e code=05C5 elementURI="BPC1.BattCurrent_23" type=00 *e code=05C6 elementURI="BPC1.BattStatus_23" type=00 *e code=05C7 elementURI="BPC1.BattTemp_23" type=00 *e code=05C8 elementURI="BPC1.BattVoltage_23" type=00 *e code=05C9 elementURI="BPC1.BattCapacity_24" type=00 *e code=05CA elementURI="BPC1.BattCurrent_24" type=00 *e code=05CB elementURI="BPC1.BattStatus_24" type=00 *e code=05CC elementURI="BPC1.BattTemp_24" type=00 *e code=05CD elementURI="BPC1.BattVoltage_24" type=00 *e code=05CE elementURI="BPC1.BattCapacity_25" type=00 *e code=05CF elementURI="BPC1.BattCurrent_25" type=00 *e code=05D0 elementURI="BPC1.BattStatus_25" type=00 *e code=05D1 elementURI="BPC1.BattTemp_25" type=00 *e code=05D2 elementURI="BPC1.BattVoltage_25" type=00 *e code=05D3 elementURI="BPC1.BattCapacity_26" type=00 *e code=05D4 elementURI="BPC1.BattCurrent_26" type=00 *e code=05D5 elementURI="BPC1.BattStatus_26" type=00 *e code=05D6 elementURI="BPC1.BattTemp_26" type=00 *e code=05D7 elementURI="BPC1.BattVoltage_26" type=00 *e code=05D8 elementURI="BPC1.BattCapacity_27" type=00 *e code=05D9 elementURI="BPC1.BattCurrent_27" type=00 *e code=05DA elementURI="BPC1.BattStatus_27" type=00 *e code=05DB elementURI="BPC1.BattTemp_27" type=00 *e code=05DC elementURI="BPC1.BattVoltage_27" type=00 *e code=05DD elementURI="BPC1.BattCapacity_28" type=00 *e code=05DE elementURI="BPC1.BattCurrent_28" type=00 *e code=05DF elementURI="BPC1.BattStatus_28" type=00 *e code=05E0 elementURI="BPC1.BattTemp_28" type=00 *e code=05E1 elementURI="BPC1.BattVoltage_28" type=00 *e code=05E2 elementURI="BPC1.BattCapacity_29" type=00 *e code=05E3 elementURI="BPC1.BattCurrent_29" type=00 *e code=05E4 elementURI="BPC1.BattStatus_29" type=00 *e code=05E5 elementURI="BPC1.BattTemp_29" type=00 *e code=05E6 elementURI="BPC1.BattVoltage_29" type=00 *e code=05E7 elementURI="BPC1.BattCapacity_30" type=00 *e code=05E8 elementURI="BPC1.BattCurrent_30" type=00 *e code=05E9 elementURI="BPC1.BattStatus_30" type=00 *e code=05EA elementURI="BPC1.BattTemp_30" type=00 *e code=05EB elementURI="BPC1.BattVoltage_30" type=00 *e code=05EC elementURI="BPC1.BattCapacity_31" type=00 *e code=05ED elementURI="BPC1.BattCurrent_31" type=00 *e code=05EE elementURI="BPC1.BattStatus_31" type=00 *e code=05EF elementURI="BPC1.BattTemp_31" type=00 *e code=05F0 elementURI="BPC1.BattVoltage_31" type=00 *e code=05F1 elementURI="BPC1.BattCapacity_32" type=00 *e code=05F2 elementURI="BPC1.BattCurrent_32" type=00 *e code=05F3 elementURI="BPC1.BattStatus_32" type=00 *e code=05F4 elementURI="BPC1.BattTemp_32" type=00 *e code=05F5 elementURI="BPC1.BattVoltage_32" type=00 *e code=05F6 elementURI="BPC1.BattCapacity_33" type=00 *e code=05F7 elementURI="BPC1.BattCurrent_33" type=00 *e code=05F8 elementURI="BPC1.BattStatus_33" type=00 *e code=05F9 elementURI="BPC1.BattTemp_33" type=00 *e code=05FA elementURI="BPC1.BattVoltage_33" type=00 *e code=05FB elementURI="BPC1.BattCapacity_34" type=00 *e code=05FC elementURI="BPC1.BattCurrent_34" type=00 *e code=05FD elementURI="BPC1.BattStatus_34" type=00 *e code=05FE elementURI="BPC1.BattTemp_34" type=00 *e code=05FF elementURI="BPC1.BattVoltage_34" type=00 *e code=0600 elementURI="BPC1.BattCapacity_35" type=00 *e code=0601 elementURI="BPC1.BattCurrent_35" type=00 *e code=0602 elementURI="BPC1.BattStatus_35" type=00 *e code=0603 elementURI="BPC1.BattTemp_35" type=00 *e code=0604 elementURI="BPC1.BattVoltage_35" type=00 *e code=0605 elementURI="BPC1.BattCapacity_36" type=00 *e code=0606 elementURI="BPC1.BattCurrent_36" type=00 *e code=0607 elementURI="BPC1.BattStatus_36" type=00 *e code=0608 elementURI="BPC1.BattTemp_36" type=00 *e code=0609 elementURI="BPC1.BattVoltage_36" type=00 *e code=060A elementURI="BPC1.BattCapacity_37" type=00 *e code=060B elementURI="BPC1.BattCurrent_37" type=00 *e code=060C elementURI="BPC1.BattStatus_37" type=00 *e code=060D elementURI="BPC1.BattTemp_37" type=00 *e code=060E elementURI="BPC1.BattVoltage_37" type=00 *e code=060F elementURI="BPC1.BattCapacity_38" type=00 *e code=0610 elementURI="BPC1.BattCurrent_38" type=00 *e code=0611 elementURI="BPC1.BattStatus_38" type=00 *e code=0612 elementURI="BPC1.BattTemp_38" type=00 *e code=0613 elementURI="BPC1.BattVoltage_38" type=00 *e code=0614 elementURI="BPC1.BattCapacity_39" type=00 *e code=0615 elementURI="BPC1.BattCurrent_39" type=00 *e code=0616 elementURI="BPC1.BattStatus_39" type=00 *e code=0617 elementURI="BPC1.BattTemp_39" type=00 *e code=0618 elementURI="BPC1.BattVoltage_39" type=00 *e code=0619 elementURI="BPC1.BattCapacity_40" type=00 *e code=061A elementURI="BPC1.BattCurrent_40" type=00 *e code=061B elementURI="BPC1.BattStatus_40" type=00 *e code=061C elementURI="BPC1.BattTemp_40" type=00 *e code=061D elementURI="BPC1.BattVoltage_40" type=00 *e code=061E elementURI="BPC1.BattCapacity_41" type=00 *e code=061F elementURI="BPC1.BattCurrent_41" type=00 *e code=0620 elementURI="BPC1.BattStatus_41" type=00 *e code=0621 elementURI="BPC1.BattTemp_41" type=00 *e code=0622 elementURI="BPC1.BattVoltage_41" type=00 *e code=0623 elementURI="BPC1.BattCapacity_42" type=00 *e code=0624 elementURI="BPC1.BattCurrent_42" type=00 *e code=0625 elementURI="BPC1.BattStatus_42" type=00 *e code=0626 elementURI="BPC1.BattTemp_42" type=00 *e code=0627 elementURI="BPC1.BattVoltage_42" type=00 *e code=0628 elementURI="BPC1.BattCapacity_43" type=00 *e code=0629 elementURI="BPC1.BattCurrent_43" type=00 *e code=062A elementURI="BPC1.BattStatus_43" type=00 *e code=062B elementURI="BPC1.BattTemp_43" type=00 *e code=062C elementURI="BPC1.BattVoltage_43" type=00 *e code=062D elementURI="BPC1.BattCapacity_44" type=00 *e code=062E elementURI="BPC1.BattCurrent_44" type=00 *e code=062F elementURI="BPC1.BattStatus_44" type=00 *e code=0630 elementURI="BPC1.BattTemp_44" type=00 *e code=0631 elementURI="BPC1.BattVoltage_44" type=00 *e code=0632 elementURI="BPC1.BattCapacity_45" type=00 *e code=0633 elementURI="BPC1.BattCurrent_45" type=00 *e code=0634 elementURI="BPC1.BattStatus_45" type=00 *e code=0635 elementURI="BPC1.BattTemp_45" type=00 *e code=0636 elementURI="BPC1.BattVoltage_45" type=00 *e code=0637 elementURI="BPC1.BattCapacity_46" type=00 *e code=0638 elementURI="BPC1.BattCurrent_46" type=00 *e code=0639 elementURI="BPC1.BattStatus_46" type=00 *e code=063A elementURI="BPC1.BattTemp_46" type=00 *e code=063B elementURI="BPC1.BattVoltage_46" type=00 *e code=063C elementURI="BPC1.BattCapacity_47" type=00 *e code=063D elementURI="BPC1.BattCurrent_47" type=00 *e code=063E elementURI="BPC1.BattStatus_47" type=00 *e code=063F elementURI="BPC1.BattTemp_47" type=00 *e code=0640 elementURI="BPC1.BattVoltage_47" type=00 *e code=0641 elementURI="BPC1.BattCapacity_48" type=00 *e code=0642 elementURI="BPC1.BattCurrent_48" type=00 *e code=0643 elementURI="BPC1.BattStatus_48" type=00 *e code=0644 elementURI="BPC1.BattTemp_48" type=00 *e code=0645 elementURI="BPC1.BattVoltage_48" type=00 *e code=0646 elementURI="BPC1.BattCapacity_49" type=00 *e code=0647 elementURI="BPC1.BattCurrent_49" type=00 *e code=0648 elementURI="BPC1.BattStatus_49" type=00 *e code=0649 elementURI="BPC1.BattTemp_49" type=00 *e code=064A elementURI="BPC1.BattVoltage_49" type=00 *e code=064B elementURI="BPC1.BattCapacity_50" type=00 *e code=064C elementURI="BPC1.BattCurrent_50" type=00 *e code=064D elementURI="BPC1.BattStatus_50" type=00 *e code=064E elementURI="BPC1.BattTemp_50" type=00 *e code=064F elementURI="BPC1.BattVoltage_50" type=00 *e code=0650 elementURI="BPC1.BattCapacity_51" type=00 *e code=0651 elementURI="BPC1.BattCurrent_51" type=00 *e code=0652 elementURI="BPC1.BattStatus_51" type=00 *e code=0653 elementURI="BPC1.BattTemp_51" type=00 *e code=0654 elementURI="BPC1.BattVoltage_51" type=00 *e code=0655 elementURI="BPC1.BattCapacity_52" type=00 *e code=0656 elementURI="BPC1.BattCurrent_52" type=00 *e code=0657 elementURI="BPC1.BattStatus_52" type=00 *e code=0658 elementURI="BPC1.BattTemp_52" type=00 *e code=0659 elementURI="BPC1.BattVoltage_52" type=00 *e code=065A elementURI="BPC1.BattCapacity_53" type=00 *e code=065B elementURI="BPC1.BattCurrent_53" type=00 *e code=065C elementURI="BPC1.BattStatus_53" type=00 *e code=065D elementURI="BPC1.BattTemp_53" type=00 *e code=065E elementURI="BPC1.BattVoltage_53" type=00 *e code=065F elementURI="BPC1.BattCapacity_54" type=00 *e code=0660 elementURI="BPC1.BattCurrent_54" type=00 *e code=0661 elementURI="BPC1.BattStatus_54" type=00 *e code=0662 elementURI="BPC1.BattTemp_54" type=00 *e code=0663 elementURI="BPC1.BattVoltage_54" type=00 *e code=0664 elementURI="BPC1.BattCapacity_55" type=00 *e code=0665 elementURI="BPC1.BattCurrent_55" type=00 *e code=0666 elementURI="BPC1.BattStatus_55" type=00 *e code=0667 elementURI="BPC1.BattTemp_55" type=00 *e code=0668 elementURI="BPC1.BattVoltage_55" type=00 *e code=0669 elementURI="BPC1.BattCapacity_56" type=00 *e code=066A elementURI="BPC1.BattCurrent_56" type=00 *e code=066B elementURI="BPC1.BattStatus_56" type=00 *e code=066C elementURI="BPC1.BattTemp_56" type=00 *e code=066D elementURI="BPC1.BattVoltage_56" type=00 *e code=066E elementURI="BPC1.BattCapacity_57" type=00 *e code=066F elementURI="BPC1.BattCurrent_57" type=00 *e code=0670 elementURI="BPC1.BattStatus_57" type=00 *e code=0671 elementURI="BPC1.BattTemp_57" type=00 *e code=0672 elementURI="BPC1.BattVoltage_57" type=00 *e code=0673 elementURI="BPC1.BattCapacity_58" type=00 *e code=0674 elementURI="BPC1.BattCurrent_58" type=00 *e code=0675 elementURI="BPC1.BattStatus_58" type=00 *e code=0676 elementURI="BPC1.BattTemp_58" type=00 *e code=0677 elementURI="BPC1.BattVoltage_58" type=00 *e code=0678 elementURI="BPC1.BattCapacity_59" type=00 *e code=0679 elementURI="BPC1.BattCurrent_59" type=00 *e code=067A elementURI="BPC1.BattStatus_59" type=00 *e code=067B elementURI="BPC1.BattTemp_59" type=00 *e code=067C elementURI="BPC1.BattVoltage_59" type=00 *e code=067D elementURI="BPC1.BattCapacity_60" type=00 *e code=067E elementURI="BPC1.BattCurrent_60" type=00 *e code=067F elementURI="BPC1.BattStatus_60" type=00 *e code=0680 elementURI="BPC1.BattTemp_60" type=00 *e code=0681 elementURI="BPC1.BattVoltage_60" type=00 *e code=0682 elementURI="BPC1.BattCapacity_61" type=00 *e code=0683 elementURI="BPC1.BattCurrent_61" type=00 *e code=0684 elementURI="BPC1.BattStatus_61" type=00 *e code=0685 elementURI="BPC1.BattTemp_61" type=00 *e code=0686 elementURI="BPC1.BattVoltage_61" type=00 *e code=0687 elementURI="BPC1.BattCapacity_62" type=00 *e code=0688 elementURI="BPC1.BattCurrent_62" type=00 *e code=0689 elementURI="BPC1.BattStatus_62" type=00 *e code=068A elementURI="BPC1.BattTemp_62" type=00 *e code=068B elementURI="BPC1.BattVoltage_62" type=00 *e code=068C elementURI="DAT.enableBroadcast" type=02 *e code=068D elementURI="DAT.component_voltage" type=02 *e code=068E elementURI="DAT.component_avgVoltage" type=02 *e code=068F elementURI="DAT.component_current" type=02 *e code=0690 elementURI="DAT.component_avgCurrent" type=02 *e code=0691 elementURI="DAT.component_discreteIn" type=02 *e code=0692 elementURI="DAT.queryAddressRequested" type=02 *e code=0693 elementURI="DAT.numberOfPingsRequested" type=02 *e code=0694 elementURI="DAT.acoustic_contact_address" type=00 *e code=0695 elementURI="DAT.acoustic_contact_direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *e code=0696 elementURI="DAT.platform_communications" type=00 *e code=0697 elementURI="DAT.acoustic_contact_range" type=00 *e code=0698 elementURI="DAT.acoustic_receive_time" type=00 *e code=0699 elementURI="DAT.acoustic_transmit_time" type=00 *e code=069A elementURI="DAT.LVL1" type=02 *e code=069B elementURI="DAT.LVL2" type=02 *e code=069C elementURI="DAT.LVL3" type=02 *e code=069D elementURI="DAT.LVL4" type=02 *e code=069E elementURI="DAT.AGC" type=02 *e code=069F elementURI="DAT.phaseA" type=02 *e code=06A0 elementURI="DAT.phaseB" type=02 *e code=06A1 elementURI="DAT.phaseC" type=02 *e code=06A2 elementURI="DAT.rawAzimuth" type=02 *e code=06A3 elementURI="DAT.rawElevation" type=02 *e code=06A4 elementURI="DAT.calibratedAzimuth" type=02 *e code=06A5 elementURI="DAT.calibratedElevation" type=02 *e code=06A6 elementURI="DAT.rotatedAzimuth" type=02 *e code=06A7 elementURI="DAT.rotatedElevation" type=02 *e code=06A8 elementURI="DAT.acoustic_wakeup" type=02 *e code=06A9 elementURI="DAT.range_request" type=02 *e code=06AA elementURI="DAT.localAddressReading" type=02 *e code=06AB elementURI="DAT.deviceEnableRequested" type=02 *e code=06AC elementURI="DAT.msgAcknowledged" type=02 *e code=06AD elementURI="DAT.azimuth_instrumentFrame" type=02 *e code=06AE elementURI="DAT.elevation_instrumentFrame" type=02 *e code=06AF elementURI="DAT.azimuth_vehicleFrame" type=02 *e code=06B0 elementURI="DAT.elevation_vehicleFrame" type=02 *e code=06B1 elementURI="DAT.direction_instrumentFrame" type=12 blobType=11 fixedSize=0003 *e code=06B2 elementURI="DAT.rangeSigma" type=02 *e code=06B3 elementURI="DAT.bearingSigma" type=02 *e code=06B4 elementURI="DataOverHttps.enableBroadcast" type=02 *e code=06B5 elementURI="DataOverHttps.platform_communications" type=00 *e code=06B6 elementURI="DataOverHttps.connectionStatus" type=02 *e code=06B7 elementURI="Radio_Surface.radio_surface_power" type=02 *e code=06B8 elementURI="Depth_Keller.enableBroadcast" type=02 *e code=06B9 elementURI="Depth_Keller.component_voltage" type=02 *e code=06BA elementURI="Depth_Keller.component_avgVoltage" type=02 *e code=06BB elementURI="Depth_Keller.component_current" type=02 *e code=06BC elementURI="Depth_Keller.component_avgCurrent" type=02 *e code=06BD elementURI="Depth_Keller.component_discreteIn" type=02 *e code=06BE elementURI="Depth_Keller.depth" type=00 *e code=06BF elementURI="Depth_Keller.sea_water_pressure" type=00 *e code=06C0 elementURI="DropWeight.enableBroadcast" type=02 *e code=06C1 elementURI="DropWeight.dropWeightState" type=02 *e code=06C2 elementURI="NAL9602.enableBroadcast" type=02 *e code=06C3 elementURI="NAL9602.component_voltage" type=02 *e code=06C4 elementURI="NAL9602.component_avgVoltage" type=02 *e code=06C5 elementURI="NAL9602.component_current" type=02 *e code=06C6 elementURI="NAL9602.component_avgCurrent" type=02 *e code=06C7 elementURI="NAL9602.component_discreteIn" type=02 *e code=06C8 elementURI="NAL9602.SNRSatellite_0" type=00 *e code=06C9 elementURI="NAL9602.SNRSatellite_1" type=00 *e code=06CA elementURI="NAL9602.SNRSatellite_2" type=00 *e code=06CB elementURI="NAL9602.SNRSatellite_3" type=00 *e code=06CC elementURI="NAL9602.SNRSatellite_4" type=00 *e code=06CD elementURI="NAL9602.SNRSatellite_5" type=00 *e code=06CE elementURI="NAL9602.SNRSatellite_6" type=00 *e code=06CF elementURI="NAL9602.SNRSatellite_7" type=00 *e code=06D0 elementURI="NAL9602.SNRSatellite_8" type=00 *e code=06D1 elementURI="NAL9602.SNRSatellite_9" type=00 *e code=06D2 elementURI="NAL9602.SNRSatellite_10" type=00 *e code=06D3 elementURI="NAL9602.SNRSatellite_11" type=00 *e code=06D4 elementURI="NAL9602.goodFix" type=02 *e code=06D5 elementURI="NAL9602.numSatellites" type=02 *e code=06D6 elementURI="NAL9602.sigQuality" type=02 *e code=06D7 elementURI="NAL9602.SOG" type=02 *e code=06D8 elementURI="NAL9602.COG" type=02 *e code=06D9 elementURI="NAL9602.time_fix" type=00 *e code=06DA elementURI="NAL9602.latitude_fix" type=00 *e code=06DB elementURI="NAL9602.longitude_fix" type=00 *e code=06DC elementURI="NAL9602.location_fix" type=12 blobType=11 fixedSize=0002 *e code=06DD elementURI="NAL9602.platform_communications" type=00 *e code=06DE elementURI="Onboard.enableBroadcast" type=02 *e code=06DF elementURI="Onboard.Pressure" type=02 *e code=06E0 elementURI="Onboard.Temperature" type=02 *e code=06E1 elementURI="Onboard.Humidity" type=02 *e code=06E2 elementURI="Onboard.platform_battery_voltage" type=00 *e code=06E3 elementURI="Onboard.platform_vehicle_power" type=00 *e code=06E4 elementURI="Onboard.platform_average_current" type=00 *e code=06E5 elementURI="Onboard.platform_average_power" type=00 *e code=06E6 elementURI="Onboard.MainBatteryVoltage" type=02 *e code=06E7 elementURI="Onboard.BackupBatteryVoltage" type=02 *e code=06E8 elementURI="Onboard.BatteryCurrent" type=02 *e code=06E9 elementURI="Power24vConverter.enableBroadcast" type=02 *e code=06EA elementURI="Power24vConverter.component_voltage" type=02 *e code=06EB elementURI="Power24vConverter.component_avgVoltage" type=02 *e code=06EC elementURI="Power24vConverter.component_current" type=02 *e code=06ED elementURI="Power24vConverter.component_avgCurrent" type=02 *e code=06EE elementURI="Power24vConverter.component_discreteIn" type=02 *e code=06EF elementURI="Radio_Surface.enableBroadcast" type=02 *e code=06F0 elementURI="Radio_Surface.component_voltage" type=02 *e code=06F1 elementURI="Radio_Surface.component_avgVoltage" type=02 *e code=06F2 elementURI="Radio_Surface.component_current" type=02 *e code=06F3 elementURI="Radio_Surface.component_avgCurrent" type=02 *e code=06F4 elementURI="Radio_Surface.component_discreteIn" type=02 *e code=06F5 elementURI="RDI_Pathfinder.enableBroadcast" type=02 *e code=06F6 elementURI="RDI_Pathfinder.component_voltage" type=02 *e code=06F7 elementURI="RDI_Pathfinder.component_avgVoltage" type=02 *e code=06F8 elementURI="RDI_Pathfinder.component_current" type=02 *e code=06F9 elementURI="RDI_Pathfinder.component_avgCurrent" type=02 *e code=06FA elementURI="RDI_Pathfinder.component_discreteIn" type=02 *e code=06FB elementURI="RDI_Pathfinder.height_above_sea_floor" type=00 *e code=06FC elementURI="RDI_Pathfinder.platform_velocity_wrt_sea_water" type=12 blobType=11 fixedSize=0003 *e code=06FD elementURI="RDI_Pathfinder.platform_x_velocity_wrt_sea_water" type=00 *e code=06FE elementURI="RDI_Pathfinder.platform_y_velocity_wrt_sea_water" type=00 *e code=06FF elementURI="RDI_Pathfinder.platform_z_velocity_wrt_sea_water" type=00 *e code=0700 elementURI="RDI_Pathfinder.water_mass_velocity_flag" type=02 *e code=0701 elementURI="RDI_Pathfinder.range_to_water_mass_center" type=02 *e code=0702 elementURI="RDI_Pathfinder.platform_velocity_wrt_ground" type=12 blobType=11 fixedSize=0003 *e code=0703 elementURI="RDI_Pathfinder.platform_x_velocity_wrt_ground" type=00 *e code=0704 elementURI="RDI_Pathfinder.platform_y_velocity_wrt_ground" type=00 *e code=0705 elementURI="RDI_Pathfinder.platform_z_velocity_wrt_ground" type=00 *e code=0706 elementURI="RDI_Pathfinder.BottomVelocityFlag" type=02 *e code=0707 elementURI="RDI_Pathfinder.Beam1Range" type=02 *e code=0708 elementURI="RDI_Pathfinder.Beam2Range" type=02 *e code=0709 elementURI="RDI_Pathfinder.Beam3Range" type=02 *e code=070A elementURI="RDI_Pathfinder.Beam4Range" type=02 *e code=070B elementURI="Sonardyne_Nano.enableBroadcast" type=02 *e code=070C elementURI="Sonardyne_Nano.component_voltage" type=02 *e code=070D elementURI="Sonardyne_Nano.component_avgVoltage" type=02 *e code=070E elementURI="Sonardyne_Nano.component_current" type=02 *e code=070F elementURI="Sonardyne_Nano.component_avgCurrent" type=02 *e code=0710 elementURI="Sonardyne_Nano.component_discreteIn" type=02 *e code=0711 elementURI="Sonardyne_Nano.chargePercent" type=02 *e code=0712 elementURI="TrnDataBridge.enableBroadcast" type=02 *e code=0713 elementURI="TrnDataBridge.reinits" type=02 *e code=0714 elementURI="TrnDataBridge.updatetime" type=02 *e code=0715 elementURI="TrnDataBridge.mle_x" type=02 *e code=0716 elementURI="TrnDataBridge.mle_y" type=02 *e code=0717 elementURI="TrnDataBridge.mle_z" type=02 *e code=0718 elementURI="TrnDataBridge.mle_offset_x" type=02 *e code=0719 elementURI="TrnDataBridge.mle_offset_y" type=02 *e code=071A elementURI="TrnDataBridge.mle_offset_z" type=02 *e code=071B elementURI="TrnDataBridge.mmse_x" type=02 *e code=071C elementURI="TrnDataBridge.mmse_y" type=02 *e code=071D elementURI="TrnDataBridge.mmse_z" type=02 *e code=071E elementURI="TrnDataBridge.mmse_offset_x" type=02 *e code=071F elementURI="TrnDataBridge.mmse_offset_y" type=02 *e code=0720 elementURI="TrnDataBridge.mmse_offset_z" type=02 *e code=0721 elementURI="TrnDataBridge.covar_x" type=02 *e code=0722 elementURI="TrnDataBridge.covar_y" type=02 *e code=0723 elementURI="TrnDataBridge.covar_z" type=02 *e code=0724 elementURI="TrnDataBridge.covar_psi" type=02 *e code=0725 elementURI="TrnDataBridge.mmse_lat" type=02 *e code=0726 elementURI="TrnDataBridge.mmse_lon" type=02 *e code=0727 elementURI="TrnDataBridge.useitorloseit" type=02 *e code=0728 elementURI="SetNav.latitude_fix" type=02 *e code=0729 elementURI="SetNav.longitude_fix" type=02 *e code=072A elementURI="SetNav.time_fix" type=02 *e code=072B elementURI="TrnDataBridge.latitude" type=02 *e code=072C elementURI="TrnDataBridge.longitude" type=02 *e code=072D elementURI="TrnDataBridge.trn_ping_contact_id" type=02 *e code=072E elementURI="TrnDataBridge.trn_ping_range_sigma" type=02 *e code=072F elementURI="TrnDataBridge.trn_ping_bearing_sigma" type=02 *e code=0730 elementURI="TrnDataBridge.trn_ping_contact_time" type=02 *e code=0731 elementURI="TrnDataBridge.trn_ping_range_from_contact" type=02 *e code=0732 elementURI="TrnDataBridge.trn_ping_bearing_from_contact" type=02 *e code=0733 elementURI="TrnDataBridge.trn_ping_mmse_offset_x" type=02 *e code=0734 elementURI="TrnDataBridge.trn_ping_mmse_offset_y" type=02 *e code=0735 elementURI="TrnDataBridge.trn_ping_mmse_offset_z" type=02 *e code=0736 elementURI="TrnDataBridge.trn_ping_covar_x" type=02 *e code=0737 elementURI="TrnDataBridge.trn_ping_covar_y" type=02 *e code=0738 elementURI="TrnDataBridge.trn_ping_covar_z" type=02 *e code=0739 elementURI="DeadReckonUsingMultipleVelocitySources.enableBroadcast" type=02 *e code=073A elementURI="DeadReckonUsingMultipleVelocitySources.latitude" type=00 *e code=073B elementURI="DeadReckonUsingMultipleVelocitySources.longitude" type=00 *e code=073C elementURI="DeadReckonUsingMultipleVelocitySources.depth" type=00 *e code=073D elementURI="DeadReckonUsingMultipleVelocitySources.platform_speed_wrt_ground" type=00 *e code=073E elementURI="DeadReckonUsingMultipleVelocitySources.platform_course" type=00 *e code=073F elementURI="DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix" type=00 *e code=0740 elementURI="DeadReckonUsingMultipleVelocitySources.fix_distance_made_good" type=00 *e code=0741 elementURI="DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix" type=00 *e code=0742 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_distance" type=00 *e code=0743 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_bearing" type=00 *e code=0744 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled" type=00 *e code=0745 elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_orientation_read" type=02 *e code=0746 elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_velocity_read" type=02 *e code=0747 elementURI="DeadReckonUsingMultipleVelocitySources.latitude_accuracy" type=02 *e code=0748 elementURI="DeadReckonUsingMultipleVelocitySources.velocity_source" type=02 *e code=0749 elementURI="NavChart.enableBroadcast" type=02 *e code=074A elementURI="NavChart.sea_floor_depth_below_geoid" type=00 *e code=074B elementURI="NavChart.height_above_sea_floor" type=00 *e code=074C elementURI="NavChart.distance_from_shore" type=00 *e code=074D elementURI="NavChart.Height_Above_Sea_Floor_Comp" type=02 *e code=074E elementURI="UniversalFixResidualReporter.enableBroadcast" type=02 *e code=074F elementURI="SBIT.enableBroadcast" type=02 *e code=0750 elementURI="SBIT.SBITRunning" type=02 *e code=0751 elementURI="IBIT.enableBroadcast" type=02 *e code=0752 elementURI="CBIT.enableBroadcast" type=02 *e code=0753 elementURI="CBIT.clearFaultCmd" type=02 *e code=0754 elementURI="CBIT.clearLeakFaultCmd" type=02 *e code=0755 elementURI="CBIT.empiricalFaultElevOffset" type=02 *e code=0756 elementURI="BPC1.BattTemp_0" type=00 *e code=0757 elementURI="CBIT.shorePowerOn" type=02 *e code=0758 elementURI="CBIT.ampHoursUsed" type=02 *e code=0759 elementURI="CBIT.platform_fault" type=00 *e code=075A elementURI="CBIT.platform_fault_leak" type=00 *e code=075B elementURI="CBIT.GFCHANA0Current" type=02 *e code=075C elementURI="CBIT.GFCHANA1Current" type=02 *e code=075D elementURI="CBIT.GFCHANA2Current" type=02 *e code=075E elementURI="CBIT.GFCHANA3Current" type=02 *e code=075F elementURI="CBIT.GFCHANB0Current" type=02 *e code=0760 elementURI="CBIT.GFCHANB1Current" type=02 *e code=0761 elementURI="CBIT.GFCHANB2Current" type=02 *e code=0762 elementURI="CBIT.GFCHANB3Current" type=02 *e code=0763 elementURI="CBIT.GFCHANOpenCurrent" type=02 *e code=0764 elementURI="CBIT.empericalClassifierFaultDetected" type=02 *e code=0765 elementURI="CBIT.binnedDepthRate" type=02 *e code=0766 elementURI="BuoyancyServo.enableBroadcast" type=02 *e code=0767 elementURI="BuoyancyServo.component_voltage" type=02 *e code=0768 elementURI="BuoyancyServo.component_avgVoltage" type=02 *e code=0769 elementURI="BuoyancyServo.component_current" type=02 *e code=076A elementURI="BuoyancyServo.component_avgCurrent" type=02 *e code=076B elementURI="BuoyancyServo.component_discreteIn" type=02 *e code=076C elementURI="BuoyancyServo.platform_buoyancy_position" type=00 *e code=076D elementURI="ElevatorServo.enableBroadcast" type=02 *e code=076E elementURI="ElevatorServo.component_voltage" type=02 *e code=076F elementURI="ElevatorServo.component_avgVoltage" type=02 *e code=0770 elementURI="ElevatorServo.component_current" type=02 *e code=0771 elementURI="ElevatorServo.component_avgCurrent" type=02 *e code=0772 elementURI="ElevatorServo.component_discreteIn" type=02 *e code=0773 elementURI="ElevatorServo.platform_elevator_angle" type=00 *e code=0774 elementURI="DockingStepper.enableBroadcast" type=02 *e code=0775 elementURI="DockingStepper.component_voltage" type=02 *e code=0776 elementURI="DockingStepper.component_avgVoltage" type=02 *e code=0777 elementURI="DockingStepper.component_current" type=02 *e code=0778 elementURI="DockingStepper.component_avgCurrent" type=02 *e code=0779 elementURI="DockingStepper.component_discreteIn" type=02 *e code=077A elementURI="DockingStepper.armValue" type=02 *e code=077B elementURI="Dock.dock_cable_present" type=02 *e code=077C elementURI="Dock.dock_voltage_present" type=02 *e code=077D elementURI="DockingStepper.cableValue" type=02 *e code=077E elementURI="DockingStepper.armValueAction" type=02 *e code=077F elementURI="MassServo.enableBroadcast" type=02 *e code=0780 elementURI="MassServo.component_voltage" type=02 *e code=0781 elementURI="MassServo.component_avgVoltage" type=02 *e code=0782 elementURI="MassServo.component_current" type=02 *e code=0783 elementURI="MassServo.component_avgCurrent" type=02 *e code=0784 elementURI="MassServo.component_discreteIn" type=02 *e code=0785 elementURI="MassServo.platform_mass_position" type=00 *e code=0786 elementURI="RudderServo.enableBroadcast" type=02 *e code=0787 elementURI="RudderServo.component_voltage" type=02 *e code=0788 elementURI="RudderServo.component_avgVoltage" type=02 *e code=0789 elementURI="RudderServo.component_current" type=02 *e code=078A elementURI="RudderServo.component_avgCurrent" type=02 *e code=078B elementURI="RudderServo.component_discreteIn" type=02 *e code=078C elementURI="RudderServo.platform_rudder_angle" type=00 *e code=078D elementURI="ThrusterServo.enableBroadcast" type=02 *e code=078E elementURI="ThrusterServo.component_voltage" type=02 *e code=078F elementURI="ThrusterServo.component_avgVoltage" type=02 *e code=0790 elementURI="ThrusterServo.component_current" type=02 *e code=0791 elementURI="ThrusterServo.component_avgCurrent" type=02 *e code=0792 elementURI="ThrusterServo.component_discreteIn" type=02 *e code=0793 elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00 *e code=0794 elementURI="CTD_Seabird.enableBroadcast" type=02 *e code=0795 elementURI="CTD_Seabird.component_voltage" type=02 *e code=0796 elementURI="CTD_Seabird.component_avgVoltage" type=02 *e code=0797 elementURI="CTD_Seabird.component_current" type=02 *e code=0798 elementURI="CTD_Seabird.component_avgCurrent" type=02 *e code=0799 elementURI="CTD_Seabird.component_discreteIn" type=02 *e code=079A elementURI="CTD_Seabird.sea_water_electrical_conductivity" type=00 *e code=079B elementURI="CTD_Seabird.sea_water_temperature" type=00 *e code=079C elementURI="CTD_Seabird.sea_water_pressure" type=00 *e code=079D elementURI="CTD_Seabird.depth" type=00 *e code=079E elementURI="CTD_Seabird.sea_water_salinity" type=00 *e code=079F elementURI="CTD_Seabird.sea_water_density" type=00 *e code=07A0 elementURI="CTD_Seabird.speed_of_sound_in_sea_water" type=00 *e code=07A1 elementURI="CTD_Seabird.mass_concentration_of_oxygen_in_sea_water" type=00 *e code=07A2 elementURI="CTD_Seabird.sea_water_dissolved_oxygen_freq" type=02 *e code=07A3 elementURI="CTD_Seabird.bin_median_sea_water_temperature" type=02 *e code=07A4 elementURI="CTD_Seabird.bin_mean_sea_water_temperature" type=02 *e code=07A5 elementURI="CTD_Seabird.bin_standard_deviation_sea_water_temperature" type=02 *e code=07A6 elementURI="CTD_Seabird.bin_median_sea_water_salinity" type=02 *e code=07A7 elementURI="CTD_Seabird.bin_mean_sea_water_salinity" type=02 *e code=07A8 elementURI="CTD_Seabird.bin_standard_deviation_sea_water_salinity" type=02 *e code=07A9 elementURI="PAR_Licor.enableBroadcast" type=02 *e code=07AA elementURI="PAR_Licor.component_voltage" type=02 *e code=07AB elementURI="PAR_Licor.component_avgVoltage" type=02 *e code=07AC elementURI="PAR_Licor.component_current" type=02 *e code=07AD elementURI="PAR_Licor.component_avgCurrent" type=02 *e code=07AE elementURI="PAR_Licor.component_discreteIn" type=02 *e code=07AF elementURI="PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water" type=00 *e code=07B0 elementURI="PAR_Licor.adcCount" type=02 *e code=07B1 elementURI="WetLabsBB2FL.enableBroadcast" type=02 *e code=07B2 elementURI="WetLabsBB2FL.component_voltage" type=02 *e code=07B3 elementURI="WetLabsBB2FL.component_avgVoltage" type=02 *e code=07B4 elementURI="WetLabsBB2FL.component_current" type=02 *e code=07B5 elementURI="WetLabsBB2FL.component_avgCurrent" type=02 *e code=07B6 elementURI="WetLabsBB2FL.component_discreteIn" type=02 *e code=07B7 elementURI="WetLabsBB2FL.Output470" type=02 *e code=07B8 elementURI="WetLabsBB2FL.Output650" type=02 *e code=07B9 elementURI="WetLabsBB2FL.OutputChl" type=02 *e code=07BA elementURI="WetLabsBB2FL.OutputCDOM" type=02 *e code=07BB elementURI="WetLabsBB2FL.VolumeScatCoeff117deg470nm" type=02 *e code=07BC elementURI="WetLabsBB2FL.VolumeScatCoeff117deg650nm" type=02 *e code=07BD elementURI="WetLabsBB2FL.BackscatteringCoeff470nm" type=02 *e code=07BE elementURI="WetLabsBB2FL.BackscatteringCoeff650nm" type=02 *e code=07BF elementURI="WetLabsBB2FL.ParticulateBackscatteringCoeff470nm" type=02 *e code=07C0 elementURI="WetLabsBB2FL.ParticulateBackscatteringCoeff650nm" type=02 *e code=07C1 elementURI="WetLabsBB2FL.mass_concentration_of_chlorophyll_in_sea_water" type=00 *e code=07C2 elementURI="WetLabsBB2FL.concentration_of_colored_dissolved_organic_matter_in_sea_water" type=00 *e code=07C3 elementURI="WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water" type=02 *e code=07C4 elementURI="WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water" type=02 *e code=07C5 elementURI="WetLabsBB2FL.bin_variance_mass_concentration_of_chlorophyll_in_sea_water" type=02 *e code=07C6 elementURI="WetLabsBB2FL.bin_median_concentration_of_cdom_in_sea_water" type=02 *e code=07C7 elementURI="WetLabsBB2FL.bin_mean_concentration_of_cdom_in_sea_water" type=02 *e code=07C8 elementURI="WetLabsBB2FL.bin_variance_concentration_of_cdom_in_sea_water" type=02 *e code=07C9 elementURI="WetLabsUBAT.enableBroadcast" type=02 *e code=07CA elementURI="WetLabsUBAT.component_voltage" type=02 *e code=07CB elementURI="WetLabsUBAT.component_avgVoltage" type=02 *e code=07CC elementURI="WetLabsUBAT.component_current" type=02 *e code=07CD elementURI="WetLabsUBAT.component_avgCurrent" type=02 *e code=07CE elementURI="WetLabsUBAT.component_discreteIn" type=02 *e code=07CF elementURI="WetLabsUBAT.average_bioluminescence" type=02 *e code=07D0 elementURI="WetLabsUBAT.flow_rate" type=02 *e code=07D1 elementURI="WetLabsUBAT.hv_step_calibration_coefficient" type=02 *e code=07D2 elementURI="WetLabsUBAT.record_number" type=02 *e code=07D3 elementURI="WetLabsUBAT.digitized_raw_ad_counts" type=12 blobType=04 fixedSize=003C *e code=07D4 elementURI="MissionManager.enableBroadcast" type=02 *e code=07D5 elementURI="MissionManager.mission_started" type=00 *e code=07D6 elementURI="Reporter.enableBroadcast" type=02 *e code=07D7 elementURI="NavChartDb.enableBroadcast" type=02 *e code=07D8 elementURI="NavChartDb.closestDistance" type=02 *e code=07D9 elementURI="NavChartDb.nextDistance" type=02 *e code=07DA elementURI="NavChartDb.closestDepth" type=02 *e code=07DB elementURI="NavChartDb.nextDepth" type=02 *e code=07DC elementURI="DefaultWithUndock.ElapsedSinceDefaultStarted" type=00 *e code=07DD elementURI="DefaultWithUndock.DetachTimeout" type=00 *e code=07DE elementURI="DefaultWithUndock.TransponderCode" type=00 *e code=07DF elementURI="DefaultWithUndock.TrackingUpdatePeriod" type=00 *e code=07E0 elementURI="DefaultWithUndock.NumberOfPings" type=00 *e code=07E1 elementURI="DefaultWithUndock.DriftTimeout" type=00 *e code=07E2 elementURI="TrackAcousticContact.enableBroadcast" type=02 *e code=07E3 elementURI="TrackAcousticContact.contact_label" type=02 *e code=07E4 elementURI="TrackAcousticContact.contact_rx_time" type=02 *e code=07E5 elementURI="TrackAcousticContact.contact_latitude" type=02 *e code=07E6 elementURI="TrackAcousticContact.contact_longitude" type=02 *e code=07E7 elementURI="TrackAcousticContact.eastings_to_contact" type=02 *e code=07E8 elementURI="TrackAcousticContact.northings_to_contact" type=02 *e code=07E9 elementURI="TrackAcousticContact.contact_depth" type=02 *e code=07EA elementURI="TrackAcousticContact.range_to_contact" type=02 *e code=07EB elementURI="TrackAcousticContact.corrected_range_to_contact" type=02 *e code=07EC elementURI="TrackAcousticContact.azimuth_to_contact_vehicle_frame" type=02 *e code=07ED elementURI="TrackAcousticContact.elevation_to_contact_vehicle_frame" type=02 *e code=07EE elementURI="TrackAcousticContact.heading_to_contact" type=02 *e code=07EF elementURI="TrackAcousticContact.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *e code=07F0 elementURI="TrackAcousticContact.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *e code=07F1 elementURI="TrackAcousticContact.relativePosition_vehicleFrame" type=12 blobType=11 fixedSize=0003 *e code=07F2 elementURI="TrackAcousticContact.relativePosition_navigationFrame" type=12 blobType=11 fixedSize=0003 *e code=07F3 elementURI="TrackAcousticContact.corrected_latitude" type=02 *e code=07F4 elementURI="TrackAcousticContact.corrected_longitude" type=02 *e code=07F5 elementURI="TrackAcousticContact.horizontal_range_to_contact_lowpass" type=02 *e code=07F6 elementURI="TrackAcousticContact.heading_to_contact_lowpass" type=02 *e code=07F7 elementURI="TrackAcousticContact.contact_latitude_lowpass" type=02 *e code=07F8 elementURI="TrackAcousticContact.contact_longitude_lowpass" type=02 *e code=07F9 elementURI="TrackAcousticContact.contact_depth_lowpass" type=02 *e code=07FA elementURI="PowerOnly.samplePowerOnly" type=02 *e code=07FB elementURI="NanoDVR.sampleNanoDVR" type=02 *e code=07FC elementURI="GoToSurface.enableBroadcast" type=02 *e code=07FD elementURI="controlThread.durationOfLastRun" type=00 *e code=07FE elementURI="keepstation.MissionTimeout" type=00 *e code=07FF elementURI="keepstation.NeedCommsTime" type=00 *e code=0800 elementURI="keepstation.Latitude" type=00 *e code=0801 elementURI="keepstation.Longitude" type=00 *e code=0802 elementURI="keepstation.Depth" type=00 *e code=0803 elementURI="keepstation.ApproachDepth" type=00 *e code=0804 elementURI="keepstation.DepthDeadband" type=00 *e code=0805 elementURI="keepstation.Speed" type=00 *e code=0806 elementURI="keepstation.Radius" type=00 *e code=0807 elementURI="keepstation.MaxDepth" type=00 *e code=0808 elementURI="keepstation.MinOffshore" type=00 *e code=0809 elementURI="keepstation:NeedComms.DiveInterval" type=00 *e code=080A elementURI="keepstation:NeedComms.WaitForPitchUp" type=00 *e code=080B elementURI="keepstation:NeedComms.SurfacePitch" type=00 *e code=080C elementURI="keepstation:NeedComms.SurfaceDepthRate" type=00 *e code=080D elementURI="keepstation:NeedComms.SurfaceSpeed" type=00 *e code=080E elementURI="keepstation:NeedComms.SurfacingTimeout" type=00 *e code=080F elementURI="keepstation:NeedComms.GPSTimeout" type=00 *e code=0810 elementURI="keepstation:NeedComms.CommsTimeout" type=00 *e code=0811 elementURI="keepstation:StandardEnvelopes.MinAltitude" type=00 *e code=0812 elementURI="keepstation:StandardEnvelopes.MaxDepthIgnore" type=00 *e code=0813 elementURI="keepstation:StandardEnvelopes.MaxDepth" type=00 *e code=0814 elementURI="keepstation:StandardEnvelopes.MinOffshore" type=00 *e code=0815 elementURI="keepstation:BackseatDriver.EnableBackseat" type=00 *e code=0816 elementURI="keepstation:PowerOnly.SampleAll" type=00 *e code=0817 elementURI="keepstation:PowerOnly.SampleLoad1" type=00 *e code=0818 elementURI="keepstation:PowerOnly.SampleLoad2" type=00 *e code=0819 elementURI="keepstation:PowerOnly.SampleLoad3" type=00 *e code=081A elementURI="keepstation:PowerOnly.EnabledPowerOnly" type=00 *e code=081B elementURI="lineCaptureHoming.MissionTimeout" type=00 *e code=081C elementURI="lineCaptureHoming.NeedCommsTime" type=00 *e code=081D elementURI="lineCaptureHoming.MicromodemCommsInterval" type=00 *e code=081E elementURI="lineCaptureHoming.Repeat" type=00 *e code=081F elementURI="lineCaptureHoming.WaitOnDockTimeout" type=00 *e code=0820 elementURI="lineCaptureHoming.StayOnDock" type=00 *e code=0821 elementURI="lineCaptureHoming.TrySlide" type=00 *e code=0822 elementURI="lineCaptureHoming.RetryIncompleteDock" type=00 *e code=0823 elementURI="lineCaptureHoming.SlideRetries" type=00 *e code=0824 elementURI="lineCaptureHoming.SlideSinkDuration" type=00 *e code=0825 elementURI="lineCaptureHoming.SlideCloseDuration" type=00 *e code=0826 elementURI="lineCaptureHoming.TransponderCode" type=00 *e code=0827 elementURI="lineCaptureHoming.TrackingUpdatePeriodMidcourse" type=00 *e code=0828 elementURI="lineCaptureHoming.TrackingUpdatePeriodTerminal" type=00 *e code=0829 elementURI="lineCaptureHoming.TrackingUpdatePeriodDocked" type=00 *e code=082A elementURI="lineCaptureHoming.TrackingNumFixesLowPassFilter" type=00 *e code=082B elementURI="lineCaptureHoming.NumberOfPings" type=00 *e code=082C elementURI="lineCaptureHoming.NumPingsUSBL" type=00 *e code=082D elementURI="lineCaptureHoming.RangeUSBL" type=00 *e code=082E elementURI="lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL" type=00 *e code=082F elementURI="lineCaptureHoming.DockingAltitude" type=00 *e code=0830 elementURI="lineCaptureHoming.InvalidAltitudeTimeout" type=00 *e code=0831 elementURI="lineCaptureHoming.AltitudeDepthLimit" type=00 *e code=0832 elementURI="lineCaptureHoming.MinAltitude" type=00 *e code=0833 elementURI="lineCaptureHoming.MaxDepth" type=00 *e code=0834 elementURI="lineCaptureHoming.MinOffshore" type=00 *e code=0835 elementURI="lineCaptureHoming.ApproachDepthTimeout" type=00 *e code=0836 elementURI="lineCaptureHoming.ApproachDepthRate" type=00 *e code=0837 elementURI="lineCaptureHoming.Lat1" type=00 *e code=0838 elementURI="lineCaptureHoming.Lon1" type=00 *e code=0839 elementURI="lineCaptureHoming.CaptureRadius" type=00 *e code=083A elementURI="lineCaptureHoming.CorrectForSoundSpeed" type=00 *e code=083B elementURI="lineCaptureHoming.MidcourseDepth" type=00 *e code=083C elementURI="lineCaptureHoming.MidcourseSpeed" type=00 *e code=083D elementURI="lineCaptureHoming.TrackingPeriod" type=00 *e code=083E elementURI="lineCaptureHoming.Mode" type=00 *e code=083F elementURI="lineCaptureHoming.NumPings" type=00 *e code=0840 elementURI="lineCaptureHoming.LowPassFilterWinSize" type=00 *e code=0841 elementURI="lineCaptureHoming.LowPassFilterWinOverlap" type=00 *e code=0842 elementURI="lineCaptureHoming.EndDockingSequence" type=00 *e code=0843 elementURI="lineCaptureHoming.LastDockSuccessful" type=00 *e code=0844 elementURI="lineCaptureHoming.DockSuccessfulCount" type=00 *e code=0845 elementURI="lineCaptureHoming.RepeatArg" type=00 *e code=0846 elementURI="lineCaptureHoming:Science.PeakDetectChlActive" type=00 *e code=0847 elementURI="lineCaptureHoming:Science.TimeWindowPeakReport" type=00 *e code=0848 elementURI="lineCaptureHoming:Science.HighestChlPeakReportActive" type=00 *e code=0849 elementURI="lineCaptureHoming:Science.HighestSaltPeakReportActive" type=00 *e code=084A elementURI="lineCaptureHoming:Science.HighestOilPeakReportActive" type=00 *e code=084B elementURI="lineCaptureHoming:Science.PatchTracking" type=00 *e code=084C elementURI="lineCaptureHoming:Science.FilterWidthHorizontal" type=00 *e code=084D elementURI="lineCaptureHoming:Science.NumProfilesSlidingwindow" type=00 *e code=084E elementURI="lineCaptureHoming:Science.OffPeakFractionHorizontal" type=00 *e code=084F elementURI="lineCaptureHoming:Science.PeakDetectNO3Active" type=00 *e code=0850 elementURI="lineCaptureHoming:Science.PeakDetectOilActive" type=00 *e code=0851 elementURI="lineCaptureHoming:Science.PeakDetectFDOMActive" type=00 *e code=0852 elementURI="lineCaptureHoming:Science.PeakDetectSalinityActive" type=00 *e code=0853 elementURI="lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive" type=00 *e code=0854 elementURI="lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive" type=00 *e code=0855 elementURI="lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive" type=00 *e code=0856 elementURI="lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive" type=00 *e code=0857 elementURI="lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive" type=00 *e code=0858 elementURI="lineCaptureHoming:Science.EnabledAanderaaO2" type=00 *e code=0859 elementURI="lineCaptureHoming:Science.EnabledNeilBrown" type=00 *e code=085A elementURI="lineCaptureHoming:Science.EnabledSeabird" type=00 *e code=085B elementURI="lineCaptureHoming:Science.EnabledWetLabsBB2FL" type=00 *e code=085C elementURI="lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A" type=00 *e code=085D elementURI="lineCaptureHoming:Science.EnabledWetLabsUBAT" type=00 *e code=085E elementURI="lineCaptureHoming:Science.LowPassWindowLength" type=00 *e code=085F elementURI="lineCaptureHoming:Science.MedianFilterLen" type=00 *e code=0860 elementURI="lineCaptureHoming:Science.PeakShallowBound" type=00 *e code=0861 elementURI="lineCaptureHoming:Science.PeakDeepBound" type=00 *e code=0862 elementURI="lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip" type=00 *e code=0863 elementURI="lineCaptureHoming:Science.ChlThreshTriggerActive" type=00 *e code=0864 elementURI="lineCaptureHoming:Science.ChlLowerThresh" type=00 *e code=0865 elementURI="lineCaptureHoming:Science.ChlUpperThresh" type=00 *e code=0866 elementURI="lineCaptureHoming:Science.NumProfilesThresh" type=00 *e code=0867 elementURI="lineCaptureHoming:Science.PeakChl" type=00 *e code=0868 elementURI="lineCaptureHoming:Science.PeakChlDepth" type=00 *e code=0869 elementURI="lineCaptureHoming:Science.PeakChlTemperature" type=00 *e code=086A elementURI="lineCaptureHoming:Science.PeakChlLatitude" type=00 *e code=086B elementURI="lineCaptureHoming:Science.PeakChlLongitude" type=00 *e code=086C elementURI="lineCaptureHoming:Science.PeakNO3" type=00 *e code=086D elementURI="lineCaptureHoming:Science.PeakNO3Depth" type=00 *e code=086E elementURI="lineCaptureHoming:Science.PeakNO3Latitude" type=00 *e code=086F elementURI="lineCaptureHoming:Science.PeakNO3Longitude" type=00 *e code=0870 elementURI="lineCaptureHoming:Science.PeakOil" type=00 *e code=0871 elementURI="lineCaptureHoming:Science.PeakOilDepth" type=00 *e code=0872 elementURI="lineCaptureHoming:Science.PeakOilLatitude" type=00 *e code=0873 elementURI="lineCaptureHoming:Science.PeakOilLongitude" type=00 *e code=0874 elementURI="lineCaptureHoming:Science.PeakFDOM" type=00 *e code=0875 elementURI="lineCaptureHoming:Science.PeakFDOMDepth" type=00 *e code=0876 elementURI="lineCaptureHoming:Science.PeakFDOMTemperature" type=00 *e code=0877 elementURI="lineCaptureHoming:Science.PeakFDOMLatitude" type=00 *e code=0878 elementURI="lineCaptureHoming:Science.PeakFDOMLongitude" type=00 *e code=0879 elementURI="lineCaptureHoming:Science.PeakSalt" type=00 *e code=087A elementURI="lineCaptureHoming:Science.PeakSaltDepth" type=00 *e code=087B elementURI="lineCaptureHoming:Science.PeakSaltTemperature" type=00 *e code=087C elementURI="lineCaptureHoming:Science.PeakSaltLatitude" type=00 *e code=087D elementURI="lineCaptureHoming:Science.PeakSaltLongitude" type=00 *e code=087E elementURI="lineCaptureHoming:Science.PeakPlanktivoreLMavgROI" type=00 *e code=087F elementURI="lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth" type=00 *e code=0880 elementURI="lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature" type=00 *e code=0881 elementURI="lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude" type=00 *e code=0882 elementURI="lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude" type=00 *e code=0883 elementURI="lineCaptureHoming:Science.PeakPlanktivoreHMavgROI" type=00 *e code=0884 elementURI="lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth" type=00 *e code=0885 elementURI="lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature" type=00 *e code=0886 elementURI="lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude" type=00 *e code=0887 elementURI="lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude" type=00 *e code=0888 elementURI="lineCaptureHoming:Science.PeakPlanktivoreDiatoms" type=00 *e code=0889 elementURI="lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth" type=00 *e code=088A elementURI="lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature" type=00 *e code=088B elementURI="lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude" type=00 *e code=088C elementURI="lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude" type=00 *e code=088D elementURI="lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates" type=00 *e code=088E elementURI="lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth" type=00 *e code=088F elementURI="lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature" type=00 *e code=0890 elementURI="lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude" type=00 *e code=0891 elementURI="lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude" type=00 *e code=0892 elementURI="lineCaptureHoming:Science.PatchChl" type=00 *e code=0893 elementURI="lineCaptureHoming:Science.PatchChlDepth" type=00 *e code=0894 elementURI="lineCaptureHoming:Science.PatchChlLatitude" type=00 *e code=0895 elementURI="lineCaptureHoming:Science.PatchChlLongitude" type=00 *e code=0896 elementURI="lineCaptureHoming:Science.PatchChlDistance" type=00 *e code=0897 elementURI="lineCaptureHoming:Science.PatchSalt" type=00 *e code=0898 elementURI="lineCaptureHoming:Science.PatchSaltDepth" type=00 *e code=0899 elementURI="lineCaptureHoming:Science.PatchSaltLatitude" type=00 *e code=089A elementURI="lineCaptureHoming:Science.PatchSaltLongitude" type=00 *e code=089B elementURI="lineCaptureHoming:Science.PatchSaltDistance" type=00 *e code=089C elementURI="lineCaptureHoming:Science.PatchOil" type=00 *e code=089D elementURI="lineCaptureHoming:Science.PatchOilDepth" type=00 *e code=089E elementURI="lineCaptureHoming:Science.PatchOilLatitude" type=00 *e code=089F elementURI="lineCaptureHoming:Science.PatchOilLongitude" type=00 *e code=08A0 elementURI="lineCaptureHoming:Science.PatchOilDistance" type=00 *e code=08A1 elementURI="lineCaptureHoming:Science.TriggeredOnChl" type=00 *e code=08A2 elementURI="lineCaptureHoming:Science.ChlTriggering" type=00 *e code=08A3 elementURI="CurrentEstimator.current_speed_vehicle_frame" type=02 *e code=08A4 elementURI="CurrentEstimator.current_speed_navigation_frame" type=02 *e code=08A5 elementURI="CurrentEstimator.current_direction_vehicle_frame" type=02 *e code=08A6 elementURI="CurrentEstimator.current_direction_navigation_frame" type=02 *e code=08A7 elementURI="CurrentEstimator.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *e code=08A8 elementURI="CurrentEstimator.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *e code=08A9 elementURI="lineCaptureHoming:StandardEnvelopes.MinAltitude" type=00 *e code=08AA elementURI="lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore" type=00 *e code=08AB elementURI="lineCaptureHoming:StandardEnvelopes.MaxDepth" type=00 *e code=08AC elementURI="lineCaptureHoming:StandardEnvelopes.MinOffshore" type=00 *e code=08AD elementURI="lineCaptureHoming:NeedComms.DiveInterval" type=00 *e code=08AE elementURI="lineCaptureHoming:NeedComms.WaitForPitchUp" type=00 *e code=08AF elementURI="lineCaptureHoming:NeedComms.SurfacePitch" type=00 *e code=08B0 elementURI="lineCaptureHoming:NeedComms.SurfaceDepthRate" type=00 *e code=08B1 elementURI="lineCaptureHoming:NeedComms.SurfaceSpeed" type=00 *e code=08B2 elementURI="lineCaptureHoming:NeedComms.SurfacingTimeout" type=00 *e code=08B3 elementURI="lineCaptureHoming:NeedComms.GPSTimeout" type=00 *e code=08B4 elementURI="lineCaptureHoming:NeedComms.CommsTimeout" type=00 *e code=08B5 elementURI="lineCaptureHoming:MicromodemComms.Timeout" type=00 *e code=08B6 elementURI="lineCaptureHoming:MicromodemComms.CommsInterval" type=00 *e code=08B7 elementURI="lineCaptureHoming:LineCapture.DockLat" type=00 *e code=08B8 elementURI="lineCaptureHoming:LineCapture.DockLon" type=00 *e code=08B9 elementURI="lineCaptureHoming:LineCapture.DetachTimeout" type=00 *e code=08BA elementURI="lineCaptureHoming:LineCapture.MidcourseDepth" type=00 *e code=08BB elementURI="lineCaptureHoming:LineCapture.MidcourseSpeed" type=00 *e code=08BC elementURI="lineCaptureHoming:LineCapture.MidcourseTimeout" type=00 *e code=08BD elementURI="lineCaptureHoming:LineCapture.TerminalRange" type=00 *e code=08BE elementURI="lineCaptureHoming:LineCapture.AcousticTimeout" type=00 *e code=08BF elementURI="lineCaptureHoming:LineCapture.losRateIIRFilterDecay" type=00 *e code=08C0 elementURI="lineCaptureHoming:LineCapture.SearchTimeout" type=00 *e code=08C1 elementURI="lineCaptureHoming:LineCapture.CircleRadius" type=00 *e code=08C2 elementURI="lineCaptureHoming:LineCapture.CircleMaxError" type=00 *e code=08C3 elementURI="lineCaptureHoming:LineCapture.CircleTurnToPort" type=00 *e code=08C4 elementURI="lineCaptureHoming:LineCapture.DepthDeadband" type=00 *e code=08C5 elementURI="lineCaptureHoming:LineCapture.RudderDeadband" type=00 *e code=08C6 elementURI="lineCaptureHoming:LineCapture.MinAltitude" type=00 *e code=08C7 elementURI="lineCaptureHoming:LineCapture.MaxDepth" type=00 *e code=08C8 elementURI="lineCaptureHoming:LineCapture.MinOffshore" type=00 *e code=08C9 elementURI="lineCaptureHoming:LineCapture.DockingAltitude" type=00 *e code=08CA elementURI="lineCaptureHoming:LineCapture.InvalidAltitudeTimeout" type=00 *e code=08CB elementURI="lineCaptureHoming:LineCapture.AltitudeDepthLimit" type=00 *e code=08CC elementURI="lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay" type=00 *e code=08CD elementURI="lineCaptureHoming:LineCapture.ElapsedRange" type=00 *e code=08CE elementURI="lineCaptureHoming:LineCapture.Range" type=00 *e code=08CF elementURI="lineCaptureHoming:LineCapture.DoneTimeout" type=00 *e code=08D0 elementURI="lineCaptureHoming:LineCapture.Done" type=00 *e code=08D1 elementURI="lineCaptureHoming:LineCapture.DetachFromDock" type=00 *e code=08D2 elementURI="lineCaptureHoming:LineCapture.Midcourse" type=00 *e code=08D3 elementURI="lineCaptureHoming:LineCapture.Terminal" type=00 *e code=08D4 elementURI="lineCaptureHoming:LineCapture.GuidanceMode" type=00 *e code=08D5 elementURI="lineCaptureHoming:LineCapture.DockingDepth" type=00 *e code=08D6 elementURI="lineCaptureHoming:LineCapture.LineCapRollout" type=00 *e code=08D7 elementURI="lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude" type=00 *e code=08D8 elementURI="lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore" type=00 *e code=08D9 elementURI="lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth" type=00 *e code=08DA elementURI="lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore" type=00 *e code=08DB elementURI="LineCapture.guidanceMode" type=00 *e code=08DC elementURI="LineCapture.proNavCmd" type=02 *e code=08DD elementURI="LineCapture.proNavHeadingCmd" type=02 *e code=08DE elementURI="LineCapture.rawBearingRate" type=02 *e code=08DF elementURI="LineCapture.bearingRate" type=02 *e code=08E0 elementURI="LineCapture.rangeClosing" type=02 *e code=08E1 elementURI="LineCapture.rangeStable" type=02 *e code=08E2 elementURI="LineCapture.driftBearing" type=02 *e code=08E3 elementURI="lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat" type=00 *e code=08E4 elementURI="lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon" type=00 *e code=08E5 elementURI="lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange" type=00 *e code=08E6 elementURI="lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout" type=00 *e code=08E7 elementURI="OnDock.DockedTime" type=00 *e code=08E8 elementURI="OnDock.DetachedTimeout" type=00 *e code=08E9 elementURI="OnDock.RangeTimeout" type=00 *e code=08EA elementURI="OnDock.TrackingUpdatePeriod" type=00 *e code=08EB elementURI="OnDock.NumberOfPings" type=00 *e code=08EC elementURI="OnDock.TransponderCode" type=00 *e code=08ED elementURI="OnDock.MaxDepth" type=00 *e code=08EE elementURI="OnDock.MinAltitude" type=00 *e code=08EF elementURI="OnDock.MinOffshore" type=00 *e code=08F0 elementURI="OnDock.StayOnDock" type=00 *e code=08F1 elementURI="OnDock.IfconfigInterval" type=00 *e code=08F2 elementURI="OnDock.RunScience" type=00 *e code=08F3 elementURI="OnDock.MissionTimeout" type=00 *e code=08F4 elementURI="OnDock:StandardEnvelopes.MinAltitude" type=00 *e code=08F5 elementURI="OnDock:StandardEnvelopes.MaxDepthIgnore" type=00 *e code=08F6 elementURI="OnDock:StandardEnvelopes.MaxDepth" type=00 *e code=08F7 elementURI="OnDock:StandardEnvelopes.MinOffshore" type=00 *e code=08F8 elementURI="OnDock:BackseatDriver.EnableBackseat" type=00 *e code=08F9 elementURI="OnDock:PowerOnly.SampleAll" type=00 *e code=08FA elementURI="OnDock:PowerOnly.SampleLoad1" type=00 *e code=08FB elementURI="OnDock:PowerOnly.SampleLoad2" type=00 *e code=08FC elementURI="OnDock:PowerOnly.SampleLoad3" type=00 *e code=08FD elementURI="OnDock:PowerOnly.EnabledPowerOnly" type=00 *e code=08FE elementURI="OnDock:science:Science.PeakDetectChlActive" type=00 *e code=08FF elementURI="OnDock:science:Science.TimeWindowPeakReport" type=00 *e code=0900 elementURI="OnDock:science:Science.HighestChlPeakReportActive" type=00 *e code=0901 elementURI="OnDock:science:Science.HighestSaltPeakReportActive" type=00 *e code=0902 elementURI="OnDock:science:Science.HighestOilPeakReportActive" type=00 *e code=0903 elementURI="OnDock:science:Science.PatchTracking" type=00 *e code=0904 elementURI="OnDock:science:Science.FilterWidthHorizontal" type=00 *e code=0905 elementURI="OnDock:science:Science.NumProfilesSlidingwindow" type=00 *e code=0906 elementURI="OnDock:science:Science.OffPeakFractionHorizontal" type=00 *e code=0907 elementURI="OnDock:science:Science.PeakDetectNO3Active" type=00 *e code=0908 elementURI="OnDock:science:Science.PeakDetectOilActive" type=00 *e code=0909 elementURI="OnDock:science:Science.PeakDetectFDOMActive" type=00 *e code=090A elementURI="OnDock:science:Science.PeakDetectSalinityActive" type=00 *e code=090B elementURI="OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive" type=00 *e code=090C elementURI="OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive" type=00 *e code=090D elementURI="OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive" type=00 *e code=090E elementURI="OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive" type=00 *e code=090F elementURI="OnDock:science:Science.UpwardDerivativeOfTemperatureActive" type=00 *e code=0910 elementURI="OnDock:science:Science.EnabledAanderaaO2" type=00 *e code=0911 elementURI="OnDock:science:Science.EnabledNeilBrown" type=00 *e code=0912 elementURI="OnDock:science:Science.EnabledSeabird" type=00 *e code=0913 elementURI="OnDock:science:Science.EnabledWetLabsBB2FL" type=00 *e code=0914 elementURI="OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A" type=00 *e code=0915 elementURI="OnDock:science:Science.EnabledWetLabsUBAT" type=00 *e code=0916 elementURI="OnDock:science:Science.LowPassWindowLength" type=00 *e code=0917 elementURI="OnDock:science:Science.MedianFilterLen" type=00 *e code=0918 elementURI="OnDock:science:Science.PeakShallowBound" type=00 *e code=0919 elementURI="OnDock:science:Science.PeakDeepBound" type=00 *e code=091A elementURI="OnDock:science:Science.DepChangeThreshForAttitudeFlip" type=00 *e code=091B elementURI="OnDock:science:Science.ChlThreshTriggerActive" type=00 *e code=091C elementURI="OnDock:science:Science.ChlLowerThresh" type=00 *e code=091D elementURI="OnDock:science:Science.ChlUpperThresh" type=00 *e code=091E elementURI="OnDock:science:Science.NumProfilesThresh" type=00 *e code=091F elementURI="OnDock:science:Science.PeakChl" type=00 *e code=0920 elementURI="OnDock:science:Science.PeakChlDepth" type=00 *e code=0921 elementURI="OnDock:science:Science.PeakChlTemperature" type=00 *e code=0922 elementURI="OnDock:science:Science.PeakChlLatitude" type=00 *e code=0923 elementURI="OnDock:science:Science.PeakChlLongitude" type=00 *e code=0924 elementURI="OnDock:science:Science.PeakNO3" type=00 *e code=0925 elementURI="OnDock:science:Science.PeakNO3Depth" type=00 *e code=0926 elementURI="OnDock:science:Science.PeakNO3Latitude" type=00 *e code=0927 elementURI="OnDock:science:Science.PeakNO3Longitude" type=00 *e code=0928 elementURI="OnDock:science:Science.PeakOil" type=00 *e code=0929 elementURI="OnDock:science:Science.PeakOilDepth" type=00 *e code=092A elementURI="OnDock:science:Science.PeakOilLatitude" type=00 *e code=092B elementURI="OnDock:science:Science.PeakOilLongitude" type=00 *e code=092C elementURI="OnDock:science:Science.PeakFDOM" type=00 *e code=092D elementURI="OnDock:science:Science.PeakFDOMDepth" type=00 *e code=092E elementURI="OnDock:science:Science.PeakFDOMTemperature" type=00 *e code=092F elementURI="OnDock:science:Science.PeakFDOMLatitude" type=00 *e code=0930 elementURI="OnDock:science:Science.PeakFDOMLongitude" type=00 *e code=0931 elementURI="OnDock:science:Science.PeakSalt" type=00 *e code=0932 elementURI="OnDock:science:Science.PeakSaltDepth" type=00 *e code=0933 elementURI="OnDock:science:Science.PeakSaltTemperature" type=00 *e code=0934 elementURI="OnDock:science:Science.PeakSaltLatitude" type=00 *e code=0935 elementURI="OnDock:science:Science.PeakSaltLongitude" type=00 *e code=0936 elementURI="OnDock:science:Science.PeakPlanktivoreLMavgROI" type=00 *e code=0937 elementURI="OnDock:science:Science.PeakPlanktivoreLMavgROIDepth" type=00 *e code=0938 elementURI="OnDock:science:Science.PeakPlanktivoreLMavgROITemperature" type=00 *e code=0939 elementURI="OnDock:science:Science.PeakPlanktivoreLMavgROILatitude" type=00 *e code=093A elementURI="OnDock:science:Science.PeakPlanktivoreLMavgROILongitude" type=00 *e code=093B elementURI="OnDock:science:Science.PeakPlanktivoreHMavgROI" type=00 *e code=093C elementURI="OnDock:science:Science.PeakPlanktivoreHMavgROIDepth" type=00 *e code=093D elementURI="OnDock:science:Science.PeakPlanktivoreHMavgROITemperature" type=00 *e code=093E elementURI="OnDock:science:Science.PeakPlanktivoreHMavgROILatitude" type=00 *e code=093F elementURI="OnDock:science:Science.PeakPlanktivoreHMavgROILongitude" type=00 *e code=0940 elementURI="OnDock:science:Science.PeakPlanktivoreDiatoms" type=00 *e code=0941 elementURI="OnDock:science:Science.PeakPlanktivoreDiatomsDepth" type=00 *e code=0942 elementURI="OnDock:science:Science.PeakPlanktivoreDiatomsTemperature" type=00 *e code=0943 elementURI="OnDock:science:Science.PeakPlanktivoreDiatomsLatitude" type=00 *e code=0944 elementURI="OnDock:science:Science.PeakPlanktivoreDiatomsLongitude" type=00 *e code=0945 elementURI="OnDock:science:Science.PeakPlanktivoreDinoflagellates" type=00 *e code=0946 elementURI="OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth" type=00 *e code=0947 elementURI="OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature" type=00 *e code=0948 elementURI="OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude" type=00 *e code=0949 elementURI="OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude" type=00 *e code=094A elementURI="OnDock:science:Science.PatchChl" type=00 *e code=094B elementURI="OnDock:science:Science.PatchChlDepth" type=00 *e code=094C elementURI="OnDock:science:Science.PatchChlLatitude" type=00 *e code=094D elementURI="OnDock:science:Science.PatchChlLongitude" type=00 *e code=094E elementURI="OnDock:science:Science.PatchChlDistance" type=00 *e code=094F elementURI="OnDock:science:Science.PatchSalt" type=00 *e code=0950 elementURI="OnDock:science:Science.PatchSaltDepth" type=00 *e code=0951 elementURI="OnDock:science:Science.PatchSaltLatitude" type=00 *e code=0952 elementURI="OnDock:science:Science.PatchSaltLongitude" type=00 *e code=0953 elementURI="OnDock:science:Science.PatchSaltDistance" type=00 *e code=0954 elementURI="OnDock:science:Science.PatchOil" type=00 *e code=0955 elementURI="OnDock:science:Science.PatchOilDepth" type=00 *e code=0956 elementURI="OnDock:science:Science.PatchOilLatitude" type=00 *e code=0957 elementURI="OnDock:science:Science.PatchOilLongitude" type=00 *e code=0958 elementURI="OnDock:science:Science.PatchOilDistance" type=00 *e code=0959 elementURI="OnDock:science:Science.TriggeredOnChl" type=00 *e code=095A elementURI="OnDock:science:Science.ChlTriggering" type=00 *e code=095B elementURI="peakTemperature" type=03 *e code=095C elementURI="dockSuccessful" type=03 *e code=095D elementURI="undock.MissionTimeout" type=00 *e code=095E elementURI="undock.UndockTimeout" type=00 *e code=095F elementURI="undock.DriftTimeout" type=00 *e code=0960 elementURI="undock.TransitLat" type=00 *e code=0961 elementURI="undock.TransitLon" type=00 *e code=0962 elementURI="undock.TransitSpeed" type=00 *e code=0963 elementURI="undock.TrackingUpdatePeriod" type=00 *e code=0964 elementURI="undock.NumberOfPings" type=00 *e code=0965 elementURI="undock.TransponderCode" type=00 *e code=0966 elementURI="undock.MaxDepth" type=00 *e code=0967 elementURI="undock.MinAltitude" type=00 *e code=0968 elementURI="undock.MinOffshore" type=00 *e code=0969 elementURI="undock.DockedDepth" type=00 *e code=096A elementURI="undock.SkipTransit" type=00 *e code=096B elementURI="undock:StandardEnvelopes.MinAltitude" type=00 *e code=096C elementURI="undock:StandardEnvelopes.MaxDepthIgnore" type=00 *e code=096D elementURI="undock:StandardEnvelopes.MaxDepth" type=00 *e code=096E elementURI="undock:StandardEnvelopes.MinOffshore" type=00 *e code=096F elementURI="undock:BackseatDriver.EnableBackseat" type=00 *e code=0970 elementURI="undock:PowerOnly.SampleAll" type=00 *e code=0971 elementURI="undock:PowerOnly.SampleLoad1" type=00 *e code=0972 elementURI="undock:PowerOnly.SampleLoad2" type=00 *e code=0973 elementURI="undock:PowerOnly.SampleLoad3" type=00 *e code=0974 elementURI="undock:PowerOnly.EnabledPowerOnly" type=00 *e code=0975 elementURI="transit.MissionTimeout" type=00 *e code=0976 elementURI="transit.NeedCommsTime" type=00 *e code=0977 elementURI="transit.Latitude" type=00 *e code=0978 elementURI="transit.Longitude" type=00 *e code=0979 elementURI="transit.Northings" type=00 *e code=097A elementURI="transit.Eastings" type=00 *e code=097B elementURI="transit.Depth" type=00 *e code=097C elementURI="transit.Speed" type=00 *e code=097D elementURI="transit.MaxDepth" type=00 *e code=097E elementURI="transit.MinOffshore" type=00 *e code=097F elementURI="transit.MinAltitude" type=00 *e code=0980 elementURI="transit.MassHold" type=00 *e code=0981 elementURI="transit.BuoyancyHold" type=00 *e code=0982 elementURI="transit:NeedComms.DiveInterval" type=00 *e code=0983 elementURI="transit:NeedComms.WaitForPitchUp" type=00 *e code=0984 elementURI="transit:NeedComms.SurfacePitch" type=00 *e code=0985 elementURI="transit:NeedComms.SurfaceDepthRate" type=00 *e code=0986 elementURI="transit:NeedComms.SurfaceSpeed" type=00 *e code=0987 elementURI="transit:NeedComms.SurfacingTimeout" type=00 *e code=0988 elementURI="transit:NeedComms.GPSTimeout" type=00 *e code=0989 elementURI="transit:NeedComms.CommsTimeout" type=00 *e code=098A elementURI="transit:StandardEnvelopes.MinAltitude" type=00 *e code=098B elementURI="transit:StandardEnvelopes.MaxDepthIgnore" type=00 *e code=098C elementURI="transit:StandardEnvelopes.MaxDepth" type=00 *e code=098D elementURI="transit:StandardEnvelopes.MinOffshore" type=00 *e code=098E elementURI="transit:BackseatDriver.EnableBackseat" type=00 *e code=098F elementURI="transit:PowerOnly.SampleAll" type=00 *e code=0990 elementURI="transit:PowerOnly.SampleLoad1" type=00 *e code=0991 elementURI="transit:PowerOnly.SampleLoad2" type=00 *e code=0992 elementURI="transit:PowerOnly.SampleLoad3" type=00 *e code=0993 elementURI="transit:PowerOnly.EnabledPowerOnly" type=00 *a code=0000 owner=0004 element=0068 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0001 owner=0007 element=0069 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0002 owner=0007 element=006A universal=0064 unitName="second" type=1F size=0008 fl=01 *a code=0003 owner=0008 element=006B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0004 owner=0008 element=006C universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0005 owner=0008 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0006 owner=0008 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0007 owner=0008 element=006F universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0008 owner=0008 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0009 owner=0008 element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=000A owner=0008 element=002B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=000B owner=0008 element=0072 universal=002B unitName="bool" type=02 size=0001 fl=05 *a code=000C owner=000A element=0073 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=000D owner=000C element=0074 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=000E owner=000E element=0075 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=000F owner=000E element=0076 universal=002A unitName="bool" type=02 size=0001 fl=05 *a code=0010 owner=000F element=0077 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0011 owner=000F element=0078 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0012 owner=000F element=0079 universal=3FFF unitName="none" type=00 size=0003 fl=05 *a code=0013 owner=000F element=007A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0014 owner=000F element=007B universal=3FFF unitName="none" type=00 size=0009 fl=05 *a code=0015 owner=000F element=007C universal=3FFF unitName="none" type=00 size=000F fl=05 *a code=0016 owner=000F element=007D universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0017 owner=000F element=007E universal=3FFF unitName="none" type=00 size=0010 fl=05 *a code=0018 owner=0010 element=007F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0019 owner=0010 element=0080 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=001A owner=0010 element=0081 universal=3FFF unitName="none" type=00 size=002F fl=05 *a code=001B owner=0010 element=0082 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=001C owner=0010 element=0083 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=001D owner=0010 element=0084 universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=001E owner=0010 element=0085 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=001F owner=0010 element=0086 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0020 owner=0010 element=0087 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0021 owner=0010 element=0088 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0022 owner=0010 element=0089 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0023 owner=0010 element=008A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0024 owner=0010 element=008B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0025 owner=0010 element=008C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0026 owner=0010 element=008D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0027 owner=0010 element=008E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0028 owner=0010 element=008F universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0029 owner=0010 element=0090 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=002A owner=0010 element=0091 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=002B owner=0010 element=0092 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=002C owner=0010 element=0093 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=002D owner=0010 element=0094 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=002E owner=0010 element=0095 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=002F owner=0010 element=0096 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0030 owner=0010 element=0097 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0031 owner=0010 element=0098 universal=3FFF unitName="none" type=00 size=0008 fl=05 *a code=0032 owner=0010 element=0099 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0033 owner=0010 element=009A universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0034 owner=0010 element=009B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0035 owner=0010 element=009C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0036 owner=0010 element=009D universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0037 owner=0010 element=009E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0038 owner=0010 element=009F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0039 owner=0010 element=00A0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=003A owner=0010 element=00A1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=003B owner=0010 element=00A2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=003C owner=0010 element=00A3 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=003D owner=0010 element=00A4 universal=3FFF unitName="hour" type=0B size=0003 fl=05 *a code=003E owner=0010 element=00A5 universal=3FFF unitName="hour" type=0B size=0003 fl=05 *a code=003F owner=0010 element=00A6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0040 owner=0010 element=00A7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0041 owner=0010 element=00A8 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0042 owner=0010 element=00A9 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0043 owner=0010 element=00AA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0044 owner=0010 element=00AB universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=0045 owner=0010 element=00AC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0046 owner=0010 element=00AD universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0047 owner=0010 element=00AE universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0048 owner=0010 element=00AF universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0049 owner=0010 element=00B0 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=004A owner=0010 element=00B1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=004B owner=0010 element=00B2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=004C owner=0010 element=00B3 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=004D owner=0010 element=00B4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=004E owner=0010 element=00B5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=004F owner=0010 element=00B6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0050 owner=0010 element=00B7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0051 owner=0010 element=00B8 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0052 owner=0010 element=00B9 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0053 owner=0010 element=00BA universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=0054 owner=0010 element=00BB universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0055 owner=0010 element=00BC universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0056 owner=0010 element=00BD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0057 owner=0010 element=00BE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0058 owner=0010 element=00BF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0059 owner=0010 element=00C0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=005A owner=0010 element=00C1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=005B owner=0010 element=00C2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=005C owner=0010 element=00C3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=005D owner=0010 element=00C4 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=005E owner=0010 element=00C5 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=005F owner=0010 element=00C6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0060 owner=0010 element=00C7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0061 owner=0010 element=00C8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0062 owner=0010 element=00C9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0063 owner=0010 element=00CA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0064 owner=0010 element=00CB universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0065 owner=0010 element=00CC universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0066 owner=0010 element=00CD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0067 owner=0010 element=00CE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0068 owner=0010 element=00CF universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0069 owner=0010 element=00D0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=006A owner=0010 element=00D1 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=006B owner=0010 element=00D2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=006C owner=0010 element=00D3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=006D owner=0010 element=00D4 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=006E owner=0010 element=00D5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=006F owner=0010 element=00D6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0070 owner=0010 element=00D7 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0071 owner=0010 element=00D8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0072 owner=0010 element=00D9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0073 owner=0010 element=00DA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0074 owner=0010 element=00DB universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0075 owner=0010 element=00DC universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0076 owner=0010 element=00DD universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0077 owner=0010 element=00DE universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0078 owner=0010 element=00DF universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=0079 owner=0010 element=00E0 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=007A owner=0010 element=00E1 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=007B owner=0010 element=00E2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=007C owner=0010 element=00E3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=007D owner=0010 element=00E4 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=007E owner=0010 element=00E5 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=007F owner=0010 element=00E6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0080 owner=0010 element=00E7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0081 owner=0010 element=00E8 universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=0082 owner=0010 element=00E9 universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=0083 owner=0010 element=00EA universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=0084 owner=0010 element=00EB universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=0085 owner=0010 element=00EC universal=3FFF unitName="micropascal" type=0B size=0003 fl=05 *a code=0086 owner=0010 element=00ED universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0087 owner=0010 element=00EE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0088 owner=0010 element=00EF universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=0089 owner=0010 element=00F0 universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=008A owner=0010 element=00F1 universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=008B owner=0010 element=00F2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=008C owner=0010 element=00F3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=008D owner=0010 element=00F4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=008E owner=0010 element=00F5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=008F owner=0010 element=00F6 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0090 owner=0010 element=00F7 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0091 owner=0010 element=00F8 universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=0092 owner=0010 element=00F9 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0093 owner=0010 element=00FA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0094 owner=0010 element=00FB universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0095 owner=0010 element=00FC universal=3FFF unitName="none" type=00 size=000E fl=05 *a code=0096 owner=0010 element=00FD universal=3FFF unitName="none" type=00 size=0001 fl=05 *a code=0097 owner=0010 element=00FE universal=3FFF unitName="kilometer" type=0B size=0003 fl=05 *a code=0098 owner=0010 element=00FF universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=0099 owner=0010 element=0100 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=009A owner=0010 element=0101 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=009B owner=0010 element=0102 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=009C owner=0010 element=0103 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=009D owner=0010 element=0104 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=009E owner=0010 element=0105 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=009F owner=0010 element=0106 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00A0 owner=0010 element=0107 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=00A1 owner=0010 element=0108 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=00A2 owner=0010 element=0109 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=00A3 owner=0010 element=010A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=00A4 owner=0010 element=010B universal=3FFF unitName="hertz" type=0B size=0003 fl=05 *a code=00A5 owner=0010 element=010C universal=3FFF unitName="hertz" type=0B size=0003 fl=05 *a code=00A6 owner=0010 element=010D universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=00A7 owner=0010 element=010E universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=00A8 owner=0010 element=010F universal=3FFF unitName="hertz" type=0B size=0003 fl=05 *a code=00A9 owner=0010 element=0110 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=00AA owner=0010 element=0111 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=00AB owner=0010 element=0112 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=00AC owner=0010 element=0113 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=00AD owner=0010 element=0114 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=00AE owner=0010 element=0115 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=00AF owner=0010 element=0116 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=00B0 owner=0010 element=0117 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00B1 owner=0010 element=0118 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00B2 owner=0010 element=0119 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=00B3 owner=0010 element=011A universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=00B4 owner=0010 element=011B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00B5 owner=0010 element=011C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00B6 owner=0010 element=011D universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=00B7 owner=0010 element=011E universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=00B8 owner=0010 element=011F universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=00B9 owner=0010 element=0120 universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=00BA owner=0010 element=0121 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00BB owner=0010 element=0122 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00BC owner=0010 element=0123 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00BD owner=0010 element=0124 universal=3FFF unitName="byte" type=1F size=0008 fl=05 *a code=00BE owner=0010 element=0125 universal=3FFF unitName="byte" type=1F size=0008 fl=05 *a code=00BF owner=0010 element=0126 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00C0 owner=0010 element=0127 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00C1 owner=0010 element=0128 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=00C2 owner=0010 element=0129 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00C3 owner=0010 element=012A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00C4 owner=0010 element=012B universal=3FFF unitName="none" type=00 size=0008 fl=05 *a code=00C5 owner=0010 element=012C universal=3FFF unitName="none" type=00 size=0008 fl=05 *a code=00C6 owner=0010 element=012D universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=00C7 owner=0010 element=012E universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=00C8 owner=0010 element=012F universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=00C9 owner=0010 element=0130 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=00CA owner=0010 element=0131 universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=00CB owner=0010 element=0132 universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=05 *a code=00CC owner=0010 element=0133 universal=3FFF unitName="pound_per_square_inch_per_volt" type=0B size=0003 fl=05 *a code=00CD owner=0010 element=0134 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00CE owner=0010 element=0135 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00CF owner=0010 element=0136 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00D0 owner=0010 element=0137 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00D1 owner=0010 element=0138 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00D2 owner=0010 element=0139 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00D3 owner=0010 element=013A universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=00D4 owner=0010 element=013B universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=00D5 owner=0010 element=013C universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=00D6 owner=0010 element=013D universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=00D7 owner=0010 element=013E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00D8 owner=0010 element=013F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00D9 owner=0010 element=0140 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=00DA owner=0010 element=0141 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=00DB owner=0010 element=0142 universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=00DC owner=0010 element=0143 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00DD owner=0010 element=0144 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=00DE owner=0010 element=0145 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=00DF owner=0010 element=0146 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00E0 owner=0010 element=0147 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00E1 owner=0010 element=0148 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00E2 owner=0010 element=0149 universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=00E3 owner=0010 element=014A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00E4 owner=0010 element=014B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00E5 owner=0010 element=014C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00E6 owner=0010 element=014D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00E7 owner=0010 element=014E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00E8 owner=0010 element=014F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00E9 owner=0010 element=0150 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00EA owner=0010 element=0151 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=00EB owner=0010 element=0152 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=00EC owner=0010 element=0153 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=00ED owner=0010 element=0154 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=00EE owner=0010 element=0155 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=00EF owner=0010 element=0156 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=00F0 owner=0010 element=0157 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=00F1 owner=0010 element=0158 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=00F2 owner=0010 element=0159 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=00F3 owner=0010 element=015A universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=00F4 owner=0010 element=015B universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=00F5 owner=0010 element=015C universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=00F6 owner=0010 element=015D universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=00F7 owner=0010 element=015E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=00F8 owner=0010 element=015F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00F9 owner=0010 element=0160 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00FA owner=0010 element=0161 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00FB owner=0010 element=0162 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00FC owner=0010 element=0163 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00FD owner=0010 element=0164 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00FE owner=0010 element=0165 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=00FF owner=0010 element=0166 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0100 owner=0010 element=0167 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0101 owner=0010 element=0168 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0102 owner=0010 element=0169 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0103 owner=0010 element=016A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0104 owner=0010 element=016B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0105 owner=0010 element=016C universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=0106 owner=0010 element=016D universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=0107 owner=0010 element=016E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0108 owner=0010 element=016F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0109 owner=0010 element=0170 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=010A owner=0010 element=0171 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=010B owner=0010 element=0172 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=010C owner=0011 element=0173 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=010D owner=0011 element=0174 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=010E owner=0011 element=0175 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=010F owner=0011 element=0176 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0110 owner=0011 element=0177 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0111 owner=0011 element=0178 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0112 owner=0011 element=0179 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0113 owner=0011 element=017A universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0114 owner=0011 element=017B universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0115 owner=0011 element=017C universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0116 owner=0011 element=017D universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0117 owner=0011 element=017E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0118 owner=0011 element=017F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0119 owner=0011 element=0180 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=011A owner=0011 element=0181 universal=3FFF unitName="hour" type=0B size=0003 fl=05 *a code=011B owner=0011 element=0182 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=011C owner=0011 element=0183 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=011D owner=0011 element=0184 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=011E owner=0011 element=0185 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=011F owner=0011 element=0186 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0120 owner=0011 element=0187 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0121 owner=0011 element=0188 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0122 owner=0011 element=0189 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0123 owner=0011 element=018A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0124 owner=0011 element=018B universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0125 owner=0011 element=018C universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0126 owner=0011 element=018D universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0127 owner=0011 element=018E universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *a code=0128 owner=0011 element=018F universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *a code=0129 owner=0011 element=0190 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *a code=012A owner=0011 element=0191 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *a code=012B owner=0011 element=0192 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=012C owner=0011 element=0193 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=012D owner=0011 element=0194 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=012E owner=0011 element=0195 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=012F owner=0011 element=0196 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0130 owner=0011 element=0197 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0131 owner=0011 element=0198 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0132 owner=0011 element=0199 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0133 owner=0011 element=019A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0134 owner=0011 element=019B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0135 owner=0011 element=019C universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0136 owner=0011 element=019D universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0137 owner=0011 element=019E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0138 owner=0013 element=019F universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 *a code=0139 owner=0013 element=01A0 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 *a code=013A owner=0013 element=01A1 universal=3FFF unitName="none" type=00 size=0013 fl=05 *a code=013B owner=0013 element=01A2 universal=3FFF unitName="none" type=00 size=0013 fl=05 *a code=013C owner=0013 element=01A3 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=013D owner=0013 element=01A4 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 *a code=013E owner=0013 element=01A5 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 *a code=013F owner=0013 element=01A6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0140 owner=0013 element=01A7 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0141 owner=0013 element=01A8 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 *a code=0142 owner=0013 element=01A9 universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 *a code=0143 owner=0013 element=01AA universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0144 owner=0013 element=01AB universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0145 owner=0013 element=01AC universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 *a code=0146 owner=0013 element=01AD universal=3FFF unitName="angular_degree" type=1F size=0008 fl=05 *a code=0147 owner=0013 element=01AE universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0148 owner=0015 element=01AF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0149 owner=0015 element=01B0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=014A owner=0015 element=01B1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=014B owner=0015 element=01B2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=014C owner=0015 element=01B3 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=014D owner=0015 element=01B4 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *a code=014E owner=0015 element=01B5 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=014F owner=0015 element=01B6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0150 owner=0015 element=01B7 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0151 owner=0015 element=01B8 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0152 owner=0015 element=01B9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0153 owner=0016 element=01BA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0154 owner=0016 element=01BB universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0155 owner=0016 element=01BC universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0156 owner=0016 element=01BD universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=0157 owner=0016 element=01BE universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0158 owner=0016 element=01BF universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0159 owner=0016 element=01C0 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=015A owner=0016 element=01C1 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=015B owner=0016 element=01C2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=015C owner=0016 element=01C3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=015D owner=0016 element=01C4 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=015E owner=0016 element=01C5 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=015F owner=0016 element=01C6 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0160 owner=0016 element=01C7 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0161 owner=0016 element=01C8 universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=05 *a code=0162 owner=0016 element=01C9 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0163 owner=0016 element=01CA universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0164 owner=0016 element=01CB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0165 owner=0016 element=01CC universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0166 owner=0016 element=01CD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0167 owner=0016 element=01CE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0168 owner=0016 element=01CF universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=05 *a code=0169 owner=0016 element=01D0 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=016A owner=0016 element=01D1 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=016B owner=0016 element=01D2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=016C owner=0016 element=01D3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=016D owner=0016 element=01D4 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=016E owner=0016 element=01D5 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=016F owner=0016 element=01D6 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0170 owner=0016 element=01D7 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0171 owner=0016 element=01D8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0172 owner=0016 element=01D9 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0173 owner=0016 element=01DA universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0174 owner=0016 element=01DB universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0175 owner=0016 element=01DC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0176 owner=0016 element=01DD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0177 owner=0016 element=01DE universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0178 owner=0016 element=01DF universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0179 owner=0016 element=01E0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=017A owner=0016 element=01E1 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=017B owner=0016 element=01E2 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=017C owner=0016 element=01E3 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=017D owner=0016 element=01E4 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=017E owner=0016 element=01E5 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=017F owner=0016 element=01E6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0180 owner=0016 element=01E7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0181 owner=0016 element=01E8 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=05 *a code=0182 owner=0016 element=01E9 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=0183 owner=0016 element=01EA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0184 owner=0016 element=01EB universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0185 owner=0016 element=01EC universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0186 owner=0016 element=01ED universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0187 owner=0016 element=01EE universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0188 owner=0016 element=01EF universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0189 owner=0016 element=01F0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=018A owner=0016 element=01F1 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=018B owner=0016 element=01F2 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=018C owner=0016 element=01F3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=018D owner=0016 element=01F4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=018E owner=0016 element=01F5 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=018F owner=0016 element=01F6 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=0190 owner=0016 element=01F7 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0191 owner=0016 element=01F8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0192 owner=0016 element=01F9 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=0193 owner=0016 element=01FA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0194 owner=0016 element=01FB universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0195 owner=0016 element=01FC universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *a code=0196 owner=0016 element=01FD universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=05 *a code=0197 owner=0016 element=01FE universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0198 owner=0016 element=01FF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0199 owner=0016 element=0200 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=019A owner=0016 element=0201 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=05 *a code=019B owner=0016 element=0202 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=019C owner=0016 element=0203 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=019D owner=0016 element=0204 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=019E owner=0016 element=0205 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=019F owner=0016 element=0206 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01A0 owner=0016 element=0207 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=01A1 owner=0016 element=0208 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01A2 owner=0016 element=0209 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01A3 owner=0016 element=020A universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01A4 owner=0016 element=020B universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=01A5 owner=0016 element=020C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=01A6 owner=0016 element=020D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=01A7 owner=0016 element=020E universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01A8 owner=0016 element=020F universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01A9 owner=0016 element=0210 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01AA owner=0016 element=0211 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=01AB owner=0016 element=0212 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=01AC owner=0016 element=0213 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=01AD owner=0016 element=0214 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=01AE owner=0016 element=0215 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=01AF owner=0016 element=0216 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=01B0 owner=0016 element=0217 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=01B1 owner=0016 element=0218 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01B2 owner=0016 element=0219 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01B3 owner=0016 element=021A universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01B4 owner=0016 element=021B universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=01B5 owner=0016 element=021C universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01B6 owner=0016 element=021D universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=01B7 owner=0016 element=021E universal=3FFF unitName="count_per_second" type=0B size=0003 fl=05 *a code=01B8 owner=0016 element=021F universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=05 *a code=01B9 owner=0017 element=0220 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=01BA owner=0017 element=0221 universal=3FFF unitName="none" type=00 size=0016 fl=05 *a code=01BB owner=0017 element=0222 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=01BC owner=0017 element=0223 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=01BD owner=0017 element=0224 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=01BE owner=0017 element=0225 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=01BF owner=0017 element=0226 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01C0 owner=0017 element=0227 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01C1 owner=0017 element=0228 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01C2 owner=0017 element=0229 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01C3 owner=0017 element=022A universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01C4 owner=0017 element=022B universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01C5 owner=0017 element=022C universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01C6 owner=0017 element=022D universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01C7 owner=0017 element=022E universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01C8 owner=0017 element=022F universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01C9 owner=0017 element=0230 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01CA owner=0017 element=0231 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01CB owner=0017 element=0232 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=01CC owner=0017 element=0233 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=01CD owner=0017 element=0234 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=01CE owner=0017 element=0235 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=01CF owner=0017 element=0236 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=01D0 owner=0017 element=0237 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=01D1 owner=0017 element=0238 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=01D2 owner=0017 element=0239 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01D3 owner=0017 element=023A universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=01D4 owner=0017 element=023B universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=01D5 owner=0017 element=023C universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=01D6 owner=0017 element=023D universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=01D7 owner=0017 element=023E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=01D8 owner=0017 element=023F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=01D9 owner=0017 element=0240 universal=3FFF unitName="centimeter" type=0B size=0003 fl=05 *a code=01DA owner=0017 element=0241 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=01DB owner=0017 element=0242 universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=01DC owner=0017 element=0243 universal=3FFF unitName="cubic_meter" type=0B size=0003 fl=05 *a code=01DD owner=0017 element=0244 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=01DE owner=0017 element=0245 universal=3FFF unitName="kilogram_per_meter" type=0B size=0003 fl=05 *a code=01DF owner=0017 element=0246 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01E0 owner=0017 element=0247 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01E1 owner=0017 element=0248 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01E2 owner=0017 element=0249 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01E3 owner=0017 element=024A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01E4 owner=0017 element=024B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01E5 owner=0017 element=024C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01E6 owner=0017 element=024D universal=3FFF unitName="inch" type=0B size=0003 fl=05 *a code=01E7 owner=0017 element=024E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01E8 owner=0017 element=024F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01E9 owner=0017 element=0250 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01EA owner=0017 element=0251 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01EB owner=0017 element=0252 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01EC owner=0017 element=0253 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01ED owner=0017 element=0254 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01EE owner=0017 element=0255 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01EF owner=0017 element=0256 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01F0 owner=0017 element=0257 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01F1 owner=0017 element=0258 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01F2 owner=0017 element=0259 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01F3 owner=0017 element=025A universal=3FFF unitName="revolution_per_minute" type=0B size=0003 fl=05 *a code=01F4 owner=0017 element=025B universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=01F5 owner=0017 element=025C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=01F6 owner=0017 element=025D universal=3FFF unitName="newton" type=0B size=0003 fl=05 *a code=01F7 owner=0017 element=025E universal=3FFF unitName="newton_meter" type=0B size=0003 fl=05 *a code=01F8 owner=0017 element=025F universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=01F9 owner=0017 element=0260 universal=3FFF unitName="cubic_meter" type=0B size=0003 fl=05 *a code=01FA owner=0017 element=0261 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01FB owner=0017 element=0262 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01FC owner=0017 element=0263 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01FD owner=0017 element=0264 universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=01FE owner=0017 element=0265 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=01FF owner=0017 element=0266 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0200 owner=0017 element=0267 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0201 owner=0017 element=0268 universal=3FFF unitName="kilogram_meter_squared" type=0B size=0003 fl=05 *a code=0202 owner=0017 element=0269 universal=3FFF unitName="kilogram_meter_squared" type=0B size=0003 fl=05 *a code=0203 owner=0017 element=026A universal=3FFF unitName="kilogram_meter_squared" type=0B size=0003 fl=05 *a code=0204 owner=0017 element=026B universal=3FFF unitName="kilogram_meter_squared" type=0B size=0003 fl=05 *a code=0205 owner=0017 element=026C universal=3FFF unitName="kilogram_meter" type=0B size=0003 fl=05 *a code=0206 owner=0017 element=026D universal=3FFF unitName="kilogram_meter_squared" type=0B size=0003 fl=05 *a code=0207 owner=0017 element=026E universal=3FFF unitName="kilogram_meter" type=0B size=0003 fl=05 *a code=0208 owner=0017 element=026F universal=3FFF unitName="kilogram_meter_squared" type=0B size=0003 fl=05 *a code=0209 owner=0017 element=0270 universal=3FFF unitName="kilogram_meter" type=0B size=0003 fl=05 *a code=020A owner=0017 element=0271 universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=020B owner=0017 element=0272 universal=3FFF unitName="kilogram_meter" type=0B size=0003 fl=05 *a code=020C owner=0017 element=0273 universal=3FFF unitName="kilogram_meter" type=0B size=0003 fl=05 *a code=020D owner=0017 element=0274 universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=020E owner=0017 element=0275 universal=3FFF unitName="kilogram_meter" type=0B size=0003 fl=05 *a code=020F owner=0017 element=0276 universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=0210 owner=0017 element=0277 universal=3FFF unitName="kilogram_meter_squared" type=0B size=0003 fl=05 *a code=0211 owner=0017 element=0278 universal=3FFF unitName="kilogram_meter_squared" type=0B size=0003 fl=05 *a code=0212 owner=0017 element=0279 universal=3FFF unitName="kilogram_meter_squared" type=0B size=0003 fl=05 *a code=0213 owner=0017 element=027A universal=3FFF unitName="kilogram_meter" type=0B size=0003 fl=05 *a code=0214 owner=0017 element=027B universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=0215 owner=0017 element=027C universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=0216 owner=0017 element=027D universal=3FFF unitName="kilogram_meter_squared" type=0B size=0003 fl=05 *a code=0217 owner=0017 element=027E universal=3FFF unitName="kilogram_meter_squared" type=0B size=0003 fl=05 *a code=0218 owner=0017 element=027F universal=3FFF unitName="kilogram_meter" type=0B size=0003 fl=05 *a code=0219 owner=0017 element=0280 universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=021A owner=0017 element=0281 universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=021B owner=0017 element=0282 universal=3FFF unitName="kilogram_meter" type=0B size=0003 fl=05 *a code=021C owner=0017 element=0283 universal=3FFF unitName="kilogram_meter" type=0B size=0003 fl=05 *a code=021D owner=0017 element=0284 universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=021E owner=0017 element=0285 universal=3FFF unitName="kilogram_per_meter" type=0B size=0003 fl=05 *a code=021F owner=0017 element=0286 universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=0220 owner=0017 element=0287 universal=3FFF unitName="kilogram_per_meter" type=0B size=0003 fl=05 *a code=0221 owner=0017 element=0288 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0222 owner=0017 element=0289 universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=0223 owner=0017 element=028A universal=3FFF unitName="kilogram_per_meter" type=0B size=0003 fl=05 *a code=0224 owner=0017 element=028B universal=3FFF unitName="kilogram_per_meter" type=0B size=0003 fl=05 *a code=0225 owner=0017 element=028C universal=3FFF unitName="kilogram_meter" type=0B size=0003 fl=05 *a code=0226 owner=0017 element=028D universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0227 owner=0017 element=028E universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=0228 owner=0017 element=028F universal=3FFF unitName="kilogram_per_meter" type=0B size=0003 fl=05 *a code=0229 owner=0017 element=0290 universal=3FFF unitName="kilogram" type=0B size=0003 fl=05 *a code=022A owner=0017 element=0291 universal=3FFF unitName="kilogram_per_meter" type=0B size=0003 fl=05 *a code=022B owner=0017 element=0292 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=022C owner=0017 element=0293 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=022D owner=0017 element=0294 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=022E owner=0017 element=0295 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=022F owner=0017 element=0296 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 *a code=0230 owner=0017 element=0297 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0231 owner=0017 element=0298 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0232 owner=0017 element=0299 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 *a code=0233 owner=0017 element=029A universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0234 owner=0017 element=029B universal=3FFF unitName="square_meter" type=0B size=0003 fl=05 *a code=0235 owner=0017 element=029C universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0236 owner=0017 element=029D universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0237 owner=0017 element=029E universal=3FFF unitName="kilogram_per_cubic_meter" type=0B size=0003 fl=05 *a code=0238 owner=0017 element=029F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0239 owner=0017 element=02A0 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=023A owner=0017 element=02A1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=023B owner=0017 element=02A2 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=023C owner=0017 element=02A3 universal=3FFF unitName="part_per_thousand" type=0B size=0003 fl=05 *a code=023D owner=0017 element=02A4 universal=3FFF unitName="part_per_thousand" type=0B size=0003 fl=05 *a code=023E owner=0017 element=02A5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=023F owner=0017 element=02A6 universal=3FFF unitName="part_per_thousand" type=0B size=0003 fl=05 *a code=0240 owner=0017 element=02A7 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0241 owner=0017 element=02A8 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0242 owner=0017 element=02A9 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0243 owner=0017 element=02AA universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0244 owner=0017 element=02AB universal=3FFF unitName="none" type=00 size=0021 fl=05 *a code=0245 owner=0017 element=02AC universal=3FFF unitName="kilogram_per_cubic_meter" type=0B size=0003 fl=05 *a code=0246 owner=0017 element=02AD universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *a code=0247 owner=0017 element=02AE universal=3FFF unitName="millimeter_per_second" type=0B size=0003 fl=05 *a code=0248 owner=0017 element=02AF universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *a code=0249 owner=0017 element=02B0 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=024A owner=0017 element=02B1 universal=3FFF unitName="cubic_centimeter_per_second" type=0B size=0003 fl=05 *a code=024B owner=0017 element=02B2 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=024C owner=0017 element=02B3 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=024D owner=0017 element=02B4 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=024E owner=0017 element=02B5 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *a code=024F owner=0017 element=02B6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0250 owner=0017 element=02B7 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0251 owner=0017 element=02B8 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0252 owner=0017 element=02B9 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0253 owner=0017 element=02BA universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0254 owner=0017 element=02BB universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0255 owner=0017 element=02BC universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0256 owner=0017 element=02BD universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0257 owner=0017 element=02BE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0258 owner=0017 element=02BF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0259 owner=0017 element=02C0 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=025A owner=0017 element=02C1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=025B owner=0017 element=02C2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=025C owner=0017 element=02C3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=025D owner=0017 element=02C4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=025E owner=0018 element=02C5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=025F owner=0018 element=02C6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0260 owner=0018 element=02C7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0261 owner=0018 element=02C8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0262 owner=0018 element=02C9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0263 owner=0018 element=02CA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0264 owner=0018 element=02CB universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0265 owner=0018 element=02CC universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0266 owner=0018 element=02CD universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0267 owner=0018 element=02CE universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0268 owner=0018 element=02CF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0269 owner=0018 element=02D0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=026A owner=0018 element=02D1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=026B owner=0018 element=02D2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=026C owner=0018 element=02D3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=026D owner=0018 element=02D4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=026E owner=0018 element=02D5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=026F owner=0018 element=02D6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0270 owner=0018 element=02D7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0271 owner=0018 element=02D8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0272 owner=0018 element=02D9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0273 owner=0018 element=02DA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0274 owner=0018 element=02DB universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0275 owner=0018 element=02DC universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=0276 owner=0018 element=02DD universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0277 owner=0018 element=02DE universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0278 owner=0018 element=02DF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0279 owner=0018 element=02E0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=027A owner=0018 element=02E1 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=027B owner=0018 element=02E2 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=027C owner=0018 element=02E3 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=027D owner=0018 element=02E4 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=027E owner=0018 element=02E5 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=027F owner=0018 element=02E6 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0280 owner=0018 element=02E7 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0281 owner=0018 element=02E8 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0282 owner=0018 element=02E9 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0283 owner=0018 element=02EA universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0284 owner=0018 element=02EB universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0285 owner=0018 element=02EC universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0286 owner=0018 element=02ED universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0287 owner=0018 element=02EE universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0288 owner=0018 element=02EF universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0289 owner=0018 element=02F0 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=028A owner=0018 element=02F1 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=028B owner=0018 element=02F2 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=028C owner=0018 element=02F3 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=028D owner=0018 element=02F4 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=028E owner=001A element=02F5 universal=3FFF unitName="none" type=00 size=0006 fl=05 *a code=028F owner=001A element=02F6 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0290 owner=001A element=02F7 universal=3FFF unitName="none" type=00 size=0008 fl=05 *a code=0291 owner=001A element=02F8 universal=3FFF unitName="none" type=00 size=0006 fl=05 *a code=0292 owner=001A element=02F9 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0293 owner=001A element=02FA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0294 owner=001A element=02FB universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0295 owner=001A element=02FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0296 owner=001A element=02FD universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0297 owner=001A element=02FE universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=0298 owner=001A element=02FF universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=0299 owner=001A element=0300 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=029A owner=001A element=0301 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=029B owner=001A element=0302 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=029C owner=001A element=0303 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=029D owner=001A element=0304 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=029E owner=001A element=0305 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=029F owner=001A element=0306 universal=3FFF unitName="none" type=00 size=0009 fl=05 *a code=02A0 owner=001A element=0307 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02A1 owner=001A element=0308 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02A2 owner=001A element=0309 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02A3 owner=001A element=030A universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02A4 owner=001A element=030B universal=3FFF unitName="none" type=00 size=0009 fl=05 *a code=02A5 owner=001A element=030C universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02A6 owner=001A element=030D universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02A7 owner=001A element=030E universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02A8 owner=001A element=030F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02A9 owner=001A element=0310 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02AA owner=001A element=0311 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02AB owner=001A element=0312 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02AC owner=001A element=0313 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02AD owner=001A element=0314 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02AE owner=001A element=0315 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02AF owner=001A element=0316 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02B0 owner=001A element=0317 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02B1 owner=001A element=0318 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02B2 owner=001A element=0319 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02B3 owner=001A element=031A universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02B4 owner=001A element=031B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02B5 owner=001A element=031C universal=3FFF unitName="none" type=00 size=000E fl=05 *a code=02B6 owner=001A element=031D universal=3FFF unitName="bit" type=1F size=0008 fl=05 *a code=02B7 owner=001A element=031E universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=02B8 owner=001A element=031F universal=3FFF unitName="volt" type=0B size=0003 fl=05 *a code=02B9 owner=001A element=0320 universal=3FFF unitName="none" type=00 size=0010 fl=05 *a code=02BA owner=001A element=0321 universal=3FFF unitName="bit" type=1F size=0008 fl=05 *a code=02BB owner=001A element=0322 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *a code=02BC owner=001A element=0323 universal=3FFF unitName="none" type=00 size=0010 fl=05 *a code=02BD owner=001A element=0324 universal=3FFF unitName="bit" type=1F size=0008 fl=05 *a code=02BE owner=001A element=0325 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *a code=02BF owner=001A element=0326 universal=3FFF unitName="none" type=00 size=0010 fl=05 *a code=02C0 owner=001A element=0327 universal=3FFF unitName="bit" type=1F size=0008 fl=05 *a code=02C1 owner=001A element=0328 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *a code=02C2 owner=001A element=0329 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02C3 owner=001A element=032A universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02C4 owner=001A element=032B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02C5 owner=001A element=032C universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02C6 owner=001A element=032D universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02C7 owner=001A element=032E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02C8 owner=001A element=032F universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02C9 owner=001A element=0330 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02CA owner=001A element=0331 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02CB owner=001A element=0332 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02CC owner=001A element=0333 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02CD owner=001A element=0334 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02CE owner=001A element=0335 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02CF owner=001A element=0336 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02D0 owner=001A element=0337 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02D1 owner=001A element=0338 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02D2 owner=001A element=0339 universal=3FFF unitName="none" type=00 size=000E fl=05 *a code=02D3 owner=001A element=033A universal=3FFF unitName="bit" type=1F size=0008 fl=05 *a code=02D4 owner=001A element=033B universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=02D5 owner=001A element=033C universal=3FFF unitName="volt" type=0B size=0003 fl=05 *a code=02D6 owner=001A element=033D universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02D7 owner=001A element=033E universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02D8 owner=001A element=033F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02D9 owner=001A element=0340 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02DA owner=001A element=0341 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02DB owner=001A element=0342 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02DC owner=001A element=0343 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02DD owner=001A element=0344 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02DE owner=001A element=0345 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02DF owner=001A element=0346 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02E0 owner=001A element=0347 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02E1 owner=001A element=0348 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02E2 owner=001A element=0349 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02E3 owner=001A element=034A universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02E4 owner=001A element=034B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02E5 owner=001A element=034C universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02E6 owner=001A element=034D universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02E7 owner=001A element=034E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02E8 owner=001A element=034F universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02E9 owner=001A element=0350 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02EA owner=001A element=0351 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02EB owner=001A element=0352 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02EC owner=001A element=0353 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02ED owner=001A element=0354 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02EE owner=001A element=0355 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02EF owner=001A element=0356 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02F0 owner=001A element=0357 universal=3FFF unitName="none" type=00 size=0009 fl=05 *a code=02F1 owner=001A element=0358 universal=3FFF unitName="none" type=00 size=0009 fl=05 *a code=02F2 owner=001A element=0359 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02F3 owner=001A element=035A universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02F4 owner=001A element=035B universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02F5 owner=001A element=035C universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02F6 owner=001A element=035D universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02F7 owner=001A element=035E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02F8 owner=001A element=035F universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02F9 owner=001A element=0360 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02FA owner=001A element=0361 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02FB owner=001A element=0362 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=02FC owner=001A element=0363 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02FD owner=001A element=0364 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=02FE owner=001A element=0365 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=02FF owner=001A element=0366 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0300 owner=001A element=0367 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=0301 owner=001A element=0368 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0302 owner=001A element=0369 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0303 owner=001A element=036A universal=3FFF unitName="none" type=00 size=000E fl=05 *a code=0304 owner=001A element=036B universal=3FFF unitName="bit" type=1F size=0008 fl=05 *a code=0305 owner=001A element=036C universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=0306 owner=001A element=036D universal=3FFF unitName="volt" type=0B size=0003 fl=05 *a code=0307 owner=001A element=036E universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0308 owner=001A element=036F universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0309 owner=001A element=0370 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=030A owner=001A element=0371 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=030B owner=001A element=0372 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=030C owner=001A element=0373 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=030D owner=001A element=0374 universal=3FFF unitName="none" type=00 size=0009 fl=05 *a code=030E owner=001A element=0375 universal=3FFF unitName="none" type=00 size=0009 fl=05 *a code=030F owner=001A element=0376 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0310 owner=001A element=0377 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0311 owner=001A element=0378 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=0312 owner=001A element=0379 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=0313 owner=001A element=037A universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0314 owner=001A element=037B universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=0315 owner=001A element=037C universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=0316 owner=001A element=037D universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0317 owner=001A element=037E universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=0318 owner=001A element=037F universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=0319 owner=001A element=0380 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=031A owner=001A element=0381 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=031B owner=001A element=0382 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=031C owner=001A element=0383 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=031D owner=001A element=0384 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=031E owner=001A element=0385 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=031F owner=001A element=0386 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0320 owner=001A element=0387 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=0321 owner=001A element=0388 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=0322 owner=001A element=0389 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0323 owner=001A element=038A universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=0324 owner=001A element=038B universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=0325 owner=001A element=038C universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0326 owner=001A element=038D universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0327 owner=001A element=038E universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=0328 owner=001A element=038F universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0329 owner=001A element=0390 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=032A owner=001A element=0391 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=032B owner=001A element=0392 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=032C owner=001A element=0393 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=032D owner=001A element=0394 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=032E owner=001A element=0395 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=032F owner=001A element=0396 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=0330 owner=001A element=0397 universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=0331 owner=001A element=0398 universal=3FFF unitName="none" type=00 size=000B fl=05 *a code=0332 owner=001A element=0399 universal=3FFF unitName="none" type=00 size=000A fl=05 *a code=0333 owner=001A element=039A universal=3FFF unitName="bit_per_second" type=1F size=0008 fl=05 *a code=0334 owner=001B element=039B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0335 owner=001B element=039C universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0336 owner=001B element=039D universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0337 owner=001B element=039E universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0338 owner=001B element=039F universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0339 owner=001B element=03A0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=033A owner=001B element=03A1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=033B owner=001B element=03A2 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=033C owner=001B element=03A3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=033D owner=001B element=03A4 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=033E owner=001B element=03A5 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=033F owner=001B element=03A6 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0340 owner=001B element=03A7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0341 owner=001B element=03A8 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0342 owner=001B element=03A9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0343 owner=001B element=03AA universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0344 owner=001B element=03AB universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0345 owner=001B element=03AC universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0346 owner=001B element=03AD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0347 owner=001B element=03AE universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0348 owner=001B element=03AF universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0349 owner=001B element=03B0 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=034A owner=001B element=03B1 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=034B owner=001B element=03B2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=034C owner=001B element=03B3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=034D owner=001B element=03B4 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=034E owner=001B element=03B5 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=034F owner=001B element=03B6 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0350 owner=001B element=03B7 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0351 owner=001B element=03B8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0352 owner=001B element=03B9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0353 owner=001B element=03BA universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0354 owner=001B element=03BB universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0355 owner=001B element=03BC universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0356 owner=001B element=03BD universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0357 owner=001B element=03BE universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0358 owner=001B element=03BF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0359 owner=001B element=03C0 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=035A owner=001B element=03C1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=035B owner=001B element=03C2 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=035C owner=001B element=03C3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=035D owner=001B element=03C4 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *a code=035E owner=001B element=03C5 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *a code=035F owner=001B element=03C6 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0360 owner=001B element=03C7 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0361 owner=001B element=03C8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0362 owner=001B element=03C9 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0363 owner=001B element=03CA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0364 owner=001B element=03CB universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0365 owner=001B element=03CC universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0366 owner=001B element=03CD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0367 owner=001B element=03CE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0368 owner=001B element=03CF universal=3FFF unitName="none" type=00 size=0023 fl=05 *a code=0369 owner=001B element=03D0 universal=3FFF unitName="millisecond" type=0B size=0003 fl=05 *a code=036A owner=001B element=03D1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=036B owner=001B element=03D2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=036C owner=001B element=03D3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=036D owner=001B element=03D4 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=036E owner=001B element=03D5 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=036F owner=001C element=03D6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0370 owner=001C element=03D7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0371 owner=001C element=03D8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0372 owner=001C element=03D9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0373 owner=001C element=03DA universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=0374 owner=001C element=03DB universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=05 *a code=0375 owner=001C element=03DC universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=05 *a code=0376 owner=001C element=03DD universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=0377 owner=001C element=03DE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0378 owner=001C element=03DF universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0379 owner=001C element=03E0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=037A owner=001C element=03E1 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=037B owner=001C element=03E2 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=037C owner=001C element=03E3 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=037D owner=001C element=03E4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=037E owner=001C element=03E5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=037F owner=001C element=03E6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0380 owner=001C element=03E7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0381 owner=001C element=03E8 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0382 owner=001C element=03E9 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0383 owner=001C element=03EA universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0384 owner=001C element=03EB universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0385 owner=001C element=03EC universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0386 owner=001C element=03ED universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0387 owner=001C element=03EE universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0388 owner=001C element=03EF universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0389 owner=001C element=03F0 universal=3FFF unitName="hour" type=0B size=0003 fl=05 *a code=038A owner=001C element=03F1 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 *a code=038B owner=001C element=03F2 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 *a code=038C owner=001C element=03F3 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 *a code=038D owner=001C element=03F4 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 *a code=038E owner=001C element=03F5 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 *a code=038F owner=001C element=03F6 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 *a code=0390 owner=001C element=03F7 universal=3FFF unitName="microampere" type=0B size=0003 fl=05 *a code=0391 owner=001C element=03F8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0392 owner=001C element=03F9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0393 owner=001C element=03FA universal=3FFF unitName="none" type=00 size=0015 fl=05 *a code=0394 owner=001C element=03FB universal=3FFF unitName="none" type=00 size=002B fl=05 *a code=0395 owner=001C element=03FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0396 owner=001C element=03FD universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0397 owner=001C element=03FE universal=3FFF unitName="volt" type=0B size=0003 fl=05 *a code=0398 owner=001D element=03FF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0399 owner=001D element=0400 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=039A owner=001D element=0401 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=039B owner=001D element=0402 universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=039C owner=001D element=0403 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=039D owner=001D element=0404 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=039E owner=001D element=0405 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=039F owner=001D element=0406 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=03A0 owner=001D element=0407 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03A1 owner=001D element=0408 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03A2 owner=001D element=0409 universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=03A3 owner=001D element=040A universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=03A4 owner=001D element=040B universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *a code=03A5 owner=001D element=040C universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *a code=03A6 owner=001D element=040D universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=03A7 owner=001D element=040E universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=03A8 owner=001D element=040F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03A9 owner=001D element=0410 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03AA owner=001D element=0411 universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=03AB owner=001D element=0412 universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=03AC owner=001D element=0413 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *a code=03AD owner=001D element=0414 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *a code=03AE owner=001D element=0415 universal=3FFF unitName="decibar" type=0B size=0003 fl=05 *a code=03AF owner=001D element=0416 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03B0 owner=001D element=0417 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=03B1 owner=001D element=0418 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=03B2 owner=001D element=0419 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=03B3 owner=001D element=041A universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=03B4 owner=001D element=041B universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=03B5 owner=001D element=041C universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=03B6 owner=001D element=041D universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=03B7 owner=001D element=041E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03B8 owner=001D element=041F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03B9 owner=001D element=0420 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=03BA owner=001D element=0421 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03BB owner=001D element=0422 universal=3FFF unitName="none" type=00 size=0060 fl=05 *a code=03BC owner=001D element=0423 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=03BD owner=001D element=0424 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=03BE owner=001D element=0425 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=03BF owner=001D element=0426 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=03C0 owner=001D element=0427 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=03C1 owner=001D element=0428 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=03C2 owner=001D element=0429 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=03C3 owner=001D element=042A universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=03C4 owner=001D element=042B universal=3FFF unitName="none" type=00 size=00C6 fl=05 *a code=03C5 owner=001D element=042C universal=3FFF unitName="none" type=00 size=0016 fl=05 *a code=03C6 owner=001D element=042D universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=03C7 owner=001D element=042E universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=03C8 owner=001D element=042F universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=03C9 owner=001D element=0430 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03CA owner=001D element=0431 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=03CB owner=001D element=0432 universal=3FFF unitName="none" type=00 size=00A9 fl=05 *a code=03CC owner=001D element=0433 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=03CD owner=001D element=0434 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03CE owner=001D element=0435 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03CF owner=001D element=0436 universal=3FFF unitName="microampere_per_count" type=0B size=0003 fl=05 *a code=03D0 owner=001D element=0437 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03D1 owner=001D element=0438 universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=05 *a code=03D2 owner=001D element=0439 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=03D3 owner=001D element=043A universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=05 *a code=03D4 owner=001D element=043B universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=03D5 owner=001D element=043C universal=3FFF unitName="micromole_per_second_per_square_meter_per_microampere" type=0B size=0003 fl=05 *a code=03D6 owner=001D element=043D universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=03D7 owner=001D element=043E universal=3FFF unitName="none" type=00 size=0007 fl=05 *a code=03D8 owner=001D element=043F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03D9 owner=001D element=0440 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03DA owner=001D element=0441 universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=03DB owner=001D element=0442 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03DC owner=001D element=0443 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03DD owner=001D element=0444 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05 *a code=03DE owner=001D element=0445 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 *a code=03DF owner=001D element=0446 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03E0 owner=001D element=0447 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03E1 owner=001D element=0448 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03E2 owner=001D element=0449 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03E3 owner=001D element=044A universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=03E4 owner=001D element=044B universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=05 *a code=03E5 owner=001D element=044C universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=05 *a code=03E6 owner=001D element=044D universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=05 *a code=03E7 owner=001D element=044E universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 *a code=03E8 owner=001D element=044F universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=03E9 owner=001D element=0450 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03EA owner=001D element=0451 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03EB owner=001D element=0452 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05 *a code=03EC owner=001D element=0453 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03ED owner=001D element=0454 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03EE owner=001D element=0455 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03EF owner=001D element=0456 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=03F0 owner=001D element=0457 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 *a code=03F1 owner=001D element=0458 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 *a code=03F2 owner=001D element=0459 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=03F3 owner=001D element=045A universal=3FFF unitName="watt" type=0B size=0003 fl=05 *a code=03F4 owner=001D element=045B universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=05 *a code=03F5 owner=001D element=045C universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=05 *a code=03F6 owner=001D element=045D universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 *a code=03F7 owner=001D element=045E universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=05 *a code=03F8 owner=001D element=045F universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=03F9 owner=001D element=0460 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=03FA owner=001D element=0461 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03FB owner=001D element=0462 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=03FC owner=001D element=0463 universal=3FFF unitName="none" type=00 size=0008 fl=05 *a code=03FD owner=001D element=0464 universal=3FFF unitName="none_float" type=0F size=0004 fl=05 *a code=03FE owner=001D element=0465 universal=3FFF unitName="liter_per_second" type=0B size=0003 fl=05 *a code=03FF owner=001D element=0466 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0400 owner=001D element=0467 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0401 owner=001E element=0468 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0402 owner=001E element=0469 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0403 owner=001E element=046A universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *a code=0404 owner=001E element=046B universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 *a code=0405 owner=001E element=046C universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0406 owner=001E element=046D universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 *a code=0407 owner=001E element=046E universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=05 *a code=0408 owner=001E element=046F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0409 owner=001E element=0470 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 *a code=040A owner=001E element=0471 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=040B owner=001E element=0472 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=040C owner=001E element=0473 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=040D owner=001E element=0474 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=040E owner=001E element=0475 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=040F owner=001E element=0476 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0410 owner=001E element=0477 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=05 *a code=0411 owner=001E element=0478 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0412 owner=001E element=0479 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0413 owner=001E element=047A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0414 owner=001E element=047B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0415 owner=001E element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0416 owner=001E element=047D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0417 owner=001E element=047E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0418 owner=001E element=047F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0419 owner=001E element=0480 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=041A owner=001E element=0481 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=041B owner=001E element=0482 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=041C owner=001E element=0483 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=041D owner=001E element=0484 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=041E owner=001E element=0485 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=041F owner=001E element=0486 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0420 owner=001E element=0487 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 *a code=0421 owner=001E element=0488 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0422 owner=001E element=0489 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0423 owner=001E element=048A universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0424 owner=001E element=048B universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0425 owner=001E element=048C universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=05 *a code=0426 owner=001E element=048D universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *a code=0427 owner=001E element=048E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0428 owner=001E element=048F universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *a code=0429 owner=001E element=0490 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *a code=042A owner=001E element=0491 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *a code=042B owner=001E element=0492 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05 *a code=042C owner=001E element=0493 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *a code=042D owner=001E element=0494 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *a code=042E owner=001E element=0495 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=042F owner=001E element=0496 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0430 owner=001E element=0497 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0431 owner=001E element=0498 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0432 owner=001E element=0499 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *a code=0433 owner=001E element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=05 *a code=0434 owner=001E element=049B universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0435 owner=001E element=049C universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0436 owner=001E element=049D universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *a code=0437 owner=001E element=049E universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *a code=0438 owner=001E element=049F universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0439 owner=001E element=04A0 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *a code=043A owner=001E element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=043B owner=001E element=04A2 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=043C owner=001E element=04A3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=043D owner=001E element=04A4 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *a code=043E owner=001E element=04A5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=043F owner=001E element=04A6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0440 owner=001E element=04A7 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 *a code=0441 owner=001E element=04A8 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 *a code=0442 owner=001E element=04A9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0443 owner=001E element=04AA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0444 owner=001E element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0445 owner=001E element=04AC universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0446 owner=001E element=04AD universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0447 owner=001E element=04AE universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0448 owner=001E element=04AF universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0449 owner=001E element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=044A owner=001E element=04B1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=044B owner=001E element=04B2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=044C owner=001F element=04B3 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=044D owner=001F element=04B4 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=044E owner=001F element=04B5 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=044F owner=001F element=04B6 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0450 owner=001F element=04B7 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0451 owner=001F element=04B8 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0452 owner=001F element=04B9 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0453 owner=001F element=04BA universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0454 owner=001F element=04BB universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0455 owner=001F element=04BC universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0456 owner=001F element=04BD universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0457 owner=001F element=04BE universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0458 owner=001F element=04BF universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0459 owner=001F element=04C0 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=045A owner=001F element=04C1 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=045B owner=001F element=04C2 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=045C owner=001F element=04C3 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=045D owner=001F element=04C4 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=045E owner=001F element=04C5 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=045F owner=001F element=04C6 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0460 owner=001F element=04C7 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0461 owner=001F element=04C8 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0462 owner=001F element=04C9 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0463 owner=001F element=04CA universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0464 owner=001F element=04CB universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0465 owner=001F element=04CC universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0466 owner=001F element=04CD universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0467 owner=001F element=04CE universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0468 owner=001F element=04CF universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0469 owner=001F element=04D0 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=046A owner=001F element=04D1 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=046B owner=001F element=04D2 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=046C owner=001F element=04D3 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=046D owner=001F element=04D4 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=046E owner=001F element=04D5 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=046F owner=001F element=04D6 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0470 owner=001F element=04D7 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0471 owner=001F element=04D8 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0472 owner=001F element=04D9 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0473 owner=001F element=04DA universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0474 owner=001F element=04DB universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0475 owner=001F element=04DC universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0476 owner=001F element=04DD universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0477 owner=001F element=04DE universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0478 owner=001F element=04DF universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0479 owner=001F element=04E0 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=047A owner=001F element=04E1 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=047B owner=001F element=04E2 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=047C owner=001F element=04E3 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=047D owner=001F element=04E4 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=047E owner=001F element=04E5 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=047F owner=001F element=04E6 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0480 owner=001F element=04E7 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0481 owner=001F element=04E8 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0482 owner=001F element=04E9 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0483 owner=001F element=04EA universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0484 owner=001F element=04EB universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0485 owner=001F element=04EC universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0486 owner=001F element=04ED universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0487 owner=001F element=04EE universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0488 owner=001F element=04EF universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=0489 owner=001F element=04F0 universal=3FFF unitName="none" type=00 size=0004 fl=05 *a code=048A owner=0020 element=04F1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=048B owner=0020 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=048C owner=0020 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=048D owner=0020 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=048E owner=0020 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=048F owner=0020 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0490 owner=0020 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0491 owner=0020 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0492 owner=0020 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0493 owner=0020 element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0494 owner=0020 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0495 owner=0020 element=0479 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0496 owner=0020 element=047A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0497 owner=0020 element=047B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0498 owner=0020 element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0499 owner=0020 element=047D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=049A owner=0020 element=047E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=049B owner=0020 element=047F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=049C owner=0020 element=0480 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=049D owner=0020 element=0481 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=049E owner=0020 element=0482 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=049F owner=0020 element=0483 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04A0 owner=0020 element=0484 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04A1 owner=0020 element=0485 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04A2 owner=0020 element=0486 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04A3 owner=0020 element=0488 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04A4 owner=0020 element=0487 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=04A5 owner=0020 element=0489 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04A6 owner=0020 element=048A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04A7 owner=0020 element=048B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04A8 owner=0020 element=048D universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=04A9 owner=0020 element=048C universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=04AA owner=0020 element=048E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04AB owner=0020 element=048F universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=04AC owner=0020 element=0490 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=04AD owner=0020 element=0491 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=04AE owner=0020 element=0493 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=04AF owner=0020 element=0492 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=04B0 owner=0020 element=0494 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=04B1 owner=0020 element=0495 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=04B2 owner=0020 element=0496 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=04B3 owner=0020 element=0497 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04B4 owner=0020 element=0499 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=04B5 owner=0020 element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=04B6 owner=0020 element=049B universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=04B7 owner=0020 element=049C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04B8 owner=0020 element=049E universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=04B9 owner=0020 element=049D universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=04BA owner=0020 element=049F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04BB owner=0020 element=04A0 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=04BC owner=0020 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04BD owner=0020 element=04A2 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=04BE owner=0020 element=04A3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04BF owner=0020 element=04A4 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=04 *a code=04C0 owner=0020 element=04A5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04C1 owner=0020 element=04A6 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04C2 owner=0020 element=04A7 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=04C3 owner=0020 element=04A8 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=04C4 owner=0020 element=04A9 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04C5 owner=0020 element=04AA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04C6 owner=0020 element=0475 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04C7 owner=0020 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04C8 owner=0020 element=04AD universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04C9 owner=0020 element=04AE universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=04CA owner=0020 element=04AF universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=04CB owner=0020 element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04CC owner=0020 element=04B1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04CD owner=0020 element=04B2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=04CE owner=0020 element=01EA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04CF owner=0020 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D0 owner=0020 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D1 owner=0020 element=0037 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D2 owner=0020 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D3 owner=0020 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D4 owner=0020 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D5 owner=0020 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04D6 owner=0020 element=04FC universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=04D7 owner=0020 element=04FD universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04D8 owner=0020 element=04FE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04D9 owner=0020 element=04FF universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=04DA owner=0020 element=0500 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04DB owner=0020 element=0501 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04DC owner=0020 element=0502 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04DD owner=0020 element=0503 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04DE owner=0020 element=0504 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04DF owner=0020 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=04E0 owner=0020 element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=04E1 owner=0020 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=04E2 owner=0020 element=0507 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=04E3 owner=0020 element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04E4 owner=0020 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=04E5 owner=0021 element=0508 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=04E6 owner=0021 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=04E7 owner=0021 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=04E8 owner=0021 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=04E9 owner=0021 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04EA owner=0021 element=050D universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=04EB owner=0021 element=050E universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04EC owner=0021 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04ED owner=0021 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=04EE owner=0021 element=0510 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04EF owner=0021 element=0511 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=04F0 owner=0021 element=0512 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=04F1 owner=0021 element=0469 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=04F2 owner=0021 element=046A universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=04F3 owner=0021 element=046C universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=04F4 owner=0021 element=046D universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=04F5 owner=0021 element=046B universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=04F6 owner=0021 element=046E universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=04F7 owner=0021 element=046F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=04F8 owner=0021 element=0470 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=04F9 owner=0021 element=0471 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04FA owner=0021 element=0472 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04FB owner=0021 element=0473 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=04FC owner=0021 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04FD owner=0021 element=004D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04FE owner=0021 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=04FF owner=0021 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0500 owner=0021 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0501 owner=0021 element=0513 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0502 owner=0021 element=0514 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0503 owner=0021 element=0515 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0504 owner=0021 element=0516 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0505 owner=0021 element=0517 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0506 owner=0021 element=0518 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0507 owner=0021 element=0519 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0508 owner=0021 element=051A universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *a code=0509 owner=0021 element=051B universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *a code=050A owner=0021 element=051C universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=050B owner=0021 element=051D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=050C owner=0021 element=051D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=050D owner=0022 element=051E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=050E owner=0022 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=050F owner=0022 element=0477 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=0510 owner=0022 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0511 owner=0022 element=051F universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0512 owner=0023 element=0520 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0513 owner=0023 element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0514 owner=0024 element=0521 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0515 owner=0024 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0516 owner=0024 element=0522 universal=0007 unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0517 owner=0025 element=0523 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0518 owner=0025 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0519 owner=0025 element=0524 universal=0037 unitName="radian_per_second" type=0B size=0003 fl=05 *a code=051A owner=0026 element=0525 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=051B owner=0026 element=0039 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=051C owner=0026 element=0526 universal=003F unitName="meter_per_second" type=0B size=0003 fl=05 *a code=051D owner=0026 element=0527 universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05 *a code=051E owner=0026 element=0528 universal=002E unitName="meter" type=0B size=0003 fl=05 *a code=051F owner=0026 element=02D1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0520 owner=0026 element=0477 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=0521 owner=0027 element=0529 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0522 owner=0027 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0523 owner=0027 element=052A universal=004D unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0524 owner=0028 element=052B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0525 owner=0028 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0526 owner=0028 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0527 owner=0028 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0528 owner=0028 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0529 owner=0028 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=052A owner=0028 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=052B owner=0028 element=02DD universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=052C owner=0028 element=02DC universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=052D owner=0028 element=02DE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=052E owner=0028 element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=052F owner=0028 element=052C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0530 owner=0028 element=052D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0531 owner=0028 element=052E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0532 owner=0028 element=052F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0533 owner=0028 element=0530 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0534 owner=0028 element=0531 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0535 owner=0029 element=0532 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0536 owner=0029 element=0080 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0537 owner=0029 element=0533 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0538 owner=0029 element=0534 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0539 owner=0029 element=0535 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=053A owner=0029 element=0536 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=053B owner=0029 element=0537 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=053C owner=0029 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=053D owner=0029 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=053E owner=0029 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=053F owner=0029 element=0538 universal=0032 unitName="radian" type=2F size=0004 fl=05 *a code=0540 owner=0029 element=0539 universal=0036 unitName="radian" type=2F size=0004 fl=05 *a code=0541 owner=0029 element=053A universal=003B unitName="radian" type=2F size=0004 fl=05 *a code=0542 owner=0029 element=053B universal=0034 unitName="radian" type=2F size=0004 fl=05 *a code=0543 owner=0029 element=053C universal=0035 unitName="none" type=00 size=0000 fl=05 *a code=0544 owner=0029 element=053D universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0545 owner=0029 element=053E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0546 owner=0029 element=053F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0547 owner=0029 element=0540 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0548 owner=0029 element=0541 universal=3FFF unitName="meter_per_second_squared" type=00 size=0000 fl=05 *a code=0549 owner=0029 element=0542 universal=3FFF unitName="radian_per_second" type=00 size=0000 fl=05 *a code=054A owner=0029 element=0543 universal=3FFF unitName="milligauss" type=00 size=0000 fl=05 *a code=054B owner=0029 element=0544 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=054C owner=0029 element=0081 universal=3FFF unitName="none" type=00 size=002F fl=04 *a code=054D owner=0029 element=0082 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=054E owner=0029 element=0083 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=054F owner=0029 element=0085 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0550 owner=0029 element=0086 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0551 owner=0029 element=0087 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0552 owner=0029 element=0088 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0553 owner=002A element=0545 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0554 owner=002A element=0097 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0555 owner=002A element=0546 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0556 owner=002A element=0547 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0557 owner=002A element=0548 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0558 owner=002A element=0549 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0559 owner=002A element=054A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=055A owner=002A element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=055B owner=002A element=054C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=055C owner=002A element=054D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=055D owner=002A element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=055E owner=002A element=0099 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=055F owner=002A element=0098 universal=3FFF unitName="none" type=00 size=0008 fl=04 *a code=0560 owner=002A element=009A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0561 owner=002A element=009B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0562 owner=002A element=009C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0563 owner=002A element=009D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0564 owner=002A element=009E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0565 owner=002C element=054E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0566 owner=002D element=054F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0567 owner=002D element=0550 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0568 owner=002D element=0551 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *a code=0569 owner=002D element=0552 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=056A owner=002D element=0553 universal=0023 unitName="ampere_hour" type=0B size=0003 fl=05 *a code=056B owner=002D element=0554 universal=0026 unitName="volt" type=0B size=0003 fl=05 *a code=056C owner=002D element=0555 universal=0028 unitName="bool" type=02 size=0001 fl=05 *a code=056D owner=002D element=03FD universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=056E owner=002D element=03FE universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=056F owner=002D element=00A3 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0570 owner=002D element=00A4 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0571 owner=002D element=00A5 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0572 owner=002D element=00A2 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0573 owner=002D element=0556 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0574 owner=002D element=0557 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0575 owner=002D element=0558 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0576 owner=002D element=0559 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0577 owner=002D element=055A universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0578 owner=002D element=055B universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0579 owner=002D element=055C universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=057A owner=002D element=055D universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=057B owner=002D element=055E universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=057C owner=002D element=055F universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=057D owner=002D element=0560 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=057E owner=002D element=0561 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=057F owner=002D element=0562 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0580 owner=002D element=0563 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0581 owner=002D element=0564 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0582 owner=002D element=0565 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0583 owner=002D element=0566 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0584 owner=002D element=0567 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0585 owner=002D element=0568 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0586 owner=002D element=0569 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0587 owner=002D element=056A universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0588 owner=002D element=056B universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0589 owner=002D element=056C universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=058A owner=002D element=056D universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=058B owner=002D element=056E universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=058C owner=002D element=056F universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=058D owner=002D element=0570 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=058E owner=002D element=0571 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=058F owner=002D element=0572 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0590 owner=002D element=0573 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0591 owner=002D element=0574 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0592 owner=002D element=0575 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0593 owner=002D element=0576 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0594 owner=002D element=0577 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0595 owner=002D element=0578 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0596 owner=002D element=0579 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0597 owner=002D element=057A universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0598 owner=002D element=057B universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0599 owner=002D element=057C universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=059A owner=002D element=057D universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=059B owner=002D element=057E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=059C owner=002D element=057F universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=059D owner=002D element=0580 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=059E owner=002D element=0581 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=059F owner=002D element=0582 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05A0 owner=002D element=0583 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05A1 owner=002D element=0584 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05A2 owner=002D element=0585 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05A3 owner=002D element=0586 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05A4 owner=002D element=0587 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05A5 owner=002D element=0588 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05A6 owner=002D element=0589 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05A7 owner=002D element=058A universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05A8 owner=002D element=058B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05A9 owner=002D element=058C universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05AA owner=002D element=058D universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05AB owner=002D element=058E universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05AC owner=002D element=058F universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05AD owner=002D element=0590 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05AE owner=002D element=0591 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05AF owner=002D element=0592 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05B0 owner=002D element=0593 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05B1 owner=002D element=0594 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05B2 owner=002D element=0595 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05B3 owner=002D element=0596 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05B4 owner=002D element=0597 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05B5 owner=002D element=0598 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05B6 owner=002D element=0599 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05B7 owner=002D element=059A universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05B8 owner=002D element=059B universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05B9 owner=002D element=059C universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05BA owner=002D element=059D universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05BB owner=002D element=059E universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05BC owner=002D element=059F universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05BD owner=002D element=05A0 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05BE owner=002D element=05A1 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05BF owner=002D element=05A2 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05C0 owner=002D element=05A3 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05C1 owner=002D element=05A4 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05C2 owner=002D element=05A5 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05C3 owner=002D element=05A6 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05C4 owner=002D element=05A7 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05C5 owner=002D element=05A8 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05C6 owner=002D element=05A9 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05C7 owner=002D element=05AA universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05C8 owner=002D element=05AB universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05C9 owner=002D element=05AC universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05CA owner=002D element=05AD universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05CB owner=002D element=05AE universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05CC owner=002D element=05AF universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05CD owner=002D element=05B0 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05CE owner=002D element=05B1 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05CF owner=002D element=05B2 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05D0 owner=002D element=05B3 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05D1 owner=002D element=05B4 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05D2 owner=002D element=05B5 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05D3 owner=002D element=05B6 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05D4 owner=002D element=05B7 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05D5 owner=002D element=05B8 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05D6 owner=002D element=05B9 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05D7 owner=002D element=05BA universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05D8 owner=002D element=05BB universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05D9 owner=002D element=05BC universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05DA owner=002D element=05BD universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05DB owner=002D element=05BE universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05DC owner=002D element=05BF universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05DD owner=002D element=05C0 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05DE owner=002D element=05C1 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05DF owner=002D element=05C2 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05E0 owner=002D element=05C3 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05E1 owner=002D element=05C4 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05E2 owner=002D element=05C5 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05E3 owner=002D element=05C6 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05E4 owner=002D element=05C7 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05E5 owner=002D element=05C8 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05E6 owner=002D element=05C9 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05E7 owner=002D element=05CA universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05E8 owner=002D element=05CB universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05E9 owner=002D element=05CC universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05EA owner=002D element=05CD universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05EB owner=002D element=05CE universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05EC owner=002D element=05CF universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05ED owner=002D element=05D0 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05EE owner=002D element=05D1 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05EF owner=002D element=05D2 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05F0 owner=002D element=05D3 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05F1 owner=002D element=05D4 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05F2 owner=002D element=05D5 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05F3 owner=002D element=05D6 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05F4 owner=002D element=05D7 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05F5 owner=002D element=05D8 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05F6 owner=002D element=05D9 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05F7 owner=002D element=05DA universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05F8 owner=002D element=05DB universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05F9 owner=002D element=05DC universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05FA owner=002D element=05DD universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=05FB owner=002D element=05DE universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=05FC owner=002D element=05DF universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=05FD owner=002D element=05E0 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=05FE owner=002D element=05E1 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=05FF owner=002D element=05E2 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0600 owner=002D element=05E3 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0601 owner=002D element=05E4 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0602 owner=002D element=05E5 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0603 owner=002D element=05E6 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0604 owner=002D element=05E7 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0605 owner=002D element=05E8 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0606 owner=002D element=05E9 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0607 owner=002D element=05EA universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0608 owner=002D element=05EB universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0609 owner=002D element=05EC universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=060A owner=002D element=05ED universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=060B owner=002D element=05EE universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=060C owner=002D element=05EF universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=060D owner=002D element=05F0 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=060E owner=002D element=05F1 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=060F owner=002D element=05F2 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0610 owner=002D element=05F3 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0611 owner=002D element=05F4 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0612 owner=002D element=05F5 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0613 owner=002D element=05F6 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0614 owner=002D element=05F7 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0615 owner=002D element=05F8 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0616 owner=002D element=05F9 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0617 owner=002D element=05FA universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0618 owner=002D element=05FB universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0619 owner=002D element=05FC universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=061A owner=002D element=05FD universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=061B owner=002D element=05FE universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=061C owner=002D element=05FF universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=061D owner=002D element=0600 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=061E owner=002D element=0601 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=061F owner=002D element=0602 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0620 owner=002D element=0603 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0621 owner=002D element=0604 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0622 owner=002D element=0605 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0623 owner=002D element=0606 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0624 owner=002D element=0607 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0625 owner=002D element=0608 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0626 owner=002D element=0609 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0627 owner=002D element=060A universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0628 owner=002D element=060B universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0629 owner=002D element=060C universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=062A owner=002D element=060D universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=062B owner=002D element=060E universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=062C owner=002D element=060F universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=062D owner=002D element=0610 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=062E owner=002D element=0611 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=062F owner=002D element=0612 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0630 owner=002D element=0613 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0631 owner=002D element=0614 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0632 owner=002D element=0615 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0633 owner=002D element=0616 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0634 owner=002D element=0617 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0635 owner=002D element=0618 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0636 owner=002D element=0619 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0637 owner=002D element=061A universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0638 owner=002D element=061B universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0639 owner=002D element=061C universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=063A owner=002D element=061D universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=063B owner=002D element=061E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=063C owner=002D element=061F universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=063D owner=002D element=0620 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=063E owner=002D element=0621 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=063F owner=002D element=0622 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0640 owner=002D element=0623 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0641 owner=002D element=0624 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0642 owner=002D element=0625 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0643 owner=002D element=0626 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0644 owner=002D element=0627 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0645 owner=002D element=0628 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0646 owner=002D element=0629 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0647 owner=002D element=062A universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0648 owner=002D element=062B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0649 owner=002D element=062C universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=064A owner=002D element=062D universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=064B owner=002D element=062E universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=064C owner=002D element=062F universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=064D owner=002D element=0630 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=064E owner=002D element=0631 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=064F owner=002D element=0632 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0650 owner=002D element=0633 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0651 owner=002D element=0634 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0652 owner=002D element=0635 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0653 owner=002D element=0636 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0654 owner=002D element=0637 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0655 owner=002D element=0638 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0656 owner=002D element=0639 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0657 owner=002D element=063A universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0658 owner=002D element=063B universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0659 owner=002D element=063C universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=065A owner=002D element=063D universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=065B owner=002D element=063E universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=065C owner=002D element=063F universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=065D owner=002D element=0640 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=065E owner=002D element=0641 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=065F owner=002D element=0642 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0660 owner=002D element=0643 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0661 owner=002D element=0644 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0662 owner=002D element=0645 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0663 owner=002D element=0646 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0664 owner=002D element=0647 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0665 owner=002D element=0648 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0666 owner=002D element=0649 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0667 owner=002D element=064A universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0668 owner=002D element=064B universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0669 owner=002D element=064C universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=066A owner=002D element=064D universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=066B owner=002D element=064E universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=066C owner=002D element=064F universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=066D owner=002D element=0650 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=066E owner=002D element=0651 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=066F owner=002D element=0652 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0670 owner=002D element=0653 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0671 owner=002D element=0654 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0672 owner=002D element=0655 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0673 owner=002D element=0656 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0674 owner=002D element=0657 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0675 owner=002D element=0658 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0676 owner=002D element=0659 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0677 owner=002D element=065A universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0678 owner=002D element=065B universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0679 owner=002D element=065C universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=067A owner=002D element=065D universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=067B owner=002D element=065E universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=067C owner=002D element=065F universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=067D owner=002D element=0660 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=067E owner=002D element=0661 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=067F owner=002D element=0662 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0680 owner=002D element=0663 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0681 owner=002D element=0664 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0682 owner=002D element=0665 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0683 owner=002D element=0666 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0684 owner=002D element=0667 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0685 owner=002D element=0668 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0686 owner=002D element=0669 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0687 owner=002D element=066A universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0688 owner=002D element=066B universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0689 owner=002D element=066C universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=068A owner=002D element=066D universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=068B owner=002D element=066E universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=068C owner=002D element=066F universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=068D owner=002D element=0670 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=068E owner=002D element=0671 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=068F owner=002D element=0672 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0690 owner=002D element=0673 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0691 owner=002D element=0674 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0692 owner=002D element=0675 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0693 owner=002D element=0676 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0694 owner=002D element=0677 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=0695 owner=002D element=0678 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0696 owner=002D element=0679 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=0697 owner=002D element=067A universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=0698 owner=002D element=067B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0699 owner=002D element=067C universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=069A owner=002D element=067D universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=069B owner=002D element=067E universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=069C owner=002D element=067F universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=069D owner=002D element=0680 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=069E owner=002D element=0681 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=069F owner=002D element=0682 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=06A0 owner=002D element=0683 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=06A1 owner=002D element=0684 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=06A2 owner=002D element=0685 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=06A3 owner=002D element=0686 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=06A4 owner=002D element=0687 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=06A5 owner=002D element=0688 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *a code=06A6 owner=002D element=0689 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *a code=06A7 owner=002D element=068A universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=06A8 owner=002D element=068B universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *a code=06A9 owner=002E element=068C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06AA owner=002E element=00BE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06AB owner=002E element=068D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=06AC owner=002E element=068E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=06AD owner=002E element=068F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=06AE owner=002E element=0690 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=06AF owner=002E element=0691 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06B0 owner=002E element=00C8 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06B1 owner=002E element=00C3 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=06B2 owner=002E element=02F6 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=06B3 owner=002E element=00C4 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=06B4 owner=002E element=00C5 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=06B5 owner=002E element=00C1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06B6 owner=002E element=00C2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06B7 owner=002E element=00C7 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=06B8 owner=002E element=00C6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06B9 owner=002E element=00C0 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06BA owner=002E element=00C9 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06BB owner=002E element=02FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06BC owner=002E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06BD owner=002E element=0692 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06BE owner=002E element=0693 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06BF owner=002E element=054C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06C0 owner=002E element=0694 universal=0003 unitName="enum" type=02 size=0001 fl=05 *a code=06C1 owner=002E element=0695 universal=0002 unitName="none" type=00 size=0000 fl=05 *a code=06C2 owner=002E element=0696 universal=002A unitName="bool" type=02 size=0001 fl=05 *a code=06C3 owner=002E element=0697 universal=0004 unitName="meter" type=0B size=0003 fl=05 *a code=06C4 owner=002E element=0698 universal=0000 unitName="epoch_second" type=0B size=0003 fl=05 *a code=06C5 owner=002E element=0699 universal=0001 unitName="epoch_second" type=0B size=0003 fl=05 *a code=06C6 owner=002E element=069A universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=06C7 owner=002E element=069B universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=06C8 owner=002E element=069C universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=06C9 owner=002E element=069D universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=06CA owner=002E element=069E universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=06CB owner=002E element=069F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=06CC owner=002E element=06A0 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=06CD owner=002E element=06A1 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=06CE owner=002E element=06A2 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=06CF owner=002E element=06A3 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=06D0 owner=002E element=06A4 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=06D1 owner=002E element=06A5 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=06D2 owner=002E element=06A6 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=06D3 owner=002E element=06A7 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=06D4 owner=002E element=06A8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=06D5 owner=002E element=06A9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=06D6 owner=002E element=06AA universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=06D7 owner=002E element=06AB universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06D8 owner=002E element=06AC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06D9 owner=002E element=06AD universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=06DA owner=002E element=06AE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=06DB owner=002E element=06AF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=06DC owner=002E element=06B0 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=06DD owner=002E element=06B1 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=06DE owner=002E element=06B2 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=06DF owner=002E element=06B3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=06E0 owner=002E element=00BF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06E1 owner=0030 element=06B4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06E2 owner=0030 element=06B5 universal=002A unitName="bool" type=02 size=0001 fl=05 *a code=06E3 owner=0030 element=06B6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06E4 owner=0030 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=06E5 owner=0030 element=02FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06E6 owner=0030 element=00B8 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=06E7 owner=0030 element=00B9 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=06E8 owner=0030 element=00BB universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=06E9 owner=0030 element=00BC universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=06EA owner=0030 element=0148 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06EB owner=0032 element=06B8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06EC owner=0032 element=00E7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06ED owner=0032 element=06B9 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=06EE owner=0032 element=06BA universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=06EF owner=0032 element=06BB universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=06F0 owner=0032 element=06BC universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=06F1 owner=0032 element=06BD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06F2 owner=0032 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=06F3 owner=0032 element=06BE universal=0006 unitName="meter" type=0B size=0003 fl=05 *a code=06F4 owner=0032 element=06BF universal=005A unitName="decibar" type=0B size=0003 fl=05 *a code=06F5 owner=0032 element=00EA universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=06F6 owner=0032 element=00EC universal=3FFF unitName="micropascal" type=0B size=0003 fl=04 *a code=06F7 owner=0032 element=00E8 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=06F8 owner=0032 element=00E9 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=06F9 owner=0033 element=06C0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06FA owner=0033 element=06C1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06FB owner=0034 element=06C2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=06FC owner=0034 element=011C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=06FD owner=0034 element=06C3 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=06FE owner=0034 element=06C4 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=06FF owner=0034 element=06C5 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0700 owner=0034 element=06C6 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0701 owner=0034 element=06C7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0702 owner=0034 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0703 owner=0034 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0704 owner=0034 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0705 owner=0034 element=006C universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0706 owner=0034 element=06C8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0707 owner=0034 element=06C9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0708 owner=0034 element=06CA universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0709 owner=0034 element=06CB universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=070A owner=0034 element=06CC universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=070B owner=0034 element=06CD universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=070C owner=0034 element=06CE universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=070D owner=0034 element=06CF universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=070E owner=0034 element=06D0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=070F owner=0034 element=06D1 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0710 owner=0034 element=06D2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0711 owner=0034 element=06D3 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0712 owner=0034 element=06D4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0713 owner=0034 element=06D5 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0714 owner=0034 element=06D6 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0715 owner=0034 element=06D7 universal=3FFF unitName="knot" type=0B size=0003 fl=05 *a code=0716 owner=0034 element=06D8 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0717 owner=0034 element=06D9 universal=0065 unitName="second" type=1F size=0008 fl=05 *a code=0718 owner=0034 element=06DA universal=0018 unitName="degree" type=37 size=0006 fl=05 *a code=0719 owner=0034 element=06DB universal=001B unitName="degree" type=37 size=0006 fl=05 *a code=071A owner=0034 element=06DC universal=0019 unitName="degree" type=00 size=0000 fl=05 *a code=071B owner=0034 element=06DD universal=002A unitName="bool" type=02 size=0001 fl=05 *a code=071C owner=0034 element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=071D owner=0034 element=02FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=071E owner=0034 element=02FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=071F owner=0034 element=011D universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0720 owner=0034 element=011E universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0721 owner=0034 element=0121 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0722 owner=0034 element=0122 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0723 owner=0034 element=0123 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0724 owner=0034 element=0124 universal=3FFF unitName="byte" type=1F size=0008 fl=04 *a code=0725 owner=0035 element=06DE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0726 owner=0035 element=012A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0727 owner=0035 element=06DF universal=3FFF unitName="pascal" type=0B size=0003 fl=05 *a code=0728 owner=0035 element=06E0 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0729 owner=0035 element=06E1 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=072A owner=0035 element=06E2 universal=0026 unitName="volt" type=0B size=0003 fl=05 *a code=072B owner=0035 element=06E3 universal=0041 unitName="watt" type=0B size=0003 fl=05 *a code=072C owner=0035 element=06E4 universal=0021 unitName="milliampere" type=0B size=0003 fl=05 *a code=072D owner=0035 element=06E5 universal=0022 unitName="watt" type=0B size=0003 fl=05 *a code=072E owner=0035 element=06E6 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *a code=072F owner=0035 element=06E7 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *a code=0730 owner=0035 element=06E8 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0731 owner=0035 element=012D universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0732 owner=0035 element=012E universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0733 owner=0035 element=012F universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0734 owner=0035 element=0130 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0735 owner=0035 element=0366 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0736 owner=0037 element=06E9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0737 owner=0037 element=0137 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0738 owner=0037 element=06EA universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0739 owner=0037 element=06EB universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=073A owner=0037 element=06EC universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=073B owner=0037 element=06ED universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=073C owner=0037 element=06EE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=073D owner=0037 element=054C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=073E owner=0038 element=06EF universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=073F owner=0038 element=0147 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0740 owner=0038 element=06F0 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0741 owner=0038 element=06F1 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0742 owner=0038 element=06F2 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0743 owner=0038 element=06F3 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0744 owner=0038 element=06F4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0745 owner=0038 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0746 owner=0038 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0747 owner=0038 element=06B7 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0748 owner=0038 element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0749 owner=0038 element=02F6 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=074A owner=0038 element=0148 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=074B owner=003A element=06F5 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=074C owner=003A element=014B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=074D owner=003A element=06F6 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=074E owner=003A element=06F7 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=074F owner=003A element=06F8 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0750 owner=003A element=06F9 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0751 owner=003A element=06FA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0752 owner=003A element=054C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0753 owner=003A element=06FB universal=0014 unitName="meter" type=0B size=0003 fl=05 *a code=0754 owner=003A element=06FC universal=0043 unitName="meter_per_second" type=00 size=0000 fl=05 *a code=0755 owner=003A element=06FD universal=0046 unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0756 owner=003A element=06FE universal=004A unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0757 owner=003A element=06FF universal=0050 unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0758 owner=003A element=0700 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0759 owner=003A element=0701 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=075A owner=003A element=0702 universal=0042 unitName="meter_per_second" type=00 size=0000 fl=05 *a code=075B owner=003A element=0703 universal=0045 unitName="meter_per_second" type=0B size=0003 fl=05 *a code=075C owner=003A element=0704 universal=0049 unitName="meter_per_second" type=0B size=0003 fl=05 *a code=075D owner=003A element=0705 universal=004F unitName="meter_per_second" type=0B size=0003 fl=05 *a code=075E owner=003A element=0706 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=075F owner=003A element=0707 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0760 owner=003A element=0708 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0761 owner=003A element=0709 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0762 owner=003A element=070A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0763 owner=003A element=014C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0764 owner=003B element=070B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0765 owner=003B element=016B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0766 owner=003B element=070C universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0767 owner=003B element=070D universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0768 owner=003B element=070E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0769 owner=003B element=070F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=076A owner=003B element=0710 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=076B owner=003B element=0711 universal=3FFF unitName="percent" type=0B size=0003 fl=05 *a code=076C owner=003B element=016D universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=076D owner=003B element=016C universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=076E owner=003C element=0712 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=076F owner=003C element=0713 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0770 owner=003C element=0714 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0771 owner=003C element=0715 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0772 owner=003C element=0716 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0773 owner=003C element=0717 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0774 owner=003C element=0718 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0775 owner=003C element=0719 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0776 owner=003C element=071A universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0777 owner=003C element=071B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0778 owner=003C element=071C universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0779 owner=003C element=071D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=077A owner=003C element=071E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=077B owner=003C element=071F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=077C owner=003C element=0720 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=077D owner=003C element=0721 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=077E owner=003C element=0722 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=077F owner=003C element=0723 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0780 owner=003C element=0724 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0781 owner=003C element=0725 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0782 owner=003C element=0726 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0783 owner=003C element=0727 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0784 owner=003C element=0728 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0785 owner=003C element=0729 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0786 owner=003C element=072A universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0787 owner=003C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0788 owner=003C element=072B universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0789 owner=003C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=078A owner=003C element=072C universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=078B owner=003C element=072D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=078C owner=003C element=072E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=078D owner=003C element=072F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=078E owner=003C element=0730 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=078F owner=003C element=0731 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0790 owner=003C element=0732 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0791 owner=003C element=0733 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0792 owner=003C element=0734 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0793 owner=003C element=0735 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0794 owner=003C element=0736 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0795 owner=003C element=0737 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0796 owner=003C element=0738 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0797 owner=003E element=0739 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0798 owner=003E element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0799 owner=003E element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=079A owner=003E element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=079B owner=003E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=079C owner=003E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=079D owner=003E element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=079E owner=003E element=072A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=079F owner=003E element=0728 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=07A0 owner=003E element=0729 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=07A1 owner=003E element=073A universal=0017 unitName="degree" type=37 size=0006 fl=05 *a code=07A2 owner=003E element=073B universal=001A unitName="degree" type=37 size=0006 fl=05 *a code=07A3 owner=003E element=073C universal=0006 unitName="meter" type=0B size=0003 fl=05 *a code=07A4 owner=003E element=073D universal=003E unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07A5 owner=003E element=073E universal=002C unitName="unspecified" type=0B size=0003 fl=05 *a code=07A6 owner=003E element=073F universal=0015 unitName="meter" type=0B size=0003 fl=05 *a code=07A7 owner=003E element=0740 universal=000D unitName="meter" type=0B size=0003 fl=05 *a code=07A8 owner=003E element=0741 universal=000E unitName="meter" type=0B size=0003 fl=05 *a code=07A9 owner=003E element=0742 universal=000F unitName="meter" type=0B size=0003 fl=05 *a code=07AA owner=003E element=0743 universal=0010 unitName="radian" type=2F size=0004 fl=05 *a code=07AB owner=003E element=0744 universal=0011 unitName="percent" type=0B size=0003 fl=05 *a code=07AC owner=003E element=03A0 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=07AD owner=003E element=039D universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=07AE owner=003E element=039C universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=07AF owner=003E element=039E universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=07B0 owner=003E element=039F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=07B1 owner=003E element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07B2 owner=003E element=0043 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07B3 owner=003E element=0526 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=07B4 owner=003E element=0745 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=07B5 owner=003E element=0746 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=07B6 owner=003E element=0747 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07B7 owner=003E element=0748 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=07B8 owner=003F element=0749 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=07B9 owner=003F element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07BA owner=003F element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07BB owner=003F element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07BC owner=003F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07BD owner=003F element=074A universal=0055 unitName="meter" type=0B size=0003 fl=05 *a code=07BE owner=003F element=074B universal=0014 unitName="meter" type=0B size=0003 fl=05 *a code=07BF owner=003F element=074C universal=0009 unitName="meter" type=0B size=0003 fl=05 *a code=07C0 owner=003F element=074D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07C1 owner=003F element=03CE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07C2 owner=0040 element=074E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=07C3 owner=0040 element=03D2 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=07C4 owner=0040 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07C5 owner=0040 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07C6 owner=0040 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07C7 owner=0040 element=000E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07C8 owner=0040 element=000D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07C9 owner=0040 element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07CA owner=0040 element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07CB owner=0040 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07CC owner=0041 element=074F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=07CD owner=0041 element=0750 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=07CE owner=0041 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07CF owner=0041 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07D0 owner=0041 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07D1 owner=0041 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07D2 owner=0041 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07D3 owner=0041 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07D4 owner=0041 element=050E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07D5 owner=0041 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07D6 owner=0041 element=03FA universal=3FFF unitName="none" type=00 size=0008 fl=04 *a code=07D7 owner=0041 element=03FB universal=3FFF unitName="none" type=00 size=0027 fl=04 *a code=07D8 owner=0041 element=0484 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07D9 owner=0041 element=049E universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=07DA owner=0041 element=049D universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=07DB owner=0041 element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=07DC owner=0041 element=0473 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07DD owner=0041 element=01EA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07DE owner=0041 element=01FC universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=07DF owner=0041 element=0203 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07E0 owner=0042 element=0751 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=07E1 owner=0042 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=07E2 owner=0042 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07E3 owner=0042 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07E4 owner=0042 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07E5 owner=0042 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07E6 owner=0042 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07E7 owner=0042 element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07E8 owner=0042 element=0023 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07E9 owner=0042 element=0026 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07EA owner=0042 element=0750 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07EB owner=0042 element=06D6 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=07EC owner=0042 element=06D4 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07ED owner=0042 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07EE owner=0042 element=050E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07EF owner=0042 element=003D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07F0 owner=0042 element=06DF universal=3FFF unitName="pascal" type=0B size=0003 fl=04 *a code=07F1 owner=0042 element=06E1 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=07F2 owner=0042 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07F3 owner=0042 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07F4 owner=0042 element=003B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07F5 owner=0042 element=03FD universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=07F6 owner=0042 element=03FE universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=07F7 owner=0042 element=03D9 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07F8 owner=0042 element=03D8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07F9 owner=0042 element=03DA universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=07FA owner=0042 element=03DB universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=07FB owner=0042 element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=07FC owner=0042 element=0484 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07FD owner=0042 element=0473 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07FE owner=0042 element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07FF owner=0042 element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0800 owner=0042 element=01EA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0801 owner=0042 element=0203 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0802 owner=0043 element=0752 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0803 owner=0043 element=03D7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0804 owner=0043 element=0753 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0805 owner=0043 element=0754 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0806 owner=0043 element=0755 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0807 owner=0043 element=06DF universal=3FFF unitName="pascal" type=0B size=0003 fl=04 *a code=0808 owner=0043 element=06E1 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0809 owner=0043 element=06E0 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=080A owner=0043 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=080B owner=0043 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=080C owner=0043 element=054C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=080D owner=0043 element=0756 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=080E owner=0043 element=0559 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=080F owner=0043 element=055E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0810 owner=0043 element=0563 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0811 owner=0043 element=0568 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0812 owner=0043 element=056D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0813 owner=0043 element=0572 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0814 owner=0043 element=0577 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0815 owner=0043 element=057C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0816 owner=0043 element=0581 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0817 owner=0043 element=0586 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0818 owner=0043 element=058B universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0819 owner=0043 element=0590 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=081A owner=0043 element=0595 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=081B owner=0043 element=059A universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=081C owner=0043 element=059F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=081D owner=0043 element=05A4 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=081E owner=0043 element=05A9 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=081F owner=0043 element=05AE universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0820 owner=0043 element=05B3 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0821 owner=0043 element=05B8 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0822 owner=0043 element=05BD universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0823 owner=0043 element=05C2 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0824 owner=0043 element=05C7 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0825 owner=0043 element=05CC universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0826 owner=0043 element=05D1 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0827 owner=0043 element=05D6 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0828 owner=0043 element=05DB universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0829 owner=0043 element=05E0 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=082A owner=0043 element=05E5 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=082B owner=0043 element=05EA universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=082C owner=0043 element=05EF universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=082D owner=0043 element=05F4 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=082E owner=0043 element=05F9 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=082F owner=0043 element=05FE universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0830 owner=0043 element=0603 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0831 owner=0043 element=0608 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0832 owner=0043 element=060D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0833 owner=0043 element=0612 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0834 owner=0043 element=0617 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0835 owner=0043 element=061C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0836 owner=0043 element=0621 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0837 owner=0043 element=0626 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0838 owner=0043 element=062B universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0839 owner=0043 element=0630 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=083A owner=0043 element=0635 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=083B owner=0043 element=063A universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=083C owner=0043 element=063F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=083D owner=0043 element=0644 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=083E owner=0043 element=0649 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=083F owner=0043 element=064E universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0840 owner=0043 element=0653 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0841 owner=0043 element=0658 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0842 owner=0043 element=065D universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0843 owner=0043 element=0662 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0844 owner=0043 element=0667 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0845 owner=0043 element=066C universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0846 owner=0043 element=0671 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0847 owner=0043 element=0676 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0848 owner=0043 element=067B universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0849 owner=0043 element=0680 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=084A owner=0043 element=0685 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=084B owner=0043 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=084C owner=0043 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=084D owner=0043 element=002F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=084E owner=0043 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=084F owner=0043 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0850 owner=0043 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0851 owner=0043 element=0026 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0852 owner=0043 element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0853 owner=0043 element=0757 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0854 owner=0043 element=0758 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *a code=0855 owner=0043 element=0759 universal=0030 unitName="enum" type=02 size=0001 fl=05 *a code=0856 owner=0043 element=075A universal=0031 unitName="enum" type=02 size=0001 fl=05 *a code=0857 owner=0043 element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0858 owner=0043 element=075B universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0859 owner=0043 element=075C universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=085A owner=0043 element=075D universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=085B owner=0043 element=075E universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=085C owner=0043 element=075F universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=085D owner=0043 element=0760 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=085E owner=0043 element=0761 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=085F owner=0043 element=0762 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0860 owner=0043 element=0763 universal=3FFF unitName="milliampere" type=0B size=0003 fl=05 *a code=0861 owner=0043 element=0755 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0862 owner=0043 element=0764 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0863 owner=0043 element=0765 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0864 owner=0043 element=03D9 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0865 owner=0043 element=03D8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0866 owner=0043 element=03DA universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0867 owner=0043 element=03DB universal=3FFF unitName="pound_per_square_inch" type=0B size=0003 fl=04 *a code=0868 owner=0043 element=03DC universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=0869 owner=0043 element=03E6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=086A owner=0043 element=03DF universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=086B owner=0043 element=03E1 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=086C owner=0043 element=03E3 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=086D owner=0043 element=03E5 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=086E owner=0043 element=03E4 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=086F owner=0043 element=03DD universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0870 owner=0043 element=03DE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0871 owner=0043 element=03E7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0872 owner=0043 element=03E2 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0873 owner=0043 element=03E8 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0874 owner=0043 element=03E9 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0875 owner=0043 element=03EA universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0876 owner=0043 element=03EB universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0877 owner=0043 element=03EC universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0878 owner=0043 element=03ED universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0879 owner=0043 element=03EE universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=087A owner=0043 element=03EF universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=087B owner=0043 element=03F0 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=087C owner=0043 element=03F1 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=087D owner=0043 element=03F2 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=087E owner=0043 element=03F3 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=087F owner=0043 element=03F4 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0880 owner=0043 element=03F5 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0881 owner=0043 element=03F6 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0882 owner=0043 element=03F7 universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0883 owner=0044 element=0766 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0884 owner=0044 element=01BB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0885 owner=0044 element=0767 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0886 owner=0044 element=0768 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0887 owner=0044 element=0769 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0888 owner=0044 element=076A universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0889 owner=0044 element=076B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=088A owner=0044 element=01C5 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=088B owner=0044 element=01C4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=088C owner=0044 element=01BD universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=088D owner=0044 element=01BE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=088E owner=0044 element=01BF universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=088F owner=0044 element=01C1 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0890 owner=0044 element=01C2 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0891 owner=0044 element=01C3 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0892 owner=0044 element=01C0 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=0893 owner=0044 element=01BC universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0894 owner=0044 element=01C6 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0895 owner=0044 element=01C8 universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04 *a code=0896 owner=0044 element=01C9 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0897 owner=0044 element=01C7 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0898 owner=0044 element=01CC universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0899 owner=0044 element=01CB universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=089A owner=0044 element=01CA universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=089B owner=0044 element=0479 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=089C owner=0044 element=047D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=089D owner=0044 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=089E owner=0044 element=076C universal=0029 unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=089F owner=0044 element=0507 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=08A0 owner=0045 element=076D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08A1 owner=0045 element=01E7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08A2 owner=0045 element=076E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=08A3 owner=0045 element=076F universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=08A4 owner=0045 element=0770 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=08A5 owner=0045 element=0771 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=08A6 owner=0045 element=0772 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08A7 owner=0045 element=01F2 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08A8 owner=0045 element=01E9 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=08A9 owner=0045 element=01EB universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08AA owner=0045 element=01EC universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08AB owner=0045 element=01EF universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08AC owner=0045 element=01F0 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08AD owner=0045 element=01F1 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08AE owner=0045 element=01EE universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=08AF owner=0045 element=01E8 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=08B0 owner=0045 element=01ED universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08B1 owner=0045 element=01EA universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=08B2 owner=0045 element=0483 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=08B3 owner=0045 element=0773 universal=002F unitName="radian" type=2F size=0004 fl=05 *a code=08B4 owner=0045 element=0505 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=08B5 owner=0046 element=0774 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08B6 owner=0046 element=01DD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08B7 owner=0046 element=0775 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=08B8 owner=0046 element=0776 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=08B9 owner=0046 element=0777 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=08BA owner=0046 element=0778 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=08BB owner=0046 element=0779 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08BC owner=0046 element=01E4 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08BD owner=0046 element=01E5 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08BE owner=0046 element=01E2 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=08BF owner=0046 element=01E3 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=08C0 owner=0046 element=01DE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08C1 owner=0046 element=01DF universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08C2 owner=0046 element=01E0 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08C3 owner=0046 element=01E1 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08C4 owner=0046 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=08C5 owner=0046 element=077A universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=08C6 owner=0046 element=077B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08C7 owner=0046 element=077C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08C8 owner=0046 element=077D universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=08C9 owner=0046 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08CA owner=0046 element=077E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08CB owner=0047 element=077F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08CC owner=0047 element=01F4 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08CD owner=0047 element=0780 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=08CE owner=0047 element=0781 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=08CF owner=0047 element=0782 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=08D0 owner=0047 element=0783 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=08D1 owner=0047 element=0784 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08D2 owner=0047 element=01FA universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08D3 owner=0047 element=01F6 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=08D4 owner=0047 element=01F7 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08D5 owner=0047 element=01F8 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08D6 owner=0047 element=01F9 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=08D7 owner=0047 element=01F5 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=08D8 owner=0047 element=01FB universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=08D9 owner=0047 element=01FE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08DA owner=0047 element=01FD universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04 *a code=08DB owner=0047 element=01FC universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=08DC owner=0047 element=0499 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=08DD owner=0047 element=0785 universal=0033 unitName="meter" type=0B size=0003 fl=05 *a code=08DE owner=0047 element=0506 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08DF owner=0048 element=0786 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08E0 owner=0048 element=0200 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08E1 owner=0048 element=0787 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=08E2 owner=0048 element=0788 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=08E3 owner=0048 element=0789 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=08E4 owner=0048 element=078A universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=08E5 owner=0048 element=078B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08E6 owner=0048 element=020B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08E7 owner=0048 element=0202 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=08E8 owner=0048 element=0204 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08E9 owner=0048 element=0205 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08EA owner=0048 element=0208 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08EB owner=0048 element=0209 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08EC owner=0048 element=020A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08ED owner=0048 element=0207 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=08EE owner=0048 element=0201 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=08EF owner=0048 element=0206 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=08F0 owner=0048 element=0203 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=08F1 owner=0048 element=0472 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=08F2 owner=0048 element=078C universal=003D unitName="radian" type=2F size=0004 fl=05 *a code=08F3 owner=0048 element=051D universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=08F4 owner=0049 element=078D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08F5 owner=0049 element=0214 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=08F6 owner=0049 element=078E universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=08F7 owner=0049 element=078F universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=08F8 owner=0049 element=0790 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=08F9 owner=0049 element=0791 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=08FA owner=0049 element=0792 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=08FB owner=0049 element=0793 universal=0039 unitName="radian_per_second" type=0B size=0003 fl=05 *a code=08FC owner=0049 element=051F universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=08FD owner=0049 element=021B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=08FE owner=0049 element=0216 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=08FF owner=0049 element=0218 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0900 owner=0049 element=0219 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0901 owner=0049 element=021A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0902 owner=0049 element=0217 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=0903 owner=0049 element=0215 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0904 owner=0049 element=021E universal=3FFF unitName="count_per_second" type=0B size=0003 fl=04 *a code=0905 owner=0049 element=021F universal=3FFF unitName="count_per_revolution" type=0B size=0003 fl=04 *a code=0906 owner=0049 element=021D universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0907 owner=0049 element=021C universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0908 owner=004A element=0794 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0909 owner=004A element=0410 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=090A owner=004A element=0795 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=090B owner=004A element=0796 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=090C owner=004A element=0797 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=090D owner=004A element=0798 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=090E owner=004A element=0799 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=090F owner=004A element=0417 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0910 owner=004A element=0418 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0911 owner=004A element=0419 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0912 owner=004A element=041A universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0913 owner=004A element=041B universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0914 owner=004A element=041C universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0915 owner=004A element=041D universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0916 owner=004A element=0411 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=0917 owner=004A element=0412 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=0918 owner=004A element=0413 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 *a code=0919 owner=004A element=0414 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 *a code=091A owner=004A element=0415 universal=3FFF unitName="decibar" type=0B size=0003 fl=04 *a code=091B owner=004A element=0416 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=091C owner=004A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=091D owner=004A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=091E owner=004A element=0071 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=091F owner=004A element=079A universal=0057 unitName="siemens_per_meter" type=0B size=0003 fl=05 *a code=0920 owner=004A element=079B universal=0060 unitName="celsius" type=0B size=0003 fl=05 *a code=0921 owner=004A element=079C universal=005A unitName="decibar" type=0B size=0003 fl=05 *a code=0922 owner=004A element=079D universal=0006 unitName="meter" type=0B size=0003 fl=05 *a code=0923 owner=004A element=079E universal=005C unitName="practical_salinity_unit" type=0B size=0003 fl=05 *a code=0924 owner=004A element=079F universal=0056 unitName="kilogram_per_cubic_meter" type=0B size=0003 fl=05 *a code=0925 owner=004A element=07A0 universal=0061 unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0926 owner=004A element=07A1 universal=001E unitName="microgram_per_liter" type=0B size=0003 fl=05 *a code=0927 owner=004A element=07A2 universal=3FFF unitName="hertz" type=0B size=0003 fl=05 *a code=0928 owner=004A element=07A3 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0929 owner=004A element=07A4 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=092A owner=004A element=07A5 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=092B owner=004A element=07A6 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *a code=092C owner=004A element=07A7 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *a code=092D owner=004A element=07A8 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05 *a code=092E owner=004C element=07A9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=092F owner=004C element=0435 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0930 owner=004C element=07AA universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0931 owner=004C element=07AB universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0932 owner=004C element=07AC universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0933 owner=004C element=07AD universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0934 owner=004C element=07AE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0935 owner=004C element=0436 universal=3FFF unitName="microampere_per_count" type=0B size=0003 fl=04 *a code=0936 owner=004C element=0437 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0937 owner=004C element=043C universal=3FFF unitName="micromole_per_second_per_square_meter_per_microampere" type=0B size=0003 fl=04 *a code=0938 owner=004C element=043D universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0939 owner=004C element=0438 universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=04 *a code=093A owner=004C element=043A universal=3FFF unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=04 *a code=093B owner=004C element=0439 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=093C owner=004C element=043B universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=093D owner=004C element=07AF universal=000A unitName="micromole_per_second_per_square_meter" type=0B size=0003 fl=05 *a code=093E owner=004C element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=093F owner=004C element=07B0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0940 owner=004D element=07B1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0941 owner=004D element=0443 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0942 owner=004D element=07B2 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0943 owner=004D element=07B3 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0944 owner=004D element=07B4 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0945 owner=004D element=07B5 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=0946 owner=004D element=07B6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0947 owner=004D element=044F universal=3FFF unitName="none" type=00 size=000D fl=04 *a code=0948 owner=004D element=044B universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=04 *a code=0949 owner=004D element=0446 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=094A owner=004D element=044C universal=3FFF unitName="reciprocal_meter_per_steradian_count" type=0B size=0003 fl=04 *a code=094B owner=004D element=0447 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=094C owner=004D element=044D universal=3FFF unitName="microgram_per_liter_per_count" type=0B size=0003 fl=04 *a code=094D owner=004D element=0448 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=094E owner=004D element=0444 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=04 *a code=094F owner=004D element=044E universal=3FFF unitName="part_per_billion_per_count" type=0B size=0003 fl=04 *a code=0950 owner=004D element=0449 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0951 owner=004D element=0445 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=04 *a code=0952 owner=004D element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0953 owner=004D element=07B7 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0954 owner=004D element=07B8 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0955 owner=004D element=07B9 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0956 owner=004D element=07BA universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0957 owner=004D element=07BB universal=3FFF unitName="reciprocal_meter_per_steradian" type=0B size=0003 fl=05 *a code=0958 owner=004D element=07BC universal=3FFF unitName="reciprocal_meter_per_steradian" type=0B size=0003 fl=05 *a code=0959 owner=004D element=07BD universal=3FFF unitName="reciprocal_meter" type=0B size=0003 fl=05 *a code=095A owner=004D element=07BE universal=3FFF unitName="reciprocal_meter" type=0B size=0003 fl=05 *a code=095B owner=004D element=07BF universal=3FFF unitName="reciprocal_meter" type=0B size=0003 fl=05 *a code=095C owner=004D element=07C0 universal=3FFF unitName="reciprocal_meter" type=0B size=0003 fl=05 *a code=095D owner=004D element=07C1 universal=001D unitName="microgram_per_liter" type=0B size=0003 fl=05 *a code=095E owner=004D element=07C2 universal=0005 unitName="part_per_billion" type=0B size=0003 fl=05 *a code=095F owner=004D element=07C3 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05 *a code=0960 owner=004D element=07C4 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05 *a code=0961 owner=004D element=07C5 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05 *a code=0962 owner=004D element=07C6 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 *a code=0963 owner=004D element=07C7 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 *a code=0964 owner=004D element=07C8 universal=3FFF unitName="part_per_billion" type=0B size=0003 fl=05 *a code=0965 owner=004F element=07C9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0966 owner=004F element=0462 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0967 owner=004F element=07CA universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0968 owner=004F element=07CB universal=3FFF unitName="volt" type=07 size=0002 fl=05 *a code=0969 owner=004F element=07CC universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=096A owner=004F element=07CD universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *a code=096B owner=004F element=07CE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=096C owner=004F element=0464 universal=3FFF unitName="none_float" type=0F size=0004 fl=04 *a code=096D owner=004F element=0465 universal=3FFF unitName="liter_per_second" type=0B size=0003 fl=04 *a code=096E owner=004F element=0463 universal=3FFF unitName="none" type=00 size=0008 fl=04 *a code=096F owner=004F element=07CF universal=3FFF unitName="photon_per_second" type=0B size=0003 fl=05 *a code=0970 owner=004F element=07D0 universal=3FFF unitName="liter_per_second" type=0B size=0003 fl=05 *a code=0971 owner=004F element=07D1 universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0972 owner=004F element=07D2 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0973 owner=004F element=07D3 universal=3FFF unitName="count" type=00 size=0000 fl=05 *a code=0974 owner=004F element=006F universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0975 owner=004F element=006F universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0976 owner=0051 element=07D4 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0977 owner=0051 element=0750 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0978 owner=0051 element=0070 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0979 owner=0051 element=07D5 universal=001C unitName="count" type=0D size=0004 fl=05 *a code=097A owner=0052 element=07D6 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=097B owner=0053 element=07D7 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=097C owner=0053 element=07D8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=097D owner=0053 element=07D9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=097E owner=0053 element=07DA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=097F owner=0053 element=07DB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0980 owner=0053 element=03CF universal=3FFF unitName="none" type=00 size=0023 fl=04 *a code=0981 owner=0053 element=03D0 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=0982 owner=0033 element=00F3 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0983 owner=0041 element=03F9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0984 owner=0030 element=00B7 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0985 owner=0055 element=07DC universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0986 owner=0055 element=07DC universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0987 owner=0055 element=07DD universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0988 owner=0055 element=07DD universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=0989 owner=0055 element=0176 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=098A owner=0055 element=07DE universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=098B owner=0055 element=07DE universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=098C owner=0055 element=07DF universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=098D owner=0055 element=07DF universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=098E owner=0055 element=07E0 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=098F owner=0055 element=07E0 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0990 owner=0055 element=07E1 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0991 owner=0055 element=07E1 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0992 owner=0059 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0993 owner=005A element=07E2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0994 owner=005A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0995 owner=005A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0996 owner=005A element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0997 owner=005A element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0998 owner=005A element=0061 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0999 owner=005A element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=099A owner=005A element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=099B owner=005A element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=099C owner=005A element=0692 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=099D owner=005A element=0693 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=099E owner=005A element=07E3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=099F owner=005A element=07E4 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=09A0 owner=005A element=07E5 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=09A1 owner=005A element=07E6 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=09A2 owner=005A element=07E7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09A3 owner=005A element=07E8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09A4 owner=005A element=07E9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09A5 owner=005A element=07EA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09A6 owner=005A element=07EB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09A7 owner=005A element=07EC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09A8 owner=005A element=07ED universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09A9 owner=005A element=07EE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09AA owner=005A element=07EF universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=09AB owner=005A element=07F0 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=09AC owner=005A element=07F1 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *a code=09AD owner=005A element=07F2 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *a code=09AE owner=005A element=07F3 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=09AF owner=005A element=07F4 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=09B0 owner=005A element=07F5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09B1 owner=005A element=07F6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09B2 owner=005A element=07F7 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=09B3 owner=005A element=07F8 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=09B4 owner=005A element=07F9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09B5 owner=005A element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09B6 owner=005B element=019C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09B7 owner=005B element=019B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09B8 owner=005B element=019D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09B9 owner=005B element=019E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09BA owner=005B element=0188 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09BB owner=005B element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09BC owner=005B element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=09BD owner=005B element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=09BE owner=005B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09BF owner=005B element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09C0 owner=005B element=07FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09C1 owner=005B element=07FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09C2 owner=005B element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=09C3 owner=005B element=077B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09C4 owner=005B element=06AB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09C5 owner=005B element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09C6 owner=005B element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09C7 owner=005B element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09C8 owner=005B element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=09C9 owner=005B element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09CA owner=005B element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09CB owner=005D element=07FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=09CC owner=005D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09CD owner=005D element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09CE owner=005D element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09CF owner=005D element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09D0 owner=005D element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09D1 owner=005D element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=09D2 owner=005D element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09D3 owner=005D element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09D4 owner=005D element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=09D5 owner=005D element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=09D6 owner=005D element=050E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=09D7 owner=005D element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09D8 owner=005D element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=09D9 owner=005D element=047D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=09DA owner=005D element=049D universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=09DB owner=005D element=0498 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09DC owner=005D element=04AC universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=09DD owner=0065 element=07DC universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=09DE owner=0065 element=001C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09DF owner=002D element=00A1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=09E0 owner=0004 element=07FD universal=3FFF unitName="second" type=07 size=0002 fl=05 *a code=09E1 owner=005F element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09E2 owner=0060 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=09E3 owner=0069 element=07FE universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=09E4 owner=0069 element=07FE universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=09E5 owner=0069 element=07FF universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09E6 owner=0069 element=07FF universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=09E7 owner=0069 element=0800 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=09E8 owner=0069 element=0800 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=09E9 owner=0069 element=0801 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=09EA owner=0069 element=0801 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=09EB owner=0069 element=0802 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09EC owner=0069 element=0802 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=09ED owner=0069 element=0803 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09EE owner=0069 element=0803 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=09EF owner=0069 element=0804 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09F0 owner=0069 element=0804 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=09F1 owner=0069 element=0805 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=09F2 owner=0069 element=0805 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=09F3 owner=0069 element=0806 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09F4 owner=0069 element=0806 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=09F5 owner=0069 element=0807 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=09F6 owner=0069 element=0807 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=09F7 owner=0069 element=0808 universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=09F8 owner=0069 element=0808 universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 *a code=09F9 owner=006A element=0809 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=09FA owner=006A element=0809 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=09FB owner=006A element=080A universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=09FC owner=006A element=080A universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=09FD owner=006A element=080B universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=09FE owner=006A element=080B universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=09FF owner=006A element=080C universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0A00 owner=006A element=080C universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=0A01 owner=006A element=080D universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0A02 owner=006A element=080D universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=0A03 owner=006A element=080E universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0A04 owner=006A element=080E universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0A05 owner=006A element=080F universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A06 owner=006A element=080F universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0A07 owner=006A element=0810 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A08 owner=006A element=0810 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0A09 owner=006A element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A0A owner=006A element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A0B owner=006B element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A0C owner=006C element=07FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0A0D owner=006C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A0E owner=006C element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A0F owner=006C element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A10 owner=006C element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A11 owner=006C element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A12 owner=006C element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A13 owner=006C element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A14 owner=006C element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A15 owner=006C element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A16 owner=006C element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A17 owner=006C element=050E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A18 owner=006C element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A19 owner=006C element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A1A owner=006C element=047D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A1B owner=006C element=049D universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0A1C owner=006C element=0498 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A1D owner=006C element=04AC universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A1E owner=0076 element=0809 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=0A1F owner=0077 element=0811 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A20 owner=0077 element=0811 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0A21 owner=0077 element=0812 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A22 owner=0077 element=0812 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0A23 owner=0077 element=0813 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A24 owner=0077 element=0813 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0A25 owner=0077 element=0814 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0A26 owner=0077 element=0814 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0A27 owner=0078 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A28 owner=0078 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A29 owner=0078 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A2A owner=0078 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A2B owner=0078 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A2C owner=0078 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A2D owner=0078 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A2E owner=0078 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A2F owner=0078 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A30 owner=0078 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A31 owner=0078 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A32 owner=0078 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A33 owner=0078 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0A34 owner=0079 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0A35 owner=0079 element=04A5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A36 owner=0079 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A37 owner=0079 element=0485 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A38 owner=0079 element=049F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A39 owner=0079 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A3A owner=0079 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A3B owner=0079 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0A3C owner=0079 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A3D owner=0079 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A3E owner=0079 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A3F owner=0079 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A40 owner=0079 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A41 owner=0079 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A42 owner=0079 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A43 owner=0079 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A44 owner=007A element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0A45 owner=007A element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0A46 owner=007A element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0A47 owner=007A element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A48 owner=007A element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0A49 owner=007A element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0A4A owner=007A element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A4B owner=007A element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A4C owner=007A element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A4D owner=007A element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A4E owner=007A element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A4F owner=007A element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A50 owner=007A element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A51 owner=007B element=0813 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0A52 owner=007C element=0814 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0A53 owner=007D element=0815 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A54 owner=007D element=0815 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0A55 owner=007E element=054D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A56 owner=007E element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A57 owner=007E element=0099 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0A58 owner=007E element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0A59 owner=007F element=0816 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A5A owner=007F element=0816 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0A5B owner=007F element=0817 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A5C owner=007F element=0817 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0A5D owner=007F element=0818 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A5E owner=007F element=0818 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0A5F owner=007F element=0819 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A60 owner=007F element=0819 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0A61 owner=007F element=0138 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A62 owner=007F element=081A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0A63 owner=007F element=081A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0A64 owner=0085 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A65 owner=0085 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A66 owner=0085 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A67 owner=0085 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A68 owner=0085 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A69 owner=0085 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A6A owner=0085 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0A6B owner=0085 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A6C owner=0085 element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0A6D owner=0088 element=01C9 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0A6E owner=0088 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A6F owner=0088 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0A70 owner=0088 element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0A71 owner=0089 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A72 owner=0089 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A73 owner=0089 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A74 owner=0089 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A75 owner=0089 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A76 owner=0089 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A77 owner=0089 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0A78 owner=0089 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A79 owner=008A element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A7A owner=008A element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A7B owner=008A element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0A7C owner=008B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A7D owner=008B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A7E owner=008B element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A7F owner=008B element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A80 owner=008B element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A81 owner=008B element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0A82 owner=008B element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0A83 owner=008E element=047E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A84 owner=008F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A85 owner=008F element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A86 owner=008F element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A87 owner=008F element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A88 owner=008F element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0A89 owner=008F element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A8A owner=008F element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0A8B owner=008F element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A8C owner=0090 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A8D owner=0090 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A8E owner=0090 element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0A8F owner=0090 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0A90 owner=0090 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0A91 owner=0090 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0A92 owner=0090 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0A93 owner=006D element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A94 owner=0070 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A95 owner=0073 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0A96 owner=0092 element=081B universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0A97 owner=0092 element=081B universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=0A98 owner=0092 element=081C universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A99 owner=0092 element=081C universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0A9A owner=0092 element=081D universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A9B owner=0092 element=081D universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0A9C owner=0092 element=081E universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0A9D owner=0092 element=081E universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0A9E owner=0092 element=081F universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0A9F owner=0092 element=081F universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0AA0 owner=0092 element=0820 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AA1 owner=0092 element=0820 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AA2 owner=0092 element=0821 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AA3 owner=0092 element=0821 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AA4 owner=0092 element=0822 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AA5 owner=0092 element=0822 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AA6 owner=0092 element=0823 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0AA7 owner=0092 element=0823 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0AA8 owner=0092 element=0824 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0AA9 owner=0092 element=0824 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0AAA owner=0092 element=0825 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0AAB owner=0092 element=0825 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0AAC owner=0092 element=0176 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0AAD owner=0092 element=0826 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0AAE owner=0092 element=0826 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0AAF owner=0092 element=0827 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0AB0 owner=0092 element=0827 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0AB1 owner=0092 element=0828 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0AB2 owner=0092 element=0828 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0AB3 owner=0092 element=0829 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0AB4 owner=0092 element=0829 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0AB5 owner=0092 element=082A universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0AB6 owner=0092 element=082A universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0AB7 owner=0092 element=082B universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0AB8 owner=0092 element=082B universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0AB9 owner=0092 element=082C universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0ABA owner=0092 element=082C universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0ABB owner=0092 element=082D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0ABC owner=0092 element=082D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0ABD owner=0092 element=082E universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0ABE owner=0092 element=082E universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0ABF owner=0092 element=082F universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0AC0 owner=0092 element=082F universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0AC1 owner=0092 element=0830 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0AC2 owner=0092 element=0830 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0AC3 owner=0092 element=0831 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0AC4 owner=0092 element=0831 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0AC5 owner=0092 element=0832 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0AC6 owner=0092 element=0832 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0AC7 owner=0092 element=0833 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0AC8 owner=0092 element=0833 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0AC9 owner=0092 element=0834 universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=0ACA owner=0092 element=0834 universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 *a code=0ACB owner=0092 element=0835 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0ACC owner=0092 element=0835 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0ACD owner=0092 element=0836 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0ACE owner=0092 element=0836 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=0ACF owner=0092 element=0837 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0AD0 owner=0092 element=0837 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0AD1 owner=0092 element=0838 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0AD2 owner=0092 element=0838 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0AD3 owner=0092 element=0839 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0AD4 owner=0092 element=0839 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0AD5 owner=0092 element=083A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AD6 owner=0092 element=083A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AD7 owner=0092 element=0180 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AD8 owner=0092 element=083B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0AD9 owner=0092 element=083B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0ADA owner=0092 element=017F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0ADB owner=0092 element=083C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0ADC owner=0092 element=083C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0ADD owner=0092 element=083D universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0ADE owner=0092 element=083D universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0ADF owner=0092 element=083E universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0AE0 owner=0092 element=083E universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0AE1 owner=0092 element=083F universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0AE2 owner=0092 element=083F universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0AE3 owner=0092 element=0840 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0AE4 owner=0092 element=0840 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0AE5 owner=0092 element=0841 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AE6 owner=0092 element=0841 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AE7 owner=0092 element=0842 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AE8 owner=0092 element=0842 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AE9 owner=0092 element=0843 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AEA owner=0092 element=0843 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AEB owner=0092 element=0844 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0AEC owner=0092 element=0844 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0AED owner=0092 element=0845 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0AEE owner=0092 element=0845 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0AEF owner=0093 element=0846 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AF0 owner=0093 element=0846 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AF1 owner=0093 element=0847 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0AF2 owner=0093 element=0847 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0AF3 owner=0093 element=0848 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AF4 owner=0093 element=0848 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AF5 owner=0093 element=0849 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AF6 owner=0093 element=0849 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AF7 owner=0093 element=084A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AF8 owner=0093 element=084A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AF9 owner=0093 element=084B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0AFA owner=0093 element=084B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0AFB owner=0093 element=084C universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0AFC owner=0093 element=084C universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0AFD owner=0093 element=084D universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0AFE owner=0093 element=084D universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0AFF owner=0093 element=084E universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=0B00 owner=0093 element=084E universal=3FFF unitName="percent" type=1F size=0008 fl=05 *a code=0B01 owner=0093 element=084F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B02 owner=0093 element=084F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B03 owner=0093 element=0850 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B04 owner=0093 element=0850 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B05 owner=0093 element=0851 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B06 owner=0093 element=0851 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B07 owner=0093 element=0852 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B08 owner=0093 element=0852 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B09 owner=0093 element=0853 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B0A owner=0093 element=0853 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B0B owner=0093 element=0854 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B0C owner=0093 element=0854 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B0D owner=0093 element=0855 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B0E owner=0093 element=0855 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B0F owner=0093 element=0856 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B10 owner=0093 element=0856 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B11 owner=0093 element=0857 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B12 owner=0093 element=0857 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B13 owner=0093 element=03FF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B14 owner=0093 element=0858 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B15 owner=0093 element=0858 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B16 owner=0093 element=0407 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B17 owner=0093 element=0859 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B18 owner=0093 element=0859 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B19 owner=0093 element=040F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B1A owner=0093 element=085A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B1B owner=0093 element=085A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B1C owner=0093 element=0442 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B1D owner=0093 element=085B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B1E owner=0093 element=085B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B1F owner=0093 element=0450 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B20 owner=0093 element=085C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B21 owner=0093 element=085C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B22 owner=0093 element=0461 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B23 owner=0093 element=085D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B24 owner=0093 element=085D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B25 owner=0093 element=085E universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0B26 owner=0093 element=085E universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0B27 owner=0093 element=085F universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0B28 owner=0093 element=085F universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0B29 owner=0093 element=0860 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B2A owner=0093 element=0860 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B2B owner=0093 element=0861 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B2C owner=0093 element=0861 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B2D owner=0093 element=0862 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B2E owner=0093 element=0862 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B2F owner=0093 element=0863 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0B30 owner=0093 element=0863 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0B31 owner=0093 element=0864 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0B32 owner=0093 element=0864 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 *a code=0B33 owner=0093 element=0865 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0B34 owner=0093 element=0865 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 *a code=0B35 owner=0093 element=0866 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0B36 owner=0093 element=0866 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0B37 owner=0093 element=0867 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 *a code=0B38 owner=0093 element=0867 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0B39 owner=0093 element=0868 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B3A owner=0093 element=0868 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B3B owner=0093 element=0869 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0B3C owner=0093 element=0869 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0B3D owner=0093 element=086A universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B3E owner=0093 element=086A universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B3F owner=0093 element=086B universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B40 owner=0093 element=086B universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B41 owner=0093 element=086C universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=05 *a code=0B42 owner=0093 element=086C universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=04 *a code=0B43 owner=0093 element=086D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B44 owner=0093 element=086D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B45 owner=0093 element=086E universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B46 owner=0093 element=086E universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B47 owner=0093 element=086F universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B48 owner=0093 element=086F universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B49 owner=0093 element=0870 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05 *a code=0B4A owner=0093 element=0870 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=04 *a code=0B4B owner=0093 element=0871 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B4C owner=0093 element=0871 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B4D owner=0093 element=0872 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B4E owner=0093 element=0872 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B4F owner=0093 element=0873 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B50 owner=0093 element=0873 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B51 owner=0093 element=0874 universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=05 *a code=0B52 owner=0093 element=0874 universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=04 *a code=0B53 owner=0093 element=0875 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B54 owner=0093 element=0875 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B55 owner=0093 element=0876 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0B56 owner=0093 element=0876 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0B57 owner=0093 element=0877 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B58 owner=0093 element=0877 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B59 owner=0093 element=0878 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B5A owner=0093 element=0878 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B5B owner=0093 element=0879 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 *a code=0B5C owner=0093 element=0879 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 *a code=0B5D owner=0093 element=087A universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B5E owner=0093 element=087A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B5F owner=0093 element=087B universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0B60 owner=0093 element=087B universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0B61 owner=0093 element=087C universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B62 owner=0093 element=087C universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B63 owner=0093 element=087D universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B64 owner=0093 element=087D universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B65 owner=0093 element=087E universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 *a code=0B66 owner=0093 element=087E universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 *a code=0B67 owner=0093 element=087F universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B68 owner=0093 element=087F universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B69 owner=0093 element=0880 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0B6A owner=0093 element=0880 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0B6B owner=0093 element=0881 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B6C owner=0093 element=0881 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B6D owner=0093 element=0882 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B6E owner=0093 element=0882 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B6F owner=0093 element=0883 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 *a code=0B70 owner=0093 element=0883 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 *a code=0B71 owner=0093 element=0884 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B72 owner=0093 element=0884 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B73 owner=0093 element=0885 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0B74 owner=0093 element=0885 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0B75 owner=0093 element=0886 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B76 owner=0093 element=0886 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B77 owner=0093 element=0887 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B78 owner=0093 element=0887 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B79 owner=0093 element=0888 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 *a code=0B7A owner=0093 element=0888 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 *a code=0B7B owner=0093 element=0889 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B7C owner=0093 element=0889 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B7D owner=0093 element=088A universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0B7E owner=0093 element=088A universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0B7F owner=0093 element=088B universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B80 owner=0093 element=088B universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B81 owner=0093 element=088C universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B82 owner=0093 element=088C universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B83 owner=0093 element=088D universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 *a code=0B84 owner=0093 element=088D universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 *a code=0B85 owner=0093 element=088E universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B86 owner=0093 element=088E universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B87 owner=0093 element=088F universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0B88 owner=0093 element=088F universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0B89 owner=0093 element=0890 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B8A owner=0093 element=0890 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B8B owner=0093 element=0891 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B8C owner=0093 element=0891 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B8D owner=0093 element=0892 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 *a code=0B8E owner=0093 element=0892 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0B8F owner=0093 element=0893 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B90 owner=0093 element=0893 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B91 owner=0093 element=0894 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B92 owner=0093 element=0894 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B93 owner=0093 element=0895 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B94 owner=0093 element=0895 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B95 owner=0093 element=0896 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B96 owner=0093 element=0896 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B97 owner=0093 element=0897 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 *a code=0B98 owner=0093 element=0897 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 *a code=0B99 owner=0093 element=0898 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0B9A owner=0093 element=0898 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0B9B owner=0093 element=0899 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B9C owner=0093 element=0899 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B9D owner=0093 element=089A universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0B9E owner=0093 element=089A universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0B9F owner=0093 element=089B universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0BA0 owner=0093 element=089B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0BA1 owner=0093 element=089C universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 *a code=0BA2 owner=0093 element=089C universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 *a code=0BA3 owner=0093 element=089D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0BA4 owner=0093 element=089D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0BA5 owner=0093 element=089E universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0BA6 owner=0093 element=089E universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0BA7 owner=0093 element=089F universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0BA8 owner=0093 element=089F universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0BA9 owner=0093 element=08A0 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0BAA owner=0093 element=08A0 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0BAB owner=0093 element=08A1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0BAC owner=0093 element=08A1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0BAD owner=0093 element=08A2 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 *a code=0BAE owner=0093 element=08A2 universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0BAF owner=009C element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BB0 owner=009C element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BB1 owner=009C element=0043 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BB2 owner=009C element=0526 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0BB3 owner=009C element=08A3 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0BB4 owner=009C element=08A4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0BB5 owner=009C element=08A5 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0BB6 owner=009C element=08A6 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0BB7 owner=009C element=08A7 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0BB8 owner=009C element=08A8 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0BB9 owner=009E element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BBA owner=009E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BBB owner=009E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BBC owner=00A1 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BBD owner=00A1 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BBE owner=00A1 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BBF owner=00A1 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BC0 owner=00A1 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BC1 owner=00A1 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BC2 owner=00A3 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BC3 owner=00A3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BC4 owner=00A3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BC5 owner=00A6 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BC6 owner=00A6 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BC7 owner=00A6 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BC8 owner=00A9 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BC9 owner=00A9 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BCA owner=00A9 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BCB owner=00A9 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BCC owner=00A9 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BCD owner=00A9 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BCE owner=00AB element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BCF owner=00AB element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD0 owner=00AB element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD1 owner=00AE element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD2 owner=00AE element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD3 owner=00AE element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD4 owner=00B1 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD5 owner=00B1 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD6 owner=00B1 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD7 owner=00B1 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD8 owner=00B1 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BD9 owner=00B1 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BDA owner=00B3 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BDB owner=00B3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BDC owner=00B3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BDD owner=00B6 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BDE owner=00B6 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BDF owner=00B6 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BE0 owner=00B9 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BE1 owner=00B9 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BE2 owner=00B9 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BE3 owner=00BC element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BE4 owner=00BC element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BE5 owner=00BC element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BE6 owner=00C0 element=08A1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0BE7 owner=00C2 element=08A9 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0BE8 owner=00C2 element=08A9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0BE9 owner=00C2 element=08AA universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0BEA owner=00C2 element=08AA universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0BEB owner=00C2 element=08AB universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0BEC owner=00C2 element=08AB universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0BED owner=00C2 element=08AC universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0BEE owner=00C2 element=08AC universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0BEF owner=00C3 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0BF0 owner=00C3 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0BF1 owner=00C3 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0BF2 owner=00C3 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0BF3 owner=00C3 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BF4 owner=00C3 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BF5 owner=00C3 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0BF6 owner=00C3 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BF7 owner=00C3 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0BF8 owner=00C3 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0BF9 owner=00C3 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0BFA owner=00C3 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0BFB owner=00C3 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0BFC owner=00C4 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0BFD owner=00C4 element=04A5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0BFE owner=00C4 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0BFF owner=00C4 element=0485 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0C00 owner=00C4 element=049F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0C01 owner=00C4 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0C02 owner=00C4 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0C03 owner=00C4 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0C04 owner=00C4 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0C05 owner=00C4 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C06 owner=00C4 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C07 owner=00C4 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C08 owner=00C4 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C09 owner=00C4 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0C0A owner=00C4 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0C0B owner=00C4 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C0C owner=00C5 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0C0D owner=00C5 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0C0E owner=00C5 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0C0F owner=00C5 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0C10 owner=00C5 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0C11 owner=00C5 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0C12 owner=00C5 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C13 owner=00C5 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C14 owner=00C5 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C15 owner=00C5 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C16 owner=00C5 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C17 owner=00C5 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C18 owner=00C5 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0C19 owner=00C6 element=08A9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C1A owner=00C7 element=08AB universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C1B owner=00C8 element=08AC universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C1C owner=00C9 element=08AD universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0C1D owner=00C9 element=08AD universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=0C1E owner=00C9 element=08AE universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0C1F owner=00C9 element=08AE universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0C20 owner=00C9 element=08AF universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0C21 owner=00C9 element=08AF universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0C22 owner=00C9 element=08B0 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0C23 owner=00C9 element=08B0 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=0C24 owner=00C9 element=08B1 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=0C25 owner=00C9 element=08B1 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=0C26 owner=00C9 element=08B2 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=0C27 owner=00C9 element=08B2 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0C28 owner=00C9 element=08B3 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0C29 owner=00C9 element=08B3 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0C2A owner=00C9 element=08B4 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0C2B owner=00C9 element=08B4 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0C2C owner=00C9 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C2D owner=00C9 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C2E owner=00CA element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C2F owner=00CB element=07FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0C30 owner=00CB element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C31 owner=00CB element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C32 owner=00CB element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C33 owner=00CB element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0C34 owner=00CB element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C35 owner=00CB element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0C36 owner=00CB element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C37 owner=00CB element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C38 owner=00CB element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0C39 owner=00CB element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C3A owner=00CB element=050E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C3B owner=00CB element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0C3C owner=00CB element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0C3D owner=00CB element=047D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0C3E owner=00CB element=049D universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0C3F owner=00CB element=0498 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0C40 owner=00CB element=04AC universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0C41 owner=00D5 element=08AD universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=0C42 owner=00D6 element=08AE universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0C43 owner=00D7 element=08B5 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0C44 owner=00D7 element=08B5 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0C45 owner=00D7 element=08B6 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0C46 owner=00D7 element=08B6 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0C47 owner=00D7 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C48 owner=00DA element=08B6 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0C49 owner=00DB element=06B6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0C4A owner=00DC element=0173 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0C4B owner=00DC element=08B7 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0C4C owner=00DC element=08B7 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0C4D owner=00DC element=0174 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0C4E owner=00DC element=08B8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0C4F owner=00DC element=08B8 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0C50 owner=00DC element=08B9 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0C51 owner=00DC element=08B9 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0C52 owner=00DC element=0180 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0C53 owner=00DC element=08BA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0C54 owner=00DC element=08BA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0C55 owner=00DC element=017F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0C56 owner=00DC element=08BB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0C57 owner=00DC element=08BB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0C58 owner=00DC element=0181 universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0C59 owner=00DC element=08BC universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0C5A owner=00DC element=08BC universal=3FFF unitName="hour" type=0B size=0003 fl=05 *a code=0C5B owner=00DC element=0182 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0C5C owner=00DC element=08BD universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0C5D owner=00DC element=08BD universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0C5E owner=00DC element=0183 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0C5F owner=00DC element=08BE universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0C60 owner=00DC element=08BE universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0C61 owner=00DC element=08BF universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0C62 owner=00DC element=08BF universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0C63 owner=00DC element=0194 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0C64 owner=00DC element=08C0 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0C65 owner=00DC element=08C0 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0C66 owner=00DC element=0195 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0C67 owner=00DC element=08C1 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0C68 owner=00DC element=08C1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0C69 owner=00DC element=08C2 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C6A owner=00DC element=08C2 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C6B owner=00DC element=08C3 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0C6C owner=00DC element=08C3 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0C6D owner=00DC element=08C4 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C6E owner=00DC element=08C4 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C6F owner=00DC element=08C5 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0C70 owner=00DC element=08C5 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0C71 owner=00DC element=08C6 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C72 owner=00DC element=08C6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C73 owner=00DC element=08C7 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C74 owner=00DC element=08C7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C75 owner=00DC element=08C8 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C76 owner=00DC element=08C8 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C77 owner=00DC element=08C9 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C78 owner=00DC element=08C9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C79 owner=00DC element=08CA universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0C7A owner=00DC element=08CA universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0C7B owner=00DC element=08CB universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C7C owner=00DC element=08CB universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C7D owner=00DC element=08CC universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0C7E owner=00DC element=08CC universal=3FFF unitName="none" type=1F size=0008 fl=05 *a code=0C7F owner=00DC element=08CD universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0C80 owner=00DC element=08CD universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0C81 owner=00DC element=08CE universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C82 owner=00DC element=08CE universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C83 owner=00DC element=08CF universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0C84 owner=00DC element=08CF universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0C85 owner=00DC element=08D0 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0C86 owner=00DC element=08D0 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0C87 owner=00DC element=08D1 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0C88 owner=00DC element=08D1 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0C89 owner=00DC element=08D2 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0C8A owner=00DC element=08D2 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0C8B owner=00DC element=08D3 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0C8C owner=00DC element=08D3 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0C8D owner=00DC element=08D4 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0C8E owner=00DC element=08D4 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0C8F owner=00DC element=08D5 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C90 owner=00DC element=08D5 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C91 owner=00DC element=08D6 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0C92 owner=00DC element=08D6 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0C93 owner=00DD element=08D4 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0C94 owner=00DE element=08D5 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C95 owner=00DE element=0175 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0C96 owner=00DE element=0177 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0C97 owner=00DF element=08D7 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C98 owner=00DF element=08D7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C99 owner=00DF element=08D8 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C9A owner=00DF element=08D8 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C9B owner=00DF element=08D9 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C9C owner=00DF element=08D9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C9D owner=00DF element=08DA universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0C9E owner=00DF element=08DA universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0C9F owner=00E0 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0CA0 owner=00E0 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CA1 owner=00E0 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0CA2 owner=00E0 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CA3 owner=00E0 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CA4 owner=00E0 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CA5 owner=00E0 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CA6 owner=00E0 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CA7 owner=00E0 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0CA8 owner=00E0 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0CA9 owner=00E0 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CAA owner=00E0 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0CAB owner=00E0 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0CAC owner=00E1 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0CAD owner=00E1 element=04A5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CAE owner=00E1 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CAF owner=00E1 element=0485 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0CB0 owner=00E1 element=049F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0CB1 owner=00E1 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0CB2 owner=00E1 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0CB3 owner=00E1 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0CB4 owner=00E1 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CB5 owner=00E1 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CB6 owner=00E1 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CB7 owner=00E1 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CB8 owner=00E1 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CB9 owner=00E1 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0CBA owner=00E1 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0CBB owner=00E1 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CBC owner=00E2 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0CBD owner=00E2 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0CBE owner=00E2 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0CBF owner=00E2 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0CC0 owner=00E2 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0CC1 owner=00E2 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CC2 owner=00E2 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC3 owner=00E2 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC4 owner=00E2 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC5 owner=00E2 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CC6 owner=00E2 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CC7 owner=00E2 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CC8 owner=00E2 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0CC9 owner=00E3 element=08D7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0CCA owner=00E4 element=08D9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0CCB owner=00E5 element=08DA universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0CCC owner=00E6 element=08CD universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0CCD owner=00E6 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CCE owner=00E7 element=08CE universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0CCF owner=00E7 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CD0 owner=00E8 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CD1 owner=00E8 element=08DB universal=3FFF unitName="unspecified" type=0B size=0003 fl=04 *a code=0CD2 owner=00E9 element=047E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0CD3 owner=00EA element=01FC universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0CD4 owner=00EA element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CD5 owner=00EA element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0CD6 owner=00EA element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0CD7 owner=00EB element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0CD8 owner=00EC element=01C9 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0CD9 owner=00EC element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CDA owner=00EC element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0CDB owner=00EC element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0CDC owner=00F0 element=019C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0CDD owner=00F0 element=019B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0CDE owner=00F0 element=019D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0CDF owner=00F0 element=019E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0CE0 owner=00F0 element=0188 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0CE1 owner=00F0 element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0CE2 owner=00F0 element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0CE3 owner=00F0 element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0CE4 owner=00F0 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CE5 owner=00F0 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CE6 owner=00F0 element=07FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0CE7 owner=00F0 element=07FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0CE8 owner=00F0 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0CE9 owner=00F0 element=077B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0CEA owner=00F0 element=06AB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0CEB owner=00F0 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CEC owner=00F0 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CED owner=00F0 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0CEE owner=00F0 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0CEF owner=00F0 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0CF0 owner=00F0 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CF1 owner=00F2 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CF2 owner=00F4 element=08D4 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0CF3 owner=00FA element=08D4 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0CF4 owner=00FB element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CF5 owner=00FB element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0CF6 owner=00FB element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0CF7 owner=00FC element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0CF8 owner=00FC element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0CF9 owner=00FC element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0CFA owner=00FC element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CFB owner=00FC element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0CFC owner=00FC element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0CFD owner=00FC element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0CFE owner=00FC element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0CFF owner=00FD element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D00 owner=00FD element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D01 owner=00FD element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D02 owner=00FD element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D03 owner=00FD element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D04 owner=00FD element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D05 owner=00FD element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D06 owner=0100 element=08D4 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D07 owner=0105 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D08 owner=0105 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D09 owner=0105 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D0A owner=0105 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D0B owner=0105 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D0C owner=0105 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0D0D owner=0108 element=08D4 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D0E owner=010E element=08D4 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D0F owner=0110 element=03D8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0D10 owner=0110 element=047E universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0D11 owner=0110 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D12 owner=0110 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D13 owner=0110 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D14 owner=0110 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D15 owner=0112 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D16 owner=0112 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D17 owner=0112 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0D18 owner=0112 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D19 owner=0112 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D1A owner=0112 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D1B owner=0112 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0D1C owner=0112 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D1D owner=0113 element=0203 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0D1E owner=0114 element=0472 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0D1F owner=0115 element=0184 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0D20 owner=0115 element=0185 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0D21 owner=0115 element=0186 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0D22 owner=0115 element=0187 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0D23 owner=0115 element=018A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0D24 owner=0115 element=018B universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0D25 owner=0115 element=018C universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0D26 owner=0115 element=018D universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0D27 owner=0115 element=0188 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0D28 owner=0115 element=0189 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0D29 owner=0115 element=018E universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0D2A owner=0115 element=018F universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0D2B owner=0115 element=0190 universal=3FFF unitName="ratio" type=0B size=0003 fl=04 *a code=0D2C owner=0115 element=0191 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0D2D owner=0115 element=0192 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0D2E owner=0115 element=0470 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=0D2F owner=0115 element=0193 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0D30 owner=0115 element=0196 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0D31 owner=0115 element=0197 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0D32 owner=0115 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D33 owner=0115 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D34 owner=0115 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D35 owner=0115 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D36 owner=0115 element=0045 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D37 owner=0115 element=07EA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0D38 owner=0115 element=07EE universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0D39 owner=0115 element=07F7 universal=3FFF unitName="radian" type=1F size=0008 fl=04 *a code=0D3A owner=0115 element=07F8 universal=3FFF unitName="radian" type=1F size=0008 fl=04 *a code=0D3B owner=0115 element=07FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0D3C owner=0115 element=07FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0D3D owner=0115 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0D3E owner=0115 element=077B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0D3F owner=0115 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0D40 owner=0115 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D41 owner=0115 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D42 owner=0115 element=0512 universal=3FFF unitName="ratio" type=0B size=0003 fl=05 *a code=0D43 owner=0115 element=0511 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=05 *a code=0D44 owner=0115 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D45 owner=0115 element=08DB universal=3FFF unitName="unspecified" type=0B size=0003 fl=05 *a code=0D46 owner=0115 element=08DC universal=3FFF unitName="radian_per_second_squared" type=0B size=0003 fl=05 *a code=0D47 owner=0115 element=08DD universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D48 owner=0115 element=08DE universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0D49 owner=0115 element=08DF universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0D4A owner=0115 element=08E0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0D4B owner=0115 element=08E1 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0D4C owner=0115 element=08E2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D4D owner=0117 element=08D4 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D4E owner=011A element=08C7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0D4F owner=011B element=08C8 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0D50 owner=011C element=08C6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0D51 owner=011D element=08C9 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0D52 owner=011E element=08CA universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0D53 owner=011F element=08CB universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0D54 owner=0120 element=083F universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D55 owner=0121 element=07E2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0D56 owner=0121 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D57 owner=0121 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D58 owner=0121 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D59 owner=0121 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D5A owner=0121 element=0061 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D5B owner=0121 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D5C owner=0121 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D5D owner=0121 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D5E owner=0121 element=0692 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0D5F owner=0121 element=0693 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0D60 owner=0121 element=07E3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D61 owner=0121 element=07E4 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0D62 owner=0121 element=07E5 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0D63 owner=0121 element=07E6 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0D64 owner=0121 element=07E7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D65 owner=0121 element=07E8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D66 owner=0121 element=07E9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D67 owner=0121 element=07EA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D68 owner=0121 element=07EB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D69 owner=0121 element=07EC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D6A owner=0121 element=07ED universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D6B owner=0121 element=07EE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D6C owner=0121 element=07EF universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0D6D owner=0121 element=07F0 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0D6E owner=0121 element=07F1 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *a code=0D6F owner=0121 element=07F2 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *a code=0D70 owner=0121 element=07F3 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0D71 owner=0121 element=07F4 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0D72 owner=0121 element=07F5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D73 owner=0121 element=07F6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D74 owner=0121 element=07F7 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0D75 owner=0121 element=07F8 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0D76 owner=0121 element=07F9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D77 owner=0124 element=083F universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D78 owner=0125 element=0840 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D79 owner=0126 element=0841 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0D7A owner=0128 element=08DB universal=3FFF unitName="unspecified" type=0B size=0003 fl=04 *a code=0D7B owner=0129 element=08DB universal=3FFF unitName="unspecified" type=0B size=0003 fl=04 *a code=0D7C owner=012A element=083F universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D7D owner=012B element=0840 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D7E owner=012C element=0841 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0D7F owner=012D element=08DB universal=3FFF unitName="unspecified" type=0B size=0003 fl=04 *a code=0D80 owner=012E element=08DB universal=3FFF unitName="unspecified" type=0B size=0003 fl=04 *a code=0D81 owner=012F element=083F universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D82 owner=0130 element=0840 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D83 owner=0131 element=0841 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0D84 owner=0132 element=08DB universal=3FFF unitName="unspecified" type=0B size=0003 fl=04 *a code=0D85 owner=0133 element=08DB universal=3FFF unitName="unspecified" type=0B size=0003 fl=04 *a code=0D86 owner=0134 element=083D universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0D87 owner=0135 element=0840 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D88 owner=0136 element=0841 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0D89 owner=0137 element=08DB universal=3FFF unitName="unspecified" type=0B size=0003 fl=04 *a code=0D8A owner=0138 element=08DB universal=3FFF unitName="unspecified" type=0B size=0003 fl=04 *a code=0D8B owner=0139 element=083D universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0D8C owner=013A element=0840 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D8D owner=013B element=0841 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0D8E owner=0143 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D8F owner=0143 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0D90 owner=0143 element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0D91 owner=0144 element=01FC universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=0D92 owner=0144 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D93 owner=0144 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D94 owner=0144 element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0D95 owner=0145 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D96 owner=0145 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D97 owner=0145 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0D98 owner=0145 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D99 owner=0145 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0D9A owner=0145 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0D9B owner=0145 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0D9C owner=0145 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0D9D owner=0147 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0D9E owner=014A element=0845 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0D9F owner=014C element=083E universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0DA0 owner=014E element=083E universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0DA1 owner=0153 element=0173 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0DA2 owner=0153 element=08E3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0DA3 owner=0153 element=08E3 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0DA4 owner=0153 element=0174 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0DA5 owner=0153 element=08E4 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0DA6 owner=0153 element=08E4 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 *a code=0DA7 owner=0153 element=0198 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0DA8 owner=0153 element=08E5 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0DA9 owner=0153 element=08E5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0DAA owner=0153 element=0199 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0DAB owner=0153 element=08E6 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0DAC owner=0153 element=08E6 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=0DAD owner=0153 element=072A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0DAE owner=0153 element=07EA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0DAF owner=0155 element=07EA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0DB0 owner=0156 element=0728 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0DB1 owner=0156 element=0729 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0DB2 owner=0156 element=072A universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0DB3 owner=0157 element=083D universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0DB4 owner=0158 element=0842 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0DB5 owner=0159 element=0178 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0DB6 owner=0159 element=017A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0DB7 owner=0159 element=017B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0DB8 owner=0159 element=017C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0DB9 owner=0159 element=017D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0DBA owner=0159 element=0175 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0DBB owner=0159 element=017E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0DBC owner=0159 element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0DBD owner=0159 element=03D8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0DBE owner=0159 element=047B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0DBF owner=0159 element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0DC0 owner=0159 element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0DC1 owner=0159 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DC2 owner=0159 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DC3 owner=0159 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DC4 owner=0159 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DC5 owner=0159 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0DC6 owner=0159 element=077B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0DC7 owner=0159 element=077C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0DC8 owner=0159 element=06AB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0DC9 owner=0159 element=06B6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0DCA owner=0159 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DCB owner=0159 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0DCC owner=0159 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0DCD owner=0159 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DCE owner=0159 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0DCF owner=0159 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DD0 owner=0159 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DD1 owner=0159 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DD2 owner=0159 element=050E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DD3 owner=0159 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0DD4 owner=015B element=0842 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0DD5 owner=015C element=0844 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0DD6 owner=015F element=0845 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0DD7 owner=0161 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DD8 owner=0162 element=019C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0DD9 owner=0162 element=019B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0DDA owner=0162 element=019D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0DDB owner=0162 element=019E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0DDC owner=0162 element=0188 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0DDD owner=0162 element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0DDE owner=0162 element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0DDF owner=0162 element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0DE0 owner=0162 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DE1 owner=0162 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DE2 owner=0162 element=07FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0DE3 owner=0162 element=07FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0DE4 owner=0162 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0DE5 owner=0162 element=077B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0DE6 owner=0162 element=06AB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0DE7 owner=0162 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DE8 owner=0162 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DE9 owner=0162 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0DEA owner=0162 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0DEB owner=0162 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0DEC owner=0162 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DED owner=0166 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DEE owner=0166 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0DEF owner=0166 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0DF0 owner=0166 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DF1 owner=0166 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0DF2 owner=0166 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DF3 owner=0166 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0DF4 owner=0166 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DF5 owner=0167 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DF6 owner=0167 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0DF7 owner=0167 element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0DF8 owner=0168 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DF9 owner=0168 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DFA owner=0168 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0DFB owner=0168 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0DFC owner=0168 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0DFD owner=0168 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0DFE owner=0168 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0DFF owner=016A element=018C universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0E00 owner=016B element=01C9 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0E01 owner=016B element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E02 owner=016B element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0E03 owner=016B element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0E04 owner=016C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E05 owner=016C element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0E06 owner=016C element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0E07 owner=016C element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E08 owner=016C element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0E09 owner=016C element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E0A owner=016C element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0E0B owner=016C element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0E0C owner=016C element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0E0D owner=016D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E0E owner=016D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E0F owner=016D element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E10 owner=016D element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0E11 owner=016D element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E12 owner=016D element=050D universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=0E13 owner=016D element=050E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E14 owner=016D element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0E15 owner=016D element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=0E16 owner=016E element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E17 owner=016E element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0E18 owner=016E element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0E19 owner=016F element=018C universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0E1A owner=0170 element=08E7 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0E1B owner=0170 element=08E7 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=0E1C owner=0170 element=017A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0E1D owner=0170 element=08E8 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0E1E owner=0170 element=08E8 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0E1F owner=0170 element=017D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0E20 owner=0170 element=08E9 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0E21 owner=0170 element=08E9 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=0E22 owner=0170 element=08EA universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0E23 owner=0170 element=08EA universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0E24 owner=0170 element=08EB universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0E25 owner=0170 element=08EB universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0E26 owner=0170 element=0176 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0E27 owner=0170 element=08EC universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0E28 owner=0170 element=08EC universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0E29 owner=0170 element=03D8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0E2A owner=0170 element=08ED universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0E2B owner=0170 element=08ED universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0E2C owner=0170 element=08EE universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E2D owner=0170 element=08EE universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0E2E owner=0170 element=08EF universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=0E2F owner=0170 element=08EF universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 *a code=0E30 owner=0170 element=08F0 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E31 owner=0170 element=08F0 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E32 owner=0170 element=08F1 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0E33 owner=0170 element=08F1 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=0E34 owner=0170 element=08F2 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E35 owner=0170 element=08F2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E36 owner=0170 element=08F3 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=0E37 owner=0170 element=08F3 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=0E38 owner=0171 element=08F4 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E39 owner=0171 element=08F4 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0E3A owner=0171 element=08F5 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E3B owner=0171 element=08F5 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0E3C owner=0171 element=08F6 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E3D owner=0171 element=08F6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0E3E owner=0171 element=08F7 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0E3F owner=0171 element=08F7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0E40 owner=0172 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0E41 owner=0172 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E42 owner=0172 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0E43 owner=0172 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E44 owner=0172 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E45 owner=0172 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E46 owner=0172 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0E47 owner=0172 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E48 owner=0172 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0E49 owner=0172 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0E4A owner=0172 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E4B owner=0172 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0E4C owner=0172 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0E4D owner=0173 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0E4E owner=0173 element=04A5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E4F owner=0173 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E50 owner=0173 element=0485 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0E51 owner=0173 element=049F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0E52 owner=0173 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0E53 owner=0173 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0E54 owner=0173 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0E55 owner=0173 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E56 owner=0173 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E57 owner=0173 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E58 owner=0173 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0E59 owner=0173 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E5A owner=0173 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0E5B owner=0173 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0E5C owner=0173 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E5D owner=0174 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0E5E owner=0174 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0E5F owner=0174 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=0E60 owner=0174 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0E61 owner=0174 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0E62 owner=0174 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0E63 owner=0174 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E64 owner=0174 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E65 owner=0174 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E66 owner=0174 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0E67 owner=0174 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0E68 owner=0174 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0E69 owner=0174 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0E6A owner=0175 element=08F4 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0E6B owner=0176 element=08F6 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0E6C owner=0177 element=08F7 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0E6D owner=0178 element=08F3 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=0E6E owner=0179 element=08F8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E6F owner=0179 element=08F8 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E70 owner=017A element=054D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E71 owner=017A element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E72 owner=017A element=0099 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0E73 owner=017A element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E74 owner=017B element=08F9 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E75 owner=017B element=08F9 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E76 owner=017B element=08FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E77 owner=017B element=08FA universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E78 owner=017B element=08FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E79 owner=017B element=08FB universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E7A owner=017B element=08FC universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E7B owner=017B element=08FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E7C owner=017B element=0138 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E7D owner=017B element=08FD universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E7E owner=017B element=08FD universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E7F owner=0185 element=08FE universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E80 owner=0185 element=08FE universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E81 owner=0185 element=08FF universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=0E82 owner=0185 element=08FF universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=0E83 owner=0185 element=0900 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E84 owner=0185 element=0900 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E85 owner=0185 element=0901 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E86 owner=0185 element=0901 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E87 owner=0185 element=0902 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E88 owner=0185 element=0902 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E89 owner=0185 element=0903 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E8A owner=0185 element=0903 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E8B owner=0185 element=0904 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0E8C owner=0185 element=0904 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0E8D owner=0185 element=0905 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0E8E owner=0185 element=0905 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0E8F owner=0185 element=0906 universal=3FFF unitName="percent" type=1F size=0008 fl=04 *a code=0E90 owner=0185 element=0906 universal=3FFF unitName="percent" type=1F size=0008 fl=05 *a code=0E91 owner=0185 element=0907 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E92 owner=0185 element=0907 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E93 owner=0185 element=0908 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E94 owner=0185 element=0908 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E95 owner=0185 element=0909 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E96 owner=0185 element=0909 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E97 owner=0185 element=090A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E98 owner=0185 element=090A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E99 owner=0185 element=090B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E9A owner=0185 element=090B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E9B owner=0185 element=090C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E9C owner=0185 element=090C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E9D owner=0185 element=090D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0E9E owner=0185 element=090D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0E9F owner=0185 element=090E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EA0 owner=0185 element=090E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0EA1 owner=0185 element=090F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EA2 owner=0185 element=090F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0EA3 owner=0185 element=03FF universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EA4 owner=0185 element=0910 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EA5 owner=0185 element=0910 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0EA6 owner=0185 element=0407 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EA7 owner=0185 element=0911 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EA8 owner=0185 element=0911 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0EA9 owner=0185 element=040F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EAA owner=0185 element=0912 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EAB owner=0185 element=0912 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0EAC owner=0185 element=0442 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EAD owner=0185 element=0913 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EAE owner=0185 element=0913 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0EAF owner=0185 element=0450 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EB0 owner=0185 element=0914 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EB1 owner=0185 element=0914 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0EB2 owner=0185 element=0461 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EB3 owner=0185 element=0915 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EB4 owner=0185 element=0915 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0EB5 owner=0185 element=0916 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0EB6 owner=0185 element=0916 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0EB7 owner=0185 element=0917 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0EB8 owner=0185 element=0917 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0EB9 owner=0185 element=0918 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0EBA owner=0185 element=0918 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0EBB owner=0185 element=0919 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0EBC owner=0185 element=0919 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0EBD owner=0185 element=091A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0EBE owner=0185 element=091A universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0EBF owner=0185 element=091B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0EC0 owner=0185 element=091B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0EC1 owner=0185 element=091C universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0EC2 owner=0185 element=091C universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 *a code=0EC3 owner=0185 element=091D universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0EC4 owner=0185 element=091D universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 *a code=0EC5 owner=0185 element=091E universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=0EC6 owner=0185 element=091E universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=0EC7 owner=0185 element=091F universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 *a code=0EC8 owner=0185 element=091F universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0EC9 owner=0185 element=0920 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0ECA owner=0185 element=0920 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0ECB owner=0185 element=0921 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0ECC owner=0185 element=0921 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0ECD owner=0185 element=0922 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0ECE owner=0185 element=0922 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0ECF owner=0185 element=0923 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0ED0 owner=0185 element=0923 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0ED1 owner=0185 element=0924 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=05 *a code=0ED2 owner=0185 element=0924 universal=3FFF unitName="micromole_per_liter" type=1F size=0008 fl=04 *a code=0ED3 owner=0185 element=0925 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0ED4 owner=0185 element=0925 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0ED5 owner=0185 element=0926 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0ED6 owner=0185 element=0926 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0ED7 owner=0185 element=0927 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0ED8 owner=0185 element=0927 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0ED9 owner=0185 element=0928 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=05 *a code=0EDA owner=0185 element=0928 universal=3FFF unitName="kilogram_per_cubic_meter" type=1F size=0008 fl=04 *a code=0EDB owner=0185 element=0929 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0EDC owner=0185 element=0929 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0EDD owner=0185 element=092A universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0EDE owner=0185 element=092A universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0EDF owner=0185 element=092B universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0EE0 owner=0185 element=092B universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0EE1 owner=0185 element=092C universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=05 *a code=0EE2 owner=0185 element=092C universal=3FFF unitName="part_per_billion" type=1F size=0008 fl=04 *a code=0EE3 owner=0185 element=092D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0EE4 owner=0185 element=092D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0EE5 owner=0185 element=092E universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0EE6 owner=0185 element=092E universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0EE7 owner=0185 element=092F universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0EE8 owner=0185 element=092F universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0EE9 owner=0185 element=0930 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0EEA owner=0185 element=0930 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0EEB owner=0185 element=0931 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 *a code=0EEC owner=0185 element=0931 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 *a code=0EED owner=0185 element=0932 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0EEE owner=0185 element=0932 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0EEF owner=0185 element=0933 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0EF0 owner=0185 element=0933 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0EF1 owner=0185 element=0934 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0EF2 owner=0185 element=0934 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0EF3 owner=0185 element=0935 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0EF4 owner=0185 element=0935 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0EF5 owner=0185 element=0936 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 *a code=0EF6 owner=0185 element=0936 universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 *a code=0EF7 owner=0185 element=0937 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0EF8 owner=0185 element=0937 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0EF9 owner=0185 element=0938 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0EFA owner=0185 element=0938 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0EFB owner=0185 element=0939 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0EFC owner=0185 element=0939 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0EFD owner=0185 element=093A universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0EFE owner=0185 element=093A universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0EFF owner=0185 element=093B universal=3FFF unitName="count_per_second" type=1F size=0008 fl=05 *a code=0F00 owner=0185 element=093B universal=3FFF unitName="count_per_second" type=1F size=0008 fl=04 *a code=0F01 owner=0185 element=093C universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0F02 owner=0185 element=093C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0F03 owner=0185 element=093D universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0F04 owner=0185 element=093D universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0F05 owner=0185 element=093E universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F06 owner=0185 element=093E universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F07 owner=0185 element=093F universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F08 owner=0185 element=093F universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F09 owner=0185 element=0940 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 *a code=0F0A owner=0185 element=0940 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 *a code=0F0B owner=0185 element=0941 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0F0C owner=0185 element=0941 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0F0D owner=0185 element=0942 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0F0E owner=0185 element=0942 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0F0F owner=0185 element=0943 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F10 owner=0185 element=0943 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F11 owner=0185 element=0944 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F12 owner=0185 element=0944 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F13 owner=0185 element=0945 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=05 *a code=0F14 owner=0185 element=0945 universal=3FFF unitName="count_per_milliliter" type=1F size=0008 fl=04 *a code=0F15 owner=0185 element=0946 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0F16 owner=0185 element=0946 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0F17 owner=0185 element=0947 universal=3FFF unitName="celsius" type=1F size=0008 fl=05 *a code=0F18 owner=0185 element=0947 universal=3FFF unitName="celsius" type=1F size=0008 fl=04 *a code=0F19 owner=0185 element=0948 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F1A owner=0185 element=0948 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F1B owner=0185 element=0949 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F1C owner=0185 element=0949 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F1D owner=0185 element=094A universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 *a code=0F1E owner=0185 element=094A universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0F1F owner=0185 element=094B universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0F20 owner=0185 element=094B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0F21 owner=0185 element=094C universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F22 owner=0185 element=094C universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F23 owner=0185 element=094D universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F24 owner=0185 element=094D universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F25 owner=0185 element=094E universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0F26 owner=0185 element=094E universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0F27 owner=0185 element=094F universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 *a code=0F28 owner=0185 element=094F universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 *a code=0F29 owner=0185 element=0950 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0F2A owner=0185 element=0950 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0F2B owner=0185 element=0951 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F2C owner=0185 element=0951 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F2D owner=0185 element=0952 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F2E owner=0185 element=0952 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F2F owner=0185 element=0953 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0F30 owner=0185 element=0953 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0F31 owner=0185 element=0954 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=05 *a code=0F32 owner=0185 element=0954 universal=3FFF unitName="practical_salinity_unit" type=1F size=0008 fl=04 *a code=0F33 owner=0185 element=0955 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0F34 owner=0185 element=0955 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0F35 owner=0185 element=0956 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F36 owner=0185 element=0956 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F37 owner=0185 element=0957 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=0F38 owner=0185 element=0957 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0F39 owner=0185 element=0958 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=0F3A owner=0185 element=0958 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=0F3B owner=0185 element=0959 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0F3C owner=0185 element=0959 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0F3D owner=0185 element=095A universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=05 *a code=0F3E owner=0185 element=095A universal=3FFF unitName="microgram_per_liter" type=1F size=0008 fl=04 *a code=0F3F owner=018E element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F40 owner=018E element=0042 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F41 owner=018E element=0043 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F42 owner=018E element=0526 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=0F43 owner=018E element=08A3 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0F44 owner=018E element=08A4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0F45 owner=018E element=08A5 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0F46 owner=018E element=08A6 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=0F47 owner=018E element=08A7 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0F48 owner=018E element=08A8 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0F49 owner=0190 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F4A owner=0190 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F4B owner=0190 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F4C owner=0193 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F4D owner=0193 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F4E owner=0193 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F4F owner=0193 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F50 owner=0193 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F51 owner=0193 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F52 owner=0195 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F53 owner=0195 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F54 owner=0195 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F55 owner=0198 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F56 owner=0198 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F57 owner=0198 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F58 owner=019B element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F59 owner=019B element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F5A owner=019B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F5B owner=019B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F5C owner=019B element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F5D owner=019B element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F5E owner=019D element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F5F owner=019D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F60 owner=019D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F61 owner=01A0 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F62 owner=01A0 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F63 owner=01A0 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F64 owner=01A3 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F65 owner=01A3 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F66 owner=01A3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F67 owner=01A3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F68 owner=01A3 element=000C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F69 owner=01A3 element=0016 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F6A owner=01A5 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F6B owner=01A5 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F6C owner=01A5 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F6D owner=01A8 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F6E owner=01A8 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F6F owner=01A8 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F70 owner=01AB element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F71 owner=01AB element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F72 owner=01AB element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F73 owner=01AE element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F74 owner=01AE element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F75 owner=01AE element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F76 owner=01B2 element=0959 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0F77 owner=01B4 element=07E2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0F78 owner=01B4 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F79 owner=01B4 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F7A owner=01B4 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F7B owner=01B4 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F7C owner=01B4 element=0061 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F7D owner=01B4 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F7E owner=01B4 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F7F owner=01B4 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0F80 owner=01B4 element=0692 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0F81 owner=01B4 element=0693 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=0F82 owner=01B4 element=07E3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0F83 owner=01B4 element=07E4 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=0F84 owner=01B4 element=07E5 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0F85 owner=01B4 element=07E6 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0F86 owner=01B4 element=07E7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0F87 owner=01B4 element=07E8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0F88 owner=01B4 element=07E9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0F89 owner=01B4 element=07EA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0F8A owner=01B4 element=07EB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0F8B owner=01B4 element=07EC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0F8C owner=01B4 element=07ED universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0F8D owner=01B4 element=07EE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0F8E owner=01B4 element=07EF universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0F8F owner=01B4 element=07F0 universal=3FFF unitName="none" type=00 size=0000 fl=05 *a code=0F90 owner=01B4 element=07F1 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *a code=0F91 owner=01B4 element=07F2 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *a code=0F92 owner=01B4 element=07F3 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0F93 owner=01B4 element=07F4 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0F94 owner=01B4 element=07F5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0F95 owner=01B4 element=07F6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0F96 owner=01B4 element=07F7 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0F97 owner=01B4 element=07F8 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=0F98 owner=01B4 element=07F9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0F99 owner=01BB element=0178 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0F9A owner=01BB element=017A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0F9B owner=01BB element=017B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0F9C owner=01BB element=017C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0F9D owner=01BB element=017D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0F9E owner=01BB element=0175 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0F9F owner=01BB element=017E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FA0 owner=01BB element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FA1 owner=01BB element=03D8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FA2 owner=01BB element=047B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0FA3 owner=01BB element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0FA4 owner=01BB element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0FA5 owner=01BB element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FA6 owner=01BB element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FA7 owner=01BB element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FA8 owner=01BB element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FA9 owner=01BB element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0FAA owner=01BB element=077B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FAB owner=01BB element=077C universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FAC owner=01BB element=06AB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FAD owner=01BB element=06B6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FAE owner=01BB element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FAF owner=01BB element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0FB0 owner=01BB element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FB1 owner=01BB element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FB2 owner=01BB element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FB3 owner=01BB element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FB4 owner=01BB element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FB5 owner=01BB element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FB6 owner=01BB element=050E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FB7 owner=01BB element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0FB8 owner=01BD element=07EA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FB9 owner=01BE element=019C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FBA owner=01BE element=019B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FBB owner=01BE element=019D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FBC owner=01BE element=019E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FBD owner=01BE element=0188 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0FBE owner=01BE element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0FBF owner=01BE element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=0FC0 owner=01BE element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=0FC1 owner=01BE element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FC2 owner=01BE element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FC3 owner=01BE element=07FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FC4 owner=01BE element=07FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FC5 owner=01BE element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=0FC6 owner=01BE element=077B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FC7 owner=01BE element=06AB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0FC8 owner=01BE element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FC9 owner=01BE element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0FCA owner=01BE element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0FCB owner=01BE element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=0FCC owner=01BE element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0FCD owner=01BE element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0FCE owner=0190 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FCF owner=0190 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FD0 owner=0195 element=0020 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FD1 owner=0195 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FD2 owner=0195 element=095B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0FD3 owner=0198 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FD4 owner=0198 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FD5 owner=0198 element=095B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0FD6 owner=019D element=0005 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FD7 owner=019D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FD8 owner=01A0 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FD9 owner=01A0 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FDA owner=01A5 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FDB owner=01A8 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FDC owner=01AB element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FDD owner=01AE element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FDE owner=0182 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FDF owner=01BB element=095C universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=0FE0 owner=009E element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE1 owner=009E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE2 owner=00A3 element=0020 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE3 owner=00A3 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE4 owner=00A3 element=095B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0FE5 owner=00A6 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE6 owner=00A6 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE7 owner=00A6 element=095B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *a code=0FE8 owner=00AB element=0005 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FE9 owner=00AB element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FEA owner=00AE element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FEB owner=00AE element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FEC owner=00B3 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FED owner=00B6 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FEE owner=00B9 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FEF owner=00BC element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FF0 owner=0099 element=07CF universal=3FFF unitName="photon_per_second" type=0B size=0003 fl=04 *a code=0FF1 owner=0098 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FF2 owner=0096 element=079B universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0FF3 owner=0096 element=079E universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 *a code=0FF4 owner=0095 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FF5 owner=0095 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FF6 owner=00CC element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FF7 owner=00CF element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FF8 owner=00D2 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FF9 owner=00D9 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FFA owner=00DB element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0FFB owner=01B4 element=07EF universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=0FFC owner=01B4 element=07F0 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=0FFD owner=01B4 element=07F1 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=0FFE owner=01B4 element=07F2 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=0FFF owner=01BF element=095D universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=1000 owner=01BF element=095D universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=1001 owner=01BF element=095E universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=1002 owner=01BF element=095E universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=1003 owner=01BF element=095F universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=1004 owner=01BF element=095F universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=1005 owner=01BF element=0960 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=1006 owner=01BF element=0960 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=1007 owner=01BF element=0961 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=1008 owner=01BF element=0961 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=1009 owner=01BF element=0962 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=100A owner=01BF element=0962 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=100B owner=01BF element=0963 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=100C owner=01BF element=0963 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=100D owner=01BF element=0964 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=100E owner=01BF element=0964 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=100F owner=01BF element=0176 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=1010 owner=01BF element=0965 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=1011 owner=01BF element=0965 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=1012 owner=01BF element=03D8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=1013 owner=01BF element=0966 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=1014 owner=01BF element=0966 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1015 owner=01BF element=0967 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=1016 owner=01BF element=0967 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=1017 owner=01BF element=0968 universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=1018 owner=01BF element=0968 universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 *a code=1019 owner=01BF element=0969 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=101A owner=01BF element=0969 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=101B owner=01BF element=096A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=101C owner=01BF element=096A universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=101D owner=01C0 element=096B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=101E owner=01C0 element=096B universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=101F owner=01C0 element=096C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=1020 owner=01C0 element=096C universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=1021 owner=01C0 element=096D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=1022 owner=01C0 element=096D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=1023 owner=01C0 element=096E universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=1024 owner=01C0 element=096E universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=1025 owner=01C1 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=1026 owner=01C1 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1027 owner=01C1 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1028 owner=01C1 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1029 owner=01C1 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=102A owner=01C1 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=102B owner=01C1 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=102C owner=01C1 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=102D owner=01C1 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=102E owner=01C1 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=102F owner=01C1 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1030 owner=01C1 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1031 owner=01C1 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=1032 owner=01C2 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=1033 owner=01C2 element=04A5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1034 owner=01C2 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1035 owner=01C2 element=0485 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1036 owner=01C2 element=049F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1037 owner=01C2 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1038 owner=01C2 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=1039 owner=01C2 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=103A owner=01C2 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=103B owner=01C2 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=103C owner=01C2 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=103D owner=01C2 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=103E owner=01C2 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=103F owner=01C2 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1040 owner=01C2 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1041 owner=01C2 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1042 owner=01C3 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1043 owner=01C3 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=1044 owner=01C3 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=1045 owner=01C3 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=1046 owner=01C3 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=1047 owner=01C3 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1048 owner=01C3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1049 owner=01C3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=104A owner=01C3 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=104B owner=01C3 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=104C owner=01C3 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=104D owner=01C3 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=104E owner=01C3 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=104F owner=01C4 element=096B universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=1050 owner=01C5 element=096D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=1051 owner=01C6 element=096E universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=1052 owner=01C7 element=096F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1053 owner=01C7 element=096F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1054 owner=01C8 element=054D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1055 owner=01C8 element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1056 owner=01C8 element=0099 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1057 owner=01C8 element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1058 owner=01C9 element=0970 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1059 owner=01C9 element=0970 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=105A owner=01C9 element=0971 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=105B owner=01C9 element=0971 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=105C owner=01C9 element=0972 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=105D owner=01C9 element=0972 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=105E owner=01C9 element=0973 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=105F owner=01C9 element=0973 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1060 owner=01C9 element=0138 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1061 owner=01C9 element=0974 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1062 owner=01C9 element=0974 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1063 owner=01CF element=06B6 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1064 owner=01D3 element=07E2 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1065 owner=01D3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1066 owner=01D3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1067 owner=01D3 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1068 owner=01D3 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1069 owner=01D3 element=0061 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=106A owner=01D3 element=0003 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=106B owner=01D3 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=106C owner=01D3 element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=106D owner=01D3 element=0692 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=106E owner=01D3 element=0693 universal=3FFF unitName="count" type=0D size=0004 fl=05 *a code=106F owner=01D3 element=07E3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1070 owner=01D3 element=07E4 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=1071 owner=01D3 element=07E5 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1072 owner=01D3 element=07E6 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1073 owner=01D3 element=07E7 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1074 owner=01D3 element=07E8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1075 owner=01D3 element=07E9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1076 owner=01D3 element=07EA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1077 owner=01D3 element=07EB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1078 owner=01D3 element=07EC universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1079 owner=01D3 element=07ED universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=107A owner=01D3 element=07EE universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=107B owner=01D3 element=07EF universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=107C owner=01D3 element=07F0 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=107D owner=01D3 element=07F1 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=107E owner=01D3 element=07F2 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=107F owner=01D3 element=07F3 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1080 owner=01D3 element=07F4 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1081 owner=01D3 element=07F5 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1082 owner=01D3 element=07F6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1083 owner=01D3 element=07F7 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1084 owner=01D3 element=07F8 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1085 owner=01D3 element=07F9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1086 owner=01D4 element=07EA universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=1087 owner=01D4 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1088 owner=01D5 element=0969 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=1089 owner=01D5 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=108A owner=01D6 element=019C universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=108B owner=01D6 element=019B universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=108C owner=01D6 element=019D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=108D owner=01D6 element=019E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=108E owner=01D6 element=0188 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=108F owner=01D6 element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=1090 owner=01D6 element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=1091 owner=01D6 element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=1092 owner=01D6 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1093 owner=01D6 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1094 owner=01D6 element=07FA universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1095 owner=01D6 element=07FB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1096 owner=01D6 element=006E universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1097 owner=01D6 element=077B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1098 owner=01D6 element=06AB universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1099 owner=01D6 element=006D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=109A owner=01D6 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=109B owner=01D6 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=109C owner=01D6 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=109D owner=01D6 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=109E owner=01D6 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=109F owner=01D8 element=096A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=10A0 owner=01DA element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=10A1 owner=01DC element=096A universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=10A2 owner=01DE element=01C9 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=10A3 owner=01DE element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10A4 owner=01DE element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=10A5 owner=01DE element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=10A6 owner=01DF element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10A7 owner=01DF element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10A8 owner=01DF element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10A9 owner=01DF element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10AA owner=01DF element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10AB owner=01DF element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10AC owner=01DF element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=10AD owner=01DF element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10AE owner=01DF element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=10AF owner=01E0 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10B0 owner=01E0 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10B1 owner=01E0 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10B2 owner=01E0 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10B3 owner=01E0 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10B4 owner=01E0 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10B5 owner=01E0 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=10B6 owner=01E0 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10B7 owner=01E1 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10B8 owner=01E1 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10B9 owner=01E1 element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=10BA owner=01E2 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10BB owner=01E2 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10BC owner=01E2 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10BD owner=01E2 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10BE owner=01E2 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10BF owner=01E2 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=10C0 owner=01E2 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=10C1 owner=01CF element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10C2 owner=0121 element=07EF universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=10C3 owner=0121 element=07F0 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=10C4 owner=0121 element=07F1 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=10C5 owner=0121 element=07F2 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=10C6 owner=01E3 element=0975 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=10C7 owner=01E3 element=0975 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=10C8 owner=01E3 element=0976 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=10C9 owner=01E3 element=0976 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=10CA owner=01E3 element=0977 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=10CB owner=01E3 element=0977 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=10CC owner=01E3 element=0978 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=10CD owner=01E3 element=0978 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=10CE owner=01E3 element=0979 universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=10CF owner=01E3 element=0979 universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=10D0 owner=01E3 element=097A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=10D1 owner=01E3 element=097A universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=10D2 owner=01E3 element=097B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=10D3 owner=01E3 element=097B universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=10D4 owner=01E3 element=097C universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=10D5 owner=01E3 element=097C universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=10D6 owner=01E3 element=097D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=10D7 owner=01E3 element=097D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=10D8 owner=01E3 element=097E universal=3FFF unitName="kilometer" type=1F size=0008 fl=04 *a code=10D9 owner=01E3 element=097E universal=3FFF unitName="kilometer" type=1F size=0008 fl=05 *a code=10DA owner=01E3 element=097F universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=10DB owner=01E3 element=097F universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=10DC owner=01E3 element=0980 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10DD owner=01E3 element=0980 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=10DE owner=01E3 element=0981 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=10DF owner=01E3 element=0981 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=10E0 owner=01E4 element=0982 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=10E1 owner=01E4 element=0982 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=10E2 owner=01E4 element=0983 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=10E3 owner=01E4 element=0983 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=10E4 owner=01E4 element=0984 universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=10E5 owner=01E4 element=0984 universal=3FFF unitName="degree" type=1F size=0008 fl=05 *a code=10E6 owner=01E4 element=0985 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=10E7 owner=01E4 element=0985 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=10E8 owner=01E4 element=0986 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=04 *a code=10E9 owner=01E4 element=0986 universal=3FFF unitName="meter_per_second" type=1F size=0008 fl=05 *a code=10EA owner=01E4 element=0987 universal=3FFF unitName="second" type=1F size=0008 fl=04 *a code=10EB owner=01E4 element=0987 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=10EC owner=01E4 element=0988 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=10ED owner=01E4 element=0988 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=10EE owner=01E4 element=0989 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=10EF owner=01E4 element=0989 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=10F0 owner=01E4 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F1 owner=01E4 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F2 owner=01E5 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F3 owner=01E6 element=07FC universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=10F4 owner=01E6 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F5 owner=01E6 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F6 owner=01E6 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=10F7 owner=01E6 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10F8 owner=01E6 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10F9 owner=01E6 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=10FA owner=01E6 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10FB owner=01E6 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10FC owner=01E6 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=10FD owner=01E6 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=10FE owner=01E6 element=050E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=10FF owner=01E6 element=04B0 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=1100 owner=01E6 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=1101 owner=01E6 element=047D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=1102 owner=01E6 element=049D universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=1103 owner=01E6 element=0498 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1104 owner=01E6 element=04AC universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1105 owner=01F0 element=0982 universal=3FFF unitName="hour" type=1F size=0008 fl=05 *a code=1106 owner=01F1 element=0983 universal=3FFF unitName="minute" type=1F size=0008 fl=05 *a code=1107 owner=01F2 element=098A universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=1108 owner=01F2 element=098A universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=1109 owner=01F2 element=098B universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=110A owner=01F2 element=098B universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=110B owner=01F2 element=098C universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=110C owner=01F2 element=098C universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=110D owner=01F2 element=098D universal=3FFF unitName="meter" type=1F size=0008 fl=04 *a code=110E owner=01F2 element=098D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=110F owner=01F3 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=1110 owner=01F3 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1111 owner=01F3 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1112 owner=01F3 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1113 owner=01F3 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1114 owner=01F3 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1115 owner=01F3 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1116 owner=01F3 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1117 owner=01F3 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1118 owner=01F3 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1119 owner=01F3 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=111A owner=01F3 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=111B owner=01F3 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=111C owner=01F4 element=04AB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=111D owner=01F4 element=04A5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=111E owner=01F4 element=04A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=111F owner=01F4 element=0485 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1120 owner=01F4 element=049F universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1121 owner=01F4 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1122 owner=01F4 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=1123 owner=01F4 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=1124 owner=01F4 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1125 owner=01F4 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1126 owner=01F4 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1127 owner=01F4 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1128 owner=01F4 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1129 owner=01F4 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=112A owner=01F4 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=112B owner=01F4 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=112C owner=01F5 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=112D owner=01F5 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=112E owner=01F5 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=04 *a code=112F owner=01F5 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=1130 owner=01F5 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=1131 owner=01F5 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1132 owner=01F5 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1133 owner=01F5 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1134 owner=01F5 element=0009 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1135 owner=01F5 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1136 owner=01F5 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1137 owner=01F5 element=050C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1138 owner=01F5 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1139 owner=01F6 element=098A universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=113A owner=01F7 element=098C universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=113B owner=01F8 element=098D universal=3FFF unitName="meter" type=1F size=0008 fl=05 *a code=113C owner=01F9 element=098E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=113D owner=01F9 element=098E universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=113E owner=01FA element=054D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=113F owner=01FA element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1140 owner=01FA element=0099 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=1141 owner=01FA element=054B universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1142 owner=01FB element=098F universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1143 owner=01FB element=098F universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1144 owner=01FB element=0990 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1145 owner=01FB element=0990 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1146 owner=01FB element=0991 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1147 owner=01FB element=0991 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=1148 owner=01FB element=0992 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1149 owner=01FB element=0992 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=114A owner=01FB element=0138 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=114B owner=01FB element=0993 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=114C owner=01FB element=0993 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=114D owner=0201 element=01C9 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=114E owner=0201 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=114F owner=0201 element=04F7 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=1150 owner=0201 element=047C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=1151 owner=0202 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1152 owner=0202 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1153 owner=0202 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1154 owner=0202 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1155 owner=0202 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1156 owner=0202 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1157 owner=0202 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=1158 owner=0202 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1159 owner=0202 element=049A universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=115A owner=0204 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=115B owner=0204 element=04F3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=115C owner=0204 element=04F4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=115D owner=0204 element=04F9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=115E owner=0204 element=04F8 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=115F owner=0204 element=04F5 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1160 owner=0204 element=04F6 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=1161 owner=0204 element=04F2 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1162 owner=0205 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1163 owner=0205 element=04FB universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1164 owner=0205 element=04FA universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=1165 owner=0206 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1166 owner=0206 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1167 owner=0206 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1168 owner=0206 element=050F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1169 owner=0206 element=0509 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=116A owner=0206 element=050A universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=116B owner=0206 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=116C owner=01E7 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=116D owner=01EA element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=116E owner=01ED element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 HeadingCmd: 0.020580 target range: 646.599976 and range: 646.60 m. j<jjjihhhhfffrfbf ' @ɛB.n= d=>I ՃW=ɚiI J- J- J- 0J) J- :J- ,:J- ـ3J) }Z@w,lA2c@Y2@2=92l>y2H?? ӣ? ͺ`?)ο F?!?ɨ2c@2Î;0yNBRT-ITTIZaIZ+4٢fI fN=9f:Q f>hh jG٣hyn~$= ~> Nusing accuracyPremultiplier from config 59? 5Yj iSByC@D/;@;:5 @ZjaeFNOT Ignoring new targets: 646.60 m.Bjm8Jjm8 ProNav pure pursuit: ac range: 646.599976 m, nav range: 329.694855 m, bearing: 1.181857 deg, approach rate: -0.439847 m/s, LOS rate: 0.006799 deg/s, cmd heading: 1.179124 deg, new cmd heading: 1.181857 deg. HeadingCmd: 0.020627 target range: 646.599976 and range: 646.60 m. j<jjjihhhhfffrfbf` @ɛ%B-'= )-+>I) -X=ɚ)i1I5ZHqRHqHyI}C I}-II} BI}/ =&Iy.Iy6I}<:I}? F I Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseea@w,܅A6?@Y6JO@6=96,L{>y6H ?N?B?6?`ժϿ mm? -?ɨ6?@6=;6CyNBNQ-IMb@Mb@Mb@ )Ysh|??~jt?~jty>D<DA S@)Q@I@y@IQI4٢ %6=9%źQ %>)) -G٣-FGy-.= 5> eNusing accuracyPremultiplier from configYe59]L?m5Y]j i]SBm%>m:mo]mC@]D];];]%5B @eEZj%FNOT Ignoring new targets: 646.60 m.Bj%8Jj%8U ProNav pure pursuit: ac range: 646.599976 m, nav range: 329.490997 m, bearing: 1.184509 deg, approach rate: -0.442538 m/s, LOS rate: 0.005762 deg/s, cmd heading: 1.181857 deg, new cmd heading: 1.184509 deg. eHeadingCmd: 0.020674 target range: 646.599976 and range: 646.60 m. je[<jajajaiahihhhOBfffrfbf4!@ɛB (=  +>I  ޶X=ɚiIGU =G% {Z H$?I G B O >Zg@w,tAV~Gdp ĿY y }AM@YM&@M!=9MA>yMH?@i?Q?ⰿc?rп%2?@?ɨM@Me;MCy}ьB}4-II[IK!4٢| M=9^Q > G٣ y K=  > Nusing accuracyPremultiplier from config59n ?%5Yj iSB!%- %C@D'::5) -c@1B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 646.60 m.Bj;8Jj;8 ProNav pure pursuit: ac range: 646.599976 m, nav range: 329.311584 m, bearing: 1.186217 deg, approach rate: -0.465430 m/s, LOS rate: 0.004432 deg/s, cmd heading: 1.184509 deg, new cmd heading: 1.186217 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHeadingCmd: 0.020703 target range: 646.599976 and range: 646.60 m. j&<jjjihhhhfff rf bf Ǫ"@ɛ}B}"|= y隅P=I OY=ɚiI[ Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezK 5MK @9K K - K m@w,"AH9I9 I=v-II=BI=. =&I9.I96I=<:I9 qIy@Y @CBy=9ˆ>yH^? ٕ??`? ?&п`\#@??ɨ@;CyEČBE$-IiU=IUp< U=U=]Mb@Mb@Mb@YYY Y)YY]-?y&1|]`廹]t] A Y)]~@I]@Yy](@I>I3٢T` 0=9qQ > G٣y&6= > Nusing accuracyPremultiplier from config 59 ? 5YDk iSBr>:9LC@D;;5=B E@EbEZjFNOT Ignoring new targets: 646.60 m.Bj8Jj8 ProNav pure pursuit: ac range: 646.599976 m, nav range: 329.091034 m, bearing: 1.188931 deg, approach rate: -0.469644 m/s, LOS rate: 0.005783 deg/s, cmd heading: 1.186217 deg, new cmd heading: 1.188931 deg. HeadingCmd: 0.020751 target range: 646.599976 and range: 646.60 m. j<jjjihhhhmBfffrfbfQ#@ɛBM]t= 隍=I ,Y=ɚiI!_t@w,dxABb*@YB9@BVr=9B>yBH?Ԥ?Tͩ??`6пY? ?ɨBb*@BiX;BCyJBJ -IIfLIf4٢~ =9DQ ?   G٣ FGy }=  ?=Will construct direction to contact in vehicle frame from tetrahedron phase data.=Will construct direction to contact in vehicle frame from tetrahedron phase data.y:H??qt?@FS? m]п@hN?@x?ɨ:K@:\ ;:CyNBN,IIVAIVk3٢o B=9bQ > G٣y&= > Nusing accuracyPremultiplier from config59=?5Yvk isSB ]C@D%+<>+<5 B <@ _EZjFNOT Ignoring new targets: 646.60 m.BjH8JjH8 ProNav pure pursuit: ac range: 646.599976 m, nav range: 328.740387 m, bearing: 1.191477 deg, approach rate: -0.458624 m/s, LOS rate: 0.002742 deg/s, cmd heading: 1.190296 deg, new cmd heading: 1.191477 deg. %HeadingCmd: 0.020795 target range: 646.599976 and range: 646.60 m. j%Z<j!j!j!i!h!h!h)hqfqfyfyrfybf} %@ɛ-B-tc= )5=I1 5Y=ɚ1i1I5]9 Will construct direction to contact in vehicle frame from tetrahedron phase data. yFH`? }?&?@<}? ?@kϿ (W?M?ɨF;@FY;FCyNBR,I)\ \bAbAJJJJJ:J::JJJ<J<J5;J5;Mb@Mb@Mb@ )YV-?lV-y> A =@)Iy@I BI 3٢u6o u<=9}Q }>yy }G٣yq= > Nusing accuracyPremultiplier from config59O?5Yk iVSB>:JQC@D2;;د5  @ nManaging dock network, ignoring radio surface power offZj9=FNOT Ignoring new targets: 646.60 m.BjMN8JjmN8} ProNav pure pursuit: ac range: 646.599976 m, nav range: 328.528290 m, bearing: 1.194141 deg, approach rate: -0.505023 m/s, LOS rate: 0.006347 deg/s, cmd heading: 1.191477 deg, new cmd heading: 1.194141 deg. HeadingCmd: 0.020842 target range: 646.599976 and range: 646.60 m. j4<jjjihhhhEBfffrfbf@%@ɛ%B-]= )-` uBDAT read: Tx time:21:54:15.5879 }$Ping request sent.} I II G B O >݇@w, A6@Y61<6^f=96w>y6HC?@Dz@?'??࿆οҬ??ɨ6@6;6Cyb~Bb,IIUI4٢߽ d=9'Q =>99 EG٣EFGyEX= E> MNusing accuracyPremultiplier from configIU59M^?U5YMk iM>SBy}}C@MDMJ;M;M5B '@\EZjFNOT Ignoring new targets: 646.60 m.Bjּ8Jjּ8 ProNav pure pursuit: ac range: 646.599976 m, nav range: 328.349976 m, bearing: 1.195983 deg, approach rate: -0.499361 m/s, LOS rate: 0.005159 deg/s, cmd heading: 1.194141 deg, new cmd heading: 1.195983 deg. HeadingCmd: 0.020874 target range: 646.599976 and range: 646.60 m. j <j j j i h hh1h9f9f9f9rfAbfE@ħ&@ɛBS= 隍IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:54:15.5872 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249151 Y=ɚiIie Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500470 @w, :A zK$?I|HI I-IIBI&I.I6I<:I; FzKeOKaKaKe/ Kel5c9|uplle`[XVTRNOKFCB?;7/'#! !! ygB,I%Mb@Mb@Mb@!!! !)!Y%)\(?~jtMby%G?%%%A %@)!I!!y%(@I=+I=n3٢u@ u=9Q > G٣y > Nusing accuracyPremultiplier from config59et?5Y/l iSB?:C@D;y;5B s@ZE%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 646.60 m.Bje8Jje8 ProNav pure pursuit: ac range: 646.599976 m, nav range: 328.090912 m, bearing: 1.198627 deg, approach rate: -0.501692 m/s, LOS rate: 0.005124 deg/s, cmd heading: 1.195983 deg, new cmd heading: 1.198627 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753748HeadingCmd: 0.020920 target range: 646.599976 and range: 646.60 m. ja`<jjjihhhhBf f f1rf1bf5'@ɛ}B}J= y隅P~I 5Y=ɚiI(@w,TAFz@YF<=FmZ=9Fe>yFH?u@د?㌧?`.?̿`Pj? '?ɨFz@F;FCyNVBR,IiVp=IVl> V=V=IZ)IZW3٢v v=9v(Q z?xx zG٣xWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004162y%= -? 5Nusing accuracyPremultiplier from config)559-?e5Y-;)?<) M$?I*F?2F:FBF0JFGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257868Gi By O >;#@w,nA>@Y>F=>z[=9>+Y>y>H`?bh"??B?`Yʿkg?`*@>;>CyfKBf,IInIn[3٢ J  G=9i:Q > G٣FGy8; > MNusing accuracyPremultiplier from config!M59%Ǒ?U5Y%Ml i%RBQUdFUC@%D%.:%7:%5]B e@eWEZjFNOT Ignoring new targets: 646.60 m.BjgW8JjgW8 ProNav pure pursuit: ac range: 646.599976 m, nav range: 327.742401 m, bearing: 1.200674 deg, approach rate: -0.508845 m/s, LOS rate: 0.002943 deg/s, cmd heading: 1.199497 deg, new cmd heading: 1.200674 deg. HeadingCmd: 0.020956 target range: 646.599976 and range: 646.60 m. jQ<jjjihhhhfff!rf!bf% )@ɛuBuFe9= y}LIy }oX=ɚyiI0I I,IIBI. =&I.I6I<:Iz FBIJIRIZIbIjI۝4BiO|> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762488I@w,CqAB@YBJ=BLd=9BkN>yBH;?փ?D?`T?6@ɿ[?@M?ɨB@BN;BCy^?B^,IJJJJJ[:J-.:JJJf<Jf<Jv;Jv;Mb@Mb@Mb@ )Y#~j?333333Q롿y?\A @)@I@y@I[IK!4٢d <=9 ;Q  >   5G٣1y=q%; => ENusing accuracyPremultiplier from configAM59E?M5YEl iERBm?u:ueuD@EDE;E;Ej5y }ֵ@yZjFNOT Ignoring new targets: 646.60 m.Bj%9Jj%9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 327.513916 m, bearing: 1.204635 deg, approach rate: -0.521297 m/s, LOS rate: 0.009044 deg/s, cmd heading: 1.200674 deg, new cmd heading: 1.204635 deg. HeadingCmd: 0.021025 target range: 646.599976 and range: 646.60 m. j P<<j)j1j1i1h1h1h9h=݊Bf9f9f9rfAbfE')@ɛB_4= 隵I vX=ɚiI[ N$?I s-@w,LA2@Y2>L=2_p=92D>y2H? X&?y?d?`ǿR?\\?ɨ2@2 ;2CyN&BNa,I)P PVATIZtIZM4٢r)  v^=9v;Q v>xx zG٣xyd: > %Nusing accuracyPremultiplier from config!-59%6?-5Y%+m i%RB)--D@%D%3:%:%5]B ]F@]TEZjFNOT Ignoring new targets: 646.60 m.Bj&9Jj&9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 327.322723 m, bearing: 1.207974 deg, approach rate: -0.521827 m/s, LOS rate: 0.009117 deg/s, cmd heading: 1.204635 deg, new cmd heading: 1.207974 deg. HeadingCmd: 0.021083 target range: 646.599976 and range: 646.60 m. j<jjjihhhhfffrfbfs*@ɛeBe\#= ae3Ia ecW=ɚiiiIm<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264724IE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516235]@w,BA DIHHLIL IN,IINiBIL&IL.IL6INð<:INe FzKzܞLKz59KxKz1 KzRK5?JK5>yBP,IMb@Mb@Mb@ )Y rh?Cl绿{GzyC ?;߽#A )Q@I@y@IvI&Q4٢5W 5=95Q U>YY ]G٣]FGye e> mNusing accuracyPremultiplier from configiu59m̩?u5Ym%n imyRBf?:|D@mDm;m;m5 #@B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 646.60 m.Bj%΄9Jj%΄9U ProNav pure pursuit: ac range: 646.599976 m, nav range: 327.044403 m, bearing: 1.215512 deg, approach rate: -0.535381 m/s, LOS rate: 0.014514 deg/s, cmd heading: 1.207974 deg, new cmd heading: 1.215512 deg. ]HeadingCmd: 0.021215 target range: 646.599976 and range: 646.60 m. j]mʭ<jYjYjYiYhahahaheBfififiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768195rfibf(+@ɛ-|BMU&= IM\HII UW=ɚQiQIUoG- 9G B O >@w,UAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020536v@YvC=v=9v+>yvH?`ٱ?nd? Շ?@Ŀ U?` }?ɨv@vk;vCy B-7,II=kI==4٢mO ms=9mEJ J J J J :J J J a @a @a @a @ƻ@w,aA2|@Y2>=2,߃=92!>y2H8?(N?G?@?ÿ x??ɨ2|@22;2CyBBB(,I F=FR=IJtIJM4٢z R=9P;Q >    G٣ yyb > Nusing accuracyPremultiplier from config%59?%5Yo i6RB!--D@D@:a:h51 5 @1ZjyFNOT Ignoring new targets: 646.60 m.Bjy9Jjy9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 326.653534 m, bearing: 1.226541 deg, approach rate: -0.547171 m/s, LOS rate: 0.015570 deg/s, cmd heading: 1.220689 deg, new cmd heading: 1.226541 deg. HeadingCmd: 0.021407 target range: 646.599976 and range: 646.60 m. j^<jjjihhhhfffrfbf@}#-@ɛExBErH = AEvII M̲U=ɚIiIIM  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776243@w,; A:o@Y:H7=:=9:>y:HK? ͭ@;?ڦ?v?¿ ?`?ɨ:o@:榐;8ybBb,IMb@Mb@Mb@ )YQ?ʡEYY ]G٣ayes e> uNusing accuracyPremultiplier from configi59m?5Ymp im RB?: D@mDm;m1;mQ5B ͺ@OEZjFNOT Ignoring new targets: 646.60 m.Bj9Jj9- ProNav pure pursuit: ac range: 646.599976 m, nav range: 326.404022 m, bearing: 1.234186 deg, approach rate: -0.547355 m/s, LOS rate: 0.016784 deg/s, cmd heading: 1.226541 deg, new cmd heading: 1.234186 deg. HeadingCmd: 0.021541 target range: 646.599976 and range: 646.60 m. ju<jjjihhhh^Bfffrfbf.@ɛuBn = ݋I >T=ɚiI#G! B) OM >j@w,%A6m@Y66=6i=96|>y6H?1 ?æ?|? ¿. tt? ?ɨ6m@6;6CyNދBN ,IIZ~IZT_4٢ru rd=9rCn;Q v>tt vG٣vFGyz z> Nusing accuracyPremultiplier from config%59?%5Ygq iQB)--D@D ;+;x5=B EZ@ELEZjFNOT Ignoring new targets: 646.60 m.Bj9Jj9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280444 ProNav pure pursuit: ac range: 646.599976 m, nav range: 326.202759 m, bearing: 1.240382 deg, approach rate: -0.569687 m/s, LOS rate: 0.017551 deg/s, cmd heading: 1.234186 deg, new cmd heading: 1.240382 deg. HeadingCmd: 0.021649 target range: 646.599976 and range: 646.60 m. jX<jjjihh h h f9fAfArfAbfMJ.@ɛrB< tI -S=ɚi I ԙI  I V,II BI &I .I 5D6I ǰ<:I i FzK RIK s9K K 3 K &j|hXH=2)! GU }GIBQO}>F@w,CAy޵܋B޵,I) AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784397Mb@Mb@Mb@ )Yi|?5?x&L7A`堿y?7 +v@ @)h@I@yQ@I pI F4٢㢻 =9%Q %>!I MG٣IyU U> uNusing accuracyPremultiplier from configi59md.?5Ymr imQB?:x6D@m Dm"yy G٣FGy > Nusing accuracyPremultiplier from config597G?5YKt iQB%D@*D9;;5-B -p@-IEZjyFNOT Ignoring new targets: 646.60 m.Bj9Jj9JJJJJ;:J@0:JJ ProNav pure pursuit: ac range: 646.599976 m, nav range: 325.596313 m, bearing: 1.261998 deg, approach rate: -0.574366 m/s, LOS rate: 0.020510 deg/s, cmd heading: 1.251531 deg, new cmd heading: 1.261998 deg. HeadingCmd: 0.022026 target range: 646.599976 and range: 646.60 m. jo<jjjihhhhfffrf!bf%v0@ɛMkBM<= IMIQ U5Q=ɚQiQIU<@w,0Aj:_@YjZ/=jV;=9j5>yjH|?㔠`3A?ۥ??M㱿$=?@-?ɨj:_@j*;hyvBv+IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793747Mb@Mb@Mb@ )Y-?p= ףQ롿y??\`@ @)~@I@yIjI;4٢U  ]=9;Q > G٣y_ > Nusing accuracyPremultiplier from config59`?5Yu iWQB,?: ,D@4D?;;W5B ڼ@FEZjY]FNOT Ignoring new targets: 646.60 m.Bje9Jje9u ProNav pure pursuit: ac range: 646.599976 m, nav range: 325.295837 m, bearing: 1.272179 deg, approach rate: -0.577138 m/s, LOS rate: 0.019573 deg/s, cmd heading: 1.261998 deg, new cmd heading: 1.272179 deg. HeadingCmd: 0.022204 target range: 646.599976 and range: 646.60 m. j<jjjihhhh-Bfffrfbfe0@ɛ%gB%< !%}I! -O=ɚ)i)I-D`@w,AZGd@YZ1=Z<=9ZM>yZH?~֠g?*,?T?  M?I?ɨZGd@Z;ZCyr‹Br+II~gI~64٢; d=9q:Q ? G٣y :  ? 5Nusing accuracyPremultiplier from config=59q?=5Yv i6QBAEd+ED@:D::a5MB M@MCEZjFNOT Ignoring new targets: 646.60 m.Bj9Jj9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 325.093933 m, bearing: 1.279006 deg, approach rate: -0.586461 m/s, LOS rate: 0.019845 deg/s, cmd heading: 1.272179 deg, new cmd heading: 1.279006 deg. HeadingCmd: 0.022323 target range: 646.599976 and range: 646.60 m. jv޶<jjjihhhhfffrfbf@MQ1@ɛ]dBeB< aesIa eN=ɚaiaImAE>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298428*FI2FI:FIBFMp0JFIJAJEJAJAJAJEy6:JAJAG GA BQ Om >@w,ԸA2C\@Y2-=24=92v4>y2H?v^:J?y??BﱿJ?`?ɨ2C\@2Y;2C>Will construct direction to contact in vehicle frame from tetrahedron phase data.1Q UG٣]FGy]' ]> eNusing accuracyPremultiplier from configam59e}?5Yew ieQBd,D@eADe;e3;e5 @ZjFNOT Ignoring new targets: 646.60 m.BjUȴ9JjUȴ9] ProNav pure pursuit: ac range: 646.599976 m, nav range: 324.872101 m, bearing: 1.286558 deg, approach rate: -0.579972 m/s, LOS rate: 0.019757 deg/s, cmd heading: 1.279006 deg, new cmd heading: 1.286558 deg. eHeadingCmd: 0.022455 target range: 646.599976 and range: 646.60 m. je<jijijiiihiH}>Iy I},II}B T$?II}. =&Iy.I}4D6I}T<:I} FBIAJIARIAZIE. =bIE. =jIED5hhhfffrfbf@j1@zK-k3IK-+9K)K-5 K-ɛ aB1< -I1 =\M=ɚyiyI}pAy@w,AR]@YR.=R *=9RA>yRH`?t`s??@Zĥ?`?@¿᱿B\??ɨR]@R2ۈ;RCynBn+I-Mb@Mb@Mb@))) )))Y-"~?i|?5I +y-?--9-v@ -5@)-@I-@)y-@9=AAI=mI=3A4٢uW u7=9uxQ u>yy }G٣yy}9 > Nusing accuracyPremultiplier from config59?5Yx iPB ?:zD@JD#;o;5B 0@@E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 646.60 m.Bj9Jj9M ProNav pure pursuit: ac range: 646.599976 m, nav range: 324.616852 m, bearing: 1.294536 deg, approach rate: -0.575474 m/s, LOS rate: 0.018000 deg/s, cmd heading: 1.286558 deg, new cmd heading: 1.294536 deg. ]HeadingCmd: 0.022594 target range: 646.599976 and range: 646.60 m. j]<jYjYjYiYhahahihm8Bfififqrfqbfu$2@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052246ɛ^B(< I L=ɚ i I f5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305028$@w,A6[@Y6-=66=96>y6H ?[?ҥ?@?@¿ñwg??ɨ6[@6x;6CyRʋBR+IIZIZa4٢vJ= vh=9zQ z>xx zG٣xy}' }> Nusing accuracyPremultiplier from config59?5Yry iPBD@QD::5  @ZjYmFNOT Ignoring new targets: 646.60 m.Bj9Jj9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 324.404663 m, bearing: 1.301185 deg, approach rate: -0.559996 m/s, LOS rate: 0.017561 deg/s, cmd heading: 1.294536 deg, new cmd heading: 1.301185 deg. HeadingCmd: 0.022710 target range: 646.599976 and range: 646.60 m. jA <jjjihhhhfffrfbf2@ɛ}ZB}^M< y隅 I K=ɚiItI I,IIBI&I.I5D6I|<:I4 FG [6G! G! zK K 9K K 6 K G B1 OM >Aw,__AyŋB+IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808201Mb@Mb@Mb@ )YʡE?&1y?н̼@ @);@*J "J R=JsK{ـ3 K{KsKs"KsJJJJJJ-.:JJJy G٣FGy > Nusing accuracyPremultiplier from config59lƪ?5Ygz iPB?:K콑D@[DU<<A5B 9@ =EZjIUFNOT Ignoring new targets: 646.60 m.BjU|9JjU|9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 324.092346 m, bearing: 1.308858 deg, approach rate: -0.624293 m/s, LOS rate: 0.015353 deg/s, cmd heading: 1.301185 deg, new cmd heading: 1.308858 deg. HeadingCmd: 0.022844 target range: 646.599976 and range: 646.60 m. j#<jjjihhhh@Bfffrfbf3@ɛ VB)7= I J=ɚiI]= c~G4Aw,ak"A &Y$y&nAM^@YM.=M=9M6>yMH o?@۲?ʥ??g ¿`{@'e? ?ɨM^@M̆;MCyeˋBe+II}yI}xV4٢= l=9NQ ? G٣ybU: ? Nusing accuracyPremultiplier from config59$ت?5Y { iPB뽑D@aD;;=5B @:EZjIUFNOT Ignoring new targets: 646.60 m.BjU9JjU9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 323.882690 m, bearing: 1.314006 deg, approach rate: -0.616374 m/s, LOS rate: 0.015144 deg/s, cmd heading: 1.308858 deg, new cmd heading: 1.314006 deg. HeadingCmd: 0.022934 target range: 646.599976 and range: 646.60 m. j߻<jjjihhhhfffrfbf]3@ɛSBnd< TI I=ɚiI] Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5642873GAw,;AFb@YF0=F=9FK>yFH?U٠ͺ?5 ? ?h¿Tu?^?ɨFb@F";FCyЋB+Ii =I <I|I[4٢-s< -V=95˺Q 5> AIAHM>II IM,IIMBII&II.II6IM<:IMQ F1 %G٣!y5i: => ENusing accuracyPremultiplier from config9M59=?M5Y={ i=fPBIM꽑MD@=jD=J;=;=5y }c@yZjyFNOT Ignoring new targets: 646.60 m.Bj9Jj9zKK9KK7 K ProNav pure pursuit: ac range: 646.599976 m, nav range: 323.628754 m, bearing: 1.320227 deg, approach rate: -0.582659 m/s, LOS rate: 0.014284 deg/s, cmd heading: 1.314006 deg, new cmd heading: 1.320227 deg. HeadingCmd: 0.023042 target range: 646.599976 and range: 646.60 m. j7ü<jjjihhhhfffrfbf@>3@ɛeOBeC= ae}Ii m I=ɚiiiImLKAw,3VAZ_@YZ/=Zʼn=9Z]>yZH ?`:t?s?? #¿i5@z?`q?ɨZ_@Zb ;XyvӋBv+IEMb@Mb@Mb@AAA A)AYEV-?sh|?MbpyEh?EEEA Eb@)E@IAAyEz@]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.068218I}eI}34٢oR< 3=9Q > G٣FGyX+ > Nusing accuracyPremultiplier from config59Q?5Yw| iNPB?:pͽD@rDN;;5B %@%7E]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 646.60 m.Bjp9Jjp9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 323.383575 m, bearing: 1.325613 deg, approach rate: -0.598954 m/s, LOS rate: 0.013167 deg/s, cmd heading: 1.320227 deg, new cmd heading: 1.325613 deg. HeadingCmd: 0.023136 target range: 646.599976 and range: 646.60 m. jY<jjjihhhhBf X$?If f rfbf74@ɛ]LB]= ae|pIa eNH=ɚaiaIe{gAw,0oA:[@Y:-=:=9:>y:H`?`@$R?@F?? *¿ G@? ڗ?ɨ:[@:Z†;:CyNBN,IIZpIZF4٢b= bo=9fGQ f?dd fG٣dyj j? rNusing accuracyPremultiplier from configlr59nN?v5Yn| in!<jAjAjAiIhIhIhIhQfQfQfQrfQbf]4@ɛIB= 隅EI G=ɚiI<!!<)*F?2F:FBFO1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572158 Y$?IGXZH!RH%?AH->I) I-*,II-BI-- =&I).I)6I-v<:I-1 FGB)O>zKE BoHKE h9KA KE 8 KE O"Aw,A>_@Y>I/=>XC=9>b>y>H ? ՠ@Q)?nۥ? ?¿@WŰq?`?ɨ>_@>Q;>CyZB^,I)` `rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.824273Mb@Mb@Mb@ )YʡE?l{Gzt?y-?ף;A @)IC@y@IhIV84٢-*; -5=95úQ 5>99 =G٣9y=/^: E> MNusing accuracyPremultiplier from configAM59E'?U5YE } iE*PBU|?U:UvUD@EDE ;E;E|5a e@aZjFNOT Ignoring new targets: 646.60 m.Bj48Jj48 ProNav pure pursuit: ac range: 646.599976 m, nav range: 322.937317 m, bearing: 1.331882 deg, approach rate: -0.570783 m/s, LOS rate: 0.004650 deg/s, cmd heading: 1.329790 deg, new cmd heading: 1.331882 deg. HeadingCmd: 0.023246 target range: 646.599976 and range: 646.60 m. jm<jjjihhhhBfffrfbf4@J5J5J1J1J5{:J5-.:J1J1J5<J5<J5v;J5v;ɛDB = ;I O%G=ɚiIT|(Aw,A6F[@Y6`-=6ڄ=96>y6Hr?%@?`??`"¿`b@v?@?ɨ6F[@6Zo;6CyVBV,IIbfIb44٢j< jc=9jZQ j>ll nG٣nFGyv v> ~Nusing accuracyPremultiplier from configx~59z[9?~5Yz@} izPBBD@zDz ;z:z 5 B S@ 2EZjFNOT Ignoring new targets: 646.60 m.BjV8JjV8 ProNav pure pursuit: ac range: 646.599976 m, nav range: 322.731293 m, bearing: 1.333579 deg, approach rate: -0.541593 m/s, LOS rate: 0.004463 deg/s, cmd heading: 1.331882 deg, new cmd heading: 1.333579 deg. HeadingCmd: 0.023275 target range: 646.599976 and range: 646.60 m. j뫾<jjjihhhhff f rf bf \5@ɛ=AB=F= 9=+I9 EF=ɚAiAIE Will construct direction to contact in vehicle frame from tetrahedron phase data. Id If=,IIf BId&Id.Id6Ifc<:If" F]c@Y]1=]A=9]5>y]H`? 0@7ѱ?@"?`?m7¿Ve??ɨ]c@];]CymBu#,IIuIaO4٢x= ?=9Q > G٣y; > Nusing accuracyPremultiplier from config59M?5Yd} i PBD@D ;G ;_5 Ӹ@Zj)5FNOT Ignoring new targets: 646.60 m.Bj58Jj=8} ProNav pure pursuit: ac range: 646.599976 m, nav range: 322.487793 m, bearing: 1.335542 deg, approach rate: -0.585242 m/s, LOS rate: 0.004724 deg/s, cmd heading: 1.333579 deg, new cmd heading: 1.335542 deg. }HeadingCmd: 0.023310 target range: 646.599976 and range: 646.60 m. j<jjjihhhhfffrfbfS5@ɛ BDAT read: Tx time:21:54:26.5380 %$Ping request sent.%=5Aw,IAy=B= ,I E=Ep=Mb@Mb@Mb@ )Y㥛 ?~jth G٣y > %Nusing accuracyPremultiplier from config!559%b?55Y%)} i%PB=?=:=~==D@%D%`F;%C;% 5E~B Eڸ@E/EUWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:21:54:26.5373 echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248835ZjFNOT Ignoring new targets: 646.60 m.Bj5÷Jj5÷ ProNav pure pursuit: ac range: 646.599976 m, nav range: 322.242798 m, bearing: 1.334989 deg, approach rate: -0.590027 m/s, LOS rate: -0.001333 deg/s, cmd heading: 1.335542 deg, new cmd heading: 1.334989 deg. HeadingCmd: 0.023300 target range: 646.599976 and range: 646.60 m. j߾<jjjihhhh̊Bfffrfbf@06@ɛ8B= I E= u[$?IqɚqiqI}2 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499886(;Aw,'A: n@Y:6=:=9:'>y:H@?@ 1r?ʦ?@?MP¿@?y?ɨ: n@:w,;:CyfBf',IIr8Ir3٢zy= z^=9zŕQ ~>|| ~G٣~FGy>d; > Nusing accuracyPremultiplier from config59t?5Y| iOB!%=%D@Dj;;C5-|B -V@-,EMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 646.60 m.Bje(ַJje(ַm ProNav pure pursuit: ac range: 646.599976 m, nav range: 322.027618 m, bearing: 1.334454 deg, approach rate: -0.587696 m/s, LOS rate: -0.001463 deg/s, cmd heading: 1.334989 deg, new cmd heading: 1.334454 deg. uHeadingCmd: 0.023291 target range: 646.599976 and range: 646.60 m. j}˾<jyjyjyiyhyhyhhfffrfbf׎6@ɛ5B = I 4IE=ɚiIvI IP,IIBI&I.I6IL<:I FBIJIRIZI- =bI- =jIƨ4GXGBO >zK] MKY KY K] : K] qBAw,; A^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003737v @Yv@=v{=9v(>yvH@?VJ:?`f ?~?`N[Y?ܛ?ɨv @vO;vCy~B$,IMb@Mb@Mb@ )YzG?/$?y&1?y ?<`e<A K@)I@y@I%:I%3٢= E7=9M%Q U>YY ]G٣aye ; e> uNusing accuracyPremultiplier from configi59m⊫?5Ymf| imOB-?:=D@mDmWL;m>J;m.5 z@ZjFNOT Ignoring new targets: 646.60 m.*J"J%=BjӸJjӸJJJJJ+:JJ1:JJJ2<J2<J%;J&; ProNav pure pursuit: ac range: 646.599976 m, nav range: 321.763367 m, bearing: 1.331836 deg, approach rate: -0.582938 m/s, LOS rate: -0.005780 deg/s, cmd heading: 1.334454 deg, new cmd heading: 1.331836 deg. HeadingCmd: 0.023245 target range: 646.599976 and range: 646.60 m. j$l<jjji h h h hڊBfffrfbf`Z 7@ɛe/B&= 隍I D=ɚiIiˬ)$l<)*F ?2F :F BF W5JF mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255949 I II G% xG B O- >HAw,$A:ْ@Y:)I=:/t=9:>y:H`?8|?`+? G? ¿ @f?`3?ɨ:ْ@:;:CyJBJ*,IIV2IV?3٢Z< ^g=9^՚Q ^>`` bG٣`yf; f> =Nusing accuracyPremultiplier from config1E595霫?E5Y5{ i5OBAE=ED@5D5;5;5[5UyB e @e)EZjFNOT Ignoring new targets: 646.60 m.Bj߸Jj߸ ProNav pure pursuit: ac range: 646.599976 m, nav range: 321.549042 m, bearing: 1.329632 deg, approach rate: -0.593607 m/s, LOS rate: -0.006109 deg/s, cmd heading: 1.331836 deg, new cmd heading: 1.329632 deg. HeadingCmd: 0.023206 target range: 646.599976 and range: 646.60 m. jt<jjjihhhhfffrfbf_7@ɛ,B$= ̽I D=ɚiIo Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764136 = ]$?IA NAw,2>AH6 >I6C I6],II6"BI4&I4.I46I6<:I6F F"@YNP=J[t=9å>yH?L`@? ?? Ɔ[??ɨ"@;CyEBE#,IIUpIUF4٢Ѽ 9=98Q > G٣FGy; > Nusing accuracyPremultiplier from config 598? 5Yd{ iOB  J= D@DM;; 5wB D@&EZjIMFNOT Ignoring new targets: 646.60 m.BjUJjU渝e ProNav pure pursuit: ac range: 646.599976 m, nav range: 321.295776 m, bearing: 1.326943 deg, approach rate: -0.591787 m/s, LOS rate: -0.006286 deg/s, cmd heading: 1.329632 deg, new cmd heading: 1.326943 deg. mHeadingCmd: 0.023160 target range: 646.599976 and range: 646.60 m. jm<jijijiiihihihqhqfyfyfyrfybf} 7@ɛ'B(= ѽI 11D=ɚiI`ZUAw,XAr,@YrSS=rs=9rM>yrH?a?`e[? ?T¿@#xp?ޛ?ɨr,@r;rCy B,IMb@Mb@Mb@ )YZd;?I +? G٣y: > Nusing accuracyPremultiplier from config59~ƫ?5Yz iOBH?:g=D@DE;o;#5  @UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267779 ^$?IZjFNOT Ignoring new targets: 646.60 m.Bj 7Jj7% ProNav pure pursuit: ac range: 646.599976 m, nav range: 321.054596 m, bearing: 1.322685 deg, approach rate: -0.568748 m/s, LOS rate: -0.010050 deg/s, cmd heading: 1.326943 deg, new cmd heading: 1.322685 deg. MHeadingCmd: 0.023085 target range: 646.599976 and range: 646.60 m. jM1<jQjQjQiQhQhQhYh]BfYfYfarfabfe ;8@ɛ"Bq'= PҽI C=ɚiIJ% J% J! J! J% :J% @0:J! J! a- @a- @a- @a- @#\Aw,AfrAj@Yj8X=js=9j->yjH #?|R??@ǡ?@N%¿k*?`?ɨj@j-;jCyrBv,IIvI&Q4٢ X=9iQ >! %G٣!y%N; %> -Nusing accuracyPremultiplier from config)559-٫?55Y-y i-OB9E=ED@-D-S*;-*;-&5MuB M@M#EmB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 646.60 m.BjOJjO ProNav pure pursuit: ac range: 646.599976 m, nav range: 320.827606 m, bearing: 1.318623 deg, approach rate: -0.634230 m/s, LOS rate: -0.011358 deg/s, cmd heading: 1.322685 deg, new cmd heading: 1.318623 deg. HeadingCmd: 0.023014 target range: 646.599976 and range: 646.60 m. j<jjjihhhhfffrfbf`”8@ɛ]B]$i"= Y]ݽIY eLC=ɚaiaIeWIa IaIaIa&Ia.Ia6Ie<:IeR FGuD0;G ?G?Gi B O >zK {PK 59K K < K /-+(-1A@BEDCC@>9641,+*)#"!  fbAw,hAVWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023910yMڋBM,IMMb@Mb@Mb@III I)IYMV-?+?~jth?yM?M=MD;MA M@)MI@IM@IyM(@IeiIe:4٢un_ u5=9uQ u>yy }G٣}FGy > Nusing accuracyPremultiplier from config59?5Y y iOB??:=D@D;;*5sB @ EZjFNOT Ignoring new targets: 646.60 m.Bj6Jj6 ProNav pure pursuit: ac range: 646.599976 m, nav range: 320.552063 m, bearing: 1.314080 deg, approach rate: -0.605705 m/s, LOS rate: -0.009995 deg/s, cmd heading: 1.318623 deg, new cmd heading: 1.314080 deg. HeadingCmd: 0.022935 target range: 646.599976 and range: 646.60 m. j;<jjjihhhhBfffrfbf9@ɛ}B}"= y}I q C=ɚiIiAw,A6İ@Y6X=67p=96P>y6H?aǰ?@??z¿@&?@?ɨ6İ@6b;4y>ʋBN+IIVbIV-4٢bc bl=9fQ f?dh jG٣hyj- j? rNusing accuracyPremultiplier from configlr59n?v5Ynfx inOBtv{=vD@nDn:nv:n-5x ~@|Zj!%FNOT Ignoring new targets: 646.60 m.Bj-;Jj-; ProNav pure pursuit: ac range: 646.599976 m, nav range: 320.340027 m, bearing: 1.310579 deg, approach rate: -0.621701 m/s, LOS rate: -0.010271 deg/s, cmd heading: 1.314080 deg, new cmd heading: 1.310579 deg. HeadingCmd: 0.022874 target range: 646.599976 and range: 646.60 m. jb<jjjihhhhfffrfbfe9@ɛB<= 隝 I B=ɚiIus} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:54:29.8030  TRx dataTimestamp_ set to:1736373270.972560 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780800 a$?I HY IY  I] D,II] BI] , =&IY .IY 6I] <:I] P FpAw,KAF4@YFX=Fm=9F>yFH?ꂦ$? ??@¿ m"}??ɨF4@F;DyEBE+I)I II}iI}:4٢\ <=9Q > G٣y'9 > Nusing accuracyPremultiplier from config59)?5Yw iOB=D@D8;;15qB .@ EZjQUFNOT Ignoring new targets: 646.60 m.Bj]5Jj]5e ProNav pure pursuit: ac range: 646.599976 m, nav range: 320.071167 m, bearing: 1.306126 deg, approach rate: -0.599749 m/s, LOS rate: -0.009943 deg/s, cmd heading: 1.310579 deg, new cmd heading: 1.306126 deg. }HeadingCmd: 0.022796 target range: 646.599976 and range: 646.60 m. j<jjjihhhhfffrf bf 9@ɛBX= #I  B=ɚi)I-"cKvAw,fA I-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.292682Uѽ@YU^=Uk=9U>yUHY?oA?@bū? ?i%¿+u`??ɨUѽ@Uq;QyB+IMb@Mb@Mb@ )YMb?X9v?Mbpy ?<3A -@)3@I@y@ItIM4٢^ =9PQ > G٣GGyJ5; > Nusing accuracyPremultiplier from configq59u4?5Yuv iuOB ?:{=D@uDu@;u;u\65nB @EZjFNOT Ignoring new targets: 646.60 m.Bj'Jj '5 ProNav pure pursuit: ac range: 646.599976 m, nav range: 319.741699 m, bearing: 1.301307 deg, approach rate: -0.623461 m/s, LOS rate: -0.009128 deg/s, cmd heading: 1.306126 deg, new cmd heading: 1.301307 deg. =HeadingCmd: 0.022712 target range: 646.599976 and range: 646.60 m. j=<j9j9jAiAhAhAhIhMBfqfqfqrfybf} \:@ɛ B/= 3I -GGA=ɚ)i)I- ڨ1k??>ſ) `?I *>i 龿 j  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJ J J J J :J ::J J Gl;GBO?+~Aw,pAN7@YNXa=Nkg=9N>yNH?@Q??`5?@s¿鬿}?ۜ?ɨN7@N1;NCyVBZ+IIbWIb44٢j jU=9n6Q n>ll rG٣pyr: r> vNusing accuracyPremultiplier from configtz59v,H?~5Yv v ivOB|~=~D@vDv ;v;v95 v@  b$?IB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 646.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBj$Jj$ ProNav pure pursuit: ac range: 646.599976 m, nav range: 319.512115 m, bearing: 1.297916 deg, approach rate: -0.608225 m/s, LOS rate: -0.008990 deg/s, cmd heading: 1.301307 deg, new cmd heading: 1.297916 deg. HeadingCmd: 0.022653 target range: 646.599976 and range: 646.60 m. j<jjjihh hhfff!rf!bf%:@jHM<bHM<HQIQ IU$,IIUBIU- =&IQ.IQ6IU<:IUC FɛB = ZI @=ɚiIsg K   G@; Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O > Aw,HAV@YVc=VDf=9V>yVH?觿C??Q??¿Ĭ@V{??ɨV@Va3;VCyjBj+Iin=Il r=r=Mb@Mb@Mb@ )YMbX9? rhy!?CA @)I$@y@IqIJH4٢ǽ ;=9(Q > G٣yt: > Nusing accuracyPremultiplier from config59[_?5Yu iyOB!?:<D@D;-;b=5lB @EZj15FNOT Ignoring new targets: 646.60 m.Bj=SJj=SM ProNav pure pursuit: ac range: 646.599976 m, nav range: 319.236877 m, bearing: 1.297614 deg, approach rate: -0.658456 m/s, LOS rate: -0.000723 deg/s, cmd heading: 1.297916 deg, new cmd heading: 1.297614 deg. UHeadingCmd: 0.022648 target range: 646.599976 and range: 646.60 m. jU<jQjQjQiQhQhYhYh]BfYfafarfabfe6&;@ɛ B 3e< X|I ?=ɚiI9G B O >9Aw,/A"Will construct direction to contact in vehicle frame from tetrahedron phase data."T****** received valid address query ******"R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapse^@Y^_=^b;c=9^^>y^H8?@ݎ??@V? qcFa?`^?ɨ^@^ G٣GGy > -Nusing accuracyPremultiplier from config)U59-?u?]5Y-u i-iOBY]<]D@-D-;-;-@5ejB ez@mEJJJ1JJK:Jo5:J3JZjFNOT Ignoring new targets: 646.60 m.BjZ)JjZ) ProNav pure pursuit: ac range: 646.599976 m, nav range: 318.977020 m, bearing: 1.297368 deg, approach rate: -0.611571 m/s, LOS rate: -0.000578 deg/s, cmd heading: 1.297614 deg, new cmd heading: 1.297368 deg. HeadingCmd: 0.022643 target range: 646.599976 and range: 646.60 m. j~<jjjihhhhfff!rf!bf%;@ɛBϗ< 隵ZI Z>=ɚiIIY I]+II]̋BI], =&IY.IY6I]<:I]O FBIțCJIțCRIZIbI, =jIȎ4GM O;G B O= > Aw,HAzK:LKKK? Ks:w_NRK?JK?yU`BUn+IMb@Mb@Mb@ )Y~jt?Q G٣y > %Nusing accuracyPremultiplier from config%59?-5Yau iPOB-$?-:-2=-D@D;;D59 =@9UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseZjquFNOT Ignoring new targets: 646.60 m.Bj}޷Jj}޷5 ProNav pure pursuit: ac range: 646.599976 m, nav range: 318.698273 m, bearing: 1.296727 deg, approach rate: -0.660531 m/s, LOS rate: -0.001522 deg/s, cmd heading: 1.297368 deg, new cmd heading: 1.296727 deg. =HeadingCmd: 0.022632 target range: 646.599976 and range: 646.60 m. j=g<j9j9j9i9h9h9hAhEBfafifirfibfm<@ɛB< 隽I ==ɚiI JAw,bA:@Y:a=:`=9:G>y:HK?`৿¯?4$?`? Q?OB  6= D@~D~j:~:~G5hB +@EZj9EFNOT Ignoring new targets: 646.60 m.BjMJjMᷝe ProNav pure pursuit: ac range: 646.599976 m, nav range: 318.483917 m, bearing: 1.296213 deg, approach rate: -0.644132 m/s, LOS rate: -0.001543 deg/s, cmd heading: 1.296727 deg, new cmd heading: 1.296213 deg. mHeadingCmd: 0.022623 target range: 646.599976 and range: 646.60 m. jmFT<jijijiiihihqhqhqfqfyfyrfybf} T<@ɛBK< 隭I Z==ɚiIcitAw,|A:@Y:e=:^=9:{x>y:H ?k???@̫W?@`` bG٣`yb&; f> jNusing accuracyPremultiplier from configdj59f>?n5Yft if'OBlna=nD@fDf ;fe ;f-K5rfB vh@vE e$?IZj%FNOT Ignoring new targets: 646.60 m.Bj-'Jj-'񷝊= ProNav pure pursuit: ac range: 646.599976 m, nav range: 318.229034 m, bearing: 1.295556 deg, approach rate: -0.637695 m/s, LOS rate: -0.001647 deg/s, cmd heading: 1.296213 deg, new cmd heading: 1.295556 deg. EHeadingCmd: 0.022612 target range: 646.599976 and range: 646.60 m. jE2<<jAjAjAiAhIhIhIhIfQfQfQrfQbfU<@ɛBå< 隍UI ;=ɚiIHHm Will construct direction to contact in vehicle frame from tetrahedron phase data.u T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapse*JE R="JE 4=JM JM JM 0JI JM k:JM 7:JM ـ3JI JM " G٣GGy >  Nusing accuracyPremultiplier from config 59 ̬?5Y  u i  OB)?:pD@  D ; ; O5! %@)EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 646.60 m.Bj]X8Jj]X8e ProNav pure pursuit: ac range: 646.599976 m, nav range: 317.936768 m, bearing: 1.297521 deg, approach rate: -0.658983 m/s, LOS rate: 0.004435 deg/s, cmd heading: 1.295556 deg, new cmd heading: 1.297521 deg. mHeadingCmd: 0.022646 target range: 646.599976 and range: 646.60 m. jm!<jqjqjqiqhqhyhyh}iBfyffrfbf&,=@ɛB G< 隽C;I 3^:=ɚiI P$Aw,YAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@Yc= ]=9>yHr?`c;@eU?d??$ H&?.?ɨ@;Cy-B5+IIEnIEB4٢U䦽 UU=9UtQ U>aa eG٣aym u> }Nusing accuracyPremultiplier from configy59}7⬛?5Y}%u i}NBzD@}(D}<:}:}nR5cB @ EZjFNOT Ignoring new targets: 646.60 m.Bj%ş8Jj%ş8- ProNav pure pursuit: ac range: 646.599976 m, nav range: 317.683777 m, bearing: 1.299252 deg, approach rate: -0.637590 m/s, LOS rate: 0.004365 deg/s, cmd heading: 1.297521 deg, new cmd heading: 1.299252 deg. ]HeadingCmd: 0.022676 target range: 646.599976 and range: 646.60 m. j]zù<jYjYjYiYhYhahahafafifirfibf=@ɛߋB9< ׾I 8=ɚiIRG B O >oAw,X8AB>@YBd=B]=9BL>yBH7?~a@s??%?`C@丫? e?ɨB>@Bۅ;BCyfBj*II%I%b4٢U J=99Q >zK0NKh9KKA K[h6 QY ]G٣ay8: > Nusing accuracyPremultiplier from config59?5YBu iNBGuD@2D::HV5aB @EZjFNOT Ignoring new targets: 646.60 m.Bj8Jj85Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseE ProNav pure pursuit: ac range: 646.599976 m, nav range: 317.394257 m, bearing: 1.301220 deg, approach rate: -0.668860 m/s, LOS rate: 0.004552 deg/s, cmd heading: 1.299252 deg, new cmd heading: 1.301220 deg. MHeadingCmd: 0.022711 target range: 646.599976 and range: 646.60 m. jM <jijijiiihqhqhqhqfqfyfyrfybf}(>@ɛًB ^uu< I W_7=ɚ!i!I%s)Aw,VA63@Y6W_=6(]=96>y6H?@>?ܫ??;ॡ??ɨ63@6o;6Cy>ߊB>*I=Mb@Mb@Mb@999 9)9Y=S㥛?Dl/$y=$&?=O99 =Z@)9I99y=\@IUsIUK4٢eҽ eI=9mQ m>ii uG٣uGGyum u> Nusing accuracyPremultiplier from configy59}?5Y}u i}NB*'?:c=D@}9D}M;}:}~Y5 #@ZjFNOT Ignoring new targets: 646.60 m.Bj9Jj9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 317.156067 m, bearing: 1.304192 deg, approach rate: -0.651801 m/s, LOS rate: 0.008138 deg/s, cmd heading: 1.301220 deg, new cmd heading: 1.304192 deg. HeadingCmd: 0.022762 target range: 646.599976 and range: 646.60 m. jJx<jjjihhhh;Bfffrfbf^>@ɛEӋBMx< IMYII M<5=ɚIiQIU¾Aw,:A 6h$?I4:/@Y:Ua=:^=9:Ȁ>y:H@? et?X?`?` ^Ы??ɨ:/@:;;:CyfΊBf*IInIna4٢v vS=9vq:Q v>xx zG٣xy~B: ~> Nusing accuracyPremultiplier from config59#?5Yu iNBp;D@AD?;i@;\5%_B % @%EZjIMFNOT Ignoring new targets: 646.60 m.BjU9JjU9m ProNav pure pursuit: ac range: 646.599976 m, nav range: 316.904358 m, bearing: 1.307315 deg, approach rate: -0.650077 m/s, LOS rate: 0.008073 deg/s, cmd heading: 1.304192 deg, new cmd heading: 1.307315 deg. mHeadingCmd: 0.022817 target range: 646.599976 and range: 646.60 m. jm<jqjqjqiqhqhqhyhyfyffrfbf c>@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsejHbHp<HI I7+II3BI&I.I6Id<:I) Fɛ΋Bd< DI (c4=ɚiIiM Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapseJ% J% J% 0J! J% :J% S2:J% ـ3J! J% #<J% #<J% ;J% ;Aw,AB@YB5^=B^=9B>yBH@?`o`? ?@٦?҂\ΫY?o?ɨB@B`;BCy^Bb*IMb@Mb@Mb@ )Yx&1?bX9ȶ/$yA ?EIA )QAIQ@yQ@IIHo4٢; ;=9Q > G٣y > Nusing accuracyPremultiplier from config 59 ;? 5Yqv iNB!?:D@JDA;;`5]B %@%E=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 646.60 m.BjUdY9JjUdY9e ProNav pure pursuit: ac range: 646.599976 m, nav range: 316.631073 m, bearing: 1.312496 deg, approach rate: -0.625947 m/s, LOS rate: 0.011879 deg/s, cmd heading: 1.307315 deg, new cmd heading: 1.312496 deg. eHeadingCmd: 0.022907 target range: 646.599976 and range: 646.60 m. jeE<jijijiiihihihyh}(Bfyffrfbf21?@ɛNjB4 < 隵]I 2=ɚiI] Will construct direction to contact in vehicle frame from tetrahedron phase data.] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseAw,1A6o@Y6t`=6T`=96>y6H@p?ڧ`?@4?ʦ?[}?^?ɨ6o@6FE;4y>B>*IIJIJ%x4٢N R`=9R:Q R>TT VG٣VGGyZ: Z> bNusing accuracyPremultiplier from config\b59^CN?f5Y^v i^kNBD@^QD^<^<^c5 @Zj FNOT Ignoring new targets: 646.60 m.Bj UH9Jj UH9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 316.403503 m, bearing: 1.316796 deg, approach rate: -0.579031 m/s, LOS rate: 0.010947 deg/s, cmd heading: 1.312497 deg, new cmd heading: 1.316796 deg. %HeadingCmd: 0.022982 target range: 646.599976 and range: 646.60 m. j%E<jYjqjyiyhyhyhhfffrfbf@?@ɛuBuxh; quIq }0=ɚiIINRAw,[yKAy%B-*IiMII UG٣Yye m>zKBoHK59KKC K Nusing accuracyPremultiplier from config59f?5Yw iKNBD@[D><8<g5[B h@EeWill construct direction to contact in vehicle frame from tetrahedron phase data.uEU >*F?2F:FBFo0JF Q IY G ; Will construct direction to contact in vehicle frame from tetrahedron phase data. Aw, VeAB@YB_=Ba=9Bf>yBH_?ſ@Lǯ? e??{ Z0m? E?ɨB@B;BCyRBRt*I5Mb@Mb@Mb@111 1)1Y5x&1?B`"۹~jty5!?5ν55A 5p@)5AI11y5@IMIMm4٢]֨ eX=9eb[:Q e>ii mG٣iymx u> }Nusing accuracyPremultiplier from configq59uKz?5Yu)x iu1NB#?:ʽE@ubDu;u0;u"k5YB E@EZjFNOT Ignoring new targets: 646.60 m.Bj̋9Jj̋9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 315.882202 m, bearing: 1.327441 deg, approach rate: -0.685422 m/s, LOS rate: 0.015278 deg/s, cmd heading: 1.322251 deg, new cmd heading: 1.327441 deg. HeadingCmd: 0.023168 target range: 646.599976 and range: 646.60 m. jC˽<jjjihqhyhyh}Bfffrfbf3@@ɛ-B-9 IU@IQ U-=ɚQiQIU E l$?IA Aw,5A2M@Y2]=2Sb=92x^>y2H?@тӯ?`"?[?@uF?u?ɨ2M@2І;0yBBBl*IIJxIJT4٢R RW=9V49Q V>TT ZG٣ZGGyZ Z> %Nusing accuracyPremultiplier from config55ZHIRHMAAHU#>IQ IU*IIU݊BIQ&IQ.IQ6IUy<:IU9 FBIJIRIZI, =bIjI49 -Aw,AyBd*I)! !5A1MMb@Mb@Mb@III I)IYMʡE?J +~jtyM?MȽMDI M@)MQAIIIyIImIm{4٢}R }0=9}Q > G٣y > Nusing accuracyPremultiplier from config59ɦ?5Yy iMB?:̽E@sDi ;;r5VB @E m$?IB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 646.60 m.Bj>9Jj>9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 315.355591 m, bearing: 1.339266 deg, approach rate: -0.636593 m/s, LOS rate: 0.014343 deg/s, cmd heading: 1.332992 deg, new cmd heading: 1.339266 deg. HeadingCmd: 0.023375 target range: 646.599976 and range: 646.60 m. j |<jjjihhhh Bfff!rf!bf%ϝ@@ɛMBMpk; QUGIQ UO)=ɚQiQIU`Aw,?AR@YRZ=R^=9R.>yRH`>?@:@VH?K?ߨ?`R@]Ϋ?@/?ɨR@R_;RCy^B^[*IIjvIj&Q4٢rS r==9v@ Q v>tx zG٣xyz ~> Nusing accuracyPremultiplier from config|59~S? 5Y~Dz i~MB  lν E@~|D~t;~;~Lv5TB =@EZjAMFNOT Ignoring new targets: 646.60 m.BjM9JjU9] ProNav pure pursuit: ac range: 646.599976 m, nav range: 315.088806 m, bearing: 1.345321 deg, approach rate: -0.620652 m/s, LOS rate: 0.014098 deg/s, cmd heading: 1.339266 deg, new cmd heading: 1.345321 deg. eHeadingCmd: 0.023480 target range: 646.599976 and range: 646.60 m. jeY<jajajaiahihihqhqfqfqfyrfybf}@@ɛB8; 隭TI R'=ɚ i I =vGAw,AzKKh9KKE KRKR?JKR?~Will construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007460I@Yf=K^=9  >yH?ب`RV? mͬ?ફ?=@;?B?ɨI@^߆;Cy5}B5X*IMb@Mb@Mb@ )YZd;?zGế{Gzy? ׽#vA @)hAIyG@IYI4٢\ <=9PQ > G٣GGyc; > Nusing accuracyPremultiplier from config59xӭ?5Y{ iMB5?:e轑E@D;;z5RB J@EZjQUFNOT Ignoring new targets: 646.60 m.BjeE9JjeE95 ProNav pure pursuit: ac range: 646.599976 m, nav range: 314.826813 m, bearing: 1.351892 deg, approach rate: -0.597607 m/s, LOS rate: 0.015001 deg/s, cmd heading: 1.345321 deg, new cmd heading: 1.351892 deg. =HeadingCmd: 0.023595 target range: 646.599976 and range: 646.60 m. j=lAw,dA6;@Y6s=6\=96} >y6H ?`g`v?\k??}N?@?ɨ6;@6$;6Cy>pB>G*IIFHIF<3٢Rv R?=9V *Q V>TT ZG٣XyZ; ^> bNusing accuracyPremultiplier from config\b59^F魛?f5Y^{ i^MBdfὑfE@^D^U:^v:^}5l n@lZjFNOT Ignoring new targets: 646.60 m.Bj 9Jj 9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 314.568817 m, bearing: 1.358218 deg, approach rate: -0.579484 m/s, LOS rate: 0.014221 deg/s, cmd heading: 1.351892 deg, new cmd heading: 1.358218 deg. HeadingCmd: 0.023705 target range: 646.599976 and range: 646.60 m. j1<jjjihhhhfffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511683rf bf$GA@ɛMBM@޴: IM IQ U8#=ɚQiQIU; 1I9jHbH<HI I*IIBI&I.I6IV<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764100TBw,~ A2<@Y2q=2x`=92 >y2H}?R.ԯ?O+??"[ࠌ?E?ɨ2<@2`ц;2CyZqBZH*IIbIbm4٢j;; nG=9n:Q n>pp rG٣pyr⛺ v> zNusing accuracyPremultiplier from configt~59v$?5Yv| ivMB⽑E@vDv3;v2;vm5PB @EZj9=FNOT Ignoring new targets: 646.60 m.BjEU9JjEU9U ProNav pure pursuit: ac range: 646.599976 m, nav range: 314.321899 m, bearing: 1.364304 deg, approach rate: -0.630587 m/s, LOS rate: 0.015555 deg/s, cmd heading: 1.358218 deg, new cmd heading: 1.364304 deg. ]HeadingCmd: 0.023812 target range: 646.599976 and range: 646.60 m. j]<jYjYjYiYhYhahahafafifirfibfmxA@ɛB$: !% I! %j!=ɚ!i!I%# 5 p$?I1 yBw,#A.0@Y.p=.cc=9.l >y.H`:?`䩿@' ?] ? ?-mF? z?ɨ.0@.i3;.CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267458y^nB^E*IMb@Mb@Mb@ )Y/$?#~j G٣GGy > Nusing accuracyPremultiplier from config59?5Y} i~MB?:VE@D7;b6;65-NB -@-EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 646.60 m.BjB:9JjB:9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 314.056793 m, bearing: 1.368854 deg, approach rate: -0.592477 m/s, LOS rate: 0.010177 deg/s, cmd heading: 1.364304 deg, new cmd heading: 1.368854 deg. HeadingCmd: 0.023891 target range: 646.599976 and range: 646.60 m. j <j j j i)h1h1h9h="BfAfAfArfIbfmA@ɛUBUp'r; Y] IY ]Z=ɚYiaIeX9Bw,g=A67@Y6i=6c=96y7 >y6H? Y ?+?? **^`?¥?ɨ67@6vĆ;4 `IdyrqBrI*IIzIzm4٢}< W=9ңQ >    G٣ yW > Nusing accuracyPremultiplier from config%59(?%5Yw} iiMB!-ג-E@D:3:51 5@1ZjaeFNOT Ignoring new targets: 646.60 m.Bjm)L9Jjm)L9} ProNav pure pursuit: ac range: 646.599976 m, nav range: 313.824707 m, bearing: 1.372917 deg, approach rate: -0.636823 m/s, LOS rate: 0.011156 deg/s, cmd heading: 1.368854 deg, new cmd heading: 1.372917 deg. HeadingCmd: 0.023962 target range: 646.599976 and range: 646.60 m. jK<jjjihhhhfffrfbfA@ɛ~B`к iI =ɚiIzI I*IIBI+ =&I.I6I0<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771636*F?2F:FBFE5JFGGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025905zK] k3IK] h9KY K] G K] :9  ,NkmaYOH?2' Bw,AWAyޝrBޝJ*I-Mb@Mb@Mb@))) )))Y-Cl?V-~jthy-d?-h-D-/ A -@)-zAI))y-@IMmIM3A4٢uo*; }5=9}Q }> G٣y > Nusing accuracyPremultiplier from config59I??5Y} iTMBt?:mE@D;h;x5LB @EZjFNOT Ignoring new targets: 646.60 m.BjC'9JjC'9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 313.550293 m, bearing: 1.377030 deg, approach rate: -0.609178 m/s, LOS rate: 0.009139 deg/s, cmd heading: 1.372917 deg, new cmd heading: 1.377030 deg. HeadingCmd: 0.024034 target range: 646.599976 and range: 646.60 m. jY<jjjihhhhDBf ffrfbfB@ɛ]vB]x; Ye3Ia e=ɚaiaIej< r$?IImY1Bw,0qA2@Y2`=2/[=92D >y2H?g@H? {?T?`T4uȓ? }?ɨ2@2;2Cy>kB>A*IIJIJi4٢R!" Rm=9VxQ V?TT VG٣ZGGyZ Z? bNusing accuracyPremultiplier from config\b59^Q?b5Y^8~ i^DMBdfvfE@^D^/:^:^}5nJB r@rEZjamFNOT Ignoring new targets: 646.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527285Bj%9Jj%9- ProNav pure pursuit: ac range: 646.599976 m, nav range: 313.340393 m, bearing: 1.380273 deg, approach rate: -0.586011 m/s, LOS rate: 0.009059 deg/s, cmd heading: 1.377030 deg, new cmd heading: 1.380273 deg. 5HeadingCmd: 0.024090 target range: 646.599976 and range: 646.60 m. j5 Y<j1j1j9i9h9h9h9hAfAfAfArfAbfm sJB@ɛpB U: 隝`I q=ɚiI'=I Y Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:54:40.7357  TRx dataTimestamp_ set to:1736373282.085328 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781172"Bw,A2ص@Y2Z=2 W=92 >y2H ?`U?(H?`?.િ ? S?ɨ2ص@2t;2CyBmBBD*IiF=IFp<IJeIJ34٢R< RK=9V9Q V>TT VG٣XyZSX Z> bNusing accuracyPremultiplier from config\b59^e?f5Y^~ i^2MBdf8|fE@^D^:^:^5Y ]@YZjFNOT Ignoring new targets: 646.60 m.BjU,9JjU,9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 313.095886 m, bearing: 1.384116 deg, approach rate: -0.598700 m/s, LOS rate: 0.009417 deg/s, cmd heading: 1.380273 deg, new cmd heading: 1.384116 deg. HeadingCmd: 0.024157 target range: 646.599976 and range: 646.60 m. j<jjjihhhhfffrfbf |B@ɛuiBo8; 15I1 E=ɚAiAIMK=I(Bw,ӤA2Will construct direction to contact in vehicle frame from tetrahedron phase data.0i2A^DAT read: 21:54:40.7357 LVL= 17712, 24513, 12706, 28659, AGC= 72, IDX= 280, 0.08,-1.722, 3.130,-1.573,-2.348, PHS= 0.714,-0.758, 0.772, RAW= 151.9, -9.7, CAL= 158.0, -17.4, ROT= 352.0, 17.4 bYgot valid direction response: 21:54:40.7357 LVL= 17712, 24513, 12706, 28659, AGC= 72, IDX= 280, 0.08,-1.722, 3.130,-1.573,-2.348, PHS= 0.714,-0.758, 0.772, RAW= 151.9, -9.7, CAL= 158.0, -17.4, ROT= 352.0, 17.4 f8DAT read: $Error in header j*Received a bad header=X#Rx 1: Read direction message, but no range.E^direction in FSK: [0.070937,-0.848586,0.524280]092f (?80'3Nf?020E2_ 21)2oI2Hi26?2J B2ˡE?2)@2-\- 2|0@)2|I2 @i2|>02?ٿ?ſ)2ٚ?I2=->i2b2NG eT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse F@Y O= M=9 Q >y H@?M:u??? й@m?@?ɨ F@ Hf; ymrBmJ*IMb@Mb@Mb@ )YGz?v/MbPyp?xi A )AI@yAI|I[4٢ 0<  =9CQ > G٣y[ > %Nusing accuracyPremultiplier from config!59%g?5Y%~ i%MB?:&E@%D%Rk<%j<%5GB T@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 646.60 m.Bj89Jj89] ProNav pure pursuit: ac range: 646.599976 m, nav range: 312.778778 m, bearing: 1.387892 deg, approach rate: -0.610562 m/s, LOS rate: 0.007279 deg/s, cmd heading: 1.384116 deg, new cmd heading: 1.387892 deg. HeadingCmd: 0.024223 target range: 646.599976 and range: 646.60 m. jo<jjjihhhhXBfffrfbf B@ɛ`B#<  I  =ɚ i I C=Io0Bw,VA6̞@Y6#O=6I=96< >y6H?3v?`٩?`?# 3`.t?@v?ɨ6̞@6‡;4yJoBJF*IIRIR_v4٢Z Z=9^RQ ^ ?\\ ^G٣^ GGyb b ? fNusing accuracyPremultiplier from configdj59f?j5Yf, ifMBln'nE@fDf ;f:fO5rEB r^@vEHQIQ IQIQIU+ =&IQ.IQ6IUf<:IU- FBIJIRIZIbIjIٖ4ZjFNOT Ignoring new targets: 646.60 m.Bj9Jj9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 312.581787 m, bearing: 1.390248 deg, approach rate: -0.624537 m/s, LOS rate: 0.007474 deg/s, cmd heading: 1.387892 deg, new cmd heading: 1.390248 deg. HeadingCmd: 0.024264 target range: 646.599976 and range: 646.60 m. j)<jjjihhhhfffrfbfB@ɛ5ZB5 15%I1 ==ɚ9i9I==IE)m Will construct direction to contact in vehicle frame from tetrahedron phase data.u T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapsezK BHK s9K K I K s76Bw,A:O@Y:eF=:D=9:1 >y:H?`8j?`¨??  򗨿^?`?ɨ:O@:؇;8JfJfJdJdJfK:Jf::JdJdJf11 5G٣1y=b => ENusing accuracyPremultiplier from configAM59E郞?M5YEK iEMBM!?M:UUE@ ]u$?IYEDE8v;E5i mb@iZjFNOT Ignoring new targets: 646.60 m.Bj8Jj8% ProNav pure pursuit: ac range: 646.599976 m, nav range: 312.298248 m, bearing: 1.392380 deg, approach rate: -0.652708 m/s, LOS rate: 0.004911 deg/s, cmd heading: 1.390248 deg, new cmd heading: 1.392380 deg. -HeadingCmd: 0.024302 target range: 646.599976 and range: 646.60 m. j-,<j)j)jIiIhQhQhQhUnBfYfYfYrfYbf]@ C@ɛSB; CI I=ɚiI=I,Ubp@Y>D=>W@=9>b >y>H?>$?@P?H?@/Zy?0?ɨ>p@>5;>CydfD*IInwInR4٢vS va=9zDQ z>x| ~G٣|y~s| >  Nusing accuracyPremultiplier from config 59D?5Yf iLBzE@D:Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse:l55BB 5I@5EZjYeFNOT Ignoring new targets: 646.60 m.Bje8Jje8u ProNav pure pursuit: ac range: 646.599976 m, nav range: 312.068970 m, bearing: 1.394120 deg, approach rate: -0.627798 m/s, LOS rate: 0.004770 deg/s, cmd heading: 1.392380 deg, new cmd heading: 1.394120 deg. }HeadingCmd: 0.024332 target range: 646.599976 and range: 646.60 m. j}S<jyjjihhhhfffrfbfLC@ɛuMB} 8; y}߾Iy }=ɚiI1=ISI III&I.I6I|<:I= FG}:Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGI BQ Ou >@ICBw,u A@Y?=;=9E3 >yH@v?`;Ut??٬?.?n@s?֪?ɨ@+};yII_v49Q > G٣ GG=Will construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapsey%' }> Nusing accuracyPremultiplier from config59׮?5Y iLBE@D::5@B "@EzKRIK9KKJ KZjFNOT Ignoring new targets: 646.60 m.Bj8Jj8 ProNav pure pursuit: ac range: 646.599976 m, nav range: 311.742554 m, bearing: 1.396681 deg, approach rate: -0.628870 m/s, LOS rate: 0.004938 deg/s, cmd heading: 1.394120 deg, new cmd heading: 1.396681 deg. HeadingCmd: 0.024377 target range: 646.599976 and range: 646.60 m. j<jjjih h h h f ffrfbfcC@ɛDBt&< &־I =ɚiI2<=I i e)<)Eea>Ee>JJJ0JJk:Jf4:Jـ3JJ"<J"<JՌ;J֌;*F?2F:FBFJFG G =w$?I9 G vAA Y vAy 3A Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG 1z9G B O >RIBw,) A}&@Y}P@=}f6=9}j >y}H?@I? ?@U?`;@٦?ת?ɨ}&@}篇;}CyލjBޕ@*Ii G٣y9 > Nusing accuracyPremultiplier from config59뮛?5Y iLBj"?:"<E@D ;i:5 Y@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 646.60 m.Bj67Jj67 ProNav pure pursuit: ac range: 646.599976 m, nav range: 311.513397 m, bearing: 1.397290 deg, approach rate: -0.639671 m/s, LOS rate: 0.001702 deg/s, cmd heading: 1.396681 deg, new cmd heading: 1.397290 deg. HeadingCmd: 0.024387 target range: 646.599976 and range: 646.60 m. j<jjjihhhh[Bf f f rf bf]C@ɛ=>B= p; 9EӾIA E=ɚAiAIM=IM y I G B O >PBw,CB AH4I4 I4I4I4&I4.I46I6<:I6R FB@YB?=B42=9B0 >yBHD?˥L]?!??DQQ?`?ɨB@Br;BCyNiBN?*IIVIVt4٢޻ l=9>Q > G٣!y%  %> -Nusing accuracyPremultiplier from config)559-)?55Y-p i-LB9=S<=E@-D-C ;-u ;-95M>B MJ@MEZjq}FNOT Ignoring new targets: 646.60 m.Bj}B7Jj}B7 ProNav pure pursuit: ac range: 646.599976 m, nav range: 311.287262 m, bearing: 1.397900 deg, approach rate: -0.632831 m/s, LOS rate: 0.001709 deg/s, cmd heading: 1.397290 deg, new cmd heading: 1.397900 deg. HeadingCmd: 0.024398 target range: 646.599976 and range: 646.60 m. j=<jjjihhhhfffrfbf C@ɛ9B܈; ]ϾI g=ɚiI%=I= Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezK BHK h9K K K K RK ?JK !?J] J] JY JY J] K:J] G:JY JY J] <J] <J] ;J] ;VBw,\ A x$?I yu_Bu3*IMb@Mb@Mb@ )Y?~jtMb`?y ?D;E A ;@)I3@ypAI5I5k4٢E. E3=9MQ M>II MG٣U GGyU U> mNusing accuracyPremultiplier from configa}59e?}5Ye= ieLB ?:}<E@eDe;e;e"5]Bw,v A .Will construct direction to contact in vehicle frame from tetrahedron phase data.2T****** received valid address query ******2R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapseJ@YJ@=Jå(=9J >yJH?ޤK(??$?^2@??ɨJ@J";JCyV]BV0*I)X XI\I\٢f?Y fg=9jQ j>hl nG٣lyn9 n> vNusing accuracyPremultiplier from configpv59r>(?v5Yr irLBxz<zE@rDr ;ru ;r65 @ Zj)5FNOT Ignoring new targets: 646.60 m.Bj={ͶJj={ͶE ProNav pure pursuit: ac range: 646.599976 m, nav range: 310.787720 m, bearing: 1.397629 deg, approach rate: -0.629260 m/s, LOS rate: -0.000351 deg/s, cmd heading: 1.397752 deg, new cmd heading: 1.397629 deg. MHeadingCmd: 0.024393 target range: 646.599976 and range: 646.60 m. jMR<jIjIjQiQhQhQhYhYfYfYfarfabfeaQD@ɛ,Bl; 隝ϾI  =ɚiI=IRcBw,)Z A6yw@Y6z;=6Y#=96ԝ >y6H?;d Dm? ch?X?\e@i`? U?ɨ6yw@6?;6CybcBb8*IIhIh٢r= vI=9v!PQ z>xx zG٣xy~N4 ~>  Nusing accuracyPremultiplier from config 59=? 5Y~ iLBs<E@D:':ƶ5:B %b@%EZjAMFNOT Ignoring new targets: 646.60 m.BjMJjM] ProNav pure pursuit: ac range: 646.599976 m, nav range: 310.533203 m, bearing: 1.397540 deg, approach rate: -0.626425 m/s, LOS rate: -0.000220 deg/s, cmd heading: 1.397629 deg, new cmd heading: 1.397540 deg. eHeadingCmd: 0.024392 target range: 646.599976 and range: 646.60 m. je <jajijiiihqhyhhfffrfbf/D@ePExceeded connect timeout, disconnecting.ɛ%BRo< I  =ɚi!I% =I= G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseO5 >jBw,; Av{@Yv==v%=9vO>yvH@ ?طc?P?\?@|r㣿߷??ɨv{@v~;vCy\B%/*I Mb@Mb@Mb@    ) Y Pn?y&1|Mbp?y $? `廹 ;  Q@) AI `@ y AI%}I%]4٢- 57=95Q 5>99 =G٣= GGyE{: E> UNusing accuracyPremultiplier from configI]59MU?]5YM~ iMLB]$?]:] =eE@MDMJ;M; ;M5m7B m@mEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 646.60 m.BjJj ProNav pure pursuit: ac range: 646.599976 m, nav range: 310.247742 m, bearing: 1.397001 deg, approach rate: -0.638119 m/s, LOS rate: -0.001206 deg/s, cmd heading: 1.397540 deg, new cmd heading: 1.397001 deg. HeadingCmd: 0.024382 target range: 646.599976 and range: 646.60 m. jP<jjjihhhhBfffrfbf D@ɛB< b¾I Z =ɚiI]=IP I 9pBw, AHI I{*IIBI&I.I6IC<:I Fy=RB=#*IiE=IE=IUIUm4٢eO eY=9eQ e>ii mG٣iym u> }Nusing accuracyPremultiplier from configq59u j?5Yul~ iuLBE@uDu" ;u:u5 P@ZjFNOT Ignoring new targets: 646.60 m.BjıJjıWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ProNav pure pursuit: ac range: 646.599976 m, nav range: 310.006409 m, bearing: 1.396544 deg, approach rate: -0.641413 m/s, LOS rate: -0.001214 deg/s, cmd heading: 1.397001 deg, new cmd heading: 1.396544 deg. HeadingCmd: 0.024374 target range: 646.599976 and range: 646.60 m. j<jjjihhhhfffrfbf D@ɛ-B-|B; 9=pƾI9 ='=ɚ9i9I=e=IEzK! K! K! K% M K% $wBw,M A B{$?I@J^J^J\J\J^:J^;:J\J\J^?%<J^@%<J^;J^;y~NB~*IMb@Mb@Mb@ )Y r?MbPMbP?y#?:\ A h@)3AIv@yAIIt4٢먼 D=9Q > G٣y > Nusing accuracyPremultiplier from config59{?5Y~ iLB#?:j6=E@'DM;:55B t@EZjFNOT Ignoring new targets: 646.60 m.Bjr(Jjr( ProNav pure pursuit: ac range: 646.599976 m, nav range: 309.740021 m, bearing: 1.395551 deg, approach rate: -0.616462 m/s, LOS rate: -0.002301 deg/s, cmd heading: 1.396544 deg, new cmd heading: 1.395551 deg. HeadingCmd: 0.024357 target range: 646.599976 and range: 646.60 m. j=<jjjihhh h Bfffrfbf%'E@ɛB(; 隍+ľI X=ɚiI=I=L}Bw,m A"Will construct direction to contact in vehicle frame from tetrahedron phase data."T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapse:s@Y:9=:"=9:>y:H`r? t`.,?<0?ĩ?e#?@.?ɨ:s@: ;:Cy^JBb*IIjIj҅4٢r  rZ=9rQ r>tt zG٣z GGyz) z>  Nusing accuracyPremultiplier from config 59?5Y} iLBq2=E@/D::5%3B %@%EZjIMFNOT Ignoring new targets: 646.60 m.BjU-JjU- ProNav pure pursuit: ac range: 646.599976 m, nav range: 309.499542 m, bearing: 1.394696 deg, approach rate: -0.666615 m/s, LOS rate: -0.002372 deg/s, cmd heading: 1.395551 deg, new cmd heading: 1.394696 deg. HeadingCmd: 0.024342 target range: 646.599976 and range: 646.60 m. jh<jjjihhh h f f f rfbf`VE@ɛ] B]X͡; ae¾Ia e>=ɚaiaIe99=ImhI) I-o*II-BI)&I).I)6I-<:I-a FBIJIRIZI+ =bI+ =jIJ4 Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGïG?G>Gi Bq O >3Bw, A:u@Y::=: =9:I>y:H?S?;L?@?@?ݪ?ɨ:u@:';:CyF@BF *I)H HININi4٢VdI VN=9Z}6Q Z>XX ZG٣\y^R : ^> fNusing accuracyPremultiplier from config`j59b?j5Yb} ibLBlnO3=nE@b7Db?;b3A;bY5p r-@tZj FNOT Ignoring new targets: 646.60 m.Bj#(Jj#(% ProNav pure pursuit: ac range: 646.599976 m, nav range: 309.246979 m, bearing: 1.393786 deg, approach rate: -0.637310 m/s, LOS rate: -0.002297 deg/s, cmd heading: 1.394696 deg, new cmd heading: 1.393786 deg. -HeadingCmd: 0.024326 target range: 646.599976 and range: 646.60 m. j-G<j)j)j)i)h1h1h1h1f9f9f9rfAbfE@E@ɛuB}4; y} ǾIy }j=ɚiI֗=IG Will construct direction to contact in vehicle frame from tetrahedron phase data. i  yJH?\@H??`?+?ª?ɨJy@J z;JCyR:BR*IeMb@Mb@Mb@aaa a)aYeNbX9? G٣yy: > Nusing accuracyPremultiplier from config59?5YN} iyLB%?:=E@@DJj;h;!51B q@EZjFNOT Ignoring new targets: 646.60 m.BjJj ProNav pure pursuit: ac range: 646.599976 m, nav range: 308.967346 m, bearing: 1.393375 deg, approach rate: -0.645918 m/s, LOS rate: -0.000950 deg/s, cmd heading: 1.393786 deg, new cmd heading: 1.393375 deg. HeadingCmd: 0.024319 target range: 646.599976 and range: 646.60 m. j 8<j j j i h hhhBfffrfbf%`oE@ɛUBU<ý; QU8ǾIQ ]P =ɚYiYI]x=Ie8J J J J J :J =:J J a- @a5 @a5 @a5 @ Y IY H I  I b*II BI &I .I 6I d<:I - FEBw,VE A6u@Y6@:=6=96(>y6H :?@ ?B?@?@ 㚠@?@?ɨ6u@6=w;6Cyn/Bn)IIv~IvT_4٢~c T=9[;Q >    G٣ GGy > %Nusing accuracyPremultiplier from config%59֯?-5Y} ipLB)-=-E@HD::55/B =@=EUB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 646.60 m.Bjm偷Jjm偷} ProNav pure pursuit: ac range: 646.599976 m, nav range: 308.717072 m, bearing: 1.393033 deg, approach rate: -0.648089 m/s, LOS rate: -0.000887 deg/s, cmd heading: 1.393375 deg, new cmd heading: 1.393033 deg. HeadingCmd: 0.024313 target range: 646.599976 and range: 646.60 m. j,<jjjihhhhfffrfbfE@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2142> BDAT read: Tx time:21:54:48.4382 $Ping request sent.} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:54:48.4375  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255769zK JK +9K K O K  = $?IA pBw,/4_ A2|@Y2>=2`=92&>y2H?`9u??L?]K(?8?ɨ2|@2;2CyB$BB)IiF=IF<)i i~G %WY!y%{AmMb@Mb@Mb@iii i)iYmNbX9?y&1|MbP?yim`廹m:mA mh@)iIm@iyiI|I[4٢< 2=99Q > G٣y; > Nusing accuracyPremultiplier from config59ﯛ?5Y| igLB%?:P=E@RDt;^;5 @Zj FNOT Ignoring new targets: 646.60 m.BjķJjķ% ProNav pure pursuit: ac range: 646.599976 m, nav range: 308.420288 m, bearing: 1.392417 deg, approach rate: -0.647421 m/s, LOS rate: -0.001344 deg/s, cmd heading: 1.393033 deg, new cmd heading: 1.392417 deg. -HeadingCmd: 0.024302 target range: 646.599976 and range: 646.60 m. j-<j)j)j)i1h1h1h1h5vBf9f9f9rf9bfE*F@ɛB֔; 隕ѾI :=ɚiIE =I Bw, y AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753743:h@Y:4=:y<9:&>y:H x?@gF?I~? Ф?@,2¿m ^??ɨ:h@:p;:CyFBF)IIR_IRb(4٢V Zq=9ZU̻Q Z?X\ ^G٣\y^A b? fNusing accuracyPremultiplier from config`j59b?j5Yb| ib`LBlnM=rE@bYDbsQ;bQ;bx5v-B vp@vEZjFNOT Ignoring new targets: 646.60 m.BjLJjL- ProNav pure pursuit: ac range: 646.599976 m, nav range: 308.201813 m, bearing: 1.392063 deg, approach rate: -0.644757 m/s, LOS rate: -0.001047 deg/s, cmd heading: 1.392417 deg, new cmd heading: 1.392063 deg. -HeadingCmd: 0.024296 target range: 646.599976 and range: 646.60 m. j-<j1j1j1i1h1h1hhfffrfbf`XF@ɛ-B- 15ھI1 UD<ɚYiYI]} =IeBw,U AJXb@YJ0=JyE<9J>yJH ?'ͣ(?@"?? ¿'dD? ˨?ɨJXb@J/q;JCyVBZ)IIbmIb3A4٢jc jG=9nGQ n>ll nG٣rGGyr r> vNusing accuracyPremultiplier from configtz59vW?z5Yvg| ivXLB|~!=~E@vaDv& ;vz ;v 5+B U@EZj)=FNOT Ignoring new targets: 646.60 m.Bj=Jj=M ProNav pure pursuit: ac range: 646.599976 m, nav range: 307.936829 m, bearing: 1.391670 deg, approach rate: -0.648376 m/s, LOS rate: -0.000961 deg/s, cmd heading: 1.392063 deg, new cmd heading: 1.391670 deg. UHeadingCmd: 0.024289 target range: 646.599976 and range: 646.60 m. jU5<jQjQjYiYhYhYhYhafafafarfabfm]F@ɛ%BM@Hp: IMվII UN<ɚQiQIUx =I]5zK]JQJK]9KYK]P K] $?IG b(G ?G ?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515906Bw,7ì A6c@Y6I1=6r<965>y6H@?n?v%? ?¿Dߚ*?`9?ɨ6c@6K;6Cyb Bb)I)d dUMb@Mb@Mb@QQQ Q)QYU~jt?~jthMb`yU$?UDUUA U~@)U3AIUAQyUQAIm[ImK!4٢}^ }A=9}WQ }> G٣yeb9 > Nusing accuracyPremultiplier from config59J/?5Y| iPLB$?:+ =E@jD/;.;5 @ZjFNOT Ignoring new targets: 646.60 m.BjJj ProNav pure pursuit: ac range: 646.599976 m, nav range: 307.664337 m, bearing: 1.390918 deg, approach rate: -0.641986 m/s, LOS rate: -0.001773 deg/s, cmd heading: 1.391670 deg, new cmd heading: 1.390918 deg. HeadingCmd: 0.024276 target range: 646.599976 and range: 646.60 m. j<jjjihhhhzBfffrfbf F@ɛB01: 隽۾I R<ɚiI =I)<)*FQ2FY:FYBF]P5JFY]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765716GHN IJJJJJJ8:JJGi Bq O >H '>I C I **II YBI &I .I 6I p<:I 6 FCBw, A2Ng@Y2d3=2Q<92o>y2H(?:ܠ? h??M¿Vm-?`?ɨ2Ng@2;2Cy>B>)IIJIJy4٢R RY=9RJ;Q R>TT VG٣TyZ : Z> ^Nusing accuracyPremultiplier from configXb59ZC?b5YZ{ iZHLBdfG"=fE@ZrDZ),;ZK,;Z 5j(B j@nE5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 646.60 m.BjMJjMU ProNav pure pursuit: ac range: 646.599976 m, nav range: 307.422516 m, bearing: 1.390227 deg, approach rate: -0.627827 m/s, LOS rate: -0.001797 deg/s, cmd heading: 1.390919 deg, new cmd heading: 1.390227 deg. HeadingCmd: 0.024264 target range: 646.599976 and range: 646.60 m. j`<jjjihhhhfffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017926rfbf+F@ɛ5B= 9=I9 =k<ɚ9iAIE;0 =IE` $?I zK BoHK ]9K K Q K RK- ?JK- >iBw,z A2V\@Y2-=2i<92)>y2H?`Ց?`?֧?pZ??ɨ2V\@2~;0yBBB)IMb@Mb@Mb@ )Y r?Mb~jtxy#?ĻA @)IAIAyAI%I%%x4٢- -B=95aQ 5>19 =G٣=GGyEO E> MNusing accuracyPremultiplier from configIU59MeZ?U5YM{ iM=LBU#?U:<E@MzDM̕4Bw,T AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773868:Pa@Y:e0=:<9:y{>y:H?磿胠??C? @@*? ?ɨ:Pa@: 4;:CyF܉BF)IiJ0>IJ<IRIR_v4٢Z  ZS=9ZQ Z>\` bG٣`yb.: b> jNusing accuracyPremultiplier from configdj59fHo?j5Yf{ if3LBln<nE@fDf2 ;f ;f 5p v@tZj FNOT Ignoring new targets: 646.60 m.Bj-7Jj%-7 ProNav pure pursuit: ac range: 646.599976 m, nav range: 306.904724 m, bearing: 1.390709 deg, approach rate: -0.680098 m/s, LOS rate: 0.000594 deg/s, cmd heading: 1.390493 deg, new cmd heading: 1.390709 deg. HeadingCmd: 0.024272 target range: 646.599976 and range: 646.60 m. j<j!j!j!i!h!h!h)h)f)f)f1rf1 =$?IAbfU\G@ɛ}֊B}0 隅II ,<ɚiI. =I+Bw,0 A6e@Y6}2=6<96>y6Hn?.bb?K? ?@¿𻚿\(?U?ɨ6e@6;6CybډBb)IIjIj{4٢r+ vG=9v,[Q v>xx zG٣xyzG: ~> Nusing accuracyPremultiplier from config 59c? 5Yx{ i)LB  <E@D:H:5$B %@%EZjIUFNOT Ignoring new targets: 646.60 m.BjU7JjU7e ProNav pure pursuit: ac range: 646.599976 m, nav range: 306.642365 m, bearing: 1.390913 deg, approach rate: -0.636811 m/s, LOS rate: 0.000496 deg/s, cmd heading: 1.390709 deg, new cmd heading: 1.390913 deg. mHeadingCmd: 0.024276 target range: 646.599976 and range: 646.60 m. jm}<jijijqiqhqhqhyhyfyfyfrfbf6G@ɛъB( 隽I 0 <ɚiIe =I} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530834Bw,Z . Ay~͉B)IMb@Mb@Mb@ )YL7A`?{Gz~jtxy+'?#A h@)AIhAy(AII_v4٢aj >=9Q > G٣GGy > Nusing accuracyPremultiplier from config59?5Y{ iLB}'?:〼E@D;;x5"B J@EZjFNOT Ignoring new targets: 646.60 m.Bjb8Jjb8 ProNav pure pursuit: ac range: 646.599976 m, nav range: 306.361572 m, bearing: 1.393015 deg, approach rate: -0.654053 m/s, LOS rate: 0.004901 deg/s, cmd heading: 1.390913 deg, new cmd heading: 1.393015 deg. HeadingCmd: 0.024313 target range: 646.599976 and range: 646.60 m. jo+<jjjihhhh9Bfffrfbf4G@ɛˊBps 隥I =<ɚiI =Io+G B Hu (>Iq  Iu )IIu &BIq &Iq .Iu 6D6Iu p<:Iu 8 FBI-˜CJI-˜CRI)ZI)bI)jI-˧4O >Bw,!G A6d@Y6;2=6J<96g>y6H? p<x?C?`?@¿@h;??ɨ6d@6V;6CyRljBRx)I)T TIZIZm4٢bl b[=9f/cQ f>dh jG٣hyj 2 j> rNusing accuracyPremultiplier from configpv59r?v5Yr{ irLBtvKzE@rDr/:r/:r5~ B ~@~EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 646.60 m.Bj-8Jj58E ProNav pure pursuit: ac range: 646.599976 m, nav range: 306.117157 m, bearing: 1.394850 deg, approach rate: -0.653519 m/s, LOS rate: 0.004911 deg/s, cmd heading: 1.393015 deg, new cmd heading: 1.394850 deg. EHeadingCmd: 0.024345 target range: 646.599976 and range: 646.60 m. jEn<jIjIjIiIhIhIhQhQfQfQfYrfYbfe`G@ɛNJBj% 隕IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033861 ~<ɚiI= =InU Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:54:51.6854 LVL= 18688, 21937, 16834, 29651, AGC= 70, IDX= 484, 0.10,-1.184,-2.392,-1.092,-1.816, PHS= 0.720,-0.529, 0.721, RAW= 150.1, -14.5, CAL= 156.7, -22.0, ROT= 353.3, 22.0  Ygot valid direction response: 21:54:51.6854 LVL= 18688, 21937, 16834, 29651, AGC= 70, IDX= 484, 0.10,-1.184,-2.392,-1.092,-1.816, PHS= 0.720,-0.529, 0.721, RAW= 150.1, -14.5, CAL= 156.7, -22.0, ROT= 353.3, 22.0  PDAT read: Bearing 353.3, 22.0 (Local)  ~Local bearing/azimuth received: Bearing 353.3, 22.0 (Local)  DAT read: Range 10 to 50 : 632.1 m (Round-trip 842.9 ms) speed 0.4 m/s  ,DAT read: user:2143>  BDAT read: Tx time:21:54:52.7883  $Ping request sent. Y Y ] 5?J?)Ͽ)] 7?I] M>i] 򯿉] .Y Y  :publishing transmit ping time  Fpublishing direction and range infoY 9] ?pbs<꿹_Wy:H?E@?9?`3?¿t@;??ىىىى ډ)ډIډiډډډۍ5?J?)Ͽ)ۉIۉiۉۉۉۉɨ:^_@:b;8yfBfd)I}Mb@Mb@Mb@yyy y)yY}ˡE?J +Mby}'?}H}}A }~@)}AI}Ayy}AII 4٢=p =)=9=ӺQ E>AA EG٣AyMd > Nusing accuracyPremultiplier from config59̰?5Y{ iLBj(?: E@D<< 5Q ]@YWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:54:52.7875 k bkܛ?kSmL k kNz[ A:kDBkDZk]Q@"lW((Y@KyT1au@?pbs<꿹_WMp@x \u?P58?"kK *kmCkѮܛ?kR=L 2kCkѮܛ?kNQY kkCk@ addTargetRange:: Added new target pos. range: 632.099976 m, deltaT: 48.168055 s, deltaX: -14.500000 m, approachRate: -0.301029 m/s, rangeRepo size: 2  Added new target pos. range: 632.099976 m, bearing: 283.466971 deg, lat: 36.899980 deg, lon: -122.119558 deg, deltaT: 48.168055 s, deltaX: -14.500000 m, approachRate: -0.301029 m/s, posRepo size: 2 ZjFNOT Ignoring new targets: 632.10 m.BjJj- ProNav: ac range: 632.099976 m, nav range: 134.653488 m, bearing: 352.265939 deg, approach rate: 0.000000 m/s, LOS rate: 0.004911 deg/s, cmd heading: 1.394850 deg, new cmd heading: 1.402990 deg. 2j-W9-HeadingCmd: 0.024487 target range: 632.099976 and range: 632.10 m. j5<j1j1j1i1h1h1hYheBfafafarfe@bfm`_?ɛB85 I <ɚiIǽ =I,Bw,K} ABe@YB2=B<9B=&>yBH?_?L? ?F/¿З`RS?^?ɨBe@BK;@yNBN])IIVSIV4٢^ ^j=9boQ b?`d fG٣dyf} ; j? rNusing accuracyPremultiplier from configlr59n߰?r5Yn| inKBtv鼑zE@nDn;n;n5~B ~@~E $?IZj)5FNOT Ignoring new targets: 632.10 m.Bj5$Jj5$E ProNav: ac range: 632.099976 m, nav range: 134.430649 m, bearing: 352.255790 deg, approach rate: -0.788898 m/s, LOS rate: -0.035990 deg/s, cmd heading: 1.402990 deg, new cmd heading: 1.372492 deg. 2jMźMHeadingCmd: 0.023955 target range: 632.099976 and range: 632.10 m. jU><<jQjQjQiQhQhQhahafafafirfibfmb?ɛB{ 隝CI ;j<ɚiIF=I><<<)*FY2Fa:FaBFe0JFaZH9RH=AAHAIA IE)IIE BIA&IA.IA6IE<:IET FGYBaO>Will construct direction to contact in vehicle frame from tetrahedron phase data.{Bw, A6(g@Y6Q3=6Ύ<96Xx">y6H $?`U`w? f??@Ŀ``7?@?ɨ6(g@6g;6CyBBBS)IiFXX ZG٣ZGGyZ: ^> bNusing accuracyPremultiplier from config`f59b?j5YbL| ibKBhj=弑jE@bDb.;b/;b5rB r!@rEZj  FNOT Ignoring new targets: 632.10 m.Bj Jj % ProNav: ac range: 632.099976 m, nav range: 134.170456 m, bearing: 352.243835 deg, approach rate: -0.655602 m/s, LOS rate: -0.030181 deg/s, cmd heading: 1.372492 deg, new cmd heading: 1.336558 deg. 2j%-HeadingCmd: 0.023327 target range: 632.099976 and range: 632.10 m. j-<j)j)j)i1h1h1h1h9f9f9f9rfAbfE?ɛuBu( quIq 8<ɚi!I%j=I- Will construct direction to contact in vehicle frame from tetrahedron phase data.~Bw,{ݰ A2U@Y2*=2=<92p>y2H?xW@`?@T?[?@ÿ =GL?P?ɨ2U@2:;0yBBBA)IEMb@Mb@Mb@AAA A)AYENbX9?S㥫y&1|yE%?E/]E`EA E@)E3AIEzAAyEAI]_I]b(4٢m( m>=9m}wQ m>qq uG٣qy}\ }> Nusing accuracyPremultiplier from config59F ?5Y| iKB7&?:E@D;G:?5  @ZjFNOT Ignoring new targets: 632.10 m.BjJj ProNav: ac range: 632.099976 m, nav range: 133.893646 m, bearing: 352.232380 deg, approach rate: -0.645443 m/s, LOS rate: -0.026765 deg/s, cmd heading: 1.336558 deg, new cmd heading: 1.302123 deg. 2j򒺝HeadingCmd: 0.022726 target range: 632.099976 and range: 632.10 m. j,<jjjihhhh BfffrfbfAd?ɛ5B5* 9=e I9 =k<ɚ9i9IE=IE, $?IHI II  IM )IIM BIM * =&II .II 6IM Ѱ<:IM FzBw, A2 B@Y2 =2,G<923>y2H?-@?@)??`Sÿ t(q??ɨ2 B@2 ˉ;0y>B>7)IIJIJ 4٢R0 RW=9R;Q V>TT VG٣T^Will construct direction to contact in vehicle frame from tetrahedron phase data.yZѻ ^> fNusing accuracyPremultiplier from config`f59b"?f5Yb| ibKBhn)nE@bDb+;b`+;b5rB ro@rEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 632.10 m.BjJj- ProNav: ac range: 632.099976 m, nav range: 133.647766 m, bearing: 352.222432 deg, approach rate: -0.643770 m/s, LOS rate: -0.026094 deg/s, cmd heading: 1.302123 deg, new cmd heading: 1.272224 deg. 2j-C5HeadingCmd: 0.022204 target range: 632.099976 and range: 632.10 m. j51<j9j9j9i9h9h9hAhAfAfAfArfIbfM~?ɛuBuZw y}e Iy }<ɚyiyI}hi=I1  I! J- J- J- 0J) J- ;:J- ?:J- ـ3J) J- L)<J- L)<J- ;J- ;zK jIK 9K K U K Bw,) A2!@Y2=2<929>>y2H`? E? "?|?¿@v?ң?ɨ2!@2'v;0yBBB;)I)D DDFAEMb@Mb@Mb@AAA A)AYE~jt?Qy&1|yE$?EuAA E~@)EAIEAAyEAI]I]v}4٢m o< m?=9mPQ u> G٣GGy > Nusing accuracyPremultiplier from config599?5YC} iKBU%?: bE@DY;;f5B @EZj9EFNOT Ignoring new targets: 632.10 m.BjMU˹JjMU˹ ProNav: ac range: 632.099976 m, nav range: 133.366028 m, bearing: 352.212661 deg, approach rate: -0.639345 m/s, LOS rate: -0.022221 deg/s, cmd heading: 1.272224 deg, new cmd heading: 1.242847 deg. 2jtHeadingCmd: 0.021692 target range: 632.099976 and range: 632.10 m. j<jj!j!i!h)hQhQhQfYfYfYrfYbf];@ɛB 隽I <ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252141Iv=IU} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501731ZBw,q A6l @Y6=6<96->y6H?Oǝ@?Ü? ¥?i|¿`ؓ?t?ɨ6l @6n;4yBBB$)IIJIJ_v4٢RHĽ RX=9V!Q V>TT ZG٣XyZL Z> b$?I` jNusing accuracyPremultiplier from configdj59fM?n5Yf} ifKBlnmnE@fDf;fS;f 5t vD@tZj FNOT Ignoring new targets: 632.10 m.BjZȹJjZȹ ProNav: ac range: 632.099976 m, nav range: 133.127884 m, bearing: 352.204669 deg, approach rate: -0.651279 m/s, LOS rate: -0.021895 deg/s, cmd heading: 1.242847 deg, new cmd heading: 1.218829 deg. 2jlpHeadingCmd: 0.021273 target range: 632.099976 and range: 632.10 m. jC<jjjihhhhfffrfbf @ɛEBM\ IMII M*><ɚIiqIuR=I}ChCw,I AF@YFl<FqC<9F>yFH?@~huј?@??n4¿@`-I?J?ɨF@F ݈;FCyN~BN)IIZIZv}4٢% %C=9%:ۺQ %>)) -G٣)y5» 5> ENusing accuracyPremultiplier from configAM59Ed?M5YE~ iEKBIMqxME@EDEs:E:EJ5]B ]o@]EZjFNOT Ignoring new targets: 632.10 m.Bj Jj  ProNav: ac range: 632.099976 m, nav range: 132.858749 m, bearing: 352.195901 deg, approach rate: -0.643192 m/s, LOS rate: -0.020996 deg/s, cmd heading: 1.218829 deg, new cmd heading: 1.192472 deg. 2jfHeadingCmd: 0.020813 target range: 632.099976 and range: 632.10 m. j <jjjihhhhfffrfbf c@ɛBd{ 1I <ɚiI@=I m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274455 Cw,I-2 A:@Y:<:7<9:>y:H?`Ԙ?Ξ??6¿u-?@N?ɨ:@:y;8yB{BF)IiN=IN< Z=Zp=EMb@Mb@Mb@AAA A)AYEMb?Q뱿MbpyE ?E\EE+A A)AIAAyEAI]sI]K4٢e eF=9mQ m>iq uG٣uGGyu9 }> Nusing accuracyPremultiplier from configy59}z?5Y}~ tIi}KB!?:F@}D}B;}@;}5B @EZjFNOT Ignoring new targets: 632.10 m.Bj2Jj2e ProNav: ac range: 632.099976 m, nav range: 132.599060 m, bearing: 352.189491 deg, approach rate: -0.628277 m/s, LOS rate: -0.015540 deg/s, cmd heading: 1.192472 deg, new cmd heading: 1.173203 deg. 2je*eHeadingCmd: 0.020476 target range: 632.099976 and range: 632.10 m. jmҽ<jijijiiihhhhBfffrfbf @ɛ B5`\ 15HI1 5<ɚ1i9I=B=I=ҽI  I {)II ˉBI * =&I .I 6I <:I T FG B O5 >xCw,2L AN8 @YN=N<9N?>yNH?`A`҆??`ާ?@@¿` V?`?ɨN8 @N;NCyVsBV)IIvIv4٢' Q=9Q  >    G٣ y; >Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:54:56.0229 -TRx dataTimestamp_ set to:1736373297.224802-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778998 5Nusing accuracyPremultiplier from config1=595V?=5Y5 i5KBAEEF@5D5k;5Z;5U5I M@ImB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 632.10 m.BjJj ProNav: ac range: 632.099976 m, nav range: 132.351456 m, bearing: 352.183074 deg, approach rate: -0.629679 m/s, LOS rate: -0.016349 deg/s, cmd heading: 1.173203 deg, new cmd heading: 1.153917 deg. 2j3HeadingCmd: 0.020140 target range: 632.099976 and range: 632.10 m. j<jjjihhhhfffrfbf`@ɛB &I 0<ɚiI*=IGiByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029768 I Cw,8e AzK*k3IK*9K(K*W K*r@Yr =rw<9r>yrH`?`y\qq }G٣yy4(; > Nusing accuracyPremultiplier from config59T?5Y iKB#?:F@D5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9DAT read: 21:54:56.0229 LVL= 18544, 21409, 15730, 28755, AGC= 71, IDX= 308,-0.32,-2.231, 2.719,-2.147,-2.856, PHS= 0.712,-0.661, 0.706, RAW= 149.8, -11.0, CAL= 156.5, -18.9, ROT= 353.5, 18.9 Ygot valid direction response: 21:54:56.0229 LVL= 18544, 21409, 15730, 28755, AGC= 71, IDX= 308,-0.32,-2.231, 2.719,-2.147,-2.856, PHS= 0.712,-0.661, 0.706, RAW= 149.8, -11.0, CAL= 156.5, -18.9, ROT= 353.5, 18.9 8DAT read: $Error in header *Received a bad headerQ<=5B @EZjFNOT Ignoring new targets: 632.10 m.BjJjX#Rx 1: Read direction message, but no range.^direction in FSK: [0.095992,-0.825542,0.556116]A9E 璸?nj"?AEpHES Er=)ESpIEGiEE6?EL7)Ej4?ET'@E D E.@)E[䨾IEn@iE[>AEz@B?7B$3?gȿ)E?IEE>iE>ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseM ProNav: ac range: 632.099976 m, nav range: 132.043121 m, bearing: 352.173658 deg, approach rate: -0.595052 m/s, LOS rate: -0.018215 deg/s, cmd heading: 1.153917 deg, new cmd heading: 1.125601 deg. 2jUHHeadingCmd: 0.019645 target range: 632.099976 and range: 632.10 m. j<jjjih)h1h1h5Bf9f9f9rf9bf=x@ɛBm% I <ɚiI==I:J J a @a @a @a @O >e Cw,Dn AR%@YR=RÙ<9Rh>yRHP?طAY?P?ޣ?R¿.8N?Ԧ?ɨR%@R>;RCy^dB^(I)` ```IxIx٢l B=9]hQ ]>YY eG٣eGGyeJ; e> Nusing accuracyPremultiplier from config59?5Y iKBzF@D3:v:5HI Ih)IIBI&I.I6I<:Ik FBIJIRIZI* =bI* =jI:4B @EZj9EFNOT Ignoring new targets: 632.10 m.Bje%ùJje%ùu ProNav: ac range: 632.099976 m, nav range: 131.791122 m, bearing: 352.165712 deg, approach rate: -0.675075 m/s, LOS rate: -0.021326 deg/s, cmd heading: 1.125601 deg, new cmd heading: 1.101719 deg. 2ju,jHeadingCmd: 0.019229 target range: 632.099976 and range: 632.10 m. jY<jjjihhhhfffrfbf@@ɛBb  I ʸ<ɚiI=IYK&Cw,& A6-@Y6=6pd<96>y6H?@3Cx?Ԣ?? ¿H̒`??ɨ6-@6;6CyReBR(IIZIZ̍4٢b; bP=9bόQ f>dd fG٣dyjB-; j>vWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse $?I -Nusing accuracyPremultiplier from config!e59%8ձ?m5Y% i%yKBgF@% D%<%w<%!5] B ]@eEZjFNOT Ignoring new targets: 632.10 m.BjJj ProNav: ac range: 632.099976 m, nav range: 131.522629 m, bearing: 352.157093 deg, approach rate: -0.593642 m/s, LOS rate: -0.019095 deg/s, cmd heading: 1.101719 deg, new cmd heading: 1.075811 deg. 2jQMHeadingCmd: 0.018776 target range: 632.099976 and range: 632.10 m. jM љ<jIjIjIiQhQhQhQhYfYfYfYrfYbfe@zKKs9KKX KɛB]u I <ɚ i I .=I љ-Cw,` AyzcBz(I%Mb@Mb@Mb@!!! !)!Y%Mb?V-y!%m%%XA !)%AI%A!y%AI=I=y4٢MŻ M4=9UQ ]>Ya eG٣aye e> mNusing accuracyPremultiplier from configi59mw뱛?5Ym impKB#?:hYF@mDm[I I\)IIBI&I.I6Ic<:I1 FG V'SG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseB4Cw, A~T=@Y~h=~)<9~G>y~H?@?@`ȹ?`ʣ?ܡ?ऴ¿ g?`ԥ?ɨ~T=@~A;~CyRB(Ii%=IC= %=!I-I-4٢ S=9Q > G٣GGy՟; > Nusing accuracyPremultiplier from config596?5Y7 ihKBQF@D::(5 B @EB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 632.10 m.Bj-Jj-九E ProNav: ac range: 632.099976 m, nav range: 131.013580 m, bearing: 352.138187 deg, approach rate: -0.663479 m/s, LOS rate: -0.025025 deg/s, cmd heading: 1.046770 deg, new cmd heading: 1.018982 deg. 2jEeMHeadingCmd: 0.017785 target range: 632.099976 and range: 632.10 m. jM<jIjIjIiIhQhQhYhYfYfYfYrfabfe@ɛ|B߈ 隕I <ɚiI=IzK >`JK 9K K Y K '4CWk{}}vhZSQOSQOMLJJGCBCDP/:Cw,ܷ AyPB%(I-only read 1 of 4 data items for water velocity. Device response is::WS,-32768-  @ @ @  @ IIr4٢ۻ H=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59$?5Y i`KB +:  :  F@#Dz%;>+5B ~@E]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseZjiuFNOT Ignoring new targets: 632.10 m.BjuٹJjuٹ ProNav: ac range: 632.099976 m, nav range: 130.753937 m, bearing: 352.128375 deg, approach rate: -0.627707 m/s, LOS rate: -0.023769 deg/s, cmd heading: 1.018982 deg, new cmd heading: 0.989487 deg. 2jHeadingCmd: 0.017270 target range: 632.099976 and range: 632.10 m. jgy<jjjihhhhfffrfbf`K@ɛwBϲ uI ة<ɚiI=IgyJ% J! J% 0J! J% :J! J% ـ3J! ACw, A2 J@Y2$=2L<92K{>y2H/?Y3F? ?@?¿ Rrf??ɨ2 J@2c;2Cy^LB^(IIfIfy4٢r r\=9rfQ v>xx zG٣|y~ ; ~>  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config599*?5Y iYKB :Y:OKF@+DE;H?-5! %@)ZjYeFNOT Ignoring new targets: 632.10 m.BjeJjeHI II)IIBI&I.I6I<:IY F ProNav: ac range: 632.099976 m, nav range: 130.516281 m, bearing: 352.119196 deg, approach rate: -0.643016 m/s, LOS rate: -0.024879 deg/s, cmd heading: 0.989487 deg, new cmd heading: 0.961901 deg. 2jHeadingCmd: 0.016788 target range: 632.099976 and range: 632.10 m. j<jjjihhhhfffrfbf@ɛsBRG AI O<ɚiIP=I@GCw,Dk A:G@Y:L#=:?<9:E>y:H[?@`Ö?tg? v?`~¿,? ?ɨ:G@:;:CyDF(IIRIRt4٢V ZN=9ZKQ Z>X\ ^G٣^GGbWill construct direction to contact in vehicle frame from tetrahedron phase data.bT****** received valid address query ******bR****** received valid ping request ******freceived new query, but waiting for acoustic response period to elapseyfok f> rbBottom track data is 1.2 s old, using for 20.0 s. rNusing accuracyPremultiplier from configpv59r??v5Yr7 irQKBz9xz0:zLzF@r3DrL$;rQ?r/5~B @E %$?I)ZjFNOT Ignoring new targets: 632.10 m.BjdڹJjdڹ ProNav: ac range: 632.099976 m, nav range: 130.262238 m, bearing: 352.109390 deg, approach rate: -0.617058 m/s, LOS rate: -0.023867 deg/s, cmd heading: 0.961901 deg, new cmd heading: 0.932423 deg. 2j5 uHeadingCmd: 0.016274 target range: 632.099976 and range: 632.10 m. j}P<jyjjihhhhf1f9f9rfAbfM@ɛnB I) -t<ɚ)i1I5=I5P/kMCw,4H8 A6dP@Y6'=6<96>y6H?䴖??ϣ?j¿@`Ӑ?@?ɨ6dP@69;6CyNIBR(I 5 5 55 5M  M M MMb@Mb@Mb@III I)IYMףp= ?{GzMbp?yM?M#M;MAA M~@)M`AIMAIyMAII#4٢(X 8=9Q > G٣y'; > Nusing accuracyPremultiplier from config 59V? 5Yc iKKB T:  ? : ¼F@ Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseSTCw,%R AJ]E@YJl"=J<9Jć>yJH ?n颿 ? yK?? cH¿nb `??ɨJ]E@Jn;JCyrHB~(II I v}4٢-mJ -W=95zQ 5>1 G٣ya > Nusing accuracyPremultiplier from config59Hk?5Y iGKB"ͼF@CD:U:65 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 632.10 m.Bj Jj  ProNav: ac range: 632.099976 m, nav range: 129.748077 m, bearing: 352.083533 deg, approach rate: -0.618110 m/s, LOS rate: -0.031011 deg/s, cmd heading: 0.891132 deg, new cmd heading: 0.854698 deg. 2jB HeadingCmd: 0.014917 target range: 632.099976 and range: 632.10 m. j gt<j j j i h hhhff!f!rf!bf%I@ɛUeBUF Y]IY ]<ɚYiYI]=IegtzK} NK} ]9Ky K} [ K} }ZCw, k A2M@Y2M&=20<92I>y2H@;?Dh A?`Ǥ?? K¿%`c?@?ɨ2M@2?;0yB@BB(IMb@Mb@Mb@ )Y+?y&1~jtxyv?`eĻnA @)AIAyfAII4٢ B=9Q > G٣GGy; > Nusing accuracyPremultiplier from config59?5Y݂ i=KB?:AF@KD;:f:5B @EZjFNOT Ignoring new targets: 632.10 m.BjJj%九- ProNav: ac range: 632.099976 m, nav range: 129.494370 m, bearing: 352.073309 deg, approach rate: -0.618842 m/s, LOS rate: -0.024985 deg/s, cmd heading: 0.854698 deg, new cmd heading: 0.823968 deg. 2j--=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseEHeadingCmd: 0.014381 target range: 632.099976 and range: 632.10 m. jEk<jAjAjAiIhIhIhIhUBfQfQfQrfYbf]\ @ɛaB 隅UI  8<ɚiIn=IkeaCw,܅ AV?N@YV&=V~<9V`>yVH7?`淕?٤?`Q?mC¿+ԏI[?`R?ɨV?N@V*;VCZH!RH%@AH5+>I1 I56)II5BI1&I1.I16I5<:I5J FynBBޕ(IIIv}4٢; K=9Q > G٣yp9 > Nusing accuracyPremultiplier from config59ҕ?5Y- i3KBhAF@SDE5;g5;=5B @EZjFNOT Ignoring new targets: 632.10 m.BjXJjX幝- ProNav: ac range: 632.099976 m, nav range: 129.244797 m, bearing: 352.063199 deg, approach rate: -0.617498 m/s, LOS rate: -0.025064 deg/s, cmd heading: 0.823968 deg, new cmd heading: 0.793579 deg. 2j-=HeadingCmd: 0.013851 target range: 632.099976 and range: 632.10 m. j=ub<j9j9j9i9h9hAhAhAfAfIfIrfIbfMgy!@ɛ\BM < I l<ɚi I |=IubG B O >gCw, A6VP@Y6'=6{<96>y6H@'?y@Z???9¿p@Q?౪?ɨ6VP@6A2;6C B$?I@yJ=BJ(IRWill construct direction to contact in vehicle frame from tetrahedron phase data.RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseIZIZ̍4٢f0ּ f[=9fQ f>hh jG٣hyn3: n> rNusing accuracyPremultiplier from configpv59r\?v5Yrv ir*KBtzc@zF@r[Dr#:r#:r1A5| ~1@|Zj!%FNOT Ignoring new targets: 632.10 m.Bj-Jj-繝U ProNav: ac range: 632.099976 m, nav range: 129.013626 m, bearing: 352.053774 deg, approach rate: -0.619897 m/s, LOS rate: -0.025320 deg/s, cmd heading: 0.793579 deg, new cmd heading: 0.765252 deg. 2jU]HeadingCmd: 0.013356 target range: 632.099976 and range: 632.10 m. j]Z<jYjYjYiahahahahifififirfibfu`9"@JJJJJ;:J>:JJJL)imCw,O Ayb7Bb(I)d dMb@Mb@Mb@ )Yrh|?ktMb`y? 0AA @)vAIAy3AI I )4٢ϼ %7=9%Q %>)) -G٣-GGy- 5> =Nusing accuracyPremultiplier from config9E59=`?E5Y= i="KBEK?E:E輑MF@=dD={;=u:=E5UB ul@u~EZjFNOT Ignoring new targets: 632.10 m.BjJj ProNav: ac range: 632.099976 m, nav range: 128.742081 m, bearing: 352.040382 deg, approach rate: -0.595960 m/s, LOS rate: -0.029453 deg/s, cmd heading: 0.765252 deg, new cmd heading: 0.724991 deg. 2jHeadingCmd: 0.012653 target range: 632.099976 and range: 632.10 m. jPO<jjjihhhhBfff rf  u$?IqWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsebf  ##@ɛ%SBmO8 qu(Iq u<ɚqiqIuGz=I}PO] Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapsetCw,l A2sP@Y2'=2i(z<92N>y2H(?sk???`¿D'?`6?ɨ2sP@2GZ;2Cyb2Bb(IIjIj4٢vڼ v`=9v&rQ z>xx ~G٣y$8 >  Nusing accuracyPremultiplier from config 59 )Ӳ?5Y Ճ i KB輑F@ kD f; ; KH5%B -@-{EMB*** querying acoustic contact ***jIjIZjYeFNOT Ignoring new targets: 632.10 m.Bje Jje u ProNav: ac range: 632.099976 m, nav range: 128.520416 m, bearing: 352.029409 deg, approach rate: -0.616354 m/s, LOS rate: -0.030564 deg/s, cmd heading: 0.724991 deg, new cmd heading: 0.692016 deg. 2juͧHeadingCmd: 0.012078 target range: 632.099976 and range: 632.10 m. jE<jjjihhhhfffrfbf 1#@ɛPBټ I <Ĉ<ɚiI=IEJJJJJ:JC:JJJ'<J'<JE;JE;zK &MK K K ] K zCw,sG A2X@Y2+=2my~<92`>y2H?`͕?u?4?L¿Ώ`? ?ɨ2X@2\<;2CyZ1BZ(IMMb@Mb@Mb@III I)IYMףp= ?~jt~jthyM?MDMDMXA I)M AIMIAIyMAI}I}4٢4 ?=9'!:Q > G٣yu ; > Nusing accuracyPremultiplier from config59鲛?5Y iKB2?: F@sD`;G_; L5B @UWill construct direction to contact in vehicle frame from tetrahedron phase data.]5Cw,d!A6LN@Y6&=6Q6z<96X>y6H@??zT?`fڤ??zFF?`̭?ɨ6LN@6J|;6CyB8BB(IiF4=IFp= F=F=IJIJ 4٢R}= V\=9V8Q V>XX ZG٣ZGGyZR ^>Hf,>Id If$)IIfBIf) =&Id.Id6Ifc<:If3 F vNusing accuracyPremultiplier from configpv59r4?z5YrI ir KBxzzF@r{Dr:r:rPO5B @xEZj)-FNOT Ignoring new targets: 632.10 m.Bj5 Jj5  ProNav: ac range: 632.099976 m, nav range: 128.023941 m, bearing: 352.006071 deg, approach rate: -0.651707 m/s, LOS rate: -0.030566 deg/s, cmd heading: 0.654449 deg, new cmd heading: 0.621865 deg. 2jЧHeadingCmd: 0.010854 target range: 632.099976 and range: 632.10 m. jG1<jjjihhhhfffrfbf 8~%@ɛMHBMRܼ IMII U~s<ɚQiqIuB=IG1 -u 9 IA ݇Cw,P ANP@YN(=NXw<9NG>yNH*?l ;?o??@+??ɨNP@N ;NCyZ6BZ(IbWill construct direction to contact in vehicle frame from tetrahedron phase data.fBDAT read: Tx time:21:55:03.7384 f$Ping request sent.f 5G٣1ye2: u>~G =Y9yEA }Nusing accuracyPremultiplier from config*JC="JR=JJJJJ:J=:JJJ&<J&<J;J; 59?5Y iKBF@D)=f=S5uB }@}uEZj-FNOT Ignoring new targets: 632.10 m.Bj5عJj5ع ProNav: ac range: 632.099976 m, nav range: 127.758202 m, bearing: 351.993547 deg, approach rate: -0.501704 m/s, LOS rate: -0.023693 deg/s, cmd heading: 0.621865 deg, new cmd heading: 0.584216 deg. 2jHeadingCmd: 0.010196 target range: 632.099976 and range: 632.10 m. j/'<jjjihhhhfffrfbfh&@zKKػ9KK^ KBK :K rAɛmBBm( iu Iq uy<ɚqiqIux=I/'!Cw,=A2E@Y2"=2eo<92jS>y2H`? x?DO? *?@`v썿??ɨ2E@2;2Cy>9BZ(IEMb@Mb@Mb@AAA A)AYE{Gz?&1Mb`?yE#?EPE;A A)EAIEAAyE AI]eI]34٢m^A< m0=9uQ u> $?Iq G٣yzC > Nusing accuracyPremultiplier from config59+?5YԄ iJB\$?:!F@D;* ;V5 @ZjFNOT Ignoring new targets: 632.10 m.Bj`*Jj`* ProNav: ac range: 632.099976 m, nav range: 127.474495 m, bearing: 351.980723 deg, approach rate: -0.822031 m/s, LOS rate: -0.037239 deg/s, cmd heading: 0.584216 deg, new cmd heading: 0.545659 deg. 2js̺HeadingCmd: 0.009524 target range: 632.099976 and range: 632.10 m. j<jjjihhhh Bf f f rf bf@3'@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503351ɛ?BΊƼ  I _t<ɚiI =I % Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755583̚Cw,WA :D@Y:!=:\S<9:NJ>y:H?,a?`Y6??@mk??ɨ:D@:;:Cyf/Bf(I)h hInvIn&Q4٢vIF vS=9zQ z>xx ~G٣~GGy~ ~>  Nusing accuracyPremultiplier from config59@?5Y iJB"F@DQ;Q;RZ5%B -Y@-rEMB*** querying acoustic contact ***jIjIZjQeFNOT Ignoring new targets: 632.10 m.Bje/Jje/u ProNav: ac range: 632.099976 m, nav range: 127.228104 m, bearing: 351.969568 deg, approach rate: -0.636900 m/s, LOS rate: -0.028891 deg/s, cmd heading: 0.545659 deg, new cmd heading: 0.512129 deg. 2ju}HeadingCmd: 0.008938 target range: 632.099976 and range: 632.10 m. j}r<jjjihhhhfffrfbf'@ɛzK= BHK= h9K9 K= _ K= śCw,_qA6X@Y6;,=6M+M<96>y6H ?Pzm?Q?p?=( ? h?ɨ6X@6;6CyN3BR(IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259397Mb@Mb@Mb@ )Y#~j?v/y%?xi 3@)AIIAyAI\I#4٢\< :=9{aQ > G٣y-; -> =Nusing accuracyPremultiplier from config9E59=X?E5Y=n i=JBM&?M:M 8MF@=D= ;=:=2^5UB U@]oEZjyFNOT Ignoring new targets: 632.10 m.BjJj ProNav: ac range: 632.099976 m, nav range: 126.940819 m, bearing: 351.957182 deg, approach rate: -0.650338 m/s, LOS rate: -0.028101 deg/s, cmd heading: 0.512129 deg, new cmd heading: 0.474888 deg. 2jIHeadingCmd: 0.008288 target range: 632.099976 and range: 632.10 m. j<jjjihhhhBfffrfbf@X(@ɛ8B| 隵-I 4f<ɚiI=IZHY RH] AAHa Ia  Ia Ia Ia &Ia .Ia 6Ie <:Ie V FjCw,:AN{m@YN{6=N&C<9Na >yNHJ?ȥ@x*?ͦ?`?@t _?ϵ?ɨN{m@N{E;NCyb7Bb(IInIn4٢vԭ< v^=9vܺQ v>xx zG٣xyz; ~> Nusing accuracyPremultiplier from config 59l? 5Y iJB  -F@D:s:`a5 @ZjAEFNOT Ignoring new targets: 632.10 m.BjMJjMe ProNav: ac range: 632.099976 m, nav range: 126.705360 m, bearing: 351.946719 deg, approach rate: -0.647114 m/s, LOS rate: -0.028809 deg/s, cmd heading: 0.474888 deg, new cmd heading: 0.443440 deg. 2je,mHeadingCmd: 0.007739 target range: 632.099976 and range: 632.10 m. jm;jijijiiihqhqhqhqfyfyfyrfbf )@ɛ5B 隭NI $`<ɚiIl7=I=;i=mi=0V<)=;)9*F?2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763590G9)<GABQOm5> m $?Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015355רCw,A6s@Y6A9=6W<96 >y6H?@ ? %? ?5?`?ɨ6s@6E;6CyR.BR(IiVN>IV>IvIv4٢-9 5F=9B;Q > G٣GGy :J=J=J9J9J=k:J=>:J9J9 M>J="<J="< Nusing accuracyPremultiplier from config599?%5J=˕;J=˕;Y iJBiu*uF@Dڙ<a<oe5}B }3@}lEZjFNOT Ignoring new targets: 632.10 m.BjJj ProNav: ac range: 632.099976 m, nav range: 126.404678 m, bearing: 351.933207 deg, approach rate: -0.618139 m/s, LOS rate: -0.027845 deg/s, cmd heading: 0.443440 deg, new cmd heading: 0.402806 deg. 2j-HeadingCmd: 0.007030 target range: 632.099976 and range: 632.10 m. j-e^;j)j)j)i)h)h1h1h1f1f9f9rf9bfE.*@ɛ0BfX NI ?@X<ɚiI=Ie^;zKBJK+9KK` K" iDЈi%{e<)%e^;)!*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269131G <G B O >9Cw,AA Iy 8B (IMb@Mb@Mb@ )YuV? ףp= Mb`?yr(?Q8;A ) AIAyzAIIr4٢D= A=9Q > G٣y > Nusing accuracyPremultiplier from config59ښ?5Y, iJB(?::F@D ;;:h5]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519426B l@jEZj15FNOT Ignoring new targets: 632.10 m.Bj=Jj=M ProNav: ac range: 632.099976 m, nav range: 126.161507 m, bearing: 351.920122 deg, approach rate: -0.631981 m/s, LOS rate: -0.034073 deg/s, cmd heading: 0.402806 deg, new cmd heading: 0.363475 deg. 2jMuHeadingCmd: 0.006344 target range: 632.099976 and range: 632.10 m. ju;jqjqjqiqhyhyhyh}.BfffrfbfV+@ɛ-B m I )KR<ɚiIM*=I;iUil}n<);) EH=->I=C I=)II=yBI9&I9.I96I=:<:I= F*F?2F:FBFo0JFG 3Z< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772833G B O >Cw,OA2f@Y2 3=2|b<92ɼ >y2Hd?8?^?? dO@)?`:?ɨ2f@24;2CyR2BR(IIZIZ<4٢b< b\=9f:Q f>dd jG٣hyjۅ j> rNusing accuracyPremultiplier from configpv59r?v5YrT irJBxzǼ~F@rDrzK} }KK} 9Ky K} a K} Cw,A "@>T@Y><*=>l_<9>>y>H)?`&?lE?}?#t?`?ɨ>T@>3;>CyN4BN(IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275433Mb@Mb@Mb@ )Y(\? }G٣}GGyL > Nusing accuracyPremultiplier from config59ɳ?5Yn iJBT.?:3EF@D;;o5B @gEZjFNOT Ignoring new targets: 632.10 m.Bj <Jj ;Cw,j A6L@Y6&=6u_<96V>y6H?ಣZ??? 0T??ɨ6L@6V;6Cy>9B>(IIJIJ_v4٢R< R]=9R7Q R>TT VG٣TyZ\C Z? bNusing accuracyPremultiplier from config`f59bݳ?f5Yb ibJBdjUjF@bDb;b;br5]B ]@]dEZjFNOT Ignoring new targets: 632.10 m.Bj.Jj. ProNav: ac range: 632.099976 m, nav range: 125.374924 m, bearing: 351.875001 deg, approach rate: -0.645072 m/s, LOS rate: -0.038165 deg/s, cmd heading: 0.268960 deg, new cmd heading: 0.227825 deg. 2jѺHeadingCmd: 0.003976 target range: 632.099976 and range: 632.10 m. jK;jjjihhhhfffrfbf`-@ɛ-$B-1 )-I) 5`@<ɚ1i1I5=IEK;iE"iEP<)EK;)I*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iABDAT read: Rx Time:21:55:06.9547 TRx dataTimestamp_ set to:1736373308.320993checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780759G 'F<GB O > $?I } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031573%Cw,^&A*J"Jp=yU:BY-Mb@Mb@Mb@))) )))Y-B`"?y&1{Gzt?y-.?-`弹-ף;-XA )))I-`A)y-QAIEIE4٢U; ]=9]Q ]>Ya eG٣aym m> uNusing accuracyPremultiplier from configq}59u?}5Yu iuJB}.?}:}MF@uDu8;u:uw5 B @ aEZjQUFNOT Ignoring new targets: 632.10 m.Bj]IJj]IzKBoJKh9KKb KBK:KqA ProNav: ac range: 632.099976 m, nav range: 125.019814 m, bearing: 351.851940 deg, approach rate: -0.676946 m/s, LOS rate: -0.044086 deg/s, cmd heading: 0.227825 deg, new cmd heading: 0.158446 deg. 2j 򺝊HeadingCmd: 0.002765 target range: 632.099976 and range: 632.10 m. j;5;jjjihhhh*Bfffrfbf .@ɛ Br 隥I 38<ɚiI=I;5;i@i\]d<);5;)Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 21:55:06.9547 LVL= 17504, 24465, 15922, 28083, AGC= 74, IDX= 249, 0.15, 1.540, 0.293, 1.674, 1.270, PHS= 0.358,-0.930, 0.401, RAW= 151.6, 2.6, CAL= 153.9, -6.3, ROT= 356.1, 6.3 -Ygot valid direction response: 21:55:06.9547 LVL= 17504, 24465, 15922, 28083, AGC= 74, IDX= 249, 0.15, 1.540, 0.293, 1.674, 1.270, PHS= 0.358,-0.930, 0.401, RAW= 151.6, 2.6, CAL= 153.9, -6.3, ROT= 356.1, 6.3 58DAT read: $Error in header =*Received a bad headerX#Rx 1: Read direction message, but no range.`direction in FSK: [-0.171478,-0.838987,0.516426]9e6\ſcDtG?`D_ 2>)mIJiK>{nO>V)@9= o+@)z0I>@iz0= }7?#-r?Ԅ?)Q ?IJCw,BA6)@Y6 =6X<96>y6H?OuCw,\A:@Y:=:T<9:7>y:H?%`??`I?$Z0j??ɨ:@:ͽ;8yF8BF(IININ4٢Z]< ZJ=9Zu"Q Z>\\ ^G٣`yb4 b> fNusing accuracyPremultiplier from configdj59f%?j5Yf ifJBhnnF@fDf~(;f*;f}5vB v@v^E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 632.10 m.Bjw@Jjw@5 ProNav: ac range: 632.099976 m, nav range: 124.526512 m, bearing: 351.821264 deg, approach rate: -0.675584 m/s, LOS rate: -0.042067 deg/s, cmd heading: 0.117217 deg, new cmd heading: 0.066234 deg. 2j5溝=HeadingCmd: 0.001156 target range: 632.099976 and range: 632.10 m. j=ʄ:j9j9jAiAhAhAhIhIfIfIfIrfQbfU0@ɛ}B}\ 隅9I .T.<ɚiI=Iʄ:iڈi"<)ʄ:) E$?IA*F2F:FBF`0JF)A MC~GG9)<=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse ]jYYy]B@FAGBO-->JJ@AzK k3IK K K c K  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseCw,3vA~ @Y~6=~h S<9~Mw>y~H ?U`HV? ?? S@``c??ɨ~ @~?;~Cy2B(I!%A5Mb@Mb@Mb@111 1)1Y5B`"?MbMb?y155<1 5`@)1I11y5AIMIM4٢e׼ m2=9uWlQ u>yy }G٣yy > Nusing accuracyPremultiplier from config59k@?5Y iJB.?:m;F@D.;A;5B #@[EZjFNOT Ignoring new targets: 632.10 m.BjXJjX ProNav: ac range: 632.099976 m, nav range: 124.214462 m, bearing: 351.799430 deg, approach rate: -0.674901 m/s, LOS rate: -0.047341 deg/s, cmd heading: 0.066234 deg, new cmd heading: 0.000567 deg. 2jHeadingCmd: 0.000010 target range: 632.099976 and range: 632.10 m. j9!&7jjjihhhh-Bfff rfbf݅0@ɛ=B=# 9=6I9 Eߍ'<ɚAiAIEP =IM!&7iM iM <)M9!&7)Q*F?2F:FBF_0JF 5$?I15Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseJJJJJ:J9:JJG% Mh <H .>I  I I I &I .I 6I u<:I A FG B) OU >Cw,YA68@Y6Z=6{N<96$:>y6HD?Ak`?;*?0?`L 7ω`s[?-?ɨ68@6;4yB5BB(IIJIJ̍4٢R:p< Vl=9V#SQ V?XX ZG٣ZGGyZM3 Z? bNusing accuracyPremultiplier from config`f59bDT?f5Yb ibJBdf;fF@bDb:bQ:b5nB n@nXEZj  FNOT Ignoring new targets: 632.10 m.BjXJjX ProNav: ac range: 632.099976 m, nav range: 123.981575 m, bearing: 351.783166 deg, approach rate: -0.676292 m/s, LOS rate: -0.047320 deg/s, cmd heading: 0.000567 deg, new cmd heading: 359.951682 deg. 2jHeadingCmd: 6.282342 target range: 632.099976 and range: 632.10 m. j@jjjihhhhfffrfbf 0@ɛ B   %I  T"<ɚiI1 =I=]i=Ŧi=U<)=@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBF`0JFGh< !I)GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapse{Cw,:AfQ@Yf=fP<9fOp>yfHH?`J@???pS@R )b??ɨfQ@fՅ;fCyޭ:B޵(III4٢EA< M3=9]V9Q ]>ai }G٣yy0y > Nusing accuracyPremultiplier from config59o?5Yv iJB ; F@DW<{8;5 @ZjAEFNOT Ignoring new targets: 632.10 m.BjMaTJjMaTe ProNav: ac range: 632.099976 m, nav range: 123.666557 m, bearing: 351.761084 deg, approach rate: -0.660539 m/s, LOS rate: -0.046419 deg/s, cmd heading: 359.951680 deg, new cmd heading: 359.885266 deg. 2jeeHeadingCmd: 6.281183 target range: 632.099976 and range: 632.10 m. jms@jijijiiihqhqhqhqfqfyfyrfybf}-X1@ɛBٌ 隭YؾI <ɚiI1!=I<ij'iQ0<)s@)zKJK]9KKd K*FA2FA:FABFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGe )<GA BI Oe >  $?I Cw,A:.@Y:<:IK<9:>y:H?@,՜@?w? ѹ?E hyS?t?ɨ:.@:;:CyB)BF(I J=J=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse%Mb@Mb@Mb@!!! !)!Y% rh?~jthMb?y%,?%D!%A %@)!I%A!y% AIEIE:4٢U U[=9]KQ ]>aa eG٣ayeH m> uNusing accuracyPremultiplier from configiu59mƃ?}5YmN imJB},?}:}<}F@mDm;m;m45B t@UEZjFNOT Ignoring new targets: 632.10 m.BjvJjv] ProNav: ac range: 632.099976 m, nav range: 123.424789 m, bearing: 351.742065 deg, approach rate: -0.684817 m/s, LOS rate: -0.053977 deg/s, cmd heading: 359.885263 deg, new cmd heading: 359.828095 deg. 2je,mHeadingCmd: 6.280185 target range: 632.099976 and range: 632.10 m. jmG@jijiJ5J1J1J1J5:J1J1J1HIII IIIIIM( =&II.II6IM<:IMK Fjqiihihqhqhu3Bfyfyfyrfybf}`~1@ɛBc ]I <ɚiIr!=IDiQiۣ'<)G@)*F2F:FBFl0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG )<G ?G ?G B O >!Cw,SA6]@Y6<6M<96>y6H ?`dW㗐?@d9?@?5F'@S?n?ɨ6]@6e;6CyR.BR(IIZIZ 4٢bǾ< fT=9f9Q f>dh jG٣hyjf j> rNusing accuracyPremultiplier from configlv59n?v5Yn$ iltvH<vF@nDn:n:n5zޖB ~ @~RE%B*** querying acoustic contact ***j!j!Zj)-FNOT Ignoring new targets: 632.10 m.Bj5oJj5oE ProNav: ac range: 632.099976 m, nav range: 123.168419 m, bearing: 351.721873 deg, approach rate: -0.663468 m/s, LOS rate: -0.052365 deg/s, cmd heading: 359.828108 deg, new cmd heading: 359.767405 deg. 2jEMHeadingCmd: 6.279126 target range: 632.099976 and range: 632.10 m. jM@jIjQjQiQhQhQ $?Ihhf1f9f9rf9bf=d2@ɛ B 隍߾I (<ɚiIM"=IiMi82<)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBFo0JFG{*<G B O >zK= BoHK= h9K9 K= e K=  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseMCw,%A2@Y2<2F<92.8>y2HR?E?`R?$?q/@ш~;?A?ɨ2@2;0yJ!BJ(IMb@Mb@Mb@ )YMbX?YY ]G٣] GGy]ڗ ]> mNusing accuracyPremultiplier from configa59e5?5YeՅ ieJB*?:=F@e!De>I1  I5 )II5 ~BI5 ) =&I1 .I1 6I1 :I1 Ge $0<G9 BI O} >RLDw,A:&@Y:<:I<9:>y:Hh?`R™@?ܒ?y?g(3]4?v?ɨ:&@:<;:CyBBB(IInIn4٢rP va=9v:Q v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config 59Ǵ? 5Y iJB  =F@)D] ; ;5 @ZjIMFNOT Ignoring new targets: 632.10 m.BjU~JjU~e ProNav: ac range: 632.099976 m, nav range: 122.631561 m, bearing: 351.675455 deg, approach rate: -0.693100 m/s, LOS rate: -0.060103 deg/s, cmd heading: 359.689947 deg, new cmd heading: 359.627827 deg. 2je$mHeadingCmd: 6.276690 target range: 632.099976 and range: 632.10 m. jm@jijijiiihihqhqhqfqfyfyrfybf}@2@ɛ B 3N=隵\I ;<ɚiI#=I"ԻiQvi=53<)@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse*F=?2FA:FABFE2JFA QIQGm(<GqGqGABQOm> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJ J J 1J J :J 7:J 3J J ?%>yZH@?@#OL?@L??? ;?ɨZ@Z-;ZCy B(IIIt4٢-Ѵ -9=9]}Q e>iq G٣!GGy~h > Nusing accuracyPremultiplier from config59ⴛ?5YI iJB%=%F@3D#;/#;Ӛ5-ږB 5>@=LEZjFNOT Ignoring new targets: 632.10 m.Bj%Jj% ProNav: ac range: 632.099976 m, nav range: 122.323738 m, bearing: 351.648933 deg, approach rate: -0.645609 m/s, LOS rate: -0.055766 deg/s, cmd heading: 359.627819 deg, new cmd heading: 359.548052 deg. 2jHeadingCmd: 6.275297 target range: 632.099976 and range: 632.10 m. j<@jjjihhh h f f frfbf`c3@zKk3IKKKf Kɛ%B%Y )-I) -;ɚ)i)I-#=I5U=i5恼i5ʫ.<)=<@)9eWill construct direction to contact in vehicle frame from tetrahedron phase data.eAiamT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse*F92FA:FABFE0JFI ] $?IY G 3<Gq B O >xDw,,FA6@Y6]<6G<96>y6H@?E◿??r??$'.??ɨ6@6;6C>Will construct direction to contact in vehicle frame from tetrahedron phase data.>T****** received valid address query ******>R****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapseyF BF(IMb@Mb@Mb@ )YJ +?Mbp?{Gzt?y(?;ף;A QA) AI`AyIIƕ4٢< I=9_Q > G٣y" > Nusing accuracyPremultiplier from config 59  ?5Y  i JB(?:<F@ ;D ; \: %5%ؖB -@-IEZjY]FNOT Ignoring new targets: 632.10 m.Bje|Jje|Hu0>Iq Iu )IIuoBIu( =&Iq.Iq6Iu{<:IuH FBIMCJIMCRIIZIIbIIjIMg4 ProNav: ac range: 632.099976 m, nav range: 122.076988 m, bearing: 351.628350 deg, approach rate: -0.661317 m/s, LOS rate: -0.055275 deg/s, cmd heading: 359.548043 deg, new cmd heading: 359.486170 deg. 2jHeadingCmd: 6.274217 target range: 632.099976 and range: 632.10 m. jc@jjjihhhh+Bf f f rf bf @S3@ɛUB] Y]BIY ];ɚYiaIe $=Imimim=<)mc@)q*F?2F:FBF`5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseG% 0<G B O% >Dw,_A6V@Y6<6+J<96L>y6H?.?@0Y?ȼ? `AN?`)?ɨ6V@6O;6CyRBR(IiVll rG٣pyrvf r> vNusing accuracyPremultiplier from configtz59vm ?z5Yv ivJB|~Q<~F@vCDv;v ;vW5 z@ 5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 632.10 m.BjEvJjEvU ProNav: ac range: 632.099976 m, nav range: 121.839645 m, bearing: 351.608620 deg, approach rate: -0.647125 m/s, LOS rate: -0.053900 deg/s, cmd heading: 359.486161 deg, new cmd heading: 359.426855 deg. 2jUeHeadingCmd: 6.273182 target range: 632.099976 and range: 632.10 m. je@jajajaiahahihihififqfqrfqbfu4@ɛ-B- )-I) -/;ɚ1i1I5+$=I]#i}ei}8<)}@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJAJAJUJUJU0JQJU:JU>:JUـ3JQJU#<JU#<JU˕;JU˕;E+,=*F12F9:FABFE1JFAzK BoHK 9K K g K  !# E Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseG I3<Gq B O >WsDw,(|AyBr(IMb@Mb@Mb@ )Y{Gz?Mb`?y#?;nA @) AIAy AII4٢i +=9Q > G٣y > Nusing accuracyPremultiplier from config59>%?5Y iJB#?:<F@LD;:5֖B 9@FEZjAMFNOT Ignoring new targets: 632.10 m.BjMhJjMh e$?Iam ProNav: ac range: 632.099976 m, nav range: 121.537643 m, bearing: 351.584203 deg, approach rate: -0.627560 m/s, LOS rate: -0.050865 deg/s, cmd heading: 359.426848 deg, new cmd heading: 359.353415 deg. 2jm uHeadingCmd: 6.271900 target range: 632.099976 and range: 632.10 m. juh@jqjyjyiyhyhyhh Bfffrfbf൙4@ɛB 隽I B;ɚiI)%=I!8iiL<)h@)EJ=MWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse*FU?2FQ:FQBFUO5JFYZHRH?AH!I! I%(II%[BI!&I!.I!6I%R<:I%+ FGm Q8<Ga Bq O >L%Dw,9A:W@Y:Ӿ<:FL<9:Z>y:H`$? N?`Yٗ?Ҽ?`??ɨ:W@:;:CyFBFf(IININt4٢VUW V`=9Z|9Q Z>XX ^G٣^"GGbWill construct direction to contact in vehicle frame from tetrahedron phase data.bT****** received valid address query ******bR****** received valid ping request ******freceived new query, but waiting for acoustic response period to elapsey^ j> nNusing accuracyPremultiplier from configlr59n9?r5Yn inJBtv<vF@nTDn;n;n5zӖB z@zCEZjFNOT Ignoring new targets: 632.10 m.Bj%mJj%m= ProNav: ac range: 632.099976 m, nav range: 121.306480 m, bearing: 351.565485 deg, approach rate: -0.638658 m/s, LOS rate: -0.051813 deg/s, cmd heading: 359.353410 deg, new cmd heading: 359.297148 deg. 2j=<EHeadingCmd: 6.270918 target range: 632.099976 and range: 632.10 m. jE]@jAjIjIiIhIhIhQhQfQfQfQrfYbf]`@4@ɛB 隍 I  ;ɚiI,%=IeHi%iR<)]@)EE*E"E IG*F?2F:FBFP5JF1Q YyAuWill construct direction to contact in vehicle frame from tetrahedron phase data.u@o+Dw,Aye҈BeJ(I)i iquAMb@Mb@Mb@ )YL7A`?~jtx{Gzt?y+'?Ļף;A v@) AI3AyG AI-I-E4٢=Q E(=9EQ E>II MG٣IyM M> ]Nusing accuracyPremultiplier from configQe59US?e5YUw iUJBe.'?e:eX<eF@U^DUF;U;U5uіB u@u@EZjFNOT Ignoring new targets: 632.10 m.BjbJjb ProNav: ac range: 632.099976 m, nav range: 120.994652 m, bearing: 351.541590 deg, approach rate: -0.644528 m/s, LOS rate: -0.049516 deg/s, cmd heading: 359.297156 deg, new cmd heading: 359.225288 deg. 2jHeadingCmd: 6.269664 target range: 632.099976 and range: 632.10 m. j@jjjihhhhBfffrfbfq5@Will construct direction to contact in vehicle frame from tetrahedron phase data. Will construct direction to contact in vehicle frame from tetrahedron phase data. y2H@?`G??`? m?`K ``]`A?v?ɨ2h@2;2Cy:ɈB:?(IIJIJ4٢Rh R=9RQ R ?TT VG٣TyVw Z ? ^Nusing accuracyPremultiplier from config\b59^e?b5Y^g i^JB`b:<fF@^eD^:^:^5h j|@hH%1>I! I%(II%ABI!&I!.I!6I%<:I%i FZjFNOT Ignoring new targets: 632.10 m.BjSJjS ProNav: ac range: 632.099976 m, nav range: 120.790077 m, bearing: 351.526027 deg, approach rate: -0.605247 m/s, LOS rate: -0.046123 deg/s, cmd heading: 359.225275 deg, new cmd heading: 359.178507 deg. 2j:HeadingCmd: 6.268847 target range: 632.099976 and range: 632.10 m. jf@jjjihhhhff frfbf`5@ɛB$! 隵lI Х;ɚiIR'=Iji/G~i;T<)f@)*F2F:F!BF%`0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2147> BDAT read: Tx time:21:55:14.6885  $Ping request sent.  } $?Iy /8Dw,bA6r@Y6<60:<96q>y6H?SZO? ??+T0 ?̾?ɨ6r@6N;6CyZBZ$(IIbIbƕ4٢jѽ jG=9n9Q n>pp rG٣v#GGyvT v> ~Nusing accuracyPremultiplier from configx~59z{?5YzU izJB$<F@zmDz:xzT5 ϖB @=E5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 632.10 m.BjEBkJjMBk] ProNav: ac range: 632.099976 m, nav range: 120.524132 m, bearing: 351.505889 deg, approach rate: -0.677563 m/s, LOS rate: -0.051420 deg/s, cmd heading: 359.178502 deg, new cmd heading: 359.117955 deg. 2j]( eHeadingCmd: 6.267791 target range: 632.099976 and range: 632.10 m. je@jijijiiihqhqhqhqfyfyfyrfybf}-6@MWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:21:55:14.6877 ]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251098ɛUBU Y]/"I 4;ɚiI'=I1:|i_G}iS<)@J J J J J :J J J J #<J #<J J )y*F%?2F!:F!BF-d0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502023G iG<G B zK k3IK 9K K i K rk RK ?JK ?O >>Dw,gAVl@YV<VҘ<9V>yVH`;?3ʑV? ?*?@@ ??ɨVl@Vo;VCy^Bb (IeMb@Mb@Mb@aaa a)aYeʡE?X9v G٣yGb > Nusing accuracyPremultiplier from config59ԑ?5Y iJB?:F@vD;: 5͖B @:E $?IZjFNOT Ignoring new targets: 632.10 m.BjJj ProNav: ac range: 632.099976 m, nav range: 120.264107 m, bearing: 351.491097 deg, approach rate: -0.582156 m/s, LOS rate: -0.033189 deg/s, cmd heading: 359.117959 deg, new cmd heading: 359.073487 deg. 2j8HeadingCmd: 6.267015 target range: 632.099976 and range: 632.10 m. jb@jjjihhhhىBff!f!rf!bf%6@ɛBU# 隕"I ;ɚiI[(=Ixia[|ieJ<)b@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755250*F?2F:FBFo0JFjHbH<H!I! I%(II%#BI%' =&I!.I!6I%ʰ<:I% FG zQ<G B O >EDw,BBA6@Y6f<6׎;96W=y6Ho?ࠀ K]?]?`(?X `} ?$?ɨ6@6耆;4yRBR(IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006115IdId٢n' nV=9nUQ r>pp rG٣pyv. v> zNusing accuracyPremultiplier from configx~59z?]5Yz izJBY] eG@z}Dz5hKDw,L1A8@Y<M~;9=yH ?`@x?2?@;?3H@oN?u?ɨ8@ s;騽CyB%'IMb@Mb@Mb@ )Y~jt?J +{Gzy?H# @) AIy AIIm4٢ ,=9/Q > G٣$GGy49 > Nusing accuracyPremultiplier from config 59  ?5Y - i JB,?:sG@ DWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510239 w< < 5˖B z@7EZjFNOT Ignoring new targets: 632.10 m.Bj5Jj5﹝ ProNav: ac range: 632.099976 m, nav range: 119.741493 m, bearing: 351.465459 deg, approach rate: -0.609458 m/s, LOS rate: -0.026142 deg/s, cmd heading: 359.033620 deg, new cmd heading: 358.996405 deg. 2j%HeadingCmd: 6.265669 target range: 632.099976 and range: 632.10 m. j%]@j!j!j!i!h!h)h)h-Bf)f1f1rf1bf=z7@ɛeBe=* ae /Ia mWJ<;ɚiiiIm)=Iu}iuRDw,"JA2Η@Y2J<2f;92==y2H?Q@w??? Clϲ?@?ɨ2Η@2;2CyBBB'IDFAIJIJ4٢R|` Vy=9V4Q V?XX ZG٣XyZ: ^?Hb2>I` Ib(IIbBIb( =&I`.I`6Ib<:Ibz F rNusing accuracyPremultiplier from configlr59nε?v5Yn} inJBxzrzG@nDnyH;JJJJJk:JJJJ"<J"<JJnH;ni5 % @!ZjFNOT Ignoring new targets: 632.10 m.BjJj򹝊 ProNav: ac range: 632.099976 m, nav range: 119.541321 m, bearing: 351.456836 deg, approach rate: -0.614154 m/s, LOS rate: -0.026501 deg/s, cmd heading: 358.996409 deg, new cmd heading: 358.970496 deg. 2jHeadingCmd: 6.265217 target range: 632.099976 and range: 632.10 m. j|@jjjih1h1h9h9f9f9fArfAbfE7@ɛmBmW;P iu2I x;ɚiIF*=I1iɘyie<)|@)*Fm?2Fi:FiBFm`5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014263G3Z<PExceeded connect timeout, disconnecting.GqAGpAG B O > $?I XDw,dA:@Y:e<:(;9:=y:H ? 9`r? l?? e`??ɨ:@:`;:CyFxBF'IIRIR4٢Z ZJ=9ZQ Z>\\ ^G٣\yb b> jNusing accuracyPremultiplier from configdn59f㵛?n5Yf ifJBpr{rG@fDfX;fH<;f5vɖB v @z4E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 632.10 m.Bj%Jj%5 ProNav: ac range: 632.099976 m, nav range: 119.297577 m, bearing: 351.446555 deg, approach rate: -0.631155 m/s, LOS rate: -0.026675 deg/s, cmd heading: 358.970509 deg, new cmd heading: 358.939605 deg. 2j5s=HeadingCmd: 6.264678 target range: 632.099976 and range: 632.10 m. j=>x@j9j9j9i9hAhAhAhAfIfIfIrfIbfU@_08@ɛBCP 隍:I 1T:ɚiI *=ICixiL<)>x@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266769*F?2F:FBFR4JF!G]Qd<G9BO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518209zK} TPK} 9Ky K} k K} q^RIE?<<72.,'%%" !!   ^Dw,y~AyrB 'I IMb@Mb@Mb@ )Yrh|?MbX9 G٣%GGy > Nusing accuracyPremultiplier from config59P?5Y iJBG? : ݽ G@Dw;;5ǖB O@1EZjAEFNOT Ignoring new targets: 632.10 m.Bj]K_JjeK_ ProNav: ac range: 632.099976 m, nav range: 119.025963 m, bearing: 351.441177 deg, approach rate: -0.614769 m/s, LOS rate: -0.012201 deg/s, cmd heading: 358.939609 deg, new cmd heading: 358.923438 deg. 2jHeadingCmd: 6.264396 target range: 632.099976 and range: 632.10 m. ju@jjjih h1h1h5Bf9f9f9rfAbfE !8@ɛBE= 隵;beDw,A6b@Y6D<6$7N96`=y6H i?@/n`U?`Y? ?)???ɨ6b@6;6CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022256yzdB~'II I ٢%1 %W=9%9Q ->)) -G٣)y58 5> =Nusing accuracyPremultiplier from config9E59= ?E5Y=Y i=JBIML潑MG@=D=X:=:=5Q U%@YZjFNOT Ignoring new targets: 632.10 m.BjmHJjmH ProNav: ac range: 632.099976 m, nav range: 118.793053 m, bearing: 351.437026 deg, approach rate: -0.613346 m/s, LOS rate: -0.010952 deg/s, cmd heading: 358.923436 deg, new cmd heading: 358.910959 deg. 2j𹝊HeadingCmd: 6.264178 target range: 632.099976 and range: 632.10 m. j%t@jjjihhhhfffrfbf@9@ɛBޅe AI 2^&:ɚiIR,=Ii(viL<)%t@) ]nManaging dock network, ignoring radio surface power off*Fu?2Fq:FqBFu`0JFq m$?IqGGG>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274862GqBO>lDw,xA>}P@Y><>f9>q(=y>H?VAI(??Q,8`?P?u?ɨ>}P@>;>Cyf\Bn'III4٢U ]G=9m{Q u>y G٣yF > Nusing accuracyPremultiplier from config59%?5Y/ iuJB꽑G@D@:a:5ŖB @.EZjFNOT Ignoring new targets: 632.10 m.BjG=JjG= ProNav: ac range: 632.099976 m, nav range: 118.515259 m, bearing: 351.432359 deg, approach rate: -0.614073 m/s, LOS rate: -0.010343 deg/s, cmd heading: 358.910950 deg, new cmd heading: 358.896914 deg. 2j"㹝HeadingCmd: 6.263933 target range: 632.099976 and range: 632.10 m. j#r@jjjihh!h!h!f)f)f)rf)bf5v9@Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530512ɛBZI *DI PsǸɚiaIe-=Im)im3 vim L<)m#r@)qzK]NK]9KYK]l K]  *F?2F:FBF_0JF m$?IiG jx<G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:21:55:17.9044 e TRx dataTimestamp_ set to:1736373319.160675e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779184rDw,@AH63>I4 I66(II6ˆBI4&I4.I46I6<:I6z FJrJrJr1JpJr:Jr;:Jr3JpJr&<Jr&<Jr;Jr;}n7@Y};}}a9}=y}H?`|@;et{?? l/l?@j?`?ɨ}n7@}?;}CyޕUB޽'IMb@Mb@Mb@ )YV-?RQ~jty?½DnA )I Ay AII4٢ ~  2=9(QQ > G٣&GGy8ݻ > -Nusing accuracyPremultiplier from config!-59%:?55Y%) i%kJB5?5:55G@%D% ;%;%5=ÖB E@E+EZjFNOT Ignoring new targets: 632.10 m.BjJj ProNav: ac range: 632.099976 m, nav range: 118.256325 m, bearing: 351.431606 deg, approach rate: -0.612279 m/s, LOS rate: -0.001783 deg/s, cmd heading: 358.896907 deg, new cmd heading: 358.894645 deg. 2jHeadingCmd: 6.263893 target range: 632.099976 and range: 632.10 m. jq@jjjihhhhyBfffrfbf`9@ɛB0a FI K;ɚiI-=I i _ui ҳ;) q@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030281G 2< u $?Iq G B O >)Y Y M }GyDw,@A( Z YXyZ@B-*@Y-;-ᕻ9-o=y-H`? J$wHpku?@? i5r? ih??ɨ-*@-/;-CyEJBE'I)I IIUIU@4٢mp ug=9uRQ }>y G٣y > Nusing accuracyPremultiplier from config59M?5Y idJBG@Ds;>e;5 @B*** querying acoustic contact ***jj Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:55:17.9044 LVL= 19552, 28449, 16610, 23923, AGC= 74, IDX= 453,-0.21, 2.077, 0.559, 2.039, 1.325, PHS= 0.840,-0.719, 0.711, RAW= 145.8, -11.1, CAL= 152.9, -19.8, ROT= 357.1, 19.8 Ygot valid direction response: 21:55:17.9044 LVL= 19552, 28449, 16610, 23923, AGC= 74, IDX= 453,-0.21, 2.077, 0.559, 2.039, 1.325, PHS= 0.840,-0.719, 0.711, RAW= 145.8, -11.1, CAL= 152.9, -19.8, ROT= 357.1, 19.8 8DAT read: $Error in header *Received a bad headerZjFNOT Ignoring new targets: 632.10 m.Bj%Jj%X#Rx 1: Read direction message, but no range.5^direction in FSK: [0.095359,-0.782393,0.615441]9 <ɲwi?,*] =6Mv?`L!o @)s]Ii= W?b86?4"@aF {*@);ﰾI8q@i;>L)I?%YB?&:ȿ)f>IOwF>i˶)MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseU ProNav: ac range: 632.099976 m, nav range: 118.035812 m, bearing: 351.431131 deg, approach rate: -0.579504 m/s, LOS rate: -0.001251 deg/s, cmd heading: 358.894640 deg, new cmd heading: 358.893212 deg. 2jU[HeadingCmd: 6.263868 target range: 632.099976 and range: 632.10 m. jq@jjjihhhhfffrfbfI:@ɛ߉Bg !%JI! %1ɚ!i!I%l.=I-m>i-^tiU/;)Uq@)YEee>Ea*F2F:FBFh0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG ~q;G B O >zK LK 9K K m K 9@Dw,A2)@Y2(M;2wϷ92~=y2H?o ;ui?@?`\v?[?.?ɨ2)@2N;0y^LBb'I IMb@Mb@Mb@ )YZd;?B`"۹~jty?ν @)vAI Ay AIIn4٢(< C=9"Q > G٣yƜ >  Nusing accuracyPremultiplier from config ]59 0b?u5Y  i [JBu ?u:}#}G@ D c< }c< t5B A@(EZjFNOT Ignoring new targets: 632.10 m.BjGg8JjGg8 ProNav: ac range: 632.099976 m, nav range: 117.782120 m, bearing: 351.432386 deg, approach rate: -0.637540 m/s, LOS rate: 0.003159 deg/s, cmd heading: 358.893219 deg, new cmd heading: 358.896990 deg. 2j 9%HeadingCmd: 6.263934 target range: 632.099976 and range: 632.10 m. j%&r@j!j!j)i)h)hIhQhUfBfQfQfQrfYbf]:@ɛ܉B#Ti GI ɚiI}/=IiK#ti4;)&r@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse*F?2F:FBFo0JFHiIi Im(IImBIi&Ii.Ii6Imװ<:Im FJK3 K.-KK"KJJJ0JJ:JC:Jـ3JJ#<J#<JE;JE;G 1;G B O >((Dw,A2[@Y292#92R=y2H?jUe{Ϸ>??F<nD|?`;?@?ɨ2[@2l=;2CBWill construct direction to contact in vehicle frame from tetrahedron phase data.BT****** received valid address query ******BR****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapseyFTBF'IIRIR4٢Z<#= Za=9ZiQ Z>\\ ^G٣^'GGybf b> fNusing accuracyPremultiplier from configdj59ft?j5Yf ifSJBlnK&nG@fDfl;f5;f5rB r@r%EZjFNOT Ignoring new targets: 632.10 m.Bjp8Jjp8- ProNav: ac range: 632.099976 m, nav range: 117.561104 m, bearing: 351.433771 deg, approach rate: -0.628390 m/s, LOS rate: 0.003946 deg/s, cmd heading: 358.896989 deg, new cmd heading: 358.901153 deg. 2j-T-95HeadingCmd: 6.264007 target range: 632.099976 and range: 632.10 m. j5r@j1j1j1i1h1hhhf f f rf bf ;@ɛ}ډB}[p 隍BI %ɚiI/=Ii_si9)r@) $?I*Fm?2Fi:FiBFm0JFi5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseG;G B) OM >RDw,3AJ@YJ@J9J=yJH?,?犀S@?<`*]? )1 5G٣1yE< M> mNusing accuracyPremultiplier from configi59m?5Ym imKJB'G@mDmL!HY IY  I] (II] BIY &IY .IY 6I] ˰<:I] FIDw,MAyUB'IMb@Mb@Mb@ )YX9v?V- G٣y > Nusing accuracyPremultiplier from config-59m?-5Yk iCJB5 ?5:5T<5G@D;t;5MB My@U"EZjFNOT Ignoring new targets: 632.10 m.BjM9JjM95 ProNav: ac range: 632.099976 m, nav range: 117.032791 m, bearing: 351.440159 deg, approach rate: -0.664916 m/s, LOS rate: 0.011240 deg/s, cmd heading: 358.906661 deg, new cmd heading: 358.920343 deg. 2j59=HeadingCmd: 6.264342 target range: 632.099976 and range: 632.10 m. j=}u@j9j9j9i9hAhAhAhEnBfIfIfIrfibfu`;@ɛӉB,d 隽)?I UyɚiIR1=I]i0ri)}u@)*F2F:FBFi2JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGm Y9 $?I GA BQ Om >mcDw,`gA>@Y>@>/9>\/=y>Hp?j?3`r@?@;nc?q??ɨ>@>rB;>CyFWBF'IIRIR4٢Z@< Z`=9ZdQ Z>\\ ^G٣b(GGyb b> fNusing accuracyPremultiplier from configdj59f?j5Yf if=JBln?rG@fDfBI;fI;f65vB z6@zEZj1=FNOT Ignoring new targets: 632.10 m.BjEL_9JjEL_9e ProNav: ac range: 632.099976 m, nav range: 116.808640 m, bearing: 351.444326 deg, approach rate: -0.654975 m/s, LOS rate: 0.012201 deg/s, cmd heading: 358.920348 deg, new cmd heading: 358.932875 deg. 2je:uHeadingCmd: 6.264561 target range: 632.099976 and range: 632.10 m. juHw@jqjqjqiyhhhhfffrfbf<<@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛuЉB}$:r y}zK BoHK h9K K o K RK ?JK ?KDw,=A 4I4Fq@YF@F+H9FC=yFH ,?`G'w?`B } ?g@?@4m?`k?ɨFq@F_;FCyn_Bn'IMb@Mb@Mb@ )YRQ?y&1{Gzty"?`役ף @)I Ay AI=I=F4٢MW = M3=9MYQ M>qq uG٣qy} }> Nusing accuracyPremultiplier from config59˶?5Y i8JB%?:7G@D;);<5 @!EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 632.10 m.Bj5Y.9Jj5Y.9u ProNav: ac range: 632.099976 m, nav range: 116.512024 m, bearing: 351.448731 deg, approach rate: -0.639960 m/s, LOS rate: 0.009527 deg/s, cmd heading: 358.932889 deg, new cmd heading: 358.946135 deg. 2ju89}HeadingCmd: 6.264792 target range: 632.099976 and range: 632.10 m. j}-y@jyjyjyiyhyhhh~Bfffrfbfڵ<@ɛ͉BQS -6I) -Pvɚ)i)I-(2=I59i5ri=aȻ)=-y@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseH I  I (II BI &I .I 7D6I <:I g F*F12F1:F1BF5G5JF1Ge OPGY Ba O >yDw,)A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2T****** received valid address query ******2R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapseN@YNs@NO_9N-<=yNH?wz? ʍ`w@?.1?@㱿? 4?ɨN@Ne4;NCyZiBZ'IIbIbƕ4٢z]= zb=9~}Q ~>|| G٣y0$ > %Nusing accuracyPremultiplier from config 59 ޶?5Y  i 4JB8G@ D < 1< [5B @EZjImFNOT Ignoring new targets: 632.10 m.Bju:*9Jju:*9 ProNav: ac range: 632.099976 m, nav range: 116.281624 m, bearing: 351.452265 deg, approach rate: -0.605150 m/s, LOS rate: 0.009301 deg/s, cmd heading: 358.946139 deg, new cmd heading: 358.956763 deg. 2jE9HeadingCmd: 6.264977 target range: 632.099976 and range: 632.10 m. jz@jjjihhhhfffrfbf=@ɛ5ɉB5{b 15/0I9 =&Zɚ9i9I=2=IE( M$?IQiE[qim߻)mz@)q*F2F:FBF%_0JF! Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGE J J J J J :J 7:J J G B O5 >&Dw,A:@Y:@:Dw9:{>y:H?n~?``<`V?z7???ɨ:@:p;8yVtBV'IIbIb]4٢zcV= ~K=9~sjQ > G٣)GGy P  > =Nusing accuracyPremultiplier from config)M59-v?U5Y-A i-0JBim9uG@-D-\ <-#<-5B (@EZjQUFNOT Ignoring new targets: 632.10 m.Bj]<09Jj]<09uWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse ProNav: ac range: 632.099976 m, nav range: 116.019348 m, bearing: 351.456467 deg, approach rate: -0.599768 m/s, LOS rate: 0.009630 deg/s, cmd heading: 358.956767 deg, new cmd heading: 358.969400 deg. 2j|9HeadingCmd: 6.265198 target range: 632.099976 and range: 632.10 m. j|@jjjihhhhfffrfbf=@ɛƉBM !%(I! %Iǻɚ!i!IM,3=IU}ZiUJqi]>)]|@)YzKk3IK9KKp K E$?IA*FY2FY:FYBFe`0JFaG 4λ% Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseG B O >H I  I *(II BI &I .I 6I İ<:I FBIJIRIZI' =bI' =jI˼N4Dw,Ay}}B}'I =a=Mb@Mb@Mb@ )YE?KMbP?y&?^:A v@)Iy AI1I1٢E+= E7=9MQ M>II MG٣Qy > Nusing accuracyPremultiplier from config59 ?5Yj iF(?:G@D;;5 @Zj FNOT Ignoring new targets: 632.10 m.Bj@Jj@% ProNav: ac range: 632.099976 m, nav range: 115.719040 m, bearing: 351.456207 deg, approach rate: -0.760788 m/s, LOS rate: -0.000659 deg/s, cmd heading: 358.969389 deg, new cmd heading: 358.968609 deg. 2j%w緝5HeadingCmd: 6.265184 target range: 632.099976 and range: 632.10 m. j=c|@j9j9j9i9hAhAhAhEBfIfIfIrfQbfU=@ɛ}‰B}lT 隅y"I w?׻ɚiI73=IxixNqiEq)c|@)*F2F :F BF b0JF }Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGUGG? E $?IA G B O >Dw,AN<@YN@Nؑ9N>yNH?}?@􉕿P@?@m?ϒ?s?ɨN<@N;NCybBb'IIrIr4٢zj= b=9 ZKQ  > G٣y% %> 5Nusing accuracyPremultiplier from config)=59- ?E5Y-S i-1JBAMMG@-D-^;-^;-5]B ]@]EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZj!%FNOT Ignoring new targets: 632.10 m.Bj-6Jj-6= ProNav: ac range: 632.099976 m, nav range: 115.488174 m, bearing: 351.456339 deg, approach rate: -0.616618 m/s, LOS rate: 0.000353 deg/s, cmd heading: 358.968597 deg, new cmd heading: 358.968993 deg. 2j=w7EHeadingCmd: 6.265191 target range: 632.099976 and range: 632.10 m. jEr|@jAjAjAiAhIhIhIhIfffrfbf`~J>@ɛBN I эɚiI 4=Ihi)qiN.)r|@)JJJJJ:J"I:JJ*F2F:FBFn0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG G B O > A II zK] Dw,AKm9KiKmq Km 5PnBu& B@YB٫@Bի9B>yBH`?A#?`@ ?``Uz? ? ?ɨB@B臉;@yJBJ(IMb@Mb@Mb@ )Yx&?MbX9{Gz?y7)?ʡ#<=A QA)AI/ Ay AI5I54٢Eb= EC=9MXQ M>IQ UG٣U*GGyU9 U> eNusing accuracyPremultiplier from configYe59]7?m5Y]H i]6JBmp*?m:mJmG@]D];]b;]5}B }@}EZjFNOT Ignoring new targets: 632.10 m.BjڸJjڸ ProNav: ac range: 632.099976 m, nav range: 115.212479 m, bearing: 351.454009 deg, approach rate: -0.704940 m/s, LOS rate: -0.005973 deg/s, cmd heading: 358.969007 deg, new cmd heading: 358.961999 deg. 2j+HeadingCmd: 6.265069 target range: 632.099976 and range: 632.10 m. jr{@jjjihhhyh}ډBfffrfbfT>@ɛBmA BI ɚiI_4=Ichiqi=#)r{@) Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBF}0JFjH<bHH4>IC II(II҈BI&I.I6I<:Ix FG- {#G B O- >Dw,`A&Will construct direction to contact in vehicle frame from tetrahedron phase data.&T****** received valid address query ******&R****** received valid ping request *******received new query, but waiting for acoustic response period to elapsey]B](I)a aIuIuW4٢= D=9Q > G٣y > Nusing accuracyPremultiplier from config59N?5Y? iDw,B6A6@Y6q@6Wļ96u >y6H@??<]XK?,?D5?>?ɨ6@6;6Cy>B>'(IIJIJ4٢V]= V^=9VQ V>XX ZG٣XyZ ^> bNusing accuracyPremultiplier from config`f59b^c?j5Yb ibBJBpvyvG@b(Db;bl;bq5B @EZj)5FNOT Ignoring new targets: 632.10 m.Bj=D˸Jj=D˸M ProNav: ac range: 632.099976 m, nav range: 114.690575 m, bearing: 351.449588 deg, approach rate: -0.656289 m/s, LOS rate: -0.005553 deg/s, cmd heading: 358.954909 deg, new cmd heading: 358.948714 deg. 2jMsUHeadingCmd: 6.264837 target range: 632.099976 and range: 632.10 m. jUy@jQjQjQiQhahahqhyfff!rf)bf= }?@]Will construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseɛB/ 隕I ɚiI4=IOipij")y@)*Fa2Fa:FaBFe;1JFa $?IzK]\OK]ػ9KYK]r K]BKa:KeqAG "G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseH I  I u(II BI &I .I 6I <:I F7Dw, PAf@Yfۨ@fk&Ӽ9fr >yfH?`sX? l䛿 ?U d?@_?v?ɨf@f;fCyEĈBE9(IMb@Mb@Mb@ )Y rh? rhy&1?yC+?C `e<A `@)`AI Ay AII4٢+= 6=9 |Q > G٣+GGy > %Nusing accuracyPremultiplier from config!-59%|?-5Y% i%NJB5+?5:55G@%2D%F;%;%_5=B =@EEZjimFNOT Ignoring new targets: 632.10 m.BjuJju ProNav: ac range: 632.099976 m, nav range: 114.390724 m, bearing: 351.437021 deg, approach rate: -0.674818 m/s, LOS rate: -0.028357 deg/s, cmd heading: 358.948707 deg, new cmd heading: 358.910906 deg. 2jHeadingCmd: 6.264177 target range: 632.099976 and range: 632.10 m. j#t@jjjihhhhBfffrfbf ?@ɛBz* I 6ɚiI&%5=IIipi)#t@)*F2F:FBFX5JFG G"GG]Will construct direction to contact in vehicle frame from tetrahedron phase data.]Dw,iAJ@YJڵ@Jݼ9J= >yJH?P}?@U} ?}@9?ė?7?ɨJ@J;JCyZԈBZM(Iiz4=Iz<I~I~]4٢ =  \=9 iQ > G٣y%; %> -Nusing accuracyPremultiplier from config)559-?55Y-  i-XJB15w=G@-:D-K ;-m ;- 5EB E|@E EZjiuFNOT Ignoring new targets: 632.10 m.Bj}Jj} ProNav: ac range: 632.099976 m, nav range: 114.142853 m, bearing: 351.426387 deg, approach rate: -0.666459 m/s, LOS rate: -0.028654 deg/s, cmd heading: 358.910895 deg, new cmd heading: 358.878924 deg. 2jRHeadingCmd: 6.263619 target range: 632.099976 and range: 632.10 m. jo@jjjihhhhfffrfbf@#@@Will construct direction to contact in vehicle frame from tetrahedron phase data.u Will construct direction to contact in vehicle frame from tetrahedron phase data.} y6H?`1~?`6Hӱ?@U(b?? ?ɨ6 @6AK;6CyBBB_(IzKvKtKtKvs KvRK~ ?JK~?MMb@Mb@Mb@III I)IYM/$?~jth?~jt?yM,?MD;Myy }G٣yy > Nusing accuracyPremultiplier from config59!?5Y  ikJB$,?:EG@CDK;;A5 @ZjFNOT Ignoring new targets: 632.10 m.BjTJjT ProNav: ac range: 632.099976 m, nav range: 113.866104 m, bearing: 351.407101 deg, approach rate: -0.666083 m/s, LOS rate: -0.046530 deg/s, cmd heading: 358.878930 deg, new cmd heading: 358.820932 deg. 2jwHeadingCmd: 6.262607 target range: 632.099976 and range: 632.10 m. jFg@jjjihhhhBfffrfbf` Y@@ɛ-B- )5NʾI1 5b-ɚ1i1I54i5=I=i=*pi=)EFg@)A*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2149> -JJJ1JJ:J<:J3JJ*yFH?5|? @ㆿ@°?@??`/?ɨF@F;FCyzB~m(IIMIM4٢b= G=9nQ > G٣,GGyI]: > Nusing accuracyPremultiplier from config59?5Y6 i~JB?G@LD;;5%sB %C@% E E$?IAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 632.10 m.BjLJjL ProNav: ac range: 632.099976 m, nav range: 113.589783 m, bearing: 351.387706 deg, approach rate: -0.635287 m/s, LOS rate: -0.044698 deg/s, cmd heading: 358.820928 deg, new cmd heading: 358.762603 deg. 2jhHeadingCmd: 6.261589 target range: 632.099976 and range: 632.10 m. j^@jjjihhh h f)f1f1rf9bfE@@ɛB 隭I ɚiI+w5=I/밼ioiTiɻ)^@)*F2F:FBFJFGyBO_>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250412y2H X?@[z?["O?^t U?}??ɨ2;@2;0yBBBz(I)H HHJAINfIN44٢vg= vW=9v“Q v>xx zG٣xy~;E: ~> Nusing accuracyPremultiplier from config 59շ?5YI iJB:G@TD;ۤ;)5MqB Mt@MEZjQmFNOT Ignoring new targets: 632.10 m.BjQJjQEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505922 ProNav: ac range: 632.099976 m, nav range: 113.340782 m, bearing: 351.370102 deg, approach rate: -0.645046 m/s, LOS rate: -0.045706 deg/s, cmd heading: 358.762598 deg, new cmd heading: 358.709668 deg. 2jHeadingCmd: 6.260665 target range: 632.099976 and range: 632.10 m. j^W@jjjihhhhfffrfbfX@@ɛUB] Y]խIY ]Z#ɚYiaIez5=I|inoil)^W@)EV>E )I)*FY2FY:FYBFaJFazKBoHK]9KKt K ;Y`XL>3( BK rA:K G Ҹ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754355HI II  IM (IIM ABII &II .II 6IM S<:IM / FG B O >&Dw,wfAJ2J2J20J0J2:J2>:J2ـ3J0J2#<J2#<J2˕;J2˕;J@YJ@JFf9Jer>yJH7?@q?@Y`? y?.? "?ɨJ@J9;JCyrBr(I}Mb@Mb@Mb@yyy y)yY}K7?S㥛?Zd;O?y})?}/<}j<}A y)}`AI} Ayy} AI}I]4٢k= ?=9/Q > G٣y; > Nusing accuracyPremultiplier from config59?5Y iJB)?:<G@]DI;;5 @ZjFNOT Ignoring new targets: 632.10 m.Bj jJj j ProNav: ac range: 632.099976 m, nav range: 113.061859 m, bearing: 351.344682 deg, approach rate: -0.700576 m/s, LOS rate: -0.064004 deg/s, cmd heading: 358.709678 deg, new cmd heading: 358.633232 deg. 2j/%HeadingCmd: 6.259331 target range: 632.099976 and range: 632.10 m. j%pL@j!j!j!i!h)h)h)h-CBfffrfbf8@@ɛ B-<\ 15잾I1 5@'ɚ1i1I5z5=I=sjüi=oi= 6)EpL@)A*F2F:FBFn0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006354 $?IGmG B O >~RDw,jKA:@Y:@:O9:+>y:H?6]?0@hzڹ?ñ ??ϴ?ɨ:@:C;8yB BF(IINeIN34٢V= V[=9VQ V>XX ZG٣Xy^i; ^> bNusing accuracyPremultiplier from config`j59b|?j5Yb ibJBhn;<nG@beDb~C;bC;b(5roB r)@rEZj  FNOT Ignoring new targets: 632.10 m.Bj:Jj:% ProNav: ac range: 632.099976 m, nav range: 112.819084 m, bearing: 351.322180 deg, approach rate: -0.650528 m/s, LOS rate: -0.060425 deg/s, cmd heading: 358.633235 deg, new cmd heading: 358.565584 deg. 2j%%-HeadingCmd: 6.258150 target range: 632.099976 and range: 632.10 m. j-B@j)j)j)i)h1h1h9h9f9f9f9rfAbfE$A@ɛuBud y}Iy }m*ɚyiyI}r5=IͼiniH:)B@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258388*F2F:FBF0JFGBGBO- >U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512893  I 6Ew,]Ay~B~(IzK-$0MK-+9K)K-u K- $RK=?JK=>Mb@Mb@Mb@ )YJ +?A`"?~jt?y(?Y=< `@)AI\ AyIIt4٢W< :=9Q > G٣-GGy > Nusing accuracyPremultiplier from config59?5Y\ iJBQ)?:a=G@nDt;K;!5mB @EZj!-FNOT Ignoring new targets: 632.10 m.Bj54Jj54E ProNav: ac range: 632.099976 m, nav range: 112.535606 m, bearing: 351.289756 deg, approach rate: -0.645036 m/s, LOS rate: -0.073966 deg/s, cmd heading: 358.565588 deg, new cmd heading: 358.468070 deg. 2jE KMHeadingCmd: 6.256448 target range: 632.099976 and range: 632.10 m. jM4@jIjIjQiQhQhQhYh]NBfYfYfarfabfe/]A@ɛB 隕菾I Vy.ɚiID^5=Iۼinic:)4@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767367jH<bH<HI I(IIeBI&I.I6I1<:I FBIĞCJIĞCRIZIbIjI|k4JJJJJJ::JJJJJ5;J6;G?:G B O >L`Ew,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018391:@Y:9:|>9: >y:H?`Llueu7]0??T???ɨ:@:6;8yzBz(III4٢R< 5W=95wQ =>99 EG٣AyE< E> MNusing accuracyPremultiplier from configIU59M20?U5YMڗ iMJBY]=]G@MvDM;MS;M]$5ekB m@mEZjFNOT Ignoring new targets: 632.10 m. $?IBj\Jj\ ProNav: ac range: 632.099976 m, nav range: 112.288895 m, bearing: 351.260543 deg, approach rate: -0.642269 m/s, LOS rate: -0.076218 deg/s, cmd heading: 358.468081 deg, new cmd heading: 358.380249 deg. 2j;QHeadingCmd: 6.254915 target range: 632.099976 and range: 632.10 m. jD(@jjjihhhhfffrfbfA@ɛB[  I  1ɚ i I nJ5=IYiVmis<)D(@)*FI2FI:FIBFM1JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273756G:Gi Bq O >͊ Ew,8A2@Y2:292 >y2H@G?@|΢@\?|?@w?@>??ɨ2@2,E;2CyRBR(IIZIZ4٢bo = bP=9bQ b>dd fG٣dyjv; j> nNusing accuracyPremultiplier from configlr59nE?r5YnT inJBpv=vG@n~Dn ;na:n'5| ~"@|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 632.10 m.Bj-Jj-= ProNav: ac range: 632.099976 m, nav range: 112.038933 m, bearing: 351.230619 deg, approach rate: -0.639460 m/s, LOS rate: -0.076724 deg/s, cmd heading: 358.380244 deg, new cmd heading: 358.290271 deg. 2jEREHeadingCmd: 6.253345 target range: 632.099976 and range: 632.10 m. jMg@jIjIjIiIhIhIhQhQfQfQfYrfYbf]RA@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.525881ɛ Be:@ 隝I 5ɚiI(*5=Isi ali7<)g@) I*F=?2F9:F9BF=1JFAG'<zK=LK=]9K9K=v K=*,,'&$ BKUqA:KQGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774518H I  I )II yBI &I .I 6I Ȱ<:I FrEw,HRAJ*J*J(J(J*:J*9:J(J(J*?%<J*@%<J*P;J*P;g@Y;m$9ٽ >yH`?@e~,a?@?`W??`?ɨg@";Cy-B-(I5A5AMb@Mb@Mb@ )Y#~j?T㥛 ?:v?y%?=T<&A v@)I Ay AII4٢ݼ 7=9dQ >! %G٣%.GGy%i: %> 5Nusing accuracyPremultiplier from config)559-&^?=5Y- i- KB=&?=:===G@-D-K;-;-+5EiB Mg@MEZjq}FNOT Ignoring new targets: 632.10 m.Bj}*Jj* ProNav: ac range: 632.099976 m, nav range: 111.757187 m, bearing: 351.193936 deg, approach rate: -0.630181 m/s, LOS rate: -0.082254 deg/s, cmd heading: 358.290277 deg, new cmd heading: 358.179953 deg. 2jaHeadingCmd: 6.251420 target range: 632.099976 and range: 632.10 m. j @jjjihhhhKBfffrfbfA@ɛBN I 9ɚiI 5=Ii%ki3V<) @)*F!2F!:F!BF%S5JF)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026292 $?I) C~G 5 Y9 y= BGm ~c<G! B1 OM >wEw,lA6@Y6:6964 >y6H?`9}c@_?k?z@?? ?ɨ6@6'݌;4y>BB(IIJIJ@4٢Rd Re=9R>Q R>TT VG٣TyZ)* Z> Nusing accuracyPremultiplier from config590r?5Y iKB!%j=%G@D ;C ;.5-gB -D@-EZjYeFNOT Ignoring new targets: 632.10 m.BjeJjeu ProNav: ac range: 632.099976 m, nav range: 111.525703 m, bearing: 351.163680 deg, approach rate: -0.629325 m/s, LOS rate: -0.082427 deg/s, cmd heading: 358.179956 deg, new cmd heading: 358.088999 deg. 2juFb}HeadingCmd: 6.249832 target range: 632.099976 and range: 632.10 m. j@jjjihhhhfffrfbf(B@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278464ɛBj I 4<ɚiI4=I iji& g<)@)JQJUAA*F2F:FBF_0JFGm8P<G)B1OU1>] Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:21:55:28.8361 } TRx dataTimestamp_ set to:1736373330.004583 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537409 $?I !Ew,J^A69@Y6Z9696$ >y6H?`zv ~ã J+?z?@'W@L?S?@Q?ɨ69@6-;6CyBBB(I Mb@Mb@Mb@    ) Y y&1?V-?Mb?y `%? m= < A ) IAI \ A y f AI-I-4zK=^MK=9K9K=w K=RKE?JKE?٢M;< M@=9UaQ U>QY ]G٣Yy] e> mNusing accuracyPremultiplier from configau59e?u5Yea ie-KBu &?u:u=G@eDe1e Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036862 'Ew,ĠA xIzh}@Y}@}R9} >y}H?t@ܼ@?@+? ^(?@ѯ?ɨ}@}[;}CyޕBޕ(III)4٢! @=9x9Q > G٣/GGy@ > Nusing accuracyPremultiplier from config59񟸛?5Y i?KBr=G@D;;>65eB \@EZjFNOT Ignoring new targets: 632.10 m.Bj%;Jj%; ProNav: ac range: 632.099976 m, nav range: 110.996574 m, bearing: 351.096399 deg, approach rate: -0.653173 m/s, LOS rate: -0.083406 deg/s, cmd heading: 357.989503 deg, new cmd heading: 357.886686 deg. 2jdHeadingCmd: 6.246301 target range: 632.099976 and range: 632.10 m. j@jjjihhhhfffrfbfcB@ɛB !%ݓI! %4}Dɚ!i!I%4=I-i-2hi5QW|<)5@)1*F2F:FBF_0JF"G=G=uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:55:28.8361 LVL= 23312, 25745, 20770, 32755, AGC= 73, IDX= 343,-0.32, 1.848, 0.290, 1.763, 1.094, PHS= 0.841,-0.758, 0.665, RAW= 144.2, -9.9, CAL= 151.1, -18.9, ROT= 358.9, 18.9 Ygot valid direction response: 21:55:28.8361 LVL= 23312, 25745, 20770, 32755, AGC= 73, IDX= 343,-0.32, 1.848, 0.290, 1.763, 1.094, PHS= 0.841,-0.758, 0.665, RAW= 144.2, -9.9, CAL= 151.1, -18.9, ROT= 358.9, 18.9 PDAT read: Bearing 358.9, 18.9 (Local) ~Local bearing/azimuth received: Bearing 358.9, 18.9 (Local) UDAT read: Range 10 to 50 : 594.9 m (Round-trip 793.3 ms) speed 0.6 m/s ],DAT read: user:2150> eBDAT read: Tx time:21:55:29.9386 e$Ping request sent.eqquz?@n?+ſ)u>Iu 0>iuMu0qq :publishing transmit ping timea Fpublishing direction and range infoq9u /?$܍4am@e?yqqqq q)qIqiqqqqq q)qIqiqqquz?@n?+ſ)qIqiqqqqGy B O >q-Ew,UA6@Y6B@6E 96r>y6H ?@حf”c?@??:?ɨ6@6~;4yBBBn(IIJIJ4٢RC R`=9VQ V>TT ZG٣XyZͻ Z> rNusing accuracyPremultiplier from configpv59r?v5Yr7 irNKBtv=vG@rDra:ra:rt95~cB ;@EkܹW?kF k kbA:kDBkDZk@"4.E@\|f_w@ /?$܍4am@e?JkMRk0*Ť3h<@V,lds@櫼r? G0U?"k *kAAk(9 ›?kCG 2kCk(9 ›?kf'. kDkCkM@ addTargetRange:: Added new target pos. range: 594.900024 m, deltaT: 37.326687 s, deltaX: -37.199951 m, approachRate: -0.996605 m/s, rangeRepo size: 3 = Added new target pos. range: 594.900024 m, bearing: 273.237126 deg, lat: 36.899252 deg, lon: -122.122269 deg, deltaT: 37.326687 s, deltaX: -37.199951 m, approachRate: -0.996605 m/s, posRepo size: 3 ZjAUFNOT Ignoring new targets: 594.90 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.i] ProNav: ac range: 594.900024 m, nav range: 259.792847 m, bearing: 276.278429 deg, approach rate: 0.000000 m/s, LOS rate: -0.083406 deg/s, cmd heading: 357.886695 deg, new cmd heading: 357.787690 deg. 2jaHeadingCmd: 6.244573 target range: 594.900024 and range: 594.90 m. j@jjjihh $?I h)hAfififirfm@3@bfu`8?ɛBXp 隽I O*IɚiIU4=I'igi q<)@)*Fy2Fy:FyBF}`0JFzKBoIKh9KKx KHq Iq  Iu )IIu yBIq &Iq .Iq 6Iu i<:Iu ? F Will construct direction to contact in vehicle frame from tetrahedron phase data.G Ӕ<Gy B O >R4Ew,9Ay=B=^(IMb@Mb@Mb@ )YK7A?  G٣ y   > Nusing accuracyPremultiplier from config%59˸?%5Yϓ i[KB-O"?-:-_=-G@D5;c2;V=51 5@9UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 594.90 m.Bjm)Jjm)} ProNav: ac range: 594.900024 m, nav range: 259.777557 m, bearing: 276.216471 deg, approach rate: -0.036636 m/s, LOS rate: -0.148472 deg/s, cmd heading: 357.787684 deg, new cmd heading: 357.601798 deg. 2j}˻HeadingCmd: 6.241329 target range: 594.900024 and range: 594.90 m. j@jjjihhhhBfffrfbf@?ɛBm I LɚiI=4=Iq+icfi+<)@)*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. $?IGF<GrAGrAG B O >+:Ew,A2@Y2\@2#92=y2HD?D\?ܻ 9z?@ }?Ʀ?`A?ɨ2@2;2Cy^ӈBbK(I)d dIjjIj;4٢rw r^=9vQ v>tt vG٣v0GGyz2 z> Nusing accuracyPremultiplier from config 59>߸? 5Y ieKB  TO= G@D::@5aB @EZjAEFNOT Ignoring new targets: 594.90 m.BjM JjM ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.978089m ProNav: ac range: 594.900024 m, nav range: 259.764160 m, bearing: 276.165077 deg, approach rate: -0.036480 m/s, LOS rate: -0.139950 deg/s, cmd heading: 357.601794 deg, new cmd heading: 357.447607 deg. 2jmuHeadingCmd: 6.238637 target range: 594.900024 and range: 594.90 m. ju@jqjqjqiqhyhyhhfffrfbf`:?ɛB! 隽sI JaQɚiI4=Iw6irei撅<)@)JsK{ـ3 K{ .KsKs"KsJ%J%J%0J!J%k:J%F:J%ـ3J!a=@aE@aE@aE@*FU?2FQ:FQBFU0JFQG]rA G]nAGup<GIBaO> Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232850  $?I AEw,A6@Y6f@6&96E=y6H"?M?@Ze5w!?`Ͻ ?ؽ?Z?ɨ6@6ǎ;6CyRˆBR7(IzK}RIK}9KyK}y K})iyMb@Mb@Mb@ )Y/$?Mb?Mby?<A `@)AIyzAIqIJH4٢ >=9$Q > G٣y: > Nusing accuracyPremultiplier from config59a?5Ym iiKB?:)<G@D;;ND5_B @EZj  FNOT Ignoring new targets: 594.90 m.BjJj% ProNav: ac range: 594.900024 m, nav range: 259.738770 m, bearing: 276.107405 deg, approach rate: -0.059176 m/s, LOS rate: -0.134425 deg/s, cmd heading: 357.447596 deg, new cmd heading: 357.274564 deg. 2j%-HeadingCmd: 6.235618 target range: 594.900024 and range: 594.90 m. j-.@j)j)j)i)h)h1h1h5Bf9f9f9rf9bf= ?ɛeBmf# im0ʾIi msVɚiiqIu04=I}Bi}di} ߣ<)}.@)HI I(II`BI&I.I6Ih<:I= F*F5?2F1:F1BF=1JF9mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.481809GmT<GI BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733734HEw, "A @I@N$@YN|@N$9NX3=yNHN?&5[@+r`?(?.?6?ɨN$@NX;NCyfBj-(II~I~q4٢% %Q=9-s:Q ->11 =G٣9yEM; E> Nusing accuracyPremultiplier from config59V ?5YZ imKBg><G@D::G5 H@Zj9=FNOT Ignoring new targets: 594.90 m.BjEJjEu ProNav: ac range: 594.900024 m, nav range: 259.715302 m, bearing: 276.052777 deg, approach rate: -0.056585 m/s, LOS rate: -0.131731 deg/s, cmd heading: 357.274573 deg, new cmd heading: 357.110673 deg. 2juϴ}HeadingCmd: 6.232757 target range: 594.900024 and range: 594.90 m. j}r@jyjyjyiyhyhhhfffrfbfr?ɛBq' 3оI %\ɚ!i!I%4=IU׍NiUxNciUٵ<)Ur@)Q*F2F:FBF0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985792J J J J J :J ;:J J G <G ?G ?G B O >INEw,|;A6t@Y6@6E"967=y6H?qJ_@p@c? JYG?N??ɨ6t@6Ge;6Cy^B^(IIfIf4٢n  nO=9n:Q r>pp rG٣r1GGyv: v> ~Nusing accuracyPremultiplier from configx59z? 5YzG izqKB  9G< G@zDzG;z.F;z*K5^B P@EZjAEFNOT Ignoring new targets: 594.90 m.BjMJjM] ProNav: ac range: 594.900024 m, nav range: 259.693756 m, bearing: 276.001787 deg, approach rate: -0.057830 m/s, LOS rate: -0.136873 deg/s, cmd heading: 357.110676 deg, new cmd heading: 356.957693 deg. 2j]޻eHeadingCmd: 6.230087 target range: 594.900024 and range: 594.90 m. je\@jajajaiahahihihififfrfbf5@ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2410999 )-EI1 5D"bɚ9i9I=4=I]}Y $?IieObi\<)\@)E5qAE5rA*F2F:FBF\4JF"G=G=zK NK +9K K z K kH) XzkU=,#"$$#%')'('%"G =<H 3>I C I (II ABI &I .I 6I <:I V FBIJIRIZIbIjIɈ4] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489722G B O >k.UEw,fUA6@Y6(@6 96r=y6H?%\?LVTz?; ?AA MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]59U 5?]5YU iUpKBe?e:eqeG@UDU;U;UO5}\B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 594.90 m.BjJj ProNav: ac range: 594.900024 m, nav range: 259.648987 m, bearing: 275.941870 deg, approach rate: -0.099602 m/s, LOS rate: -0.133324 deg/s, cmd heading: 356.957680 deg, new cmd heading: 356.777900 deg. 2jHeadingCmd: 6.226949 target range: 594.900024 and range: 594.90 m. j+C@jjjihhhh{BfffrfbfJk@ɛBK; !%II! %hɚ!i!I%J4=I-Wfi5ij`i5<)5+C@)1*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742326 $?IG <G B OE >X[Ew,FoA>@Y>@>9>=y>Hb?.zt? i{`?`齿?@?S?ɨ>@>I;>CyJBJ'IIRIR4٢Z Zg=9^Q(:Q ^>\` bG٣`yf j> nNusing accuracyPremultiplier from configlr59n_G?r5Yn iltvBvG@nDn.:nL:n0R5x z@x%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993734Zj)-FNOT Ignoring new targets: 594.90 m.Bj5Jj5E ProNav: ac range: 594.900024 m, nav range: 259.613098 m, bearing: 275.894448 deg, approach rate: -0.101125 m/s, LOS rate: -0.133643 deg/s, cmd heading: 356.777909 deg, new cmd heading: 356.635622 deg. 2jMo]HeadingCmd: 6.224466 target range: 594.900024 and range: 594.90 m. j].@jYjYjYiahahahahifififirfibfu@E@ɛBL 隝I ,nɚiI4=Iʃpi_ib <).@)JJJ1JJ:J<:J3J*F2F:FBF`0JFG <GqAGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246031GB OE > $?I eBbEw,yA6@Y6A@6 96C=y6H@"?xO?d@V?}??`?ɨ6@6P;6CyNBR'IEMb@Mb@Mb@AAA A)AYEX9v?V-Zd;OyE?EhEjEA E`@)EAIE AAyEAIeIe:4٢}^ >=9:Q > G٣2GGy% > Nusing accuracyPremultiplier from config59^?5Y zK5bNK1K1K5{ K5!9J =JFc8^q?:ilKBE?E:EEG@D;;V5MZB M*@UEZjFNOT Ignoring new targets: 594.90 m.BjJj ProNav: ac range: 594.900024 m, nav range: 259.551178 m, bearing: 275.834964 deg, approach rate: -0.137107 m/s, LOS rate: -0.131744 deg/s, cmd heading: 356.635623 deg, new cmd heading: 356.457129 deg. 2jԴHeadingCmd: 6.221351 target range: 594.900024 and range: 594.90 m. jN@jjjihhhhDBfIfIfIrfIbfU`I @H2>I I(IIBI( =&I.I6Ic<:I9 F-Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:21:55:33.1326 5TRx dataTimestamp_ set to:1736373334.284821=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498926ɛBt< 隽I (MvɚiI5=I%F}i%]i-<)-N@)9EYEY*F2F:F!BF%!4JF!G9 G=rAG= < Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750115G B O >lhEw,UA I6h@Y6[w@696B=y6H??@o# ??z?>? i?ɨ6h@6;6C}.~G YyBy}B'III٢ = B=9j:Q > G٣y%.3 %> -Nusing accuracyPremultiplier from config)M59-s?M5Y-ϕ i-iKBIU-UG@-D-;-3;-Y5]XB ]@]EZjFNOT Ignoring new targets: 594.90 m.Bj&Jj&M ProNav: ac range: 594.900024 m, nav range: 259.493683 m, bearing: 275.780611 deg, approach rate: -0.143453 m/s, LOS rate: -0.135643 deg/s, cmd heading: 356.457136 deg, new cmd heading: 356.294042 deg. 2jM.]HeadingCmd: 6.218504 target range: 594.900024 and range: 594.90 m. j]@jYjYjYiYhahahhfffrfbfV@ɛB%#S iu2Iy |ɚiI;5=Iwi\i <)@)*F92F9:F9BF=_0JF9=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.004141JJJJJ:J9:JJG= <G B! OE >InEw,W&A2vE@Y2T@2 92A=y2H'?m?@0O \ ?ھ@>?? ?ɨ2vE@2a;2Cy>xBB'IIFIF4٢N1 Re=9R;Q R>TT VG٣TyV3B Z> ^Nusing accuracyPremultiplier from configXb59Z?b5YZ iZfKB`bfG@ZDZ;Z;Z\5h j@hZj  FNOT Ignoring new targets: 594.90 m.BjJj% ProNav: ac range: 594.900024 m, nav range: 259.442657 m, bearing: 275.733101 deg, approach rate: -0.143627 m/s, LOS rate: -0.133758 deg/s, cmd heading: 356.294031 deg, new cmd heading: 356.151474 deg. 2j%-HeadingCmd: 6.216016 target range: 594.900024 and range: 594.90 m. j-@j)j1j1i1h1h1h9h9f9f9fArfAbfE"@ɛuBu֡h qu%I %ɚ!i)I-n5=IMWill construct direction to contact in vehicle frame from tetrahedron phase data. 5$?I5hiU[iU<)]@)aDAT read: 21:55:33.1326 LVL= 21184, 24497, 20690, 28259, AGC= 74, IDX= 495, 0.18,-1.169,-2.659,-1.210,-1.862, PHS= 0.781,-0.750, 0.649, RAW= 145.5, -9.3, CAL= 152.1, -18.1, ROT= 357.9, 18.1 Ygot valid direction response: 21:55:33.1326 LVL= 21184, 24497, 20690, 28259, AGC= 74, IDX= 495, 0.18,-1.169,-2.659,-1.210,-1.862, PHS= 0.781,-0.750, 0.649, RAW= 145.5, -9.3, CAL= 152.1, -18.1, ROT= 357.9, 18.1 PDAT read: Bearing 357.9, 18.1 (Local) ~Local bearing/azimuth received: Bearing 357.9, 18.1 (Local) DAT read: Range 10 to 50 : 592.3 m (Round-trip 789.8 ms) speed 0.9 m/s ,DAT read: user:2151> BDAT read: Tx time:21:55:34.2386 %$Ping request sent.%ڙڙ۝I~?j4٫:?( ΪĿ)۝&6>I۝&>i۝Y۝*ۙۙ:publishing transmit ping time!Fpublishing direction and range infoؙ9؝9L)x?`5 a1=?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝I~?j4٫:?( ΪĿ)ۙIۙiۙۙۙۙzKmPKm9KiKm| KmH I  I {(II BI &I .I 6D6I l<:I ? F] Will construct direction to contact in vehicle frame from tetrahedron phase data.G E<GA BI Oe >|uEw,yAfT@Yf(@fֵ9f=yfH@?|?`q ߜ?AD?4?U?ɨfT@f`;fCysB'ImMb@Mb@Mb@iii i)iYm~jt?~jt rhym?mĽmCi m@)iIm AiymAIsIK4٢ң .=9E):Q > G٣3GGyf< > Nusing accuracyPremultiplier from config59?5Y idKB?:9G@D/;M;`5VB .@EkT㶼?k9F k kA:kDBkDZkkf@"=lA@%h|mv@9L)x?`5 a1=?JkYRk**\.ת"@##1cW;s@s~ a?~?!Pte?"k*kAkB\?kuEG 2kCkB\?kCG kCkCkf@% addTargetRange:: Added new target pos. range: 592.299988 m, deltaT: 4.284190 s, deltaX: -2.600037 m, approachRate: -0.606891 m/s, rangeRepo size: 4 = Added new target pos. range: 592.299988 m, bearing: 271.080779 deg, lat: 36.899106 deg, lon: -122.125013 deg, deltaT: 4.284190 s, deltaX: -2.600037 m, approachRate: -0.606891 m/s, posRepo size: 4 Zj9=FNOT Ignoring new targets: 592.30 m.BjEJjA] ProNav: ac range: 592.299988 m, nav range: 502.205017 m, bearing: 271.082628 deg, approach rate: 0.000000 m/s, LOS rate: -0.133758 deg/s, cmd heading: 356.151472 deg, new cmd heading: 355.961931 deg. 2jYeHeadingCmd: 6.212708 target range: 592.299988 and range: 592.30 m. je@jajajaiahihihihuBfqfqfqrfu`f@bf}9?ɛBAL 隥I 8ɚiI5=IViZi<)@)*F2F:FBFo0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data. -$?I)G ᔳ<G B O >{Ew,A6@Y6@6}96i=y6H?@W?ɤ&l8??@!?`?ɨ6@6r;4y^vBb'IIjIj]4٢rO< rk=9rXQ r?tt vG٣tyz6 z? ~Nusing accuracyPremultiplier from config|59~?5Y~ i~bKB  < H@~ D~;~:~c5 @=Will construct direction to contact in vehicle frame from tetrahedron phase data.MB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 592.30 m.BjeJjeu ProNav: ac range: 592.299988 m, nav range: 502.161804 m, bearing: 271.058690 deg, approach rate: -0.125076 m/s, LOS rate: -0.069294 deg/s, cmd heading: 355.961920 deg, new cmd heading: 355.890098 deg. 2ju9>}HeadingCmd: 6.211454 target range: 592.299988 and range: 592.30 m. j};@jyjyjyiyhhhhfffrfbf?ɛ~Bn,d I VɚiI}5=I璽iYi̓<);@)*F2F:FBF)1JFG%<GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.  I GEw,= A2/@Y2@2;92$=y2H?$V?7Y@?ͻ6?0?_?ɨ2/@2;2CyRsBR'IEMb@Mb@Mb@AAA A)AYEʡE?Qyy }G٣yy} > Nusing accuracyPremultiplier from config59}Ź?5YȚ i^KB!?:H@DG;TE;g5TB  @EZjFNOT Ignoring new targets: 592.30 m.BjJj ProNav: ac range: 592.299988 m, nav range: 502.088776 m, bearing: 271.029405 deg, approach rate: -0.174074 m/s, LOS rate: -0.069816 deg/s, cmd heading: 355.890094 deg, new cmd heading: 355.802225 deg. 2j?HeadingCmd: 6.209920 target range: 592.299988 and range: 592.30 m. j@jjjihhhhBfffrfbf `?zKuBoHKuh9KqKu} Ku  RK}?JK}>ɛ|BS I ֋ɚiI 6=I iXi K<) @jH5<bH5<H9I9 I=b(II=BI9&I9.I96I=<:I=c F)q]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.188140*F2F:FBF1JFJJJ0JJ:J8:Jـ3JJ#  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438316mEw,y$AV@YVj@Vڬ9Vc=yVH`?Aۤ? ?hs4?Hٻ??ɨV@Vꯉ;VCy~uB~'II I 4٢2< %O=9%t08Q %>)) -G٣-4GGy-K -> =Nusing accuracyPremultiplier from config1E595ٹ?E5Y5} i5ZKBAE(EH@5D5G;5<;5k5URB U@UEZjFNOT Ignoring new targets: 592.30 m.Bj!Jj! ProNav: ac range: 592.299988 m, nav range: 502.019623 m, bearing: 271.002135 deg, approach rate: -0.175269 m/s, LOS rate: -0.069125 deg/s, cmd heading: 355.802230 deg, new cmd heading: 355.720410 deg. 2j=HeadingCmd: 6.208492 target range: 592.299988 and range: 592.30 m. j@jjjihhhhfffrfbfg?ɛmzBms[ 隵}I ɚiI%@6=IiWi$<)@)1*F2F:FBFa5JFGqA GpAG3Z<GYBiOZ>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.688598;Ew,Dm>A6`@Y6o@6^96J=y6H?է?@Z@? 庿?$b?@?ɨ6`@6m;6CyR|BR'IIZIZ4٢~X= ~M=93!;Q >  G٣ y jh  > Nusing accuracyPremultiplier from config59;?%5YC iUKB!%%H@!D;;~n5) -e@1ZjYeFNOT Ignoring new targets: 592.30 m.BjeJjmu ProNav: ac range: 592.299988 m, nav range: 501.948151 m, bearing: 270.974496 deg, approach rate: -0.179148 m/s, LOS rate: -0.069289 deg/s, cmd heading: 355.720405 deg, new cmd heading: 355.637475 deg. 2j}5>HeadingCmd: 6.207045 target range: 592.299988 and range: 592.30 m. j@jjjihhhhfffrfbf@}?ɛxBԨY I ^2ɚiI}u6=IliDUWi^;)@) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.945987*Fa2Fa:FiBF2JFGzQ<GBO>zKM|LK 9KK~ KBKpA:KrAHQ IQ  IU U(IIU ܈BIQ &IQ .IQ 6IU <:IU _ Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.192713J J J J J J >:J J J J J ˕;J ˕;ەEw,XAF:@YFJJ@F 9F=yFH ?*?`P ?@?6?@?ɨF:@FS;FCy^Bb'IEMb@Mb@Mb@AAA A)AYE-?ףp= ÿ~jtyE5?EEDEA E@)EhAIEAAyEpAImIm)4٢% w= %7=9-y9Q ->)1 5G٣1y5( => ENusing accuracyPremultiplier from config9e59=+?m5Y=v i=SKBu##?}:}U}H@=*D=r;= ;=er5PB j@EZjFNOT Ignoring new targets: 592.30 m.BjwJjw ProNav: ac range: 592.299988 m, nav range: 501.860138 m, bearing: 270.943589 deg, approach rate: -0.194739 m/s, LOS rate: -0.068397 deg/s, cmd heading: 355.637486 deg, new cmd heading: 355.544750 deg. 2j;HeadingCmd: 6.205427 target range: 592.299988 and range: 592.30 m. jے@jjjihhhhBfffrfbf@@ɛuvBuE y}GIy }UɚyiyI}ϣ6=I?iVi;)ے@)*FA2FA:FABFE4JFA u$?IqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445448Ge O <G} ?G} '?GY Bi O >Ew,frA6@Y6#)@6 96QL=y6HF?9?@Ua?C``?ֻ??ɨ6@6,^;4yRBR'IIZIZ]4٢z< ~`=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.6969809 :Q  > G٣5GGy4 > %Nusing accuracyPremultiplier from config!-59%?-5Y%J i%PKB)-a-H@%2D%a:%:%u5=NB =@=EUB*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 592.30 m.BjmJjm ProNav: ac range: 592.299988 m, nav range: 501.787079 m, bearing: 270.918228 deg, approach rate: -0.202389 m/s, LOS rate: -0.070266 deg/s, cmd heading: 355.544760 deg, new cmd heading: 355.468665 deg. 2j@HeadingCmd: 6.204099 target range: 592.299988 and range: 592.30 m. j@jjjihhhhfffrfbfEg@ɛtBZU I EɚiIx6=I>iU3Vi ;)@)*Fi2Fq:FqBFu`0JFq"G}=G}=G{/; YIYGiByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.948819Ew,)@Af @Yfd@f(9f=yfH`D?@y=?ɥ ?6 _?`h@`?@?r?ɨf @f;fCy~B~(IMb@Mb@Mb@ )Y'1Z?Onÿ~jthy"?D\ A )zAI`AyAII{4٢= 9=9Q >!! %G٣!y%D -> 5Nusing accuracyPremultiplier from config)=59-/?=5Y-v i-RKB=9'?=:=NEH@-;D-[;-;-oy5I M@IzKu~KKu9KqKu KuRK ?JK?ZjFNOT Ignoring new targets: 592.30 m.Bj{Jj{ ProNav: ac range: 592.299988 m, nav range: 501.700409 m, bearing: 270.887050 deg, approach rate: -0.196193 m/s, LOS rate: -0.070588 deg/s, cmd heading: 355.468671 deg, new cmd heading: 355.375122 deg. 2jAHeadingCmd: 6.202466 target range: 592.299988 and range: 592.30 m. jz@jjjihhhh.Bfffrfbf` @HU1>IQ IUb(IIUBIQ&IQ.IQ6IUV<:IU/ FBI}CJI}CRIyZI}( =bI}( =jI}ž4ɛqB&7 -;I YɚiI6=I'PiUi| :)z@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200729JJJJJ:J::JJJ&<J&<J5;J6;*F2F:FBFJFG e;G B O > E $?IA  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:55:37.4291  TRx dataTimestamp_ set to:1736373338.576628 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.453746gEw,Ay=BE$(IIUIU4٢= R=9Q > G٣y > Nusing accuracyPremultiplier from config59C?5Yf iSKBH@CDV;V;|5MB @EZjAMFNOT Ignoring new targets: 592.30 m.BjUJjUm ProNav: ac range: 592.299988 m, nav range: 501.623016 m, bearing: 270.859155 deg, approach rate: -0.196020 m/s, LOS rate: -0.070664 deg/s, cmd heading: 355.375125 deg, new cmd heading: 355.291427 deg. 2jmAHeadingCmd: 6.201005 target range: 592.299988 and range: 592.30 m. jn@jjjihhhhfffrfbf`,% @ɛoB%5 !%wI! M֝ɚIiIIMq7=IUNiUR'UiU;)]n@)Y*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.704978G Y:G G G B O >@Ew,fA>ȿ@Y>w@>ʭ9>T=y>H ?? E8,?`T?k5?7?ɨ>ȿ@>;>Cy^Bb4(I)d dIjIjv}4٢r4= rX=9r9Q v>tt vG٣v6GGyz z> ~Nusing accuracyPremultiplier from config|59~W?5Y~M i~TKB  J H@~KD~:~:~&5KB @EZjimFNOT Ignoring new targets: 592.30 m.BjuˢJjuˢ ProNav: ac range: 592.299988 m, nav range: 501.547485 m, bearing: 270.832413 deg, approach rate: -0.200967 m/s, LOS rate: -0.071163 deg/s, cmd heading: 355.291414 deg, new cmd heading: 355.211177 deg. 2jZCHeadingCmd: 6.199605 target range: 592.299988 and range: 592.30 m. j)c@jjjihhhhfffrfbf@ $?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.959214ɛmBVd: I QɚiI6/7=Iy,i8Ti9))c@)E9*F2F:FBFn0JFGrA GrAzK K h9K K K H] 0>IY  I] (II] BI] ) =&IY .IY 6I] \<:I] 2 F- Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge : DAT read: 21:55:37.4291 LVL= 21232, 28305, 17698, 30419, AGC= 72, IDX= 399, 0.21, 2.428, 0.926, 2.187, 1.788, PHS= 0.728,-0.815, 0.396, RAW= 138.2, -4.4, CAL= 143.7, -14.2, ROT= 6.3, 14.2  Ygot valid direction response: 21:55:37.4291 LVL= 21232, 28305, 17698, 30419, AGC= 72, IDX= 399, 0.21, 2.428, 0.926, 2.187, 1.788, PHS= 0.728,-0.815, 0.396, RAW= 138.2, -4.4, CAL= 143.7, -14.2, ROT= 6.3, 14.2 % PDAT read: Bearing 6.3, 14.2 (Local) % ~Local bearing/azimuth received: Bearing 6.3, 14.2 (Local) 5 DAT read: Range 10 to 50 : 589.6 m (Round-trip 786.2 ms) speed 0.5 m/s e ,DAT read: user:2152> u BDAT read: Tx time:21:55:38.5387 u $Ping request sent.u  JDAT read: TxSync time:21:55:38.5379  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.038199,-0.694317,0.718654] :publishing transmit ping timeq  Fpublishing direction and range info1 95 ` ՎBg&7UC7?y5 fD1 5 R5 n 5 "E)5 vI5 Hi5 5^:?5 ףP5 >5 ^@5 nF 5 @)5 }I5 z0=i5 }>1 1 5 EzN? ?H;Lmҳ)5 >I5 =i5 п5 GM1 1 % :publishing transmit ping timeq % Fpublishing direction and range info1 95 ` ՎBg&7UC7?y1 1 1 1 1 )1 I1 i1 1 1 1 1 1 )1 I1 )Ew,AiaaaeEzN? ?H;Lmҳ)aIaiaaaa@YR@9H=yH=?`?`EĦ첿 ̲?@|w?MB?4?ɨ@;騭CyUڈBUT(IMb@Mb@Mb@ )Y#~j?X9vy%?A @)AIAyGAII{4٢%U= - =9-CQ ->11 5G٣1y5" => eNusing accuracyPremultiplier from config9m59=s?m5Y= i=YKBm(?m:muH@=VD=B;=;=5}IB }@}E $?Ikex?kekA ka keUA:kefDBkecDZke@"eAϮ6cyx{z@e` ՎBg&7UC7?JkeпRke GM*ee%YgQ=K|>V4w@e&9!h߀&?"keY*ke:ke9È?keW@B 2keCkakakakeCke=@)I Iu addTargetRange:: Added new target pos. range: 589.599976 m, deltaT: 4.293132 s, deltaX: -2.700012 m, approachRate: -0.628914 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.-G|uA %rY%|uAy% B5 Added new target pos. range: 589.599976 m, bearing: 261.257762 deg, lat: 36.899106 deg, lon: -122.125013 deg, deltaT: 4.293132 s, deltaX: -2.700012 m, approachRate: -0.628914 m/s, posRepo size: 4 ZjQ]FNOT Ignoring new targets: 589.60 m.Bj]JjYm ProNav: ac range: 589.599976 m, nav range: 501.455536 m, bearing: 270.795332 deg, approach rate: 0.000000 m/s, LOS rate: -0.071163 deg/s, cmd heading: 355.211173 deg, new cmd heading: 355.098302 deg. 2jiHeadingCmd: 6.197635 target range: 589.599976 and range: 589.60 m. jS@jjjihhhhiBfffrfl@bf#?ɛiB- 8I %Hɚ!i!I%/7=I-"5i-hTi-)-S@)1*F?2F:FBF_0JFG p5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >A"Ew,QAR@YR[@R9Rx =yRH?`\?@mk%?Y`?@U??ɨR@R;RCybBfm(IInInt4٢v+= vi=9vDQ v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config 59? 5Y0 i]KB 0H@]Ds;;5 @!=B*** querying acoustic contact ***j9j9ZjIUFNOT Ignoring new targets: 589.60 m.BjU°Jj]°e ProNav: ac range: 589.599976 m, nav range: 501.392120 m, bearing: 270.769912 deg, approach rate: -0.192741 m/s, LOS rate: -0.077268 deg/s, cmd heading: 355.098311 deg, new cmd heading: 355.022043 deg. 2jmTuHeadingCmd: 6.196303 target range: 589.599976 and range: 589.60 m. juH@jqjqjqiqhqhyhyhyfyffrfbf1u?ɛ-hB-$" 15qI1 5aɚ1i1I5j77=I= ﱽi=2Ti=)EH@)A*F?2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G}g{G ?G?G B O >Ew,A:@Y:f@:A9:f=y:H??e@ ?#@8g?`??ɨ:@:;:CyRBR(IEMb@Mb@Mb@AAA A)AYES㥛?bX9ȶ @=9Mo:Q > G٣7GGyb; > Nusing accuracyPremultiplier from config59ɜ?5Y ifKB'?:XH@fD;m ;d5GB @E]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.965706ZjFNOT Ignoring new targets: 589.60 m.Bj៺Jj៺ ProNav: ac range: 589.599976 m, nav range: 501.330170 m, bearing: 270.738932 deg, approach rate: -0.139740 m/s, LOS rate: -0.069890 deg/s, cmd heading: 355.022032 deg, new cmd heading: 354.929080 deg. 2j?HeadingCmd: 6.194681 target range: 589.599976 and range: 589.60 m. j:@jjji hhhhBfffrfbf%?ɛ eB K -I cɚiI $7=IAiSi%!)%:@)!E5rAE5nA*F2F:FBF0JF"G=G=  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217513G G B O >^2Ew,*AB8@YB@B-9B =yBH`?`?Wڲ ? `?`k?S?ɨB8@Bdd fG٣dyj; j> nNusing accuracyPremultiplier from configlr59n)?r5Yn inoKBprWvH@nnDnL:nn:n5zEB z_@zEZj!-FNOT Ignoring new targets: 589.60 m.Bj-Jj-= ProNav: ac range: 589.599976 m, nav range: 501.275360 m, bearing: 270.711371 deg, approach rate: -0.152674 m/s, LOS rate: -0.076782 deg/s, cmd heading: 354.929086 deg, new cmd heading: 354.846393 deg. 2jEREHeadingCmd: 6.193238 target range: 589.599976 and range: 589.60 m. jE/@jIjIjIiIhIhIhihififqfqrfqbfu)?ɛEcBE5 IMII m vɚiiiIm7=Iu]6iufSi}P;9)}/@)y*F2F:FBF`5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.470035*Ja="J%=JJJ1JJ;:J>:J3Ja@a@a@a@G >G B O > $?I \Ew,DA2¿@Y2`@2H92X=y2H?@?`^?*??q??ɨ2¿@2' ;2CbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.721765y%5B%(II5I5҅4٢U= ]B=9mz}Q u>yy }G٣yy < > Nusing accuracyPremultiplier from config59$Ⱥ?5Y ixKBTH@wD;;i5 @EZjFNOT Ignoring new targets: 589.60 m.BjbJjb ProNav: ac range: 589.599976 m, nav range: 501.214752 m, bearing: 270.680283 deg, approach rate: -0.142633 m/s, LOS rate: -0.073169 deg/s, cmd heading: 354.846386 deg, new cmd heading: 354.753113 deg. 2jHHeadingCmd: 6.191610 target range: 589.599976 and range: 589.60 m. j!@jjj i h9hAhqhqfffrfbf?ɛEaBEIӼ amIi mɚiiiIm6=IuiuRiuz;)u!@)y*F%?2F!:F!BF!JF!H]2>IY I](II]`BI]* =&IY.IY6I]i<:I]; FzKk3IK9KK KuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.973499G }:G G pAGY Bi O >+AEw,m^A2hտ@Y2@2=92>y2H??@mR?y`p٢?|??ɨ2hտ@2Ր;2Cy:KB:(I=Mb@Mb@Mb@999 9)9Y=w/?Q~jt?y=&?==<=A 9)=AI=A9y=AI]I]r4٢mz= mI=9mJɺQ m>qq uG٣u8GGyc; > Nusing accuracyPremultiplier from config 59 ߺ? 5Yq iKB('?:qH@DZ4;2;5%CB %@%EZjIMFNOT Ignoring new targets: 589.60 m.Bj]Jjem ProNav: ac range: 589.599976 m, nav range: 501.179626 m, bearing: 270.649255 deg, approach rate: -0.083682 m/s, LOS rate: -0.073927 deg/s, cmd heading: 354.753113 deg, new cmd heading: 354.660021 deg. 2juJ}HeadingCmd: 6.189985 target range: 589.599976 and range: 589.60 m. j}\@jyjyjyiyhhhhՉBfffrfbf@ $?Iɛ_B9 (= I  XɚiIK6=I߾iG(Ri<)\@)EEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226971*Fm?2Fi:FiBFu3JFqG}qA GyGMJ՟;G!B1OMS> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478400kEw,kJxA6@Y6@6*96O>y6H@p?@d ? XIిѬ?|$?t? =?ɨ6@6;6CyB`BB(IIJIJ1h4JRJPJR0JPJR[:JPJRـ3JP٢b= bV=9bQúQ b>dd fG٣dyf; j> nNusing accuracyPremultiplier from confighr59j?r5Yj* ijKBpvj콑vH@jDj;j;jE5zAB z@zE B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 589.60 m.Bj%Jj-񨺝} ProNav: ac range: 589.599976 m, nav range: 501.149567 m, bearing: 270.622235 deg, approach rate: -0.082154 m/s, LOS rate: -0.073850 deg/s, cmd heading: 354.660032 deg, new cmd heading: 354.578967 deg. 2jJHeadingCmd: 6.188570 target range: 589.599976 and range: 589.60 m. j@jjjihhhhfffrfbfY@ɛ ]B   @;I  Nɚi1I=6=IEXiEoQiE$,<)E@)I*F 2F :F BF _0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729635G{/;G B O >SEw,#AZH|RH~AAH0>I I=)IIBI) =&I.I6I<:IZ Fy%yB%)IzKK9KK KRK?JK?Mb@Mb@Mb@ )Yw/?Mb?:v?y<<A )AIypAIIk4٢-= -5=9-Q ->=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981697AA EG٣AyM M> UNusing accuracyPremultiplier from configI]59M ?]5YM iMKB]'?e:eqeH@MDMA;M;M95i m@iZjFNOT Ignoring new targets: 589.60 m.BjJj ProNav: ac range: 589.599976 m, nav range: 501.129120 m, bearing: 270.588692 deg, approach rate: -0.045316 m/s, LOS rate: -0.074343 deg/s, cmd heading: 354.578971 deg, new cmd heading: 354.478339 deg. 2jLHeadingCmd: 6.186814 target range: 589.599976 and range: 589.60 m. jb@jjjihhhh Bfffrfbf@S@ɛ[B?4 k=I %楼ɚiI;6=IA^Ži Pi @<) b@)*F2F:FBFJF qIyG < Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233695G B O >|Ew,A2%@Y2}@2Q92>y2H@?`8?ˌ?``ȣ???ɨ2%@2J;2CynBn-)III4٢= %]=9% _Q %>)) 5G٣1y=b; => UNusing accuracyPremultiplier from configI]59M?e5YM iMKBiuluH@MDMw;MA;Mu5?B L@EZjFNOT Ignoring new targets: 589.60 m.BjyJjy ProNav: ac range: 589.599976 m, nav range: 501.112793 m, bearing: 270.561220 deg, approach rate: -0.043508 m/s, LOS rate: -0.073209 deg/s, cmd heading: 354.478348 deg, new cmd heading: 354.395930 deg. 2jHHeadingCmd: 6.185376 target range: 589.599976 and range: 589.60 m. j@jjjihhhhfffrfbf@\ @ɛYB[ =I 'GɚiIj5=IjPȽiOiDg<)@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.485771JK3 K.KK"KJJJJJ:J?:JJEQO=E*Fu?2Fq:FqBFu`0JFq"G}=G}= e $?Ia G 2< Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  BDAT read: Rx Time:21:55:41.7345  TRx dataTimestamp_ set to:1736373343.113733 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740214G B O >])Ew,A@Yh@X 9+>yH@ ?,? B/Ͱ?`i ??@"?ɨ@L&;騵Cy޵B޽9)IMb@Mb@Mb@ )YS㥛?{Gz?{Gz?y$&?#=ף<A @)I`AyIIr4٢[= =9npQ > G٣9GGy[ > Nusing accuracyPremultiplier from config59^=?5Y iKB&?:p H@DF;CE;'5>B @EZj%FNOT Ignoring new targets: 589.60 m.Bj%ѪJj%Ѫ= ProNav: ac range: 589.599976 m, nav range: 501.106476 m, bearing: 270.521362 deg, approach rate: -0.011834 m/s, LOS rate: -0.074670 deg/s, cmd heading: 354.395922 deg, new cmd heading: 354.276345 deg. 2j=L=HeadingCmd: 6.183289 target range: 589.599976 and range: 589.60 m. jE@jAjAjAiAhAhAhIhM)BfIfIfQrfQbfU`_@ɛWB+XP 隍=I vFɚiIJv5=I̽iNNis<)@)E]ܪ&=HI I{)IIˉBI&I.I6I)<:I FBI9JI9RI9ZI=) =bI=) =jI=xW5zKK 9KK K BKqA:KqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.989900*F?2F :F BF _0JF G Re<G rAG rAG B O% >GJEw,zA F$?IDy=B=H)IIUIUm4٢m= m{=9mQ m ?qq uG٣qy} } ? Nusing accuracyPremultiplier from config59+O?5Y iKBH@D::5 @=Will construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 21:55:41.7345 LVL= 20464, 26257, 19170, 29971, AGC= 75, IDX= 502, 0.29, 0.423,-1.246, 0.283,-0.345, PHS= 0.856,-0.853, 0.625, RAW= 142.8, -7.9, CAL= 149.2, -17.1, ROT= 0.8, 17.1 Ygot valid direction response: 21:55:41.7345 LVL= 20464, 26257, 19170, 29971, AGC= 75, IDX= 502, 0.29, 0.423,-1.246, 0.283,-0.345, PHS= 0.856,-0.853, 0.625, RAW= 142.8, -7.9, CAL= 149.2, -17.1, ROT= 0.8, 17.1 8DAT read: $Error in header *Received a bad headerZjFNOT Ignoring new targets: 589.60 m.BjJj ProNav: ac range: 589.599976 m, nav range: 501.102783 m, bearing: 270.497208 deg, approach rate: -0.010533 m/s, LOS rate: -0.068897 deg/s, cmd heading: 354.276339 deg, new cmd heading: 354.203877 deg. 2j"=HeadingCmd: 6.182024 target range: 589.599976 and range: 589.60 m. j$@jjjihhhhfffrfbf54@X#Rx 1: Read direction message, but no range.^direction in FSK: [0.030586,-0.752749,0.657596]99=dqQ? ̜7 ?9=O=f =J)=uI=Ki="[?=5^Z= ?=W@=0 =r&@)=ΘI=d9=O6?#.Ӝ?E䂇)=#>I=D >i=$ÿ=37T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛ5VB=Z 9=D>I9 EoɚAiAIE5=I-ϽixMiȂ<)$@)E)E)*E)"E)*FQ 2FQ :FQ BFU `0JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJm Jm Ji Ji Jm :Jm ::Ji Ji G Qd<GBO>dFw,ϣA6Xܿ@Y6@6@!96>y6H`U?W? ^`?3&?`??ɨ6Xܿ@60];6Cy>B>P)IIJIJy4٢RG< R3=9RtQ V>TX ZG٣Z:GGyZ) Z> bNusing accuracyPremultiplier from config\b59^'h?b5Y^1 i^LBdjHjH@^D^>;^?;^5nI %:ɚ!i!I%4=I-%ҽi-8Li5yK<)5@)1E9E=rAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBFo0JFGrA GGT<GYBiO>H! I!  I% )II% BI% ( =&I! .I! 6I% 3<:I%  F Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezK 2KK 9K K K QFw,YAJֿ@YJ@J9J Q>yJH@ ?`Cï?5+I ? `? m[??ɨJֿ@J;JCybBbZ)I-Mb@Mb@Mb@))) )))Y-S㥛?Q?Mb?y-$?-\=-<-A ))-hAI-A)y-AIUIUv}4٢eq= e2=9e/:Q m>ii mG٣iyu˺ u> }Nusing accuracyPremultiplier from configy59}?5Y} i}LB%?:=H@}D}+;}u:}5:B @EZjFNOT Ignoring new targets: 589.60 m.BjJj- ProNav: ac range: 589.599976 m, nav range: 501.106049 m, bearing: 270.429427 deg, approach rate: 0.018440 m/s, LOS rate: -0.072352 deg/s, cmd heading: 354.102196 deg, new cmd heading: 354.000538 deg. 2j-FUHeadingCmd: 6.178475 target range: 589.599976 and range: 589.60 m. jU@jQjQjQiQhQhYhYh]/BfYfafarfabfe@@ɛSB I` im8>Ii mGݠɚiiiIu14=IuNrֽi}Ki}!)<)}@)y%~G=vAa YvAy B Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F}?2F:FBFn0JFG G ?G >G B O > Fw,T75A6ҿ@Y6@6;96)>y6H? ?@꧿Si ڭ?"賣?@4?`?ɨ6ҿ@6;6Cy>B>U)IIF{IFZ4٢R Rl=9VH:Q V?TT ZG٣XyZe Z? bNusing accuracyPremultiplier from config`f59b?f5Yb ib1LBdf=fH@bDb:b]:b 5j8B n@nE]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseZjimFNOT Ignoring new targets: 589.60 m.Bju~Jju~ ProNav: ac range: 589.599976 m, nav range: 501.112579 m, bearing: 270.403783 deg, approach rate: 0.018647 m/s, LOS rate: -0.073217 deg/s, cmd heading: 354.000536 deg, new cmd heading: 353.923606 deg. 2jHHeadingCmd: 6.177132 target range: 589.599976 and range: 589.60 m. j@jjjihhhhfffrfbf=@ɛ=RBEһ AE2>IA ErޟɚAiIIM3=IMw2ٽiUeJieW<)e@)*F?2F:FBF0JF $?IG~< Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O >Fw,!OAǿ@Y@9=yH{?m?xV@4?0* G٣;GGyID > mNusing accuracyPremultiplier from configiu59m?u5Ym im?LBu4#?}:}/\}H@mDm3;m;m 5 ,@HI I)IIBI) =&I.I6Iw<:ID FZjFNOT Ignoring new targets: 589.60 m.BjJjM ProNav: ac range: 589.599976 m, nav range: 501.110352 m, bearing: 270.370325 deg, approach rate: -0.004849 m/s, LOS rate: -0.072827 deg/s, cmd heading: 353.923601 deg, new cmd heading: 353.823225 deg. 2jUGUHeadingCmd: 6.175380 target range: 589.599976 and range: 589.60 m. jU@jYjYjYiYhYhYhahe%BfeWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapsezKBHK9KK Kffrfbf ;@ɛ PB   &*>I %ɚiI\3=Iܽi%sIi%<)%@)!E5p>E5>JJJJJJ@:JJJ#Fw,hAF'ÿ@YF@F09F;=yFH@x?@?@> 䱿`?⾿?e?ڻ?ɨF'ÿ@Fq;FCyVBVD)IIfIfq4٢v/ v[=9v+;Q z>x| ~G٣|yu > Nusing accuracyPremultiplier from config59󿻛?5Y iILBH@D<<05 6B @ EZjq}FNOT Ignoring new targets: 589.60 m.Bj}dJj}d ProNav: ac range: 589.599976 m, nav range: 501.108612 m, bearing: 270.344175 deg, approach rate: -0.004548 m/s, LOS rate: -0.068364 deg/s, cmd heading: 353.823224 deg, new cmd heading: 353.744775 deg. 2j;HeadingCmd: 6.174011 target range: 589.599976 and range: 589.60 m. j@jjjihhhhfffrfbft@ɛ5OB5} 1=>I9 =ɚ9i9I= 3=IE߽iMHiuG<)u@)y*F%?2F!:F!BF-5JF)}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseJJG- <G B O5 > Fw,CǂA @IDyB5)II-I-v}4٢Eyc EE=9EQ M>QQ UG٣QyU U> mNusing accuracyPremultiplier from configa}59e1ֻ?5Ye ieULBH@eDe4;e?;eϽ54B 0@EmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 589.60 m.BjJj ProNav: ac range: 589.599976 m, nav range: 501.106720 m, bearing: 270.313995 deg, approach rate: -0.004678 m/s, LOS rate: -0.074623 deg/s, cmd heading: 353.744786 deg, new cmd heading: 353.654246 deg. 2jLHeadingCmd: 6.172431 target range: 589.599976 and range: 589.60 m. j@jjjihhhhfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsebf4@ɛMNBMM% im.>Iq uʜɚqiqIu#2=I}2i}syGi}<)}@)*F?2F:F)BF-P5JF)ZHRHHI I)IIBI&I.I6I><:I FGm <GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezKe jIKe 9Ka Ke Ke J J J J J :J <:J J J ?%<J @%<J ;J ;&Fw,A2ҵ@Y2*@2T 92D_=y2H #??@勵N@? 8cன?`w??ɨ2ҵ@2X;2Cy:B:3)I)L LMb@Mb@Mb@ )YL7A`? G٣y| > Nusing accuracyPremultiplier from config59f?5YԲ i^LBm'?:H@Dh; ;~5 P@ ZjFNOT Ignoring new targets: 589.60 m.Bj#Jj# ProNav: ac range: 589.599976 m, nav range: 501.100952 m, bearing: 270.282509 deg, approach rate: -0.014104 m/s, LOS rate: -0.076997 deg/s, cmd heading: 353.654245 deg, new cmd heading: 353.559784 deg. 2j^S HeadingCmd: 6.170783 target range: 589.599976 and range: 589.60 m. jM w@jIjQjQiQhQhQhYh]BfYfYfYrfabfe@ u$?IqɛMBN& *>I F雼ɚiI#Z2=I[3iYFi#<) w@))EAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*Fe?2Fa:FaBFeK5JFaGq GqG 7ͤ<GY By O >-Fw,玶A6@Y6q@696=y6H ?@?@GT[G?f ?V?=?ɨ6@6_;6Cy>zBB)IINpINF4٢Rl V_=9Vii;Q V>TX ZG٣Z bNusing accuracyPremultiplier from config`f59b?f5Yb ibfLBdfFfH@bDb:b:b5n2B n@nEZj FNOT Ignoring new targets: 589.60 m.Bj Jj=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse ProNav: ac range: 589.599976 m, nav range: 501.095642 m, bearing: 270.255121 deg, approach rate: -0.015046 m/s, LOS rate: -0.077606 deg/s, cmd heading: 353.559797 deg, new cmd heading: 353.477633 deg. 2j UHeadingCmd: 6.169349 target range: 589.599976 and range: 589.60 m. jNk@jjjih hhhfffrfbf@Z@ɛLBqK 隝=I ;aɚiI2=ID#idEiĦ<*JR="Ja=)Nk@)*F]?2FY:FYBF]_0JFY YIYGۣ<Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGa Bi O >R3Fw,mtA=@Y= @=ds9=b=y=HQ?? ?AM?Qb??ɨ=@=T$;=CyMtBU)IMb@Mb@Mb@ )Yx&1?{Gz?y&1y!?ף<`e A )AIAy3AII{4٢ ,μ  5=9 D;Q > G٣HqIq Iu)IIu BIq&Iq.Iq6IuT<:Iu* Fy > Nusing accuracyPremultiplier from config59?5YA ijLB!?:D$H@D;:51B @EZj1=FNOT Ignoring new targets: 589.60 m.Bj=Jj]u ProNav: ac range: 589.599976 m, nav range: 501.082428 m, bearing: 270.221083 deg, approach rate: -0.027756 m/s, LOS rate: -0.071499 deg/s, cmd heading: 353.477644 deg, new cmd heading: 353.375527 deg. 2juFDHeadingCmd: 6.167566 target range: 589.599976 and range: 589.60 m. j\@jjjihhhhBfffrfbf`P @=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseɛUKBUa y}(=Iy ĚɚiI1=IiDi1<)\@)zKBHK]9KK KBK):K)JJJJJ:J@:JJJ&<J&<J;J;*FU?2FQ:FQBFQJFQ E $?IA G |<Gi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsex:Fw,:A]Ì@Y]@]ܞ9]~=y]H?X?U"? `r?ɽ?v?ɨ]Ì@];]CymcBm(II}I}_v4٢ S=9@;Q > G٣yڻ > Nusing accuracyPremultiplier from config59.?5Y imLBk.H@D!G<>G<5  @1Zjy}FNOT Ignoring new targets: 589.60 m.BjJj ProNav: ac range: 589.599976 m, nav range: 501.071808 m, bearing: 270.194762 deg, approach rate: -0.028046 m/s, LOS rate: -0.069510 deg/s, cmd heading: 353.375519 deg, new cmd heading: 353.296555 deg. 2j>HeadingCmd: 6.166188 target range: 589.599976 and range: 589.60 m. jjQ@jjjihhhhfffrfbf @ @ɛ9=,} 9=>=I9 EQ}ɚAiAIE1=IMi*Ci˥<)jQ@)EE*F5?2F9:F9BF=`0JF9"GE=GE=UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseGe 7ͤ<GA BI Om > 9 I9 @Fw,jA6@Y6@6]964=y6H?@? ޳@?鼿*?V??ɨ6@6P;6CyV\BZ(IIbIb4٢j" jW=9jW;Q n>ll rG٣r=GGyr> r> vNusing accuracyPremultiplier from configtz59vGB?z5Yvʳ ivpLB|~3~H@vDv ;v ;vS5/B .@ EZj1=FNOT Ignoring new targets: 589.60 m.BjE JjE U ProNav: ac range: 589.599976 m, nav range: 501.060547 m, bearing: 270.167352 deg, approach rate: -0.031076 m/s, LOS rate: -0.075643 deg/s, cmd heading: 353.296562 deg, new cmd heading: 353.214331 deg. 2jUO]HeadingCmd: 6.164753 target range: 589.599976 and range: 589.60 m. j]E@jYjajaiahahahihifififirfqbfu@!@ɛJBO  =I uJɚiI}1=Ii7Bi <)E@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBF}0JFGQG)B9O]>HqIq Iu)IIuBIq&Iq.Iq6IuN<:Iu& FBIYJIYRIYZIYbIYjI];4e Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapsezK} k3IK} 9Ky K} K} RK ?JK ?J J J 1J J :J ;:J 3J J '<J '<J ;J ;!GFw,!ABm@YBn|@Bd9Bc=yBH6?@ޞ? `?@]?b? ?ɨBm@BK;@y^GB^(IMb@Mb@Mb@ )YV-?V-Zd;Oy|?j A @)IAyAIpIF4٢⽽ 9=91;Q >    G٣ y̻ > Nusing accuracyPremultiplier from config%59^Y?%5Y ilLB%?%:--H@D;o;155-B 5`@5EUB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 589.60 m.Bje5Jje5} ProNav: ac range: 589.599976 m, nav range: 501.026123 m, bearing: 270.136033 deg, approach rate: -0.077931 m/s, LOS rate: -0.070907 deg/s, cmd heading: 353.214326 deg, new cmd heading: 353.120363 deg. 2j}B}HeadingCmd: 6.163113 target range: 589.599976 and range: 589.60 m. j98@jjjihhhhBfffrfbfo"@ $?Iɛ6N @I TɚiI[1=IhiKAiBʡ<)98@)PExceeded connect timeout, disconnecting.*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGG B O >LMFw,7Ay~0B~(I5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseIEIE4٢U UV=9]Q ]>Ya eG٣aye e> uNusing accuracyPremultiplier from configi}59mMm?5Ymq imhLBH@mDmJO;m4;m5 @ZjFNOT Ignoring new targets: 589.60 m.BjסJjס ProNav: ac range: 589.599976 m, nav range: 500.996490 m, bearing: 270.108983 deg, approach rate: -0.077496 m/s, LOS rate: -0.070746 deg/s, cmd heading: 353.120370 deg, new cmd heading: 353.039216 deg. 2j5BHeadingCmd: 6.161697 target range: 589.599976 and range: 589.60 m. j,@jjjihhhhfffrfbf3#@ɛIB. !%HII! %ɚ!i!I%_I1=I-i-@i5&<)5,@)9EAEE>*F2F:FBF1JFG G IGWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGBO >;TFw,QAHI Iu)IIƉBI( =&I.I6IS<:I* Fy-%B-(IMb@Mb@Mb@ )Yx&1?l񲿚yA ?̼ A ~@)QAIAyAIIy4٢ A 1=9Q > G٣>GGy! %> -Nusing accuracyPremultiplier from config)559-n?55Y- i-aLB5!?5:5]E5H@- D-;-:-5E+B Eb@EEZjquFNOT Ignoring new targets: 589.60 m.Bj}㡺Jj}㡺 ProNav: ac range: 589.599976 m, nav range: 500.940155 m, bearing: 270.076249 deg, approach rate: -0.121776 m/s, LOS rate: -0.070767 deg/s, cmd heading: 353.039228 deg, new cmd heading: 352.941014 deg. 2jDBHeadingCmd: 6.159983 target range: 589.599976 and range: 589.60 m. j@jjjihhhhDBfffrfbf $@ɛEf I )ɚiI61=IQi>i<)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5 Will construct direction to contact in vehicle frame from tetrahedron phase data. I FaFw,WAJ@YJ @J|9JP=yJHa? kK?-`? H+d?^ؼ?@?ɨJ@J;HyfBf(IInIn:4٢v! vS=9v0;Q v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 59? 5Yg iSLB SH@/D:;5! -@)ZjIUFNOT Ignoring new targets: 589.60 m.BjUJjUe ProNav: ac range: 589.599976 m, nav range: 500.845367 m, bearing: 270.024295 deg, approach rate: -0.129513 m/s, LOS rate: -0.070420 deg/s, cmd heading: 352.867162 deg, new cmd heading: 352.785124 deg. 2jmPAmHeadingCmd: 6.157262 target range: 589.599976 and range: 589.60 m. juJ@jqjqjqiqhqhyhyhyfffrfbf`e%@ɛGBټ 隽TؽI [ɚiIF1=Ii|/=i[<)J@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2154> BDAT read: Tx time:21:55:49.4888 $Ping request sent.H1I1 I5C)II5BI5) =&I1.I16I5<:I5P FE Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:21:55:49.4880 U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248342zK9 ugFw,sJA2@@Y2@2ض92=y2H~?`? 砿@Ƹ@G? ?ږ?~?@z?ɨ2@@2`T;2CyJBJ(IIVIVF4Ke9KaKe Ke٢5پ 5E=9=6 ;Q =>99 =G٣E?GGyEλ E> MNusing accuracyPremultiplier from configIU59MD?U5YMպ iMKLBY]VV]H@M8DM;Mo;M5e'B e@eEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 589.60 m.BjJj ProNav: ac range: 589.599976 m, nav range: 500.790985 m, bearing: 269.995031 deg, approach rate: -0.128799 m/s, LOS rate: -0.069315 deg/s, cmd heading: 352.785117 deg, new cmd heading: 352.697318 deg. 2jG>HeadingCmd: 6.155729 target range: 589.599976 and range: 589.60 m. j@jj j ihhhhf!f!f!rf! 5$?I1bf=t&@ɛeFBe]o I [ɚiII^1=IڃiBL"mFw, A6Ӿ@Y6@6;/96m=y6H?`?@&Y@N?@ `lŖ??@?ɨ6Ӿ@6;;4y>BR(IIZtIZM4٢b; bS=9bZ9Q f>dd fG٣dyj j> rNusing accuracyPremultiplier from configpv59rxռ?v5Yr2 irDLBtvYzH@r?Dr :r*:r5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751544~&B %t@%EZjAMFNOT Ignoring new targets: 589.60 m.BjM)JjM)e ProNav: ac range: 589.599976 m, nav range: 500.739288 m, bearing: 269.967595 deg, approach rate: -0.134375 m/s, LOS rate: -0.071323 deg/s, cmd heading: 352.697308 deg, new cmd heading: 352.614990 deg. 2jeCmHeadingCmd: 6.154293 target range: 589.599976 and range: 589.60 m. jm@jijijqiqhqhqhyhyfyfyfrfbf6'@ɛ 隵I 9ɚiIt1=Iniv;iG<)@)JJJ0JJJ>:Jـ3J*Fq2Fq:FqBFu`0JFq -$?I)GP<GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003456O>EtFw,"AEþ@Y@ U9=yH`"?7?iݹ.?;᷿ .J?`m? C?H/>I I)IIyBI&I.I6I<:I FɨEþ@&̒;騍CyBv(I)  ]@] ]@] ]@]  ]@] IelIem?4٢u4 u%=9}y:Q }>yy G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59 ;?5Y i;LB+::[H@ID=;>5 @ZjFNOT Ignoring new targets: 589.60 m.BjDJjD ProNav: ac range: 589.599976 m, nav range: 500.673431 m, bearing: 269.932849 deg, approach rate: -0.134430 m/s, LOS rate: -0.070933 deg/s, cmd heading: 352.614991 deg, new cmd heading: 352.510741 deg. 2jBHeadingCmd: 6.152473 target range: 589.599976 and range: 589.60 m.EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.263599 j@jjjihhhhfffrfbf?(@ɛEBĜ 隝FI .ɚiI1=Ii:idbG<)@)EEqAzKk3IK9KK K*FM?2FI:FQBFU_0JFQGY G]nA %$?I)G} iG< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516358Gi By O >%zFw, Ay-B-(IImpImF4٢}'= }e=9Q > G٣@GGy > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y4 i4LB :\:H@QD#9;9Z?5$B #@EZjFNOT Ignoring new targets: 589.60 m.BjJj ProNav: ac range: 589.599976 m, nav range: 500.625824 m, bearing: 269.907669 deg, approach rate: -0.133842 m/s, LOS rate: -0.070799 deg/s, cmd heading: 352.510735 deg, new cmd heading: 352.435186 deg. 2jZBHeadingCmd: 6.151155 target range: 589.599976 and range: 589.60 m. jB@jjjih h h h fffrfbf(@ɛIU= QU6IQ UI?ɚQiYI]1=I]3ie9ieJ]<)eB@)a*F?2F:FBFo0JFG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767606JJ@AJJJJJ:JH:JJGBO> I ӁFw, A6ľ@Y6 @6 f96=y6H?%?Lѹͪ?`Ahl?? ?ɨ6ľ@6+;4yFBF(IININF4٢VL VZ=9VC;Q V>XX ZG٣Xy^9 ^> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59b ?j5Yb ib,LBj9hj2:jZnH@bXDb%;b?bK5r"B r,@rEZj FNOT Ignoring new targets: 589.60 m.BjJj- ProNav: ac range: 589.599976 m, nav range: 500.576111 m, bearing: 269.881232 deg, approach rate: -0.132383 m/s, LOS rate: -0.070406 deg/s, cmd heading: 352.435193 deg, new cmd heading: 352.355875 deg. 2j-FA5HeadingCmd: 6.149770 target range: 589.599976 and range: 589.60 m. j5@j1j1j1i1h9h9h9hAfAfAfArfAbfMէ)@ɛuDBu| qu Iy }&ɚyiyI1=Ii*"9iyr<)@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019988*F?2F:FBF0JFGBO>jHAbHE<HYIY I](II]eBIY&IY.IY6I]<:I]R F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271452zK BoHK 9K K K Fw,!A2Ͼ@Y2s@24 92q=y2H?9Ѹ?@QL = ,?f \A? >??ɨ2Ͼ@21v;2CyZBZ(I 5 = == ==  = = =Mb@Mb@Mb@999 9)9Y=Mb?(\ſ~jty= ?=.==/ A =Q@)=v@I=A9y=AIUIU<4 m$?Ii٢>; ==9,;Q > G٣y?; > Nusing accuracyPremultiplier from config59j+?5Y' i!LBT:`&?:#H@aD4;;5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 589.60 m.BjJj ProNav: ac range: 589.599976 m, nav range: 500.476929 m, bearing: 269.850817 deg, approach rate: -0.217499 m/s, LOS rate: -0.066712 deg/s, cmd heading: 352.355881 deg, new cmd heading: 352.264617 deg. 2j"7HeadingCmd: 6.148178 target range: 589.599976 and range: 589.60 m. j߽@jjjihhhh Bf!f)f)rfIbfM *@ɛCB-Z )-I) 5ɚ1i1I5_1=I=~? iE7imQb<)m߽@)qEV>Ea>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.524633*F%?2F!:F!BF%p0JF!GeqAGaGB!OEs>&Fw,Z;A6ɾ@Y6<@6咼96=y6Hl??՝بm?ࣉ \?#?q?ɨ6ɾ@6;6CyBBB(IIJIJ4RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775469٢Z= ZY=9Z1;Q Z>\` bG٣bAGGyf޺ f> jNusing accuracyPremultiplier from confighn59j>?n5Yjf ijLBpr]rH@jiDj;j:;j]5v B v%@vEZjFNOT Ignoring new targets: 589.60 m.BjJj- ProNav: ac range: 589.599976 m, nav range: 500.392273 m, bearing: 269.824851 deg, approach rate: -0.240223 m/s, LOS rate: -0.073694 deg/s, cmd heading: 352.264630 deg, new cmd heading: 352.186719 deg. 2j-MJ5HeadingCmd: 6.146818 target range: 589.599976 and range: 589.60 m. j5@j1j1j9i9h9h9hAhIfIfIfIrfQbfUF+@JJJ1JJ:J@:J3Jɛ> %սI! %ɚ!i!I%2=I- i-h47i-<)-@)Q*F?2F:FBF`5JF U$?IYGBO%>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0274540Fw,QUAHxIx Iz(IIz`BIz( =&Ix.Ix6Izg<:Iz9 FBIJIRIZIbIjIf4b@Y@9+Z=yH@A??و` \? ??e?ɨb@93;CyB(IMb@Mb@Mb@ )YCl?KǿQy;?^:u A )`@IyAII#4٢5<= ,=9:Q > G٣yM > Nusing accuracyPremultiplier from config59V?5Yo i LBE%?E:E1ľEH@sDK+<*<5MB MT@UEZjFNOT Ignoring new targets: 589.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280249BjJj ProNav: ac range: 589.599976 m, nav range: 500.278046 m, bearing: 269.792086 deg, approach rate: -0.234220 m/s, LOS rate: -0.067198 deg/s, cmd heading: 352.186711 deg, new cmd heading: 352.088395 deg. 2jx8 HeadingCmd: 6.145102 target range: 589.599976 and range: 589.60 m. j @j j j i h hhhBfff9rf9bf=F,@ɛBBS:Fw,oA^a@Y^@^ن9^W=y^H`??@|b?dڐ??f?ɨ^a@^Ԯ;^Cyf$Bj(IIrIrF4٢z= zp=9z:Q z?  G٣ y UA  ? Nusing accuracyPremultiplier from config59g?%5Y iLB!%:ƾ%H@zD ;7:5) -@1ZjquFNOT Ignoring new targets: 589.60 m.Bj}Jj} ProNav: ac range: 589.599976 m, nav range: 500.195343 m, bearing: 269.768594 deg, approach rate: -0.248538 m/s, LOS rate: -0.070609 deg/s, cmd heading: 352.088383 deg, new cmd heading: 352.017897 deg. 2jAHeadingCmd: 6.143871 target range: 589.599976 and range: 589.60 m. j@jjjihhhhfffrfbf,@ɛABZȼ hI >ɚiIQ?2=IZin5ii<)@)Ey*F ?2F :F BF P4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:55:52.6664 TRx dataTimestamp_ set to:1736373353.956745checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784577GɎ<JK KKK"KJJJ0JJ:JJـ3JGB OM > ) I) Fw,-Ayv0Bv(III٢a= ==9Q > G٣BGGy > Nusing accuracyPremultiplier from config 59}? 5Yj iKBH@D;;G 5 B @ EWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035651ZjAEFNOT Ignoring new targets: 589.60 m.BjM$JjM$] ProNav: ac range: 589.599976 m, nav range: 500.090820 m, bearing: 269.738868 deg, approach rate: -0.243018 m/s, LOS rate: -0.069129 deg/s, cmd heading: 352.017896 deg, new cmd heading: 351.928699 deg. 2j]=eHeadingCmd: 6.142314 target range: 589.599976 and range: 589.60 m. je׍@jajajaiahihihhfffrfbf -@ɛe@Bm 隭I WڣɚiIT2=In@ih4ig<)׍@)*F?2F:FBF3JFH I  I )II jBI ) =&I .I 6I :I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:55:52.6664 LVL= 19440, 32177, 20706, 32755, AGC= 72, IDX= 361, 0.24, 0.209,-1.396,-0.030,-0.553, PHS= 0.850,-0.796, 0.520, RAW= 139.1, -7.7, CAL= 145.2, -17.7, ROT= 4.8, 17.7  Ygot valid direction response: 21:55:52.6664 LVL= 19440, 32177, 20706, 32755, AGC= 72, IDX= 361, 0.24, 0.209,-1.396,-0.030,-0.553, PHS= 0.850,-0.796, 0.520, RAW= 139.1, -7.7, CAL= 145.2, -17.7, ROT= 4.8, 17.7  PDAT read: Bearing 4.8, 17.7 (Local)  ~Local bearing/azimuth received: Bearing 4.8, 17.7 (Local) % DAT read: Range 10 to 50 : 580.0 m (Round-trip 773.4 ms) speed 0.5 m/s G- Re< ,DAT read: user:2155>  BDAT read: Tx time:21:55:53.7888  $Ping request sent.  R#Rx 1: Read range and direction messages.} ^direction in FSK: [0.025743,-0.705681,0.708062]} :publishing transmit ping timeر } Fpublishing direction and range info 9 &Nۉy\?yպq?y D K } P) I Hi Y? K ? O`@ 0"@) 2+I =i 2+> 9nj?2ZW?A{s) N{>I >i eĿ shI  :publishing transmit ping timeر  Fpublishing direction and range info 9 &Nۉy\?yպq?y  ) I i ) I i 9nj?2ZW?A{s) I i zKU BoIKU ]9KQ KU KU RKe ?JKe ?TFw,ABbF@YBU@B6 Z$?Ifh9B=yBH|?`?ӝӾ?9 &???ɨBbF@B;BCyn>Bn(IbG ]jYayeBMb@Mb@Mb@ )YZd;?M¿~jthy?nD A h@)@IzAypAII4٢`= )=9:Q > G٣y > Nusing accuracyPremultiplier from config 59Ö? 5Y2 iKB##?:nH@Da;f; 5B @EWill construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:21:55:53.7880 kS?kjQ B k keoA:kDBkDZk|@"n*-@xзy*ӥЪy@&Nۉy\?yպq?JkeĿRkshI*DE4$G|3v@(VASj@1Uf?"k9*k~.kZ:?k\_B 2kqCkkkkCk@ addTargetRange:: Added new target pos. range: 580.000000 m, deltaT: 15.126575 s, deltaX: -9.599976 m, approachRate: -0.634643 m/s, rangeRepo size: 4 % Added new target pos. range: 580.000000 m, bearing: 264.492787 deg, lat: 36.899106 deg, lon: -122.125013 deg, deltaT: 15.126575 s, deltaX: -9.599976 m, approachRate: -0.634643 m/s, posRepo size: 4 ZjAUFNOT Ignoring new targets: 580.00 m.BjUJjQe ProNav: ac range: 580.000000 m, nav range: 499.986694 m, bearing: 269.704685 deg, approach rate: 0.000000 m/s, LOS rate: -0.069129 deg/s, cmd heading: 351.928694 deg, new cmd heading: 351.818621 deg. 2jHeadingCmd: 6.140393 target range: 580.000000 and range: 580.00 m. j~@jjjihhhhSBfffrf @bf`a?ɛ?B/ I ߣɚiIg2=IE"8iE33iET9<)E~@)IEYE]rA*F ?2F :F BF P5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G= T<GE rAGE qAG B O%>U%Fw,AB5!@YB0@Bg9B=yBH?~7?d 澿@*?9T? j??ɨB5!@BB;@yJNBN(IiR%=IR=IVpIVF4٢^= ^j=9^BQ b?`` bG٣`yf[ j? nNusing accuracyPremultiplier from confighn 59jا?r 5Yj ijKBprrH@jDj:jU:j 5x z@x B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 580.00 m.Bj%uJj%u5 ProNav: ac range: 580.000000 m, nav range: 499.914886 m, bearing: 269.681410 deg, approach rate: -0.237946 m/s, LOS rate: -0.077136 deg/s, cmd heading: 351.818618 deg, new cmd heading: 351.748783 deg. 2j5S=HeadingCmd: 6.139174 target range: 580.000000 and range: 580.00 m. j=t@j9j9jAiAhAhAhIhIfQfQfQrfYbf] ?ɛB 隍MWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMAUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.H I  I *)II BI &I .I 6I T<:I + FIFw,]A2X@Y2@2օ925=y2H :?@.?ۿ?NX?@??ɨ2X@2%;2Cy>dB>(IMMb@Mb@Mb@III I)IYMMbX9?)\(Mb`?yM!?MGόM;I I)MAIMhAIyIIeIeb4٢u= u@=9}ioQ }>yy G٣CGGy > Nusing accuracyPremultiplier from config 59ؽ? 5Y7 i9$?:I@D/;S.;H 5B F@}EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978696ZjFNOT Ignoring new targets: 580.00 m.Bj9Jj9 ProNav: ac range: 580.000000 m, nav range: 499.836700 m, bearing: 269.651430 deg, approach rate: -0.182628 m/s, LOS rate: -0.070040 deg/s, cmd heading: 351.748786 deg, new cmd heading: 351.658831 deg. 2jE@HeadingCmd: 6.137604 target range: 580.000000 and range: 580.00 m. jAg@j j j i h h hhyBfffrfbfT?ɛM>BUs QU=IQ U6ɚQiYI]?f2=I]*ie2ie;)eAg@)aJJJJJJ>L:JJJa Ja Jo;aJp;a*F 2F :F BF `0JF zKBHK 9KK KBK:KmA $?IGMl<G! B1 OM >m Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230122?qFw,/A6S@Y6@6%_96P=y6H ?$?`3Y 0=?`` ?)x?B?ɨ6S@6(@;6CyRoBR )IIZ@IZ3٢bj= bV=9f0]Q f>dd fG٣hyj j> nNusing accuracyPremultiplier from configlr 59nѽ?r 5Yn iltvŘvI@nDn:n:n 5zB zv@zzEZj!-FNOT Ignoring new targets: 580.00 m.Bj-꡺Jj5꡺E ProNav: ac range: 580.000000 m, nav range: 499.766296 m, bearing: 269.624593 deg, approach rate: -0.185655 m/s, LOS rate: -0.070779 deg/s, cmd heading: 351.658819 deg, new cmd heading: 351.578297 deg. 2jELBMHeadingCmd: 6.136199 target range: 580.000000 and range: 580.00 m. jM[@jIjIjIiIhIhQhQhQfQfYfYrfYbf]-f?ɛ|T  =I  ɚ i I V2=I5i51i=;)=[@)9*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482253 IG;GBO >cYFw,$ AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734164:@Y:p@:9:I=y:H`)?? oM.?&Ґ??a?ɨ:@:ڌ;:CyFBF0)I)H HIVIVt4٢j> nI=9v?@;Q v>xx zG٣xy~ > Nusing accuracyPremultiplier from config  59 潛? 5Y ' i 7I@ D ?= H= 1 5! %@!ZjIMFNOT Ignoring new targets: 580.00 m.BjJj ProNav: ac range: 580.000000 m, nav range: 499.690491 m, bearing: 269.595717 deg, approach rate: -0.171771 m/s, LOS rate: -0.065442 deg/s, cmd heading: 351.578305 deg, new cmd heading: 351.491662 deg. 2j3HeadingCmd: 6.134687 target range: 580.000000 and range: 580.00 m. j[O@jjjihhhhfffrfbfj?ɛ=B >I dɚiI<2=IiZ1iY;)[O@)HI IV)IIBI&I.I6I<:Ii F*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986052J J J J J ;:J A:J J J L)<J L)<J z;J {;G ~q; $?I G zK yJK 9K K K B O >Fw,!'Af'ڽ@Yf@fP`v9f=yfH@K?`6?B@ ?@eeˎ?`#??ɨf'ڽ@fc;fCy~B<)IMb@Mb@Mb@ )Y{Gz?Mb{Gzt?y#?ף;/ A Q@)@IyAI-I-r4٢=?5= =5=9EK;Q E>AA EG٣MDGGyM M> ]Nusing accuracyPremultiplier from configQ] 59UE?] 5YU iUKBe$?e:ekeI@UDU;U:U 5mB m@}wEZjFNOT Ignoring new targets: 580.00 m.BjϰJjϰ ProNav: ac range: 580.000000 m, nav range: 499.627197 m, bearing: 269.563606 deg, approach rate: -0.152325 m/s, LOS rate: -0.077289 deg/s, cmd heading: 351.491671 deg, new cmd heading: 351.395326 deg. 2j+THeadingCmd: 6.133006 target range: 580.000000 and range: 580.00 m. jA@jjjihhhhBfffrfbf@ɛ!- )5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238215=4>I9 =|Jɚ9i9I="2=IEiEt0iM;)MA@)*F2F:FBF}0JFG ;G qAG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490143mkFw,AA6ҽ@Y6v@6Sm96Q=y6HP?@1W?z@?`e?Sc?6?ɨ6ҽ@6w׊;6CyBBBM)IIJnIJB4٢R = Ri=9R:Q V>TT VG٣TyZ6 Z> bNusing accuracyPremultiplier from config\f 59^?f 5Y^< i^KBdfljI@^D^4;^ ;^) 5nB n@rtE~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 580.00 m.Bj Jj% ProNav: ac range: 580.000000 m, nav range: 499.577301 m, bearing: 269.538336 deg, approach rate: -0.142062 m/s, LOS rate: -0.071953 deg/s, cmd heading: 351.395338 deg, new cmd heading: 351.319522 deg. 2j%E-HeadingCmd: 6.131682 target range: 580.000000 and range: 580.00 m. j-6@j)j)j)i)h)h1h1h1f1 e$?Iaffrfbf@ɛI  Tɚ i I :2=IU#i]W0i]|;)]6@)Y*F2F:FBF3JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.742191G5;G B O5 >H I  I )II ՉBI ( =&I .I 6I <:I _ FzFw,[ARCս@YR@Re9R=yRHȹ?qK?C y?@ @f? ľ?`?ɨRCս@R{w;RCy^B^^)IibN>Ibyy }G٣yyHi: >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994191 Nusing accuracyPremultiplier from config 59'? 5Y{ iKB$?:h/I@DJ;Z; 5  @ZjFNOT Ignoring new targets: 580.00 m.Bj5Jj5 ProNav: ac range: 580.000000 m, nav range: 499.532227 m, bearing: 269.506890 deg, approach rate: -0.104132 m/s, LOS rate: -0.072655 deg/s, cmd heading: 351.319523 deg, new cmd heading: 351.225175 deg. 2jrGHeadingCmd: 6.130036 target range: 580.000000 and range: 580.00 m. jA)@jjjihhhhljBfffrfbf@;@JJJ1JJ:JC:J3JJ&<J&<JE;JE;ɛ)-d^v 15l>I1 5fɚ1i1I51=I=.i=ĭ/i= ;)eA)@)a III*F2F:FBF`5JFzKBoHK9KK KG= G;M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247958G B1 Oe >pFw,=uA2ɽ@Y2 @20e92=y2HE?Cx?\ Tl?A0豌?`?6?ɨ2ɽ@2A";2CyNˉBN|)IIVIV4٢^x> ^W=9bAQ b>`` fG٣fEGGyfVs f> nNusing accuracyPremultiplier from confighn 59j,Jj%>5 ProNav: ac range: 580.000000 m, nav range: 499.492340 m, bearing: 269.479225 deg, approach rate: -0.105397 m/s, LOS rate: -0.073109 deg/s, cmd heading: 351.225184 deg, new cmd heading: 351.142182 deg. 2j=H=HeadingCmd: 6.128587 target range: 580.000000 and range: 580.00 m. j=c@jAjAjAiAhAhAhIhIfIfIfQrfQbfUY @ɛ: ">I %Dɚ!i!I% 1=I-Oi-f /i-;)-c@)Q*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498975 =$?I9G 2<GBO >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:21:55:56.9719 ] TRx dataTimestamp_ set to:1736373358.240572e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751139Fw,A6ʽ@Y6I@63^96|=y6H{?@Gs?+&v}?`I@(Ƌ? k?M?ɨ6ʽ@6N;6CyBԉBB)IIJIJ%x4٢R*= VK=9V:Q V>XX ZG٣XyZ9 ^> bNusing accuracyPremultiplier from config\f 59^Q?f 5Y^ i^ LBdj0jI@^D^Q>;^>;^$ 5nB n@rnEZjFNOT Ignoring new targets: 580.00 m.BjJj ProNav: ac range: 580.000000 m, nav range: 499.450165 m, bearing: 269.449847 deg, approach rate: -0.097728 m/s, LOS rate: -0.068080 deg/s, cmd heading: 351.142184 deg, new cmd heading: 351.054043 deg. 2j: HeadingCmd: 6.127049 target range: 580.000000 and range: 580.00 m. j @j j j i h hhhfffrfbf@ɛ`: ͗>I 9ɚi9I=kx1=IE6iEi.iE$<)M@)IE}qAEyZHIRHIHm0>Ii Im)IImBIm) =&Ii.Ii6Im<:Imq FBI)JI)RI)ZI)bI)jI-4*F!2F!:F)BF-}3JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.002434JJJ0JJ:JD:Jـ3JJ'<J'<J*;J+;G 1X<  $?I! GI BY O} >zK K K K K Fw,}AA@Y@<_9=yH ? u?ze{? ξb?G??ɨ@f;騅CyޝۉBޝ)I) A]Mb@Mb@Mb@YYY Y)YY]S㥛?Mb?Q?y]$&?]<]u<]/ A ]Q@)YIYYy]GAIIv}4٢< +=9 Q > Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 21:55:56.9719 LVL= 27888, 32113, 22754, 32755, AGC= 71, IDX= 500, 0.16, 0.732,-0.913, 0.272, 0.079, PHS= 0.740,-0.945, 0.189, RAW= 131.3, 0.2, CAL= 137.1, -8.4, ROT= 12.9, 8.4 mYgot valid direction response: 21:55:56.9719 LVL= 27888, 32113, 22754, 32755, AGC= 71, IDX= 500, 0.16, 0.732,-0.913, 0.272, 0.079, PHS= 0.740,-0.945, 0.189, RAW= 131.3, 0.2, CAL= 137.1, -8.4, ROT= 12.9, 8.4 mPDAT read: Bearing 12.9, 8.4 (Local) u~Local bearing/azimuth received: Bearing 12.9, 8.4 (Local) }DAT read: Range 10 to 50 : 584.1 m (Round-trip 778.9 ms) speed 0.6 m/s !! %G٣)y53P 5> UNusing accuracyPremultiplier from configIe,DAT read: user:2156> uBDAT read: Tx time:21:55:58.0889 }$Ping request sent.} ܩ@ d; f$@) Q I f>i Q >   Q:a?GWJ?a"$o?) I>I :!yi d俉 Yk  }:publishing transmit ping timeqFpublishing direction and range info 9 Y 8"k㶥Dr?y     ) I i      ) I i    Q:a?GWJ?a"$o?) I i k &?k sY; k  k A:k DBk DZk Y@" C/RjןuK}@ Y 8"k㶥Dr?Jk dRk Yk* t/` #xz@ E1.TͿ6)!?"k *k k 6T_?k 4ߞ; 2k C   k Z:?k \_B k qCk Ck ى@m addTargetRange:: Added new target pos. range: 584.099976 m, deltaT: 4.284012 s, deltaX: 4.099976 m, approachRate: 0.957041 m/s, rangeRepo size: 4  Added new target pos. range: 584.099976 m, bearing: 250.888290 deg, lat: 36.898737 deg, lon: -122.124479 deg, deltaT: 4.284012 s, deltaX: 4.099976 m, approachRate: 0.957041 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 454.206390 m, bearing: 264.166604 deg, approach rate: 0.000000 m/s, LOS rate: -0.068080 deg/s, cmd heading: 351.054047 deg, new cmd heading: 350.941685 deg. 2j HeadingCmd: 6.125088 target range: 584.099976 and range: 584.10 m. j @jjjihhhhBfff!rf-@@bfU ?ɛԋ 隥>I ÖɚiI81=IJ!i-iZa<)@)*F 2F :F BF `5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:55:58.0881  I G o[<GBO>EFw,hA6@Y6@6#Z96c=y6H(?@ؚ?@]L !lz?`)GD?? v?ɨ6@6vɉ;6CyTV)IIbjIb;4٢fP9; jE=9jHD:Q j>ll nG٣nFGGy~~: >  Nusing accuracyPremultiplier from config  59 x? 5Y  i !LBAEEI@ D G; ; , 5MB M'@UkEkţfӒ?kϔxj; k k:kBkZk}'@"C/RjןuK}@Y 8"k㶥Dr?JkRk*`x-x/yZ z@zXHͿ.1WsY?"ko*kk70?k[; 2kCk9È?kW@B kCkCk @ZjFNOT Ignoring new targets: 584.10 m.BjϺJjϺ ProNav: ac range: 584.099976 m, nav range: 454.201141 m, bearing: 264.135544 deg, approach rate: -0.015345 m/s, LOS rate: -0.090804 deg/s, cmd heading: 350.941677 deg, new cmd heading: 350.848496 deg. 2j5Ey=HeadingCmd: 6.123461 target range: 584.099976 and range: 584.10 m. j=e@jAjAjAiAhAhAhIhIfIfIfIrfQbfu 6?ɛ$; 隽;>I ɚiI1=I#i,i9<)e@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFH/>I I)II!BI&I.I6I[<:I. FG5 jx<G) BQ O} >E Will construct direction to contact in vehicle frame from tetrahedron phase data.Fw,A^ɮ@Y^"@^Wj9^%>y^H??) 9@w?p, J?&??ɨ^ɮ@^>;^CyfBf)I E$?IAMb@Mb@Mb@ )YuV?V-?:v?yr(?<T< A h@)AIyAIcIy/4٢iW= >=9fQ > G٣yק >)E= EC~G|uAzKK9KK KBK:KnA! eYe|uAymB uNusing accuracyPremultiplier from config} 59? 5Ye i-LB(?:�I@D5=<0 5 B P@hE5B*** querying acoustic contact ***j1j1ZjiuFNOT Ignoring new targets: 584.10 m.Bj}jJj}j ProNav: ac range: 584.099976 m, nav range: 454.203827 m, bearing: 264.097688 deg, approach rate: 0.005595 m/s, LOS rate: -0.078865 deg/s, cmd heading: 350.848485 deg, new cmd heading: 350.734919 deg. 2jXHeadingCmd: 6.121479 target range: 584.099976 and range: 584.10 m. j(@jjjihhh!h%Bf!f!f)rf)bf-?ɛyP; 隥>I (lɚiI0=IR%i,iP_1<)(@)Ei>E!>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F]?2FY:FYBF]3JFYG} Y=<GY Ba O >,wFw,;ANM@YN@N˛~9Nv$=yNH:?`?t^tw?@`%ӏ?xο?`?ɨNM@N";LyZBZ)Ii^R=I^l> b=b=IfNIf@ 4٢n+< nS=9nUQQ r>pp rG٣pyvC v> zNusing accuracyPremultiplier from configx~ 59zh?~ 5Yz iz7LBE½I@zDz ;z ;z3 5  @ Zj9=FNOT Ignoring new targets: 584.10 m.BjEٺJjEٺU ProNav: ac range: 584.099976 m, nav range: 454.205811 m, bearing: 264.067975 deg, approach rate: 0.006359 m/s, LOS rate: -0.095250 deg/s, cmd heading: 350.734913 deg, new cmd heading: 350.645773 deg. 2jU]HeadingCmd: 6.119923 target range: 584.099976 and range: 584.10 m. j]i@jYjYjYiYhahahahafififirfibfu?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213663ɛ5=B=< 9=>I9 =Һɚ9i9IE|0=IE&.'iM,+iM9<)Mi@)iJJJJJJ8:JJa@a@a@a@ $?I*F?2F:FBF`0JFG 4<GBO >m Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465799fGw,A>n@Y>Ƿ@>l9> >y>H`ɳ?`?П1R Cw?";?`F?2?ɨ>n@>*;>CyJBJ)IIR\IR#4٢ZW; ZL=9^4;Q ^>\` bG٣bGGGyby: b> jNusing accuracyPremultiplier from configdn 59fž?n 5Yf ifALBlnnI@fDf<;f<;f?7 5r B v@veEH0>I I*II:BI&I.I6I<:Ii FZj9=FNOT Ignoring new targets: 584.10 m.BjEJjEU ProNav: ac range: 584.099976 m, nav range: 454.208282 m, bearing: 264.034649 deg, approach rate: 0.006097 m/s, LOS rate: -0.082191 deg/s, cmd heading: 350.645765 deg, new cmd heading: 350.545789 deg. 2jUa]HeadingCmd: 6.118178 target range: 584.099976 and range: 584.10 m. j]@jYjYjYiYhYhahahfffrf!bf%?ɛdD; \>IA McɚIiQIU40=I(iR*iʸX<)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718101*F 2F:FBFJF $?IzK K 9K K K RK1 JK5 >G5 Y=<G) BI Oe >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971022 Gw,^0Ah@Y@_9%|>yHɲ?@?@9@ r u? C?[?־?ɨh@;Cy=B=)IMb@Mb@Mb@ )Yy&1?Zd;O?I +?y`%?j<=94< ;@)QAIzAyAI-I-Ho4٢E E2=9E:Q E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe 59]޾?e 5Y]- i]MLBe%?m:m܋mI@] D];Y]D; 5uB u@ubEZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 454.219055 m, bearing: 263.997109 deg, approach rate: 0.023650 m/s, LOS rate: -0.082410 deg/s, cmd heading: 350.545799 deg, new cmd heading: 350.433183 deg. 2j:bHeadingCmd: 6.116213 target range: 584.099976 and range: 584.10 m. j@jjjihhhhBfffrfbf"@ɛ̞; 隍@>I ɚiI/=I*i2)iqd<)@)E*FE?2FA:FABFEj0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221630*JC="J4=JJJ2JJJB:Jc3J u $?Iq GE 2HZ<G B) OE >o~Gw,uJA>O@Y>@>,T9>(?>y>H? 5#?@cz u?: o??'?ɨ>O@>;>CyRBR)I)X X\^AIbIbk4٢j^ jh=9j;Q j>ll nG٣lyr> r> vNusing accuracyPremultiplier from configtz 59v?z 5Yv ivVLBxz`zI@vDv:vF;vY> 5B <@_EZj)5FNOT Ignoring new targets: 584.10 m.Bj=ٺJj=ٺM ProNav: ac range: 584.099976 m, nav range: 454.227386 m, bearing: 263.968320 deg, approach rate: 0.023637 m/s, LOS rate: -0.081678 deg/s, cmd heading: 350.433183 deg, new cmd heading: 350.346817 deg. 2jM8`UHeadingCmd: 6.114706 target range: 584.099976 and range: 584.10 m. jU@jQjQjQiQhYhYhahafafafarfibfm @ɛ>B\F; 隝Τ>I 7ɚiI>/=I,i+)i7v<)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474813*F12F1:F1BF51JF1HI I*IIEBI&I.I6Id<:I5 FGujhn<GyG}rAGQBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725704Gw,QdA I>@Y>S@>I9>|=y>H\? J?I f`t?``5?@ٿ? ?ɨ>@>;; G٣HGGyy, > Nusing accuracyPremultiplier from config 59? 5Y i^LB"?:AI@Da';%;!B 5 |@Zj FNOT Ignoring new targets: 584.10 m.BjgJjg- ProNav: ac range: 584.099976 m, nav range: 454.237061 m, bearing: 263.933602 deg, approach rate: 0.022340 m/s, LOS rate: -0.080171 deg/s, cmd heading: 350.346822 deg, new cmd heading: 350.242669 deg. 2j-\=HeadingCmd: 6.112888 target range: 584.099976 and range: 584.10 m. j=ǜ@j9j9j9i9hAhAhAhMBfIfIfIrfQbfU_2@ɛ?B<; 隭 >I ɚiIx/=Ivb.i=(i~<)ǜ@)zKKKK K*Fi2Fi:FiBFm2JFi%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977643Gy<Gi Bq O >Gw,-~A2v@Y2Ϝ@2۬I92=y2HS?Wi?읿+ {t?徿q5? ??ɨ2v@2*;2Cy>ωB>)IIFIF)4٢R! R]=9R[5Q V>TT VG٣TyZ" Z> ^Nusing accuracyPremultiplier from config\b 59^?b 5Y^ i^eLB`ffI@^$D^* ;^:^[E 5jB jT@j\EzB*** querying acoustic contact ***jxjx}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229648ZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 454.245209 m, bearing: 263.903999 deg, approach rate: 0.021013 m/s, LOS rate: -0.076340 deg/s, cmd heading: 350.242675 deg, new cmd heading: 350.153868 deg. 2jQHeadingCmd: 6.111338 target range: 584.099976 and range: 584.10 m. j@jjjihhhhfffrfbfEP @ɛ15g; QU>IY ]-ɚYiYI]\D/=Ie/ieDf'ie|<)e@)iEyEyJJJ0JJ;:J<:Jـ3J %$?I!*F2F:FBFP5JFGӔ<GBO >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481777m%Gw,AHTIT ITITIV( =&IT.IT6IV<:IVZ Fy}B}h)I ==II4٢6 9=9Q > G٣y > Nusing accuracyPremultiplier from config 59Y4? 5Y imLBI@-D:^<8I 5B z@YEZjFNOT Ignoring new targets: 584.10 m.BjFJjF] ProNav: ac range: 584.099976 m, nav range: 454.255157 m, bearing: 263.868527 deg, approach rate: 0.020754 m/s, LOS rate: -0.073995 deg/s, cmd heading: 350.153855 deg, new cmd heading: 350.047442 deg. 2j] KHeadingCmd: 6.109480 target range: 584.099976 and range: 584.10 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:56:01.2590 TRx dataTimestamp_ set to:1736373362.528734checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741708 j݀@jjjihhhhfffrfbf\W@ɛ@BC t>I 9JJAAɚ!iI/=I1if7&i<)݀@ $?I )9*F2F:FBF1JFzKM k3IKM 9KI KM KM ^`#6XZB4-&"-2.% RK] ?JK] ?G T<G ?G ?= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.985527G B O >,,Gw, Az{@Yz[@zD9z^=yzHƭ?IJ?@E¿q? @?@\?`N?ɨz{@z;zCy B `)IMb@Mb@Mb@ )Y?:v?{Gzty ?<ף/ A )QAIyI=I=q4٢MJ M:=9M/:Q M>QQ UG٣UIGGy] ]> eNusing accuracyPremultiplier from configam 59eWK?m 5Ye iepLBm$ ?u:uʽuI@e5De;e;e M 5y }@yZjFNOT Ignoring new targets: 584.10 m.BjϺJjϺ ProNav: ac range: 584.099976 m, nav range: 454.257446 m, bearing: 263.833945 deg, approach rate: 0.005989 m/s, LOS rate: -0.090490 deg/s, cmd heading: 350.047441 deg, new cmd heading: 349.943696 deg. 2jhxHeadingCmd: 6.107670 target range: 584.099976 and range: 584.10 m. jr@jjjihhhhΉBfffrfbf,@ɛ AB qD:  f>I  邼ɚiI.=IR3iz%iC<)r@)!*F2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 21:56:01.2590 LVL= 21872, 27761, 24562, 32755, AGC= 76, IDX= 304,-0.27,-1.302,-2.867,-1.805,-1.937, PHS= 0.723,-0.884, 0.128, RAW= 128.5, 0.5, CAL= 134.9, -7.7, ROT= 15.1, 7.7 uYgot valid direction response: 21:56:01.2590 LVL= 21872, 27761, 24562, 32755, AGC= 76, IDX= 304,-0.27,-1.302,-2.867,-1.805,-1.937, PHS= 0.723,-0.884, 0.128, RAW= 128.5, 0.5, CAL= 134.9, -7.7, ROT= 15.1, 7.7 }8DAT read: $Error in header }*Received a bad headerX#Rx 1: Read direction message, but no range.`direction in FSK: [-0.133874,-0.550164,0.824255] 9 ?"E0]YL`?  pU ql _) I Li 9? Mb o> /@ 5< K@)  I V>i  >  d`N?g?U?) G>I i q翉 xT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse $?IJJJJJJA:JJG~<G B O >K 3Gw,A2v@Y2t@2d6>92i0=y2H@?I?Ȭ@¿ wp?QƇ? cп?`?ɨ2v@2;0yBBBS)IIJIJ_v4٢fk fh=9f:Q f>hh jG٣hyns޺ n> vNusing accuracyPremultiplier from configpv 59r]?z 5Yr] irrLBxz̽zI@r=Dr]:r:r"P 5B f@VEZj)-FNOT Ignoring new targets: 584.10 m.Bj5EJj5E ProNav: ac range: 584.099976 m, nav range: 454.259247 m, bearing: 263.806074 deg, approach rate: 0.005091 m/s, LOS rate: -0.078802 deg/s, cmd heading: 349.943704 deg, new cmd heading: 349.860090 deg. 2jSXHeadingCmd: 6.106211 target range: 584.099976 and range: 584.10 m. jf@jjjihhhhfff!rf!bf%@}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseɛBBx 隽O>I ?ɚiIU.=I85iu$ip<)f@)E=t>E=>*F2F:FBF`0JFH%/>I! I%)II%0BI%) =&I!.I!6I%Ű<:I%| FBIJIRIZIbIjI>3GoT<Gq B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse I o59Gw,˟AyB9)I)  AMb@Mb@Mb@ )Y}?5^I?{Gzt{GzyM"?ף# A Q@)@IhAyGAII%x4٢帽 0=9Q > G٣y > Nusing accuracyPremultiplier from config 59Lv? 5Y iqLBT"?:NI@FD(;;,T 5B @SEzKLNK9KK K    ZjFNOT Ignoring new targets: 584.10 m.Bj Jj  ProNav: ac range: 584.099976 m, nav range: 454.247742 m, bearing: 263.769137 deg, approach rate: -0.024792 m/s, LOS rate: -0.079596 deg/s, cmd heading: 349.860102 deg, new cmd heading: 349.749289 deg. 2jZ%HeadingCmd: 6.104277 target range: 584.099976 and range: 584.10 m. j%Ia mӀɚiiiImY.=Iu37iuً#iu<)u@Gw,yA:\@Y:`k@:^89:==y:Hl?~0?¿ -n??r?m?ɨ:\@:'@;:CyBBB))IININ{4٢V? Vp=9V:Q V?XX ZG٣ZJGGy^ ^? bNusing accuracyPremultiplier from config`f 59bO?f 5Yb[ iboLBdfjI@bMDb:b:b'W 5rWill construct direction to contact in vehicle frame from tetrahedron phase data.rT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapset vm@t B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 584.10 m.Bj%Jj%5 ProNav: ac range: 584.099976 m, nav range: 454.238647 m, bearing: 263.741889 deg, approach rate: -0.026661 m/s, LOS rate: -0.079883 deg/s, cmd heading: 349.749289 deg, new cmd heading: 349.667545 deg. 2j5K[=HeadingCmd: 6.102850 target range: 584.099976 and range: 584.10 m. j=J@j9j9j9i9hAhAhAhAfIfIfIrfIbfU O9@ɛDB0 隅Z>I `ɚiI.=IΩ8ig"i/<)J@) %$?I!*FQ2FQ:FQBFUo0JFQGu<GIBYO}>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsejH <bH <H! I!  I% )II% BI! &I! .I! 6I% <:I% Z FGFGw,XA6L@Y6v[@6 196 =y6H&? r?@¿m?@4b:!???ɨ6L@6ֆ;6CyNsBN)IIV{IVZ4٢b:Ƚ bH=9b+:Q f>dd fG٣dyj) j> nNusing accuracyPremultiplier from configlr 59n֝?r 5Ynd innLBtvvI@nUDn:nU:nZ 5zB z@zPEZjFNOT Ignoring new targets: 584.10 m.BjFJjF ProNav: ac range: 584.099976 m, nav range: 454.227448 m, bearing: 263.709316 deg, approach rate: -0.026344 m/s, LOS rate: -0.076619 deg/s, cmd heading: 349.667546 deg, new cmd heading: 349.569824 deg. 2jTRHeadingCmd: 6.101144 target range: 584.099976 and range: 584.10 m. j<@jjjihhhhff!f!rf!bf%`,@ɛmEB} 隥=I e>~ɚaiID.=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseImi:iuԩ!i}1<)}<@)E $?I JmJmJiJiJm:Jm@:JiJiJiaJiaJm;aJm;a*F)2FI:FI}iGvA iYvAyABFd0JFzKE fLKE +9KA KE KE G] < Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGI B O >nLGw,5A26@Y2E@2=192E=y2H?@f? wZlÿj?`3 k0? ?f?ɨ26@2;2Cy:fB:(IiF G٣y > Nusing accuracyPremultiplier from config 59? 5Y  ifLBU#?:`I@^D;0;^ 5 B S@ MEZj15FNOT Ignoring new targets: 584.10 m.BjEUJjEU ProNav: ac range: 584.099976 m, nav range: 454.195953 m, bearing: 263.673092 deg, approach rate: -0.072711 m/s, LOS rate: -0.083638 deg/s, cmd heading: 349.569819 deg, new cmd heading: 349.461139 deg. 2jeHeadingCmd: 6.099247 target range: 584.099976 and range: 584.10 m. j -@jjjihhhhfBff f rf bf !@ɛuGBu)< y}Hw=Iy }VZ}ɚiI.=I6ZֈSGw,(NA6+@Y6_:@6Z?(96=y6HH??@ꜿBÿ i?&???ɨ6+@6瀇;6Cy>TB>(IIJIJ 4٢R! R^=9VH:Q V>TX ZG٣XyZW| Z> bNusing accuracyPremultiplier from config`f 59bȿ?f 5Ybb ib_LBdfajI@bfDbv:b:ba 5l nf@lZj FNOT Ignoring new targets: 584.10 m.Bj%YJj-YU ProNav: ac range: 584.099976 m, nav range: 454.170502 m, bearing: 263.644018 deg, approach rate: -0.069775 m/s, LOS rate: -0.079710 deg/s, cmd heading: 349.461137 deg, new cmd heading: 349.373911 deg. 2j]ZeHeadingCmd: 6.097725 target range: 584.099976 and range: 584.10 m. je @jajajiiihiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehqhhfffrfbf% <:@ɛmHBm` 隕0Ii Im)IImBIi&Ii.Ii6Im<:ImJ FGqGQ B  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseO > I J#K# K+A.K#K#"K#J% J% J! J! J% :J% "I:J! J! J% &<J% &<J% ;J% ;YGw,whAB @YB=@B)9B=yBH?+n?<@ÿe?uý:?`c? ?ɨB @B;BCy^DB^(IMb@Mb@Mb@ )Yjt?MbX/$y ?ʽ A )QAIAyAII@4٢  8=9adQ > G٣KGGyc > Nusing accuracyPremultiplier from config 59_߿? 5Y iSLB "? :  I@oDI;H;e 5B V@JEZjAEFNOT Ignoring new targets: 584.10 m.BjMJjM] ProNav: ac range: 584.099976 m, nav range: 454.115814 m, bearing: 263.609036 deg, approach rate: -0.123043 m/s, LOS rate: -0.078716 deg/s, cmd heading: 349.373902 deg, new cmd heading: 349.268944 deg. 2j]XeHeadingCmd: 6.095893 target range: 584.099976 and range: 584.10 m. je@jajajaiahihihihuIBfqfqfqrfqbf}q@ɛIB@܄ 隵5I 5}ɚiI.=I?i}iH<)@)ErAEzKBoHK9KK K*F?2F:FBF`5JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGG B O >:`Gw,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse>@Y>@>$9>6=y>Hg?`? Ŀ[c? ,?#T? ?ɨ>@>ԇ;>CyF=BF(I)H HLNAIRIR<4٢Z  Z`=9Zd:Q ^>\\ ^G٣`yb b> fNusing accuracyPremultiplier from configdj 59f?j 5Yf{ ifILBhn nI@fvDf ;f ;fh 5vB v@vIE B*** querying acoustic contact ***j j Zj %$?I%hFNOT Ignoring new targets: 584.10 m.Bj-䳺Jj-䳺 ProNav: ac range: 584.099976 m, nav range: 454.070496 m, bearing: 263.580372 deg, approach rate: -0.124315 m/s, LOS rate: -0.078637 deg/s, cmd heading: 349.268936 deg, new cmd heading: 349.182936 deg. 2jWHeadingCmd: 6.094392 target range: 584.099976 and range: 584.10 m. jB@jjjihhhhf!f!f!rf!bf%Rv@ɛKB̸ 隝@ԼI l}ɚiI.=ISAis4i}V{<)B@)*F?2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseGT<G B O >Hq Iq  Iu o)IIu BIq &Iq .Iq 6Iu <:Iu n F1fGw,VaAJؼ@YJ@J[e!9J{=yJH~???ԈĿ_?$,???j?ɨJؼ@J1;JCyR8BR(II^I^4٢v[Ҽ vG=9v9Q v>xx zG٣xy~O ~> %Nusing accuracyPremultiplier from config!- 59%?- 5Y% i%>LB)-5I@%D%U:%:%l 5Y ]@YZjFNOT Ignoring new targets: 584.10 m.BjJj= ProNav: ac range: 584.099976 m, nav range: 454.018036 m, bearing: 263.547750 deg, approach rate: -0.124219 m/s, LOS rate: -0.077255 deg/s, cmd heading: 349.182930 deg, new cmd heading: 349.085052 deg. 2j=TEHeadingCmd: 6.092683 target range: 584.099976 and range: 584.10 m. jEC@jAjAjAiIhIhIhhfffrfbf 1@}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse -$?I1ɛLBPJJ@AJJJJJ:J=:JJJ?%<J@%<J;J; I (~ɚ i I f.=ICiXFi _<)C@)*F%?2F!:F!BF%`5JF!zK BoIK K K K RK ?JK ?- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 T****** received valid address query ******5 R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapseGU y<G B! O= >lGw,| AR@YRw@R9R\=yRHd? ?@s%Ŀ\?Y ? ?3?ɨR@RCyu*Bu(IMb@Mb@Mb@ )YK7A?Pn:vy "?Լ A ;@)v@IQAyAIUIU#4٢}Np }4=9w9Q > G٣LGGy\ > Nusing accuracyPremultiplier from config 59? 5YM i.LB%?:﷾I@D;;wp 5B @FEZjFNOT Ignoring new targets: 584.10 m.Bj Jj  ProNav: ac range: 584.099976 m, nav range: 453.947388 m, bearing: 263.512290 deg, approach rate: -0.160257 m/s, LOS rate: -0.080450 deg/s, cmd heading: 349.085040 deg, new cmd heading: 348.978642 deg. 2j\HeadingCmd: 6.090827 target range: 584.099976 and range: 584.10 m. j @jjjihhh h Bf f f rfbff @ɛ=MB= 9=IA E9~ɚAiAIM/=IUDiU iUR<)U @)Y*F]?2FY:FYBFe`0JFaGmrA GmrAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 5$?I1G% Qd<G9 G9 G B O% >zsGw,A6@Y6@696>=y6H 6??Kܜ9:ſY?ʼ+ق? ? ?ɨ6@6理;6CyR0BR(IiXIZ=I^I^4٢f= fk=9f:Q f?hh jG٣hyn0 n? rNusing accuracyPremultiplier from configpv 59r/?v 5Yrd ir"LBtz-zI@rDr:rL:rs 5| ~M@Zj!-FNOT Ignoring new targets: 584.10 m.Bj5촺Jj5촺 ProNav: ac range: 584.099976 m, nav range: 453.892334 m, bearing: 263.484866 deg, approach rate: -0.158756 m/s, LOS rate: -0.079088 deg/s, cmd heading: 348.978653 deg, new cmd heading: 348.896374 deg. 2jYHeadingCmd: 6.089390 target range: 584.099976 and range: 584.10 m. jI@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehhfffrf!bf%A%!@ɛmNBuނ 隕iI qɚiIJ% J% J! J! J% :J% ::J! J! J% &<J% &<J% 5;J% 6;\yGw,fAJ@YJk@J9J`=yJH?`n?W~ſ T?ξ@?@h??ɨJ@J;JCyb)Bb(IMb@Mb@Mb@ )YK7A?ףp= ÿ~jtyvA Q@)`@Iy@II4٢ <=9Q > G٣y > Nusing accuracyPremultiplier from config 59E? 5YV iLB&?:ϾI@D;:Mw 5B @CEZj!%FNOT Ignoring new targets: 584.10 m.Bj-aJj-aE ProNav: ac range: 584.099976 m, nav range: 453.810822 m, bearing: 263.450592 deg, approach rate: -0.186455 m/s, LOS rate: -0.078414 deg/s, cmd heading: 348.896363 deg, new cmd heading: 348.793522 deg. 2jEBWMHeadingCmd: 6.087595 target range: 584.099976 and range: 584.10 m. jM@jIjIjIiIhQhQhQhU BfYfYfYrfYbf]!@ɛOBߩ 隕약I NɚiI1d/=IHHi؀Gw,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse:w@Y:>@:m&9:-S=y:H ?ா?z[ƿ:P?`{`?ؽ??ɨ:w@: ;:CyF/BF(I r$?IpININ4٢}p< }O=9,:Q > G٣MGGy̻ > Nusing accuracyPremultiplier from config 59Y? 5Y iLBоI@D;;z 5B 0@@EB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 584.10 m.Bj-vJj-ve ProNav: ac range: 584.099976 m, nav range: 453.736328 m, bearing: 263.419468 deg, approach rate: -0.184589 m/s, LOS rate: -0.077137 deg/s, cmd heading: 348.793527 deg, new cmd heading: 348.700138 deg. 2jeSmHeadingCmd: 6.085966 target range: 584.099976 and range: 584.10 m. jm;@jijijiiihqhhhfffrfbfU"@ɛ ̂I SɚiI/=IIiTi!<);@)!*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGm 9)<Gu rAGq GA BQ Om >jH! bH% <H) I)  I- *)II- BI) &I) .I) 6I- <:I- \ FBIJIRIZIbIjIؒ4YGw,!! %G٣!y%U -> 5Nusing accuracyPremultiplier from config)5 59-.m?= 5Y- i-KB9=Ҿ=I@-D- ;- ;-,~ 5I M @QZjq}FNOT Ignoring new targets: 584.10 m.BjjJjj ProNav: ac range: 584.099976 m, nav range: 453.661896 m, bearing: 263.388698 deg, approach rate: -0.194973 m/s, LOS rate: -0.080614 deg/s, cmd heading: 348.700145 deg, new cmd heading: 348.607821 deg. 2jL]HeadingCmd: 6.084354 target range: 584.099976 and range: 584.10 m. j@jjjihhhhfffrfbf`]#@ɛmPBmI 隕I e#ɚiI%/=IJKii^<)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse $?I*F2F:FBF%0JF!Gm<GI BQ Ou >zK BHK 9K K K % Will construct direction to contact in vehicle frame from tetrahedron phase data.%  G٣y: > Nusing accuracyPremultiplier from config 590? 5Y iKB )? : *پ I@D;; 5B `@=EZj9EFNOT Ignoring new targets: 584.10 m.BjEJjE] ProNav: ac range: 584.099976 m, nav range: 453.574890 m, bearing: 263.354209 deg, approach rate: -0.200745 m/s, LOS rate: -0.079590 deg/s, cmd heading: 348.607828 deg, new cmd heading: 348.504342 deg. 2je|ZmHeadingCmd: 6.082548 target range: 584.099976 and range: 584.10 m. ju<@jqjqjyiyhyhhhBfffrfbfk$@ɛQBb 6I tɚiI/=IsMisip<)<@)*FM?2FI:FIBFM0JFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.eGw,XQA:1@Y:A@:t9:D=y:H&y??ّǿ B?P`?`<6?o?ɨ:1@:z;:CyRBBR(IIZIZy4٢b4= ba=9b>Q f>dd fG٣fNGGyj j> nNusing accuracyPremultiplier from configlr 59n?r 5Yno inKBtvھvI@nDn:n:n" 5zB z@z:EZj!%FNOT Ignoring new targets: 584.10 m.Bj-Jj- ProNav: ac range: 584.099976 m, nav range: 453.501648 m, bearing: 263.325405 deg, approach rate: -0.201238 m/s, LOS rate: -0.079154 deg/s, cmd heading: 348.504337 deg, new cmd heading: 348.417911 deg. 2jJYHeadingCmd: 6.081040 target range: 584.099976 and range: 584.10 m. j@jjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.GB! Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. ?]r?j?`?ɨV#@Va;TybEBf(Iij    G٣ y } > Nusing accuracyPremultiplier from config% 59d?% 5Y iKB%*?%:%־-I@D;; 51 5@1ZjY]FNOT Ignoring new targets: 584.10 m.Bje[Jje[} ProNav: ac range: 584.099976 m, nav range: 453.413300 m, bearing: 263.289619 deg, approach rate: -0.198919 m/s, LOS rate: -0.080589 deg/s, cmd heading: 348.417922 deg, new cmd heading: 348.310543 deg. 2j}:]HeadingCmd: 6.079166 target range: 584.099976 and range: 584.10 m. j@jjjihhhh0Bfffrfbfr&@ɛ5RB5菼 9=мI9 EсɚAiIIm0=I}fPi}Vi}ֱ;)@)zKm$JK9KK K  Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received ,DAT read: user:2158> BDAT read: Tx time:21:56:09.0390 $Ping request sent.&Gw,ӄA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246342 B$?IDJ%@YJ~"@JT9J=yJHs?@\C?֟`ǿ:?@ٙ???ɨJ%@Jg;JCyRVBR(II^I^a4٢f0= fa=9fJQ j>ll nG٣lyri r> vNusing accuracyPremultiplier from configtz 59v?z 5Yv<  ivKBxz׾zI@vDv:v:v6 5B d@7EZj)5FNOT Ignoring new targets: 584.10 m.Bj5շJj5շE ProNav: ac range: 584.099976 m, nav range: 453.340546 m, bearing: 263.260289 deg, approach rate: -0.199300 m/s, LOS rate: -0.080359 deg/s, cmd heading: 348.310551 deg, new cmd heading: 348.222546 deg. 2jM\MHeadingCmd: 6.077630 target range: 584.099976 and range: 584.10 m. jM{@jQjQjYiYhYhYhahafafafirfibfm D&@ɛIy 隝ZH RH @AH I  I 6)II BI ( =&I .I 6I <:I FPGw,A>@Y>@>~-9>{]=y>Ho??젿 tǿW6?M+?K7? h?ɨ>@>E;>CyFdBF(IIR|IR[4٢Vȉ= ZL=9^uQ ^>`` bG٣bOGGyfO f> jNusing accuracyPremultiplier from confighn 59j?n 5Yj! ijKBlnؾrI@jDj ;j ;j 5vB vj@v4EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 584.10 m.BjﷺJjﷺ- ProNav: ac range: 584.099976 m, nav range: 453.260162 m, bearing: 263.228077 deg, approach rate: -0.200610 m/s, LOS rate: -0.080404 deg/s, cmd heading: 348.222551 deg, new cmd heading: 348.125899 deg. 2j-\=HeadingCmd: 6.075943 target range: 584.099976 and range: 584.10 m. j= n@j9jAjAiAhAhAhIhIfIfIfIrfQbfU`y'@ɛ[ 隅( =I ɋɚiI,0=IN7Tiy\i;) n@)*F?2F:FBF`0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data. $?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.760105G}*;GyG}pAGQBaO}>zK +LK h9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002184p{Gw,aAymB )I)1 1Mb@Mb@Mb@ )Yp= ף?Zd;~jth?y%?D; )@IhAyAIMBIM3٢]#= e2=9eQ e>ii mG٣iym u> }Nusing accuracyPremultiplier from configy 59}=? 5Y} i}KB (?:GI@}D};};} 5 @6EZjFNOT Ignoring new targets: 584.10 m.Bj޷Jj޷ ProNav: ac range: 584.099976 m, nav range: 453.184235 m, bearing: 263.191261 deg, approach rate: -0.165734 m/s, LOS rate: -0.080376 deg/s, cmd heading: 348.125890 deg, new cmd heading: 348.015422 deg. 2j\HeadingCmd: 6.074015 target range: 584.099976 and range: 584.10 m. jU^@jjjihhhhhBfffrfbf z(@ɛeSBekK aeS=Ia m&ɚiiiIm30=Iu0Viuiu"<)uU^@)y*F ?2F :F BF _0JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254235 IJJJJJ:J<:JJG- o;G B! OE >dGw,?nA2ֻ@Y2 @2LR923=y2Hg? ?0}ȿ-?AR[??`?ɨ2ֻ@2І;2Cy>xB>)IIJMIJ{4٢Rx= Rk=9R=׻Q R?TT VG٣TyZ!q Z? ^Nusing accuracyPremultiplier from config\b 59^?b 5Y^> i^KBdffI@^D^:^7:^ 5jB j @j3EZjFNOT Ignoring new targets: 584.10 m.Bj Jj  ProNav: ac range: 584.099976 m, nav range: 453.125671 m, bearing: 263.163385 deg, approach rate: -0.168104 m/s, LOS rate: -0.080026 deg/s, cmd heading: 348.015432 deg, new cmd heading: 347.931795 deg. 2j%[%HeadingCmd: 6.072556 target range: 584.099976 and range: 584.10 m. j%`R@j)j)j)i)h)h)h1h1f1f1f9rf9bf=@ +)@ɛae}' imx=Ii m5ɚiiiImH,0=I}VWi}=Li};)}`R@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506289*F?2F:FBFo0JFHiIi ImO)IImBIm) =&Ii.Ii6Imp<:Im? FGP <GBO> $?I h Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769440UGw,5BA6ӻ@Y62@6~?896[s=y6H xg? .? ȿ@,?^w?8??ɨ6ӻ@6d;6CyBBB)IMb@Mb@Mb@ )YMbX9?ˡEMb?y!?什</ A )IAyAImImi4٢} = ==9v;Q > G٣PGGyS > Nusing accuracyPremultiplier from config 59? 5Y iKB)#?:$I@D;; 5B x@0EZjFNOT Ignoring new targets: 584.10 m.BjuJju ProNav: ac range: 584.099976 m, nav range: 453.070221 m, bearing: 263.129311 deg, approach rate: -0.128355 m/s, LOS rate: -0.078884 deg/s, cmd heading: 347.931803 deg, new cmd heading: 347.829567 deg. 2jXHeadingCmd: 6.070771 target range: 584.099976 and range: 584.10 m. jC@jjjih h h h BfffrfbfI*@ɛETBE 1" IM=II M%ɚIiIIMg'0=IU YiUei]&;)]C@)aEi*F?2F:FBF0JFzK BHK 9K K  K G@;G?G>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018338GBO<>uGw,~A I2Will construct direction to contact in vehicle frame from tetrahedron phase data.0i2A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270422B̻@YB@B(9BL =yBH`$f?N?AVȿ *?@?`&??ɨB̻@B0%;BCy^B^9)Iib?>Ib;IjIjm4٢r= rU=9r!;Q v>tt vG٣tyz z> eNusing accuracyPremultiplier from configYe 59]&?m 5Y] i]KBimmI@]D]:]:] 5q %@JJJJJ:J?:JJZjFNOT Ignoring new targets: 584.10 m.Bj%xJj%xU ProNav: ac range: 584.099976 m, nav range: 453.020844 m, bearing: 263.099014 deg, approach rate: -0.120010 m/s, LOS rate: -0.073643 deg/s, cmd heading: 347.829569 deg, new cmd heading: 347.738669 deg. 2jU)J]HeadingCmd: 6.069185 target range: 584.099976 and range: 584.10 m. j]6@jajajaiahahahihifififirfbf*@ɛQU> Y]Z>IY ]~ɚYiYI]0=Ie"[ie+ie5;)m6@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522252G =͚;Hq Iq  Iu {)IIu ˉBIq &Iq .Iq 6Iu <:Iu P FG B O >Gw,A6Eǻ@Y6@6xT96p=y6H3e?`f?,ȿ)?@@|J?`??ɨ6Eǻ@6K;6CyRBRL)IIZIZq4٢b = bL=9b;Q f>dd fG٣dyjѺ j> nNusing accuracyPremultiplier from configlr 59n:?r 5Yn inKBtvvI@nDnL:n:n_ 5zB z@z-EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 584.10 m.Bj-ºJj-º= ProNav: ac range: 584.099976 m, nav range: 452.969391 m, bearing: 263.067441 deg, approach rate: -0.138198 m/s, LOS rate: -0.084813 deg/s, cmd heading: 347.738673 deg, new cmd heading: 347.643943 deg. 2jEhEHeadingCmd: 6.067532 target range: 584.099976 and range: 584.10 m. jE8)@jIjIjIiIhIhIhQhQfQfQfYrfYbf]+@ɛUBn   >I  ~|ɚ i I  0=I5R\i5ߪi=6<)=8)@)9 % $?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777934*F2F:FBF`5JFJJBAG;GBO >zK k3IK 9K K K RK ?JK ?% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026192Gw,9A~.@Y~@~9~C=y~Hb?@?@`ȿ8'?@.-B?@8? ?ɨ~.@~hC;~Cy B N)IMb@Mb@Mb@ )Y{Gz?~jt{Gz?y#?D#< $@)QAIhAyAII4٢5 < 55=9=.8Q =>99 =G٣=QGGyE V E> eNusing accuracyPremultiplier from configQ 59UR? 5YU iUKBQ$?:[I@UDU8;Ud;UU 5B @*EZjFNOT Ignoring new targets: 584.10 m.Bj⵺Jj⵺ ProNav: ac range: 584.099976 m, nav range: 452.925659 m, bearing: 263.031070 deg, approach rate: -0.095589 m/s, LOS rate: -0.079508 deg/s, cmd heading: 347.643952 deg, new cmd heading: 347.534828 deg. 2jCZHeadingCmd: 6.065627 target range: 584.099976 and range: 584.10 m. j@jjjihhhhBfffrfbf,@ɛ%VB%1 !%B>I) -lzɚ)i)I--/=I5^i5 i5<)=@)9*F2F:FBFJF  $?I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278225G1X<GqAGrAJ- J- J) J) J- :J- <:J) J) G B O >ްGw,ͬSA6p@Y6@696 =y6HRc??蠿`+ȿ&?@۾@}? ?`ÿ?ɨ6p@6;6CyBBBZ)I)D DIJtIJM4٢R^= Vh=9Zʊ:Q ^>dd fG٣dyjJ: j> vNusing accuracyPremultiplier from configlv 59ne?z 5Ynf inKBxz7zI@nDn:n@:nn 5 ?@Zj)-FNOT Ignoring new targets: 584.10 m.Bj5Jj5 ProNav: ac range: 584.099976 m, nav range: 452.891632 m, bearing: 263.002590 deg, approach rate: -0.096946 m/s, LOS rate: -0.081146 deg/s, cmd heading: 347.534833 deg, new cmd heading: 347.449388 deg. 2j^HeadingCmd: 6.064136 target range: 584.099976 and range: 584.10 m. jg @jjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:56:12.2003 TRx dataTimestamp_ set to:1736373373.369907checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532543fffrfbfA-@ɛ}WB}/ y}21>Iy HxɚiI/=IzN`ifui"<)g @)H)I) I-)II-BI)&I).I)6I-2<:I- FBIJI*FM?2FI:FIBFM4JFIRIZIbIjIò 4Gm2<  $?IGi  Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787923B O > Gw,"mA65@Y6@696D>y6H a?@=?ᠿxɿ$??@C??ɨ65@6;6CyfBfX)I]Mb@Mb@Mb@YYY Y)YY]"~j?/$ G٣yw > Nusing accuracyPremultiplier from config 59{? 5Y  iKBn#?:lI@DI;;/ 5B @@'EZj FNOT Ignoring new targets: 584.10 m.BjJj- ProNav: ac range: 584.099976 m, nav range: 452.861908 m, bearing: 262.968118 deg, approach rate: -0.068580 m/s, LOS rate: -0.079538 deg/s, cmd heading: 347.449401 deg, new cmd heading: 347.345979 deg. 2j-XZ-HeadingCmd: 6.062331 target range: 584.099976 and range: 584.10 m. j5@j1j1jihhhhljBfffrfbf .@ɛ-XBU(s QU~+>IQ U/uɚQiYI]/=I]'bie~iem+<)e@)azK}BHK}h9KyK} K},qi8  9: p -e v4+;:1+$   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037880*F5?2F9:F9BF=3JFyG V'<G B O > I Gw,0cA"Will construct direction to contact in vehicle frame from tetrahedron phase data.>DAT read: 21:56:12.2003 LVL= 18096, 26321, 19234, 32755, AGC= 73, IDX= 374,-0.27, 0.133,-1.417,-0.401,-0.395, PHS= 0.616,-0.975,-0.008, RAW= 127.1, 5.3, CAL= 134.6, -0.2, ROT= 15.4, 0.2 BYgot valid direction response: 21:56:12.2003 LVL= 18096, 26321, 19234, 32755, AGC= 73, IDX= 374,-0.27, 0.133,-1.417,-0.401,-0.395, PHS= 0.616,-0.975,-0.008, RAW= 127.1, 5.3, CAL= 134.6, -0.2, ROT= 15.4, 0.2 F8DAT read: $Error in header F*Received a bad header^@Y^@^Lc 9^5>y^Hna??Ӡ ɿ#?c [l??þ?ɨ^@^;^CyfBj])InX#Rx 1: Read direction message, but no range.r`direction in FSK: [-0.226974,-0.518204,0.824589] 9"]nz Ϳ/S!r c? "F"f ""K) I"Ii"-?"y"o" @"q= "Y@)"dI">i"d; "?{?وXѷ?)"=I"վi"}"/x~T****** received valid address query ******~R****** received valid ping request ******~received new query, but waiting for acoustic response period to elapseI}I}1h4٢z< C=9}3:Q > G٣ RGGy   > =Nusing accuracyPremultiplier from configE 59{?E 5Y  iKBAElEI@D::ׯ 5UB U@U$EZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 452.833038 m, bearing: 262.934497 deg, approach rate: -0.067229 m/s, LOS rate: -0.078300 deg/s, cmd heading: 347.345992 deg, new cmd heading: 347.245120 deg. 2j-V5HeadingCmd: 6.060571 target range: 584.099976 and range: 584.10 m. j52@j1j9j9i9h9h9hAhAfAfAfArfIbfM!.@ɛYB,C 隝1>I 0sɚiIZ/=I"ci8iV!B<)2@)*FI2FI:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG- (<G5 ?G5 >ZH RH H I  I )II BI &I .I 6I <:I a FG! B1 OU >;Gw,6?A2֬@Y2/@2i: 92X>y2H`?`?@Q$ɿ%"?2 ??`?o?ɨ2֬@2_;2CyPPiV=IVC=I^I^v}49fQ f>hh jG٣hyj1 j> rNusing accuracyPremultiplier from configpv 59r?v 5Yr" irKBtvmvI@r&Dr :rL:r 5| |%B*** querying acoustic contact ***j!j!Zj)-FNOT Ignoring new targets: 584.10 m.Bj5Jj5m ProNav: ac range: 584.099976 m, nav range: 452.807800 m, bearing: 262.905209 deg, approach rate: -0.072193 m/s, LOS rate: -0.083780 deg/s, cmd heading: 347.245124 deg, new cmd heading: 347.157257 deg. 2jmeuHeadingCmd: 6.059037 target range: 584.099976 and range: 584.10 m. j}@jyjyjyiyhyhyhhfffrfbf2/@ɛZB( />I qɚiIӭ/=Iei{iJ<)@)  $?IeWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse*F?2F~G:FBFe0JF MOYQyUeAJJJJJ:J=:JJJ#Gw,DABp@YBɷ@BY 9B>yBHA_??۠5ɿ@!? p=??`־?ɨBp@B ;BCyZBZ\)IIfqIfJH4٢nF r<9r9Q r>xx G٣y %> -Nusing accuracyPremultiplier from config)5 59-8?5 5Y-# 5tIi-KB9=@n=J@-/D-;-;- 5EޕB E@M!EZjiuFNOT Ignoring new targets: 584.10 m.BjuEJjuE ProNav: ac range: 584.099976 m, nav range: 452.779205 m, bearing: 262.872001 deg, approach rate: -0.069356 m/s, LOS rate: -0.080550 deg/s, cmd heading: 347.157260 deg, new cmd heading: 347.057629 deg. 2j]HeadingCmd: 6.057298 target range: 584.099976 and range: 584.10 m. jc@jjjihhhhfffrfbf;0@ɛ[B(E *>I doɚiqIum/=I}Ngi}"i[[<)c@)*F?2F:FBFo0JF m$?Ii]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseG5 H<GBO >Gw,wA:@Y:]@:9:O;>y:H]??`ߠRɿ?L+?M??ɨ:@:{;:CyRBRc)IIfIfq4٢v< vJ=9v#9Q v>xx zG٣zSGGyz@ ~> Nusing accuracyPremultiplier from config  59?  5Y;% iKB .oJ@7D:v: 5 t@ZjIMFNOT Ignoring new targets: 584.10 m.BjUpJjUpe ProNav: ac range: 584.099976 m, nav range: 452.751526 m, bearing: 262.839974 deg, approach rate: -0.069297 m/s, LOS rate: -0.080188 deg/s, cmd heading: 347.057621 deg, new cmd heading: 346.961532 deg. 2je \mHeadingCmd: 6.055621 target range: 584.099976 and range: 584.10 m. jm@jijqjqiqhqhqhyhyfyffrfbf0@ɛ]BH 隵4>IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse *mɚQiQI]/=I]ii]ie.e<)e@)aEqHI I)II BI&I.I6Io<:I= F*FI2FI:FIBFMz0JFI ]$?IaGm0Y<GurAGqGi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJ J J J J :J G:J J J ?%<J @%<J ;J ;K+Gw,Ay=B=X)I)A A @ @ @  @ II4٢># 1=9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59:? 5Y' iKB+::J@@DF;>d 5ܕB @EZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 452.719727 m, bearing: 262.802935 deg, approach rate: -0.066616 m/s, LOS rate: -0.077598 deg/s, cmd heading: 346.961534 deg, new cmd heading: 346.850409 deg. 2jUHeadingCmd: 6.053682 target range: 584.099976 and range: 584.10 m. j÷@jjjihhhhfffrfbf`1@ɛ^B p>I jɚiIdw/=Iki1i<)÷@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezK MK 9K K  K )*F?2F:FBFo0JF A IA GE Qd<G1 B9 O] >Hw, A*Will construct direction to contact in vehicle frame from tetrahedron phase data..T****** received valid address query ******.R****** received valid ping request ******.received new query, but waiting for acoustic response period to elapseNB@YN@N 9N=yNH`W?@-v?7ɿ`?鯾`?@ ǿ?V?ɨNB@N;NCyZBZP)IIbIb)4٢jf jl=9nLeQ n?ll nG٣pyr2 r? zbBottom track data is 0.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~ 59vI? 5Yvd( ivLB :Z:sJ@vGDvgk;vnO?v_ 5ەB ;@EZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 452.695190 m, bearing: 262.775200 deg, approach rate: -0.070016 m/s, LOS rate: -0.079146 deg/s, cmd heading: 346.850421 deg, new cmd heading: 346.767213 deg. 2jEYHeadingCmd: 6.052229 target range: 584.099976 and range: 584.10 m. jݫ@jjjihhh!h!fAfIfIrfIbfM w1@ɛ`BKs 隵>I hɚiIKi/=Iliai[<)ݫ@)*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGRD<jH <bH <H I  I I I &I .I 6I u<:I A FG B O- ><Hw,X" Aj(w@Yj@jԭ 9j=yjHcU?? 3ɿ\?`?\˿?D?ɨj(w@jm;jCyzBzJ)III 4٢-B -E=95Q 5>19 =G٣=TGGy=gV => MbBottom track data is 1.2 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAU 59E›?U 5YE * iELB]9Y]0:]et]J@EPDE7;E?EK 5a m@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 452.665558 m, bearing: 262.741942 deg, approach rate: -0.075107 m/s, LOS rate: -0.084301 deg/s, cmd heading: 346.767202 deg, new cmd heading: 346.667422 deg. 2jkgHeadingCmd: 6.050488 target range: 584.099976 and range: 584.10 m. j@jjjihhhhfffrfbf 1@ $?IɛaB 隅>I UgɚiI]/=I:Hni igg<)@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*Fm?2Fq:FqBF}Q5JFyJKـ3 KKK"KJJJJJ:J?:JJJ&<J&<J;J;G7+\<G?G ?G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapsezK] BHK] ]9KY K] K] mH | aNW7/eHw,`< AZAe@YZt@Z]29Z[=yZH`Q?@?Y`<ʿ?YY eG٣aym m> Nusing accuracyPremultiplier from config 59&›? 5Y+ iLBT:&?:{J@YDE;4;. 5ٕB EZjFNOT Ignoring new targets: 584.10 m.BjﺺJjﺺ ProNav: ac range: 584.099976 m, nav range: 452.631409 m, bearing: 262.705693 deg, approach rate: -0.076976 m/s, LOS rate: -0.081716 deg/s, cmd heading: 346.667426 deg, new cmd heading: 346.558670 deg. 2jS`HeadingCmd: 6.048590 target range: 584.099976 and range: 584.10 m. j @jjjihhhhBfffrfbf \L2@ɛUcBUX» Y] =IY eeɚaiaIeS/=Im9pi ic<) @) $?I*F2F:FBFD5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG Qd<G B O >MHw,%?V A6P@Y6h_@6T96A=y6H@VM?98?໏ʿ_? 1iy?`???ɨ6P@6;6Cy>B>C)IIJIJy4٢N  Rj=9V#xQ V>TX ZG٣XyZQ Z? bNusing accuracyPremultiplier from config`f 59b8›?f 5YbW- ibLBdf9~jJ@b`Db':bH:b4 5nוB n@nEZjFNOT Ignoring new targets: 584.10 m.BjjJjj ProNav: ac range: 584.099976 m, nav range: 452.604370 m, bearing: 262.677477 deg, approach rate: -0.074732 m/s, LOS rate: -0.077992 deg/s, cmd heading: 346.558662 deg, new cmd heading: 346.474008 deg. 2jVHeadingCmd: 6.047112 target range: 584.099976 and range: 584.10 m. j@jjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehhhfffrfbf2@ɛdBʻ =I ;dɚiIEJ/=I-Bqi5& i52S<)5@)9HiIi Im)IImBIm( =&Ii.Ii6Im<:ImO F*F?2F:FBF_0JF $?IGRe< Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O >JA JE JE 1JA JA JE =:JE 3JA JA JA JE ;JE ;wxHw,mp AyB8)IMb@Mb@Mb@ )YK7?l G٣UGGy > Nusing accuracyPremultiplier from config 59P›? 5YW/ iKB*?:~J@jDQ;o; 5ՕB @EZjaeFNOT Ignoring new targets: 584.10 m.BjmJjm ProNav: ac range: 584.099976 m, nav range: 452.565186 m, bearing: 262.640832 deg, approach rate: -0.090629 m/s, LOS rate: -0.084762 deg/s, cmd heading: 346.473995 deg, new cmd heading: 346.364052 deg. 2jhHeadingCmd: 6.045193 target range: 584.099976 and range: 584.10 m. j9r@jjjihhhhBfffrfbf`3@ɛmfBmo qu=Iq u} cɚqiqIuE/=I}6si}[ izs<)9r@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsezKEOKEh9KAKE KE/r-m/ *F}?2F:FBFJFG R<G G qAG I B O >f_"Hw, A"Will construct direction to contact in vehicle frame from tetrahedron phase data."T****** received valid address query ******"R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapseB-*@YB9@B79Bx=yBH_E?`?Pȡ#˿ ?'ؽ? ?@*?ɨB-*@B;BCynBn/)I)p pI~I~kf4٢B N=9Q > G٣y? > Nusing accuracyPremultiplier from config 59f›? 5Y+1 iKB∾J@rD:U: 5 @EZj!%FNOT Ignoring new targets: 584.10 m.Bj-Jj-] ProNav: ac range: 584.099976 m, nav range: 452.528839 m, bearing: 262.607848 deg, approach rate: -0.091841 m/s, LOS rate: -0.083352 deg/s, cmd heading: 346.364056 deg, new cmd heading: 346.265096 deg. 2jud}HeadingCmd: 6.043466 target range: 584.099976 and range: 584.10 m. j}d@jjjihhhhfffrfbf~3@ɛhB;  8=I   bɚ iIZD/=Ixui iLD<)d@)*FY2FY:FYBFYJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHY IY  I] )II] BIY &IY .IY 6I] <:I] Z FBIJIRIZIbIjIZ4G y<Ga Bi O >](Hw,Σ Ay~B~-)III_v4٢= =O=9=Q E>AA EG٣AyM M> e$?Ia mNusing accuracyPremultiplier from configam 59eo{›?u 5Ye3 ieKBqquJ@ezDe ;e ;e 5ԕB @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 584.10 m.BjºJjº ProNav: ac range: 584.099976 m, nav range: 452.492554 m, bearing: 262.574774 deg, approach rate: -0.093370 m/s, LOS rate: -0.085115 deg/s, cmd heading: 346.265101 deg, new cmd heading: 346.165869 deg. 2jiHeadingCmd: 6.041734 target range: 584.099976 and range: 584.10 m. jU@jjjihhhhfffrfbf@3@ɛjB= P=I % Xaɚ!i!I%C/=I->wi-K i-8f<)-U@))UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse*F2F:FBFo0JFJ@AJ@AG}iG<GQBaO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezK NK 9K K K RK ?JK ?k.Hw,O AB@YB@@B9B=yBH`| G٣VGGybA > Nusing accuracyPremultiplier from config  59›?  5Y5 iKB i)? : QJ@Dh;; 5ҕB @EZjAEFNOT Ignoring new targets: 584.10 m.BjMfJjMf] ProNav: ac range: 584.099976 m, nav range: 452.447906 m, bearing: 262.539698 deg, approach rate: -0.105375 m/s, LOS rate: -0.082794 deg/s, cmd heading: 346.165872 deg, new cmd heading: 346.060633 deg. 2j]HceHeadingCmd: 6.039897 target range: 584.099976 and range: 584.10 m. jeF@jajajaiahihihihuxBfqfqfqrfqbf}L4@ɛlB% 隥`X=I `ɚiI E/=Iur yiuK iu@2<)uF@)y ]$?IY*Fa2Fa:FaBFaJFa]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseJJJ0JJ;:J5K:Jـ3Ja@a@a@a@G `j<G ?G ?Gy B O >a5Hw,j Ay~B+)Ii 11 5G٣1y5 => ENusing accuracyPremultiplier from configAM 59E[›?M 5YE7 iEKBIIMJ@EDEv:E@:E 5Y ]@YZjFNOT Ignoring new targets: 584.10 m.BjHJjH ProNav: ac range: 584.099976 m, nav range: 452.408142 m, bearing: 262.508323 deg, approach rate: -0.104857 m/s, LOS rate: -0.082741 deg/s, cmd heading: 346.060632 deg, new cmd heading: 345.966499 deg. 2j#cHeadingCmd: 6.038255 target range: 584.099976 and range: 584.10 m. jb9@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehhfffrfbf4@ɛnBZ P\=I _ɚiI=E/=Izi ߭i R<) b9@) HI I)IIBI) =&I.I6Iz<:IF F*F?2F:FBFo1JFGmP<G)B1OU2> =$?I=h)= 1IY YyAu Will construct direction to contact in vehicle frame from tetrahedron phase data.q iq } T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapse PExceeded connect timeout, disconnecting.S;Hw,0g A6@Y6@648"96w=y6H@R6??@s2̿ ?lF?@?Y?ɨ6@6 ?;6CyNBN#)IMb@Mb@Mb@ )Y(\?:vMbpy'?T A )`@IQAy@IIr4٢ B=9䶹Q > G٣y8 > Nusing accuracyPremultiplier from config 59›? 5Y*9 iKB5(?:J@D>;G; 5ЕB @ EZjFNOT Ignoring new targets: 584.10 m.BjKJjK- ProNav: ac range: 584.099976 m, nav range: 452.361481 m, bearing: 262.473684 deg, approach rate: -0.110278 m/s, LOS rate: -0.081872 deg/s, cmd heading: 345.966512 deg, new cmd heading: 345.862586 deg. 2j-`5HeadingCmd: 6.036441 target range: 584.099976 and range: 584.10 m. j5*@j9j9j9i9h9h9hAhEdBfAfAfIrfIbfMC5@ɛ}pB}z6 隅=I o_ɚiII/=I|iiKf7<)*@)*F)2F):F)BF-`5JF)Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I) 7BHw,: !AWill construct direction to contact in vehicle frame from tetrahedron phase data.tt vG٣tyz- z> ~Nusing accuracyPremultiplier from config| 59~›? 5Y~; i~KB   J@~D~:~:~ 5ΕB @EJeJeJaJaJe:JeC:JaJaZj1=FNOT Ignoring new targets: 584.10 m.Bj=iJj=iM ProNav: ac range: 584.099976 m, nav range: 452.319763 m, bearing: 262.442772 deg, approach rate: -0.102292 m/s, LOS rate: -0.075804 deg/s, cmd heading: 345.862584 deg, new cmd heading: 345.769839 deg. 2jMPuHeadingCmd: 6.034822 target range: 584.099976 and range: 584.10 m. j}C@jyjyjyiyhyhyhhfffrfbf 5@ɛqB ! x`=I b^ɚiI2I/=I%R~i%Ki-7F<)-C@)*FE?2FA:FABFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.>HHw,2%!AB̺@YB@BR"9Ba=yBH@0?@5? ̿\?@ꁽ`BJ?ؾ? ?ɨB̺@Bj;BCyJBJ$)I)L L ^$?I\I^I^F4٢fJ jK=9jc8Q j>ll nG٣nWGGyn] n> vNusing accuracyPremultiplier from configpz 59r›?z 5Yr.= irKBxz!zJ@rDr ;r ;r 5| @B*** querying acoustic contact ***jjZj1=FNOT Ignoring new targets: 584.10 m.Bj=ʺJjEʺU ProNav: ac range: 584.099976 m, nav range: 452.274750 m, bearing: 262.409720 deg, approach rate: -0.120670 m/s, LOS rate: -0.088614 deg/s, cmd heading: 345.769830 deg, new cmd heading: 345.670664 deg. 2jUBs]HeadingCmd: 6.033091 target range: 584.099976 and range: 584.10 m. j]@jYjYjYiYhYhahahafafifirfibfuF5@ɛsB7 隝=I M^ɚiI4M/=Ia i*iU@<)@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Response Not Received 5*response not received=,DAT read: user:2160> EBDAT read: Tx time:21:56:19.9891 E$Ping request sent.E Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:56:19.9883  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249939zKM BoHKI KI KM KM RKU ?JKU > OHw,3?!A2ú@Y2Y@2U$92K=y2H.?"Z?`)ߢ̿?B3??t?ɨ2ú@2d;0yJ~BJ)IUMb@Mb@Mb@QQQ Q)QYU~jt?~jtMb`?yU$?UDU;Q U;@)UQAIQQyUzAImxImT4٢}f }?=9Q > G٣y3 > Nusing accuracyPremultiplier from config 59L›? 5YY? iKB%?:虾J@D˹;ٰ;D 5͕B @EZjQ]FNOT Ignoring new targets: 584.10 m.BjNJjN5 ProNav: ac range: 584.099976 m, nav range: 452.228302 m, bearing: 262.374975 deg, approach rate: -0.105355 m/s, LOS rate: -0.078818 deg/s, cmd heading: 345.670656 deg, new cmd heading: 345.566411 deg. 2j]^XeHeadingCmd: 6.031271 target range: 584.099976 and range: 584.10 m. je-@jajajaiahahihihmtBfifqfqrfqbfu`Z6@ $?Iɛ=tBEUHw,X!A>@Y>@>89>C>y>H`(?ӯ? ͿK?@C6@?U??ɨ>@>ś;>CyJBJ+)IIRdIR?14٢ZY= ZY=9^RQ ^>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn 59jÛ?n 5Yj=A ijKBprrJ@jDj ;j ;j 5t v=@tWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752761ZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 452.187561 m, bearing: 262.345013 deg, approach rate: -0.106770 m/s, LOS rate: -0.078530 deg/s, cmd heading: 345.566400 deg, new cmd heading: 345.476504 deg. 2jWHeadingCmd: 6.029703 target range: 584.099976 and range: 584.10 m. jS@jjjihhhhfffrfbf̴6@ɛ%vB%. !%=I! -]ɚ)i)I-T/=I5uȁi5x]i5EE>HI I)IIBI&I.I6I|<:IH F*F2F:FBF_0JF $?IGC<GBO >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004560G\Hw,r!AV"@YV{@V<9V;>yVH#? ?|Ϳ`I???@n?ɨV"@Vه;VCyb~Bb)Iin4=Ine>mMb@Mb@Mb@iii i)iYmMbX9?ˡE{Gzt?ym!?m'mף;m A m$@)m@IiiyiIIId4٢TG <=9Q > G٣XGGy|ٻ > Nusing accuracyPremultiplier from config 59%Û? 5Y\C iKB#"?:pJ@D;;L 5˕B @EZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 452.142883 m, bearing: 262.310749 deg, approach rate: -0.103453 m/s, LOS rate: -0.079347 deg/s, cmd heading: 345.476514 deg, new cmd heading: 345.373713 deg. 2jYHeadingCmd: 6.027908 target range: 584.099976 and range: 584.10 m. j@jjjihhhhfffrfbfn%7@ɛwB[N \DbHw,^!AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513269|o@Y~@89q>yH??8 Ϳ?S־ @? 3? ?ɨ|o@:;Cy-zB-)IJEJEJE0JAJE[:JE=:JEـ3JAI]jI];4٢mڨ mM=9m!<:Q u>qq uG٣qy}$ }> Nusing accuracyPremultiplier from config 599Û? 5YUE iKBzJ@D:@: 5ɕB @EZjFNOT Ignoring new targets: 584.10 m.BjIJjI ProNav: ac range: 584.099976 m, nav range: 452.100891 m, bearing: 262.279238 deg, approach rate: -0.110840 m/s, LOS rate: -0.083181 deg/s, cmd heading: 345.373706 deg, new cmd heading: 345.279166 deg. 2jXdHeadingCmd: 6.026258 target range: 584.099976 and range: 584.10 m. j@jjjihhhhfffrfbf O7@ɛ-xB-%Y )-K;I1 5YY]ɚiI%_/=I鋃i/i<)@)*Fi2Fi:FiBFmo0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766053G)<ZHRHAAHI I)II߉BI( =&I.I6Ic<:I5 FGI BY Ou >%iHw,]!A $?I:2]@Y:l@:&9:]>y:H@X? e?`Bο`?m`_??@?ɨ:2]@:Jˆ;8yfvBf)II~|I~[4٢   P=98;Q >9 =G٣9yE E> MNusing accuracyPremultiplier from configIU 59M'NÛ?U 5YMPG iMKBy}}J@MDM;M;M> 5 /@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 584.10 m.Bj{Jj{ ProNav: ac range: 584.099976 m, nav range: 452.058685 m, bearing: 262.247864 deg, approach rate: -0.097303 m/s, LOS rate: -0.072337 deg/s, cmd heading: 345.279177 deg, new cmd heading: 345.185047 deg. 2jFHeadingCmd: 6.024616 target range: 584.099976 and range: 584.10 m. j@jjjihhhhf!f)f)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016836rf)bfm7@ɛyBtTd ԻI r]ɚ!i!I% n/=Iu3ci}|i7;)@)Eq*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268639zKu 1NKu +9Kq Ku Ku G 4<G B O >pHw,Z!A2Y@Y23i@292s=y2H ?P?@oOοs? @J? A?`3?ɨ2Y@2;2Cy:tB:)I)@ @ IMb@Mb@Mb@ )Y?{GzMbPy ?# A ;@)AIhAyAIIq4٢ ,=9s;Q > G٣YGGyc > Nusing accuracyPremultiplier from config 59eÛ? 5YI iKBS ?:ɚJ@D;;\ 5ǕB 3@EZj!-FNOT Ignoring new targets: 584.10 m.Bj5ºJj5ºU ProNav: ac range: 584.099976 m, nav range: 452.009705 m, bearing: 262.210971 deg, approach rate: -0.112925 m/s, LOS rate: -0.085066 deg/s, cmd heading: 345.185057 deg, new cmd heading: 345.074366 deg. 2jUi]HeadingCmd: 6.022684 target range: 584.099976 and range: 584.10 m. j]ӹ@jYjYjaiahahahihmyBf f f rfbf@h8@ɛezB k 隭MI ]ɚiI/=I}`i[i<)ӹ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520846*F2F:FBF%o0JF!G= 7<G B! OM >avHw,B'!AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772644>bU@Y>d@>>9>=y>H@?@?@Faο??j??ɨ>bU@>L;>CyjiBj)IIvIv1h4٢c X=9 ;Q  >   G٣yz >H!I! I%)II%ډBI%) =&I!.I!6I%2<:I% FBIJIRIZIbIjIc4 MNusing accuracyPremultiplier from configAM 59EByÛ?U 5YEK iAQUUJ@EDEC:Ee:E 5eƕB e@eEZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 451.969788 m, bearing: 262.180881 deg, approach rate: -0.103628 m/s, LOS rate: -0.078125 deg/s, cmd heading: 345.074353 deg, new cmd heading: 344.984073 deg. 2jwVHeadingCmd: 6.021108 target range: 584.099976 and range: 584.10 m. j@jjjihhhhfffrfbf`8@ɛ{Bz I v ^ɚiI/=I .i xi&&<)@)y*F ?2F :F BF 1JF  $?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024691Gm)<JJJJJ:J5K:JJJ*C!}Hw,'!A6pS@Y6b@696vY=y6H4?[?ﶢhοn?`[?V?@#?ɨ6pS@6N;6CyZeBZ(IMMb@Mb@Mb@III I)IYM/$?~jtxyM?MLMĻM A M$@)MQAIMQAIyMQAIeIe{4٢u uC=9}Z:Q }>yy G٣yy > Nusing accuracyPremultiplier from config 59Û? 5YM iKB%3?%:%%J@D<{<U 5) - @1ZjY]FNOT Ignoring new targets: 584.10 m.BjeKJjeKu ProNav: ac range: 584.099976 m, nav range: 451.923584 m, bearing: 262.149199 deg, approach rate: -0.107276 m/s, LOS rate: -0.073566 deg/s, cmd heading: 344.984085 deg, new cmd heading: 344.889031 deg. 2juI}HeadingCmd: 6.019449 target range: 584.099976 and range: 584.10 m. j}T@jyjyjyiyhhhhVBfffrfbfE39@ɛ|BĜ P;I ^ɚiI9/=Iqii 9<)T@)EqAEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289682*Fe?2Fa:FaBFe`5JFazKKKs9KK KLRKB90-%  IGE9)<G! B) O] >= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= AE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540843Hw,"A6cN@Y6]@696_=y6H@? &?@gz|ο L?}?J?Y?ɨ6cN@6[;4yN^BR(IiV)>IVR=I^I^@4٢f fW=9fV:Q f>hh jG٣jZGGynԺ n> ENusing accuracyPremultiplier from config9E 59=Û?M 5Y=O i=KBIM񣾑MJ@=D=:=:= 5UĕB ][@]EZjyFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 451.879669 m, bearing: 262.119102 deg, approach rate: -0.117116 m/s, LOS rate: -0.080274 deg/s, cmd heading: 344.889036 deg, new cmd heading: 344.798735 deg. 2j]\HeadingCmd: 6.017873 target range: 584.099976 and range: 584.10 m. jk@jjjihhhhfffrfbfv9@ɛ}B wI #m_ɚiI%/=Iևi0i8>F<)k@)*F2F:FBFW4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:56:23.1517 TRx dataTimestamp_ set to:1736373384.480667checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793694H!I! I%)II%ЉBI%( =&I!.I!6I%m<:I%= FGuI3<GqByO> m $?Ii i XY y B/Hw,ǹ*"AFN@YF^@F9FȻ=yFH"? %%?@e`{ο?|?c??ɨFN@F;FCyROBR(IIZIZd4٢b fJ=9f$:Q f>hh jG٣hyj8 j> vNusing accuracyPremultiplier from configpv 59r.Û?v 5YrQ irKBxzꣾzJ@rDr:r:r3 5~•B /@E%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 584.10 m.Bj=Jj=M ProNav: ac range: 584.099976 m, nav range: 451.835938 m, bearing: 262.089038 deg, approach rate: -0.110985 m/s, LOS rate: -0.076305 deg/s, cmd heading: 344.798741 deg, new cmd heading: 344.708542 deg. 2jMxQUHeadingCmd: 6.016299 target range: 584.099976 and range: 584.10 m. jU@jQjQjQiQhhhhfffrfbf39@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.044682ɛE~BE󙣼 AMĺII M`ɚIiIIM~0=IeEieximB]<)m@)JAAJAAJJJJJ:JA:JJJ&<J&<Jz;J{;*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:56:23.1517 LVL= 22672, 32753, 28050, 32755, AGC= 73, IDX= 451, 0.43,-2.539, 2.370,-3.040,-3.030, PHS= 0.578,-0.837,-0.014, RAW= 125.4, 4.5, CAL= 133.3, -1.1, ROT= 16.7, 1.1  Ygot valid direction response: 21:56:23.1517 LVL= 22672, 32753, 28050, 32755, AGC= 73, IDX= 451, 0.43,-2.539, 2.370,-3.040,-3.030, PHS= 0.578,-0.837,-0.014, RAW= 125.4, 4.5, CAL= 133.3, -1.1, ROT= 16.7, 1.1  8DAT read: $Error in header  *Received a bad headerG% ܸ<< X#Rx 1: Read direction message, but no range. `direction in FSK: [-0.209991,-0.493643,0.843932]ة 9ح ʿί~ؗ߿|?ة ح Xح  ٭ m)٩ I٩ i٭ ?٭ EV٭ B`e٭  @٭ |٠= ڭ @)ڭ nFIڭ ;>iڭ nF<ک ۭ ׸q?hX?ݼg?)ۭ "v=Iۭ Eiۭ 0ۭ • T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B OU >'] TFailed to parse incomplete device message.Hw,dD"AynGBn(I IMb@Mb@Mb@ )YX9v?i|?5Qy?qu A @)I@y(AI5I5)4٢Eg  E4=9EQ M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe 59]Û?e 5Y]T i]KBm?m:mmJ@]D];];]& 5q u@yZjFNOT Ignoring new targets: 584.10 m.Bj1Jj1 ProNav: ac range: 584.099976 m, nav range: 451.782013 m, bearing: 262.054179 deg, approach rate: -0.118452 m/s, LOS rate: -0.076583 deg/s, cmd heading: 344.708555 deg, new cmd heading: 344.603964 deg. 2j;RHeadingCmd: 6.014474 target range: 584.099976 and range: 584.10 m. jv@jjjihhhh3Bfffrfbfl:@ɛ!%7 !%pݽI! -3bɚ)i)I-;0=I5i5Ui5Bv<)5v@)9*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseRK]?JK]>G3Z<G B O >&AHw,rm^"A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse:7F@Y:U@:.ڻ9:U=y:H ?`G? 2FIο@?@(`E{?WV?5?ɨ:7F@:b;:CyR:BR(I)T TIZIZ_v4HdId Ifo)IIfBId&Id.Id6If<:IfS F٢v vc=9vk:Q v>xx zG٣z[GGy~<> ~> Nusing accuracyPremultiplier from config  59BÛ?  5YU iKBJ@D:7:J 5B %j@%EZjAMFNOT Ignoring new targets: 584.10 m.BjMJjMm ProNav: ac range: 584.099976 m, nav range: 451.738983 m, bearing: 262.026424 deg, approach rate: -0.121064 m/s, LOS rate: -0.078095 deg/s, cmd heading: 344.603971 deg, new cmd heading: 344.520699 deg. 2jmbVmHeadingCmd: 6.013021 target range: 584.099976 and range: 584.10 m. juj@jqjqjqiqhqhhhfff!rf!bf%@:@ɛBVj 隕 I cɚiIq0=I Si#i&y<)j@) $?I*Fi2Fq:FqBFu`0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGmo<JJJJJJ>:JJJJJ˕;J˕;GQ BY O} >kHw,Kx"A6?@Y6N@6Q5ջ96=y6H`? a? D`οI?iz?ua? ?ɨ6?@6[<;6CyR4BR(ImMb@Mb@Mb@iii i)iYm?K/$ym ?m^mm A m;@)m`@ImQAiymAII4٢3Ҽ @=99Q > G٣y > Nusing accuracyPremultiplier from config 59HÛ? 5YX iKB!?:rþJ@D_i;g; 5B @EZjFNOT Ignoring new targets: 584.10 m.Bj>Jj> ProNav: ac range: 584.099976 m, nav range: 451.674469 m, bearing: 261.993319 deg, approach rate: -0.150968 m/s, LOS rate: -0.077479 deg/s, cmd heading: 344.520698 deg, new cmd heading: 344.421369 deg. 2jT%HeadingCmd: 6.011287 target range: 584.099976 and range: 584.10 m. j%v\@j!j!j!i!h!h!h)h-Bf)f)f1rf9bf=\5;@ɛ`ż  I  VeɚiI0=IC6iBiσ<)v\@)!}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBFJFzKVBJK9KK K%2F\r  $?IGy<G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse4SHw,#"A6)@Y6?9@6<޻96C=y6HI ?޴?z9 Ͽ?۽ {?`a4??ɨ6)@6G;4yB&BB(IIRIR]4٢V ZZ=9ZAQ Z>X\ ^G٣\ybK b> fNusing accuracyPremultiplier from configdj 59fě?j 5YfZ ifKBlnľnJ@fDfW I }Hw,~"A^x#@Y^2@^ڻ9^=y^H@ ??~*#Ͽ&?@[㽿 ^{? '=?`?ɨ^x#@^0+;^CyvBz(IiAI MG٣M\GGyM M> ]Nusing accuracyPremultiplier from configQe 59Uě?e 5YU] iUKBae7žeJ@U DU:U:U 5mB u@uEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 451.552704 m, bearing: 261.931406 deg, approach rate: -0.160028 m/s, LOS rate: -0.081333 deg/s, cmd heading: 344.333960 deg, new cmd heading: 344.235594 deg. 2jE_HeadingCmd: 6.008045 target range: 584.099976 and range: 584.10 m. jA@jjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsefrfbf<@JJJ1JJ;:JdP:J3JJL)<JL)<J;J;ɛҰ hHI 5jɚiIS71=I7ߌi7iM<)A@)*F?2F:FBF0JFGl o< Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O >zK MK h9K K K qe\QFA920*#  BK :K rAeHw,"A F!$?IDyB(IMb@Mb@Mb@ )Y~jt?/$S㥛y$?1/ݼ A $@)Iy@IIt4٢Q ?=9Q  >   G٣y > %Nusing accuracyPremultiplier from config% 59.ě?% 5Y` iKB-<(?-:-⾑-J@)D3;; 5 <@ZjFNOT Ignoring new targets: 584.10 m.BjJjE ProNav: ac range: 584.099976 m, nav range: 451.468872 m, bearing: 261.897270 deg, approach rate: -0.187448 m/s, LOS rate: -0.076341 deg/s, cmd heading: 344.235606 deg, new cmd heading: 344.133180 deg. 2jEQMHeadingCmd: 6.006257 target range: 584.099976 and range: 584.10 m. jMB3@jIjIjIiIhQhQhQhUBfYfYfYrfYbf]`u<@ɛ 隍xNI 'mɚiI&1=IɍixiL<)B3@)Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse*F2F:FBF0JFG oT<G B O >Hw,"A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapseH4I4 I60)II6BI4&I4.I46I6<:I6Z FyB(IIId4٢< J=9 Q  >   G٣y > %Nusing accuracyPremultiplier from config% 593Bě?% 5Yc iKB))-J@1D::A! 55B =@=EZjamFNOT Ignoring new targets: 584.10 m.BjmJjm ProNav: ac range: 584.099976 m, nav range: 451.390137 m, bearing: 261.865131 deg, approach rate: -0.204015 m/s, LOS rate: -0.083291 deg/s, cmd heading: 344.133180 deg, new cmd heading: 344.036747 deg. 2jdHeadingCmd: 6.004574 target range: 584.099976 and range: 584.10 m. jx%@jjjihhhhfffrfbf@<@ɛ!%Z )-JI) MN2pɚQiQIUZ1=IU+i]i]Mț<)]x%@)Y u"$?IqErAE*FA2FA:FIBFM`5JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGm ~<Gi B O= >ʸHw,"A6@Y6I@6896=y6H?ͻ?ۢпp?6'}?@? ?ɨ6@6];6CyBBB(I)D D]Mb@Mb@Mb@YYY Y)YY]MbX?㥛 ¿Zd;Oy]*?]]j]vA Y)YI]v@Yy]@IuIu_v4٢J[ S=9Q > G٣]GGy3 > Nusing accuracyPremultiplier from config 59Vě? 5Yf iKB.?:)J@:DU;*b;$ 5B @EZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 451.306915 m, bearing: 261.833352 deg, approach rate: -0.214701 m/s, LOS rate: -0.082001 deg/s, cmd heading: 344.036738 deg, new cmd heading: 343.941383 deg. 2j a HeadingCmd: 6.002910 target range: 584.099976 and range: 584.10 m. j @jjjihhhhBf!f)f)rf1bf5 :=@ɛO _I rɚiI2=IEibiN[<)@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse*F2F:FBF5JFzKMK 9KK K&* +( o 1{M1    "!K=~wq e#$?IaGژ<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJK3 K.KK"KJ J J 0J J J D:J ـ3J a @a @a @a @Hw,n#ARҹ@YRU@R(9R=yRH??`K+`-п@H?1 `1 ??S?ɨRҹ@R!;RCyXZ(IIvyIvxV4٢~  S=9բQ >    G٣ y yû > =Nusing accuracyPremultiplier from configE 59jě?E 5Yi iKBAE[EJ@BDb;G:( 5Q U@QZjFNOT Ignoring new targets: 584.10 m.Bj?Jj? ProNav: ac range: 584.099976 m, nav range: 451.223022 m, bearing: 261.801503 deg, approach rate: -0.208660 m/s, LOS rate: -0.079230 deg/s, cmd heading: 343.941388 deg, new cmd heading: 343.845824 deg. 2jYMHeadingCmd: 6.001242 target range: 584.099976 and range: 584.10 m. j, @jjjihhhhfffrfbff=@ɛIM- QUH`IQ UvɚQiQI]i2=I]Zi]ie^<)e, @)a*F?2F:FBF_0JFGT;f<eWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapsejHybH}4<H1>I I)IItBI) =&I.I6Iz<:IH FBI!JI!RI!ZI%( =bI%( =jI%Ƈ4GBO%o> Q IQ Hw,NG-#A:S@Y:@:x9:S=y:Hw? *?.sUп@4?0O?"8?{?ɨ:S@:l[;:Cyb Bb(IIjIj4٢ ļ H=9%Q %>!) -G٣)y-ʻ -> =Nusing accuracyPremultiplier from config1= 595~ě?E 5Y5Hm i5qKBAEムEJ@5KD5 ;5 ;5+ 5MB M@UEuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 584.10 m.Bj&ºJj&º ProNav: ac range: 584.099976 m, nav range: 451.134277 m, bearing: 261.768023 deg, approach rate: -0.224919 m/s, LOS rate: -0.084870 deg/s, cmd heading: 343.845820 deg, new cmd heading: 343.745360 deg. 2jhHeadingCmd: 5.999488 target range: 584.099976 and range: 584.10 m. j@jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehhhhfffrfbf`>@ɛ)-B )-jI1 5xɚ1i1I=2=I=@i= iEU<)E@)A*F?2F:FBF`0JFG5[<GqBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapse = $$?IE hgHw,6"G#AzK.^NK.9K,K. K.dQ=' =EA7/3NQLcD1% :@Y:ڭ@:9:a=y:HC?f?@Fпp?`c?&? ?ɨ:@:^;:CynBn(IipIr G٣^GGy > Nusing accuracyPremultiplier from config 59Qě? 5Yp icKB.?:J@TD?;/;F/ 5B @EZjFNOT Ignoring new targets: 584.10 m.Bj SJj Se ProNav: ac range: 584.099976 m, nav range: 451.035980 m, bearing: 261.733629 deg, approach rate: -0.217739 m/s, LOS rate: -0.076203 deg/s, cmd heading: 343.745362 deg, new cmd heading: 343.642158 deg. 2je0QHeadingCmd: 5.997687 target range: 584.099976 and range: 584.10 m. j@jjjihhhhBfffrfbf >@ɛy}`7 隅WI |ɚiI 3=I,i5i7<)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJ J J J J :J =:J J *F)2F):F)BF-_0JF)GE zQ<G B) OU >H] 0>IY  I] )II] jBI] ( =&IY } Will construct direction to contact in vehicle frame from tetrahedron phase data.} T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapse.IY 6I] <:I] m FFHw,#ea#An1@Yn@n9nq=ynH }?@t? {£Kп?@2Ԁ???ɨn1@n,;nCyޥBޥ(III_v4٢H= A=9Q > G٣yɬ >  Nusing accuracyPremultiplier from config  59 ě? 5Y qt i VKBJ@ ]D 3: : 2 5! %p@!ZjIMFNOT Ignoring new targets: 584.10 m.BjUɺJjUɺe ProNav: ac range: 584.099976 m, nav range: 450.937958 m, bearing: 261.699484 deg, approach rate: -0.253213 m/s, LOS rate: -0.088225 deg/s, cmd heading: 343.642171 deg, new cmd heading: 343.539712 deg. 2je1rmHeadingCmd: 5.995899 target range: 584.099976 and range: 584.10 m. jmh޿@jijijqiqhqhyhhfffrfbf]>@ %$?Iɛ> AI G~ɚiInH3=I-iJ'i~6<)h޿@))Q UC.~G9Y*F?2F:FBFo0JF YyAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGܸ<<G B O >Hw,{#A6o@Y6~@696=y6H?@Ͽ?%п4?J ??q?ɨ6o@6j;4yB+BB(ImMb@Mb@Mb@iii i)iYmV-?333333ÿ~jtxym-?mmĻm A m;@)m@Im@iym(AII٢yq= Q=9Q > G٣y > Nusing accuracyPremultiplier from config 59ě? 5Yw iOKB1?:CJ@fD;;:;W6 5B @EZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 450.848236 m, bearing: 261.667033 deg, approach rate: -0.229199 m/s, LOS rate: -0.082913 deg/s, cmd heading: 343.539719 deg, new cmd heading: 343.442348 deg. 2jcHeadingCmd: 5.994200 target range: 584.099976 and range: 584.10 m. j|п@jj!j!i!h!h!h)h-Bf)f)f)rf1bf5Z@?@ɛB ޼ v)I =ɚiI3=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIiiG<)|п@)!*F?2F:FBFJF &$?IzK=tNK=9K9K= K=GI3<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJ J J J J ;:J A:J J Hw,#AB`@YBno@Br9BJ=yBH?'?Q`\ ѿ?`~r }?`'?`?ɨB`@B";BCyR5BV(I)h jAhjAIrIrv}4٢za= zU=9z zQ z>|| ~G٣~_GGy( >  Nusing accuracyPremultiplier from config  59 ě? 5Y { i HKB6J@ oD z ;  ; 9 5%B %@%EZjQUFNOT Ignoring new targets: 584.10 m.Bj]㾺Jj]㾺m ProNav: ac range: 584.099976 m, nav range: 450.759827 m, bearing: 261.635165 deg, approach rate: -0.231442 m/s, LOS rate: -0.083443 deg/s, cmd heading: 343.442347 deg, new cmd heading: 343.346723 deg. 2jmeuHeadingCmd: 5.992531 target range: 584.099976 and range: 584.10 m. ju¿@jqjqjqiqhyhyhyhyfffrfbf`?@ɛF6׼ 隵I BɚiIq3=IДi`ie<)¿@)*F12F9:F9BF=p1JF9HI I )IIoBI) =&I.I6I<:IR F%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseGUy!<G1B9OU> I)Hw,Ү#AJ5@YJE@JD#9JM=yJH@S?+?pJ]ѿ9?d 2{?H7? S?ɨJ5@J;JCyVGBZ(IIbIb%x4٢j= jL=9j$ Q j>ll rG٣pyrS r> vNusing accuracyPremultiplier from configtz 59v;ě?z 5Yvw~ ivAKBJ@vwDv:;v^;;v0= 5  @ 5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 584.10 m.BjM!JjM!Will construct direction to contact in vehicle frame from tetrahedron phase data.U Will construct direction to contact in vehicle frame from tetrahedron phase data.U  G٣yC > Nusing accuracyPremultiplier from config 59ě? 5Yԁ i?KB0?:侑J@Dr;;@ 5B M@EZjFNOT Ignoring new targets: 584.10 m.BjVJjV ProNav: ac range: 584.099976 m, nav range: 450.578766 m, bearing: 261.566022 deg, approach rate: -0.205832 m/s, LOS rate: -0.084515 deg/s, cmd heading: 343.246867 deg, new cmd heading: 343.139243 deg. 2jhHeadingCmd: 5.988910 target range: 584.099976 and range: 584.10 m. j&@jjj i hhhhMBfffrfbf>@@ɛY] Y]lIa e_UɚaiI 4=IEibiQ>;)&@)EEWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I $)II BI ( =&I .I 6I <:I L FU Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Response Not Received ] *response not received] ,DAT read: user:2162> e BDAT read: Tx time:21:56:30.9392 e $Ping request sent.e ! %G٣%`GGy%: %> ]Nusing accuracyPremultiplier from config)] 59-ś?e 5Y-2 i-=KBae徑eJ@-D-A;-:-D 5B @EZjA]FNOT Ignoring new targets: 584.10 m.Bj]TJjeT ProNav: ac range: 584.099976 m, nav range: 450.491302 m, bearing: 261.530256 deg, approach rate: -0.192728 m/s, LOS rate: -0.078827 deg/s, cmd heading: 343.139251 deg, new cmd heading: 343.031932 deg. 2jdXHeadingCmd: 5.987037 target range: 584.099976 and range: 584.10 m. jΕ@jjjihhhhfffrfbf@w@@ɛm}BmK im@Ii usɚqiqIuY'4=I}Ϡi}i}N;)}Ε@)*F92F9:F9BF=T5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAJDAT read: TxSync time:21:56:30.9384 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251450G o;G B OM >{Hw,#Ay5B5%)IMb@Mb@Mb@ )YK7?l/$?y)?< @)v@IQAyAIIHo4٢= M=9Q > G٣y > Nusing accuracyPremultiplier from config 59'ś? 5Y iDKB*?:ȾJ@D<< H 5 @ZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502280FNOT Ignoring new targets: 584.10 m.BjֿJj ֿ ProNav: ac range: 584.099976 m, nav range: 450.426941 m, bearing: 261.497423 deg, approach rate: -0.164363 m/s, LOS rate: -0.083859 deg/s, cmd heading: 343.031935 deg, new cmd heading: 342.933422 deg. 2j4fHeadingCmd: 5.985317 target range: 584.099976 and range: 584.10 m. j@jajajaiahahahihmjBfififqrfqbfu@@ɛ|Bָr }aIw,2$AZ@YZ @ZߚM9Z\F>yZH?? ᨿ`Qѿ{?/? ??ɨZ@Z;ZCyfBf:)IIwIR4٢9= X=9ݡQ >!! %G٣!y%> -> 5Nusing accuracyPremultiplier from config1= 595S;ś?= 5Y5p i5LKB9=ʾ=J@5D5:5:5mK 5MB M}@MEZjquFNOT Ignoring new targets: 584.10 m.Bj}ǺJj}Ǻ ProNav: ac range: 584.099976 m, nav range: 450.365173 m, bearing: 261.466350 deg, approach rate: -0.172975 m/s, LOS rate: -0.087029 deg/s, cmd heading: 342.933416 deg, new cmd heading: 342.840185 deg. 2jnHeadingCmd: 5.983690 target range: 584.099976 and range: 584.10 m. jdz@jjjihhhhfffrfbf@@ɛ{B|D hP=I +ɚiII34=IcWi7i;)dz@)*Fa2Fa:FaBFe`0JFijH]<bH]p;He1>Ia IeV)IIeBIe) =&Ia.Ia6Ie?<:Ie FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006107Gl< IGBO> Iw,Y0$A:Ӹ@Y:@:}c9:Ѻ>y:HͰ??@Wz0ҿs?콾|o?? ?ɨ:Ӹ@:;:CyFBFF)I)H JAIRKIR4٢ZD= ZR=9Z`Q ^>\\ bG٣baGGyb4H b> fNusing accuracyPremultiplier from configdj 59fOś?j 5Yf ifTKBlnT;nJ@fDf ;f: ;fN 5p r@t B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 584.10 m.Bj%cJj%c5 ProNav: ac range: 584.099976 m, nav range: 450.300385 m, bearing: 261.434298 deg, approach rate: -0.165555 m/s, LOS rate: -0.081913 deg/s, cmd heading: 342.840198 deg, new cmd heading: 342.744029 deg. 2j5`=HeadingCmd: 5.982012 target range: 584.099976 and range: 584.10 m. j=l@j9j9j9i9hAhAhAhAfIfIfIrfIbfMA@]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258391ɛzB0 隕L=I NɚiI )4=Im3i9xi3;)l@)JJJ1JJ;:J>:J3JJaJaJ˕;aJ˕;a*F?2F:FBFk0JFGU;GBO=> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510875 +$?I poIw,6J$AzK2k3IK2+9K0K2 K2BK4:K4B@YBrͿ@Bf9B/>yBH`?@T?@NYyBҿ kp? ӌ?@r4?`D?ɨB@B;@yNBNZ)I]Mb@Mb@Mb@YYY Y)YY]"~j?~jt~jt?y]S#?]ļ]<] A ]$@)YI]AYy]zAIuAIuk3٢G= >=9Q > G٣y Ȼ > Nusing accuracyPremultiplier from config 59leś? 5Yy iaKB#?:J@D;;R 5B @EZjFNOT Ignoring new targets: 584.10 m.BjbJjb ProNav: ac range: 584.099976 m, nav range: 450.250702 m, bearing: 261.399875 deg, approach rate: -0.115688 m/s, LOS rate: -0.080163 deg/s, cmd heading: 342.744029 deg, new cmd heading: 342.640750 deg. 2j\HeadingCmd: 5.980209 target range: 584.099976 and range: 584.10 m. j]@jjjihhh h Bf f frfbf=A@ɛ9=% AE=IA EހɚAiAIMl4=IMiM]ivv;)]@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762274*F?2F:FBFo0JFG(A;G?G?G B OM >Ha Ia  Ie )IIe ډBIa &Ia .Ia 6Ie \<:Ie 1 FBI!JI!RI!ZI%) =bI%) =jI%˨s4 Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014176Iw,Id$A>@Y>VϿ@>%R9>>y>H@U? S?>ҿ p?D?0?`?ɨ>@>";>CyFBFm)IIRsIRK4٢ZQ= ^Y=9^Y;Q b>`` fG٣dyf: f> jNusing accuracyPremultiplier from configh aIam 59jxś?m 5Yj ijlKBimmJ@jDjcI ͮɚiI-3=I-i5Vi5W;)5P@)1*F?2F:FBFn0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266227JJJ0JJ:JJـ3JJ'<J'<JJG- k;G B1 Ou >Iw,]}$AZù@YZɿ@ZF9Z>yZHࠩ? ?[ Jҿn?@o?S(?@޽?ɨZù@Zφ;ZCyfƉBfv)Iij8>Ij=Mb@Mb@Mb@ )Y+?{Gz?:v?y?ף<< ;@)IAyAIzI=X4٢X= :=9:Q > G٣bGGyu > Nusing accuracyPremultiplier from config 59ś? 5Yi i|KB?:ԆJ@D{;s;Y 5 4@ZjFNOT Ignoring new targets: 584.10 m.Bj%쿺Jj%쿺5 ProNav: ac range: 584.099976 m, nav range: 450.176666 m, bearing: 261.335120 deg, approach rate: -0.074390 m/s, LOS rate: -0.083896 deg/s, cmd heading: 342.550133 deg, new cmd heading: 342.446469 deg. 2j5Nf=HeadingCmd: 5.976819 target range: 584.099976 and range: 584.10 m. j=B@j9j9jAiAhAhAhIhMƉBfIfQfQrfQbfUyA@ɛ}xB}} 隅b>I }ɚiI3=Iܜi|i;)B@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518353*F ?2F :F BF 1JF  M,$?IMhzK K  9K K  K Gw;GBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770098;%Iw,Ɨ$A>@Y>Ͽ@>@9>>y>H??_L@=ҿo?o]`?uH?`߼?ɨ>@>3;>CyJ͉BJ)IIRuIRaO4٢Z= Z^=9Z__:Q Z>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj 59fś?j 5Yf ifKBhnnnK@fDf;f;f\ 5rB r@vEZjFNOT Ignoring new targets: 584.10 m.Bj{Jj{ ProNav: ac range: 584.099976 m, nav range: 450.151123 m, bearing: 261.306000 deg, approach rate: -0.069200 m/s, LOS rate: -0.078895 deg/s, cmd heading: 342.446478 deg, new cmd heading: 342.359114 deg. 2jXHeadingCmd: 5.975294 target range: 584.099976 and range: 584.10 m. j5@jjjihhhhfffrfbf A@ɛmwB|4m 隕,>I ~{ɚiId3=Iii <)5@)*F)2F):F)BF-`5JF)HI I)IIBI( =&I.I7D6IQ<:I) FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022092 U-$?IYG5;-GG  Y y ]BB! OM >+Iw,b$A::Ÿ@Y:Կ@:\79:F>y:H? ?4ҿp?@9|`b?Q?@?ɨ::Ÿ@:L~;:CyRԉBV)II^}I^]4٢f= fI=9jm:Q j>ll nG٣lyrҷ: r> vNusing accuracyPremultiplier from configtz 59vTś?z 5Yv ivKBxz$~K@vDvu ;v ;v` 5B @E%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 584.10 m.=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274229Bj5JjE] ProNav: ac range: 584.099976 m, nav range: 450.123199 m, bearing: 261.273796 deg, approach rate: -0.068488 m/s, LOS rate: -0.078994 deg/s, cmd heading: 342.359107 deg, new cmd heading: 342.262487 deg. 2jeXeHeadingCmd: 5.973607 target range: 584.099976 and range: 584.10 m. je'@jijijiiihihihqhqfqfyfyrfybf}E B@ɛL= 隭:>I iyɚiI3=Iiik'<)'@)EEqAJeJeJaJaJe:Je"I:JaJaJe?%<Je@%<Je;Je;*F12F1:F1BF5|4JF1G4<GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526523 M .$?II 2Iw,f$A≯@Y>Hܿ@>u79>wN>y>H*? ?)@3&ҿq? Ӿ ?}?5?ɨ≯@>>;>CyFωBJ)I)L LLNAzKxKz+9KxKz KzMb@Mb@Mb@ )Y+?:v? rh?yv?T=C< A )IzAyGAIIk4٢ ==9fQ > G٣y; > Nusing accuracyPremultiplier from config 59mś? 5Y. iKB?:TK@D;=;Jd 5 ]@ZjFNOT Ignoring new targets: 584.10 m.Bj Jj  ProNav: ac range: 584.099976 m, nav range: 450.108368 m, bearing: 261.239732 deg, approach rate: -0.034382 m/s, LOS rate: -0.078969 deg/s, cmd heading: 342.262473 deg, new cmd heading: 342.160278 deg. 2jX%HeadingCmd: 5.971823 target range: 584.099976 and range: 584.10 m. j%-@j!j!j!i!h)h)h1h5߉Bf1f9f9rf9bf=(AB@ɛevBeY im1>Ii mvɚiiqIu<3=Iuji}i}HL<)}-@)y*F 2F :F BF _0JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:21:56:34.0828 ]TRx dataTimestamp_ set to:1736373395.321399mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781415G-(<G B Oe >H 0>I  I )II !BI &I .I 6D6I !<:I  F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0301778Iw,$A `IdfѸ@Yf%@f19f@>yfH ?? ҿ r? ׾9:?|? K?ɨfѸ@f;fCyzƉBw)IIyIxV4٢%g8 %Q=9%f:Q ->)) -G٣-cGGy5p: 5> =Nusing accuracyPremultiplier from config9E 59=jś?E 5Y= i=KBIMITMK@=D=:=:=g 5UB Uҽ@UEZjFNOT Ignoring new targets: 584.10 m.BjwJjw  ProNav: ac range: 584.099976 m, nav range: 450.095276 m, bearing: 261.208922 deg, approach rate: -0.032778 m/s, LOS rate: -0.077139 deg/s, cmd heading: 342.160266 deg, new cmd heading: 342.067836 deg. 2jS=HeadingCmd: 5.970210 target range: 584.099976 and range: 584.10 m. j= @jAjAjAiAhAhIhIhQfffrfbfvB@ɛ 22   >I  5@tɚ1i1I5y3=I=C>i=(i=HPi<)= @)A*F)2F):F)BF)JF)=Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: Range 10 to 50 : 554.5 m (Round-trip 739.4 ms) speed 0.5 m/s M,DAT read: user:2163> UBDAT read: Tx time:21:56:35.1892 ]$Ping request sent.]T?Iw,C$Ay޵B޵m)I=Mb@Mb@Mb@999 9)9Y=Q?Q?Mb`?y=(?=u==;= A =@)=@I=hA9y=AIUIUa4٢e e9=9mQ m>qq }G٣yy} }> Nusing accuracyPremultiplier from config 59ś? 5Yٚ iKB?:BK@D;;k 5B -@EWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:56:35.1884  addTargetRange:: Added new target pos. range: 554.500000 m, deltaT: 37.079962 s, deltaX: -29.599976 m, approachRate: -0.798274 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 584.10 m.Bj Jj /$?I ProNav: ac range: 584.099976 m, nav range: 450.085388 m, bearing: 261.174370 deg, approach rate: -0.021656 m/s, LOS rate: -0.075679 deg/s, cmd heading: 342.067840 deg, new cmd heading: 341.964180 deg. 2jOHeadingCmd: 5.968401 target range: 584.099976 and range: 554.50 m. j$@jjjihhhhɉBffAfArfET@bfM x|?ɛ> 隕>I rɚiIe3=Im+im޻ij<)$@)*F?2F:FBFJFzKUyJKU9KQKU KU] Will construct direction to contact in vehicle frame from tetrahedron phase data.G Re<G B O >EIw,t %AV˸@YVۿ@VlG<9V>yVH`Ǯ?6?`a`(ҿr?eˈ?G?@?ɨV˸@V6K;VCy^B^[)Iib)) -G٣1y58 5> ENusing accuracyPremultiplier from config9E 59=1 ƛ?M 5Y= i=KBIMjCMK@=D=*:=:=n 5Q ]@YZjFNOT Ignoring new targets: 584.10 m.Bj̽Jj̽ ProNav: ac range: 584.099976 m, nav range: 450.077301 m, bearing: 261.146228 deg, approach rate: -0.023842 m/s, LOS rate: -0.082967 deg/s, cmd heading: 341.964185 deg, new cmd heading: 341.879759 deg. 2jcHeadingCmd: 5.966928 target range: 584.099976 and range: 554.50 m. j@jjjihhhhfffrfbf 8?ɛ/ @=I ;wqɚiIU3=I졾iWXݻi<)@)*F?2F:FBFn0JFH1>I I)II0BI&I.I7D6IJ<:I# FWill construct direction to contact in vehicle frame from tetrahedron phase data. 0$?IGT<GBO>,#LIw,l2%A:@Y: @:{J9:~>y:HG?`(?@Ϩ`gҿzi? ;a\?T?k?ɨ:@: h;:CyBBFG)IINnINB4٢V VR=9VWQ Z>X\ bG٣bdGGyb( b> jNusing accuracyPremultiplier from configdj 59fƛ?n 5Yf+ ifKBlnGnK@fDf? ;f ;f"r 5rB v @vE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 584.10 m.%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.Bj=<Jj= I SIw, L%A6@Y6@6~^96m>y6H@n? '&?eҿ`k?@'Խϋ??F?ɨ6@6;6CyNBN+)I]Mb@Mb@Mb@YYY Y)YY]Zd;?y&1?Mby]?]`<]] A ];@)]I@I]QAYy]zAzKuBoHKuh9KqKu KuBK:KrAIu@Iu3٢Pν <=94Q > G٣y9 > Nusing accuracyPremultiplier from config 59;2ƛ? 5YӞ iKB ?:yK@D;-;u 5B W@EZjFNOT Ignoring new targets: 584.10 m.BjѮJjѮ  ProNav: ac range: 584.099976 m, nav range: 450.044739 m, bearing: 261.082828 deg, approach rate: -0.053229 m/s, LOS rate: -0.076419 deg/s, cmd heading: 341.788649 deg, new cmd heading: 341.689546 deg. 2j QHeadingCmd: 5.963608 target range: 584.099976 and range: 554.50 m. jվ@jjjihhhh%Bf!f!f!rf!bf- i"?ɛTE p=I foɚiID3=Ii>`ڻi<)վ@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509739*F?2F:FBF0JFG^j<G B O >H I  I )II !BI ) =&I .I 6I <:I N F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7605185YIw,If%A &2$?I$6@Y6@68L96=y6H`?/?Gkҿl?`b`ꆉ?`4?@?ɨ6@6`;6CyFxBF)I)H HIRIRHo4٢Z ZZ=9Z/C;Q Z>\\ ^G٣\ybꁺ b> fNusing accuracyPremultiplier from configdj 59fDƛ?j 5YfC ifKBhnznK@fDf& ;f ;f0y 5p rj@pZjFNOT Ignoring new targets: 584.10 m.BjMJjM ProNav: ac range: 584.099976 m, nav range: 450.024872 m, bearing: 261.054230 deg, approach rate: -0.052928 m/s, LOS rate: -0.076194 deg/s, cmd heading: 341.689557 deg, new cmd heading: 341.603758 deg. 2j*Q%HeadingCmd: 5.962111 target range: 584.099976 and range: 554.50 m. j%ɾ@j!j!j!i)h)h)hYhYfYfYfYrfabfe@?ɛ7j 隭;I oɚiI1K3=Iciyػi8<)ɾ@)*F2F:FBF1JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012781*JUR="JUa=GӔ<G B O >(`Iw,%A@Y۷@o59=yHŤ?n4?qBlҿvn? c_?c??ɨ@Y܆;y-ZB-(IMb@Mb@Mb@ )YZd;?I +Zd;Oy9j/ A Q@)`@I@yI I {4٢ 5=9L;Q >!! %G٣%eGGy-!Է -> 5Nusing accuracyPremultiplier from config1= 595kZƛ?= 5Y5 i5KB=?E:EEK@5 D5;5;5$} 5UB U(@UEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264747ZjyFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 449.979553 m, bearing: 261.020052 deg, approach rate: -0.100048 m/s, LOS rate: -0.075460 deg/s, cmd heading: 341.603770 deg, new cmd heading: 341.501227 deg. 2j&OHeadingCmd: 5.960321 target range: 584.099976 and range: 554.50 m. j@jjjihhhhPBfffrfbf5@ɛ': 0ZI pɚiId3=INi+׻iQ<)@)  %3$?I!*F2F:FBF`5JFzKK]9KK K%" RK?JK>G5 p<5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516582G9 BA O >JM JM JI JI JM :JM A:JI JI aU @a] @a] @a] @+HfIw,%Y%A2@Y2z@2"92)=y2Hx? 9?`nҿn?Sʼ KB?@Ѿ?@?ɨ2@2>;0yRABR(IIzIz҅4٢% %]=9-M;Q ->)) 5G٣1y5k 5> eNusing accuracyPremultiplier from configYe 59]ilƛ?m 5Y]n i]KBimҥmK@]D]L:]*:]j 5 @ZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 449.942139 m, bearing: 260.991770 deg, approach rate: -0.092534 m/s, LOS rate: -0.069953 deg/s, cmd heading: 341.501235 deg, new cmd heading: 341.416382 deg. 2j@HeadingCmd: 5.958840 target range: 584.099976 and range: 554.50 m. jѮ@jjjihhhhfffrfbf`u@ZHQRHU?AHQIQ IU)IIUBIQ&IQ.IU6D6IU_<:IU3 FBIJIRIZI( =bI( =jI4ɛ}uB}V y}нIy qɚiI3=Ii;ջi:<)Ѯ@)EEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769824 54$?I1*F2F:FBF_5JFG <G B O >+qlIw,/%A6Q@Y6@6696=y6H]?N?`@iҿk?P? ~ɾ?&?ɨ6Q@6Ɇ;6Cy>(B>(Ii^)>I^R=IfIf 4٢n nP=9nѹ9Q r>pp rG٣pyvN[ v> zNusing accuracyPremultiplier from configx~ 5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0207579z#ƛ?  5Yzh izKB   K@zDzz;z&z;z҃ 5B %0@%EEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 584.10 m.BjU۹JjU۹e ProNav: ac range: 584.099976 m, nav range: 449.902985 m, bearing: 260.962326 deg, approach rate: -0.108027 m/s, LOS rate: -0.081245 deg/s, cmd heading: 341.416377 deg, new cmd heading: 341.328036 deg. 2jm_mHeadingCmd: 5.957298 target range: 584.099976 and range: 554.50 m. jm0@jqjqjqiqhqhqhyhyfyffrfbfS@ɛփռ 隽bI sɚiI/3=Iڦiӻi<)0@)*Fm?2Fq:FqBFu_0JFqG7ͤ<GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272678O>  I ZsIw,%AyrBr(I}Mb@Mb@Mb@yyy y)yY}ʡE?RQ~jty}?}½}} A };@)}3@Iyyy}@II@4٢% >=9Q > GzKrLK9KK KBK:K٣fGGy > Nusing accuracyPremultiplier from config 59ƛ? 5Yk iKB?:FྑK@#Da;; 5B b@EZjFNOT Ignoring new targets: 584.10 m.BjկJjկ- ProNav: ac range: 584.099976 m, nav range: 449.828430 m, bearing: 260.929302 deg, approach rate: -0.173498 m/s, LOS rate: -0.076863 deg/s, cmd heading: 341.328049 deg, new cmd heading: 341.228961 deg. 2j-S5HeadingCmd: 5.955569 target range: 584.099976 and range: 554.50 m. j5@j1j9j9i9h9h9hAhEBfAfAfArfIbfM1 @ɛ fCI VvɚiI3=I]iѻipԬ<)@) Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526801*F?2F:FBF`0JFJKm3 KS}-KK"KJJJJJ:JJJG W<G B O >HM 0>II  IM o)IIM BIM ( =&II .II 6IM S<:IM + F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:56:38.3495  TRx dataTimestamp_ set to:1736373399.604778 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777814 5$?I yIw,2%A):= 8v~G  ]Yaye8B}@Y}j@}.9}=y}HX?~?`FWٱҿwe?`??q uG٣qy} }> Nusing accuracyPremultiplier from config 59ƛ? 5Yh iKBᾑK@,D;B;T 5 ?@ZjFNOT Ignoring new targets: 584.10 m.Bj  Jj- = ProNav: ac range: 584.099976 m, nav range: 449.754425 m, bearing: 260.896823 deg, approach rate: -0.170330 m/s, LOS rate: -0.074767 deg/s, cmd heading: 341.228956 deg, new cmd heading: 341.131501 deg. 2j=?MEHeadingCmd: 5.953868 target range: 584.099976 and range: 554.50 m. jE@jAjAjAiAhIhqhqhqfyfyfyrfybf}@}O@ɛ  0~I 6yɚiIS4=IGi?лi1<)@))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028648G %<G B O >rnIw,>&AEl@Y{@w9˭=yH]?۬? 'G Uҿ_?@ =?t#?`?ɨEl@ ;騅CyޝBޝf(I) -Mb@Mb@Mb@))) )))Y-{Gz?{GzĿ~jty-#?-#)-A -$@))I-QA)y-f@IEIE4٢]3k ]E=9]F8Q ]>aa eG٣aymX m>uWill construct direction to contact in vehicle frame from tetrahedron phase data. IDAT read: 21:56:38.3496 LVL= 17232, 27185, 28786, 31635, AGC= 73, IDX= 107,-0.01, 0.574,-0.967, 0.053,-0.001, PHS= 0.664,-0.919, 0.052, RAW= 127.5, 3.0, CAL= 134.4, -3.8, ROT= 15.6, 3.8 Ygot valid direction response: 21:56:38.3496 LVL= 17232, 27185, 28786, 31635, AGC= 73, IDX= 107,-0.01, 0.574,-0.967, 0.053,-0.001, PHS= 0.664,-0.919, 0.052, RAW= 127.5, 3.0, CAL= 134.4, -3.8, ROT= 15.6, 3.8 8DAT read: $Error in header *Received a bad header Nusing accuracyPremultiplier from config 59ƻƛ? 5Y ivKB))?:1 K@5D;; 5-X#Rx 1: Read direction message, but no range.5`direction in FSK: [-0.181880,-0.529270,0.828730]q9u!Gǿۧgý?quPCu1j urp)u{Iqiu)?uCkuT=u;k@uPwV= uQ @)uԇIu'g>iuԇ=qu=j?W8f=k?aK?B @EZjFNOT Ignoring new targets: 584.10 m.)usQ>IunnTiunuzT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBjJj ProNav: ac range: 584.099976 m, nav range: 449.653778 m, bearing: 260.864417 deg, approach rate: -0.232824 m/s, LOS rate: -0.074979 deg/s, cmd heading: 341.131503 deg, new cmd heading: 341.034265 deg. 2jMHeadingCmd: 5.952171 target range: 584.099976 and range: 554.50 m. j/x@jjji!hAhAhQhUBfQfQfQrfYbf] b@ɛtB  M=隭ϊI }ɚiI4=IziJλi妚<)/x@)*F2F:FBFJFzKBoHK 9KK K  5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseG <J J J J J J C:J J G B O >VIw,3&Ay%ՈB%M(IIMIM4٢e%۽ e\=9mQ m>ii mG٣ugGGyu u> }Nusing accuracyPremultiplier from configy 59}ƛ? 5Y}G i}cKBK@}Iw,5&A2:@Y2wI@2D@92c=y2H@m? ? c`?ӿR?`?纽?6?ɨ2:@2;2Cy:ψB:F(IIFIF4٢N RX=9R吸Q R>TT VG٣TyV` Z> ^Nusing accuracyPremultiplier from configXb 59Zƛ?b 5YZ iZPKB`b bK@ZDDZ:Z:Zh 5jB ju@jE~Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 584.10 m.Bj-GJj-Ge ProNav: ac range: 584.099976 m, nav range: 449.473663 m, bearing: 260.806798 deg, approach rate: -0.223524 m/s, LOS rate: -0.070937 deg/s, cmd heading: 340.949902 deg, new cmd heading: 340.861372 deg. 2jeBmHeadingCmd: 5.949153 target range: 584.099976 and range: 554.50 m. jmw_@jijijiihhhhfffrfbf h@ɛ sBm2 imSIq u}҂ɚqiqIu-f5=I}5i}`4˻i}mP<)}w_@)*F%?2F!:F!BF%0JF! 7$?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGe 7ͤ<GA BI Oe >Iw,2ZO&Ay~ȈB~=(Ii=I<Mb@Mb@Mb@ )Y!rh?Q˿{Gzyl'?(\#vA @)`@I`@y@II@4٢n 8=9Q > G٣y > Nusing accuracyPremultiplier from config  59ƛ?  5YS i5KBzK&KK9KK K 0?%:%H%K@ND;*;O 5-B -@5EZjQ]FNOT Ignoring new targets: 584.10 m.Bj]úJj]úu ProNav: ac range: 584.099976 m, nav range: 449.339233 m, bearing: 260.771646 deg, approach rate: -0.327374 m/s, LOS rate: -0.085631 deg/s, cmd heading: 340.861383 deg, new cmd heading: 340.755894 deg. 2juk}HeadingCmd: 5.947312 target range: 584.099976 and range: 554.50 m. j}bP@jyjyjyiyhyhyhhBfffrfbf`@ɛrB" 隽qI ɚiI5=IiɻixӖ<)bP@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******=R****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseJeJeJaJaJe :Je^:JaJaE4/=*Fm?2Fi:FiBFmo0JFiH I  I (II LBI ( =&I .I 6I "<:I  F I  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG Ӕ<Gq By O >wIw,k&A^y@Y^@^)A#9^EB=y^Hr?{? `Ʈӿ B?bBh?&w?%?ɨ^y@^;^Cy B -(IIIv}4٢- -A=95 кQ 5>11 =G٣=hGGy= => MNusing accuracyPremultiplier from configAM 59EǛ?M 5YEſ iEKBQU"UK@EWDE:E@:E 5Y ]@aZjFNOT Ignoring new targets: 584.10 m.BjKJjK ProNav: ac range: 584.099976 m, nav range: 449.210541 m, bearing: 260.738542 deg, approach rate: -0.306302 m/s, LOS rate: -0.078813 deg/s, cmd heading: 340.755897 deg, new cmd heading: 340.656557 deg. 2j[XHeadingCmd: 5.945579 target range: 584.099976 and range: 554.50 m. j.B@jjjihhhhfffrfbf@ɛqBl' :I nɚiI76=IڬiOȻivX<).B@) EȷL=*FQ2FQ:FYBF]`5JFYG-c<Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG BO5O>WIw,&A^ڷ@Y^<@^x*9^;=y^H@,g?|?N Vӿ7?U_?+I?@?ɨ^ڷ@^ ;^CyjÈBj8(I r8$?Ip=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )YJ +?`"οV-y(?w`A $@)I@IyII4٢/= C=9֓Q > G٣y. > Nusing accuracyPremultiplier from config 59mǛ? 5Y iKB3?:)K@aD;:; 5B @EZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 449.069885 m, bearing: 260.705713 deg, approach rate: -0.318286 m/s, LOS rate: -0.074311 deg/s, cmd heading: 340.656559 deg, new cmd heading: 340.558041 deg. 2jKEHeadingCmd: 5.943859 target range: 584.099976 and range: 554.50 m. jE4@jijijiiihihqhqhuBfqfyfyrfbf@ɛpB7 I ɚiIk6=I#i Pƻi ;:<) 4@) EE*E"EzKBoHK9KK Kp<EEWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAT****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse*FM ?2FI :FQ BFU 0JFQ G <GHI I(II(BI&I.I6I2<:I FBO>^ըIw, &AJz@YJղ@J=@9J=yJHU?`&?K k]Կ&?&Ϻ}?`dG??ɨJz@J8;JCyVȈBV>(I)X XbAbAIfIf4٢no< n0=9nB7Q n>pp rG٣pyvn v> zNusing accuracyPremultiplier from configx~ 59z0Ǜ?~ 5Yz izJB|>+K@zkDz ;zq ;z 5 B @ E -9$?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZjFNOT Ignoring new targets: 584.10 m.BjJj% ProNav: ac range: 584.099976 m, nav range: 448.912140 m, bearing: 260.669421 deg, approach rate: -0.341314 m/s, LOS rate: -0.078552 deg/s, cmd heading: 340.558040 deg, new cmd heading: 340.449127 deg. 2j-W5HeadingCmd: 5.941958 target range: 584.099976 and range: 554.50 m. j5$@j1jYjYiYhYhahahifififqrfqbf[@ɛ=oB=! 9=榾IA EsyɚIiIIM 7=IuMiuŻiu8;)u$@)y*F-?2F):F)BF-`5JF)GT<GBOg>U Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapseJ J J J J 1J J :J A:J 3J J # G٣iGGyn  > Nusing accuracyPremultiplier from config  59 CǛ? 5Y  i JB1,%K@ tD : : ? 5) @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 584.10 m.Bj沺Jj沺- ProNav: ac range: 584.099976 m, nav range: 448.773499 m, bearing: 260.637740 deg, approach rate: -0.342122 m/s, LOS rate: -0.078202 deg/s, cmd heading: 340.449140 deg, new cmd heading: 340.354068 deg. 2j5V=HeadingCmd: 5.940299 target range: 584.099976 and range: 554.50 m. j=@j9j9j9i9h9hAhAhAfAfIfIrfIbfU`@ɛ}nB 隕I ;eɚiIc7=Iǎi$Żi=;)@) E:$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBF_5JFG] ܸ<<Ga Ge rAzK 2MK +9K K K  '""   G1 BK9 :K= qABI Oe >ٵIw,;&AWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse j@Y z@ :LZ9 =y H4C?ۍ?ěԿ`+?ں`RI??}?ɨ j@ Լ; y-B5^(IeMb@Mb@Mb@aaa a)aYe/$?ʡEͿ G٣y > Nusing accuracyPremultiplier from config 59(YǛ? 5Y iJB86?:()K@D1;;7 5B @EZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 448.619415 m, bearing: 260.601475 deg, approach rate: -0.356495 m/s, LOS rate: -0.083933 deg/s, cmd heading: 340.354064 deg, new cmd heading: 340.245232 deg. 2j%hf5HeadingCmd: 5.938400 target range: 584.099976 and range: 554.50 m. j5_@j1j1j1i1h1h9h9h=Bf9fAfArfAbfEL@ɛumBu quuIq }RɚyiyI}7=IiSĻiO*;)_@)*F?2F:FBFp4JF"G=Gp=H1>I I(IIBI&I.I6Is<:ID FBIJIRIZIbIjIž"4G}#N; IIIGYBqO~>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseqIw,g&A2L@Y2P\@2èp92=y2H X9??@ʇտ ?:̺? ??ɨ2L@2 ;2CyRBV(IiZ fl=9fQ j?hh jG٣hyn+ r? vNusing accuracyPremultiplier from configtz 59viǛ?~ 5Yv ivJB|*K@vDv~C;vC;vA 5  @ Zj15FNOT Ignoring new targets: 584.10 m.Bj=Jj=󵺝M ProNav: ac range: 584.099976 m, nav range: 448.500885 m, bearing: 260.573765 deg, approach rate: -0.340130 m/s, LOS rate: -0.079537 deg/s, cmd heading: 340.245245 deg, new cmd heading: 340.162093 deg. 2jMWZUHeadingCmd: 5.936948 target range: 584.099976 and range: 554.50 m. jU{@jQjQjYiYhYhYhahafafafarfibfm @ɛlB 隝 TI O|ɚiI7=IEiWûiӣO;){@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse*F=?2F9:F9BF=_0JFAJJJJJ:JF:JJJ&<J&<J;J;GUo;G)B9OU> E <$?IE h Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseIIw,C 'A6;@Y65K@6z|96=y6H@3??P/!տ@?' G٣jGGyt > Nusing accuracyPremultiplier from config 59~Ǜ? 5Yn iJB.?:K@D';%;4 5B @EZjFNOT Ignoring new targets: 584.10 m.BjԳJjԳ ProNav: ac range: 584.099976 m, nav range: 448.366486 m, bearing: 260.538268 deg, approach rate: -0.297544 m/s, LOS rate: -0.078610 deg/s, cmd heading: 340.162081 deg, new cmd heading: 340.055557 deg. 2jW HeadingCmd: 5.935089 target range: 584.099976 and range: 554.50 m. j @@j j jihhhhЈBfff!rf)bf- @ɛUkB] Y]/IY ]ɚYiaIe8=Ie9im{ûimDW;)m@@)izKM MKM9KIKM KMRKe>JKe?*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG g;G B O >jH bH p<H I  I (II 2BI &I .I 6I e<:I 9 FIw,?&'A6%@Y6s4@6݇96=y6H+?? 0 Lտv?`q@?-?`?ɨ6%@6;6CyB5BB(IIJIJ_v4٢R@> Ri=9VUQ V>TT VG٣XyZ Z> fNusing accuracyPremultiplier from configdj 59fFǛ?j 5Yf ifJBhn@nK@fD r=$?Itf:fz;fF 5x z@xZjWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseFNOT Ignoring new targets: 584.10 m..~G!A YyABj鲺Jj鲺 ProNav: ac range: 584.099976 m, nav range: 448.261475 m, bearing: 260.510681 deg, approach rate: -0.297627 m/s, LOS rate: -0.078208 deg/s, cmd heading: 340.055557 deg, new cmd heading: 339.972776 deg. 2jVHeadingCmd: 5.933644 target range: 584.099976 and range: 554.50 m. jj@jjjihhhhfffrfbf>!@ɛ=iB=8fͼ 9=TѽI9 E*pɚAiIIM<8=IUiUd»iUZ;)Uj@)Y*F12F1:F1BF5a0JF1GA GAU Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseG !j;G B J J J 0J J :J <:J ـ3J J #<J #<J ;J ;O >?Iw,?'A>$@Y>84@>89> =y>H +? i?GOLտN? ?`$???ɨ>$@>1U;>CyRHBR(I)T TIZIZk4٢b= bH=9fhxQ f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlr 59nVǛ?v 5YnU inJBtv<vK@nDn:n:nԹ 5zB ~=@~EZj!%FNOT Ignoring new targets: 584.10 m.Bj-Jj-= ProNav: ac range: 584.099976 m, nav range: 448.140198 m, bearing: 260.478764 deg, approach rate: -0.299023 m/s, LOS rate: -0.078716 deg/s, cmd heading: 339.972775 deg, new cmd heading: 339.876999 deg. 2j=XEHeadingCmd: 5.931973 target range: 584.099976 and range: 554.50 m. jEҽ@jAjIjIiIhIhIhQhQfQfQfQrfYbf]p"@ɛhB 隍~I ˓ɚiIvI8=I)ҳi»i{;)ҽ@)*F2F!:F!BF-0JF) IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG;GBO>zK BoHK 9K K K BK :K ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse-Iw,1Y'A2@Y2-@2\92=y2H )? ?Yտ ?{B`BK?@??ɨ2@2d;2Cy>kB>)IMb@Mb@Mb@ )Y}?5^I?QQ?yM"?u< A @)3@IhAy\@I sI K4٢u> u1=9u&pQ u>yy }G٣}kGGy > Nusing accuracyPremultiplier from config 59 Ǜ? 5YL iJB:%?:YK@D;h;ݽ 5B @E%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 584.10 m.Bj=wJj=wu ProNav: ac range: 584.099976 m, nav range: 448.034546 m, bearing: 260.443108 deg, approach rate: -0.223341 m/s, LOS rate: -0.075391 deg/s, cmd heading: 339.876989 deg, new cmd heading: 339.769997 deg. 2juN}HeadingCmd: 5.930105 target range: 584.099976 and range: 554.50 m. j}lý@jyjjihhhhGBfffrfbfCg#@ɛUfB]N 隽@"$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG] 9;G1 B9 OU >RIw,.s'A:@Y:#/@:k9::>y:H)? *?@˯Uտ2?kѼ?5;??ɨ:@:Wo;:Cy^B^-)IIfrIfJ4٢r4> vh=9v~Q v>xx zG٣xyz&@: z> Nusing accuracyPremultiplier from config  59{Ǜ?  5YL iJB  H K@D:: 5 @ZjAEFNOT Ignoring new targets: 584.10 m.BjMJjMe ProNav: ac range: 584.099976 m, nav range: 447.954620 m, bearing: 260.416072 deg, approach rate: -0.235874 m/s, LOS rate: -0.079804 deg/s, cmd heading: 339.770001 deg, new cmd heading: 339.688876 deg. 2je[mHeadingCmd: 5.928689 target range: 584.099976 and range: 554.50 m. jmӷ@jijijiiihqhqhqhqfffrfbf @{$@ɛeBGJ =I 9JɚiI%8=I}ipi|H;)ӷ@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.5:Iw,'AyBJ)Ii%=I%4<Mb@Mb@Mb@ )Y+?{GzS㥛?yv?#/< A )v@IAy(AItIM4٢= <=9Q > G٣y > Nusing accuracyPremultiplier from config 59UǛ? 5Y  iJB?:ѾK@D;; 5 B c@ EZj1=FNOT Ignoring new targets: 584.10 m.Bj=Jj= ProNav: ac range: 584.099976 m, nav range: 447.889984 m, bearing: 260.382571 deg, approach rate: -0.148480 m/s, LOS rate: -0.076968 deg/s, cmd heading: 339.688885 deg, new cmd heading: 339.588369 deg. 2jJSHeadingCmd: 5.926935 target range: 584.099976 and range: 554.50 m. jt@jjjihhhhBf ffrfbf`$@ɛecBe< aeT=Ia m`jɚiiiIm7=Igfi i.;)t@)*F)2F):F)BF-`5JF)zKK9KK K%Will construct direction to contact in vehicle frame from tetrahedron phase data.%Ha Ia  Ie I)IIe BIa &Ia .Ia 6Ie f<:Ie 9 FdIw,(c'A:@Y:,@:iV9:)>y:Hg(??`Yտ?.3@ʗ??2?ɨ:@: ; F?$?ID:Cy B g)II-I-v}4٢EG= MT=9MQ U>QY ]G٣]lGGye 9 e>Will construct direction to contact in vehicle frame from tetrahedron phase data.Iy }+ɚiI7=I3iɓi <)@)*FY2FY:FYBFeP5JFa- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Response Not Received 5 *response not received= ,DAT read: user:2165> = BDAT read: Tx time:21:56:46.1393 E $Ping request sent.E GY Bi O >PIw, P'AyUɉBUz)IIeeIe34٢u= uG=9}Q > G٣y > Nusing accuracyPremultiplier from config 59ț? 5YP iJBK@D :: 5B ܻ@EZjFNOT Ignoring new targets: 584.10 m.BjҴJjҴ ProNav: ac range: 584.099976 m, nav range: 447.771881 m, bearing: 260.321204 deg, approach rate: -0.151898 m/s, LOS rate: -0.079043 deg/s, cmd heading: 339.498924 deg, new cmd heading: 339.404261 deg. 2jXHeadingCmd: 5.923722 target range: 584.099976 and range: 554.50 m. j!@jjjihhh h f ffrfbf@]&@ɛ`B> Q>I \ɚ9i9I=f~7= @$?II i朽i -!<)!@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:56:46.1385 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256686*F)2F1:F1BF5/5JF1GU jx<zK K K K K 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502015G9 BA Oe >dIw,D'A2U@Y2@2Qռ92'V >y2H ? s?'豿տ?7{@ù? [??ɨ2U@2\;2Cy>؉B>)I)@ @FAFAJJJJJ:J;:JJa@a@a@a@Mb@Mb@Mb@ )YS?Mb?Q?y?<< @)`@IAyzAI hI V84٢S= =?=9EڻQ E>II MG٣IyMŻ M> ]Nusing accuracyPremultiplier from configQ} 59U?ț? 5YU| iUJB?:K@UDU;U);Us 5B κ@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 584.10 m.Bj%Jj%5 ProNav: ac range: 584.099976 m, nav range: 447.732056 m, bearing: 260.288389 deg, approach rate: -0.090776 m/s, LOS rate: -0.074804 deg/s, cmd heading: 339.404258 deg, new cmd heading: 339.305803 deg. 2j5YM=HeadingCmd: 5.922003 target range: 584.099976 and range: 554.50 m. j= @j9jAjAiAhAhAhIhMΉBfIfIfIrfQbfUk'@ɛ_B i  s>I QɚiI%7=I츾ii;<) @)H I  I )II BI &I .I 7D6I B<:I  F*F2F:FBF_0JF uA$?IqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755207G 9)<G B O >Iw,M'A:j@Y:@:V 9:Z >y:H?U?a@տ? YB ? c?`?ɨ:j@:Շ;:CyFBF)IIN6INm3٢V+= Zg=9Z Q Z>X\ ^G٣^mGGy d<  > Nusing accuracyPremultiplier from config 59)ț?% 5YS iKB!%%K@D ; ; 5) -T@1ZjYeFNOT Ignoring new targets: 584.10 m.BjeJjm򱺝u ProNav: ac range: 584.099976 m, nav range: 447.697937 m, bearing: 260.260939 deg, approach rate: -0.096677 m/s, LOS rate: -0.077786 deg/s, cmd heading: 339.305794 deg, new cmd heading: 339.223438 deg. 2j}UHeadingCmd: 5.920566 target range: 584.099976 and range: 554.50 m. jGu@jjjihhhhfffrfbf(@ɛ^B; )>I v匼ɚiI!6=I?ii2;)Gu@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006273EO=*F2F:FBFJF I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261120G jx<G qAG nAGy B O >5Jw,Kx(A>Զ@Y>Y@>L9>*>y>H ?}v?-տ@ ??Q@??Z?ɨ>Զ@>:;>CyFBJ)IeMb@Mb@Mb@aaa a)aYeS?Dl?~jt?yaeO=e G٣y > Nusing accuracyPremultiplier from config 59?ț? 5Y i'KB?:wK@D ; ;c 5B @EZjFNOT Ignoring new targets: 584.10 m.BjJj𰺝 ProNav: ac range: 584.099976 m, nav range: 447.679291 m, bearing: 260.227370 deg, approach rate: -0.042961 m/s, LOS rate: -0.077347 deg/s, cmd heading: 339.223449 deg, new cmd heading: 339.122737 deg. 2jTTHeadingCmd: 5.918808 target range: 584.099976 and range: 554.50 m. jf@jjji!h!h!h)h-Bf)f)f)rf1bf5 (@ɛ]\B: />I G슼ɚiIQ`6=I i w i;)f@)E$=*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511308zKK9KK K $Fn)E\rl@JmJmJiJiJm:Jm<:JiJiG ;Gq By O >H I  I )II !BI &I .I 6I a<:I 5 FBIyJIyRIyZIybIyjI}L4 - B$?I1 E Jw,1)(A%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762565y}B})Ii=I> ==IIt4٢ = J=9Q > G٣y > Nusing accuracyPremultiplier from config 59Sț? 5Y iI iƈɚiIB5=IeiE_iMC<)M~Y@)IEYEY*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014846*F 2F :F BF _0JF G o;GBO>Jw,σH(A I ߶@Y @ =9 >y H?pk?ñnտ?@@@?`L? ?ɨ ߶@ ; CWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270262yMBU)IMb@Mb@Mb@ )Y5^I ?+?I +?y?=94< $@)I@IAyIyIxV4٢5뷼 ==9E#;Q E>II MG٣UnGGyed; e> uNusing accuracyPremultiplier from configi 59moț? 5Ym imRKBe?:aK@mDm;mf;m 5 k@ZjFNOT Ignoring new targets: 584.10 m.BjJj ProNav: ac range: 584.099976 m, nav range: 447.645172 m, bearing: 260.151940 deg, approach rate: -0.030022 m/s, LOS rate: -0.078530 deg/s, cmd heading: 339.029116 deg, new cmd heading: 338.896445 deg. 2j%W%HeadingCmd: 5.914859 target range: 584.099976 and range: 554.50 m. j%F@j)j)j)i1h9h9h9hEBfAfAfArfAbfM*@ɛZB(9  >I *ɚiIJw,c(AyzۉBz)IIpIF4HI I*IIJBI&I.I6Ik<:I; F٢m½ us=9uQ u?yy }G٣yy} ? Nusing accuracyPremultiplier from config 59ț? 5Y i_KBK@D;K; 5B V@EB*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 584.10 m.Bj= Jj= M ProNav: ac range: 584.099976 m, nav range: 447.635559 m, bearing: 260.126517 deg, approach rate: -0.028272 m/s, LOS rate: -0.074769 deg/s, cmd heading: 338.896447 deg, new cmd heading: 338.820177 deg. 2jU@M]HeadingCmd: 5.913527 target range: 584.099976 and range: 554.50 m. j];@jYjYjYiYhYhahaha uD$?Iq) C%~GAa YyBfaffrfbfg+@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770232ɛ]YB}/ ; 隅m>I 9ɚiI5=ICim}iF<);@)*Fu?2Fq:FqBFun0JFyG] ܸ<<G1 B9 O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022157lJw,}(Af_@Yf@fSPݼ9fH>yfHw? wU?@[տ?黿-?`D?0?ɨf_@fQ2;dyrՉBr)I)t ttvAIzuIzaO4٢ +  R=9 );Q > G٣y; > -Nusing accuracyPremultiplier from config!5 59%ț?= 5Y% i%nKB9=_=K@%D%^;%7_;%G 5M~B M@MEZjiuFNOT Ignoring new targets: 584.10 m.Bj}Jj} ProNav: ac range: 584.099976 m, nav range: 447.624817 m, bearing: 260.096669 deg, approach rate: -0.028423 m/s, LOS rate: -0.078976 deg/s, cmd heading: 338.820167 deg, new cmd heading: 338.730622 deg. 2jXHeadingCmd: 5.911964 target range: 584.099976 and range: 554.50 m. j.@jjjihhhhfffrfbfb,@ɛi<; x>I &VɚiI^4=Iiriu<).@)*F2F:FBF0JF qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278448GF<G B O >=%Jw,Ӄ(A @]C@Y]@])ڼ9]=y]H?`Q? ,Tտj?@+OD?2?I?ɨ]C@]ddž;]Cy}ĉB}s)I-Mb@Mb@Mb@))) )))Y-333333?y&1?y&1|y-?-`e=-`- A ))-3@I))y-\@IEIEt4]Will construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:56:49.2918 eTRx dataTimestamp_ set to:1736373410.444895echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527432٢U m7=9m`:Q m>zK;*OK9KK K\SOMKKHGEEC@@A?<:8997656304200/,)(()&&#"! %5,%  11 5G٣5oGGy5dC: => ENusing accuracyPremultiplier from config9M 59=Xț?M 5Y= i=uKBG?:K@= D=Zn<=n<=i 5 @ZjFNOT Ignoring new targets: 584.10 m.JK3 K.-KK"KJJJJJ:J::JJBj-XJj-X= ProNav: ac range: 584.099976 m, nav range: 447.602417 m, bearing: 260.060312 deg, approach rate: -0.045875 m/s, LOS rate: -0.074463 deg/s, cmd heading: 338.730610 deg, new cmd heading: 338.621533 deg. 2j=iLEHeadingCmd: 5.910061 target range: 584.099976 and range: 554.50 m. jE8@jAjAjAiahihihihmBfqfqfqrfqbf}`a-@ɛXBl2 6X>I ɚiI$N4=IM+ iUiUO1<)U8@)Y*F2F:FBF0JFZH!RH%AAH)I) I-$*II-TBI)&I).I)6I-<:I-P F eF$?Ii Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778089G xx<G B O >+Jw,_(A>@Y>@>ռ9>=y>H? M?9 *տ-?@?q?`_?ɨ>@>;I 缀ɚiI4=I%i煳i><)@)]PExceeded connect timeout, disconnecting.*F 2F :F BFEn2JFAuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032841JJG5?<GBO> A IA K2Jw,T:(AfWill construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 21:56:49.2918 LVL= 27104, 32753, 32754, 32755, AGC= 72, IDX= 363,-0.18, 2.149, 0.706, 1.674, 1.578, PHS= 0.659,-0.825, 0.093, RAW= 127.8, 1.1, CAL= 134.4, -6.7, ROT= 15.6, 6.7 }A@Y}@}UӼ9}9=y}H?(a?)Ͱտ ?<i?@eP??ɨ}A@};}CYgot valid direction response: 21:56:49.2918 LVL= 27104, 32753, 32754, 32755, AGC= 72, IDX= 363,-0.18, 2.149, 0.706, 1.674, 1.578, PHS= 0.659,-0.825, 0.093, RAW= 127.8, 1.1, CAL= 134.4, -6.7, ROT= 15.6, 6.7 PDAT read: Bearing 15.6, 6.7 (Local) ~Local bearing/azimuth received: Bearing 15.6, 6.7 (Local) y޽BC)I =p=MDAT read: Range 10 to 50 : 561.2 m (Round-trip 748.3 ms) speed 0.6 m/s U,DAT read: user:2166> ]BDAT read: Tx time:21:56:50.3894 e$Ping request sent.eIjijX뿉jzhh:publishing transmit ping timeaFpublishing direction and range infoh9jiۼ¿HY7;axe?yhhhh h)hIhihhhhh h)hIhihhhjGf?<]?VT^?)hIhihhhhMb@Mb@Mb@ )Yףp= ?{Gzt~jty?ףļvA @)@IQAy@I5I5i4٢E =9:Q > G٣y > Nusing accuracyPremultiplier from config% 59ț?% 5YN ivKB-?-:--K@Dr<r<- 55{B 5ݽ@=Ekjkܶ?kjs4 kh kj(A:kjL DBkjV DZkj@"jJO(T`}L}r-C}@jiۼ¿HY7;axe?JkjXRkjz*jſj: r&rz@ju׿oBR;!?"kj*kjPkj1?kjH4 2kjCkj70?kj[; kjCkj2Ckj@e addTargetRange:: Added new target pos. range: 561.200012 m, deltaT: 15.378053 s, deltaX: 6.700012 m, approachRate: 0.435687 m/s, rangeRepo size: 4  Added new target pos. range: 561.200012 m, bearing: 235.502896 deg, lat: 36.897953 deg, lon: -122.123748 deg, deltaT: 52.458015 s, deltaX: -22.899963 m, approachRate: -0.436539 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 561.20 m.BjJj ProNav: ac range: 561.200012 m, nav range: 410.394470 m, bearing: 246.295388 deg, approach rate: 0.000000 m/s, LOS rate: -0.080708 deg/s, cmd heading: 338.546796 deg, new cmd heading: 338.400537 deg. 2jHeadingCmd: 5.906204 target range: 561.200012 and range: 561.20 m. j@jjjihhh h _B}Will construct direction to contact in vehicle frame from tetrahedron phase data.f ffrf@bf@DN?ɛ     >I  -~zKM K$NKM 9KI KM KM ɚ) iY I] Ӱ3=I] ie sⰻie LJ<)e @)i Eq *F 2F :F BF 0JF G)  G) H I  I *II ?BI &I .I 6I 7<:I  F 5G$?I1G l<GBO ?:Jw,(AWill construct direction to contact in vehicle frame from tetrahedron phase data.^۶@Y^l@^Լ9^=y^Ht?@? "Fտ}? ? ?B?ɨ^۶@^;^Cyf|Bj)IIpIF4٢-/ -X=95MQ 5>19 =G٣=pGGy= => ENusing accuracyPremultiplier from configAM 59Eț?U 5YEq iEsKBQU0UK@E%DET ;E ;E~ 5Y ]@a}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 561.20 m.BjܺJjܺ ProNav: ac range: 561.200012 m, nav range: 410.409088 m, bearing: 246.262587 deg, approach rate: 0.043052 m/s, LOS rate: -0.096600 deg/s, cmd heading: 338.400548 deg, new cmd heading: 338.302149 deg. 2jHeadingCmd: 5.904486 target range: 561.200012 and range: 561.20 m. j@jjjihhhhfffrfbf9?ɛVBB' ĕ=I T}ɚiI%3=IiUiY<)@)*F2F:FBF4JF nManaging dock network, ignoring radio surface power offG<Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GaBqO>*J} 4="J} =J J J J J J @:J J J ?%tt zG٣xyzz' z> Nusing accuracyPremultiplier from config  59ț?  5Y  ioKB IK@,Da:@: 5 %H$?I!-yB -_@-EZjQUFNOT Ignoring new targets: 561.20 m.Bj]ĺJjeĺm ProNav: ac range: 561.200012 m, nav range: 410.424347 m, bearing: 246.228512 deg, approach rate: 0.038543 m/s, LOS rate: -0.086067 deg/s, cmd heading: 338.302138 deg, new cmd heading: 338.199918 deg. 2juDluHeadingCmd: 5.902702 target range: 561.200012 and range: 561.20 m. ju@jyjyjyihhhhfffrfbf~z?ɛ'_  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.174272zK LK h9K K K _GJw,z )A6pҶ@Y6@6B׼96jg=y6Hq?r?xt rտ ? p`???ɨ6pҶ@6;6Cy>OB>(I)@ @Mb@Mb@Mb@ )Y}?5^I?ˡE G٣y` > Nusing accuracyPremultiplier from config  59ɛ?  5Y  ibKB#?:K@5D;-; 5=wB =@=~EZjFNOT Ignoring new targets: 561.20 m.BjȺJjȺ ProNav: ac range: 561.200012 m, nav range: 410.408936 m, bearing: 246.189628 deg, approach rate: -0.034792 m/s, LOS rate: -0.087787 deg/s, cmd heading: 338.199931 deg, new cmd heading: 338.083274 deg. 2jpHeadingCmd: 5.900666 target range: 561.200012 and range: 561.20 m. jBҼ@jjjihhhhBf jH<bH<H)I) I-)II-BI)&I).I)6I-{<:I-H Ff fArfAbfE)?ɛUBم %I$?I) iu@WIq }}ɚyiyI}73=IEþiMiM+<)MBҼ@)IEYE]rAEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.427336*F2F:FBF4JF"G=GG <G B O >MJw,*T:)A6Ƕ@Y6 ׽@6ȼ96=y6H ??꯿@տ]?1} ?Oi?G?ɨ6Ƕ@6Ί;6Cyb:Bb(IIjIjm4٢%ڽ %U=9%m;Q %>)) -G٣-qGGy5D` 5> ENusing accuracyPremultiplier from config1M 595 #ɛ?M 5Y5 i5WKBIMMK@5=D52;5y);5 5Y ]@YZjFNOT Ignoring new targets: 561.20 m.Bj2кJj2кWill construct direction to contact in vehicle frame from tetrahedron phase data.՝Ai՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.678595 ProNav: ac range: 561.200012 m, nav range: 410.395386 m, bearing: 246.155872 deg, approach rate: -0.036531 m/s, LOS rate: -0.091010 deg/s, cmd heading: 338.083272 deg, new cmd heading: 337.982000 deg. 2jyHeadingCmd: 5.898899 target range: 561.200012 and range: 561.20 m. jü@jjjihhhhfffrfbfK?ɛ @ZI =S~ɚiI (3=I 7ľi Rii<)ü@)JQJQJaJeJaJaJaJe;:JaJaJaJaJe;Je;*F2F:FBF`0JF I%hG5%<G B O= >] Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.933952TJw,1T)A6@Y6½@6ɾ96=y6H??9_@["ֿN?bl`ؗ?@E??ɨ6@6V;6CyB&BB(IEMb@Mb@Mb@AAA A)AYE#~j?(\¿/$yE%?EzE,A E@)AIAAyE@IUIUr4٢eҿ eF=9m@;Q m>ii uG٣qyuʻ u> Nusing accuracyPremultiplier from configy 59}6ɛ? 5Y} i}EKBT*?:K@}FD};};} 5vB @}EZjFNOT Ignoring new targets: 561.20 m.BjѺJjѺ ProNav: ac range: 561.200012 m, nav range: 410.354919 m, bearing: 246.117995 deg, approach rate: -0.097992 m/s, LOS rate: -0.091732 deg/s, cmd heading: 337.981994 deg, new cmd heading: 337.868351 deg. 2j{HeadingCmd: 5.896915 target range: 561.200012 and range: 561.20 m. j@jjjihhhhňBfffrfbf on@ɛ-TB5b 隵乽I 8ɚiI$3=IAžiVi`<)@)*Fi2Fi:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.182816zKKKK KBK-qA:K-sAGSݮ<H I  I )II ډBI &I .I 6I g<:I 9 FBIJIRIZIbIjI3'4GI Bi O >  J$?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434291\[Jw,(n)A2@Y2椽@2292 =y2H?% ?``Yֿ@?.ŗ?@g??ɨ2@2;2Cy~B~(Ii>IR=II4٢q %N=9%>9Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E 59=aIɛ?E 5Y= i=3KBAMsML@=ND=X ;= ;=" 5Q ]@YB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 561.20 m.BjͺJjͺ ProNav: ac range: 561.200012 m, nav range: 410.315277 m, bearing: 246.081600 deg, approach rate: -0.097942 m/s, LOS rate: -0.089926 deg/s, cmd heading: 337.868339 deg, new cmd heading: 337.759145 deg. 2jvHeadingCmd: 5.895009 target range: 561.200012 and range: 561.20 m. j꣼@j j j i h h hhfffrfbf@ɛ)- )-I) 5ݒɚ1i1I5J$3=IM ƾiMiMs<)M꣼@)a*F2F:FBFn0JFG! G%qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686263G-<*Je C="Je R=Ju Ju Jq Jq Ju :Ju ::Jq Jq Ju &<Ju &<Ju 5;Ju 6;G B) OE >aJw,X)A PITy~B~(IIIy4٢My MI=9MQ M>QQ UG٣UrGGyU }> Nusing accuracyPremultiplier from config 59\ɛ? 5Y^ i!KBL@WD:z: 5tB @zEZjFNOT Ignoring new targets: 561.20 m.BjdȺJjdȺ ProNav: ac range: 561.200012 m, nav range: 410.274353 m, bearing: 246.043900 deg, approach rate: -0.095080 m/s, LOS rate: -0.087597 deg/s, cmd heading: 337.759138 deg, new cmd heading: 337.646028 deg. 2jxp%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.941917}HeadingCmd: 5.893035 target range: 561.200012 and range: 561.20 m. j}@jyjjihhhhfffArfAbfM@ɛ SB#μ I ́ɚiI|,3=I%Ǿi%Ǥi%<)%@)!*F2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.190216G d<Gy B O >$7hJw,6u)AzKBoIK9KK KRK ?JK?>[@Y>Hk@>9>=y>H`?y?apֿ8? Q_?@?j?ɨ>[@>aa;>CyFBF(IMb@Mb@Mb@ )YJ +?> ףp=ʿkty(?Q 0A )@I`@y@I-I-F4٢=S =F=9=mw:Q E>AA EG٣IyM[ M> UNusing accuracyPremultiplier from configQ] 59Uoɛ?] 5YU iU KB1?:(L@U`DUPiUk=QUh%ִ? D?\J?)U=IU)iUHU1vET****** received valid address query ******ER****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse*F]?2FY:FYBF]m0JFYG} b<GY Ba } Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseO >nJw,Dݾ)A6C@Y6[R@6$96F=y6H`? ?@Q@ֿ ? `j??^?ɨ6C@6̒;6CyVBV|(I)X XI^I^{4٢f<ɼ f>=9j:Q j>hh nG٣lyn n> vNusing accuracyPremultiplier from configpv 59rVɛ?v 5Yr$ irJBxz(zL@rjDr:rz:r  5~rB ~x@wEZj)5FNOT Ignoring new targets: 561.20 m.Bj5Jj5JJJJJ:J;:JJJ?%<J@%<J;J;- ProNav: ac range: 561.200012 m, nav range: 410.137421 m, bearing: 245.965415 deg, approach rate: -0.180055 m/s, LOS rate: -0.102711 deg/s, cmd heading: 337.531119 deg, new cmd heading: 337.410530 deg. 2j-5HeadingCmd: 5.888925 target range: 561.200012 and range: 561.20 m. j5r@j1j1j1i1h9h9hYhYfafafarfabfm@@ɛQBI &,I E΃ɚiIM3=Iɾii<)r@)*F?2F:FBF?1JF L$?IG~<GiBqO[>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseuJw,)A6C$@Y63@6^96 =y6H? ?@@,׿`X?`q1@jk?`l/??ɨ6C$@6rl;6CybBbw(IUMb@Mb@Mb@QQQ Q)QYU/$?Zd;ϿMbyU,?UyUQ U@)U@IU3@QyU@ImIm@4٢uU }A=9}3:Q }> G٣sGGy; > Nusing accuracyPremultiplier from config 59ɛ? 5Y) iJB47?:#6L@sD/;-; 5qB @tEZjFNOT Ignoring new targets: 561.20 m.BjۺJjۺ ProNav: ac range: 561.200012 m, nav range: 410.050476 m, bearing: 245.924956 deg, approach rate: -0.205771 m/s, LOS rate: -0.095774 deg/s, cmd heading: 337.410525 deg, new cmd heading: 337.289124 deg. 2juHeadingCmd: 5.886806 target range: 561.200012 and range: 561.20 m. j`@jjjihhhhmBf f f rf bf k@ɛPBN 2I uɚiIc3=ICʾWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiꪠi%I,~<)%`@))*F2F:FBF`5JFzKBIK9KK KUBKrA:KtAHYIY I])II]tBIY&IY.IY6I]:<:I] F IG喇<Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse"|Jw,dd fG٣hyj6 j> nNusing accuracyPremultiplier from configlr 59nɛ?r 5Yn. inJBtv6vL@n|Dnn:n:n 5| ~G@|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 561.20 m.Bj-/ںJj-/ںE ProNav: ac range: 561.200012 m, nav range: 409.971558 m, bearing: 245.888554 deg, approach rate: -0.206732 m/s, LOS rate: -0.095377 deg/s, cmd heading: 337.289112 deg, new cmd heading: 337.179884 deg. 2jE邻EHeadingCmd: 5.884899 target range: 561.200012 and range: 561.20 m. jMQ@jIjIjIiIhIhIhQhQfQfQfYrfYbf]@ɛOBd 隍J%I ꅼɚiIw3=I-˾ieiسn<)Q@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%Ai%A%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseGUT<JUJQJQJQJU;:JQJQJQJUL)<JUL)<JQJQGaBqO> M$?I Jw,@ *A6 @Y6e@6vή96j=y6H@4? F?䕯 ׿ক?. bٕ?v+??ɨ6 @6Q;6CyBBB(IiF4=IF< J=J=ININF4٢VG= VL=9V(h:Q V>XX ZG٣Xy^7 ^> bNusing accuracyPremultiplier from config`f 59b ɛ?f 5Yb3 ibJBhj7jL@bDb;b]$;b 5roB v@vsEZj15FNOT Ignoring new targets: 561.20 m.Bj=׺Jj=׺M ProNav: ac range: 561.200012 m, nav range: 409.887787 m, bearing: 245.850291 deg, approach rate: -0.206577 m/s, LOS rate: -0.094374 deg/s, cmd heading: 337.179884 deg, new cmd heading: 337.065073 deg. 2jMUHeadingCmd: 5.882895 target range: 561.200012 and range: 561.20 m. jU@@jQjYjYiYhahahahafififirfibfm`$@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛ%NB%eҼ )UIQ ]ɚaiaIm3=I̾i>iQ[<)@@)*F?2F:FBF2JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.u T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapseG sq<G B O >zK bLK 9K K K W1 RK ?JK ?Jw,?&*A2յ@Y2@2J92j =y2H:?au?s~׿?y h??@>?ɨ2յ@2;2CyRBR(IH)I) I-(II-`BI)&I).I)6I-T<:I-- F IhMb@Mb@Mb@ )Y!rh?!rh̿Mbyl'?lgA @)@II@y@I-sI-K4٢ERn= E3=9MLv:Q M>QQ ]G٣]tGGy]ջ e> Nusing accuracyPremultiplier from configi 59mkɛ? 5Ym8 imJB /1? : H5 L@mDm@Jw,?*AWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse:{@Y:м@:i9:==y:Hԭ??``׿)?+@?@??ɨ:{@:܂;:CyF#BF(IIRIR{4٢Zӧ= Zh=9Z:Q Z>\` bG٣`ybo b> jNusing accuracyPremultiplier from configdj 59fɛ?n 5Yf&= ifJBln5nL@fDfc;f;f" 5vmB v@vpEZj FNOT Ignoring new targets: 561.20 m.BjJJjJ庝- ProNav: ac range: 561.200012 m, nav range: 409.729340 m, bearing: 245.775237 deg, approach rate: -0.212349 m/s, LOS rate: -0.100230 deg/s, cmd heading: 336.937494 deg, new cmd heading: 336.839875 deg. 2j-5HeadingCmd: 5.878965 target range: 561.200012 and range: 561.20 m. j5{ @j1j1j9i9h9h9hAhAfAfAfIrfIbfM[@ɛ5KB=ʻ 9=I9 ='ɚ9i9IE~3=IEξiM㛻iMWJ<)M{ @)I*F?2F:FBF`0JF O$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGP<G B1 Ou >1(Jw,Y*A2c@Y2@2K92&=y2H@?@?}@ ؿ@7|?dCς?R? m?ɨ2c@2#;2Cy>1BB(I)D DFADEMb@Mb@Mb@AAA A)AYES㥛?> ףp=ʿ{GzyE$&?EQE#EA E@)E@IE3@AyEG@I]I]t4٢m؄= m?=9u]:Q u>qq }G٣yyλ > Nusing accuracyPremultiplier from config 59ɛ? 5YB iJBA.?:0L@D*(;&;e& 5lB @mEZjFNOT Ignoring new targets: 561.20 m.BjѺJjѺ ProNav: ac range: 561.200012 m, nav range: 409.653168 m, bearing: 245.735909 deg, approach rate: -0.177762 m/s, LOS rate: -0.091797 deg/s, cmd heading: 336.839877 deg, new cmd heading: 336.721870 deg. 2j{HeadingCmd: 5.876905 target range: 561.200012 and range: 561.20 m. j@jjjihhh h Bf f f rfbfG@ɛIB 隽EI yɚiI֘3=Iоi뼚iIC<)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse*F2F:FBFm0JFJJJ1JJJ::J3Ja@a@a@a@zKLK9KK KBKqA:KqAHI I(IIeBI&I.I6IF<:I" F P$?IGiG<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseRJw,s*A:@Y:d@:q9:=y:H?`?@a&ؿOv? $^?Lj?`?ɨ:@:;:Cy^HB^(IIjyIjxV4٢r = rS=9v%:Q v>tt vG٣zuGGyzp z> Nusing accuracyPremultiplier from config| 59~ʛ?  5Y~kF i~JB  o0 L@~D~7:~:~) 5 >@5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 561.20 m.BjM!ҺJjM!Һe ProNav: ac range: 561.200012 m, nav range: 409.584320 m, bearing: 245.700479 deg, approach rate: -0.178463 m/s, LOS rate: -0.091855 deg/s, cmd heading: 336.721878 deg, new cmd heading: 336.615570 deg. 2je(|mHeadingCmd: 5.875050 target range: 561.200012 and range: 561.20 m. jmi@jijijqiqhqhqhyhyfyfyfrfbfC@ɛHBNɈ 隵I 2ɚiIՐ3=Iоi-i?H<)i@)*FU?2FQ:FQBFU0JFQ=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseG}'F<*J"J%=GQBYO}> I 9Jw, *A6݈@Y69@696=y6H@?`?6Mؿ@m?~?2?@J?ɨ6݈@6h;4yRcBR(IIZuIZaO4٢b> bL=9fK:Q f>dd jG٣hyjӻ j> rNusing accuracyPremultiplier from configlr 59nʛ?r 5YnJ inJBtv1vL@nDna:n:nB- 5zjB zw@zjEZj%FNOT Ignoring new targets: 561.20 m.Bj%ҺJj-Һ5 ProNav: ac range: 561.200012 m, nav range: 409.512482 m, bearing: 245.663773 deg, approach rate: -0.179731 m/s, LOS rate: -0.091848 deg/s, cmd heading: 336.615573 deg, new cmd heading: 336.505438 deg. 2j=#|EHeadingCmd: 5.873128 target range: 561.200012 and range: 561.20 m. jE@jIjIjIiIhIhQhihiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsefff rfbf=`ZT@ɛFB>*U pc=I ɚiIEy3=I Ѿi%Oli%=<)%@)!*F?2F:FBF0JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseG% E<J J J 0J J :J =:J ـ3J G B O >zK BoHK 9K K K  dJw,Nc*A2@Y2@2Iʖ92 =y2H?@e?͋>]ؿFi?`ْ?`??ɨ2@2D;2CyNuBR)IHb0>I` Ib)IIb~BI`&I`.I`6IbA<:Ib FBIJIRIZIbIjIr3 -Q$?I)eMb@Mb@Mb@aaa a)aYeRQ?MbX9ĿMbp?ye"?e!e;e3A e@)aIaaye@I~IT_4٢= /=9:Q > G٣y > Nusing accuracyPremultiplier from config 59(ʛ? 5YO iJB'?:,"L@D';L;^1 5! %M@!ZjFNOT Ignoring new targets: 561.20 m.BjƺJjƺ ProNav: ac range: 561.200012 m, nav range: 409.448761 m, bearing: 245.621621 deg, approach rate: -0.131168 m/s, LOS rate: -0.086783 deg/s, cmd heading: 336.505443 deg, new cmd heading: 336.378968 deg. 2j;nHeadingCmd: 5.870921 target range: 561.200012 and range: 561.20 m. j޻@jjjihhhIhMBfQfQfQrfQbf]8@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛDBZ( =I U]ɚiIY3=ISӾiieR<)޻@)E *F?2F:FBFJFG GrAG ܸ<<] Will construct direction to contact in vehicle frame from tetrahedron phase data.] Ai] Ae T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapseG B O >dJw,*AJ J y=B=6)III1h4٢> S=9Q > G٣vGGy > Nusing accuracyPremultiplier from config 599ʛ? 5YS iJBL@D:;'<;4 5-hB -c@5iEZjFNOT Ignoring new targets: 561.20 m.Bj(кJj(к ProNav: ac range: 561.200012 m, nav range: 409.396515 m, bearing: 245.586922 deg, approach rate: -0.136989 m/s, LOS rate: -0.090992 deg/s, cmd heading: 336.378976 deg, new cmd heading: 336.274866 deg. 2jyHeadingCmd: 5.869103 target range: 561.200012 and range: 561.20 m. jϻ@jjjihhhhfffrfbf@@ R$?IɛECBEh AE">IA MtɚIiIIM}13=IUԾi}i}٧l<)}ϻ@)*F?2F:FBF3JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseG 5[<G B O5 >Jw,=*ABn@YB(~@B+9BZ=yBH ?2?@:F~ؿ@_?Y>? 1??ɨBn@Bߋ;BCyNBNK)I-Mb@Mb@Mb@))) ))-ӜCY-rh|?RQ~jt?y-?-½-D<-`A -@)-@I-@)y-=@I=I=i4٢Mٰ= MR=9UZ;Q U>YY ]G٣Yyeи e> mNusing accuracyPremultiplier from configiu 59mJʛ?u 5YmW imJBu?}:}{ }L@mDm;m;m8 5 P@ZjFNOT Ignoring new targets: 561.20 m.Bj6ȺJj6Ⱥ ProNav: ac range: 561.200012 m, nav range: 409.367554 m, bearing: 245.553953 deg, approach rate: -0.076873 m/s, LOS rate: -0.087519 deg/s, cmd heading: 336.274856 deg, new cmd heading: 336.175940 deg. 2j@puHeadingCmd: 5.867377 target range: 561.200012 and range: 561.20 m. ju@jqjqjqiqhqhyhyh}.Bfyffrfbf̢ @Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛAB @& E>I =ɚiIb3=I Ծi _蔻i b<) @)J5J5J51J1J5:J5::J53J1*F2F:FBF4JFzKK9KK KBK:KpA Ih) C5}GYy YyAHI I)IIBI&I.I6Ih<:I9 FGmo<G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapseBϼJw,4*A2e@Y20u@2&ʆ92i=y2H? qC?9ؿd[?`ِ?@??ɨ2e@2[;2CyRBRf)IIZrIZJ4٢v = zQ=9z}:Q z>|| ~G٣|y7 >  Nusing accuracyPremultiplier from config  59 \ʛ? 5Y RZ i JB L@ D j: 3; ; 5%gB %ܺ@%fEEB*** querying acoustic contact ***jAjAZjIMFNOT Ignoring new targets: 561.20 m.BjU\ĺJjU\ĺu ProNav: ac range: 561.200012 m, nav range: 409.338013 m, bearing: 245.520494 deg, approach rate: -0.075781 m/s, LOS rate: -0.085836 deg/s, cmd heading: 336.175928 deg, new cmd heading: 336.075545 deg. 2juk}HeadingCmd: 5.865625 target range: 561.200012 and range: 561.20 m. j}3@jyjyjyihhhhfffrfbf^`!@ɛ?B0Ы: 隽s>I dЃɚiI2=IվiDœin<)3@)EE*F12F1:F1BF=`0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*J=R="J==GUQd<G1B9OU> S$?I Jw,[+Ay~ʼnBu)IWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseIsIK4٢5Sl= 5F=9=Q E>QQ ]G٣ewGGym m> uNusing accuracyPremultiplier from configq} 59unʛ?} 5Yu] iuJBL@uDu<;u;u-? 5 @Zj}FNOT Ignoring new targets: 561.20 m.BjĺJjĺu ProNav: ac range: 561.200012 m, nav range: 409.306641 m, bearing: 245.484750 deg, approach rate: -0.075216 m/s, LOS rate: -0.085707 deg/s, cmd heading: 336.075551 deg, new cmd heading: 335.968309 deg. 2j}GkHeadingCmd: 5.863753 target range: 561.200012 and range: 561.20 m. jޣ@j j j i h hhhfffrfbfZ"@ɛ=Bt: 隕 >I ɚiI2=I˿־i;i2y<)ޣ@)*FY2FY:FaBFe_0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJI JM JM 0JI JI JM 9:JM ـ3JI G l o<G B O >zK1 K5 h9K1 K5 K5 RKM >JKM >jHY bH] p<VJw,\)+A IH I  I )II BI ) =&I .I 6I f<:I 7 Fyޭ؉Bޭ)IMb@Mb@Mb@ )AYv?Mb~jt?y?@vA @)@I`@y(@ImI3A4٢= 2=9Q > G٣y >  Nusing accuracyPremultiplier from config  59 .ʛ? 5Y *a i JBU?:L@ D ; ; /C 5%eB -Ҹ@-cEZjquFNOT Ignoring new targets: 561.20 m.Bj}Jj} ProNav: ac range: 561.200012 m, nav range: 409.293976 m, bearing: 245.446336 deg, approach rate: -0.027347 m/s, LOS rate: -0.082948 deg/s, cmd heading: 335.968317 deg, new cmd heading: 335.853074 deg. 2jcHeadingCmd: 5.861742 target range: 561.200012 and range: 561.20 m. jd@jjjihhhhBfffrfbf "#@%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseɛuI CɚiI82=Ie׾iâi<)d@)*FI2FI:FIBFQJFQGu ᜆ<GI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJw,SC+AZLL@YZ[@Z7I {ɚi T$?II1=IUؾiUjiU:<)UI@)Y*F2F:FBFm0JFG G5Will construct direction to contact in vehicle frame from tetrahedron phase data.=GJw,&]+A2G@Y2KW@2h92B=y2Hm?`}?\IؿN?;M@??v? g?ɨ2G@2l;0yNBR)I-Mb@Mb@Mb@))) )))Y-Q?{GzI +?y-?-#-94<-`A -@))I-@)y-@IEzIE=X4٢U' = UD=9s:Q > G٣y; > Nusing accuracyPremultiplier from config 59ʛ? 5YJf iJB?:eվL@Dy-;W;I 5 @Zj)-FNOT Ignoring new targets: 561.20 m.Bj5Jj5E ProNav: ac range: 561.200012 m, nav range: 409.287323 m, bearing: 245.382909 deg, approach rate: 0.007600 m/s, LOS rate: -0.084312 deg/s, cmd heading: 335.768411 deg, new cmd heading: 335.662788 deg. 2jEsgeHeadingCmd: 5.858421 target range: 561.200012 and range: 561.20 m. jm/x@jijyjyiyhyhyhhBfffrfbf`B$@Will construct direction to contact in vehicle frame from tetrahedron phase data.I vɚiI1=Izپi^iJi<)/x@)*F%?2F!:F!BF%o0JF) U$?IzKK]9KK K BKrA:KqAHI I*II:BI&I.I6I0<:I FG- Ӕ<G! B) E Will construct direction to contact in vehicle frame from tetrahedron phase data.M HJw,uw+A6>@Y6rM@6_96$k=y6H|?@n?໤@}ؿ`NJ? amz?8??ɨ6>@6-;4y>B>)IIFnIFB4٢No= NW=9R:Q R>TT ZG٣ZxGGybU b> 5Nusing accuracyPremultiplier from config1= 595ʛ?= 5Y5h i5JBAE־EL@5D5C ;5C ;5:M 5MbB U@U]EuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 561.20 m.BjlJjl ProNav: ac range: 561.200012 m, nav range: 409.289978 m, bearing: 245.351611 deg, approach rate: 0.006950 m/s, LOS rate: -0.081928 deg/s, cmd heading: 335.662789 deg, new cmd heading: 335.568895 deg. 2j`HeadingCmd: 5.856782 target range: 561.200012 and range: 561.20 m. jj@jjjihhhhfffrfbf l%@ɛ8BE~G< >I UrɚiIQ1=IQھi#i2<)j@)*F?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2168> BDAT read: Tx time:21:57:01.3395 $Ping request sent. IJw,7+A25@Y24E@2QW92e=y2H@y?4?N`ؿ G?RI???ɨ25@2;0yRBR)I)T TZAZAI^I^i4٢vg vE=9v:Q v>xx zG٣xWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:57:01.3387  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251325y W > Nusing accuracyPremultiplier from config% 59ʛ?% 5Y2k iJB!%־-L@D::P 59 =@9ZjaeFNOT Ignoring new targets: 561.20 m.BjmkJjmk} ProNav: ac range: 561.200012 m, nav range: 409.292694 m, bearing: 245.318782 deg, approach rate: 0.006778 m/s, LOS rate: -0.081927 deg/s, cmd heading: 335.568888 deg, new cmd heading: 335.470403 deg. 2j}`HeadingCmd: 5.855063 target range: 561.200012 and range: 561.20 m. j\@jjjihhhhfffrfbf@9?&@ɛ 6Bt4< 隽Ѽ>I amɚiI0=I2۾iG iߗ<)%\@)Q*F?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502237G ~<G B O > V$?I k/Jw,N+AzKKK9KK KRK>JK>HLIL IN*IINOBIL&IL.IL6INL<:IN# F^#@Y^M3@^mU9^E=y^Hr? p?`Qٿ`@?@2 |? ?@0?ɨ^#@^;^Cy B )IMb@Mb@Mb@ )Yn?Mb?{Gzt?y?<ף;vA )I`@y(@IBI3٢0; ;=99Q > G٣yG > Nusing accuracyPremultiplier from config 59ʛ? 5Ym iJB ? : o L@ DI;A;T 5`B ɶ@%ZEZjFNOT Ignoring new targets: 561.20 m.Bj3Jj3 ProNav: ac range: 561.200012 m, nav range: 409.306671 m, bearing: 245.283322 deg, approach rate: 0.030878 m/s, LOS rate: -0.078334 deg/s, cmd heading: 335.470396 deg, new cmd heading: 335.364020 deg. 2j W%HeadingCmd: 5.853206 target range: 561.200012 and range: 561.20 m. j%wM@j!j!j!i!h)h)hQhUBfQfQfYrfYbf]`u&'@ɛ5Bx(< 隭ľ>I gɚiI0=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755247I%7&ܾiMriM1<)UwM@)Y*F]?2FY:FYBF]_5JFYG c<GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0069407Jw,+A^@Y^"@^c9^7=y^H@k?@e? :(ٿ@9?`M_?G2?'?ɨ^@^ ;^CJrJrJpJpJr;:Jr>:JpJpJrL)<JrL)<Jr˕;Jr˕;y]B])IImbIm-4٢< L=9Q > G٣yGGyޫ >  Nusing accuracyPremultiplier from config  59 nʛ? 5Y o i JBL@ D  ; M ; X 5! %@!ZjIMFNOT Ignoring new targets: 561.20 m.BjUlźJjUlźe ProNav: ac range: 561.200012 m, nav range: 409.319427 m, bearing: 245.250112 deg, approach rate: 0.033150 m/s, LOS rate: -0.086300 deg/s, cmd heading: 335.364009 deg, new cmd heading: 335.264382 deg. 2jelmHeadingCmd: 5.851467 target range: 561.200012 and range: 561.20 m. jm8?@jijiji W$?Iiqhhhhfffrfbf'@ɛ4BO\< >I ,cɚiIO0=I1 ݾiFiH<)8?@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258228G<G Bi O >AJw,"m+A6I@Y6 @6wb96:=y6H Bc? ? "OٿY1?@LDR?2?&?ɨ6I@6s;6Cy>BB)I F=F=uMb@Mb@Mb@qqq q)qYuv?Mb`?~jtxyu?u;uĻuA u@)qIu3@qyu3@I4IV3٢8 M=9z8Q > G٣y׻ > Nusing accuracyPremultiplier from config 59˛? 5Y`r iJB?:;L@D;Z;|[ 5_B &@YEZjFNOT Ignoring new targets: 561.20 m.BjξJjξ  ProNav: ac range: 561.200012 m, nav range: 409.326508 m, bearing: 245.217312 deg, approach rate: 0.018005 m/s, LOS rate: -0.083408 deg/s, cmd heading: 335.264371 deg, new cmd heading: 335.165974 deg. 2jdHeadingCmd: 5.849750 target range: 561.200012 and range: 561.20 m. j&1@jjjih!h!h!h%Bf)f)f)rf)bf5m(@ɛe3BeE< aeg>Ia mN^ɚiiiIm/=}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510401IuKݾii<)&1@)*F2F:FBF`0JF uY$?IqHAIA IAIAIA&IA.IA6IE<:IE FBIYJIYRIYZI]) =bI]) =jI]L4zKBoHK9KK KBKpA:KoAG- <G1 G5 ?G - Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763718B9 O] >skJw,RI+A6@Y6A @6BeX96Jh=y6H`b? ? $Tٿ@]1?t ?پ??ɨ6@66;6Cy>B>)IIJ{IJZ4٢rA rV=9v:Q v>tt zG٣xyzH z> %Nusing accuracyPremultiplier from configU 59u˛? 5Yt iJBξL@D<5<^ 5]B @VE-B*** querying acoustic contact ***j1j1ZjYeFNOT Ignoring new targets: 561.20 m.BjeJje ProNav: ac range: 561.200012 m, nav range: 409.333496 m, bearing: 245.185108 deg, approach rate: 0.016758 m/s, LOS rate: -0.077220 deg/s, cmd heading: 335.165961 deg, new cmd heading: 335.069351 deg. 2jSHeadingCmd: 5.848063 target range: 561.200012 and range: 561.20 m. jV#@jjjihhhhfffrfbf()@ɛ2BD%< !%5>I! %Yɚ!i!I%ئ/=IME޾iU#'iUI<)UV#@)Q*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014925*JC="J4=JJJJJ:J::JJJ'<J'<J5;J6; YIYG- c<G! B) OM >SKw,p#,AV@YVR@V69V=yVHZ?@8?@/ xٿ,+? ׆?@P ??ɨV@VP2;VCy^׉Bb)IIf~IfT_4rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266164٢vp vJ=9z8;Q z>xx ~G٣~zGGy~Ļ >  Nusing accuracyPremultiplier from config  59%˛? 5YIY ]UɚaiaIed/=I/߾iȃiŒ<)@)*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518127G% *f<GI BQ Ou > M Z$?II ~G 1 Hi Ii  Im *IIm ?BIi &Ii .Ii 6Im /<:Im  F ` Y y B Kw,,,AzKFKF9KDKF KFy ΉB )I) Mb@Mb@Mb@ )YʡE?Q rhy?uCA @)@I@y@ItIM4٢W 5=9Q > G٣y% %> 5Nusing accuracyPremultiplier from config)M 59-Q;˛?M 5Y-Kz i-JBU?U:]Oܾ]L@-0D-;-j;-Mf 5}[B }ظ@}SEZjFNOT Ignoring new targets: 561.20 m.Bj=DºJj=DºM ProNav: ac range: 561.200012 m, nav range: 409.341370 m, bearing: 245.112652 deg, approach rate: 0.002261 m/s, LOS rate: -0.084921 deg/s, cmd heading: 334.968869 deg, new cmd heading: 334.851978 deg. 2jMiUHeadingCmd: 5.844270 target range: 561.200012 and range: 561.20 m. jUB@jQjQjQiYhYhyhhDBfffrfbf 8+@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770163ɛ0B.; >I  Pɚ i I |/=Iii<)5B@)9*F?2F:FBFi0JF"G=G=GU p<G1 U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iQ e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023737Bq O >DKw,\F,AJ@JB?AJFJFJDJDJF:JF9:JDJDJF&<JF&<JFP;JFP;Ǵ@Yֻ@r**9=yH-N?@s?@Ǭ`mٿ?>@5E?н??ɨǴ@L;yeBeo)IIuyIuxV4٢ U=9;Q > G٣ Ihyz# > Nusing accuracyPremultiplier from config 59M˛? 5Y| iJBI޾L@8D-;O;i 5 @ZjYeFNOT Ignoring new targets: 561.20 m.BjeºJjeº ProNav: ac range: 561.200012 m, nav range: 409.341492 m, bearing: 245.079339 deg, approach rate: 0.000312 m/s, LOS rate: -0.085085 deg/s, cmd heading: 334.851991 deg, new cmd heading: 334.752052 deg. 2jiHeadingCmd: 5.842525 target range: 561.200012 and range: 561.20 m. j@jjjihhhhfffrfbf`-+@ɛuj< '>I % {Mɚ!i)I-.=I5#i5i5k<)5@)9*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274364G)ş<G B! Oe >Kw,&9`,A6ӵ@Y6/Ż@6J#96j=y6H G??`ٿ ? K2~?n۽?@?ɨ6ӵ@6);6CyFBFZ)IMb@Mb@Mb@ )Y}?5^I?S㥫/$yM"?/] @)I@y@I-~I-T_4٢=W =O=9E)|:Q E>AA MG٣M{GGyM< M> UNusing accuracyPremultiplier from configQe 59U_˛?e 5YU iUJBe"?e:eeL@U@DU ;U;Um 5uZB u@uPEZjFNOT Ignoring new targets: 561.20 m.BjѺJjѺWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526184 ProNav: ac range: 561.200012 m, nav range: 409.326385 m, bearing: 245.044492 deg, approach rate: -0.039780 m/s, LOS rate: -0.091768 deg/s, cmd heading: 334.752052 deg, new cmd heading: 334.647507 deg. 2j{HeadingCmd: 5.840701 target range: 561.200012 and range: 561.20 m. j@jjjihhhh/Bfffrfbf,@ɛU/BU; QU>IQ U3"JɚYiYI] .=Ie]ieW~ie<)e@)a [$?I*F 2F:FBF1JFH/>I I)II&BI&I.I6I<:I FzKBoHK+9KK KBKqA:KrAGM w؍< Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:57:04.4826  TRx dataTimestamp_ set to:1736373425.825437 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780338G) BA O >Kw,1z,A2o@Y2˪@2 %92=y2H[B>X)IiB=IB<IJIJ<4٢N& RT=9RCQ R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b 59^+r˛?b 5Y^' i^JB`bfL@^HD^:^:^yp 55XB 5@5MEmB*** querying acoustic contact ***jqjqZjy}FNOT Ignoring new targets: 561.20 m.BjúJjú ProNav: ac range: 561.200012 m, nav range: 409.310852 m, bearing: 245.010180 deg, approach rate: -0.038716 m/s, LOS rate: -0.085521 deg/s, cmd heading: 334.647495 deg, new cmd heading: 334.544557 deg. 2jjHeadingCmd: 5.838904 target range: 561.200012 and range: 561.20 m. jMغ@jjjihhhh!f)f)f)rf)bf5@-@ɛ.B@; 隝(~>I FɚiI%{.=I%xi-Ө{i-\<)-Mغ@))*F?2F:FBFU5JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030179 \$?IG~<G B O >P$Kw,,A6i@Y6Ŏ@6J"966=y6H0?a?欿`o6ڿ@? >I?+?@e?ɨ6i@6;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.ZDAT read: 21:57:04.4826 LVL= 23664, 32753, 29938, 32755, AGC= 72, IDX= 275, 0.15, 0.366,-1.060,-0.372,-0.139, PHS= 0.593,-0.874,-0.236, RAW= 115.7, 8.2, CAL= 125.0, 4.7, ROT= 25.0, -4.7 bYgot valid direction response: 21:57:04.4826 LVL= 23664, 32753, 29938, 32755, AGC= 72, IDX= 275, 0.15, 0.366,-1.060,-0.372,-0.139, PHS= 0.593,-0.874,-0.236, RAW= 115.7, 8.2, CAL= 125.0, 4.7, ROT= 25.0, -4.7 fPDAT read: Bearing 25.0, -4.7 (Local) f~Local bearing/azimuth received: Bearing 25.0, -4.7 (Local) nDAT read: Range 10 to 50 : 554.1 m (Round-trip 738.9 ms) speed 0.2 m/s r,DAT read: user:2169> vBDAT read: Tx time:21:57:05.5895 v$Ping request sent.v BX @)B=IBf>iB@@B Dr'?]KՃ-?)BIBiB[B0@@U:publishing transmit ping timetUFpublishing direction and range info@9B6-Srѿe\[ԿڧS?y@yBF)I@@@ @)@I@i@@@@@ @)@I@i@@@B Dr'?]KՃ-?)@I@i@@@@I]I]{4٢  0=99Q > G٣yY > =Nusing accuracyPremultiplier from config15 595˛?= 5Y5 i5JBamuL@5QD5&=52'=5t 5 @kB+}?kBb9% k@ kB,A:kB DBkB DZkB1m@"BCb`msf,WT@B6-Srѿe\[ԿڧS?JkB[RkB0*B藱/me02c}@Bg ۿFyѿ? t?"kB*kBokBs|?kBS=>U% 2kB DkB6T_?kB4ߞ; kBCkBpCkBˆ@ addTargetRange:: Added new target pos. range: 554.099976 m, deltaT: 15.125989 s, deltaX: -7.100037 m, approachRate: -0.469393 m/s, rangeRepo size: 4 e Added new target pos. range: 554.099976 m, bearing: 212.649696 deg, lat: 36.897949 deg, lon: -122.123741 deg, deltaT: 15.125989 s, deltaX: -7.100037 m, approachRate: -0.469393 m/s, posRepo size: 4 ZjamFNOT Ignoring new targets: 554.10 m.BjmJji ProNav: ac range: 554.099976 m, nav range: 408.882538 m, bearing: 244.870062 deg, approach rate: 0.000000 m/s, LOS rate: -0.085521 deg/s, cmd heading: 334.544551 deg, new cmd heading: 334.405260 deg. 2jHeadingCmd: 5.836473 target range: 554.099976 and range: 554.10 m. jcĺ@jjjihhhhfffrfP@bf?ɛimp: iua>I -BɚiIG.=Iixi)<)cĺ@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:21:57:05.5887 *Fm ?2Fq :Fq BFu 0JFq J J J J J :J J J a @a @a @a @ I ZH) RH- AAH 0>I  I )II BI &I .I 6I c<:I 5 FzK5 K5 ]9K1 K5 K5 G ᜆ<GiByO>) ,Kw,S{,AZj@YZy@Zu:.9Z)=yZHM(?@?`1@v\ڿ`? -3Dž?3? G?ɨZj@ZI;ZCynBn4)IUWill construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y5x&?I +:vy57)?595Լ5A 1)5@I5@1y5Q@Im7Im3٢}Fk },=9}CɺQ > G٣|GGyӯ > Nusing accuracyPremultiplier from config 59I˛? 5Y] iJB*?:) L@[D#;;x 5-WB -]@-JEZjquFNOT Ignoring new targets: 554.10 m.Bj}Jj} ProNav: ac range: 554.099976 m, nav range: 408.847534 m, bearing: 244.826594 deg, approach rate: -0.087298 m/s, LOS rate: -0.108417 deg/s, cmd heading: 334.405269 deg, new cmd heading: 334.274855 deg. 2jϔHeadingCmd: 5.834197 target range: 554.099976 and range: 554.10 m. j@jjjihhhhBfff!rf!bf- p?ɛu-Bu`; 隥F>I @ɚiI.=Ii"ui)@)*Fu?2Fq:FqBFu\5JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.G V< E ]$?IE hG B O >2Kw,@,ABK@YB{Z@Bx79B$=yBHD?`V?"ڿ ? ~?`S??ɨBK@B;@yRBR%)I)T TIZmIZ3A4٢bɓ bl=9fdպQ f?dd fG٣hyj;: j? rNusing accuracyPremultiplier from configpv 59rT˛?v 5Yrz irJBxz-zL@rcDrn:r :r{ 5| *@Zj!-FNOT Ignoring new targets: 554.10 m.Bj-ںJj-ںE ProNav: ac range: 554.099976 m, nav range: 408.821655 m, bearing: 244.795398 deg, approach rate: -0.079054 m/s, LOS rate: -0.095301 deg/s, cmd heading: 334.274867 deg, new cmd heading: 334.181275 deg. 2jEςMHeadingCmd: 5.832563 target range: 554.099976 and range: 554.10 m. jM\@jIjIjIiQhQhQhQhYfafafarfabfe?ɛ: 隕->I j>ɚiI-=Iisi݄a<)\@)*F?2F:FBF`0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.G]5<G B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.9Kw,~,Ay{B)IJAJEJAJAJAJE=:JAJA IeMb@Mb@Mb@aaa a)aYesh|??X9vI +ye)?ee9eA e@)e@Ie@aye@HI I)IIBI&I.I6Ii<:I9 FIDI3٢q .=9Q > G٣y > Nusing accuracyPremultiplier from config 59=˛? 5Y> i~JB-?:L@mD;; 5UB @IEZj!%FNOT Ignoring new targets: 554.10 m.Bj-պJj-պ= ProNav: ac range: 554.099976 m, nav range: 408.768738 m, bearing: 244.751621 deg, approach rate: -0.112857 m/s, LOS rate: -0.093376 deg/s, cmd heading: 334.181267 deg, new cmd heading: 334.049918 deg. 2j=*MHeadingCmd: 5.830271 target range: 554.099976 and range: 554.10 m. jM@jIjIjQiQhQhQhQh]BfYfYfYrfYbfe` ?ɛ,B-̺ )-f>I) -t<ɚ1i1I5 -=I5oi=pi=<)=@)9zKBHK+9KK KBKpA:KpA*F2F:FBFJF}Will construct direction to contact in vehicle frame from tetrahedron phase data.G% 5[<G B O% >??Kw,,A>@Y>a,@>C9> =y>H ? ?1dMڿw?Q U? &??ɨ>@>F;>CyFtBF)IIRIRd4٢ZC& Zs=9^Q ^?`` bG٣b}GGyb' f? jNusing accuracyPremultiplier from configdj 59f˛?n 5Yf iftJBlnnL@ftDf` ;f ;f‚ 5vSB v@vFEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 554.10 m.Bj!պJj%!պ- ProNav: ac range: 554.099976 m, nav range: 408.729736 m, bearing: 244.720280 deg, approach rate: -0.115925 m/s, LOS rate: -0.093166 deg/s, cmd heading: 334.049908 deg, new cmd heading: 333.955875 deg. 2j55HeadingCmd: 5.828629 target range: 554.099976 and range: 554.10 m. j5"@j1j9jAiAhAhAhIhIfIfIfIrfQbfU@"m?ɛy}$ y隅>I |:ɚiI-=IioiGG<)"@)Will construct direction to contact in vehicle frame from tetrahedron phase data.iAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFg0JFGӔ<GB ^$?IO"> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0028072-FKw,-AN@YN@NkI99N=yNH ??Vۿ?9ù )?t?`?ɨN@Ntt;LyznB~ )I %=%a=ImuImaO4٢ͼ ;=9:Q > G٣y > Nusing accuracyPremultiplier from config 59˛? 5Y{ ifJBL@~Dn::ֆ 5 P@Zj1=FNOT Ignoring new targets: 554.10 m.Bj=EѺJjEEѺu ProNav: ac range: 554.099976 m, nav range: 408.675262 m, bearing: 244.676764 deg, approach rate: -0.114500 m/s, LOS rate: -0.091479 deg/s, cmd heading: 333.955870 deg, new cmd heading: 333.825306 deg. 2ju {uHeadingCmd: 5.826351 target range: 554.099976 and range: 554.10 m. j}wq@jyjyjyiyhhhhfffrfbfb@ɛ+B,K >I 8ɚiI-=I3iv8li-Y<)wq@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256277*F2F:FBF_0JFJ]J]JYJYJ]k:J]9:JYJY _$?IHI I)IIՉBI( =&I.I6IW<:I- FBIJIRIZIbIjIg4G `L<zK k3IK 9K K K   RK ?JK ?G B O >QLKw,3-A2@Y2< @20922=y2H ??@Fy%ۿ@K?`ٹG?}Խ?@?ɨ2@2;2Cy>mB> )IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507150Mb@Mb@Mb@ )YHzG?333333ÿ/$y=*?3A )@I@y\@II%x4٢l F=95:Q =>99 =G٣9yE崻 E> MNusing accuracyPremultiplier from configIu 59MQ˛?} 5YM iMZJB}.?:'L@MDM 5RB I@CEZjFNOT Ignoring new targets: 554.10 m.BjҺJjҺ ProNav: ac range: 554.099976 m, nav range: 408.619232 m, bearing: 244.640351 deg, approach rate: -0.141757 m/s, LOS rate: -0.092137 deg/s, cmd heading: 333.825304 deg, new cmd heading: 333.716051 deg. 2j|%HeadingCmd: 5.824444 target range: 554.099976 and range: 554.10 m. j%a@j!j!j!i!h!h)h)h-ɈBfyfyfrfbf@ɛ *B к >I 97ɚiI w-=I-i+ji%T<)%a@)!*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758750 `$?I G R<G B O% >9SKw,M-A69@Y6@6e096=y6H ?. ?ZLۿ?@Q?`V?`?ɨ69@6.;6CyBoBF )IIJIJk4٢V!T< Vb=9VQ V>XX ZG٣Z~GGy^ ^> fNusing accuracyPremultiplier from configdj 59fo ̛?j 5Yf ifNJBhjM(jL@fDf:f:fW 5p r"@pZj  FNOT Ignoring new targets: 554.10 m.Bj޺Jj޺ ProNav: ac range: 554.099976 m, nav range: 408.567780 m, bearing: 244.607246 deg, approach rate: -0.151235 m/s, LOS rate: -0.097318 deg/s, cmd heading: 333.716049 deg, new cmd heading: 333.616721 deg. 2jHeadingCmd: 5.822710 target range: 554.099976 and range: 554.10 m. jS@jjjihhhhfffrfbf@@ɛ)BU<< Y]F >IY ]5ɚYiYI]Y-=Iegie^hieF<)mS@)i*F?2F:FBFz1JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011809GR<GBO] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262831cYKw,ag-A:ҳ@Y:-@:=*9:=y:H? A-?[oۿԹ?S@G? ??ɨ:ҳ@:};:CyBhBB)IHHJ5J5J1J1 IIIJ5:J5^:J1J1)i uCGG )H=/>I9 I=u)II=ƉBI=) =&I9.I96I=X<:I9 YyZ BK@B Mb@Mb@Mb@    ) Y q= ףp?jtĿMby +?   A ) @I @ y @IE{IEZ4٢߼ #=9U:Q > G٣y+ > Nusing accuracyPremultiplier from config 59U#̛? 5YJ i@JB60?:?+L@D; ; 5PB y@@EZj9=FNOT Ignoring new targets: 554.10 m.BjE'պJjE'պu ProNav: ac range: 554.099976 m, nav range: 408.490387 m, bearing: 244.559893 deg, approach rate: -0.152254 m/s, LOS rate: -0.093176 deg/s, cmd heading: 333.616710 deg, new cmd heading: 333.474624 deg. 2ju}HeadingCmd: 5.820230 target range: 554.099976 and range: 554.10 m. j}S?@jyjyjihhhhʈBfffrfbf` @ɛM'BM@E IM>II Mj3ɚQiQIU:-=I]i]ei]MK<)]S?@zK8aLKKK K $(/1568=;=9663//*&$"! BKqA:KqA)Y]Will construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:21:57:08.7290 TRx dataTimestamp_ set to:1736373429.858883checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538311*Fu?2Fq:FqBFu0JFqG iG<Gq By O >`Kw,-Ay-mB- )IIEIEa4٢U< U\=9]Q ]>YY eG٣aye e>mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.766830 }Nusing accuracyPremultiplier from configy 59}4̛? 5Y}p i}6JBL@}D};};} 5NB @=EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 554.10 m.BjٺJjٺ ProNav: ac range: 554.099976 m, nav range: 408.433838 m, bearing: 244.525173 deg, approach rate: -0.155138 m/s, LOS rate: -0.095264 deg/s, cmd heading: 333.474615 deg, new cmd heading: 333.370442 deg. 2jHeadingCmd: 5.818412 target range: 554.099976 and range: 554.10 m. jn0@jjjihhhhfffrfbf Μ@ b$?IɛE&BE债 IM` >IQ U1ɚQiQIUl-=I]i}ci}/hg<)n0@)*F5?2F1:F1BF=`5JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019243G] F<G B9 O >:gKw,9-Aͫ@Y)@ޗ(9G=yH?r?@2ۿ@?zS`? v? ]?ɨͫ@(;騭CyuB)IeMb@Mb@Mb@aaa a)aYeMbX?/$ÿ~jtye*?eeDeIA e@)aIaaye@I}xI}T4٢B= 9=9g9Q > G٣GGy^+ >  Nusing accuracyPremultiplier from config 59H̛? 5Y i+JB6/?:n+L@D;; 5! %@%?EZjQUFNOT Ignoring new targets: 554.10 m.Bj]պJj]պm ProNav: ac range: 554.099976 m, nav range: 408.364746 m, bearing: 244.482745 deg, approach rate: -0.152022 m/s, LOS rate: -0.093369 deg/s, cmd heading: 333.370441 deg, new cmd heading: 333.243137 deg. 2jm'uHeadingCmd: 5.816190 target range: 554.099976 and range: 554.10 m. ju:@jqjqjqiqhyhyhyh}Bfffrfbfc@ɛ%B b >I /ɚiI%,=Ii~ai@><):@)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:57:08.7290 LVL= 23648, 32753, 30674, 32755, AGC= 71, IDX= 404, 0.03,-0.835,-2.289,-1.478,-1.430, PHS= 0.683,-0.812,-0.051, RAW= 120.6, 2.8, CAL= 129.5, -2.8, ROT= 20.5, 2.8 Ygot valid direction response: 21:57:08.7290 LVL= 23648, 32753, 30674, 32755, AGC= 71, IDX= 404, 0.03,-0.835,-2.289,-1.478,-1.430, PHS= 0.683,-0.812,-0.051, RAW= 120.6, 2.8, CAL= 129.5, -2.8, ROT= 20.5, 2.8 PDAT read: Bearing 20.5, 2.8 (Local)  ~Local bearing/azimuth received: Bearing 20.5, 2.8 (Local) %DAT read: Range 10 to 50 : 551.4 m (Round-trip 735.2 ms) speed 0.4 m/s *FI2FI:FIBFMP5JFI,DAT read: user:2170> BDAT read: Tx time:21:57:09.8396 $Ping request sent.iڝ+H=ڙڙ۝Nȍ?* %S?N6N"?)۝*zK} MK} 9Ky K} K} 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.<=mKw,{-Ab@Yb@b)9bM=ybH ??2)ۿ ?[(6?W?`?ɨb@bWJ;bCyj|Bj)IIvjIv;4٢~= 5h=9]LQ ]>Ya eG٣aye e> uNusing accuracyPremultiplier from configi 59mpX̛? 5Ymt im#JBH,L@mDm;m\;m 5MB @I HL-ɚiI,=I i^_i+<)<@)EqAE*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IJ J J J J ;:J <:J J J L)t$tKw,_-A>*s@Y>@>=9≯=y>H?]?`ܿ@?㐹ཱི??@f?ɨ>*s@>;>CyFBJ$)IIRmIR3A4٢Z= ZO=9ZOQ ^>\\ bG٣`yb b> fNusing accuracyPremultiplier from configdj 59fi̛?j 5YfǺ ifJBln8-nL@fDf ;f? ;fX 5p r@tZjFNOT Ignoring new targets: 551.40 m.Bj%Jj%5 ProNav: ac range: 551.400024 m, nav range: 367.833832 m, bearing: 233.823825 deg, approach rate: -0.033169 m/s, LOS rate: -0.113397 deg/s, cmd heading: 333.138269 deg, new cmd heading: 333.015887 deg. 2j5=HeadingCmd: 5.812224 target range: 551.400024 and range: 551.40 m. j=@j9jAjAiAhAhAhIhIfIfIfIrfQbfUf?ɛ#B:~; 隅XA>I /1+ɚiI,=I!i]9^i<)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF `0JFG(<GBO$> Will construct direction to contact in vehicle frame from tetrahedron phase data. d$?I OzKw,@-A>*k@Y>z@>@E9>=y>H`d??Wï`Y*ܿ ?3l?н??ɨ>*k@>;>CyFBJ&)IHR.>IP IR)IIRՉBIP&IP.IP6IR<:IRN FEMb@Mb@Mb@AAA A)AYEy&1?333333ÿ~jtyE`%?EAE3A E@)AIAAyE@ICI3٢; 7=9 ͔Q  >    G٣ GGy > Nusing accuracyPremultiplier from config% 59}̛?% 5Y iJB-)?-:-#.-L@D;;A 5=KB =f@=9EZjamFNOT Ignoring new targets: 551.40 m.BjuJju뺝 ProNav: ac range: 551.400024 m, nav range: 367.819458 m, bearing: 233.777677 deg, approach rate: -0.032129 m/s, LOS rate: -0.103158 deg/s, cmd heading: 333.015900 deg, new cmd heading: 332.877450 deg. 2jHeadingCmd: 5.809807 target range: 551.400024 and range: 551.40 m. j@jjjihhhhBfffrfbfZ?ɛ!Be,; rG>I W(ɚiIm,=I^i'\i2<)@)zKk3IK 9KK KBK:KmA*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G G pAG B O5 >.6Kw,.A6p_@Y6n@6N96G=y6H,??`6 Z?ܿĈ??ԉ?26??ɨ6p_@6i;6CyBBB))IIJPIJ 4٢RMh< Rd=9RQ V>TT VG٣TyZԂ ^> bNusing accuracyPremultiplier from config`f 59b̛?f 5Yb ibJBdf|.jL@bDbH:bj:bd 5l n=@lZjFNOT Ignoring new targets: 551.40 m.Bj Jj Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 551.400024 m, nav range: 367.807770 m, bearing: 233.740629 deg, approach rate: -0.032644 m/s, LOS rate: -0.103474 deg/s, cmd heading: 332.877438 deg, new cmd heading: 332.766290 deg. 2jHeadingCmd: 5.807868 target range: 551.400024 and range: 551.40 m. j ڹ@jjjihhhhfffrfbfч? ]e$?IYɛmBmT; iuO>JJJJJk:Jo5:JJJ"<J"<J;J;I 3%ɚQiYI]E6,=I\i%Zi7<) ڹ@)*F2F :F BF `0JF "G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data.G- 2<G B O) fKw,A .A$Z@Yi@)69|s=yH?e? Hܿ`?@ Ն?c{? 5?ɨ$Z@;騥Cy%B-:)IMb@Mb@Mb@ )YMbX9?p= ף{Gzty!?ףA )I@y@IIr4٢i= *=9G;Q > G٣yݰ > %Nusing accuracyPremultiplier from config- 59h̛?- 5Y iJB5/%?5:5(5L@D<;;; 5=IB =C@=6E]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 551.40 m.BjuJju亝 ProNav: ac range: 551.400024 m, nav range: 367.799988 m, bearing: 233.692191 deg, approach rate: -0.016067 m/s, LOS rate: -0.100009 deg/s, cmd heading: 332.766297 deg, new cmd heading: 332.620979 deg. 2jEHeadingCmd: 5.805331 target range: 551.400024 and range: 551.40 m. j FŹ@j j j i h h hhBf!f)f)rf)bf-@eWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ɛBV; o>I "ɚi I +=IG AIIi]Wi]}=T<)eFŹ@)aHI I)IIBI&I.I6Iw<:IC F*F-?2F):F)BF1JF1zK5 JK1 K1 K5 K5 RKM >JKM ?GU F< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230872G) B1 OU >pKw,D8.AvT@Yvd@vF!9v,=yvH? ?4ɯRܿ?  ii mG٣GGy > Nusing accuracyPremultiplier from config 59Ͱ̛? 5Yc iIB(M@D < < 55HB 5#@=3EZjFNOT Ignoring new targets: 551.40 m.Bj'ԺJj'Ժ5 ProNav: ac range: 551.400024 m, nav range: 367.794250 m, bearing: 233.656203 deg, approach rate: -0.014785 m/s, LOS rate: -0.092740 deg/s, cmd heading: 332.620978 deg, new cmd heading: 332.513014 deg. 2j5~5HeadingCmd: 5.803447 target range: 551.400024 and range: 551.40 m. j=ֵ@j9j9j9i9h9h9hahafafifirfibfm@ɛ5B=; 9]s>IY eɚaiaIe+=ImQim^Uimc<)mֵ@)q*F?2F:FBF~0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.482864 -f$?I)J3K;ـ3 K;K3K3"K3JJJJJJ;:JJJJJ;J;G= H<GE ?GE >G B! Oe >hrKw,ҦR.AyBE)II-rI-J4٢=$= EM=9EQ E>II MG٣IyM M> ]Nusing accuracyPremultiplier from configQe 59Ư?e 5YUs iUIBaimM@UDUm(;U";U% 5q u@u5EZjFNOT Ignoring new targets: 551.40 m.BjJj ProNav: ac range: 551.400024 m, nav range: 367.788116 m, bearing: 233.616960 deg, approach rate: -0.017055 m/s, LOS rate: -0.109110 deg/s, cmd heading: 332.513007 deg, new cmd heading: 332.395276 deg. 2jÕHeadingCmd: 5.801392 target range: 551.400024 and range: 551.40 m. j@jjjihhhhfffrfbf`v@ɛB "<  >I  ]<ɚ i IR+=IirSi<)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736224*F?2F:FBF_5JFGqA GG}Qd<GqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987515 ) I1 J J AAAKw,l.AH$I$ I&)II&BI$&I$.I$6I&<:I&X FBI JI RI ZI bI jI ^j4V6@YVCF@V+ 9V9=yVH`?B?2Rܿ q?4`ee?`3?`?ɨV6@V8;VCyBB)IMb@Mb@Mb@ )YK7A?V-y&1|y "?` @)@IyIzI=X4٢  C=9!X;Q > G٣y > Nusing accuracyPremultiplier from config 59̛? 5Y iIB$?:$M@D3;;Ӵ 5uFB u@u2EZjFNOT Ignoring new targets: 551.40 m.BjJۺJjJۺ ProNav: ac range: 551.400024 m, nav range: 367.786682 m, bearing: 233.574751 deg, approach rate: -0.003257 m/s, LOS rate: -0.095859 deg/s, cmd heading: 332.395281 deg, new cmd heading: 332.268654 deg. 2jHeadingCmd: 5.799182 target range: 551.400024 and range: 551.40 m. j撹@jjjihh h)h- Bf1f1f1rf1bf5_} @ɛ%BM\^; IM׃>II U=ɚQiQIUF+=I]Ei]Pi]'xg<)]撹@)azK%RIK%9K!K% K%BK1:K5rAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238905*F?2F:FBFJFG% Ӕ<G B O% >χKw,]k.ABJ)@YB8@B9B =yBHy?[?ܿj? +?@%`??ɨBJ)@Br;BCyNBNX)IIVhIVV84٢^= ^[=9b:Q b>`d fG٣fGGyfq f> nNusing accuracyPremultiplier from configlr 59n ̛?r 5Yn~ inIBpvo$vM@nDnL:n:n 5x z@xZj%FNOT Ignoring new targets: 551.40 m.Bj%5Jj%5=Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:21:57:12.9759 ETRx dataTimestamp_ set to:1736373434.140800Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.492046M ProNav: ac range: 551.400024 m, nav range: 367.785187 m, bearing: 233.537473 deg, approach rate: -0.004247 m/s, LOS rate: -0.105877 deg/s, cmd heading: 332.268650 deg, new cmd heading: 332.156815 deg. 2jMSUHeadingCmd: 5.797230 target range: 551.400024 and range: 551.40 m. jU邹@jYjYjYiYhYhYhahafafafirfibfmA @ɛBb< 隥\>I <'ɚiIH +=IiO g$?IhiMjp<)M邹@)QJJJ/JJK:J::J(N3JJ<J<J5;J6;*F?2F:FBF_0JFGP<GGrAGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742840,Kw,:.Azp@Yz"@z9zi=yzH??{`ܿ`?6?Uo??ɨzp@z M;zCyQQIIb49:':Q >   G٣y%û -> Nusing accuracyPremultiplier from config 59̛? 5Y5 iIB%M@De ;e ; 5EB v@/EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 551.40 m.BjJj庝 ProNav: ac range: 551.400024 m, nav range: 367.782745 m, bearing: 233.491081 deg, approach rate: -0.005271 m/s, LOS rate: -0.100156 deg/s, cmd heading: 332.156826 deg, new cmd heading: 332.017649 deg. 2jxHeadingCmd: 5.794801 target range: 551.400024 and range: 551.40 m. jo@jjjih!h!h!h!f!f)f)rf1bf5@ɛ]B],< Y]%>IY e]ɚaiaIe5*=Imy im^Liml<)mo@)qE}rAEy]Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000586 h$?I*F-?2F):F1BF5`0JF9H~G 7YyVBHAIA IE)IIEBIA&IA.IA6IE_<:IE1 F"G=G=G y<zK KK 9K K K G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 21:57:12.9759 LVL= 28272, 32753, 32754, 32755, AGC= 69, IDX= 303,-0.39, 2.033, 0.584, 1.181, 1.525, PHS= 0.596,-0.894,-0.347, RAW= 111.3, 9.9, CAL= 120.7, 7.2, ROT= 29.3, -7.2 = Ygot valid direction response: 21:57:12.9759 LVL= 28272, 32753, 32754, 32755, AGC= 69, IDX= 303,-0.39, 2.033, 0.584, 1.181, 1.525, PHS= 0.596,-0.894,-0.347, RAW= 111.3, 9.9, CAL= 120.7, 7.2, ROT= 29.3, -7.2 M DAT read: Bearing 29.3, -7.2 (Locge 10 to 50 : 549.1 m (Round-trip 732.2 ms) spee/s M unknown deviceResponse_: Bearing 29.3, -7.2 (Locge 10 to 50 : 549.1 m (Round-trip 732.2 ms) spee/s U ,DAT read: user:2171> حKw,.ABDAT read: Tx time:21:57:14.0896 $Ping request sent. -@)->I-?i-)-pvs(?fÿq?)-I- 1i--ĕ::publishing transmit ping time)9-[7ӿ푩Ͽ ͓v?))) )))I)i))))) )))I)i))-pvs(?fÿq?))I)i))@Y@Ox9O=yHˁ?@?yݿ@1N?@"N}?@b??ɨ@?;騥CyW)IMb@Mb@Mb@ )Y%C?~jtI +yZ$?Ľ94 @)@I@yQ@IxIT4٢ڹ <9[:Q > G٣yV+ > Nusing accuracyPremultiplier from config 59' ͛?e 5Y iIBm4&?m:mmM@ D<]<> 5y }y@yZjFNOT Ignoring new targets: 551.40 m.BjFںJjFں% ProNav: ac range: 551.400024 m, nav range: 367.789124 m, bearing: 233.443364 deg, approach rate: 0.012754 m/s, LOS rate: -0.095415 deg/s, cmd heading: 332.017654 deg, new cmd heading: 331.874506 deg. 2j%-HeadingCmd: 5.792303 target range: 551.400024 and range: 551.40 m. j-Z@j)j)j)i)h)h1h1h5Bf1f9fYrfYbfe@@ɛBI$< 隵̙>I  ɚiI1|*=ITiIi>fF<)Z@)]Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F2F:FBF4JFG mo<G B O >.yKw,.A6@Y6ι@6( 96=y6H n? '(?) ]ݿ@>K?| ?@p??ɨ6@6 r;4yBBBZ)IINMIN{4٢V[< V=9VTQ Z ?XX ZG٣ZGGy^ ^ ? bNusing accuracyPremultiplier from config`f 59bg͛?f 5Yb ibIBhn_nM@bDb2;bR2;b 5rCB r<@r,EZj FNOT Ignoring new targets: 551.40 m.Bj/Jj/% ProNav: ac range: 551.400024 m, nav range: 367.792419 m, bearing: 233.410941 deg, approach rate: 0.011251 m/s, LOS rate: -0.110676 deg/s, cmd heading: 331.874493 deg, new cmd heading: 331.777225 deg. 2j-闻-HeadingCmd: 5.790605 target range: 551.400024 and range: 551.40 m. j-L@j1j1j1i1h1h1h9h9f9EWill construct direction to contact in vehicle frame from tetrahedron phase data.f9fIrfIbfM@%@ɛBj-< >I ɚi I &?*=I }3i$Hi<)L@)*F2F:FBF_0JFG5[<G ?G?GBOB>Will construct direction to contact in vehicle frame from tetrahedron phase data. = i$?I9 Ju Ju Ju 0Jq Ju :Ju 8:Ju ـ3Jq a} @a} @a} @a} @H />I  I )II BI &I .I 6I ?<:I  FJKw,.A6G@Y6ȹ@6cM96=y6Hk?D1?Phݿ@F?@趿 ?`?'?ɨ6G@6 y;6CyRBRN)IeMb@Mb@Mb@aaa a)aYep= ף?Ky&1ye%?e^e`eeIA e@)aIe@aye@I}>I}3٢B: >=9*Q > G٣y > Nusing accuracyPremultiplier from config 59.͛? 5YS iIB&?:SM@D;K; 5 ܹ@ZjFNOT Ignoring new targets: 551.40 m.BjJj躝  ProNav: ac range: 551.400024 m, nav range: 367.799255 m, bearing: 233.367378 deg, approach rate: 0.015914 m/s, LOS rate: -0.101415 deg/s, cmd heading: 331.777231 deg, new cmd heading: 331.646545 deg. 2j 3HeadingCmd: 5.788324 target range: 551.400024 and range: 551.40 m. j9@jjjihhhhBf!f!f!rf!bf%/@ɛMBU<< \>I <ɚiIE)=Ig^iFi5<)9@)zK BoIK 9K K  K uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`0JFGF<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. A IA Kw,x /A>Ѹ@Y>.ȹ@>9>==y>Hak?`T.?𺭿iݿD?`@=?m?`t?ɨ>Ѹ@>";>CyZBZ\)IIfSIf4٢nw= nV=9nɺQ r>pp rG٣pyv v> zNusing accuracyPremultiplier from configx~ 59z?͛?~ 5Yz izIBOM@z!Dz ;z ;z! 5 AB @ )EZjAEFNOT Ignoring new targets: 551.40 m.BjMJjM纝] ProNav: ac range: 551.400024 m, nav range: 367.805481 m, bearing: 233.328712 deg, approach rate: 0.016303 m/s, LOS rate: -0.101258 deg/s, cmd heading: 331.646556 deg, new cmd heading: 331.530558 deg. 2j]eHeadingCmd: 5.786300 target range: 551.400024 and range: 551.40 m. je^)@jajajiiihihihihqfqfqfyrfybf}`c@ɛBp< 隥S>I KɚiI)=Igi@Di6Q<)^)@)*F2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.G2<GBO>Kw,Ef$/AyBe)I j$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YE?/$YY eG٣eGGym m> uNusing accuracyPremultiplier from configq} 59uU͛?} 5Yu iuIB} (?}:}M@u+Du;u;ub 5@B y@(EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 551.40 m.BjJj麝 ProNav: ac range: 551.400024 m, nav range: 367.817291 m, bearing: 233.278948 deg, approach rate: 0.024261 m/s, LOS rate: -0.102221 deg/s, cmd heading: 331.530552 deg, new cmd heading: 331.381267 deg. 2jNHeadingCmd: 5.783694 target range: 551.400024 and range: 551.40 m. j@jjjihhhh$BfffrfbfU@ɛ%B-4]< )->I) -pɚ)i1I5_K)=I5Ki=yAi=Dt<)=@jHybH}<HI I)IIBI&I.I6IP<:I& FJJJ1JJk:J7:J3JJ"OKw,2>/AEʲ@YEbٹ@E9E=yEH[s?~ ?JݿF?MU? ?'?ɨEʲ@E>;ECy޽B޽])I) AIIv}4٢ c=9;Q > G٣y *;  > Nusing accuracyPremultiplier from config 59Lf͛?% 5Yb iIB!%%M@3D:: 5) 5@1Zjq}FNOT Ignoring new targets: 551.40 m.BjBJjB躝 ProNav: ac range: 551.400024 m, nav range: 367.826691 m, bearing: 233.242298 deg, approach rate: 0.026039 m/s, LOS rate: -0.101528 deg/s, cmd heading: 331.381272 deg, new cmd heading: 331.271324 deg. 2jZHeadingCmd: 5.781775 target range: 551.400024 and range: 551.40 m. jN@jjjihhhhfffrfbf @ɛ Bh˅< ;>I `ɚiI)=Ic\is?i<)N@)*F2F:FBF;3JF l$?IWill construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGl o<G B O >?Kw,EX/A6β@Y6Z޹@65496=y6Hu??3@AݿE?u}?K?7?ɨ6β@6 ;4y>B>e)IIJsIJK4٢RI= Rc=9R;;Q R>TT VG٣TyZ: Z> ^Nusing accuracyPremultiplier from configXb 59Zv͛?b 5YZ iZIB`ffM@Z:DZa:Zv:Z 5n>B nb@n%EZjFNOT Ignoring new targets: 551.40 m.Bj QJj Q]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse ProNav: ac range: 551.400024 m, nav range: 367.836426 m, bearing: 233.205624 deg, approach rate: 0.027307 m/s, LOS rate: -0.102866 deg/s, cmd heading: 331.271333 deg, new cmd heading: 331.161314 deg. 2j1HeadingCmd: 5.779855 target range: 551.400024 and range: 551.40 m. j@jjjihhhhfffrfbfMQ@ɛ5< >I 5ɚ1i1I5(=I=@iEYH I  I )II BI &I .I 6I X<:I - FJ J J 0J J K:J <:J ـ3J J <J <J ;J ;Kw,q/A:Ͻ@Y:+͹@:9:=y:Hm??mo_`ݿ =9}{9Q }> G٣GGy} > Nusing accuracyPremultiplier from config 59+͛? 5Y. iIB (?:M@DDL$;";k 5 @Zjy}FNOT Ignoring new targets: 551.40 m.BjߺJjߺ ProNav: ac range: 551.400024 m, nav range: 367.844727 m, bearing: 233.161591 deg, approach rate: 0.018378 m/s, LOS rate: -0.097487 deg/s, cmd heading: 331.161312 deg, new cmd heading: 331.029216 deg. 2jυHeadingCmd: 5.777550 target range: 551.400024 and range: 551.40 m. j@jjjihhhh:Bfffrfbf!@ɛ B< >I Vܻɚi)I-Y(=I5Uqi59i5$n<)5@)9mWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseEuqAEuqAzKBHKKK K*F2F:FBFG5JFGrA GG <G B O- > m$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseKw,/Ay]B]c)Iie=Ia mp=mp=IuIukf4٢$+ G=9Q > G٣y > Nusing accuracyPremultiplier from config 59ǜ͛? 5YF iIBM@LD;; 5=B _@"EZj  FNOT Ignoring new targets: 551.40 m.BjJj- ProNav: ac range: 551.400024 m, nav range: 367.852875 m, bearing: 233.119546 deg, approach rate: 0.020916 m/s, LOS rate: -0.107926 deg/s, cmd heading: 331.029216 deg, new cmd heading: 330.903084 deg. 2j-#-HeadingCmd: 5.775348 target range: 551.400024 and range: 551.40 m. j5ϸ@j1j1j1i1h9h9h9h9f9fAfArfAbfE૒@ɛm Bm̗< qu߫>Iq u[ԻɚyiyI}(=I}iw?6i<)ϸ@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:57:17.2132 TRx dataTimestamp_ set to:1736373438.431733T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG<G B O5 >Kw,2/A@Y@C)߻9p=yHX?kn?`~᯿ [ݿ<&?s@{?` ?U?ɨ@v;騵CyÉBs)I 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )Yw/?+{Gzty&?ףA )@IyIIk4٢U= -=9 :Q > G٣yC > Nusing accuracyPremultiplier from config 59W͛? 5Y iIB(?:M@VDZ;;$ 5;B |@EB*** querying acoustic contact ***jjZH!RH!H)I) I-)II-BI)&I).I)6I-<:I- FBIJIRIZIbIjI*4JJJJJ:J::JJJ#<J#<J5;J6;ZjFNOT Ignoring new targets: 551.40 m.BjߺJjߺ% ProNav: ac range: 551.400024 m, nav range: 367.866608 m, bearing: 233.071317 deg, approach rate: 0.027841 m/s, LOS rate: -0.097774 deg/s, cmd heading: 330.903076 deg, new cmd heading: 330.758394 deg. 2j%3-HeadingCmd: 5.772823 target range: 551.400024 and range: 551.40 m. j-@j)j)j)i)h1h1h1h]>BfYfYfarfabfeM @ɛ B̈́< ^>I yXȻɚiI'=Iiu2i1<)@) *F?2F:FBF4JF} Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:57:17.2132 LVL= 19552, 32753, 32370, 32755, AGC= 70, IDX= 202,-0.11, 0.521,-0.910,-0.289, 0.009, PHS= 0.600,-0.872,-0.301, RAW= 112.6, 9.0, CAL= 122.1, 6.0, ROT= 27.9, -6.0  Ygot valid direction response: 21:57:17.2132 LVL= 19552, 32753, 32370, 32755, AGC= 70, IDX= 202,-0.11, 0.521,-0.910,-0.289, 0.009, PHS= 0.600,-0.872,-0.301, RAW= 112.6, 9.0, CAL= 122.1, 6.0, ROT= 27.9, -6.0  PDAT read: Bearing 27.9, -6.0 (Local)  ~Local bearing/azimuth received: Bearing 27.9, -6.0 (Local) zK] K] 9KY K] K]  )/7@GIILHFA<9;?CEEC? DAT read: Range 10 to 50 : 539.6 m (Round-trip 719.5 ms) speed 0.3 m/s  ,DAT read: user:2172>  BDAT read: Tx time:21:57:18.2896  $Ping request sent. } c@)} Pw=I} Q>i} Pwֽy y } K,Y?l:2>[?)} I}  G- 5<G5 rAG5 rAi} C} y y  :publishing transmit ping time  Fpublishing direction and range infoy 9} m1ҿcfѿf?yy y y y y )y Iy iy y y y y y )y Iy iy y y } K,Y?l:2>[?)y Iy iy y G BQ Ou >qKw,H/Aۑۑy@Y@Kڻ9*=yH`HN?`? Dݿ?̺_{?>1? ?ɨy@;Cy]B]p)IIId4٢:) X=9$9Q > G٣GGy >  Nusing accuracyPremultiplier from config  59 ͛? 5Y   i IB;M@ ^D : : { 5! E@Ikִ2ꀛ?kWL! k k{/A:kDBkDZke@"Yq<~,c}"mybUt~@m1ҿcfѿf?JkCRk*20ubm~㛝[V⺤}@u85!ۿ^"ʿ5 ?"k\*kkkUb?ko?`! 2kzDk1?k巓+ kDkCky@e addTargetRange:: Added new target pos. range: 539.599976 m, deltaT: 8.317573 s, deltaX: -11.800049 m, approachRate: -1.418689 m/s, rangeRepo size: 4 u Added new target pos. range: 539.599976 m, bearing: 205.112685 deg, lat: 36.897559 deg, lon: -122.122017 deg, deltaT: 8.317573 s, deltaX: -11.800049 m, approachRate: -1.418689 m/s, posRepo size: 4 Zjq}FNOT Ignoring new targets: 539.60 m.BjJj ProNav: ac range: 539.599976 m, nav range: 308.180969 m, bearing: 223.446942 deg, approach rate: 0.000000 m/s, LOS rate: -0.097774 deg/s, cmd heading: 330.758386 deg, new cmd heading: 330.643563 deg. 2jHeadingCmd: 5.770819 target range: 539.599976 and range: 539.60 m. j@jjji n$?Ihh h h h fffrf܀@bf`Ҋ?ɛ B< 隍>I fɚiIaS'=It*i/i&+<)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:57:18.2888 *F?2F:FBF_0JFGU R<<G B! O= >ÕKw,/AWill construct direction to contact in vehicle frame from tetrahedron phase data.:M@Y:]@: 9:=y:H9?i?H$@&޿@j?`2}?@[޾??ɨ:M@:ˏ;:CyF͉BF~)I)H JALLIbXIb4٢jv= j]=9nQ ~> G٣yk  > Nusing accuracyPremultiplier from config  59 ͛?= 5Y I  i IB9==M@ fD ; ;  5M:B MѶ@MEZjFNOT Ignoring new targets: 539.60 m.BjIJjI ProNav: ac range: 539.599976 m, nav range: 308.230408 m, bearing: 223.402731 deg, approach rate: 0.142060 m/s, LOS rate: -0.127018 deg/s, cmd heading: 330.643556 deg, new cmd heading: 330.510945 deg. 2jWHeadingCmd: 5.768504 target range: 539.599976 and range: 539.60 m. j@jjjihhhhfffrfbf?ɛqu< y}>Iy }ΫɚyiyI}{&=I)iĈ-i3<)@)*FI2FI:FIBFMi0JFI o$?I)I MCWill construct direction to contact in vehicle frame from tetrahedron phase data.~GtA-A ]6Y]tAy]BGuSݮ<H I  I )II BI ( =&I .I 6I <:I FGq By O >J J J J J 1J J k:J >:J 3J J "<J "<J ˕;J ˕;Kw,/AyˉB})I@ Mb@Mb@Mb@ )YE?㥛 {Gzty&?IA p@)I3@iI`I(*4٢ ;=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E 59=͛?E 5Y= i=IBE'?M:MMM@=oD=;=;= 5Q ]@]EZjyFNOT Ignoring new targets: 539.60 m.Bj Jj  ProNav: ac range: 539.599976 m, nav range: 308.291840 m, bearing: 223.349998 deg, approach rate: 0.141218 m/s, LOS rate: -0.121198 deg/s, cmd heading: 330.510941 deg, new cmd heading: 330.352774 deg. 2jZHeadingCmd: 5.765744 target range: 539.599976 and range: 539.60 m. j@jjjihhhhfffrfbf@>?ɛB$g< >I tɚiI&=Iwi*ie<)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.zKMK9KK K<;8440+-562/13542.,/+,//1443110,('##"  BKpA:KmA*F2F:FBFo0JFGӔ<G B O >  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,S0A6@Y6v@6S96cx>y6H?Z?عī޿L?R?Tc?>?ɨ6@6դ;6Cy^ՉB^)IIfDIf3٢nI= r[=9r Q r>tt zG٣zGGyzjм z> Nusing accuracyPremultiplier from config  590͛?  5Y1 iIB M@wD~ ; ; 58B 4@EZjFNOT Ignoring new targets: 539.60 m.BjJj ProNav: ac range: 539.599976 m, nav range: 308.340271 m, bearing: 223.306712 deg, approach rate: 0.127248 m/s, LOS rate: -0.113712 deg/s, cmd heading: 330.352782 deg, new cmd heading: 330.222943 deg. 2jHeadingCmd: 5.763478 target range: 539.599976 and range: 539.60 m. jin@jjjihhhhfff rf bf ?ɛ15< 9=>I9 =ɚ9i9I=1&=IE iE(iEJ<)Min@)I*F2F:FBF1JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.G <Gi Bq O >b Lw,B)0A ^p$?I`51ر@Y5@595>y5Hs?I]> ]=]=Will construct direction to contact in vehicle frame from tetrahedron phase data.UU UMb@Mb@Mb@QQQ Q)QYUMb?MbMb`?yU#?UU;U3A U@)QIU@QyUQ@ImImy4٢}C< }2=9}JQ }> G٣y>7 > Nusing accuracyPremultiplier from config 59u Λ? 5Y i#?:M@DjH<bH<H0>I I)II&BI) =&I.I6IV<:I+ F;; 5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 539.60 m.Bj Jj  ProNav: ac range: 539.599976 m, nav range: 308.401428 m, bearing: 223.253591 deg, approach rate: 0.137533 m/s, LOS rate: -0.119436 deg/s, cmd heading: 330.222953 deg, new cmd heading: 330.063624 deg. 2j%HeadingCmd: 5.760697 target range: 539.599976 and range: 539.60 m. j%W@j!j!j!i!h)h)h)h-CBf1f1f1rf1bf=`?ɛiu[< qu>Iq u{HɚqiqI}_%=I}i}ԋ&iƙ8<)%W@)!*F2F:FBF0JFGP<GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.zK lMK s9K K K RK% ?JK% >Lw,C0A>ű@Y>lԸ@>x9>=y>H`E??m밿߿ #?~?4b??ɨ>ű@>܉;>CyNӉBN)IIZzIZ=X4٢r9ȼ ri=9v;Q v>tx zG٣xyzڻ z> Nusing accuracyPremultiplier from config| 59~Λ?  5Y~ i~IB  e M@~D~j:~:~ 57B 4@EZjQ]FNOT Ignoring new targets: 539.60 m.BjeJje% ProNav: ac range: 539.599976 m, nav range: 308.448151 m, bearing: 223.212733 deg, approach rate: 0.134520 m/s, LOS rate: -0.117619 deg/s, cmd heading: 330.063619 deg, new cmd heading: 329.941062 deg. 2j%q-HeadingCmd: 5.758558 target range: 539.599976 and range: 539.60 m. j-F@j)j)j)i)h)hQhQhQfYfYfYrfYbf]`t@ɛB< 隭>Ii mhɚiiiIuW%=IuMiu$i}o9<)}F@)y q$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224036*FA2FA:FABFE_5JFAJJJ0JJ:J;:Jـ3Ja@a@a@a@Ge F<GA BY Ou >U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475740Lw, ]0A2@Y2@2tڻ92 j=y2H@a?b?@𗰿|:߿9?`6N{??@?ɨ2@2>V;2Cy>܉B>)IIJyIJxV4٢R.)= RN=9R{;Q R>TT VG٣TyZLͻ Z> ^Nusing accuracyPremultiplier from config\b 59^.Λ?b 5Y^  i\`f fM@^D^ ;^ ;^I 5h j@hZjFNOT Ignoring new targets: 539.60 m.Bjm\Jjm\ ProNav: ac range: 539.599976 m, nav range: 308.500549 m, bearing: 223.166495 deg, approach rate: 0.132151 m/s, LOS rate: -0.116595 deg/s, cmd heading: 329.941058 deg, new cmd heading: 329.802367 deg. 2j HeadingCmd: 5.756137 target range: 539.599976 and range: 539.60 m. jG2@jjjihhhhfffrfbf`W@ɛ)EE< AET>IA ÉɚIiIIM$=IMiUH #iUC:<)UG2@)Q*F2F:FBF_0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727605Gܸ<<HI I)II0BI&I.I6I-<:I FGB O] > Lw,8v0AyՉB%)I)) -A)-AMb@Mb@Mb@ )YV-?S㥫Mb`?y|?/]A )@I@y@I{IZ4٢ -9=95Q 5>99 =G٣=GGy= E> MNusing accuracyPremultiplier from configAM 59EQBΛ?U 5YE$ iEIBU ?U:U]M@EDE;E;E= 5e5B e@eEZjFNOT Ignoring new targets: 539.60 m.BjJj ProNav: ac range: 539.599976 m, nav range: 308.562775 m, bearing: 223.115265 deg, approach rate: 0.137577 m/s, LOS rate: -0.113243 deg/s, cmd heading: 329.802378 deg, new cmd heading: 329.648721 deg. 2joHeadingCmd: 5.753456 target range: 539.599976 and range: 539.60 m. jO@jjjihhhh6Bfffrfbf @ɛ?< >I {#mɚiI$=I _Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979119i  ib<)O@)!PExceeded connect timeout, disconnecting.zKE^KKE9KAKE KE*F?2F:FBFJFG r$?I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231016g#Lw,0AJ&J$J$J$J&:J$J$J$>—@Y>@>q!9>=y>H`=?!?ma`e߿ Z?@%w?ZȾ?l?ɨ>—@>m!;   G٣ y o  > Nusing accuracyPremultiplier from config 593RΛ?% 5Y[( i!%X%M@Dz ; ;m 5-3B -{@5EZjYeFNOT Ignoring new targets: 539.60 m.BjeJjeu ProNav: ac range: 539.599976 m, nav range: 308.612488 m, bearing: 223.073914 deg, approach rate: 0.136227 m/s, LOS rate: -0.113295 deg/s, cmd heading: 329.648726 deg, new cmd heading: 329.524692 deg. 2ju}HeadingCmd: 5.751291 target range: 539.599976 and range: 539.60 m. j} @jjjihhhhfffrfbfk @ɛl< Y>I `XYɚiI?$=I<*iiP<) @)*FU?2FQ:FQBF]`0JFY%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482903GQd<GBO>3&*Lw,0A 8I G٣GGy > Nusing accuracyPremultiplier from config 59gΛ? 5Y, iIB?: M@DNR;xP; 5 H@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 539.60 m.BjcJjc ProNav: ac range: 539.599976 m, nav range: 308.677185 m, bearing: 223.019637 deg, approach rate: 0.131537 m/s, LOS rate: -0.110328 deg/s, cmd heading: 329.524689 deg, new cmd heading: 329.361894 deg. 2joHeadingCmd: 5.748449 target range: 539.599976 and range: 539.60 m. j%L@j!j!j!i!h!h!h)h-iBf1f1f9rfAbfEg@ɛim/^< imc>Ii u7>ɚqiqIu<#=I}qi}Li}l<)}L@)*F?2F:FBF_0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.987047  nManaging dock network, ignoring radio surface power offG= zQ<zK a3JK h9K K K )vJ]nD,G B O >t 1Lw,a0A݉@Y:@*9A=yHr?J:?\1~߿@$?`sQs?@\?O?ɨ݉@Ӡ;騽Cy׉B)Ii=I= =p=IpIF4٢7 e=9%u;Q %>!) -G٣)y-Ժ 5> =Nusing accuracyPremultiplier from config1= 5951vΛ?E 5Y50 i5IBAE1EM@5D5:5:5 5U2B U@UEZj%FNOT Ignoring new targets: 539.60 m.Bj-qJj-q= ProNav: ac range: 539.599976 m, nav range: 308.724487 m, bearing: 222.979995 deg, approach rate: 0.127521 m/s, LOS rate: -0.106855 deg/s, cmd heading: 329.361885 deg, new cmd heading: 329.242976 deg. 2j=EHeadingCmd: 5.746374 target range: 539.599976 and range: 539.60 m. jEL@jAjIjIiIhIhIhQhQfQfQfYrfY }s$?Ihbfe@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:57:21.4215 LVL= 17808, 30545, 17506, 26483, AGC= 73, IDX= 8,-0.12, 2.885, 1.468, 2.033, 2.241, PHS= 0.732,-0.726,-0.211, RAW= 110.4, 3.2, CAL= 121.6, 0.2, ROT= 28.4, -0.2 Ygot valid direction response: 21:57:21.4215 LVL= 17808, 30545, 17506, 26483, AGC= 73, IDX= 8,-0.12, 2.885, 1.468, 2.033, 2.241, PHS= 0.732,-0.726,-0.211, RAW= 110.4, 3.2, CAL= 121.6, 0.2, ROT= 28.4, -0.2 PDAT read: Bearing 28.4, -0.2 (Local) ~Local bearing/azimuth received: Bearing 28.4, -0.2 (Local) DAT read: Range 10 to 50 : 545.7 m (Round-trip 727.7 ms) speed 0.4 m/s ,DAT read: user:2173> BDAT read: Tx time:21:57:22.5397 $Ping request sent.iڅdځځۅ.G?ĠZſwT- ?)ۅ+Iۅgiۅ5 ۅءہہ :publishing transmit ping timeFpublishing direction and range info؁9؅oVп[ƿ xϿ?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅ.G?ĠZſwT- ?)ہIہiہہہہɛUB< >I (ɚiIg=#=Ivl ii\<)L@)J]JYJYJYJ]:JYJYJY*F?2F:FBFJF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:21:57:22.5389 GM jhn<G) B1 OU >w7Lw,PU0A2}@Y2&@2q92=y2H?`O?Z9߿?@@,r??+?ɨ2}@2y;2CyB̉BB})IIJtIJM4٢R,Z RR=9V,H:Q V>XX ZG٣XyZx ^> bNusing accuracyPremultiplier from config\b 59^Λ?f 5Y^3 i^IBdMMM@^D^N<^a<^7 5Y ][@YkG?k" k kB0A:klDBk}DZko@"PW1)6`NB@oVп[ƿ xϿ?Jk5 Rkء*jDfZݮ5^2:@YRտy:̿6M?"ki*k5k3?k8" 2k%DkkS=>U% kzDkֆCkm@ addTargetRange:: Added new target pos. range: 545.700012 m, deltaT: 4.284044 s, deltaX: 6.100037 m, approachRate: 1.423897 m/s, rangeRepo size: 4  Added new target pos. range: 545.700012 m, bearing: 214.019006 deg, lat: 36.897559 deg, lon: -122.121305 deg, deltaT: 4.284044 s, deltaX: 6.100037 m, approachRate: 1.423897 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 545.70 m.BjJj  ProNav: ac range: 545.700012 m, nav range: 269.673248 m, bearing: 213.042687 deg, approach rate: 0.000000 m/s, LOS rate: -0.106855 deg/s, cmd heading: 329.242985 deg, new cmd heading: 329.115117 deg. 2jHeadingCmd: 5.744143 target range: 545.700012 and range: 545.70 m. jз@j!j!j!i!h!h)h)h)f)f1f1rf5 @bf5S?ɛYea< a隥>I ,1ɚiI"=I ii<)з@)*F?2F:FBFx0JF u$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.HQIQ IU)IIU0BIU) =&IQ.IQ6IU?<:IU FBIJIRIZIbIjI#4G}t<GY Bi O >=Lw, 0A:lk@Y:z@:묻9:=y:H@g?m?`߿(? j xu?+??ɨ:lk@:p;8yFʉBJ{)IMb@Mb@Mb@ )YS?V-{Gzty?mףIA @)I@y@I5hI5V84٢E EB=9EQ M>II MG٣IyU" U> eNusing accuracyPremultiplier from configYm 59]]Λ?m 5Y]7 i]IBmW?u:uuM@]D]7;];] 5}0B yEZjFNOT Ignoring new targets: 545.70 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.E ProNav: ac range: 545.700012 m, nav range: 269.768799 m, bearing: 212.992201 deg, approach rate: 0.241589 m/s, LOS rate: -0.127603 deg/s, cmd heading: 329.115124 deg, new cmd heading: 328.963720 deg. 2jE%MHeadingCmd: 5.741500 target range: 545.700012 and range: 545.70 m. jM^@jIjIjIiIhQhqhyh}PBfyfyfyrfbf`?ɛb< >I ɚiIy"=I i(i%Q<)%^@)!zKNK9KK K*F?2F:FBF0JFGᜆ< Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O > A IA JcKkm3 KkL.KcKc"KcJ J J J J k:J \3:J J DLw,1A6D[@Y6j@6pл960H=y6HW??`߮`߿@?@?`z?':??ɨ6D[@6 ;6CyBBBj)I)D DDDIJTIJ4٢f fR=9jO8Q j>hh jG٣jGGyrϥ r> vNusing accuracyPremultiplier from configtz 59vΛ?z 5Yv; ivIBxzIzM@vDv:v:vN 5 >@ZjFNOT Ignoring new targets: 545.70 m.Bj%Jj% ProNav: ac range: 545.700012 m, nav range: 269.856659 m, bearing: 212.945621 deg, approach rate: 0.214690 m/s, LOS rate: -0.113783 deg/s, cmd heading: 328.963712 deg, new cmd heading: 328.824018 deg. 2j-HeadingCmd: 5.739062 target range: 545.700012 and range: 545.70 m. je@jjj!i!h!h!h!h)f)f)f)rf)bf5 ?ɛe Bek< aev>Ia m$ߺɚiiiIm"=IuK iuiu0<)ue@)y*F)2F):F)BF-_5JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.GiGI BY O} > A JLw,3-1A2Will construct direction to contact in vehicle frame from tetrahedron phase data. V`YTyVBH|I| I~)II~!BI~( =&I|.I|6I~|<:I~H FMZ_@YMn@M9M=yMHW?.?@漯߿?`!@|?@Ҽ??ɨMZ_@M;MCyeBe_)I-only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 83.56, 77.48, :WI,-32768,-32768,-32768,-32768,V  @ @ @  @ II٢:( ;= v$?I*J)"J-p=95úQ 5>19 =G٣9y=F: => mbBottom track data is 0.5 s old, using for 20.0 s. mNusing accuracyPremultiplier from configAu 59EqΛ?u 5YEB? iEIB}+:y}:}&}M@EDE;E>E} 5/B @ EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 545.70 m.Bj Jj e ProNav: ac range: 545.700012 m, nav range: 269.958557 m, bearing: 212.891848 deg, approach rate: 0.230177 m/s, LOS rate: -0.121420 deg/s, cmd heading: 328.824021 deg, new cmd heading: 328.662766 deg. 2jemHeadingCmd: 5.736248 target range: 545.700012 and range: 545.70 m. jmW@jijqjqiqhqhqhyhyfyfyfyrfbf?ɛ|< >I yɚiI.!=I% i-cpi- <)-W@))*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zK +KK ػ9K K K RK- ?JK- ?G= p<GE ?GE ?G B O= >-QLw,ޯG1A:n@Y:l}@:ƻ9:U=y:H`?in?߿ ? 븿 x?`? ?ɨ:n@:;8yFBF])IININ1h4٢V\  V_=9V3;Q Z>XX ZG٣Xy^?; ^> fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`f 59b?Λ?j 5YbB ibIBj :hje:nnM@bDb7;bN?b 5p rҷ@pZj FNOT Ignoring new targets: 545.70 m.Bj% Jj% E ProNav: ac range: 545.700012 m, nav range: 270.039185 m, bearing: 212.849624 deg, approach rate: 0.236536 m/s, LOS rate: -0.123837 deg/s, cmd heading: 328.662774 deg, new cmd heading: 328.536138 deg. 2jEMHeadingCmd: 5.734037 target range: 545.700012 and range: 545.70 m. jM<}@jIjIjQiQhQhQhYhYfYfYfarfabfe/?ɛ- BMG!< QU>IQ UᙺɚQiQI]Z!=I] i] ieD <)e<}@)auWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004934*F?2F:FBF_0JF w$?IG<GBOF> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255304nWLw,~a1AJy@YJ@J<"9J-G=yJHm?6Z?诿߿?ǯB$s?6??ɨJy@JO;HyVBVE)IiZ=IZ= ^a=^a=IbIbHo4٢j0 jH=9j`;Q j>ll nG٣nGGyvOa; v> zbBottom track data is 1.2 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx 59zdΛ? 5YzBF iz~IB99:M M@zDz\C;z?zk 5-B @EZj9=FNOT Ignoring new targets: 545.70 m.BjEHJjEHU ProNav: ac range: 545.700012 m, nav range: 270.132965 m, bearing: 212.800857 deg, approach rate: 0.229205 m/s, LOS rate: -0.119147 deg/s, cmd heading: 328.536143 deg, new cmd heading: 328.389895 deg. 2jU]HeadingCmd: 5.731485 target range: 545.700012 and range: 545.70 m. j]Sh@jYjYjYiahahahihifqfqfqrfqbfu@@ɛE BE1[< AE>II McvɚIiIIM !=Iu<< iutiu<)}Sh@)y*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510659HI I)IIBI&I.I6D6IU< I:I+ FG7ͤ<JU@AJQJeJeJaJaJe:Je?:JaJaJe?%'^Lw, \{1A2yu@Y2ք@2Ju92=y2Hl?8b?ᮯ@߿?`9Vn? `?`?ɨ2yu@2II MG٣QyUj U>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759405 Nusing accuracyPremultiplier from config 59Λ? 5YJ isIBT:!?:p#M@D;l;: 5! %R@)ZjFNOT Ignoring new targets: 545.70 m.Bj4 Jj4  ProNav: ac range: 545.700012 m, nav range: 270.229980 m, bearing: 212.746258 deg, approach rate: 0.214771 m/s, LOS rate: -0.120827 deg/s, cmd heading: 328.389895 deg, new cmd heading: 328.226156 deg. 2jإ HeadingCmd: 5.728627 target range: 545.700012 and range: 545.70 m. jP@jjjihhh!h%Bf!f!f)rf)bf-@ɛ Bz< N>I &6ɚiI =zK BoIK 9K K  K BK:KrAI iiU<)P@)*F%?2F):F)BF)JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013294G% < x$?I G B) OE >eLw,51A:w_@Y:n@:X9:Li=y:H? ?A߿ ?qk?Z?)?ɨ:w_@::;:Cy^Bb )IIfIfm4٢n rQ=9r:Q r>tt vG٣tyv$ z> ~Nusing accuracyPremultiplier from configx 59zΛ? 5YzGN izjIB $M@zDz;z;z{ 5+B @EZjAEFNOT Ignoring new targets: 545.70 m.BjM9JjM9U ProNav: ac range: 545.700012 m, nav range: 270.312408 m, bearing: 212.699628 deg, approach rate: 0.230688 m/s, LOS rate: -0.130461 deg/s, cmd heading: 328.226161 deg, new cmd heading: 328.086315 deg. 2j]eHeadingCmd: 5.726186 target range: 545.700012 and range: 545.70 m. je<@jajajaiahahihihififqfqrfqbfuIM @ɛV< 隥 g>I  ɚiIc =I~i5Ti5c<)5<@)9*F?2F:FBFh0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265019G5<GBO >&DkLw,@1AWill construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518625HTIT IV)IIVBIT&IT.IT6IVF<:IV FH@YWX@D>9.=yH Y??hl ߿3?@͹@&g?3?? )I)ɨH@|;CJJJJJJJJJJJJyqB= )I)A AIMA5Mb@Mb@Mb@111 1)1Y5q= ףp?y&1y5+?5`役5̼5A 5@)5@I5@1y5G@IMIMq4٢]Pr ]'=9e/N:Q e>aa mG٣mGGym" m> }Nusing accuracyPremultiplier from configq 59uϛ? 5YuS iuXIB.?:.M@uDu7;uR6;u# 5*B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 545.70 m.BjJj ProNav: ac range: 545.700012 m, nav range: 270.416138 m, bearing: 212.632851 deg, approach rate: 0.212050 m/s, LOS rate: -0.136459 deg/s, cmd heading: 328.086306 deg, new cmd heading: 327.886051 deg. 2jMHeadingCmd: 5.722691 target range: 545.700012 and range: 545.70 m. jI @jjjihhhhBfffrfbf@9 @ɛ- B-^'D< 15G>I1 5ɚ1i1I5D =I=|i=}qiE<)EI @)A*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:57:25.6684 TRx dataTimestamp_ set to:1736373446.996566checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768388G t'<zKM FKKI KI KM KM RKa JKe >G B O >`$rLw, 1AR)@YR8@R~H9RA=yRH`?`?qq|?Ąi???ɨR)@R ;PyZkB^)IIfIfb4٢n,  n=9n Q n ?pp rG٣pyv{D v ? ENusing accuracyPremultiplier from configxM 59z!ϛ?M 5YziW izLIBIM/MM@zDzEI KoɚiI =I%hi%i%,F<)% @))UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.021502*F?2F :F BF 0JF  =y$?I=hGEr<G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 21:57:25.6684 LVL= 22512, 32753, 30194, 32755, AGC= 71, IDX= 301, 0.15,-0.068,-1.616,-0.978,-0.618, PHS= 0.638,-0.951,-0.363, RAW= 111.5, 9.7, CAL= 120.9, 7.0, ROT= 29.1, -7.0 = Ygot valid direction response: 21:57:25.6684 LVL= 22512, 32753, 30194, 32755, AGC= 71, IDX= 301, 0.15,-0.068,-1.616,-0.978,-0.618, PHS= 0.638,-0.951,-0.363, RAW= 111.5, 9.7, CAL= 120.9, 7.0, ROT= 29.1, -7.0 E PDAT read: Bearing 29.1, -7.0 (Local) E ~Local bearing/azimuth received: Bearing 29.1, -7.0 (Local) U DAT read: Range 10 to 50 : 543.4 m (Round-trip 724.6 ms) speed 0.4 m/s  ,DAT read: user:2174>  BDAT read: Tx time:21:57:26.7897  $Ping request sent. @) 5=I "?i 5 lja0?% #¿D!?) I -.i  s  :publishing transmit ping timeء  Fpublishing direction and range info 9  ӿPݬ"*пs#Vcv?y  ) I i ) I i lja0?% #¿D!?) I i DKxLw,1Av+@Yv@v4>9v =yvHS? r ?g#{)np?"%`g?Ɛ? &?ɨv+@vS4;vCy%gB%)IIexIeT4٢u uA=99Q > G٣y > Nusing accuracyPremultiplier from config 594ϛ? 5YG\ i=IB 0]M@ Dͺ<K<H* 5(B @Ek5F%?k5;ڹ k1 k51A:k5DBk5DZk5^@"51ys5d s'aD@5 ӿPݬ"*пs#Vcv?Jk5Rk5s*5bm+&KUsQ< ~@5kTVܿKW(Ŀä9M?"k5Y*k5nk5jY?k5t  2k5U Dk5jY?k58" k5 Dk5Ck5g@ addTargetRange:: Added new target pos. range: 543.400024 m, deltaT: 4.283988 s, deltaX: -2.299988 m, approachRate: -0.536880 m/s, rangeRepo size: 4 % Added new target pos. range: 543.400024 m, bearing: 199.631852 deg, lat: 36.897463 deg, lon: -122.121032 deg, deltaT: 4.283988 s, deltaX: -2.299988 m, approachRate: -0.536880 m/s, posRepo size: 4 Zj!FNOT Ignoring new targets: 543.40 m.BjJj ProNav: ac range: 543.400024 m, nav range: 267.760162 m, bearing: 206.905628 deg, approach rate: 0.000000 m/s, LOS rate: -0.130409 deg/s, cmd heading: 327.755042 deg, new cmd heading: 327.570129 deg. 2jHeadingCmd: 5.717177 target range: 543.400024 and range: 543.40 m. j@jjjihhhhfffrf@3@bf ?ɛ]B).< 隍d1>I VɚiI=IEiM2iUo<)U@mWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:57:26.7889 H1>I I{)IIˉBI&I.I6I<:Is F)! ]z$?IYJAJEJAJAJAJEB:JAJAJAJAJE`;JE`;*F 2F :F BF _0JF G < Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>.bLw,̛2AB@YBJǷ@BV9BZ=yBH`q?|W?1tH?˷`p?S\??ɨB@B;BCyN[BN(IiR=IR< R=R=-Mb@Mb@Mb@))) )))Y-㥛 ?p= ף~jty-5?--ļ-3A -@)-@I-@)y-Q@IXI4٢ZO (=9Q > G٣GGy/ > Nusing accuracyPremultiplier from config 59Jϛ? 5YIb i+IB8?:y7M@D;<;~. 5 ڼ@ZjzK BHK +9K K  K BKrA:KpAFNOT Ignoring new targets: 543.40 m.Bj:Jj:5 ProNav: ac range: 543.400024 m, nav range: 267.890594 m, bearing: 206.836793 deg, approach rate: 0.309187 m/s, LOS rate: -0.163093 deg/s, cmd heading: 327.570135 deg, new cmd heading: 327.363731 deg. 2j5߻5HeadingCmd: 5.713575 target range: 543.400024 and range: 543.40 m. j=ն@j9j9j9i9h9h9hAhEƈBfIfIfIrfIbfM |6?ɛq} <-< y}4>Iy }H!8ɚyiI]=IiR4i1<)ն@)*F-?2F):F1BF5O1JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. IGer<G9 BI Oe >Lw,a2A6@Y6m@6'96=y6H^?v?U 7?R8u??@?ɨ6@6;6CyFYBF(IIN^IN&4٢V+ V[=9ZHQ Z>XX ZG٣\y^E b> fNusing accuracyPremultiplier from configdj 59f[ϛ?j 5Yff ifIBln8nM@fDfA;fc;f1 5r'B v@vEZj FNOT Ignoring new targets: 543.40 m.Bj2$Jj2$% ProNav: ac range: 543.400024 m, nav range: 267.990662 m, bearing: 206.783462 deg, approach rate: 0.269450 m/s, LOS rate: -0.143552 deg/s, cmd heading: 327.363727 deg, new cmd heading: 327.203792 deg. 2j- Ż-HeadingCmd: 5.710783 target range: 543.400024 and range: 543.40 m. j-@j1j1j1i1h1h9h9h9f9fAfArfAbfM`H?ɛqu#_-< y}f>Iy }09ɚyiyI}z=Iiܺi<)@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP5JFGii<GaBiO9>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.jHU <bHU p<Hq Iq  Iu b)IIu BIu ) =&Iq .Iq 6Iu <:Iu P FBI!JI!RI!ZI%( =bI%( =jI%ʷ4 {$?I J J J 1J J ;:J H:J 3J J L)<J L)<J ڝ;J ۝;ίLw,H652AyNB(IMb@Mb@Mb@ )Y333333?l¿~jty9? )@I@y@IeI34٢< 9=9Q > G٣y > ]Nusing accuracyPremultiplier from confige 59oϛ?e 5Yl iIBe=?m:m=mM@)D}<&}<5 5q u@qB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 543.40 m.Bj#Jj# ProNav: ac range: 543.400024 m, nav range: 268.106415 m, bearing: 206.718253 deg, approach rate: 0.254343 m/s, LOS rate: -0.143221 deg/s, cmd heading: 327.203791 deg, new cmd heading: 327.008249 deg. 2jĻHeadingCmd: 5.707371 target range: 543.400024 and range: 543.40 m. jȢ@jjjihhhhBfffrfbf`?ɛ B /< =I 9ɚiIG=IhiT\պi%Y?<)%Ȣ@)!*F2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKBoHK9KK K5bU4 GSݮ<G?G?G B O >Lw,8O2A>JQ@Y>`@>:ƻ9> H=y>H pJQ@>'Lj;>CyROBT)X XXXI^I^̍4٢f ; f]=9jQ j>hh jG٣jGGrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.742830yv v> zNusing accuracyPremultiplier from configx~ 59zڀϛ?~ 5Yzq izIB|?M@z1Dz ;z? ;z8 5 %B h@ E |$?IZjFNOT Ignoring new targets: 543.40 m.Bj`$Jj`$5 ProNav: ac range: 543.400024 m, nav range: 268.201996 m, bearing: 206.663274 deg, approach rate: 0.249929 m/s, LOS rate: -0.143708 deg/s, cmd heading: 327.008257 deg, new cmd heading: 326.843381 deg. 2j=@Ż=HeadingCmd: 5.704493 target range: 543.400024 and range: 543.40 m. jE5@jAjAjAiAhAhAhIhIfIfIfQrfqbfu`m ?ɛ-< 4=I G9ɚiI7=I)%i1Ϻi$ϗ<)5@)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995244G<G B O ™Lw,h2A^4@Y^C@^Bǻ9^=y^HM-?? Sܯ`u? @x?? ?ɨ^4@^vՈ;\ynRBr(III%x4٢g< %E=)1 19EJQ U>q G٣~GvAyo > ]z Y]vAy]*B eNusing accuracyPremultiplier from configIm 59MDϛ?m 5YMw iMHBim@uM@MI1 59ɚ1i1I5=I=^ i=EʺiE <)En@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250507HAIA IEV)IIEBIE( =&IA.IA6IEc<:IE7 F Ih*F 2F:FBFJFGeqA GaG <Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499046zLw,˂2A6 !@Y6f0@6 Ż96bV=y6H "?@*?@ , ?  x???ɨ6 !@6|;6CyFWBF(IEMb@Mb@Mb@AAA A)AYEGz?7A`¿y&1yEp=?EE`eEA A)AIE@AyEG@IeIe_v4٢uw< uE=9}z9Q }>yy G٣yû > Nusing accuracyPremultiplier from config 59ߦϛ? 5Y| iHB,A?:a@M@ED;;@ 5 @ZjFNOT Ignoring new targets: 543.40 m.Bj-Jj- ProNav: ac range: 543.400024 m, nav range: 268.416351 m, bearing: 206.539516 deg, approach rate: 0.263232 m/s, LOS rate: -0.151273 deg/s, cmd heading: 326.643880 deg, new cmd heading: 326.472257 deg. 2jϻHeadingCmd: 5.698016 target range: 543.400024 and range: 543.40 m. j%V@jjjihhh h ҈Bf f frfbfC@ɛ9=OP.< AE(>IA E:ɚAiAIMl=IUi] źi]<)]%V@)YzKWLK9KK K*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750718 }$?IG- <JJJ0JJ:J>:Jـ3Ja@a@a@a@Ga By O >ӦLw,Y2A6@Y6|@6(Bϻ96J=y6H@?g?\ ? ֐9y??@?ɨ6@6`;4y>cB>(Iib>Ib4< f=f=IjIjm4٢r'y= rT=9rURQ r>tt vG٣vGGyzG z> ~Nusing accuracyPremultiplier from config| 59~ϛ? 5Y~  i~HBHA M@~OD~ ;~ ;~rC 5"B @EZjAEFNOT Ignoring new targets: 543.40 m.BjM-JjM-] ProNav: ac range: 543.400024 m, nav range: 268.516693 m, bearing: 206.481402 deg, approach rate: 0.261341 m/s, LOS rate: -0.151302 deg/s, cmd heading: 326.472251 deg, new cmd heading: 326.297974 deg. 2j]ϻeHeadingCmd: 5.694974 target range: 543.400024 and range: 543.40 m. je:=@jajajaiahihihihifqfqfqrfqbfu@@ɛ4I< 隥&>I &_::ɚiI~o=Ii"ɿiF<):=@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.003567*F5?2F9:F9BF=o0JF9GU)ş<G1B9O]>H! I!  I% \)II% BI! &I! .I! 6I% f<:I% 9 Fu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270221 I *J a="J ELw,c2A2z@Y2@2λ92E=y2H`?@? M9?@py?`Ȼ? r?ɨ2z@2{;0yJjBJ)I%Mb@Mb@Mb@!!! !)!Y%^I +?Onÿ{Gzty%X9?%%ף%A %Z@)%@I%@!y%\@I=I=i4٢M= MD=9M7Q U>QQ UG٣Qy]Ż ]> mNusing accuracyPremultiplier from configam 59etϛ?m 5Ye ieHBu;=?u:uDuM@eXDej;eٔIQ ] d:ɚYiYI]Z(=IeiieQie<)e"@)i*F 2F :F BF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:57:29.8949 TRx dataTimestamp_ set to:1736373451.041900checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521630zK- BoHK- h9K) K- K- RKE ?JKE ?GM <G! B) OM >7Lw,Z2AJDԯ@YJ@Jӻ9J=yJH??e 6?` vz???ɨJDԯ@J[݊;HyVwBV)IIjIj1h4٢v+}= vQ=9v.ŹQ z>|| G٣y >  Nusing accuracyPremultiplier from config  59 ϛ? 5Y  Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770985i HB)-D-M@ bD ; ; J 55 B 5@5EZjY]FNOT Ignoring new targets: 543.40 m.Bje2Jje2u ProNav: ac range: 543.400024 m, nav range: 268.717896 m, bearing: 206.361020 deg, approach rate: 0.260184 m/s, LOS rate: -0.156156 deg/s, cmd heading: 326.111863 deg, new cmd heading: 325.936964 deg. 2juVֻ $?IHeadingCmd: 5.688673 target range: 543.400024 and range: 543.40 m. j @jjjihhhhfffrfbf w@ɛӀ< XM>I +:ɚiI =JJJ1JJK:JC:J3JI1iGio$<) @)*FI2FI:FIBFM0JFIG}Fթ<G ?G>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025013Gq B O >Lw,K;2AV@YVѶ@V ׻9V˷=yVH?`%?z E`?̶`z?@4(??ɨV@V,;VCybBf+)I)   AIrIJ4٢%= %F=9-Q ->)) 5G٣5GGy5 5> ENusing accuracyPremultiplier from config9E 59=]ϛ?M 5Y= i=HBIUkEUM@=kD=[;=[;=N 5a ey@eEZjFNOT Ignoring new targets: 543.40 m.Bj *Jj * ProNav: ac range: 543.400024 m, nav range: 268.819122 m, bearing: 206.300031 deg, approach rate: 0.246825 m/s, LOS rate: -0.148657 deg/s, cmd heading: 325.936955 deg, new cmd heading: 325.754056 deg. 2j ̻HeadingCmd: 5.685481 target range: 543.400024 and range: 543.40 m. ju@jjjihhhhfffrfbf>@ɛ< q>I 7c:ɚiI=I/iwi!<)u@) HI Iu)IIƉBI&I.I7D6Il<:I= F*F2F:FBF%_55Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IJF!mDAT read: 21:57:29.8949 LVL= 24304, 32753, 27858, 32755, AGC= 68, IDX= 199, 0.48, 1.627,-0.011, 0.601, 0.995, PHS= 0.720,-0.959,-0.397, RAW= 109.2, 8.7, CAL= 119.0, 6.2, ROT= 31.0, -6.2 eYgot valid direction response: 21:57:29.8949 LVL= 24304, 32753, 27858, 32755, AGC= 68, IDX= 199, 0.48, 1.627,-0.011, 0.601, 0.995, PHS= 0.720,-0.959,-0.397, RAW= 109.2, 8.7, CAL= 119.0, 6.2, ROT= 31.0, -6.2 uPDAT read: Bearing 31.0, -6.2 (Local) u~Local bearing/azimuth received: Bearing 31.0, -6.2 (Local) DAT read: Range 10 to 50 : 525.7 m (Round-trip 701.0 ms) speed 0.5 m/s ,DAT read: user:2175> BDAT read: Tx time:21:57:30.9897 $Ping request sent. =@)=k=I=c ?i=kݽ99=Ѝ߂?9"ǿ_>9?)=AI=^i=Pe=[99-:publishing transmit ping timeر-Fpublishing direction and range info99=Cb_ѿ ˿@V?y9999 9)9I9i99999 9)9I9i999=Ѝ߂?9"ǿ_>9?)9I9i9999Ge )ş<G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,f3A2ȧ@Y2%@2>ݻ92=y2H?6;?@@̰`[@?ֶ๾{?`?L??ɨ2ȧ@2ˊ;2CyNBN6)IMb@Mb@Mb@ )Y/$?T㥛 y&1|?y&1?`; @)@I@yQ@IM_IMb(4٢ex%= m8=9uQ u>yy }G٣yy` > Nusing accuracyPremultiplier from config 59Л? 5YC iHB4?:@M@uD;;R 5B ̸@Ekmiɉ?km  ki km2A:kmlDzK K  9K K  K  %;FLMJD>;950-*(%!    BKqA:KqABkmDZkmڣZ@"mR1J bǽHg\e[~@mCb_ѿ ˿@V?JkmPeRkm[*mGLjlsHCNuc}@mF&ڿ`\CywK+?"kmr*kmVkmy[M?km` 2km0Dkml?kmo?`! km0DkmzCkmd@u addTargetRange:: Added new target pos. range: 525.700012 m, deltaT: 4.298124 s, deltaX: -17.700012 m, approachRate: -4.118079 m/s, rangeRepo size: 4  Added new target pos. range: 525.700012 m, bearing: 195.736741 deg, lat: 36.897582 deg, lon: -122.120873 deg, deltaT: 4.298124 s, deltaX: -17.700012 m, approachRate: -4.118079 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 525.70 m.BjJj ProNav: ac range: 525.700012 m, nav range: 250.970871 m, bearing: 204.674250 deg, approach rate: 0.000000 m/s, LOS rate: -0.148657 deg/s, cmd heading: 325.754043 deg, new cmd heading: 325.548564 deg. 2jHeadingCmd: 5.681894 target range: 525.700012 and range: 525.70 m. jҵ@jjjihhhhBfffrfm@bf L?ɛaeW< im>Ii mt:ɚiiiImH/=Iu4iu_i}<)}ҵ@)y*F2F:FBFd4JF=Will construct direction to contact in vehicle frame from tetrahedron phase data. yI}hJJJJJ:J<:JJG N<G B O >!Lw,%3A6b@Y6@6Qn96=y6H? R?q?( ?s?` ?ɨ6b@6<;6Cy>B>W)IIRcIRy/4٢Z> Zk=9Z<;Q ^?\\ ^G٣`yb~ b? fNusing accuracyPremultiplier from configdj 59fЛ?j 5Yf idlnAnM@f}DfG ;fC ;f U 5rB r @rEZj FNOT Ignoring new targets: 525.70 m.Bjm1Jjm1- ProNav: ac range: 525.700012 m, nav range: 251.061691 m, bearing: 204.622932 deg, approach rate: 0.274622 m/s, LOS rate: -0.155118 deg/s, cmd heading: 325.548563 deg, new cmd heading: 325.394666 deg. 2j-Ի5HeadingCmd: 5.679208 target range: 525.700012 and range: 525.70 m. j5@j1j1j1i1h9h9hAhAfAfAfArfIbfM?ɛBz<  w<n>I :ɚiI=I%9i%i%~<)-@))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG G"GGGGpAGyBO>jH <bH 4=H 2>I  I )II BI &I .I 6I x<:I F FU Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I LLw,!73A2{@Y2)@292i=y2H@?D_?T ?@*P ?@ ?n?ɨ2{@2;0yFBF^)IiJR=IJl> Np=NR=UMb@Mb@Mb@QQQ Q)QYU(\?MbI +?yU'?UU94=9Q > G٣GGyc > Nusing accuracyPremultiplier from config 59#Л? 5Y tIiHBk)?:8N@D;;X 5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 525.70 m.BjoJjo ProNav: ac range: 525.700012 m, nav range: 251.177856 m, bearing: 204.563479 deg, approach rate: 0.269057 m/s, LOS rate: -0.137640 deg/s, cmd heading: 325.394665 deg, new cmd heading: 325.216389 deg. 2j뼻 HeadingCmd: 5.676097 target range: 525.700012 and range: 525.70 m. j @j j jihhhh7Bfff!rf!bf%YJ?ɛIM?< IU[>IQ U:ɚYiYI]c=I]&jie4ieT<)e@)a*F ?2F :F BF `0JF GBO )>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKE DMKE 9KA KE KE RKU ?JKU ?8Lw,gQ3A6,w@Y6@696g/=y6Hd?b?@6 6 p?ޚ@EY?V?c?ɨ6,w@6&;6CyZÉBZr)IzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.429228 )I)IfmIf3A4٢= G=9b:Q > G٣y峺 > Nusing accuracyPremultiplier from config 594Л? 5YY iHB9N@D\ ; ;f\ 5B @EZj  FNOT Ignoring new targets: 525.70 m.BjJj= ProNav: ac range: 525.700012 m, nav range: 251.288589 m, bearing: 204.506904 deg, approach rate: 0.270206 m/s, LOS rate: -0.137991 deg/s, cmd heading: 325.216397 deg, new cmd heading: 325.046748 deg. 2j=g]HeadingCmd: 5.673136 target range: 525.700012 and range: 525.70 m. j]T@jYjajaiaJJJ0JJk:J7:Jـ3Jhah h h f ffrfbfZD?ɛ!%=< !%f>I! -`-;ɚ)i)I-5=I53,i5i5<)5T@)1*F2F:FBF_0JFGBOe>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.681417x`Lw, k3A6x@Y6Z@6Nֻ96//=y6H`u?a?ག`? !z?>? #?ɨ6x@60W;6CyrʉBr{)II~wI~R4٢=  V=9 w;Q  >  G٣y: > %Nusing accuracyPremultiplier from config!- 59%DЛ?- 5Y% i%HB)585N@%D%0;%1;%_ 59 E@AZjFNOT Ignoring new targets: 525.70 m.BjJj  ProNav: ac range: 525.700012 m, nav range: 251.391922 m, bearing: 204.454293 deg, approach rate: 0.259109 m/s, LOS rate: -0.131868 deg/s, cmd heading: 325.046736 deg, new cmd heading: 324.888970 deg. 2j HeadingCmd: 5.670382 target range: 525.700012 and range: 525.70 m. js@jjjihhhhff!f!rf!bf%`9;?HQIQ IU)IIU BIQ&IQ.IQ6IQ:IQBIJIRIZIbIjIÏi4ɛ< >I $;ɚiIt=Iii<)s@)Will construct direction to contact in vehicle frame from tetrahedron phase data. M$?IMh]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.943426EI*F 2F :F BF 4JF G ?G >G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iս A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.185630ELw,V3A6Lq@Y6@6p96&=y6HJ?`g?3@ך?@v?@??ɨ6Lq@6ę;4yFӉBJ)I)P PRARAeMb@Mb@Mb@aaa a)aYeZd;?x&:v?ye?e7eT G٣GGy > Nusing accuracyPremultiplier from config 59UЛ? 5Y& iHB?:j0N@Dj;;hc 5B q@EZjFNOT Ignoring new targets: 525.70 m.Bj$Jj$ ProNav: ac range: 525.700012 m, nav range: 251.507309 m, bearing: 204.400595 deg, approach rate: 0.285947 m/s, LOS rate: -0.133012 deg/s, cmd heading: 324.888958 deg, new cmd heading: 324.727937 deg. 2j HeadingCmd: 5.667572 target range: 525.700012 and range: 525.70 m. j \@j j j i h hhh]Bff!f!rf!bf%@ɛMBU< QU>IY ] 8;ɚYiYI]=Ieݘie$siec<)e\@)izKm}KKm]9KiKm KmE} =*F2F:F BF n0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437466 =$?I9GE<G B O >/pLw,23A>k@Y>xz@>9>G=y>H`?!m?g@?+r?f??ɨ>k@>2ތ;>CyN܉BR)IIZIZ%x4٢bz5= bX=9b";Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr 59n5eЛ?r 5Yn inHBtv0vN@nDn;ne:nf 5x z@~EZj!%FNOT Ignoring new targets: 525.70 m.Bj-Jj-= ProNav: ac range: 525.700012 m, nav range: 251.611206 m, bearing: 204.352278 deg, approach rate: 0.273997 m/s, LOS rate: -0.127368 deg/s, cmd heading: 324.727930 deg, new cmd heading: 324.583040 deg. 2j=ҮEHeadingCmd: 5.665043 target range: 525.700012 and range: 525.70 m. jEH@jAjAjAiIhIhIhIhIfQfQfQrfQbf]`@ɛ= 隍.>I K;ɚiI=I>i: i<)H@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690002E8AHQ IQ  IU )IIU &BIQ &IQ .IQ 6IU 7<:IU  F I II e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950294G} -<J J J J J :J =:J J J #Lw,ݺ3AB]@YB%m@Bo9BS=yBH?x?n@Y?m? b?@?ɨB]@B{;BCyNBN)I-Mb@Mb@Mb@))) )))Y-`"?:v{Gzt?y-?-T-ף;) -@)-@I-3@)y-3@IEuIEaO4٢M+.= U5=9U;Q U>YY ]G٣Yyel e> mNusing accuracyPremultiplier from configiu 59mvЛ?u 5Ym iiue?}:}+}N@mDm;m;mj 5B 2@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 525.70 m.Bj Jj  ProNav: ac range: 525.700012 m, nav range: 251.734146 m, bearing: 204.297995 deg, approach rate: 0.272414 m/s, LOS rate: -0.120224 deg/s, cmd heading: 324.583048 deg, new cmd heading: 324.420278 deg. 2jHeadingCmd: 5.662202 target range: 525.700012 and range: 525.70 m. j0@jjjihhhhBfffrfbf#z @ɛBt4< >I Xe;ɚiI=IiNli#<)0@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202771*F-?2F):F)BF1JF1"G=a=G=p=zKYKK9KK K m $?Ii Gu N< Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:57:34.0923  TRx dataTimestamp_ set to:1736373455.333967 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.455827GI BY Ou >bLw,03AO@Y^@%9us=yH@۱?݅?Kd`s? K d?@>?`Z?ɨO@';Cy-މBU)Ii]=I]C=Ie{IeZ4٢  2=9!;Q > G٣GGyv > Nusing accuracyPremultiplier from config 59Л? 5Y iHB,N@D:H:n 5  @ZjY]FNOT Ignoring new targets: 525.70 m.BjeJje ProNav: ac range: 525.700012 m, nav range: 251.859161 m, bearing: 204.242714 deg, approach rate: 0.270865 m/s, LOS rate: -0.119714 deg/s, cmd heading: 324.420271 deg, new cmd heading: 324.254512 deg. 2jQHeadingCmd: 5.659309 target range: 525.700012 and range: 525.70 m. j@jjjihhhhfffrfbf= @ɛ!%< AE8>IA M~;ɚIiIIM=IU\iUYi][<)]@)Y*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.705722G G B O >Lw,3AH I  I *II :BI &I .I 6I =<:I  FM@@YM P@M '9M=yMH?@h? ܱP~?@@~D?`?@?ɨM@@M]f;MCyeBe)IIuIur4٢< P=9ٝ;Q > G٣yo > Nusing accuracyPremultiplier from config 59NЛ? 5Yѿ iHB|,N@D';O;r 5B V@E $?IZjFNOT Ignoring new targets: 525.70 m.BjJj%=Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 525.700012 m, nav range: 251.965729 m, bearing: 204.195503 deg, approach rate: 0.269759 m/s, LOS rate: -0.119459 deg/s, cmd heading: 324.254516 deg, new cmd heading: 324.112941 deg. 2jJmAAJiJ3K;3 K;.K3K3"K3JJJJJJ7:JJJ#<JJ;J;%DAT read: 21:57:34.0923 LVL= 17200, 32241, 23794, 32755, AGC= 72, IDX= 412, 0.24, 2.149, 0.493, 1.116, 1.484, PHS= 0.753,-0.944,-0.371, RAW= 109.4, 7.6, CAL= 119.5, 5.0, ROT= 30.5, -5.0 MHeadingCmd: 5.656838 target range: 525.700012 and range: 525.70 m. jU@jQjQjYiYYgot valid direction response: 21:57:34.0923 LVL= 17200, 32241, 23794, 32755, AGC= 72, IDX= 412, 0.24, 2.149, 0.493, 1.116, 1.484, PHS= 0.753,-0.944,-0.371, RAW= 109.4, 7.6, CAL= 119.5, 5.0, ROT= 30.5, -5.0 8DAT read: $Error in header *Received a bad headerhhhhfffrfbfw@X#Rx 1: Read direction message, but no range.`direction in FSK: [-0.255156,-0.221333,0.941226]99=p [xTп|K cT̿bچ?9=0C=} =\)9I=Hi=@?=q==f?=> ={@)=¸=I={F?i=¸9=qQ-?`ǿHd/v?)==I=YHi=T=%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseɛ15h< 1=w>I9 ]0;ɚYiYI] =IeQX ieEimd=)m@)i*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG <G% ?G% ?G B O >Mw,f 4AyډB)IMb@Mb@Mb@ )Yd;O?/$Mb`?y?,;IA @)@I@y@IId4٢|  D=9Q > G٣zKBIK9KK Ky >  Nusing accuracyPremultiplier from config  59 Л? 5Y  i HB ?:r(N@ D S; ; u 5%B %ѳ@!ZjIUFNOT Ignoring new targets: 525.70 m.BjUJjUe ProNav: ac range: 525.700012 m, nav range: 252.080505 m, bearing: 204.146692 deg, approach rate: 0.279689 m/s, LOS rate: -0.118888 deg/s, cmd heading: 324.112939 deg, new cmd heading: 323.966575 deg. 2je/mHeadingCmd: 5.654284 target range: 525.700012 and range: 525.70 m. ju@jqjqjqiqhqhqhyh}oBfyfyfrfbf @ɛB%h= 隵>I  ;ɚiI=I im7i =)@)*F-?2F1:F1BF54JF1GMrA GMrA IMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseGM:^<G! B9 OU >NMw,$4A:@Y:Q/@:b;9:x2=y:H@p??Uﭿ`Dl? ﷿OBl7?` ?ɨ:@:H݋;:CyFщBF)I)H JAJAJARWill construct direction to contact in vehicle frame from tetrahedron phase data.RT****** received valid address query ******RR****** received valid ping request ******Vreceived new query, but waiting for acoustic response period to elapseIVwIVR4٢^ V b_=9b6dd fG٣fGGyf2 j> nNusing accuracyPremultiplier from confighr 59jЛ?r 5Yj, ijHBpry)rN@jDj ;j ;jx 5zB zU@~EZj%FNOT Ignoring new targets: 525.70 m.Bj%PJj-P5 ProNav: ac range: 525.700012 m, nav range: 252.179916 m, bearing: 204.104103 deg, approach rate: 0.272160 m/s, LOS rate: -0.116551 deg/s, cmd heading: 323.966582 deg, new cmd heading: 323.838866 deg. 2j=EHeadingCmd: 5.652054 target range: 525.700012 and range: 525.70 m. jEݴ@jAjAjAiAhAhIhIhIfIfQfQrfQbfU@+D@ɛr= 隍>I ;ɚiIR=Iˑ!i'iw=)ݴ@)*F=?2F9:F9BF=`0JFAHI I)II5BI&I.I6I <:I FGU = I]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******mR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseGBOm >*J R="J a=J J J 1J J J >:J 3J J #<J J ˕;J ˕;>Mw,Pm>4A6@Y65@6c~;96=y6H@?`.?ʬ 6 _?׷@/v`ѻ? `?ɨ6@6-;6Cy>ΉB>)IMb@Mb@Mb@ )Y-?Mb{Gzy??@#A @)3@I@yImlImm?4٢}0` }?=9;Q > G٣y׻ > Nusing accuracyPremultiplier from config 59*Л? 5YF iHB?:+N@Dl;;| 5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 525.70 m.BjlJjl ProNav: ac range: 525.700012 m, nav range: 252.295441 m, bearing: 204.053654 deg, approach rate: 0.269235 m/s, LOS rate: -0.117521 deg/s, cmd heading: 323.838858 deg, new cmd heading: 323.687579 deg. 2jNHeadingCmd: 5.649414 target range: 525.700012 and range: 525.70 m. j ȴ@j j j i h h hhbBfffrfbf`+@ɛAMW< IM2>II Mu;ɚQiQIU =I]>"ieQie =)eȴ@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBF_0JFGl=GrAGqAzK5BoIK1K1K5 K5RKM ?JKM>GBO > $?I e Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse%Mw,PX4An@YnO @nE~<9nI=ynH` ??zV? o??ɨn@n|4;nCyzBzh)II|I[4٢O E=9;Q > G٣y > Nusing accuracyPremultiplier from config 59)Л? 5YB iHB6,N@D ;P ;H 5B @EZjamFNOT Ignoring new targets: 525.70 m.BjuJju ProNav: ac range: 525.700012 m, nav range: 252.407257 m, bearing: 204.004734 deg, approach rate: 0.265439 m/s, LOS rate: -0.116080 deg/s, cmd heading: 323.687583 deg, new cmd heading: 323.540887 deg. 2jTHeadingCmd: 5.646854 target range: 525.700012 and range: 525.70 m. j@jjjihhhhfffrfbf@P@ɛMBM#< QU>IQ U˰;ɚQiQIUѲ=I]"i]"ie.=)e@)a*F2F:FBFJF"G =G =Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG G B O >Mw,*r4A:خ@Y:c@:$<9:x=y:Hn?H?@tD?4:@?IP IR)IIR!BIP&IP.IP6IR%<:IR FyNB^`)Iib=Ib=IfIfb4٢n r[=9r;Q r>pt vG٣vGGyv5 v> ~Nusing accuracyPremultiplier from configx~ 59z|Л? 5Yz izHBJ-N@zDz:zn:z 5  @EZjAEFNOT Ignoring new targets: 525.70 m.BjM[ JjM[ ]$?Iehm ProNav: ac range: 525.700012 m, nav range: 252.507034 m, bearing: 203.960734 deg, approach rate: 0.272429 m/s, LOS rate: -0.120088 deg/s, cmd heading: 323.540897 deg, new cmd heading: 323.408951 deg. 2jmԤuHeadingCmd: 5.644551 target range: 525.700012 and range: 525.70 m. ju)@jqjqjqiyhyhyhhfffrfbf$@ɛB< 隽O>I G;ɚiIy=I}#ii'=))@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseJuJqJu0JqJu:JqJuـ3JqJu2!<Ju3!<JqJq*F2F:FBFo0JFGm+=G) BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse"Mw,4A2Ϳ@Y2+ϵ@2qIM<92de=y2H`?`" ?`O{6?۷ ?`?ɨ2Ϳ@2;0y^B^G)IMMb@Mb@Mb@III I)IYM/$?T㥛 Zd;OyM?MMjMA M@)MI@IM@IyM@IeIei4٢u  uA=9};Q }> G٣y >zK5K59K1K5 K5BK9:K9 MNusing accuracyPremultiplier from configAu 59E3Л?u 5YE iEHBu?u:u)3uN@EDE;E>;Es 5B 2@EZjFNOT Ignoring new targets: 525.70 m.Bj$ Jj$  ProNav: ac range: 525.700012 m, nav range: 252.627380 m, bearing: 203.904680 deg, approach rate: 0.265051 m/s, LOS rate: -0.123394 deg/s, cmd heading: 323.408938 deg, new cmd heading: 323.240858 deg. 2j^HeadingCmd: 5.641617 target range: 525.700012 and range: 525.70 m. j !@j jIjIiIhIhIhQhU/BfQfYfYrfYbf]@ɛBG< >I I;ɚiIM=I-=$i5gi51%=)5!@)9 YIa%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse*F92F9:F9BF=_0JF9G] <GY Bq O >7)Mw,٥4A6@Y6@6um<96;3=y6HN?@a)? ̧o7^$? p@9??ɨ6@6;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.BT****** received valid address query ******BR****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapseyFBF2)II%I%_v4٢Ѩ H=9;Q > G٣y" > Nusing accuracyPremultiplier from config 59mћ? 5Y iHB94N@Da;/t;ъ 5 F@Zj)-FNOT Ignoring new targets: 525.70 m.Bj\Jj\ ProNav: ac range: 525.700012 m, nav range: 252.730484 m, bearing: 203.856282 deg, approach rate: 0.268976 m/s, LOS rate: -0.126209 deg/s, cmd heading: 323.240861 deg, new cmd heading: 323.095726 deg. 2j;HeadingCmd: 5.639084 target range: 525.700012 and range: 525.70 m. jas@jjjihhhhfffrfbf@c@ɛB< 隕u>I ;ɚiI1=I$iXi<)as@)*F?2F:FBF0JFG GZHRHAAHI I)IIBI&I.I6I2<:I FBIaJIaRIaZIabIajIeL4 ]$?IY5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseG e[=J J J J J :J ;:J J J ?%<J @%<J ;J ;G B OM >22/Mw,4A6}@Y6ێ@6~<96e=y6H G٣GGya > %Nusing accuracyPremultiplier from config% 59ћ?% 5Yb iHB-(?-:-P;-N@D';;v 5=B =:@EE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 525.70 m.Bj]Jj] ProNav: ac range: 525.700012 m, nav range: 252.843033 m, bearing: 203.799648 deg, approach rate: 0.270056 m/s, LOS rate: -0.135830 deg/s, cmd heading: 323.095733 deg, new cmd heading: 322.925908 deg. 2joHeadingCmd: 5.636120 target range: 525.700012 and range: 525.70 m. j[@jjjihhhhBfffrfbf /@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛ< R>I s|;ɚiI#=I%i<}ij<)[@)*F?2F:FBF^1JFzKRIK9KK KRK ?JK?G < I IQ G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse6Mw,*4AzT3@YzB@z(C<9zC==yzH@?-?_~܎!? ʷ H@b?L?ɨzT3@z8;xy%kB%)II=I=̍4٢uԹ uL=9};  G٣yIļ > Nusing accuracyPremultiplier from config 59'ћ? 5Y iuHB=N@DX::ߑ 5  c@Zjq}FNOT Ignoring new targets: 525.70 m.BjJj ProNav: ac range: 525.700012 m, nav range: 252.946365 m, bearing: 203.746473 deg, approach rate: 0.257687 m/s, LOS rate: -0.132554 deg/s, cmd heading: 322.925907 deg, new cmd heading: 322.766445 deg. 2j𵻝HeadingCmd: 5.633337 target range: 525.700012 and range: 525.70 m. jLD@jjjihhhhfffrfbfO@ɛ5B=_< 9=,>I9 =;ɚ9iAIE(=IEv\&iMKiM<)MLD@)i*F 2F :F BF P5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse)ſ= |CG\CI$ I&)II&ՉBI$&I$.I$6I&<:I& FZ@YZ@Z<9Z=yZHH??Ф?طSn??ɨZ@Zʊ;ZCybbBf(I r$?IpIjIj4٢Eq, EM=9M;Q M>IQ UG٣QyU/ ]> eNusing accuracyPremultiplier from configYm 59]7ћ?m 5Y] i]bHBim>mN@]D]:] :]N 5}B }Ժ@EZjFNOT Ignoring new targets: 525.70 m.Bj>"Jj>" ProNav: ac range: 525.700012 m, nav range: 253.049683 m, bearing: 203.692849 deg, approach rate: 0.273401 m/s, LOS rate: -0.141843 deg/s, cmd heading: 322.766436 deg, new cmd heading: 322.605630 deg. 2j»HeadingCmd: 5.630530 target range: 525.700012 and range: 525.70 m. jN-@jjjihhhhfffrfbf " @Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛBJ< !%>I! %d;ɚ!i!I%>5=I-c'i-i5R<)5N-@)1*F2F:FBF_0JF"G=G=G<GB O-N> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG+CMw,J 5Ay=RB=(IiE G٣GGy   > Nusing accuracyPremultiplier from config  59 Iћ? 5Y  i KHB4?%:%G%N@ D "; ;  5) -ۻ@)zKBoHK 9KK KZjFNOT Ignoring new targets: 525.70 m.BjV#JjV# ProNav: ac range: 525.700012 m, nav range: 253.160553 m, bearing: 203.629698 deg, approach rate: 0.250817 m/s, LOS rate: -0.142800 deg/s, cmd heading: 322.605626 deg, new cmd heading: 322.416257 deg. 2jĻHeadingCmd: 5.627225 target range: 525.700012 and range: 525.70 m. j;@jjjihhhhBfffrfbfJ!@ɛquDk< u=up=Iq uk;ɚyiyI}O=I'ii! <);@) IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse*F92F9:F9BF9JF9JEJEJAJAJEk:JE::JAJAaM@aM@aM@aM@GE <G! B) OU >iWIMw,M.'5A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2T****** received valid address query ******2R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapseBǭ@YBqִ@B><9BQ=yBH@??@ݣ?``ܹ??ɨBǭ@BX҉;BCy^GB^(IIfIf#4٢rf r^=9rFtt vG٣tyzVǼ z> Nusing accuracyPremultiplier from config  59Xћ? 5Y i5HBIN@!D==D 5%B %k@%EZjaFNOT Ignoring new targets: 525.70 m.Bjw Jjw  ProNav: ac range: 525.700012 m, nav range: 253.254745 m, bearing: 203.574812 deg, approach rate: 0.240852 m/s, LOS rate: -0.140291 deg/s, cmd heading: 322.416266 deg, new cmd heading: 322.251671 deg. 2jHeadingCmd: 5.624352 target range: 525.700012 and range: 525.70 m. j@jjjihhh h f ffrfbfd!@ɛeBeY< a0=I T;ɚiIu=IE(iCiA<)@)jH=<bH=4<HE3>IA IEV)IIEBIA&IA.IA6IEP<:IE* F*FY2FY:FYBFaJFa $?Ih Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGe Hn<Gy B O >ii mG٣qyuB u> Nusing accuracyPremultiplier from configy 59}jћ? 5Y} i}HBszKA KE 9KA KE KE  I - Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapsefVMw,0Z5AJJJJJ:J?:JJNʃ@YN(@N<9N=yNHL??q@Py?4`x`O??ɨNʃ@N;NCyr4Br(I)x xIEIE#4٢Ud; UL=9U^;Q U> G٣yZ > Nusing accuracyPremultiplier from config 59|ћ? 5Y i HBON@4D*;< 5} B }@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 525.70 m.Bji(Jji(% ProNav: ac range: 525.700012 m, nav range: 253.466171 m, bearing: 203.445107 deg, approach rate: 0.239404 m/s, LOS rate: -0.147238 deg/s, cmd heading: 322.055659 deg, new cmd heading: 321.862697 deg. 2j%ʻmHeadingCmd: 5.617564 target range: 525.700012 and range: 525.70 m. jmó@jijqjqiqhqhqhyhyfyfyfyrfbfx#@ɛim7+< im0d=Ii u;ɚqiqIu=I}/f*i}b8i}<)}ó@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE<*F 2F :F BF JF HA IA  IE *)IIE BIA &IA .IA 6IE K<:IE ' F $?I -Will construct direction to contact in vehicle frame from tetrahedron phase data.5c?t`ڊ ?`?ɨ5`@53;5CyM2BM(IMb@Mb@Mb@ )Yx&1?p= ףAA MG٣MGGyU U> ]Nusing accuracyPremultiplier from configYe 59]Εћ?e 5Y] i]GBe+C?e:ePmN@]BD]t;]t;] 5} B @EZjFNOT Ignoring new targets: 525.70 m.Bj.@Jj.@ ProNav: ac range: 525.700012 m, nav range: 253.615112 m, bearing: 203.352771 deg, approach rate: 0.271176 m/s, LOS rate: -0.168016 deg/s, cmd heading: 321.862693 deg, new cmd heading: 321.585851 deg. 2j滝HeadingCmd: 5.612732 target range: 525.700012 and range: 525.70 m. j@jjjihhhhBfffrfbf$@ɛB#< S=I %;ɚ!i!I%-=I-Ԣ+i-z8i-<)-@)1E%Ho=Will construct direction to contact in vehicle frame from tetrahedron phase data.  $?I zK BHK h9K K K .eMw,ܹ5A2kB@Y2Q@2 *<92$=y2H@?I?C`ON?`w;DW ?`?ɨ2kB@2;0y:+B:(IIFIF{4٢J2 N=9N/;Q N?PP RG٣PyVA V? ZNusing accuracyPremultiplier from configX^ 59Zћ?^ 5YZ  iZGB\^QbN@ZJDZ ;Z ;ZD 5d f@dZjxzFNOT Ignoring new targets: 525.70 m.Bj~":Jj~":  ProNav: ac range: 525.700012 m, nav range: 253.696014 m, bearing: 203.302267 deg, approach rate: 0.260758 m/s, LOS rate: -0.162730 deg/s, cmd heading: 321.585851 deg, new cmd heading: 321.434387 deg. 2j \߻HeadingCmd: 5.610088 target range: 525.700012 and range: 525.70 m. j؅@jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data. M BDAT read: Tx time:21:57:41.9398 U $Ping request sent.U kMw,Ʊ5A6'@Y6f6@6^<96=y6H o?_?He<=?-7 ꝿJI??ɨ6'@6ʦ;6Cy>/B>(IiBXX ZG٣ZGGy^ ^> fNusing accuracyPremultiplier from config`j 59bҶћ?j 5Yb ibGBhjQnN@bUDb;b:b 5r B r@rEZj  FNOT Ignoring new targets: 525.70 m.Bj8Jj8% ProNav: ac range: 525.700012 m, nav range: 253.809479 m, bearing: 203.230959 deg, approach rate: 0.256980 m/s, LOS rate: -0.161429 deg/s, cmd heading: 321.434385 deg, new cmd heading: 321.220558 deg. 2j%ݻ-HeadingCmd: 5.606356 target range: 525.700012 and range: 525.70 m. j-Eg@j)j)j)i1h1h1h1h1f9f9f9rf9bfET &@HI I)IIyBI&I.I6IR<:I- F $?Iɛ#< p9=I ش;ɚiI=ID-i/9iࣧ<)Eg@) ErAErAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:57:41.9390 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249094*F2F:FBF0JFG7ͤ<GYBiO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500192rMw,{5Ay,B(IMb@Mb@Mb@ )Y-?y&1~jty5>?`役D ;@)QAI@yp@IaI+4٢i ;=9Q > G٣y > Nusing accuracyPremultiplier from config% 59oћ?% 5YC iGB%a@?%:%L%N@_D;; 51 5ݽ@QZjFNOT Ignoring new targets: 525.70 m.Bj1Jj1 ProNav: ac range: 525.700012 m, nav range: 253.929230 m, bearing: 203.160673 deg, approach rate: 0.264558 m/s, LOS rate: -0.155206 deg/s, cmd heading: 321.220545 deg, new cmd heading: 321.009787 deg. 2jջHeadingCmd: 5.602678 target range: 525.700012 and range: 525.70 m. j#I@jjjihhhhBfffrfbf&@ɛy< 隅x =I ;ɚiI=I 5.i g9i<)#I@) IhzK%K%9K!K% K%RK= ?JK=>*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753554JJJ2JJ:JJc3JG Fթ<G B O >xMw,6w5A2O@Y2@2w<92=y2H=G??$?`G @,V?@?ɨ2O@2+;2Cy>6B>(IIJpIJF4٢R\= R]=9RPQ V>TX ZG٣Xy^y ^> bNusing accuracyPremultiplier from config`f 59bAћ?f 5Ybn ibGBdfNjN@bhDb ;b. ;b+ 5nB n"@nEzB*** querying acoustic contact ***j|j|ZjFNOT Ignoring new targets: 525.70 m.Bj-9Jj-9- ProNav: ac range: 525.700012 m, nav range: 254.024811 m, bearing: 203.103327 deg, approach rate: 0.269940 m/s, LOS rate: -0.161895 deg/s, cmd heading: 321.009793 deg, new cmd heading: 320.837821 deg. 2j-6޻5HeadingCmd: 5.599676 target range: 525.700012 and range: 525.70 m. j50@j1j9j9i9h9h9hAhAfAfAfArfIbfM'@ɛuBu<< q}s=Iy }0;ɚyiyI}!=Ix.i39i<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004848)0@))*F?2F:FBFT5JFG GqA $?IH4>IC I)IItBI' =&I.I6I8<:I FBI1JI1RI1ZI1bI1jI54GEE<G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255872FMw,[C5Am@Ym@m<9m=ymHEF?@?__Oy!?ܨ)8(8? ?ɨm@m3;mCyޅ8Bޅ(I) EMb@Mb@Mb@AAA A)AYEl?y&1yE7?AEEA E$@)EhAIAAyAI]cI]y/4٢m; m1=9u>Q u>yy G٣GGy > Nusing accuracyPremultiplier from config 59ћ? 5Y$ iGB9?:pPN@sD;;5 5 @ZjFNOT Ignoring new targets: 525.70 m.BjS/JjS/ ProNav: ac range: 525.700012 m, nav range: 254.140976 m, bearing: 203.032437 deg, approach rate: 0.251295 m/s, LOS rate: -0.153282 deg/s, cmd heading: 320.837809 deg, new cmd heading: 320.625238 deg. 2jdһHeadingCmd: 5.595966 target range: 525.700012 and range: 525.70 m. j'@jjjihhh h Bf f frfbf (@ɛ9=6< 9Eԁ=IA E;ɚIiIIMna=IU/iU@͞9iUl<)U'@)Y*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509096G )ş<G B O > I zKQ KU 9KQ KU KU BKe pA:Ke pAMw, 6A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760007B߬@YB7@BV<9B=yBHC?˚?o[@;?\p??ɨB߬@B';BCyAB%(IIEIE4٢UQ= U_=9U_:Q ]> G٣yݟ > Nusing accuracyPremultiplier from config 59Pћ? 5Y * iGBPN@{D ;;y 5B R@EZj)-FNOT Ignoring new targets: 525.70 m.BjU+JjU+e ProNav: ac range: 525.700012 m, nav range: 254.235123 m, bearing: 202.975135 deg, approach rate: 0.246749 m/s, LOS rate: -0.150127 deg/s, cmd heading: 320.625226 deg, new cmd heading: 320.453384 deg. 2jeλmHeadingCmd: 5.592967 target range: 525.700012 and range: 525.70 m. jm@jijqjyiyhyhhhfffrfbfva)@ɛrP< =I %h;ɚ!i!I=I*0i9i<)@)*F2F:FBFN5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012729u ~G Y y ' BG <G B O >#Mw,l26A6@Y60@6<96S=y6H;F?`?$ @?@W7B@? ?ɨ6@6䣝;6Cy>>B>(IIFIF{4٢Nk RV=9RW ;Q R>TT VG٣TyVy: V> bNusing accuracyPremultiplier from config\f 59^ қ?f 5Y^;/ i^wGBdfiPjN@^D^:^:^ 5l n@lZj FNOT Ignoring new targets: 525.70 m.Bj <2Jj<2 E$?IAjHYbH]<HaIa Ie)IIe~BIa&Ia.Ia6Ie_<:Ie7 F ProNav: ac range: 525.700012 m, nav range: 254.329498 m, bearing: 202.917975 deg, approach rate: 0.257372 m/s, LOS rate: -0.155824 deg/s, cmd heading: 320.453379 deg, new cmd heading: 320.281962 deg. 2jջHeadingCmd: 5.589975 target range: 525.700012 and range: 525.70 m. j@jjjihhhhfffrfbf& *@ɛimS< imП=Ii /:;ɚiI=I?v1i9iL<)@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265522*FM?2FI:FIBFM`0JFQ"G]=G]=JJJ0JJ:J?:Jـ3JJ& Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515876 Mw,L6Ay%CB%(Ii-J>I-<Mb@Mb@Mb@ )YtV?|?5^~jth?y2?ҽD;A ;@)II@y@II4٢I< 8=9Q > G٣y > eNusing accuracyPremultiplier from configam 59eқ?m 5Ye`5 iejGBu4?u:u[NuN@eDe_;e;e 5}B }@}EZjFNOT Ignoring new targets: 525.70 m.Bj)Jj) ProNav: ac range: 525.700012 m, nav range: 254.444992 m, bearing: 202.849969 deg, approach rate: 0.252018 m/s, LOS rate: -0.148327 deg/s, cmd heading: 320.281968 deg, new cmd heading: 320.078044 deg. 2j˻HeadingCmd: 5.586416 target range: 525.700012 and range: 525.70 m. jò@jjjihhhh$Bfffrfbf*@ɛB@W< =I  ;ɚiI=I-|_2i-@9i-<)-ò@)1 9I9*F?2F:FBF_0JFzKK9KK K}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767888G<Ga Bq O >H5Mw,'f6A2Q@Y2@2:<92=y2HL??Ф?@&?v?ɨ2Q@2/];2Cy:SB:(IIJIJ{4٢Rt= Ra=9Vw;Q V>TT ZG٣ZGGyZ|; Z> bNusing accuracyPremultiplier from config`f 59bD.қ?f 5Yb: ib`GBdjMjN@bDbC:b:b 5l n@l~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 525.70 m.Bj)Jj)% ProNav: ac range: 525.700012 m, nav range: 254.533829 m, bearing: 202.798069 deg, approach rate: 0.253776 m/s, LOS rate: -0.148209 deg/s, cmd heading: 320.078046 deg, new cmd heading: 319.922401 deg. 2j%m˻-HeadingCmd: 5.583699 target range: 525.700012 and range: 525.70 m. j-@j)j)j1i1h1h1hhffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021867frfbf ߽+@ɛ< 隵=I |;ɚiI+=I3i :i. =)@)*F?2F:FBF`0JF %$?I%hHYIY I]*)II]BIY&IY.IY6I]b<:I]9 FGd< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271874G B O >J J J J J k:J <:J J J "<J "<J ;J ;/!Mw,/6A@Y @=9I=yHNL??Dk@?׻? S?ɨ@;騕Cy޽MB޽(I}Mb@Mb@Mb@yyy y)yY}Zd;O?J +y}~*?}Ƚ}} A }h@)}zAI}@yy}zAII{4٢ټ .=9;Q > G٣y60 > Nusing accuracyPremultiplier from config 59@қ? 5Y@ iQGBT,?:MN@D;y; 5B d@EZj  FNOT Ignoring new targets: 525.70 m.Bj0!Jj0!% ProNav: ac range: 525.700012 m, nav range: 254.648071 m, bearing: 202.731715 deg, approach rate: 0.242737 m/s, LOS rate: -0.140922 deg/s, cmd heading: 319.922400 deg, new cmd heading: 319.723429 deg. 2j%m-HeadingCmd: 5.580226 target range: 525.700012 and range: 525.70 m. j-7@j)j)j1i1h1h1h9h=CBf9f9f9rfAbfE ,@ɛ  Pm< =I ;ɚiIl=I3i~:iE"=)E7@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525401*F2F:FBFi0JFGqA GrA I G =G B O% >zK QJK +9K K K  GMw,mT6A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:21:57:45.0365 &TRx dataTimestamp_ set to:1736373466.420649*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777038J@YJ@Ja=9JM<=yJHD?@L?@å fV?bou@T?_?ɨJ@J;HyrQBr(I)t tIzIz<4٢U< }c=96;Q > G٣yn > Nusing accuracyPremultiplier from config 59ZOқ? 5YD iDGB%NN@D;{;( 5  @ZjaeFNOT Ignoring new targets: 525.70 m.BjmMJjmM ProNav: ac range: 525.700012 m, nav range: 254.738266 m, bearing: 202.679280 deg, approach rate: 0.236641 m/s, LOS rate: -0.137525 deg/s, cmd heading: 319.723423 deg, new cmd heading: 319.566172 deg. 2jüHeadingCmd: 5.577482 target range: 525.700012 and range: 525.70 m. jz@jjjihhhhfffrfbfi-@ɛQUM< QU=IY ]";ɚYiYI]5=Ie4iem1:ie'=)ez@)iEuqAEq*F?2F:FBF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028565Gm V=GA BQ Ou >qMw,26A6ʬ@Y6ٳ@6=96=y6H5?©?X| ?? f@⠿ ;1??ɨ6ʬ@6њ;4y>JBB(IIJIJ4 V$?IT٢Z ZU=9^:Q ^>`` bG٣bGGyf f> jNusing accuracyPremultiplier from confighn 59j]қ?n 5YjI ij8GBprNrN@jDj;jg;ji 5vB vx@vEZH|RH|HI I0)IIBI&I.I6Ie<:I; FZjFNOT Ignoring new targets: 525.70 m.Bj5Jj5 ProNav: ac range: 525.700012 m, nav range: 254.828094 m, bearing: 202.626763 deg, approach rate: 0.232181 m/s, LOS rate: -0.135694 deg/s, cmd heading: 319.566164 deg, new cmd heading: 319.408669 deg. 2j@HeadingCmd: 5.574733 target range: 525.700012 and range: 525.70 m. j6d@jjjih!h!h)h)f1fqfqrfqbf}$2.@ɛ4Rs< =I g;ɚiI=I(]5iz(D:iDc=)6d@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:57:45.0365 LVL= 15904, 32753, 27378, 32755, AGC= 70, IDX= 399,-0.19,-1.148,-2.869,-2.441,-2.015, PHS= 0.955,-0.807,-0.429, RAW= 101.8, 3.6, CAL= 112.3, 1.4, ROT= 37.7, -1.4 Ygot valid direction response: 21:57:45.0365 LVL= 15904, 32753, 27378, 32755, AGC= 70, IDX= 399,-0.19,-1.148,-2.869,-2.441,-2.015, PHS= 0.955,-0.807,-0.429, RAW= 101.8, 3.6, CAL= 112.3, 1.4, ROT= 37.7, -1.4 PDAT read: Bearing 37.7, -1.4 (Local) ~Local bearing/azimuth received: Bearing 37.7, -1.4 (Local) DAT read: Range 10 to 50 : 519.3 m (Round-trip 692.4 ms) speed 0.2 m/s -,DAT read: user:2178> 5BDAT read: Tx time:21:57:46.1399 =$Ping request sent.=} }j)yI}Fi}zt?}N}۾}cl?}= }p?)}+% Will construct direction to contact in vehicle frame from tetrahedron phase data.4[Mw,6A6@Y6@67=96 =y6H@7 ??J?m1 1`@??ɨ6@6Ƙ;6CyNKBN(IMb@Mb@Mb@ )Y)\(?(\µ~jthyG!?D Q@)AII@yAIUIUy4٢e^; e2=9e:Q e>ii mG٣iy > Nusing accuracyPremultiplier from config 59+oқ? 5Y!O i(GB"?:LN@D;;t 5 h@kIQ?k4|) k kr6A:kDBkDZkm\@":msVKĶHAR@fſ?(T<'c?Jks(Rk*2 0^K㗌Bn.z@|}Ϳ=մ2ј&: ?"k*kk.?kI0 2kDky[M?kt  kU DkjCkE%^@ addTargetRange:: Added new target pos. range: 519.299988 m, deltaT: 15.130881 s, deltaX: -6.400024 m, approachRate: -0.422978 m/s, rangeRepo size: 4 $?Ih Added new target pos. range: 519.299988 m, bearing: 197.338723 deg, lat: 36.897701 deg, lon: -122.120627 deg, deltaT: 15.130881 s, deltaX: -6.400024 m, approachRate: -0.422978 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 519.30 m.Bj%Jj!m ProNav: ac range: 519.299988 m, nav range: 234.795578 m, bearing: 198.875065 deg, approach rate: 0.000000 m/s, LOS rate: -0.135694 deg/s, cmd heading: 319.408660 deg, new cmd heading: 319.222224 deg. 2jiuHeadingCmd: 5.571479 target range: 519.299988 and range: 519.30 m. juI@jqjqjqiqhyhyhyh}KBfffrf`f:@bfX?ɛ$j< 9Ep=IA EƯ;ɚAiAIE'=IMe26iMXZ:iM%=)UI@)QzK=JK=9K9K= K=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo1JF"G%=G%=G] k[=G9 BA Oe >Mw,F 6A2m@Y2=}@27=92Q=y2H@?@$??@P`Df2? ?ɨ2m@2A;2Cy>DB>(IiB=IBa=IRiIR:4٢bK bh=9fbQ j>ll nG٣lyrʤ r> zNusing accuracyPremultiplier from configx~ 59z(|қ? 5Yz_S izGBN N@zDzI  I I I &I .I 6I S<:I / FG = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984856G B O= >J J J J J J J :J <:J J J #<J #<J ;J ;LmMw,m7AS@YAc@;@=9=yHo? ?N,b ?vSG &?@?ɨS@;騵Cy>B(IMb@Mb@Mb@ )Y/$?ktMbpy?  A @)AIyAI`I(*4٢ɼ +=9 Q  > G٣GGyڻ > %Nusing accuracyPremultiplier from config% 59 қ?- 5YX i GB-6?-:-P5N@D;}; 59 =@9ZjamFNOT Ignoring new targets: 519.30 m.Bju$Jju$ ProNav: ac range: 519.299988 m, nav range: 235.010605 m, bearing: 198.760807 deg, approach rate: 0.269114 m/s, LOS rate: -0.144143 deg/s, cmd heading: 319.074281 deg, new cmd heading: 318.879603 deg. 2jŻHeadingCmd: 5.565499 target range: 519.299988 and range: 519.30 m. j@jjjihhhhXBfffrfbf Cy?ɛV< p=I s;ɚiI=IO7i8{:ivx=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235154*Fa2Fa:FaBFe_0JFaG=+=GBOn> u $?Iq Mw,ԝ7A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486607:B6@Y:E@zK>k3IK>]9K<K> K>BKD:KFoA:ӧ=9:=y:H??; h"#?cDTp?0?ɨ:B6@:ٗ;:Cyb9Bb(IIjIjv}4٢ f=99Q > G٣y& > Nusing accuracyPremultiplier from config 59қ? 5Y5] iGBQN@D ; ; 5B S@EZjFNOT Ignoring new targets: 519.30 m.BjJj ProNav: ac range: 519.299988 m, nav range: 235.101013 m, bearing: 198.712043 deg, approach rate: 0.254620 m/s, LOS rate: -0.137283 deg/s, cmd heading: 318.879594 deg, new cmd heading: 318.733358 deg. 2jn HeadingCmd: 5.562946 target range: 519.299988 and range: 519.30 m. j @j j j i hhhhff!f)rf9bfE`9?ɛB *P<  =I  M<ɚIiQIU=IUa8i]u:i]S;=)]@)Y*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738511G l=G G pAG B O- > a Ia Mw,57AjHHbHJ<HLIL IN)IIN~BIL&IL.IL6IN:<:IN FBI]CJI]CRIYZI]' =bI]' =jI]4^O"@Y^1@^=9^7=y^H?8/?d@1I?y@@?`??ɨ^O"@^3;^Cyj&Bj(I)l lIpIp٢~ʽ ~S=9~\;Q > G٣ y λ  > Nusing accuracyPremultiplier from config 59eқ? 5Ya iFB!%`R%N@D: ;' 5) 5@1ZjY]FNOT Ignoring new targets: 519.30 m.Bj]Jjeu ProNav: ac range: 519.299988 m, nav range: 235.199112 m, bearing: 198.658929 deg, approach rate: 0.253096 m/s, LOS rate: -0.136977 deg/s, cmd heading: 318.733346 deg, new cmd heading: 318.574072 deg. 2ju}HeadingCmd: 5.560166 target range: 519.299988 and range: 519.30 m. j@jjjihhhhfffrfbf]?ɛ#< a隅 Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242753GMw,WO7A6 @Y6l@6 =96;=y6H?A?㢿@B`|?5o@Z? ?ɨ6 @6os;4yNBN(I]Mb@Mb@Mb@YYY Y)YY]K?~jt~jty]^?]Ľ]D] A Y)]AI]`@YyYI}I}y4٢% A=9T;Q > G٣GGyVѻ > Nusing accuracyPremultiplier from config 59қ? 5Yf iFBW?:mWN@Dj;M; 5B ^@EZjFNOT Ignoring new targets: 519.30 m.Bj%Jj%- ProNav: ac range: 519.299988 m, nav range: 235.300995 m, bearing: 198.600908 deg, approach rate: 0.238893 m/s, LOS rate: -0.135988 deg/s, cmd heading: 318.574066 deg, new cmd heading: 318.400077 deg. 2j==HeadingCmd: 5.557130 target range: 519.299988 and range: 519.30 m. j=Ա@jAjAjAiAhAhAhIhM1BfIfIfQrfQbfU @ɛBW< 隍8I b<ɚiI=I9i(ѕ:i=)Ա@) $?I*FI2FI:FIBFMo0JFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.494736zKJK9KK KRK?JK?JJJJJ:J9:JJa@a@a@a@Gz =Ga Bq O >+Mw,=i7AR@YR@R-=9RH=yRH` ?`Y? Z7}?`f@2z?,?ɨR@R`;Py  B (II%I%4٢5 5Q=9=;Q =>II ]G٣aymT m>)= C Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746538 5~G9kқ? 5Yk iFBdX-N@Dz< < UYQyUBS 5a e+@aB*** querying acoustic contact ***j!j!ZjQ]FNOT Ignoring new targets: 519.30 m.Bje Jje  ProNav: ac range: 519.299988 m, nav range: 235.395142 m, bearing: 198.546897 deg, approach rate: 0.211640 m/s, LOS rate: -0.121366 deg/s, cmd heading: 318.400087 deg, new cmd heading: 318.238121 deg. 2jHeadingCmd: 5.554303 target range: 519.299988 and range: 519.30 m. jڼ@jjjihhhhfffrfbfL@ɛ1=; 9=ݼI9 Ҷ<ɚiI=I:i:i 4@=) ڼ@)  IHI I)IIjBI&I.I6Iv<:IH F*F2F:FBFJFe Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999546G 3;=G G ?G B O >/Mw,7AyEBE(IiU>IU4<Mb@Mb@Mb@ )YCl?S㥻Qy;?/ݽu A ;@)3AIyII]4٢p %/=9%Q %>)) -G٣)y5 5> ENusing accuracyPremultiplier from configAU 59E`қ?U 5YEqq iEFBU!?U:U[UN@EDE';E7%;EY 5eB e@eEZjFNOT Ignoring new targets: 519.30 m.Bj4Jj4 ProNav: ac range: 519.299988 m, nav range: 235.505005 m, bearing: 198.481627 deg, approach rate: 0.266075 m/s, LOS rate: -0.158003 deg/s, cmd heading: 318.238130 deg, new cmd heading: 318.042411 deg. 2jػHeadingCmd: 5.550887 target range: 519.299988 and range: 519.30 m. jޠ@jjjihhhhBfffrfbf% @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251314ɛ B*; tMw,7A Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:57:49.2345 TRx dataTimestamp_ set to:1736373470.456749checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503696zKVBIKV 9KTKV KV|!OtlS9&}yuusnBKjqA:KjqAy%B%w(II=I=4JMJMJIJIJM:JM::JIJI٢a` \=9 Q  >   G٣GGy > ENusing accuracyPremultiplier from config9E 59=Oқ?E 5Y= v i=FBIIMN@=D=:=:= 5Q UH@YZj =FNOT Ignoring new targets: 519.30 m.BjEJjEU ProNav: ac range: 519.299988 m, nav range: 235.594284 m, bearing: 198.428757 deg, approach rate: 0.229915 m/s, LOS rate: -0.136102 deg/s, cmd heading: 318.042404 deg, new cmd heading: 317.883854 deg. 2jUϺ}HeadingCmd: 5.548120 target range: 519.299988 and range: 519.30 m. j}3@jyjyjyiyhyhhhfffrfbf f! @ɛ=BE*!;; AEXIA M-|;ɚIiIIM=Iu=- I Mw,v7AZH RH"?AH$I$ I&(II&GBI$&I$.I$6I&<:I& F^@Y6n@D=9j=yHO?O?)u`!?-@Ǣ??ɨ^@~;騕Cy=B=\(III4٢ν @=9rG;Q > G٣yC& > Nusing accuracyPremultiplier from config 59қ?  5Y{ iFB [`N@D";";T 5 @5Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 21:57:49.2345 LVL= 23824, 32753, 28962, 32755, AGC= 69, IDX= 427,-0.06,-0.719,-2.500,-2.180,-1.683, PHS= 1.052,-0.771,-0.500, RAW= 97.9, 2.6, CAL= 107.7, 0.4, ROT= 42.3, -0.4 uYgot valid direction response: 21:57:49.2345 LVL= 23824, 32753, 28962, 32755, AGC= 69, IDX= 427,-0.06,-0.719,-2.500,-2.180,-1.683, PHS= 1.052,-0.771,-0.500, RAW= 97.9, 2.6, CAL= 107.7, 0.4, ROT= 42.3, -0.4 }PDAT read: Bearing 42.3, -0.4 (Local) ~Local bearing/azimuth received: Bearing 42.3, -0.4 (Local) DAT read: Range 10 to 50 : 517.8 m (Round-trip 690.5 ms) speed 0.1 m/s ,DAT read: user:2179> BDAT read: Tx time:21:57:50.3399 $Ping request sent.?)51TžI5:i5=5zݵ11:publishing transmit ping timeؙBjq#Jjq# ProNav: ac range: 519.299988 m, nav range: 235.692047 m, bearing: 198.368061 deg, approach rate: 0.230252 m/s, LOS rate: -0.142892 deg/s, cmd heading: 317.883861 deg, new cmd heading: 317.701850 deg.  Fpublishing direction and range info195+¿oX+" ?y1111 1)1I1i11111 1)1I1i1115Bk@?5 ؿL>?)1I1i11112j%!Ļ-HeadingCmd: 5.544943 target range: 519.299988 and range: 519.30 m. j--p@j)j1j1i1h1h1h9h9f9f9f9rfE`f.@bfE ?ɛ 9 P#D=隵I i!;ɚiIP=IjMw,n7A pIpz<=@YzL@zcf=9z=yzH`09?@?@. ?[2ˢ`/?`?ɨz<=@zÏ;xy%͈B%D(I=Mb@Mb@Mb@999 9)9Y=x&1?Q{Gzy=!?==ף9 =Q@)9I=v@9y=AIUIU4٢m~ m9=9u98Q u>qq }G٣yy}F }> Nusing accuracyPremultiplier from config 59қ? 5YQ izFB$?:SeN@ D1;)0;& 5B @Ek?k h k kXp7A:ksDBkDZkQ@"vS?2SUȀ,^E,@+¿oX+" ?Jk=Rkzݵ*:`mUyl#yX'ɓvdd@Zɩ/ſl$Lq?"k:*khk%\Ƕ?kQӴ 2kDk3?k` k%DkJCkbY@] addTargetRange:: Added new target pos. range: 517.799988 m, deltaT: 4.031092 s, deltaX: -1.500000 m, approachRate: -0.372108 m/s, rangeRepo size: 4  Added new target pos. range: 517.799988 m, bearing: 187.755839 deg, lat: 36.897957 deg, lon: -122.120375 deg, deltaT: 4.031092 s, deltaX: -1.500000 m, approachRate: -0.372108 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 517.80 m.BjJj ProNav: ac range: 517.799988 m, nav range: 202.072281 m, bearing: 194.818886 deg, approach rate: 0.000000 m/s, LOS rate: -0.142892 deg/s, cmd heading: 317.701851 deg, new cmd heading: 317.513906 deg. 2jHeadingCmd: 5.541663 target range: 517.799988 and range: 517.80 m. jNU@jjjihhhhBfff rf bf `?ɛUBU> Y]~IY ];ɚyiyIF=Ig=i:iR<)NU@)Will construct direction to contact in vehicle frame from tetrahedron phase data.zKfOKh9KK KlkjpriXTRPLE>;9546742,$  JJJJJ:Jy6:JJ*F2F:FBFP5JFGl=GBO>DMw,7AWill construct direction to contact in vehicle frame from tetrahedron phase data.: @Y:D@: =9:=y:H?f?^l?^ϸ`i n ??ɨ: @:*;8yNÈBR7(IIZIZd4٢vt vg=9v tQ v>xx zG٣zGGyzV ~> Nusing accuracyPremultiplier from config  59X ӛ?  5Y ifFB  fN@DL:L:= 5 v@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 517.80 m.Bj=Jj= ProNav: ac range: 517.799988 m, nav range: 202.162628 m, bearing: 194.760047 deg, approach rate: 0.253867 m/s, LOS rate: -0.165257 deg/s, cmd heading: 317.513911 deg, new cmd heading: 317.337475 deg. 2j⻝%HeadingCmd: 5.538584 target range: 517.799988 and range: 517.80 m. j%<@j!j!j!i!h)h)h)h)f1fQfQrfYbf]`0?ɛ/Y 0I ;ɚiIP=I4>i4:i<)<@)! $?IHI I(II#BI&I.I6I<:IQ F*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G <G B O >Nw,8A5٪@Y5s@5( =95G=y5H ?)?@!l, ?`oZ?@?ɨ5٪@5b@;5CyEBE%(IMb@Mb@Mb@ )Yx&?㥛 ¿y&1y7)?` A @)AIQAyAI%I%kf4٢-8 56=95CQ 5>99 =G٣9yEY E> MNusing accuracyPremultiplier from configIU 59Msӛ?U 5YMj iMIFBUq-?U:Uo]O@MDM;M;M( 5eB eG@eEZjFNOT Ignoring new targets: 517.80 m.BjTJjT ProNav: ac range: 517.799988 m, nav range: 202.274109 m, bearing: 194.680374 deg, approach rate: 0.260327 m/s, LOS rate: -0.185947 deg/s, cmd heading: 317.337474 deg, new cmd heading: 317.098589 deg. 2j:HeadingCmd: 5.534414 target range: 517.799988 and range: 517.80 m. j@jjjihhhhfffrfbf?ɛٻ NI ;ɚiI=Iy?i> :ii<)@) }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258963 IE;=*F 2F :F BF O5JF "G =G =- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510707J J J J J :J ;:J J zK% MK% 9K! K%  K% G ~<G ?G >GyBO> Nw,8&8AB5@YBб@BT =9B% =yBH?a;?Ϥ@->2?`?@?ɨB5@Bt;BCyNBN(I R=R=IZwIZR4٢j4Y n<=9rA:Q v>xx zG٣xy~vڻ ~> Nusing accuracyPremultiplier from config  59'ӛ?  5Y i+FB ypO@&D ;; 5B @EZjAEFNOT Ignoring new targets: 517.80 m.BjM%KJjM%K] ProNav: ac range: 517.799988 m, nav range: 202.382294 m, bearing: 194.602740 deg, approach rate: 0.247627 m/s, LOS rate: -0.177603 deg/s, cmd heading: 317.098581 deg, new cmd heading: 316.865805 deg. 2j]󻝊eHeadingCmd: 5.530352 target range: 517.799988 and range: 517.80 m. je@jajijqiqhqhyhhfffrfbf`W ?ɛB fI! %k;ɚ!i!I% =I-@i-:i-<)-@)1EB=UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765270*F2F:FBF_0JF ]$?I]hHm6>Ii Im(IImBIi&Ii.Ii6Im<:ImV FG 5<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018767@Nw,?8A6r@Y6Ѻ@6=96=y6Hd?K? EN`[?@O@?@?ɨ6r@6:;6C*JBC="JB4=y-B- (IIEIE4٢M9C UD=9U:Q U>YY ]G٣]GGyevѻ e> mNusing accuracyPremultiplier from configiu 59m5ӛ?u 5Ym imFBqu#q}O@m/Dm;m#;m 5 @EZjFNOT Ignoring new targets: 517.80 m.BjIJjI ProNav: ac range: 517.799988 m, nav range: 202.484833 m, bearing: 194.528928 deg, approach rate: 0.245407 m/s, LOS rate: -0.176567 deg/s, cmd heading: 316.865808 deg, new cmd heading: 316.644484 deg. 2jZ򻝊HeadingCmd: 5.526489 target range: 517.799988 and range: 517.80 m. jذ@jjjihhhhfffrfbf@=PExceeded connect timeout, disconnecting.ɛ9 隽6{I ^;ɚiI/!=I ۶Ai q:i <)ذ@)EE*E"E}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270946 Q IQ *F] ?2FY :FY BF] 35JFY GM=<GUqAGQG!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523424B9O]?Nw,X<`8A2@Y2@2 =92ם=y2H?CX?Cj[0?d:`C?`?ɨ2@2E;0yFBF'IzKNV$KKLKLKN KN 'T(=JMMN@66GsxW7|qha   Z<Mb@Mb@Mb@ )YV-?/${Gzy-?1ף/ A )3AIv@yIUIU]4٢e;j e=9mB9Q m>iq uG٣qyJ > Nusing accuracyPremultiplier from config 59rHӛ? 5Y iEB0?:kO@;D;;r 5 @)Zjq}FNOT Ignoring new targets: 517.80 m.Bj}JJjJ ProNav: ac range: 517.799988 m, nav range: 202.632248 m, bearing: 194.429348 deg, approach rate: 0.262745 m/s, LOS rate: -0.177357 deg/s, cmd heading: 316.644483 deg, new cmd heading: 316.345963 deg. 2jo󻝊HeadingCmd: 5.521279 target range: 517.799988 and range: 517.80 m. jQ@jjjihhhhLjBfffrf!bf-`p@ɛ9=x' 隍eI ͻ;ɚiI!=IP Cie:i<)Q@)*F5?2F1:F9BF=_0JF9uWill construct direction to contact in vehicle frame from tetrahedron phase data.yiy}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775067 5 $?I1 Ge ~<Hq Iq  Iu \(IIu BIq &Iq .Iq 6Iu <:Iu Z FBI!JI!RI!ZI!bI!jI%˃3GI BY Ou >Nw,:Xz8A2Ox@Y2@2=92C=y2HL?>p?TNWt? x? ?ɨ2Ox@2;2Cy>Bn'I)   IIt4٢-Q; -^=9-B˺Q ->11 5G٣1y=8 => MNusing accuracyPremultiplier from configIU 59MTӛ?U 5YMʥ iMEBQ]l]O@MCDM$;M]$;M 5eB ez@eEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 517.80 m.BjRJjR ProNav: ac range: 517.799988 m, nav range: 202.725845 m, bearing: 194.365698 deg, approach rate: 0.270798 m/s, LOS rate: -0.184067 deg/s, cmd heading: 316.345976 deg, new cmd heading: 316.155116 deg. 2jHeadingCmd: 5.517948 target range: 517.799988 and range: 517.80 m. j@jjjihhhhfffrfbf<@ɛ_ I K;ɚiIx|"=I Ci b:i <) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027831JyJ}J}1JyJyJ}dP:J}3Jy*F?2F:FBF`0JFJyaJyaJ};aJ};aG<GABQOm5> nManaging dock network, ignoring radio surface power offe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279446$Nw,38A6a@Y62q@6^ =96=y6H P?? v?Y`ꪡ@Ǻ?'?ɨ6a@6y;6C TITynBn'IMb@Mb@Mb@ )YCl?(\¿Qy/?zu @)AIy AII4٢S A=9¢Q > G٣GGy{Ի > Nusing accuracyPremultiplier from config 59rcӛ? 5Y iEB3?:xqO@LD;;; 5 @ZjFNOT Ignoring new targets: 517.80 m.Bj-RJj-R= ProNav: ac range: 517.799988 m, nav range: 202.834915 m, bearing: 194.287973 deg, approach rate: 0.258562 m/s, LOS rate: -0.184158 deg/s, cmd heading: 316.155113 deg, new cmd heading: 315.922063 deg. 2j=EHeadingCmd: 5.513880 target range: 517.799988 and range: 517.80 m. jEq@jAjIjIiIhIhIhQhUԈBfQfQfYrfYbf] u @ɛBOT 隍_I ;ɚiI$#=I*DiJ:ia<)q@)*F2F:FBFc0JFG  G "G G Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530781zK5OK5s9K1K5 K5.!  BKEpA:KErAG B O >= G*Nw,8A  2 Y0y2yBn9@YnyH@nN\=9n|=ynH 3?`? G@q[?r`ʠߺ?`P?ɨn9@nҌ;nCyvBv'II~I~4٢O< V=Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:57:53.4326 %TRx dataTimestamp_ set to:1736373474.756797-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7839489-Q ->11 5G٣1y=5S => ENusing accuracyPremultiplier from configAM 59Epӛ?M 5YE iEEBIUrUO@EUDEq ;E ;E 5]B ]@]EZjFNOT Ignoring new targets: 517.80 m.Bj0RJj0R ProNav: ac range: 517.799988 m, nav range: 202.933426 m, bearing: 194.217057 deg, approach rate: 0.255394 m/s, LOS rate: -0.183762 deg/s, cmd heading: 315.922067 deg, new cmd heading: 315.709425 deg. 2j:HeadingCmd: 5.510169 target range: 517.799988 and range: 517.80 m. jNS@jjjihhhhfffrfbf@@ɛ{ $I v;ɚiIҿ#=IgEiR:i<)NS@)  $?I*Fe?2Fa:FaBFe0JFaZHRHHI IC(II͈BI& =&I.I6I<:Ii FGyBO<>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034865J J J 0J J J >:J ـ3J J J J ˕;J ˕;1Nw,Q8A@Y+@=9h=yHz?`G?H? %d _;? ?ɨ@G;CyB'Ii=Ip<Mb@Mb@Mb@ )Y   G٣y > Nusing accuracyPremultiplier from config% 59pӛ?- 5Yָ iEB-|6?-:-&m-O@_D9;; 51 =>@9ZjYeFNOT Ignoring new targets: 517.80 m.BjmSJjmS} ProNav: ac range: 517.799988 m, nav range: 203.061279 m, bearing: 194.130998 deg, approach rate: 0.275381 m/s, LOS rate: -0.185244 deg/s, cmd heading: 315.709430 deg, new cmd heading: 315.451417 deg. 2j}CHeadingCmd: 5.505666 target range: 517.799988 and range: 517.80 m. jj.@jjjihhhhBfffrfbf@ @ɛc I t;ɚiIq$=I Giu:iE<)j.@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)]DAT read: 21:57:53.4326 LVL= 20208, 31553, 22514, 32755, AGC= 67, IDX= 423, 0.21, 2.488, 0.653, 0.950, 1.499, PHS= 1.077,-0.799,-0.553, RAW= 96.9, 3.2, CAL= 106.4, 1.1, ROT= 43.6, -1.1 eYgot valid direction response: 21:57:53.4326 LVL= 20208, 31553, 22514, 32755, AGC= 67, IDX= 423, 0.21, 2.488, 0.653, 0.950, 1.499, PHS= 1.077,-0.799,-0.553, RAW= 96.9, 3.2, CAL= 106.4, 1.1, ROT= 43.6, -1.1 uPDAT read: Bearing 43.6, -1.1 (Local) u~Local bearing/azimuth received: Bearing 43.6, -1.1 (Local) DAT read: Range 10 to 50 : 516.3 m (Round-trip 688.5 ms) speed 0.3 m/s ,DAT read: user:2180> BDAT read: Tx time:21:57:54.5399 $Ping request sent. Ih Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:57:54.5391 8Nw,8AyrBr'IIzIz<4٢< o=9Q  ?    G٣ GGy ?zKLK9KK K -Nusing accuracyPremultiplier from config)5 59-Ѝӛ?5 5Y- i-EB99=O@-gD-;-;- 5A E'@IkE肪?kE*s kA kE8A:kEDBkE0DZkEH@"EGLBTiɊ鿔@E#Sfÿk|qΟ?JkE*DRkE*E b>U?ʟ@E;R!ſ5h??n!щ?"kE>*kEîkE30@ʶ?kEg 2kEFDkE.?kEI0 kEDkECkEY@ addTargetRange:: Added new target pos. range: 516.299988 m, deltaT: 4.300247 s, deltaX: -1.500000 m, approachRate: -0.348817 m/s, rangeRepo size: 4 % Added new target pos. range: 516.299988 m, bearing: 179.836167 deg, lat: 36.898613 deg, lon: -122.120197 deg, deltaT: 4.300247 s, deltaX: -1.500000 m, approachRate: -0.348817 m/s, posRepo size: 4 Zj)-FNOT Ignoring new targets: 516.30 m.Bj5Jj1 ProNav: ac range: 516.299988 m, nav range: 128.591660 m, bearing: 195.096910 deg, approach rate: 0.000000 m/s, LOS rate: -0.185244 deg/s, cmd heading: 315.451413 deg, new cmd heading: 315.251389 deg. 2jHeadingCmd: 5.502175 target range: 516.299988 and range: 516.30 m. j@jjjihhhhfffrf`f"@bf Tp?ɛBn 隝䗾I x;ɚiI:%=IIGi];iI<)@)*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> ] $?IY H I  I <(II ȈBI ' =&I .I 6I <:I R F=6>Nw,8A: ˩@Y:kڰ@:~<9:L=y:HC?@?^`?@ʸRNI? ?ɨ: ˩@: ;:Cy^Bb'IIfIf1h4٢rr rO=9rQ r>tt vG٣tyv+μ z> ~Nusing accuracyPremultiplier from configx 59zɛӛ? 5Yz izvEBoO@zpDzu ;z ;z" 5B ?@EUB*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 516.30 m.Bju4Jju4} ProNav: ac range: 516.299988 m, nav range: 128.693344 m, bearing: 194.980843 deg, approach rate: 0.265539 m/s, LOS rate: -0.302856 deg/s, cmd heading: 315.251397 deg, new cmd heading: 314.903478 deg. 2j}OHeadingCmd: 5.496102 target range: 516.299988 and range: 516.30 m. j@jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ffrfbfW?ɛ %  vI JYJ]J]1JYJYJ]?:J]3JYJYJYJ];J]; =;ɚiI %=IF~IiTG;i~8<)@)*Fe?2Fa:FaBFmL5JFiG %<M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984890Ga Bi O > a Ia 'ENw,9A>@Y>p@>j<9>=y>H%?`?x G`E? Ld?@?ɨ>@>G;>CyJBJ'I)L L%Mb@Mb@Mb@!!! !)!Y%x?Mb`y%K7?%%% A %@)%IAI%A!y%QAI=nI=B4٢ML= MB=9MQʻQ U>QQ UG٣Qy]L ]> mNusing accuracyPremultiplier from configam 59eӛ?m 5Yea iehEBu:?u:unuO@ezDe9;eN;e% 5 @ZjFNOT Ignoring new targets: 516.30 m.BjJjm ProNav: ac range: 516.299988 m, nav range: 128.805603 m, bearing: 194.854626 deg, approach rate: 0.270093 m/s, LOS rate: -0.303412 deg/s, cmd heading: 314.903467 deg, new cmd heading: 314.525151 deg. 2jm:PuHeadingCmd: 5.489500 target range: 516.299988 and range: 516.30 m. ju@jqjqjqiqhyhhhBfffrfbf?ɛBwv I! %;ɚ!i!I%R*&=I-.Ki-Ώ;i-<)-@)1*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236949zKEyJKE+9KAKE KEtT6 }kD$ G <G B O- >HHKNw,TR/9A V~@YV@Vu<9V=yVH@K??hି, [?, ?E?ɨV~@Vc*;VCyrBv'IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488449I sI K4٢B; N=9%Q %>!) -G٣-GGy-( -> 5Nusing accuracyPremultiplier from config1= 595iӛ?E 5Y5{ i5[EBAEpEO@5D5 ;5 ;59) 5MB M@UEZjyFNOT Ignoring new targets: 516.30 m.BjJj ProNav: ac range: 516.299988 m, nav range: 128.910873 m, bearing: 194.735707 deg, approach rate: 0.266474 m/s, LOS rate: -0.300777 deg/s, cmd heading: 314.525157 deg, new cmd heading: 314.168696 deg. 2jkNHeadingCmd: 5.483278 target range: 516.299988 and range: 516.30 m. jw@jjjihhhhfffrfbf?ɛ  ׂ I  ;ɚiI?&=I%Li% ;i%`'<)%w@)) $?I*F?2F:FBFJFjH<bH<H7>I III&I.I6I<:Ik FG<G?G>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740799GBO>Ju Ju Ju 0Jq Ju k:Ju 7:Ju ـ3Jq Ju "<Ju "<Ju ;Ju ;4RNw,?I9AymBu'IMb@Mb@Mb@ )Ygfffff?:vMb`?y33?Խ;A @)`AIAyGAII<4٢%f< %-=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E 59=ӛ?E 5Y=n i=PEBM*5?U:UiUO@=D=R;=xP;=W- 5Y ]v@YWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995796ZjAMFNOT Ignoring new targets: 516.30 m.BjUٜJjUٜ ProNav: ac range: 516.299988 m, nav range: 129.041260 m, bearing: 194.599411 deg, approach rate: 0.262631 m/s, LOS rate: -0.274257 deg/s, cmd heading: 314.168703 deg, new cmd heading: 313.760236 deg. 2j8<HeadingCmd: 5.476149 target range: 516.299988 and range: 516.30 m. j<@jjjihhhhBfffrfbf`jR@ɛBQ Y]IY e;ɚaiaIe5'=ImNim`;im=)m<@)q I*F?2F:FBFJFGqA GqAG5 N< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245070G) B9 OU >U_XNw,c9AyUBQi]e>I]<IeIe4zKuwNKu9KqKu Ku٢j; h=9Q > G٣y > Nusing accuracyPremultiplier from config 59ӛ? 5Y iGEBO@D6;;t0 5B W@EZjAmFNOT Ignoring new targets: 516.30 m.BjmJjm} ProNav: ac range: 516.299988 m, nav range: 129.140244 m, bearing: 194.496641 deg, approach rate: 0.292580 m/s, LOS rate: -0.303539 deg/s, cmd heading: 313.760230 deg, new cmd heading: 313.452160 deg. 2j}PPHeadingCmd: 5.470772 target range: 516.299988 and range: 516.30 m. j@jjjihhhhfffrfbf@ɛM 隭ÌI );ɚiI'=IJOi[;iB$=)@)*FY2FY:FYBF]`0JFYG5 =G Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497073B!OEs> $?IhH I  I C(II ͈BI & =&I .I 6I `<:I ; F^Nw,H|9AVl<@YVK@VpA<9Vě=yVH?@_I? \q? 瓿D??ɨVl<@V;TyzBz'II%I%4٢5 L= 5P=9]1Q ]>Ya eG٣eGGye e> uNusing accuracyPremultiplier from configiu 59mӛ?} 5Ym~ im>EBkO@mDm$;mo;m3 5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 516.30 m.uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748260Bj6Jj6 ProNav: ac range: 516.299988 m, nav range: 129.247604 m, bearing: 194.383333 deg, approach rate: 0.273945 m/s, LOS rate: -0.288880 deg/s, cmd heading: 313.452162 deg, new cmd heading: 313.112523 deg. 2jAFHeadingCmd: 5.464844 target range: 516.299988 and range: 516.30 m. j@jjjihhhh!f!f!f!rf!bf-@?Z@J1J1ɛBdX WII M9;ɚIiIIM$(=IU~QiUF;iUk=)U@)Y*Fe?2Fa:FaBFeg0JFa- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001079GE =G B) OM > I leNw,9AJ@YJw @J=<9J=yJHA?`w?*=? Mgj"??ɨJ@J;JCybBb'IuMb@Mb@Mb@qqq q)qYu/$?I +~jth?yu&1?u9uD;q u3@)uIAIuAqyupAII4٢> )=9Q > G٣y > Nusing accuracyPremultiplier from config 59 ӛ? 5Ys i5EB2?:hO@D;;8 5B @EZjFNOT Ignoring new targets: 516.30 m.BjžJjž ProNav: ac range: 516.299988 m, nav range: 129.381897 m, bearing: 194.247413 deg, approach rate: 0.274559 m/s, LOS rate: -0.277596 deg/s, cmd heading: 313.112510 deg, new cmd heading: 312.705182 deg. 2j>HeadingCmd: 5.457735 target range: 516.299988 and range: 516.30 m. jĥ@jjjihhhh(Bfffrfbf @ɛIMiZ IM΃IQ U;x;ɚQiQIU(=I]PSi];i]=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253524)]ĥ@)JKm3 KL.KK"KJEJEJE/JAJE:JE<:JE(N3JAaU@aU@a]@a]@*Fu?2Fy:FyBF}o0JFy"G=G=zKk3IK9KK KG e=Gy B O >kNw,t9ABWill construct direction to contact in vehicle frame from tetrahedron phase data.JBDAT read: Rx Time:21:57:57.6308 NTRx dataTimestamp_ set to:1736373478.791605Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5087415Ϩ@Y5 ߯@5}<95=y5Ho??`-d m?@ú??ɨ5Ϩ@5;5CyMBM'I) IIƕ4٢屻 c=9Q > $?I G٣yj >  Nusing accuracyPremultiplier from config  59 ԛ? 5Y  i .EBiO@ D : : ;; 5! %@!ZjIUFNOT Ignoring new targets: 516.30 m.BjUJjUe ProNav: ac range: 516.299988 m, nav range: 129.482300 m, bearing: 194.145026 deg, approach rate: 0.291849 m/s, LOS rate: -0.297388 deg/s, cmd heading: 312.705185 deg, new cmd heading: 312.398263 deg. 2jeLuHeadingCmd: 5.452378 target range: 516.299988 and range: 516.30 m. juy@jqjqjqiyhyhyhyhyfffrfbf) @ɛS 隵I )l;ɚiI8(=IɯTiV!;iQ=)y@)ZHRH@AHI IO(II׈BI&I.I6If<:I@ FBIJIRIZI& =bI& =jIi4*F?2F:FBF`5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756893Ge=G9 BI Oe >ɱrNw,+M9AD@Y@Hko<9=yHࣀ?@̨? ` 1X?+o@#퍿 ʶ?e?ɨD@ϋ;Cy B'IMb@Mb@Mb@ )Y|?5^?RQ~jthy-?½D\ A )`AIzAyGAII4٢- -8=9=Q =>IQ ]G٣]GGym m>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.011380 Nusing accuracyPremultiplier from config 59ԛ? 5YX i$EB/?:mO@D;j;>? 5B @5E IhZj!%FNOT Ignoring new targets: 516.30 m.Bj-Jj-e ProNav: ac range: 516.299988 m, nav range: 129.603745 m, bearing: 194.016686 deg, approach rate: 0.244422 m/s, LOS rate: -0.258056 deg/s, cmd heading: 312.398263 deg, new cmd heading: 312.013612 deg. 2je1mHeadingCmd: 5.445665 target range: 516.299988 and range: 516.30 m. jmB@jijijiiqhqhqhhBfffrfbff@ɛBS rI @[;ɚi!I%Z)=I%gVi-';i-$=)-B@))*F2F:FBF0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: 21:57:57.6308 LVL= 17200, 30801, 19586, 30851, AGC= 67, IDX= 420, 0.30,-2.780, 1.644, 1.876, 2.397, PHS= 1.194,-0.707,-0.524, RAW= 95.0, 0.4, CAL= 103.6, -3.5, ROT= 46.4, 3.5  Ygot valid direction response: 21:57:57.6308 LVL= 17200, 30801, 19586, 30851, AGC= 67, IDX= 420, 0.30,-2.780, 1.644, 1.876, 2.397, PHS= 1.194,-0.707,-0.524, RAW= 95.0, 0.4, CAL= 103.6, -3.5, ROT= 46.4, 3.5  PDAT read: Bearing 46.4, 3.5 (Local)  ~Local bearing/azimuth received: Bearing 46.4, 3.5 (Local)  DAT read: Range 10 to 50 : 515.0 m (Round-trip 686.7 ms) speed 0.3 m/s  ,DAT read: user:2181>  BDAT read: Tx time:21:57:58.7400  $Ping request sent. yNw,Q9AU@YUm@U]<9Ug=yUHe?`?` ??`ܴૡ+K? ?ɨU@U;QyޭB޵'I)5ſ= 5|CI}GI]4 Yyy B٢%7 %4=9%"Q ->)) -G٣)y5(+ 5> Nusing accuracyPremultiplier from config 59#ԛ? 5Y iEBnO@D::>C 59 =@9k?khk k ku9A:kDBkCZk^"F@"MIQ%@<@Ϧ4̹| 0Ll??Jk;@RkXݻ*oN((~@C@Upp%i*]v?Mk*f?"k3@*kukv뿛?k 2kDk%\Ƕ?kQӴ kFDkBkN@ addTargetRange:: Added new target pos. range: 515.000000 m, deltaT: 4.283561 s, deltaX: -1.299988 m, approachRate: -0.303483 m/s, rangeRepo size: 4  Added new target pos. range: 515.000000 m, bearing: 177.378996 deg, lat: 36.898943 deg, lon: -122.119925 deg, deltaT: 4.283561 s, deltaX: -1.299988 m, approachRate: -0.303483 m/s, posRepo size: 4 Zj Will construct direction to contact in vehicle frame from tetrahedron phase data.UFNOT Ignoring new targets: 515.00 m.BjUJjQ ProNav: ac range: 515.000000 m, nav range: 89.470634 m, bearing: 184.497791 deg, approach rate: 0.000000 m/s, LOS rate: -0.258056 deg/s, cmd heading: 312.013614 deg, new cmd heading: 311.671322 deg. 2jHeadingCmd: 5.439691 target range: 515.000000 and range: 515.00 m. j@jjjihhhhfffrf@bf?ɛk !%I! %'K;ɚ!i! u$?IqIul)=I}CWi}7|-;i}l(=)}@)*F92F9:F9BFE0JFAHm8>Ii ImU(IIm܈BIi&Ii.Ii6ImH<:Im* FG% k%= Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >Nw,v:AVY@YVch@VC<9V=yVH A??@ ?@` s?`t?ɨVY@V2;VCyzBz'Ii~=I~= I I t4٢ `=9ҋQ %>!! %G٣!y-* -> 5Nusing accuracyPremultiplier from config1= 595W/ԛ?= 5Y5 i5EBAEpEO@5D5L:5L:5=F 5Q Uj@YuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 515.00 m.BjJj⻝ ProNav: ac range: 515.000000 m, nav range: 89.594337 m, bearing: 184.369749 deg, approach rate: 0.383381 m/s, LOS rate: -0.396280 deg/s, cmd heading: 311.671313 deg, new cmd heading: 311.287724 deg. 2jHeadingCmd: 5.432996 target range: 515.000000 and range: 515.00 m. jۭ@jjjihhhhfffrfbf S?ɛ7y 隭I >?;ɚiI*=IYii*=)ۭ@)*Fi2Fi:FqBFu4JFqUWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. IG ؛*=G B O >Nw,:A6U5@Y6D@6A,<96=y6Ht'?`~?@5z?LFN@D ?B?ɨ6U5@6Cg;6Cy>BB'I Mb@Mb@Mb@    ) Y q= ףp?ˡEy +? 什  A ) I A y AI%I%t4٢= =I=9=aQ E>AA EG٣EGGyMM/ M> UNusing accuracyPremultiplier from configQ] 59U9=ԛ?] 5YU iU EBe,?e:eameO@UDUK;U;UI 5mB m@mEZj)UFNOT Ignoring new targets: 515.00 m.Bj]dƻJj]dƻm ProNav: ac range: 515.000000 m, nav range: 89.742157 m, bearing: 184.221917 deg, approach rate: 0.347439 m/s, LOS rate: -0.346896 deg/s, cmd heading: 311.287729 deg, new cmd heading: 310.844973 deg. 2jmnHeadingCmd: 5.425268 target range: 515.000000 and range: 515.00 m. j̛@jjjihhhh+Bfffrfbf`?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990515ɛ=BES AEIA E/;ɚIiIIM[y*=JuJuJqJqJu :Ju7:JqJqIu[iiTL6=)̛@)*Fa2Fa:FaBFe^0JFazK8oLKKK KBK:KmAG s*=e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240981Gi By O > $?I Qdd fG٣dyfo j> nNusing accuracyPremultiplier from confighr 59j]Jԛ?r 5YjR  ijEBprnvO@jDj;jX;j/M 5x z/@xjH%<bH%p<H)I) I-O(II-׈BI)&I).I)6I-u<:I-K FZjAEFNOT Ignoring new targets: 515.00 m.BjM׻JjM׻ ProNav: ac range: 515.000000 m, nav range: 89.882462 m, bearing: 184.080848 deg, approach rate: 0.375879 m/s, LOS rate: -0.377338 deg/s, cmd heading: 310.844969 deg, new cmd heading: 310.422429 deg. 2j{HeadingCmd: 5.417893 target range: 515.000000 and range: 515.00 m. jb_@jjjihhhhfffrfbfE?ɛAEU IM#II MIK ;ɚIiIIM*=IUƒ]iYi];=)]b_@)Y*F 2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493056GM:6=G) BI Oe >8'Nw,vkQ:A2@Y2%@2<92j=y2HS?-?h@D? Ŵ&ø?@>?ɨ2@2,;2Cy>sB>'I)@ @Will construct direction to contact in vehicle frame from tetrahedron phase data.iA%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745334Mb@Mb@Mb@ )Y(\?I +y&1|y'?9`rA I@)IAyII4٢ڼ :=9:Q > G٣y > Nusing accuracyPremultiplier from config I  59Xԛ?5 5Y iDB52)?5:=5r=O@D;z;Q 5EB Ev@EEZjFNOT Ignoring new targets: 515.00 m.Bj<ȻJj<Ȼ ProNav: ac range: 515.000000 m, nav range: 90.036751 m, bearing: 183.922288 deg, approach rate: 0.341273 m/s, LOS rate: -0.350117 deg/s, cmd heading: 310.422426 deg, new cmd heading: 309.947574 deg. 2jHpHeadingCmd: 5.409606 target range: 515.000000 and range: 515.00 m. j}@jjjihhhhBf)f)f1rf1bf5`R?ɛ IMtII M ;ɚIiIIU<+=IU_iQi]O=)]}@)Y*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997050J J J J J k:J <:J J G% <=G B O% >zK K K K K RK ?JK >pONw,>k:AJ̧@YJܮ@J<9J+=yJH?@H?MW^?_{? ?ɨJ̧@JY;JCyVjBV'II^I^Q4٢fA f\=9jZHQ j>hl nG٣nGGynfO r> vNusing accuracyPremultiplier from configpv 59rdԛ?z 5Yr irDBxzgszO@rDr:r:,;rDT 5 @Zj)-FNOT Ignoring new targets: 515.00 m.Bj5ӻJj5ӻE ProNav: ac range: 515.000000 m, nav range: 90.164001 m, bearing: 183.791095 deg, approach rate: 0.360044 m/s, LOS rate: -0.370676 deg/s, cmd heading: 309.947564 deg, new cmd heading: 309.554545 deg. 2jEd~MHeadingCmd: 5.402746 target range: 515.000000 and range: 515.00 m. jML@jIjIjIiQhQhYhahififqfyrfybfr@ɛ íIQ Uc(:ɚQiQI]*+=I]tdaiaieOV=)eL@)a*F 2F :F BF n0JF =Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250804G5PK= -$?I-hGB OL>HI IC(II͈BI&I.I6I\<:I9 F Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509232 ANw,B:AZ@YZ @Z:<9Z=yZH G٣y-4- -> 5Nusing accuracyPremultiplier from config1= 595 rԛ?= 5Y5 i5DB9EtEO@5D5/;50;5W 5UB Ud@UEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 515.00 m.Bj%˻Jj%˻= ProNav: ac range: 515.000000 m, nav range: 90.307877 m, bearing: 183.642330 deg, approach rate: 0.345369 m/s, LOS rate: -0.356538 deg/s, cmd heading: 309.554555 deg, new cmd heading: 309.108981 deg. 2j=tEHeadingCmd: 5.394969 target range: 515.000000 and range: 515.00 m. jE@jAjAjAiIhIhIhIhIfQfQfQrfQbf]@ɛB5 I  :ɚiI ,=Ibciiqa=)@)*F?2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761063 IG0P=G B O >aNw,s:Ay~SB~'Ii>IC=Mb@Mb@Mb@ )YuV?kt G٣y > Nusing accuracyPremultiplier from config 59ԛ? 5Y# iDB)?::sO@D;p;[ 5 T@ Zj9=FNOT Ignoring new targets: 515.00 m.BjEQ˻JjEQ˻U ProNav: ac range: 515.000000 m, nav range: 90.457314 m, bearing: 183.490700 deg, approach rate: 0.350947 m/s, LOS rate: -0.355508 deg/s, cmd heading: 309.108981 deg, new cmd heading: 308.654854 deg. 2jUs]HeadingCmd: 5.387043 target range: 515.000000 and range: 515.00 m. j]b@jYjYjYiYhahahaheBfififirfibfm '@ɛ9Ѽ 隵žI j:ɚiIy,=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014511Iieii}=)b@)J J J J J :J F:J J *Fa2Fa:FaBFm0JFizKa3JKh9KK K !$#  BKqA:KqAG {a=Ga Bi  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265087O >  I Nw,y̸:AZH`RH`HdId If*(IIfBIf% =&Id.Id6If3<:If FyHB'II-I-4٢=h =T=9AQ E>AI MG٣MGGyI M> UNusing accuracyPremultiplier from configQ] 59U[ԛ?e 5YU1) iUDBaaeO@U DU|4;UB;U^ 5 @ZjFNOT Ignoring new targets: 515.00 m.BjɻJjɻ ProNav: ac range: 515.000000 m, nav range: 90.592880 m, bearing: 183.354128 deg, approach rate: 0.350673 m/s, LOS rate: -0.352745 deg/s, cmd heading: 308.654855 deg, new cmd heading: 308.245759 deg. 2jrHeadingCmd: 5.379903 target range: 515.000000 and range: 515.00 m. j+(@jjQjQiQhQhYhYhYfYfafarfabfe@_ @ɛB߼ 隵~оI C:ɚiIi,=I{=giij=)+(@)*FI2FI:FIBFM_5JFIG%v=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:58:01.8291 TRx dataTimestamp_ set to:1736373483.081041checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518475GB!OEQ>x|Nw,:AJ@YJ`$@J<9Jз=yJHT?`8?σ9? eͰ m?@??ɨJ@J;;HyV9BV'I-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769026MMb@Mb@Mb@III I)IYMq= ףp?A`" rhyM+?MٽMCM A Mv@)M`AIMAIyIIeIeh4٢u uF=9}lQ }>yy G٣ $?IyE( E> UNusing accuracyPremultiplier from configQ] 59Uԛ?] 5YU/ iUDBm-?m:m~mO@UDU"`;U^;Ub 5B @EZjFNOT Ignoring new targets: 515.00 m.BjһJjһ  ProNav: ac range: 515.000000 m, nav range: 90.740227 m, bearing: 183.190865 deg, approach rate: 0.331944 m/s, LOS rate: -0.367204 deg/s, cmd heading: 308.245754 deg, new cmd heading: 307.756772 deg. 2j |HeadingCmd: 5.371369 target range: 515.000000 and range: 515.00 m. jA@jjj!i!h!h!h)h-Bf)f)f1rf1bf5 @ɛYe˨ ae߾Ia eZj:ɚaiaImP-=Imliiqiurm=)A@)*F)2F1:F1BF5`5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:58:01.8291 LVL= 13728, 26753, 18674, 29235, AGC= 64, IDX= 419,-0.05,-2.532, 1.917, 1.970, 2.612, PHS= 1.227,-0.648,-0.645, RAW= 90 97.6, -3.0, ROT= 52.4, 3.0 % unknown deviceResponse_: 21:58:01.8291 LVL= 13728, 26753, 18674, 29235, AGC= 64, IDX= 419,-0.05,-2.532, 1.917, 1.970, 2.612, PHS= 1.227,-0.648,-0.645, RAW= 90 97.6, -3.0, ROT= 52.4, 3.0 - PDAT read: Bearing 52.4, 3.0 (Local) 5 ~Local bearing/azimuth received: Bearing 52.4, 3.0 (Local) = DAT read: Range 10 to 50 : 513.7 m (Round-trip 685.0 ms) speed 0.1 m/s E ,DAT read: user:2182> M BDAT read: Tx time:21:58:02.9400 M $Ping request sent.M Nw,ǂ:AzK&+MK&+9K$K& K&y0B5'I)9 9AEAIuIu.4٢V, ;=9Q > G٣y > Nusing accuracyPremultiplier from config 59ԛ? 5Y5 iDBO@D;$<pf 5 t@EE addTargetRange:: Added new target pos. range: 513.700012 m, deltaT: 4.040174 s, deltaX: -1.299988 m, approachRate: -0.321765 m/s, rangeRepo size: 4 ZjIMFNOT Ignoring new targets: 515.00 m.Bju.ԻJj}.Ի ProNav: ac range: 515.000000 m, nav range: 90.880447 m, bearing: 183.036737 deg, approach rate: 0.338054 m/s, LOS rate: -0.371008 deg/s, cmd heading: 307.756767 deg, new cmd heading: 307.295108 deg. 2j~HeadingCmd: 5.363311 target range: 515.000000 and range: 513.70 m. j?@jjjihhhMWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:21:58:02.9392 $?Ihhfffrf @bf?ɛ 5I G9ɚiIV.=IM|kiIiU,+=)U?@)HI I (IIBI& =&I.I6IS<:I3 FBIJIRIZIbIjI4*F2F:FBF@5JFGY`n=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Nw,9^;AJJJJJ:JJJJ#ai mG٣mGGyi m> }Nusing accuracyPremultiplier from configq 59u(ԛ? 5Yui; iuDBO@u$DuQ:;u:ui 5B &@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 515.00 m.BjֻJjֻ ProNav: ac range: 515.000000 m, nav range: 91.003052 m, bearing: 182.902939 deg, approach rate: 0.344172 m/s, LOS rate: -0.375086 deg/s, cmd heading: 307.295101 deg, new cmd heading: 306.894257 deg. 2jHeadingCmd: 5.356315 target range: 515.000000 and range: 513.70 m. jf@jjjihhhhfffrfbf ?ɛ)5p 隽I ,bɚiI:.=IZGmiiz=)f@)*Fq2Fq:FqBF}_0JFy]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode. yIyG8n=GG?Gi Bq O >\Nw,; ;AyrBrl'ImMb@Mb@Mb@iii i)iYm G٣y > Nusing accuracyPremultiplier from config 59Sԛ? 5YA iDB+6?:뀿O@-D#;!;2m 5 @ZjFNOT Ignoring new targets: 515.00 m.Bja߻Jja߻Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994437 ProNav: ac range: 515.000000 m, nav range: 91.146957 m, bearing: 182.742722 deg, approach rate: 0.351376 m/s, LOS rate: -0.390587 deg/s, cmd heading: 306.894251 deg, new cmd heading: 306.414369 deg. 2jHeadingCmd: 5.347939 target range: 515.000000 and range: 513.70 m. jR"@jjjihhhhBfffrfbf``V?ɛ> 隵_I hɚiI0!/=IGloiif=)R"@)*F-?2F):F)BF1JF1zKMBoIKM9KIKM KMG]=H~GtAG9BAO]v> uYutAyuB q Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252212Nw,:;AH4I4 I6'II6BI4&I4.I46I6<:I6a FyBb'Ii%%=I%< -a=-a=I5I5 4٢e eN=9iQ m>ii uG٣qyq }> Nusing accuracyPremultiplier from config 59ԛ? 5Y9H iDBO@6D::p 5 @ZjFNOT Ignoring new targets: 515.00 m.BjݻJjݻ ProNav: ac range: 515.000000 m, nav range: 91.286766 m, bearing: 182.588295 deg, approach rate: 0.351464 m/s, LOS rate: -0.387618 deg/s, cmd heading: 306.414362 deg, new cmd heading: 305.951802 deg. 2jHeadingCmd: 5.339866 target range: 515.000000 and range: 513.70 m. j/@jjjihhhhfffrfbfS8?ɛ)- )-mI) -Boɚ1i1I5]/=I=\}qi9i==)=/@)A*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502292*J9"J=p=JEJEJAJAJE:JE;:JAJAJE&<JE&<JE;JE;G=GBO>Nw,T;Ar@YrЬ@rLZ;9r3=yrH R?ߦ?c@?KI Cku۳?3?ɨr@r;rC ~$?I|yB['I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755137Mb@Mb@Mb@ )YM?X9v~jtyn2? QA)IAI3AyAIUIU4٢e e;=9maʻQ m>ii uG٣uGGyu u> }Nusing accuracyPremultiplier from configy 59}ԛ? 5Y}HO i}zDB5?:NO@}@D}5;}l;}t 5B D@EZj!-FNOT Ignoring new targets: 515.00 m.Bj-7ܻJj-7ܻ= ProNav: ac range: 515.000000 m, nav range: 91.428856 m, bearing: 182.416232 deg, approach rate: 0.318473 m/s, LOS rate: -0.385054 deg/s, cmd heading: 305.951794 deg, new cmd heading: 305.436421 deg. 2je!HeadingCmd: 5.330871 target range: 515.000000 and range: 513.70 m. j@jjjihhhhBfffrfbf?ɛB= fI 굺ɚiIG0=Isii=_=)@)I*F?2F:FBFJFG=GGqAGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006374Nw,`m;AzK2&~JK29K0K2 K2>@Y>@>8;9>s=y>H@ ? ?ql4f??wq?4?ɨ>@>O;>CyF BJS'IIRIR\4٢Z Zl=9Z :Q Z?\\ ^G٣\yb b? fNusing accuracyPremultiplier from configdj 59f-ԛ?j 5YfT ifoDBhjPnO@fHDfz:fX:fw 5p r@vEZjFNOT Ignoring new targets: 515.00 m.Bj8ܻJj8ܻ ProNav: ac range: 515.000000 m, nav range: 91.540443 m, bearing: 182.279553 deg, approach rate: 0.314756 m/s, LOS rate: -0.385059 deg/s, cmd heading: 305.436415 deg, new cmd heading: 305.026888 deg. 2jHeadingCmd: 5.323723 target range: 515.000000 and range: 513.70 m. j[@jjjihhhhfffrfbfɒ@ɛG;$ \I (ɚiI0=INuii1l=)[@) IUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259570*Fi2Fi:FiBFm1JFiHaIa Ie'IIeqBIa&Ia.Ia6Iew<:IeN FGt=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510353Je Je Ja Ja Je k:Je o5:Ja Ja Je "<Je "<Je ;Je ;Nw,;AB3@YB{B@B;9B$=yBH ??C4?:© ~w ?`?ɨB3@B;BCyJ BJT'I)L LPRAIVIV.4٢^z; ^H=9 9Q  > G٣yZ > ENusing accuracyPremultiplier from configAM 59EXԛ?M 5YE[ iEaDBIMMO@EQDE :E:E9{ 5Y }@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 515.00 m.BjJj廝 ProNav: ac range: 515.000000 m, nav range: 91.674675 m, bearing: 182.112484 deg, approach rate: 0.323208 m/s, LOS rate: -0.401687 deg/s, cmd heading: 305.026877 deg, new cmd heading: 304.526416 deg. 2j։HeadingCmd: 5.314989 target range: 515.000000 and range: 513.70 m. jc@jj j i h h hhff9f9rf9bf=@ɛ 隍I O0ɚiIl1=Iwiii=)c@)*FQ2FY:FYBFe`5JFiGM=GIBy $?IhOj>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764584Nw,;Ay~ B~U'IMb@Mb@Mb@ )Ym?@5^I ¿~jtxy.?bĻ )AIy=AII94٢0; <=9Q > G٣GGy > Nusing accuracyPremultiplier from config 59}ԛ? 5Yb iYDBJ2?:(O@[D_N;1;~ 5B w@EZj)5FNOT Ignoring new targets: 515.00 m.Bj5Jj=廝E ProNav: ac range: 515.000000 m, nav range: 91.797577 m, bearing: 181.946238 deg, approach rate: 0.297197 m/s, LOS rate: -0.401470 deg/s, cmd heading: 304.526416 deg, new cmd heading: 304.028360 deg. 2jMÉMHeadingCmd: 5.306296 target range: 515.000000 and range: 513.70 m. jM-ͩ@jQjQjQiQhQhQhYhYfYfafarfabfe#@ɛB 隝<I `+ɚiI2=IpziiT=)-ͩ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014391*Fy2Fy:FyBF}5JFyGMp=GB)OMR>zKuJKs9KK K I e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266422&Nw,%Z;AZH4RH6?AH8I8 I:'II:gBI8&I8.I86I:z<:I:P FN@YNg@Nѽ;9NҊ=yNH\? Sm?é.zN?iwxV? ?ɨN@N ;NCyn BnW'IIvIv4٢~< X=9$:Q >    G٣ y b  > Nusing accuracyPremultiplier from config% 59՛?% 5Yh iQDB!%ُ%O@cD;;3 51 5^@1ZjaeFNOT Ignoring new targets: 515.00 m.Bje Jjm 㻝u ProNav: ac range: 515.000000 m, nav range: 91.903389 m, bearing: 181.796143 deg, approach rate: 0.280198 m/s, LOS rate: -0.397006 deg/s, cmd heading: 304.028358 deg, new cmd heading: 303.578600 deg. 2j};HeadingCmd: 5.298446 target range: 515.000000 and range: 513.70 m. jߌ@jjjihhhhfffrfbf) @ɛ& -I EɚiI$2=I|iiT=)ߌ@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518345JJJJJ:J9:JJJ#<J#<JP;JP;GUl=GBO>Nw,a;A LIP Will construct direction to contact in vehicle frame from tetrahedron phase data. i BDAT read: Rx Time:21:58:06.0279 TRx dataTimestamp_ set to:1736373487.369587checking for new query: numPingsReceived=0, elapsed TxPingTime=3.77234853@Y5IC@50;95S=y5HV?4?0 @ ?িxV??ɨ53@5K;1yMBML'IiU=IUR= U=Up=Mb@Mb@Mb@ )Y?K7y,?I E A )IAIAyAII4٢  .=99Q > G٣y >  Nusing accuracyPremultiplier from config  59 ՛? 5Y p i KDB}R0?:ƐO@ nD < < Q 5 @EZj  FNOT Ignoring new targets: 515.00 m.Bj\ֻJj\ֻE ProNav: ac range: 515.000000 m, nav range: 92.032677 m, bearing: 181.610833 deg, approach rate: 0.261871 m/s, LOS rate: -0.374817 deg/s, cmd heading: 303.578604 deg, new cmd heading: 303.023472 deg. 2jEMHeadingCmd: 5.288757 target range: 515.000000 and range: 513.70 m. jM=@jIjIjQihhhhBfffrfbf7@ɛBl 隽> I =4kɚiIT3=IҒ~ii-2Y=)=@)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023512G T=Ga Bq O >^Nw,;A6@Y6@6&;96=y6H?D?@QةW?`妿 z 0?Y?ɨ6@6y;6CyB BBV'IzKJJ3KKJ9KHKJ KJRKN?JKN?IRIR4٢^E== ^r=9^D:Q b?`` bG٣`yfҼ f? ENusing accuracyPremultiplier from config9E 59=:՛?M 5Y=xv i=FDBIM㑿MO@=uD=u;=;=d 5UB ]T@]EZjyFNOT Ignoring new targets: 515.00 m.BjzJjz񻝊 ProNav: ac range: 515.000000 m, nav range: 92.127968 m, bearing: 181.472191 deg, approach rate: 0.290510 m/s, LOS rate: -0.422232 deg/s, cmd heading: 303.023474 deg, new cmd heading: 302.607988 deg. 2j㐼HeadingCmd: 5.281506 target range: 515.000000 and range: 513.70 m. j@jjjihhhhfffrfbfe@ɛBGL@ j=I ~ɚiI3=I 7ii[%U=)@) U$?IY*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 21:58:06.0279 LVL= 13136, 30369, 18146, 26563, AGC= 67, IDX= 422,-0.10,-2.512, 2.046, 1.947, 2.680, PHS= 1.179,-0.587,-0.737, RAW= 86.0, 1.6, CAL= 92.4, -1.8, ROT= 57.6, 1.8 UYgot valid direction response: 21:58:06.0279 LVL= 13136, 30369, 18146, 26563, AGC= 67, IDX= 422,-0.10,-2.512, 2.046, 1.947, 2.680, PHS= 1.179,-0.587,-0.737, RAW= 86.0, 1.6, CAL= 92.4, -1.8, ROT= 57.6, 1.8 ]PDAT read: Bearing 57.6, 1.8 (Local) e~Local bearing/azimuth received: Bearing 57.6, 1.8 (Local) mDAT read: Range 10 to 50 : 512.7 m (Round-trip 683.7 ms) speed 0.0 m/s u,DAT read: user:2183> }BDAT read: Tx time:21:58:07.1416 }$Ping request sent.} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:58:07.1409 gOw, ?9?ɨB@BAe;@yNBNQ'IIVIVb4٢^ ^F=9^8Q ^>`` bG٣bGGyf_ f> jNusing accuracyPremultiplier from confighr 59j!՛?r 5Yj} ij@DBpvvO@j~Dj!E;jCE;j 5x z@xkAC>aڛ?k/E? k k;A:k,DBkCZkk?"́KH=lV@=V@w5ɻyq?G`K?Jk@Rk)*qP 0@!S@Fx@JXr?,ٶH?hf?"kB*kmAkjڛ?k 2kDk30@ʶ?kg kkBkC@ addTargetRange:: Added new target pos. range: 512.700012 m, deltaT: 4.289864 s, deltaX: -1.000000 m, approachRate: -0.233108 m/s, rangeRepo size: 4  Added new target pos. range: 512.700012 m, bearing: 78.075078 deg, lat: 36.898944 deg, lon: -122.119817 deg, deltaT: 8.330038 s, deltaX: -2.299988 m, approachRate: -0.276108 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 512.70 m.BjJj ProNav: ac range: 512.700012 m, nav range: 92.480789 m, bearing: 175.346188 deg, approach rate: 0.000000 m/s, LOS rate: -0.422232 deg/s, cmd heading: 302.607979 deg, new cmd heading: 302.095544 deg. 2jHeadingCmd: 5.272562 target range: 512.700012 and range: 512.70 m. jԸ@jjjihhhhfffrf@bf ~?ɛUBU` QUmIQ UEɚYiYIȁ4=I\iiU=)Ը@)*F?2F:FBF`0JF IhWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >siOw,8H#_c@Y>r@>/;9>%F=y>Hrp?B?` 'wb?V馿Ey?\?ɨ>_c@>;>CyNBNP'IPRA-Mb@Mb@Mb@))) )))Y-(\?DlMbp?y-.?-O -;) -zA)-AI))y-AIEIEm4٢Uv UF=9UQ U>YY eG٣aye e> mNusing accuracyPremultiplier from configiu 59mo+՛?u 5Ym imjH) bH- <Ow,0=Ia IaIaIa&Ia.Ia6Iek<:IeF FBIJIRIZIbIjI]}4b-"@Yb1@bX;9bŒ=ybH ;?`=?mL`u,?`5vT??ɨb-"@bR;bCynBnQ'IIvwIvR4٢-; -L=9-rкQ 5>11 =G٣9y= => ENusing accuracyPremultiplier from configAM 59E4՛?M 5YE iE8DBQUUO@EDE ;E;E 5]ߔB ]y@eEZjFNOT Ignoring new targets: 512.70 m.Bj@ػJj@ػ ProNav: ac range: 512.700012 m, nav range: 92.748154 m, bearing: 175.039018 deg, approach rate: 0.327732 m/s, LOS rate: -0.378125 deg/s, cmd heading: 301.628203 deg, new cmd heading: 301.175403 deg. 2jHeadingCmd: 5.256503 target range: 512.700012 and range: 512.70 m. jE5@jjjihhhhfffrfbf 9?ɛB7 quIq uɚqiqI}Z5=I}UjiiqV=)E5@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.240481E&t@=*FM?2FI:FIBFM`0JFI ] $?IY Gy  Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496016GI BY Ou >Ow,nhY G٣GGy > -Nusing accuracyPremultiplier from config!- 59%G?՛?- 5Y% i%2DB50?=:=앿=O@%D%I;%GH;% 5A M;@MEZjiuFNOT Ignoring new targets: 512.70 m.BjubֻJj}bֻ ProNav: ac range: 512.700012 m, nav range: 92.899895 m, bearing: 174.862414 deg, approach rate: 0.322612 m/s, LOS rate: -0.374860 deg/s, cmd heading: 301.175416 deg, new cmd heading: 300.646483 deg. 2jHeadingCmd: 5.247271 target range: 512.700012 and range: 512.70 m. j@jjjihhhhBfffrfbf?ɛB(H  I 򾸻ɚiIa6=IؘiiG=)@)E c=*Fq2Fy:FyBF}0JFyUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745201JK KS}-KK"KJUJUJU0JQJU:JU::JUـ3JQGE X=)  -G vA1 G9 BA Y vAy +BO > @ # BzK- BoIK- 9K) K-  K- 03Ow,+sI> = =II4٢%Tp %[=9%Q ->)) -G٣)y5 5> ENusing accuracyPremultiplier from config9E 59=G՛?M 5Y=Θ i=-DBIIMO@=D=~:=:=W 5Q ]g@YZjyFNOT Ignoring new targets: 512.70 m.Bj׻Jj׻ ProNav: ac range: 512.700012 m, nav range: 93.021149 m, bearing: 174.722432 deg, approach rate: 0.326216 m/s, LOS rate: -0.376109 deg/s, cmd heading: 300.646486 deg, new cmd heading: 300.227096 deg. 2jHeadingCmd: 5.239951 target range: 512.700012 and range: 512.70 m. j@jjjihhhh 1I5hffyfyrfybf}@ @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996582ɛB, I PƻɚiI77=I5i1i5d=)5@)YH:>I III&I.I6I<:I| FEu8k=*F ?2F :F BF o0JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248483G .H=G B O>#Ow,mX\ ^G٣^GGy^ȼ ^> fNusing accuracyPremultiplier from configdj 59fQ՛?j 5YfN if&DBlnQnO@fDfN;f_;f< 5rB r;@rEZj FNOT Ignoring new targets: 512.70 m.BjֻJjֻ- ProNav: ac range: 512.700012 m, nav range: 93.163818 m, bearing: 174.554675 deg, approach rate: 0.319578 m/s, LOS rate: -0.375197 deg/s, cmd heading: 300.227085 deg, new cmd heading: 299.724598 deg. 2j-5HeadingCmd: 5.231181 target range: 512.700012 and range: 512.70 m. j=e@j9j9j9i9h9h9hAhAfAfIfrfbf@Q@ɛBba$  I &/ջɚi II%7=Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504778Iii.Y=)e@)EE*E"E*F ?2F :F BF k0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752905J J J J J ;:J J J G% f=GB O->+Ow,hvBBP'IEMb@Mb@Mb@AAA A)AYEGz?X9v~jthyE0?EEDErA EhA)E AIE`AAyEAI]I]Ь4٢ut u=9}Q }>y G٣yM > Nusing accuracyPremultiplier from config 59]՛? 5Y0 iDBx3?: O@D;;̣ 5zKK]9KK K {@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 512.70 m.Bj$׻Jj$׻ ProNav: ac range: 512.700012 m, nav range: 93.337708 m, bearing: 174.356886 deg, approach rate: 0.331344 m/s, LOS rate: -0.376182 deg/s, cmd heading: 299.724601 deg, new cmd heading: 299.132362 deg. 2j HeadingCmd: 5.220845 target range: 512.700012 and range: 512.70 m. j )@j j j i hhhhBfffrfbf[@ɛM BM! IM)II UɚQiQIUi8=I]iYi]4h=)])@)Y $?IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005511*F?2F:FBF72JFG@Z=ZHRH@AH)I) I)I)I)&I).I)6I-f<:I-C FGQBYOuX> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256410do2Ow,6!! %G٣!y-&d -> 5Nusing accuracyPremultiplier from config1= 595Vf՛?= 5Y5د i5DBAEEP@5D5 ;5 ;55 5I M;@QZjFNOT Ignoring new targets: 512.70 m.BjӻJjӻ  ProNav: ac range: 512.700012 m, nav range: 93.467171 m, bearing: 174.209021 deg, approach rate: 0.324480 m/s, LOS rate: -0.370088 deg/s, cmd heading: 299.132369 deg, new cmd heading: 298.689398 deg. 2j }HeadingCmd: 5.213113 target range: 512.700012 and range: 512.70 m. j=Ѧ@j9j9j9i9h9hAhAhAfAfAfIrfIbfM`y @ɛ= B=, 9=nIA ELɚAiAIE 9=IM iqiuun=)uѦ@)y*F2F:FBF`5JF IheWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:58:10.2286 TRx dataTimestamp_ set to:1736373491.404992checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515810GYW=G?G>G B O >ܘ8Ow, ףp=?T㥛 QQ UG٣]GGy] ]> eNusing accuracyPremultiplier from configam 59eip՛?m 5Yeu ie DB}4?}:}ܖ}P@eDeS;ecQ;e 5B @EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761674ZjFNOT Ignoring new targets: 512.70 m.BjڻJjڻ ProNav: ac range: 512.700012 m, nav range: 93.615669 m, bearing: 174.040429 deg, approach rate: 0.337388 m/s, LOS rate: -0.382432 deg/s, cmd heading: 298.689391 deg, new cmd heading: 298.184431 deg. 2j:%HeadingCmd: 5.204300 target range: 512.700012 and range: 512.70 m. j-@j)j)j1i1h1h1hAhEBfAfAfIrfIJJJJJ :J?:JJbfMw`@ɛ B' 隕 I ,ɚiIA9=Iii =)@)*F2F:FBFU5JFzKUBHKU9KQKU KU ) I1 } Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՅ A checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017410G Y`n=G B H% 9>I!  I% 'II% ]BI! &I! .I! 6I% <:I% s FO] >H>Ow,mBBI'IIJIJ4٢N҈ Ri=9RQ R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from config\b 59^"x՛?b 5Y^ i^DB`bfP@^D^a;^a;^$ 5 @!ZjY]FNOT Ignoring new targets: 512.70 m.Bje7ػJje7ػ ProNav: ac range: 512.700012 m, nav range: 93.730972 m, bearing: 173.906350 deg, approach rate: 0.325520 m/s, LOS rate: -0.378062 deg/s, cmd heading: 298.184421 deg, new cmd heading: 297.782685 deg. 2jHeadingCmd: 5.197289 target range: 512.700012 and range: 512.70 m. j0P@jjjihhhhfffrfbf@ɛ% B%GE !%I! -ɚIiIIM=N:=IUiQiUY{s=)U0P@)Y*F!2F!:F!BF%_0JF!G}z=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:58:10.2286 LVL= 14272, 28145, 18370, 27891, AGC= 66, IDX= 428, 0.26,-2.539, 2.383, 2.024, 2.921, PHS= 0.911,-0.490,-0.899, RAW= 77.6, 5.9, CAL= 81.6, 6.2, ROT= 68.4, -6.2 Ygot valid direction response: 21:58:10.2286 LVL= 14272, 28145, 18370, 27891, AGC= 66, IDX= 428, 0.26,-2.539, 2.383, 2.024, 2.921, PHS= 0.911,-0.490,-0.899, RAW= 77.6, 5.9, CAL= 81.6, 6.2, ROT= 68.4, -6.2 PDAT read: Bearing 68.4, -6.2 (Local) ~Local bearing/azimuth received: Bearing 68.4, -6.2 (Local) DAT read: Range 10 to 50 : 512.1 m (Round-trip 682.8 ms) speed 0.1 m/s ,DAT read: user:2184> %BDAT read: Tx time:21:58:11.3416 %$Ping request sent.%]R#Rx 1: Read range and direction messages.e^direction in FSK: [-0.173147,0.319191,0.931739]m:publishing transmit ping time!mFpublishing direction and range infoع9ؽ:tq)ƿ#s7m??yؽDعؽ7ؽm ٽG)ٽlIٽBiٽL7i?ٽHٽ$fٽ-\?ٽB= ڽK?)ڽk=IڽΘ?iڽkݽڹڹ۽ezv}?/C{忦Q)-?)۽=I۽*ѽi۽SW@۽z~۹۹:publishing transmit ping time!Fpublishing direction and range infoع9ؽ:tq)ƿ#s7m??JJBAyعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽ezv}?/C{忦Q)-?)۹I۹i۹۹۹۹vEOw,=AR=K@YRZ@R5:9RT= lIpyRH?8?_˰M?Y XV`y?6?ɨR=K@RW[;RC-Will construct direction to contact in vehicle frame from tetrahedron phase data.yEBEF'III 4٢e e2=9mQ > G٣y > Nusing accuracyPremultiplier from config 59D՛?  5Y iCBP@D;&<\&<? 5 @kV?kEjc k k =A:kDBkLCZkgS?"`&*V#nd@SK}@:tq)ƿ#s7m??JkSW@Rkz~*N@~a@)d~@p0 8?Wޗ?ކ?"k C*kvBk?kd J 2k! Dkv뿛?k kkՄBk>@ addTargetRange:: Added new target pos. range: 512.099976 m, deltaT: 4.282295 s, deltaX: -0.600037 m, approachRate: -0.140120 m/s, rangeRepo size: 4  Added new target pos. range: 512.099976 m, bearing: 66.394074 deg, lat: 36.899193 deg, lon: -122.119815 deg, deltaT: 4.282295 s, deltaX: -0.600037 m, approachRate: -0.140120 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 512.10 m.BjJj ProNav: ac range: 512.099976 m, nav range: 66.416153 m, bearing: 170.932050 deg, approach rate: 0.000000 m/s, LOS rate: -0.378062 deg/s, cmd heading: 297.782697 deg, new cmd heading: 297.240727 deg. 2jHeadingCmd: 5.187829 target range: 512.099976 and range: 512.10 m. j@jjjihhhhfffrf@bf}?ɛ-B-+ 15I1 5'ɚ1i1I5:=I=4i9i=b`{=)E@)A*F2F:FBFJF"G=GWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge b=Ge rAGa G9 BY O >KOw,M1=A>$@Y>@>,9>A=y>HRp? E_?`3ntd?f %C? -ó??ɨ>$@>ܶ;>CyRBR9'I5Mb@Mb@Mb@111 1)1Y5 +?X9v:vy56?55T5A 5A)5vAI5`A1y5(AIMIM4٢]d ]\=9eİQ e>aa mG٣mGGymм m> }Nusing accuracyPremultiplier from configq 59uZ՛? 5Yu iuCBU9?:蘿P@uDur#;u;ug 5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 512.10 m.Bj!Jj!zK5K5h9K1K5 K5u ProNav: ac range: 512.099976 m, nav range: 66.549568 m, bearing: 170.738555 deg, approach rate: 0.390652 m/s, LOS rate: -0.565434 deg/s, cmd heading: 297.240735 deg, new cmd heading: 296.661435 deg. 2ju¼}HeadingCmd: 5.177719 target range: 512.099976 and range: 512.10 m. j}߯@jyjyjyiyhhhhBfffrfbf}?ɛB@E SI KɚiI;=Ii i a~=) ߯@)1 $?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJFGeb=HI I'IIXBI&I.I6I<:Ie FGABYOZ> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994463ROw,{K=A6@Y6_@62F96'=y6H#?-?`G`ǡ&?@eTh?@?@?ɨ6@6;6C*J>C="J>%=JFJFJDJDJFk:JF7:JDJDJF"QQ UG٣Qy]ݼ ]> eNusing accuracyPremultiplier from configam 59e՛?m 5Ye8 ieCBquMuP@eDe:e:e 5}B }@}EZjFNOT Ignoring new targets: 512.10 m.BjJj ProNav: ac range: 512.099976 m, nav range: 66.696251 m, bearing: 170.522674 deg, approach rate: 0.361724 m/s, LOS rate: -0.531196 deg/s, cmd heading: 296.661426 deg, new cmd heading: 296.015237 deg. 2jG HeadingCmd: 5.166440 target range: 512.099976 and range: 512.10 m. j {S@j j j i h hhIhQfqfqfyrfybf}@D?ɛBLA 58 I1 5Eɚ1i1I5<=I=iAiEBF=)M{S@)I*F?2F:FBFn0JF IhMWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251946G|=G ?G ?G B O >XOw,Ve=Ay~B2'I)  Mb@Mb@Mb@ )Y~jt?!rhMby;?l罹rA )IyAII4٢C @=9Q > G٣y   > %Nusing accuracyPremultiplier from config- 59՛?- 5Y iCB5=?5:5=P@DU;O; 5A M@IZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499836FNOT Ignoring new targets: 512.10 m.BjJj ProNav: ac range: 512.099976 m, nav range: 66.860718 m, bearing: 170.290016 deg, approach rate: 0.383551 m/s, LOS rate: -0.541241 deg/s, cmd heading: 296.015235 deg, new cmd heading: 295.319015 deg. 2jHeadingCmd: 5.154289 target range: 512.099976 and range: 512.10 m. j@jjjihhhhՈBfffrfbfe?ɛB< 隵{ I #ɚiI`<=Iiiv=)@)*Fa2Fa:FaBFes0JFaGmrA GmpAzKmBoHKm9KiKm KmRK ?JK!?G I@= I U Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752838Gq B O >H :>I  I 'II SBI &I .I 6I <:I c FBIJIRIZIbIjIˇ4_Ow,1=AZ@YZD,@Z9Z=yZH `W?`?@ZU`~G? x??@?ɨZ@Z;XyB0'IIIK4٢%ʻ %X=9-oQ ->)) -G٣5GGy5Z7 5> ENusing accuracyPremultiplier from config9M 59=>՛?U 5Y= i=CBY]ߚ]P@=D=;=;= 5q }@ZjFNOT Ignoring new targets: 512.10 m.BjJj ProNav: ac range: 512.099976 m, nav range: 67.001945 m, bearing: 170.084663 deg, approach rate: 0.372570 m/s, LOS rate: -0.540595 deg/s, cmd heading: 295.319020 deg, new cmd heading: 294.704283 deg. 2jHeadingCmd: 5.143560 target range: 512.099976 and range: 512.10 m. j @jjjihhhqhqfqfyfyrfybf[?ɛB-I $ I ~*ɚiIB==I=ߑii%}=)% @)!*F?2F:FBFw1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002691Gmԍ=GyBJJJ1JJ:J8:J3JJ2!<J3!<Jk;Jk;Oa>eOw,=A 2$?I4J?ן@YJ@J9J n=yJH? h? ?Ts}?y?`H?ɨJ?ן@Jk;JCybBf7'I Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257890II4٢-< ]:=9mZAQ m> G٣y > Nusing accuracyPremultiplier from config 590՛? 5YM iCB  P@ Dz:7: 51 5@1ZjyFNOT Ignoring new targets: 512.10 m.BjxJjx ProNav: ac range: 512.099976 m, nav range: 67.174110 m, bearing: 169.832296 deg, approach rate: 0.374254 m/s, LOS rate: -0.547190 deg/s, cmd heading: 294.704276 deg, new cmd heading: 293.949161 deg. 2jĻHeadingCmd: 5.130381 target range: 512.099976 and range: 512.10 m. j,@jjjihhhhfffrfbf`J@ɛEBE9 Am]Ii u42ɚqiqIu==I}iyi}0@=)},@)*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507053- H~GA Y Y y BG] ʖ=Ge qAGe rAG1 BA O] >B(lOw,=AB@YB@Bw 9BB=yBHe?`?c( Y?a N?`j??ɨB@B{;BCyNBN;'I-Mb@Mb@Mb@))) )))Y-)\(?zGếMbpy-GA?- ׽-) ))-AI-A)y)IMIM4٢]< ]X=9]n^Q e>aa eG٣aymC m> uNusing accuracyPremultiplier from configq} 59u+՛?} 5Yu iuCB$C?:NP@uDu;u8;u 5B R@EB*** querying acoustic contact ***jjZj9EFNOT Ignoring new targets: 512.10 m.BjEzKmKm9KiKm Km  JjE ProNav: ac range: 512.099976 m, nav range: 67.312500 m, bearing: 169.634065 deg, approach rate: 0.380526 m/s, LOS rate: -0.543947 deg/s, cmd heading: 293.949157 deg, new cmd heading: 293.355711 deg. 2jHeadingCmd: 5.120023 target range: 512.099976 and range: 512.10 m. j;ף@jjjihhhh܈Bfffrfbf@ IIIɛByD 隍I 8ɚiIO>=I┿ii4Ȕ=);ף@)EqAEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760539ZHYRHYHe9>Ia Ie'IIeNBIa&Ia.Ia6Ie<:Ieq F*F2F:FBF@5JF"G=G=G x=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010547 sOw,&=AJ6J6J60J4J6k:J6;:J6ـ3J4J6"<J6"<J6;J6;BS;@YBJ@Bl&9BUp=yBH`? G٣yӼ > Nusing accuracyPremultiplier from config 591՛? 5Y iCBP@ D3";"; 5 E@ZjAEFNOT Ignoring new targets: 512.10 m.BjMZ#JjMZ# ProNav: ac range: 512.099976 m, nav range: 67.471725 m, bearing: 169.402870 deg, approach rate: 0.394357 m/s, LOS rate: -0.571254 deg/s, cmd heading: 293.355723 deg, new cmd heading: 292.663809 deg. 2jļHeadingCmd: 5.107947 target range: 512.099976 and range: 512.10 m. jMt@jjjihhhhfffrfbf@ @ɛ5B=A 9==I9 =?ɚAiAIEd>=IE6niIiMT6=)MMt@)*FE?2FA:FABFE_0JFI AIEh-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265848Gm =GI Ba O} >7yOw,צ=A2h@Y2@2c;92㎎=y2H G٣GGyƼ > Nusing accuracyPremultiplier from config 59՛? 5Y[ iCBA?:P@*D";Ƃ;1 5 ^@Zj)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:58:14.4278 }TRx dataTimestamp_ set to:1736373495.684527checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515856FNOT Ignoring new targets: 512.10 m.BjJj ProNav: ac range: 512.099976 m, nav range: 67.624626 m, bearing: 169.179514 deg, approach rate: 0.380519 m/s, LOS rate: -0.554601 deg/s, cmd heading: 292.663798 deg, new cmd heading: 291.995277 deg. 2jOHeadingCmd: 5.096279 target range: 512.099976 and range: 512.10 m. j @jjjihhhhBfff!rf!bf%f @ɛBě4 I EɚiI>?=IM엿iIiM>=)M@)I*F2F:FBFJFzKKKh9KK K8V  - $?I) G% =- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767205G5 ?G5 ?G Ha Ia  Ie 'IIe XBIa &Ia .Ia 6Ie \<:Ie ; FB O >Ow,f>A>@Y>@>vV9>`U=y>H??`bm?G Ί?F??ɨ>@>;>Cy^B^P'IInInK4٢z&< zU=9zߊQ ~>|| ~G٣|y >  Nusing accuracyPremultiplier from config  59 ՛? 5Y  i CBP@ 3D : ; ~ ;  5%B %(@%EZjIMFNOT Ignoring new targets: 512.10 m.BjU7!JjU7!e ProNav: ac range: 512.099976 m, nav range: 67.767632 m, bearing: 168.967533 deg, approach rate: 0.381142 m/s, LOS rate: -0.563785 deg/s, cmd heading: 291.995286 deg, new cmd heading: 291.360713 deg. 2jeumHeadingCmd: 5.085204 target range: 512.099976 and range: 512.10 m. jm@jijijiiqhqhqhyhyfyfyfyrfbf4@ɛB8D I ^JɚiQI]?=ImxWii/=)@)*F2F:FBF`0JFGqA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:58:14.4278 LVL= 13840, 23729, 20866, 24707, AGC= 67, IDX= 436,-0.28,-0.487,-1.701,-2.609,-1.408, PHS= 1.009,-0.246,-1.204, RAW= 64.4, 4.6, CAL= 65.5, 4.6, ROT= 84.5, -4.6 Ygot valid direction response: 21:58:14.4278 LVL= 13840, 23729, 20866, 24707, AGC= 67, IDX= 436,-0.28,-0.487,-1.701,-2.609,-1.408, PHS= 1.009,-0.246,-1.204, RAW= 64.4, 4.6, CAL= 65.5, 4.6, ROT= 84.5, -4.6 PDAT read: Bearing 84.5, -4.6 (Local) ~Local bearing/azimuth received: Bearing 84.5, -4.6 (Local) DAT read: Range 10 to 50 : 511.5 m (Round-trip 682.0 ms) speed 0.0 m/s ,DAT read: user:2185> BDAT read: Tx time:21:58:15.5416 $Ping request sent.  I! GOw,~V>AnWill construct direction to contact in vehicle frame from tetrahedron phase data.pirAvJDAT read: TxSync time:21:58:15.5409 y=BE\'IIEIE4٢%= 0=9eQ e>ai mG٣mGGyu u> Nusing accuracyPremultiplier from config 59՛? 5Y iCBP@?D; ; 5 @Ek.l?kx) k k >A:kCBkCZk=@?"wGOw-qOw,/4>A6t@Y6@6|96˄=y6Hf?@?Qg?`mW@? ??ɨ6t@6N;6CyBBBg'IMb@Mb@Mb@ )YQ?Mb{Gz?y( Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995143\Ow,UN>A:~@Y:፤@:*9:=y:H@??ac`W?Ԯ ?9\? ?ɨ:~@:c;:Cy~"B~r'II%~I%T_4٢#= L=9,Q > G٣y > Nusing accuracyPremultiplier from config 59՛? 5Y iCBdP@QD: ;;Q 5 r@Zj FNOT Ignoring new targets: 511.50 m.Bj;Jj;% ProNav: ac range: 511.500000 m, nav range: 83.280922 m, bearing: 80.537051 deg, approach rate: 0.662400 m/s, LOS rate: 0.230010 deg/s, cmd heading: 290.766617 deg, new cmd heading: 291.045115 deg. 2j%<%HeadingCmd: 5.079696 target range: 511.500000 and range: 511.50 m. j-ތ@j)j)j)i)h)h1h1h1f1f9f9rf9bf=E?ɛeBe") im̾Ii m[ɚiiqIuø@=Iu i}p;;i}P=)}ތ@)y*F?2F:FBF 2JF"G=G= $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251268Gmِ=GA BQ Om >Ow,g>A6%@Y65@6֠96=y6H ?'?9`]?@s?@2O??ɨ6%@6p';4yN/BR'IMb@Mb@Mb@ )Y-?sh|?y&1?y?5?`e< A)I AyQAIwIR4٢}= D=9\»Q > G٣yּ >  Nusing accuracyPremultiplier from config  59 ՛? 5Y  & i CB6?:}P@ ZD ; ;  5%B %@%EZjIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507204FNOT Ignoring new targets: 511.50 m.Bjlz;Jjlz; ProNav: ac range: 511.500000 m, nav range: 83.543854 m, bearing: 80.627816 deg, approach rate: 0.636221 m/s, LOS rate: 0.218936 deg/s, cmd heading: 291.045125 deg, new cmd heading: 291.316563 deg. 2jA<HeadingCmd: 5.084433 target range: 511.500000 and range: 511.50 m. j@jjjihhhh Bf!f!f!rf!bf% o?JeJeJe/JaJe:Je@:Je(N3Jaau@au@au@au@ɛ B  I 6aɚiI@=Ipis@;i%=)%@)A*F?2F:FBF12JFGqT=GBO> IzK oNK K K  K RK JK ?E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759110H I  I 'II BI % =&I .I 6I !<:I  F kOw,>A>Ҝ@Y>@>ާ9>.}=y>H zq? J?{Z`ny?w`v???ɨ>Ҝ@>;>CyJ@BJ'IIVIV4٢^!= ^a=9^Q b>`` bG٣bGGyf f> jNusing accuracyPremultiplier from confighn 59jY՛?n 5Yj, ijCBprɣrP@jbDj ;j* ;j 5t v@tZjFNOT Ignoring new targets: 511.50 m.Bjt;Jjt; ProNav: ac range: 511.500000 m, nav range: 83.776825 m, bearing: 80.705697 deg, approach rate: 0.640166 m/s, LOS rate: 0.213407 deg/s, cmd heading: 291.316557 deg, new cmd heading: 291.549547 deg. 2ju<HeadingCmd: 5.088500 target range: 511.500000 and range: 511.50 m. jԢ@jjjihhhhfffrfbf\?ɛEBE  IM߫IQ }beɚiI95A=Iw똿i5C;i'q<)Ԣ@)*F-?2F):F)BF-4JF)GYW=G G  ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012318GBO-N> I h&Ow,>AzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263114yAB'III4٢%; -C=9-Q ->11 5G٣9yE E> mNusing accuracyPremultiplier from configa 59e՛? 5Ye74 ieCBP@elDeC=eC=e 5 s@EZjFNOT Ignoring new targets: 511.50 m.BjKP;JjKP; ProNav: ac range: 511.500000 m, nav range: 84.048515 m, bearing: 80.795909 deg, approach rate: 0.550226 m/s, LOS rate: 0.182106 deg/s, cmd heading: 291.549548 deg, new cmd heading: 291.819307 deg. 2j; HeadingCmd: 5.093208 target range: 511.500000 and range: 511.50 m. j @j j j i h hhhfffrfbf=@ɛBU 隍èI RjɚiIQqA=I.QiAG;i<)@)E E *F2F:FBF!5JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515177Je Je Je 0Ja Je k:Je ?:Je ـ3Ja G} JR=GQ BY O} >YɬOw,j>Ay PB 'IMb@Mb@Mb@ )Ysh|??(\µ/$?y)?< A)vAIyAII{4٢= == I 9Q > G٣y > -Nusing accuracyPremultiplier from config!- 59%\֛?- 5Y%; i% DB5t+?5:5=5P@%uD%;%;% 59 E@A]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 511.50 m.Bju;Jju; ProNav: ac range: 511.500000 m, nav range: 84.308945 m, bearing: 80.879307 deg, approach rate: 0.722805 m/s, LOS rate: 0.230750 deg/s, cmd heading: 291.819313 deg, new cmd heading: 292.068733 deg. 2j\<HeadingCmd: 5.097561 target range: 511.500000 and range: 511.50 m. j8@jjjihhhhPBfffrfbf @ɛB2 I 0mɚiI6A=I—iWoI;iӯ<)8@)zK=K=9K9K= K=Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768461H8>I I(IIBI& =&I.I6I<:IS FBIiJIiRIiZIibIijImĘS4*F?2F:FBF_0JFG9=GBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019533Ow,S>A*J4="Jy MB 'II%I%4٢-y] -Y=91Q 5>19 =G٣=GGy9 E> MNusing accuracyPremultiplier from configAM 59E+ ֛?U 5YEA iEDBQQUP@E}DE:E ;E 5a e@aZjFNOT Ignoring new targets: 511.50 m.BjX;JjX; ProNav: ac range: 511.500000 m, nav range: 84.534996 m, bearing: 80.951232 deg, approach rate: 0.597409 m/s, LOS rate: 0.189576 deg/s, cmd heading: 292.068724 deg, new cmd heading: 292.283922 deg. 2j<HeadingCmd: 5.101317 target range: 511.500000 and range: 511.50 m. j=@jjjihhhhfffrfbf @ɛB( %虾I! %4uqɚ!i!I%A=I-xGi-jK;i-}<)-=@)*FM?2FI:FIBFM`0JFI $?I G%9f<G-qAG)GBO J>Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272843ҹOw,0>AJʛ@YJڢ@Jm 9J =yJH G٣y1 > Nusing accuracyPremultiplier from config 59[֛? 5YH iDB ?:9P@D;; 5 m@Zj)-FNOT Ignoring new targets: 511.50 m.uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523170) ~GJ5J5J1J1J5:J5G:J1J1AiBj}:;Jj}:; Yy B ProNav: ac range: 511.500000 m, nav range: 84.781448 m, bearing: 81.019875 deg, approach rate: 0.587694 m/s, LOS rate: 0.163212 deg/s, cmd heading: 292.283930 deg, new cmd heading: 292.489261 deg. 2j;HeadingCmd: 5.104901 target range: 511.500000 and range: 511.50 m. jY[@jjjihhh h GBf f frfbf õ @ɛeB] 隭I tuɚiI B=IҖifI;i`)Y[@)*F}?2Fy:FyBFyJFy"G=G= IzK BHK +9K K  K RK JK ?% Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:21:58:18.6274 - TRx dataTimestamp_ set to:1736373499.9765135 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776121H 9>I  I #(II BI &I .I 6I :I G <G B O >@Ow,?A2@Y2@2 92[*=y2H _4?@?o`@PP RG٣PyV|} V> ZNusing accuracyPremultiplier from configX^ 59Z֛?b 5YZN iZ'DB`ffP@ZDZ4s;ZI;Z 5%B %@%EZjimFNOT Ignoring new targets: 511.50 m.Bju-;Jju-; ProNav: ac range: 511.500000 m, nav range: 84.993011 m, bearing: 81.077507 deg, approach rate: 0.558332 m/s, LOS rate: 0.151715 deg/s, cmd heading: 292.489273 deg, new cmd heading: 292.661736 deg. 2j=;HeadingCmd: 5.107911 target range: 511.500000 and range: 511.50 m. jt@jjjihhhhfffrfbfj_@ɛ5B=;j 9=I9 =8yɚ9i9IE:B=I]boi]OG;i]:5)]t@)Y*F2F:FBF0JFGb<GaBqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027246O;> I OOw,?A>~@Y>I@>9>0=y>H@??۳@r3?`?_@??ɨ>~@>;>CyjJBj'IrWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 21:58:18.6274 LVL= 13424, 25457, 13922, 20563, AGC= 68, IDX= 431, 0.04,-1.686,-2.774, 2.323,-2.758, PHS= 1.160, 0.031,-1.205, RAW= 58.5, 0.1, CAL= 60.6, -2.7, ROT= 89.4, 2.7 EYgot valid direction response: 21:58:18.6274 LVL= 13424, 25457, 13922, 20563, AGC= 68, IDX= 431, 0.04,-1.686,-2.774, 2.323,-2.758, PHS= 1.160, 0.031,-1.205, RAW= 58.5, 0.1, CAL= 60.6, -2.7, ROT= 89.4, 2.7 MPDAT read: Bearing 89.4, 2.7 (Local) M~Local bearing/azimuth received: Bearing 89.4, 2.7 (Local) ]DAT read: Range 10 to 50 : 511.1 m (Round-trip 681.5 ms) speed 0.0 m/s e,DAT read: user:2186> eBDAT read: Tx time:21:58:19.7402 m$Ping request sent.m9rf;NpU?v?yp G٣GGy > Nusing accuracyPremultiplier from config 5p9֛?- 5YV i2DB)-n5P@D`,<y,<( 5pp p)pIpippppp p)pIpippprHg?.`lTmc?)pIpippI M@UEppkrQ&&?krMz kp kr?A:krCBkrCZkr/>"r<c-4$s@ٲy@rf;NpU?v?Jkr8?Rkrn*r ȹn@)^@HQsz@rֿ?NE-?lŘ?"kr}B*krvCkrE^P'?kr0i 2krCkr?kr0i kr! Dkr@Ckr+?u addTargetRange:: Added new target pos. range: 511.100006 m, deltaT: 4.292183 s, deltaX: -0.399994 m, approachRate: -0.093191 m/s, rangeRepo size: 4  Added new target pos. range: 511.100006 m, bearing: 25.983107 deg, lat: 36.900336 deg, lon: -122.118642 deg, deltaT: 4.292183 s, deltaX: -0.399994 m, approachRate: -0.093191 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 511.10 m.BjJj ProNav: ac range: 511.100006 m, nav range: 134.251999 m, bearing: 63.592526 deg, approach rate: 0.000000 m/s, LOS rate: 0.151715 deg/s, cmd heading: 292.661749 deg, new cmd heading: 292.899222 deg. 2j=HeadingCmd: 5.112056 target range: 511.100006 and range: 511.10 m. j=@j9j9j9i9hAhAhAhAfIfIfIrfM@bfM`:?ɛBa, ˘I ~ɚiI wB=I畿iYB;it)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:58:19.7394 JKـ3 K .KK"KJY J] JY JY JY J] <:JY JY *F} ?2Fy :Fy BF} `0JFy G rA G GM SGI GM ?G! B) OM >Ow, 6?A=Q@Y=Va@=*9=I˺=y=H`?H?@ط$?@t$?O??ɨ=Q@=7݇;9yMDBU'I Ih%Mb@Mb@Mb@!!! !)!Y%K?RQMbp?y%^?%½%;%A !)!I% A!y% AI=iI=:4zKKKK K 2j|zxunfaa]WSLE>;60,+'٢M D=9Q > G٣y^ > Nusing accuracyPremultiplier from config 59֛? 5Y ] Will construct direction to contact in vehicle frame from tetrahedron phase data.i5DBF?:P@D};q|; 5  .@ jHIbHM4=HU8>IQ IU*(IIUBIQ&IQ.IQ6IU<:IUX FmB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 511.10 m.Bj}?;Jj}?; ProNav: ac range: 511.100006 m, nav range: 134.445724 m, bearing: 63.657457 deg, approach rate: 0.501236 m/s, LOS rate: 0.167758 deg/s, cmd heading: 292.899221 deg, new cmd heading: 293.093733 deg. 2jC;HeadingCmd: 5.115451 target range: 511.100006 and range: 511.10 m. jƱ@jjjihhh!h%NBf!f!f)rf)bf-k?ɛuBu" qu흾Iy }#ɚyiyIB=ITxi>;i)Ʊ@)*Fu?2Fq:FqBFu0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G *UG B OE >mOw,R?AFH@YF?`f??ɨFH@F?;FCyN6BN'IIZIZ4٢^ bi=9btŻQ b?dd fG٣dyjX j? nNusing accuracyPremultiplier from configlv 59ng!֛?v 5YnXb in9DBtvۮzP@nDnG;n%H;n 5| ~@|ZjFNOT Ignoring new targets: 511.10 m.Bj84;Jj84; ProNav: ac range: 511.100006 m, nav range: 134.607269 m, bearing: 63.711298 deg, approach rate: 0.473312 m/s, LOS rate: 0.157559 deg/s, cmd heading: 293.093745 deg, new cmd heading: 293.255072 deg. 2jC;HeadingCmd: 5.118267 target range: 511.100006 and range: 511.10 m. jȣ@jjjihhhhfffrfbfc?ɛBr+ I! %肼ɚ!i!I%B=I-i-;;i-q: )-ȣ@)1 I*F2F:FBF05JFG}͍GIBYOu6>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9929051Ow,Al?A6e@Y6Gu@6Fټ96&=y6Ho?`p?u@T ?!? k ?@?ɨ6e@6;4yR*BR{'I5Mb@Mb@Mb@111 1)1Y5A`"?"~jy&1|y5?5S㽹5`5A 5A)1I5 A1y1IMAAIMIMk4٢e%k eB=9eeQ e>ii mG٣mGGym < u>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243270 Nusing accuracyPremultiplier from config59\%֛?5Yi i7DB?:P@D%;L$;Q5 @JJJJJk:JJJZjFNOT Ignoring new targets: 511.10 m.Bj';Jj ';] ProNav: ac range: 511.100006 m, nav range: 134.813599 m, bearing: 63.776848 deg, approach rate: 0.462098 m/s, LOS rate: 0.146582 deg/s, cmd heading: 293.255074 deg, new cmd heading: 293.451422 deg. 2j]2;mHeadingCmd: 5.121694 target range: 511.100006 and range: 511.10 m. jm@jjjihhhh4Bfffrfbf`mE?ɛ B ! ݵI ɚiIC=I«i5;i%2~)%@)!*F?2F:FBFA5JF"G=G= I- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495202zKM ,NKM 9KI KM KM H 9>I  I (II BI &I .I 6I <:I T FG rG G pAG B1 Om >tOw,?AB@YB}@Bۼ9B=yBHL? ה? |K"?j`q?."?:?ɨB@B;@yJBJi'IiR=IR>IVIVW4٢^͜ ^V=9bQQ b>`` fG٣dyf*W< f> jNusing accuracyPremultiplier from confighn59j)֛?r5Yjo ij6DBpr簿rP@jDju ;j ;j5t v@xZj15FNOT Ignoring new targets: 511.10 m.Bj`D;Jj`D; ProNav: ac range: 511.100006 m, nav range: 134.998749 m, bearing: 63.836120 deg, approach rate: 0.537044 m/s, LOS rate: 0.171687 deg/s, cmd heading: 293.451428 deg, new cmd heading: 293.628998 deg. 2j;HeadingCmd: 5.124793 target range: 511.100006 and range: 511.10 m. jM@jjjihhhhfffrfbf@?ɛ߈B5 ľI 쇼ɚiI=C=I%5Fi%`1;i%a)%M@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748285*F?2F:FBF_0JFGGBOb> q Iq = Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= AE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999350͟Ow,r?Aj0›@YjѢ@j]޼9j<>yjHVy? w?`}?r`Jۛ??3?ɨj0›@jU#;jCyvBvJ'II~I~4٢5 5C=9E_zQ M>aa mG٣iy}{o< > Nusing accuracyPremultiplier from config59M-֛?5Yu i3DB9=EP@D˫<<h 5 N@EZjiuFNOT Ignoring new targets: 511.10 m.Bjuc";Jjuc"; ProNav: ac range: 511.100006 m, nav range: 135.206757 m, bearing: 63.903372 deg, approach rate: 0.439784 m/s, LOS rate: 0.141971 deg/s, cmd heading: 293.628985 deg, new cmd heading: 293.830432 deg. 2j;HeadingCmd: 5.128308 target range: 511.100006 and range: 511.10 m. j@jjjihhhhfffrfbf #@ɛMވBM/'; QUxܾIQ UɚQiQI]C=I]ӓi,;iUK)@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252234G SGy B O > e $?Im hOw, ?A>@Y>/@>_9>>y>H?O\?`5¿?U@ ?;+?@?ɨ>@>݉;>CyJBJ5'I%Mb@Mb@Mb@!!! !)!Y%x&1?Zd;:vy%!?%%Լ%A %A)!I% A!y% AI5I5:4٢M MG=9M9Q M>QQ UG٣UGGy]I< ]> mNusing accuracyPremultiplier from configau59e1֛?u5Yeh| ie)DBu$?u:uȯ}P@eDe;ew;e 5B H@EZjAMFNOT Ignoring new targets: 511.10 m.BjMI;JjUI; ProNav: ac range: 511.100006 m, nav range: 135.410858 m, bearing: 63.969395 deg, approach rate: 0.545541 m/s, LOS rate: 0.176207 deg/s, cmd heading: 293.830421 deg, new cmd heading: 294.028191 deg. 2j;HeadingCmd: 5.131760 target range: 511.100006 and range: 511.10 m. ja7@jjjihhhh Bfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503282ZHRHH8>I I'IIBI&I.I6Ii<:ID Fɛ)-AOzKUMKKUh9KQKU! KU q隍I Z獼ɚiIC=Iai7(;iv.)a7@)!*F%?2F!:F)BF)JF)G1 G1Ge ^ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756551GA Bi J J J J J :J =:J J J 2!Ow,?A6`@Y6$@6E96Ƚ>y6H Q?@B?%ÿ`e ?ݝ fR?#?J?ɨ6`@69؉;6CyBއBB'I)D DININ4٢r rS=9v>SQ v>tt zG٣xyz[< z> Nusing accuracyPremultiplier from config|59~5֛? 5Y~ւ i~DB    P@~D~:~:~I5 o@5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 511.10 m.BjM;H;JjM;H;] ProNav: ac range: 511.100006 m, nav range: 135.608154 m, bearing: 64.033731 deg, approach rate: 0.537620 m/s, LOS rate: 0.175056 deg/s, cmd heading: 294.028196 deg, new cmd heading: 294.220922 deg. 2j]G;mHeadingCmd: 5.135124 target range: 511.100006 and range: 511.10 m. jmR@jijijiiihihihqhqfqfyfyrfybf} q@ɛ݈B` 隭I ɚiID=Ii܆%;iۼ)R@) I*Fq2Fq:FqBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007267GCuGBO >'Ow,?A68@Y6H@6g96E>y6H`T?@.?#ÿࡔ$V?SD ?o?` ?ɨ68@6\Z;6CyNƇBN'I-Mb@Mb@Mb@))) )))Y-V-?K7Aly-h1?- --A -`@)-`AI-/ A)y- AIMIMb4]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259228٢e mB=9mֆQ m>iq uG٣qy}'< }> Nusing accuracyPremultiplier from config59;;֛?5Yy iDB4?:P@D<<5Y ]@YZjFNOT Ignoring new targets: 511.10 m.Bj2F;Jj2F; ProNav: ac range: 511.100006 m, nav range: 135.840591 m, bearing: 64.111767 deg, approach rate: 0.517000 m/s, LOS rate: 0.173276 deg/s, cmd heading: 294.220917 deg, new cmd heading: 294.454624 deg. 2j;HeadingCmd: 5.139203 target range: 511.100006 and range: 511.10 m. jYt@jjjihhhhBfffrfbf`f @ɛ[ 隕F I ᔼɚiIiD=I ni !;iwۼ)Yt@)*F]?2Fa:FaBFeq0JFa I Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:21:58:22.8258 5 TRx dataTimestamp_ set to:1736373504.0124015 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516323HQ IQ  IU 'IIU XBIQ &IQ .IQ 6IU q<:IU J FBIJIRIZIbIjI=4G N޼zK :IK 9K K " K RK ?JK ?G B O >Pw,c@A2-U@Y2d@2 92">y2H??? zCĿ@8?/?+? ?ɨ2-U@2(';2CyRBR&IIZIZ4٢v( vS=9zһQ z>xx ~G٣~GGy~< >  Nusing accuracyPremultiplier from config 59T@֛?5Y~ iDBP@D:2:Z5! %b@%EZjAMFNOT Ignoring new targets: 511.10 m.BjMd;JjUd;e ProNav: ac range: 511.100006 m, nav range: 136.054016 m, bearing: 64.183663 deg, approach rate: 0.594195 m/s, LOS rate: 0.199851 deg/s, cmd heading: 294.454619 deg, new cmd heading: 294.669967 deg. 2je' I- Will construct direction to contact in vehicle frame from tetrahedron phase data.Pw,AI!@ARDAT read: 21:58:22.8258 LVL= 12016, 27377, 17458, 21683, AGC= 69, IDX= 446, 0.49,-1.098,-1.917, 3.038,-2.177, PHS= 1.167, 0.306,-1.071, RAW= 52.4, -4.2, CAL= 56.0, -8.6, ROT= 94.0, 8.6 VYgot valid direction response: 21:58:22.8258 LVL= 12016, 27377, 17458, 21683, AGC= 69, IDX= 446, 0.49,-1.098,-1.917, 3.038,-2.177, PHS= 1.167, 0.306,-1.071, RAW= 52.4, -4.2, CAL= 56.0, -8.6, ROT= 94.0, 8.6 ZPDAT read: Bearing 94.0, 8.6 (Local) n~Local bearing/azimuth received: Bearing 94.0, 8.6 (Local) zDAT read: Range 10 to 50 : 511.1 m (Round-trip 681.5 ms) speed 0.0 m/s ,DAT read: user:2187> %BDAT read: Tx time:21:58:23.9402 %$Ping request sent.%UU j?UQ U5z?)U`IU~?iU`>QQU$W?*1bK)UIU=iU?U\UQQ}:publishing transmit ping time!}Fpublishing direction and range infoQ9UCC? l `?2?yQQQQ Q)QYt@Y@-9!>yH ?t?TĿ@|??ޜd? ?@?ɨYt@;騑IQiQQQQQ Q)QIQiQQQU$W?*1bK)QIQiQQQQyB&Ii=I<Mb@Mb@Mb@ )Yjt?㥛 ¿{Gzy@?#&A @)AI AyI-I-4٢] ] =9eQ e>ai mG٣iym; m> %|uA =Nusing accuracyPremultiplier from config E59 H֛?E5Y Z i CBED?M:MQMP@ D q; H; 5QuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:21:58:23.9394  @ Y |uAy iBkU{2I,?kU> kQ kUi @A:kQBkQZkU>"U*;@@P`lVu@Inw@UCC? l `?2?JkU?RkU\U*U=gp@?V@JBjz@UqhSo?p?q?"kUYB*kU?CkUģ,?kU:>. 2kUTCkU w?kQkU@DkU1XCkU? addTargetRange:: Added new target pos. range: 511.100006 m, deltaT: 4.033611 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 511.100006 m, bearing: 19.251590 deg, lat: 36.901404 deg, lon: -122.118642 deg, deltaT: 4.033611 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 511.10 m.BjJj ProNav: ac range: 511.100006 m, nav range: 216.194382 m, bearing: 34.651180 deg, approach rate: 0.000000 m/s, LOS rate: 0.199851 deg/s, cmd heading: 294.669961 deg, new cmd heading: 295.052069 deg. 2jHeadingCmd: 5.149630 target range: 511.100006 and range: 511.10 m. jɤ@jjA jA iA hI hI hI hM BfQ fQ fQ rfQ bfU @?ɛ ۈB d![ 9 I ɚ i I E=I Wi U;i Lf) ɤ@)! I h*F ?2F :F BF _0JF H)I) I-t'II-%BI)&I).I)6I-e<:I-A FmWill construct direction to contact in vehicle frame from tetrahedron phase data.zKBHKh9KK# KBK:KrAG޼GBO?+Pw,D@ABӇ@YB4@BP9B >yBH? ? UĿFt )) -G٣)yU; U> Nusing accuracyPremultiplier from configi59mM֛?5Ym imCBP@mDmKPPw,^@A:Q@Y:@:(9:>y:H? ?=k¿oa? J?`*??ɨ:Q@:銋;:CyFyBF&IIRIRK4٢V ZO=9ZJۻQ ^>`` bG٣bGGybME; f> jNusing accuracyPremultiplier from configdj59fMS֛?n5YfF ifCBlr rP@fDf;f;f5$5vB v@vE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 511.10 m.Bjj;Jjj;- ProNav: ac range: 511.100006 m, nav range: 216.413406 m, bearing: 34.793502 deg, approach rate: 0.316886 m/s, LOS rate: 0.205324 deg/s, cmd heading: 295.262821 deg, new cmd heading: 295.478808 deg. 2j- <5HeadingCmd: 5.157078 target range: 511.100006 and range: 511.10 m. j=@j9jAjAiAhAhAhIhIfIfIfIrfQbfU@"?}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛڈBg 隥0I ˦ɚiIE=II$i/;i])@)ErAEqA*FU?2FY:FYBFeP5JFaG GqAG]^GB!O=>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223497|Pw,\x@A R$?IRhynnBn&I)p pmMb@Mb@Mb@iii i)iYmʡE?7A`¿V-ym-R?mmi i)m3AImE Aiymp AIIk4٢I 7=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 rZ֛?5Y ʵ i CBU?~:%P@  D GH; E; (5) -f@-EZjQ]FNOT Ignoring new targets: 511.10 m.Bj]7j;Jj]7j;m ProNav: ac range: 511.100006 m, nav range: 216.550201 m, bearing: 34.884796 deg, approach rate: 0.307020 m/s, LOS rate: 0.204769 deg/s, cmd heading: 295.478819 deg, new cmd heading: 295.752526 deg. 2ju <}HeadingCmd: 5.161855 target range: 511.100006 and range: 511.10 m. j}-@jyjyjyiyhhhhBfffrfbf B?ɛوB` 5I ɚiI;F=IiCp ;iւ)-@)H9I9 I=<'II=BI9&I9.I96I=y<:I=P FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475484*F2F:FBF@5JFzK}K}9KyK}$ K}RK>JK>GG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729177d$Pw,m@AJ0J2J20J0J0J2<:J2ـ3J0J0J0J2;J2;FdΜ@YFݣ@F-;9Fg>yFH`kd?? ¿`GV@J?- r? ??ɨFdΜ@F;FCyRgBR&IIZIZ4٢b? b`=9bLQ f>dd fG٣dyj<< j> nNusing accuracyPremultiplier from configlr59n`֛?r5Yn inCBtvvP@nDn:n:nI+5| ~@|Zj%FNOT Ignoring new targets: 511.10 m.Bj%k;Jj-k; ProNav: ac range: 511.100006 m, nav range: 216.660873 m, bearing: 34.959957 deg, approach rate: 0.303704 m/s, LOS rate: 0.206148 deg/s, cmd heading: 295.752519 deg, new cmd heading: 295.977883 deg. 2jz <HeadingCmd: 5.165789 target range: 511.100006 and range: 511.10 m. j$N@jjjihhhhfffrfbf@fg?ɛe؈Be" ae8Ii m ɚiiiImF=IiI;i<)$N@) I*F-?2F):F)BF-_0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980164GM G! B1 O] >*Pw,O@@A:(ݜ@Y:@:H9:>y:H|~?/?rÿBO%? ?e|?+?ɨ:(ݜ@:K;:CybhBb&IMMb@Mb@Mb@III I)IYMV-?Sÿy&1yM\?MM`eMA M@)IIM/ AIyMQAImIm 4٢}{; }?=95Q > G٣GGy<; > Nusing accuracyPremultiplier from config59 h֛?5Y+ iCBP`?r:/P@#D%;p;/5 @Zjq}FNOT Ignoring new targets: 511.10 m.Bj}k;Jj}k; ProNav: ac range: 511.100006 m, nav range: 216.796082 m, bearing: 35.052178 deg, approach rate: 0.302228 m/s, LOS rate: 0.206012 deg/s, cmd heading: 295.977888 deg, new cmd heading: 296.254378 deg. 2jb <HeadingCmd: 5.170614 target range: 511.100006 and range: 511.10 m. ju@jjjihhhhYBfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235959bf%`<@ɛ׈BȐ 隕7I õɚiIF=IhiȄ:i{)u@)*F?2F:FBFJF"G=G IG OHI II  IM 'IIM އBII &II .II 6IM V<:IM 7 F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484199G B O >zK BHK +9K K % K t1Pw,v@A2@Y2`@2V92@>y2H``?w?`pĿ@J?fPת??`?ɨ2@2;0y:rB:&IiB?>IBp;IFIF.4٢N]= NZ=9R-Q R>PP RG٣TyVQ; V> ZNusing accuracyPremultiplier from configX^59Zn֛?^5YZ iZCB`bbP@Z.DZ ;ZP ;ZL25d f@dZjFNOT Ignoring new targets: 511.10 m.Bjv;Jjv; ProNav: ac range: 511.100006 m, nav range: 216.914948 m, bearing: 35.133177 deg, approach rate: 0.316709 m/s, LOS rate: 0.215698 deg/s, cmd heading: 296.254374 deg, new cmd heading: 296.497237 deg. 2j<HeadingCmd: 5.174853 target range: 511.100006 and range: 511.10 m. j e@j j j i h h hhf1f9f9rf9bf=T<@ɛֈBM QU1IQ UɚQiQIU<"G=I]ݍi]:ieQ !)ee@)a*F?2F:FBFJFG  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736761GBOf> y I} hj7Pw,@A6@Y6@6 f96>y6H ??@,ĿG?e?`iX?֔?ɨ6@6̓;6Cy>zBB&IIJIJ4٢R= RJ=9VQ V>TT VG٣XyZ$: Z> bNusing accuracyPremultiplier from config\b59^u֛?f5Y^ i^CBdf𩿑fP@^9D^:^X:^55jB n@nEzB*** querying acoustic contact ***jxjx]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.987480ZjFNOT Ignoring new targets: 511.10 m.Bj,v;Jj,v; ProNav: ac range: 511.100006 m, nav range: 217.043747 m, bearing: 35.220646 deg, approach rate: 0.317107 m/s, LOS rate: 0.215222 deg/s, cmd heading: 296.497228 deg, new cmd heading: 296.759477 deg. 2j<HeadingCmd: 5.179430 target range: 511.100006 and range: 511.10 m. j佥@jjjihhhhfffrfbfg@ɛՈBL -I ƜɚiIRG=I GiJ:iߦ/)佥@)*F?2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239380J J J 1J J :J 9:J 3J a @a @a @a @G MG B O > ] $?IY =Pw,@Ay-B5&IMb@Mb@Mb@ )Yx&1?7A`¿Mbp?yA`?;A )AI AyAII(4٢= 6=9Q > G٣GGy% -> =Nusing accuracyPremultiplier from config9E59=4~֛?E5Y= i=CBMdc?Mo:MyMP@=FD=';=X%;=95Q Uz@YZjFNOT Ignoring new targets: 511.10 m.Bj;Jj; ProNav: ac range: 511.100006 m, nav range: 217.189072 m, bearing: 35.319873 deg, approach rate: 0.334941 m/s, LOS rate: 0.228542 deg/s, cmd heading: 296.759480 deg, new cmd heading: 297.056958 deg. 2j<HeadingCmd: 5.184622 target range: 511.100006 and range: 511.10 m. jl@jjjihhhhBfffrfbf, @ɛԈB\ $I ¼ɚiI |G=Ii:i uA) l@) HI III&I.I6I9<:I" FeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.492367*Fu?2Fy:FyBF}o0JFyGqA GrAG])zKRIK9KK& KGBO=P> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:58:27.0259  TRx dataTimestamp_ set to:1736373508.300605 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.744414DPw,.AA6@Y6 @6D96!>y6H!??!ſ6=`?y`N?`j?`Ċ?ɨ6@6;6CyzB~&I) I I 4٢> R=9Q > G٣y; > Nusing accuracyPremultiplier from config59S֛?5Y iCB3P@QD<</=5 @ ZjIUFNOT Ignoring new targets: 511.10 m.Bjut;Jjut; ProNav: ac range: 511.100006 m, nav range: 217.312561 m, bearing: 35.404268 deg, approach rate: 0.312461 m/s, LOS rate: 0.213420 deg/s, cmd heading: 297.056948 deg, new cmd heading: 297.309987 deg. 2jw<HeadingCmd: 5.189038 target range: 511.100006 and range: 511.10 m. j @jjjihhhhfffrfbf`\@ IɛUӈB]d ]NE=]IY ]XƼɚaiaIeBG=Ie i::igH) @)*Fa2Fa:FaBFe0JFa}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.995478G B-Gi B O% >dJPw,-AAb@YbM@b 9b/6">ybH ;?`5?ſ 9?nn?`%??ɨb@b;`yrLJBr'IMb@Mb@Mb@ )Y^I +?p= ף:v?yXY?< @)AIyAII4٢> B=9Q > G٣y Z:  > Nusing accuracyPremultiplier from config59 ֛?5Y i DB%[?%w:%ק%P@\D;;@5) -@5EZjYeFNOT Ignoring new targets: 511.10 m.Bjev;Jjev;u ProNav: ac range: 511.100006 m, nav range: 217.437958 m, bearing: 35.492299 deg, approach rate: 0.307682 m/s, LOS rate: 0.215876 deg/s, cmd heading: 297.309993 deg, new cmd heading: 297.573934 deg. 2j}'<}HeadingCmd: 5.193645 target range: 511.100006 and range: 511.10 m. j}W2@jyjjihhhhˆBfffrfbf`!@Will construct direction to contact in vehicle frame from tetrahedron phase data.JUJUJU0JQJU:JUy6:JUـ3JQ]DAT read: 21:58:27.0259 LVL= 13232, 25265, 20658, 26499, AGC= 66, IDX= 448, 0.12, 1.233, 0.383,-0.817, 0.171, PHS= 1.150, 0.259,-0.990, RAW= 54.5, -4.5, CAL= 58.8, -9.3, ROT= 91.2, 9.3 eYgot valid direction response: 21:58:27.0259 LVL= 13232, 25265, 20658, 26499, AGC= 66, IDX= 448, 0.12, 1.233, 0.383,-0.817, 0.171, PHS= 1.150, 0.259,-0.990, RAW= 54.5, -4.5, CAL= 58.8, -9.3, ROT= 91.2, 9.3 mPDAT read: Bearing 91.2, 9.3 (Local) u~Local bearing/azimuth received: Bearing 91.2, 9.3 (Local) }DAT read: Range 10 to 50 : 511.2 m (Round-trip 681.6 ms) speed 0.0 m/s ɛшB:| 隥I g.ʼɚiIqG=I vi:iU)W2@),DAT read: user:2188> BDAT read: Tx time:21:58:28.1402 $Ping request sent.p}"s?|٠ G\?)6&I%?i6&>5xmp?_&' M)]I=iԻ?s^M:publishing transmit ping timeMFpublishing direction and range info9AWL ?mXd?Yq?y )Ii )Ii5xmp?_&' M)Ii*F}?2Fy:FyBF}0JFy IhGUBDG)B9O]v>jH <bH <H I  I O'II BI &I .I 6I <:I X FBIJIRIZIbIjIɛ?4} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:58:28.1395 zK- J3KK) K) K- ' K- QPw,ffGAA2!@Y2#@2ר92$>y2H@'??6ƿ@H06;?ab}?`??ɨ2!@25I;2Cy>ۇBB'IIJIJ4٢ra= r_=9rQ r>tt vG٣vGGyz; z> Nusing accuracyPremultiplier from config%59֛?%5Y i$DB!%-P@fD::D55B 5h@5EkC%?k5KF k k.u3AA:kCBkCZk>>"" A@%G-t@I?hx@AWL ?mXd?Yq?JkԻ?Rks^*Z!Dn@ƹEY@gVr{@2R"?Bס?}?"k"B*kpCk\%?kxn 2kCk\%?kkCkCk>% addTargetRange:: Added new target pos. range: 511.200012 m, deltaT: 4.290208 s, deltaX: 0.100006 m, approachRate: 0.023310 m/s, rangeRepo size: 4 ] Added new target pos. range: 511.200012 m, bearing: 23.080110 deg, lat: 36.901977 deg, lon: -122.118642 deg, deltaT: 4.290208 s, deltaX: 0.100006 m, approachRate: 0.023310 m/s, posRepo size: 4 ZjYeFNOT Ignoring new targets: 511.20 m.BjeJja ProNav: ac range: 511.200012 m, nav range: 271.935211 m, bearing: 27.733003 deg, approach rate: 0.000000 m/s, LOS rate: 0.215876 deg/s, cmd heading: 297.573939 deg, new cmd heading: 297.829303 deg. 2jHeadingCmd: 5.198102 target range: 511.200012 and range: 511.20 m. jV@jjjihhhhfffrf@3@bf ?ɛ%ЈB-Cm IMIQ U`rͼɚYiYI]DJG=I䊿i?s:is\)V@)EErA*FU?2FQ:FYBF]T5JFa"Gm=Gm=Will construct direction to contact in vehicle frame from tetrahedron phase data. IG DG B O >WPw,}@aAA2o$@Y23@292f%>y2H`?g?ƿ`(_?0@`7r?Q?8?ɨ2o$@2;2Cy:B:A'IiB RN=9VQ V>TT ZG٣XyZ; Z> bNusing accuracyPremultiplier from config\f59^Z֛?f5Y^p i^>DBdfOfP@^qD^e:^:^}G5h nk@l%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 511.20 m.Bj5U;Jj5U;=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 511.200012 m, nav range: 272.009674 m, bearing: 27.802844 deg, approach rate: 0.199375 m/s, LOS rate: 0.186948 deg/s, cmd heading: 297.829306 deg, new cmd heading: 298.038770 deg. 2jM<HeadingCmd: 5.201758 target range: 511.200012 and range: 511.20 m. jt@jjjihhhhfffrfbf?ɛuΈBuiEb quӾIy }ϼɚyiyI}G=I7liǟ:ib)t@)) -~GEE`k=Iy aYyB*F?2F:FBF/1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972372Ju Ju Jq Jq Ju :Ju <:Jq Jq $?I G |[G B O >(^Pw,J~AA:]@Y: m@: 9:A%>y:HM\?Ϙ?_ƿ  @?q?`-? y?|?ɨ:]@:@;:CyF#BFr'IUMb@Mb@Mb@QQQ Q)QYUHzG?A`" rh?yU=J?UٽUC =U&A U@)UAIU AQyUAIehIeV84٢u)> }+=9}`Q }> G٣yo< > Nusing accuracyPremultiplier from config59c֛?5Y ieDBJ J AAePw,aƗAA2@Y2@292)>y2HΨ?~?pǿP(? n? ?? hu?ɨ2@28c;2CyRDBR'IIZcIZy/4 I٢ )>  S=9 KͻQ > G٣GGyO]< %> -Nusing accuracyPremultiplier from config!-59%ګ֛?55Y% i%DB155P@%D%:%L:% O5A E@EEZjamFNOT Ignoring new targets: 511.20 m.Bjm;;Jjm;; ProNav: ac range: 511.200012 m, nav range: 272.144379 m, bearing: 27.944665 deg, approach rate: 0.154156 m/s, LOS rate: 0.164103 deg/s, cmd heading: 298.273405 deg, new cmd heading: 298.464134 deg. 2j>;HeadingCmd: 5.209182 target range: 511.200012 and range: 511.20 m. j@jjjihhhhfffrfbf?ɛˈB7 =I &ԼɚiI*F=Ixi:iQ)@)EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728773*F2F:F)BF-p4JF)GE XGM pAGI G B1 Oe >PkPw,DZAA^@Y^ZϤ@^ب9^.>y^H`. ?_?@ ȿZ?\???`un?ɨ^@^L);^Cy~hB~'IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.979736Mb@Mb@Mb@ )Y7A`?(\µ <=9OQ > G٣yS< > Nusing accuracyPremultiplier from config 59ݳ֛? 5Y iDB  8? : & Q@D;;R5B x@EZj9EFNOT Ignoring new targets: 511.20 m.BjMP);JjMP);] ProNav: ac range: 511.200012 m, nav range: 272.198792 m, bearing: 28.008901 deg, approach rate: 0.125413 m/s, LOS rate: 0.148025 deg/s, cmd heading: 298.464131 deg, new cmd heading: 298.656801 deg. 2j-;HeadingCmd: 5.212544 target range: 511.200012 and range: 511.20 m. j*ͦ@jj j i h h hhmBfffrfbf=@!@ɛʈBÐ 隍BCI ռɚiIE=I iIn:iyF)*ͦ@) Ih*Fq2Fq:FqBFu_0JFqZHRHAAH 7>I  I  (II BI &I .I 6I <:I | FWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231276G lSG B O >zK k3IK +9K K ) K BK pA:K qArPw,{AA2@Y2 @26Ъ922>y2Hx?>?Rȿ\? ?S?x?_h?ɨ2@2y";2CyNBR'IIZIZ4٢nP> r_=9v*Q z>| G٣y < > Nusing accuracyPremultiplier from config%59֛?%5Y8% iDB)-7-Q@D::V51 5@1ZjFNOT Ignoring new targets: 511.20 m.Bj[!;Jj[!;- ProNav: ac range: 511.200012 m, nav range: 272.243927 m, bearing: 28.064157 deg, approach rate: 0.115253 m/s, LOS rate: 0.141070 deg/s, cmd heading: 298.656797 deg, new cmd heading: 298.822535 deg. 2j-;5HeadingCmd: 5.215437 target range: 511.200012 and range: 511.20 m. j5@j1jajaiahihqhhfffrfbf`ׯ@ɛɈBh I LּɚiIsD=Ii U:i %17) @)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485140*F?2F:FBFJF IG I4GG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735263xPw,[AA:7@Y:>G@:썬9: 4>y:H? !?ȿ0f?$`5?~O?@e?ɨ:7@:>;:Cy^B^(IIfIfd4٢nC= rJ=9r Q r>tt vG٣vGGyv< z> Nusing accuracyPremultiplier from configx59z֛?5YzV, izDBLQ@zDzG B O >I#Pw,BA6p@Y6^@6965>y6H@H?K?`oɿ Ɠ :?m诵?@W?'b?ɨ6p@6;6Cy>ȈBB>(I F=F=HI Iu(IIBI' =&I.I6I6<:I FMb@Mb@Mb@ )YV-? 4=9`Q > G٣y{< > Nusing accuracyPremultiplier from config59֛?5Y3 iEB.?:KQ@DU;ZS;]5 {@EZj!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2393495FNOT Ignoring new targets: 511.20 m.Bj=f<;Jj=f<;U ProNav: ac range: 511.200012 m, nav range: 272.334076 m, bearing: 28.187664 deg, approach rate: 0.111691 m/s, LOS rate: 0.164710 deg/s, cmd heading: 299.000192 deg, new cmd heading: 299.192988 deg. 2jU;]HeadingCmd: 5.221903 target range: 511.200012 and range: 511.20 m. j]@jajajiiihihihqhu͉Bfqfqfqrfybf}`H @ɛ-iԼ )-E;I) -ּɚ1i1I5[C=IM؇iMM):iM )M@)QzKBoHK9KK* K+H]hx|uri`YRJC;2-&  RK?JK?Em C=*F} ?2Fy :Fy BF} `0JFy  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:58:31.2257  TRx dataTimestamp_ set to:1736373512.335314 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495765JK3 K.KK"KJ] J] J] 0JY J] :J] f4:J] ـ3JY J] #⇇Pw, BA6K@Y6@6O965>y6H`.?z??ȿ0y4?Js4õ?6?,b?ɨ6K@6;4y>؈B>Q(IIbIb%x4٢n= r3=9r)Q r>tt vG٣tyz< z> ~Nusing accuracyPremultiplier from config|59~֛?5Y~; i~$EB^Q@~D~X:~P ;~a5B a@EZj9=FNOT Ignoring new targets: 511.20 m.BjEZ";JjEZ";] ProNav: ac range: 511.200012 m, nav range: 272.375885 m, bearing: 28.252164 deg, approach rate: 0.092021 m/s, LOS rate: 0.141941 deg/s, cmd heading: 299.192994 deg, new cmd heading: 299.386464 deg. 2j];]HeadingCmd: 5.225279 target range: 511.200012 and range: 511.20 m. je}5@jajajaiahahihihifqfqfqrfqbfu`B @ɛňBj¼ 隥=I ּɚiIm{B=Ixii:i`&)}5@)E$=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743922*F?2F:FBF0JFGw!GBOmV>} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.995964Pw,k9BA ,I.hy B e(IMb@Mb@Mb@ )YX9v?X9v:v?y?}T<SA @)AIAyG AII٢= /=9Q > G٣GGy > Nusing accuracyPremultiplier from config59֛?5YIB iI I(II =BDAT read: Tx time:21:58:32.3403 =$Ping request sent.=vw?%˽ ԇ?)aFISF?iaF>|IZ?wPJa)Pw,?WBAB!@YB1@B9B>5>yBH@? z?@ȿD?~@;?`m?@ec?ɨB!@By;BCy^B^}(I)` `bA`IzIzr4٢1= D=9p:Q > I)) -G٣)y5l = 5> =Nusing accuracyPremultiplier from config9E59= ֛?E5Y=BH i=REBAmmQ@=D=;=Q;=Li5q }(@yk?k+/ k kvEBA:ksCBkCZkw>"p2`E@ t@[tx@~% u?w,?0(?Jk?Rk҅b*бZk@H[î%[@?1{@[6?V4?ɱ S ?"k-B*k\Ck_+?kz 2k Dkkz kkCkV>m addTargetRange:: Added new target pos. range: 510.899994 m, deltaT: 4.284136 s, deltaX: -0.300018 m, approachRate: -0.070030 m/s, rangeRepo size: 4 } Added new target pos. range: 510.899994 m, bearing: 26.174800 deg, lat: 36.901977 deg, lon: -122.118876 deg, deltaT: 4.284136 s, deltaX: -0.300018 m, approachRate: -0.070030 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 510.90 m.BjJj ProNav: ac range: 510.899994 m, nav range: 263.189575 m, bearing: 24.366764 deg, approach rate: 0.000000 m/s, LOS rate: 0.120376 deg/s, cmd heading: 299.555377 deg, new cmd heading: 299.716310 deg. 2jHeadingCmd: 5.231037 target range: 510.899994 and range: 510.90 m. jd@jjjihhhhfffrf`f@bfI}?ɛeĈBe_њ im=Ii m/ռɚqiqIuǀ@=Iάid9i9)d@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFG% G B O%>kŜPw,uBAWill construct direction to contact in vehicle frame from tetrahedron phase data.: @@Y:mO@:9:3>y:H ?˧?ȿb56?H{?7@?d?ɨ: @@:ߍ;:CyrBr(IuMb@Mb@Mb@qqq q)qYuHzG?ˡE{Gztyu= ?u'uףq q)qIurAqyu AIIi4٢/; )=9'Q > G٣y; > Nusing accuracyPremultiplier from config59֛?5YN icEB ?: ^ Q@D`J;!I;m5 @ 5$?I5hB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 510.90 m.Bj;Jj; ProNav: ac range: 510.899994 m, nav range: 263.193268 m, bearing: 24.424077 deg, approach rate: 0.007695 m/s, LOS rate: 0.119432 deg/s, cmd heading: 299.716323 deg, new cmd heading: 299.888259 deg. 2j;HeadingCmd: 5.234037 target range: 510.899994 and range: 510.90 m. j<}@j!j!j!i!h!hahihmBfififirfqbfuu?ɛeÈBe ezK }2LK +9K K , K JPw,RBA2V~@Y2@2^M92R2>y2H%?`?ȿ ?.µ?@?@f?ɨ2V~@2$;0yrBvs(II _I b(4٢%r> %S=9-:Q ->)) 5G٣5GGy5L< 5> ENusing accuracyPremultiplier from config9E59=֛?M5Y=S i=pEBIMfMQ@=D=:=:=p5UB U@]EZjFNOT Ignoring new targets: 510.90 m.BjU ;JjU ; ProNav: ac range: 510.899994 m, nav range: 263.194794 m, bearing: 24.468703 deg, approach rate: 0.004165 m/s, LOS rate: 0.121816 deg/s, cmd heading: 299.888253 deg, new cmd heading: 300.022129 deg. 2j3;HeadingCmd: 5.236374 target range: 510.899994 and range: 510.90 m. j`@jjjihhhhfffrfbf i?ɛˆB򧗼  =I lӼɚiIʯ>=Ii9iǼ)`@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247471JJJJJK:Jf4:JJJ<J<J֌;J֌;*F2F:FBF2JF )I)G 8G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499408rԩPw,:BAyUBUy(IIeyIexV4٢}*< }E=9}Q }> G٣y > Nusing accuracyPremultiplier from config59֛?5YX iEB!)-Q@Da<<t5Q ]K@Y~GtA)Zjq}FNOT Ignoring new targets: 510.90 m. rYtAy BBj}v:Jjv: ProNav: ac range: 510.899994 m, nav range: 263.196655 m, bearing: 24.517920 deg, approach rate: 0.003744 m/s, LOS rate: 0.098995 deg/s, cmd heading: 300.022125 deg, new cmd heading: 300.169773 deg. 2j;HeadingCmd: 5.238951 target range: 510.899994 and range: 510.90 m. j|@jjjihh h h f ffrfbfr?ɛ͜ =I ҼɚiI==I{i8Yf9i)|@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753216*F?2F:FBF0JF I!G a̼ZH RH H I  I )II ~BI &I .I 6I <:I  FGQ Ba O >RWPw,BA:*@Y::@:}\BWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0037419:+>y:HU?'F? ǿ~?f?(J?ys?ɨ:*@:g;:CyVBVa(II^I^{4٢f. fB=9fOhh jG٣hyneL= n> rNusing accuracyPremultiplier from configpv59rכ?v5Yrb^ irEBxzzQ@rDrI8;rO;r.x5 @ ZjFNOT Ignoring new targets: 510.90 m.Bj;Jj; ProNav: ac range: 510.899994 m, nav range: 263.194000 m, bearing: 24.567190 deg, approach rate: -0.007536 m/s, LOS rate: 0.139848 deg/s, cmd heading: 300.169766 deg, new cmd heading: 300.317577 deg. 2j;HeadingCmd: 5.241530 target range: 510.899994 and range: 510.90 m. j@jjjihhhh f f f rf bf5F@ɛB 隍=I tҼɚiI<=ITivO9iI')@)zKBoHK 9KK- K uaE["rY2tUGB<4-#E5K'=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256370JJJJJ:J7:JJJ2!<J3!<J;J;*F?2F:FBF0JF $?I G ޼G B O >^Pw,CBA6Y@Y6gh@6Wٞ96`o(>y6H@? >5?k ǿmx?qֳ??!y?ɨ6Y@6OO;6CyBЈBBG(IIJIJQ4٢RA V3=9VC;Q V>XX ZG٣ZGGy^K< ^> bNusing accuracyPremultiplier from config`f59b כ?f5Yb?d ibEBdfjQ@bDb:b* ;b*|5l nս@lZjFNOT Ignoring new targets: 510.90 m.Bj  ;Jj  ; ProNav: ac range: 510.899994 m, nav range: 263.189911 m, bearing: 24.620885 deg, approach rate: -0.009319 m/s, LOS rate: 0.122363 deg/s, cmd heading: 300.317571 deg, new cmd heading: 300.478659 deg. 2j;-HeadingCmd: 5.244342 target range: 510.899994 and range: 510.90 m. j-ѧ@j)j)j)i)h1h1h9h9f9f9f9rfAbfE`@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507563ɛ5¼ 1579iEX )Eѧ@)AE5X<E9*F?2F:FBF@5JFGqA GrAGS&żGBO=r> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759437 I Pw,.BA6@Y6f@696k %>y6H@?&?nƿ1@P$?OBM?{?~?ɨ6@6V;6CyRBR/(I-only read 0 of 1 data item for water mass range. Device response is::WD,+ +0.00, +0.00, 20.00,409I, -60, +544, -2,A  @ @ @  @ IIF4٢[ ;=9ܜ;Q > G٣y<< > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59sכ?5Yi iEB+::_Q@D!E;>@5B @EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 510.90 m.Bj?;Jj?;- ProNav: ac range: 510.899994 m, nav range: 263.185089 m, bearing: 24.672195 deg, approach rate: -0.011030 m/s, LOS rate: 0.117370 deg/s, cmd heading: 300.478654 deg, new cmd heading: 300.632584 deg. 2j-;5HeadingCmd: 5.247028 target range: 510.899994 and range: 510.90 m. j5@j9j9j9i9h9h9hAhAfAfAfIrfIbfM@ހ@ɛy}׼ y}` Iy }PҼɚiIDs;=I̠i%9i\)@)HYIY I] )II]oBIY&IY.IY6I]i<:I]? FWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011859E]8<zKuHOKu9KqKu. Ku   *F 2F :F BF 2JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266953J J @AG5 0,.G )I1B9O>PPw,bjCAzE@Yz@z֕9z">yzH?Y?%ƿ D;??@q2?.?ɨzE@zʍ;xyB(III]4٢%W -2=9-;Q ->11 5G٣1y=y< => MbBottom track data is 0.9 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAU59Eכ?U5YEo iEEB] :Y]:]玿]Q@EDE:;EYf?E5a e¿@iZjFNOT Ignoring new targets: 510.90 m.Bj;Jj; ProNav: ac range: 510.899994 m, nav range: 263.179291 m, bearing: 24.726461 deg, approach rate: -0.012593 m/s, LOS rate: 0.117856 deg/s, cmd heading: 300.632579 deg, new cmd heading: 300.795381 deg. 2jġ;HeadingCmd: 5.249870 target range: 510.899994 and range: 510.90 m. j@jjjihhhhfffrfbf/ @ɛ  I ҼɚiIw:=ICi9i?)@) EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:58:35.4255 TRx dataTimestamp_ set to:1736373516.617844checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517747*F12F1:F1BF5`5JF1Gu JGQ BY O} >=Pw,5CA20@Y2˧@2#<92>y2H+?#?@֣ſP?@b'?L??ɨ20@2qX;2CyJBJ(IzWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767554JuJuJqJqJuk:Ju>:JqJqa@a@a@a@        Mb@Mb@Mb@ )Y{Gz?zGếly#? ׽A @)@I Ay=AIIt4٢ %9=9%G;Q %>)) -G٣-GGy5Q; 5> =Nusing accuracyPremultiplier from config9E59='כ?E5Y=v i=EBMT:ML&?M:MrMQ@=D=';=&;=5Q U@UE m$?ImhZjFNOT Ignoring new targets: 510.90 m.Bj ;Jj ;  ProNav: ac range: 510.899994 m, nav range: 263.194214 m, bearing: 24.788589 deg, approach rate: 0.033760 m/s, LOS rate: 0.140540 deg/s, cmd heading: 300.795384 deg, new cmd heading: 300.981757 deg. 2j ;HeadingCmd: 5.253123 target range: 510.899994 and range: 510.90 m. j@jjjihhhAhEIBfAfAfArfIbfMZ@ɛK I  ӼɚiI):=Iكi%C9ihb)@)*Fi2Fi:FiBFmW4JFq"GyG}>jHbH<H5>I I(IIGBI&I.I6I<:IZ FWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:58:35.4255 LVL= 15040, 24801, 20018, 26515, AGC= 67, IDX= 427, 0.05,-0.102,-1.078,-2.064,-1.119, PHS= 1.105, 0.088,-0.948, RAW= 59.7, -2.8, CAL= 64.1, -7.1, ROT= 85.9, 7.1 - Ygot valid direction response: 21:58:35.4255 LVL= 15040, 24801, 20018, 26515, AGC= 67, IDX= 427, 0.05,-0.102,-1.078,-2.064,-1.119, PHS= 1.105, 0.088,-0.948, RAW= 59.7, -2.8, CAL= 64.1, -7.1, ROT= 85.9, 7.1  PDAT read: Bearing 85.9, 7.1 (Local)  ~Local bearing/azimuth received: Bearing 85.9, 7.1 (Local)  DAT read: Range 10 to 50 : 510.8 m (Round-trip 681.1 ms) speed 0.2 m/s  ,DAT read: user:2190> = BDAT read: Tx time:21:58:36.5403 = $Ping request sent.E 9  Fpublishing direction and range infoر9صyl5?22){?Qm?yصfCرص:ص` ٵ2N)ٵgIٵCiٵp?ٵX9=ٵ!rٵ^?ٵ+H ڵf3?)ڵIڵ?iڵ=ڱڱ۵׮^t?rcPM꨿)۵I۵dG=i۵?۵~Wt۱۱ :publishing transmit ping time9  Fpublishing direction and range infoر9صyl5?22){?Qm?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵׮^t?rcPM꨿)۱I۱i۱۱۱۱G1 B9 OU >Pw,XOCAzK0LK K K/ K:ɠ@Y:ا@:9:Y>y:H7?@*?`ſ`*@Y?@⓿O?@Z?؎?ɨ:ɠ@::;:CyFBF'IiJ=IJ=IRIR 4٢Vd Zf=9Z;Q Z>\l nG٣lyr; r> vNusing accuracyPremultiplier from configtz59v.כ?z5Yvq| ivEBxzGQ@v Dv;v;v5! %@!k-@]?k@ k kGCA:kfCBkCZkI?"X˺'@ G:kpr@/ z@yl5?22){?Qm?Jk?Rk~Wt* R֓dg@Ŗ_`@d|@}vr?S??"kbC*k$;Ck~?kX: 2k.DkkkkCkk> addTargetRange:: Added new target pos. range: 510.799988 m, deltaT: 4.033541 s, deltaX: -0.100006 m, approachRate: -0.024794 m/s, rangeRepo size: 4  Added new target pos. range: 510.799988 m, bearing: 35.275936 deg, lat: 36.901977 deg, lon: -122.118876 deg, deltaT: 4.033541 s, deltaX: -0.100006 m, approachRate: -0.024794 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 510.80 m.BjJj5 ProNav: ac range: 510.799988 m, nav range: 263.206360 m, bearing: 24.839340 deg, approach rate: 0.000000 m/s, LOS rate: 0.140540 deg/s, cmd heading: 300.981766 deg, new cmd heading: 301.150548 deg. 2j1=HeadingCmd: 5.256069 target range: 510.799988 and range: 510.80 m. j=1@j9j9j9i9hAhAhAhAfIffrf@bf ? Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:58:36.5395 ɛY] auIq uӼɚqiqIuܳ9=Ixi8i@)1@) qIy*F92F9:F9BFE_0JFAG G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iս APw,/iCA%}Ӡ@Y%@%Y߄9%(>y%H@.A?/?soĿ n|_?d?@?`G?ɨ%}Ӡ@%ӌ;%Cy5kB5'IIMyIMxV4٢ɽ ==9\;Q > G٣ys9; > Nusing accuracyPremultiplier from config597כ?5Y= iEB*Q@D;;5B @EZj1UFNOT Ignoring new targets: 510.80 m.Bj]/;Jj]/;m ProNav: ac range: 510.799988 m, nav range: 263.220825 m, bearing: 24.899789 deg, approach rate: 0.036733 m/s, LOS rate: 0.153495 deg/s, cmd heading: 301.150554 deg, new cmd heading: 301.331891 deg. 2jm;HeadingCmd: 5.259233 target range: 510.799988 and range: 510.80 m. jK@jjjihhhhfffrfbf !?ɛ] ]ߗ=]J+IY H!ռɚiIS9=Iihy8iC))K@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fq2Fq:FqBFyJFyJJJJJ+:J9:JJ QIYG JGq B O >Pw,CAH.4>I, I.(II.BI,&I,.I,6I.<:I.] FF4Ӡ@YF@Fʀ9F->yFH`wA?J!?Vzÿx}^?@??L?ɨF4Ӡ@F{̍;FCyNYBN'IMb@Mb@Mb@ )Y +? rhMby6?C A Q@)`@IvAyzAIId4٢ C=9;Q > G٣GGy > Nusing accuracyPremultiplier from config59@כ?5Y iEB@:?:Q@D;;E5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 510.80 m.Bj8;Jj8;-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 510.799988 m, nav range: 263.245453 m, bearing: 24.965745 deg, approach rate: 0.060084 m/s, LOS rate: 0.160895 deg/s, cmd heading: 301.331882 deg, new cmd heading: 301.529728 deg. 2j;HeadingCmd: 5.262687 target range: 510.799988 and range: 510.80 m. jg@jjjihhhhψBfffrfbf?ɛquM' y}PIy }aּɚiIv9=Iiv8i\)g@)*F?2F:FBFJFGrA GzKJK9KK0 K Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207975G -,G rAG qAG I B! OE >~Pw,{CA6Qʠ@Y6٧@6Wx96F>y6He:?&?@bÿT? ?@? ?ɨ6Qʠ@6U;6Cy>PB>'I)@ @IJIJ%x4٢RyG R^=9R;Q V>TT VG٣TyZ@ Z> ^Nusing accuracyPremultiplier from config\b59^[Hכ?f5Y^c i^EBdjޛjQ@^(D^G;^6H;^~5l n@nEZjFNOT Ignoring new targets: 510.80 m.Bj 4;Jj 4; ProNav: ac range: 510.799988 m, nav range: 263.267761 m, bearing: 25.023973 deg, approach rate: 0.060520 m/s, LOS rate: 0.157953 deg/s, cmd heading: 301.529738 deg, new cmd heading: 301.704408 deg. 2j;%HeadingCmd: 5.265735 target range: 510.799988 and range: 510.80 m. j%瀨@j!j!j!i!h)h)h)h1f1f1f1rf9bf=9?ɛim1 iubIq uM׼ɚqiqIu 8=I};i}/8i}w)}瀨@)*F?2F:FBF0JFG]MG!MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.462073BaO J>,Pw,ACA6Ѡ@Y6@6p96x>y6H@EA? "?`ÿ@X?@}?`|??ɨ6Ѡ@6x;6CyBABB'IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.711807JeJeJaJaJe:Je<:JaJa IhMb@Mb@Mb@ )Y#~j?{GzĿV-yE?#A h@)I@IAyAII4٢%. %5=9-,;Q ->)) -G٣)yU; U> ]Nusing accuracyPremultiplier from configYe59]gRכ?e5Y]X i]EBm8J?m:m䝿mQ@]3D];];]{5}B }x@}EZjFNOT Ignoring new targets: 510.80 m.BjA;JjA; ProNav: ac range: 510.799988 m, nav range: 263.303772 m, bearing: 25.101988 deg, approach rate: 0.078195 m/s, LOS rate: 0.169381 deg/s, cmd heading: 301.704400 deg, new cmd heading: 301.938411 deg. 2j};HeadingCmd: 5.269819 target range: 510.799988 and range: 510.80 m. j\@j j j i h hhhBfff!rf!bf%?ɛˆB. 隵QI ټɚiI8=Ii(aij)\@)ZHYRH]?AHaIeC Ie\(IIeBIe( =&Ia.Ia6IeT<:Ie/ FBI)JI)RI)ZI)bI-' =jI-V4E]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.964684*FM ?2FI :FI BFM `0JFI zK BoIK +9K K 1 K BK :K pAGm ^Gu ?Gu >GIBQO>LPw,7CA>7ՠ@Y>@>/e9>[^>y>HD?A!?Lÿ`ZY?~?`4?@ğ?ɨ>7ՠ@>n;>CyJ5BJ'IIVIV4٢ZV_ ^;=9^ ;Q ^>`` bG٣bGGyf : f> jNusing accuracyPremultiplier from confighn59j[כ?n5Yjآ ijEBlrԝrQ@j>Dj";j #;jC5t v;@tZjFNOT Ignoring new targets: 510.80 m.BjE;JjE;- ProNav: ac range: 510.799988 m, nav range: 263.338287 m, bearing: 25.176018 deg, approach rate: 0.080605 m/s, LOS rate: 0.172863 deg/s, cmd heading: 301.938402 deg, new cmd heading: 302.160464 deg. 2j-D;5HeadingCmd: 5.273695 target range: 510.799988 and range: 510.80 m. j5¨@j1j1j9i9uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222417hhh 5$?I9hfYfYfYrfYbfe(l@ɛ15>7 9EIA MۼɚIiIr8=I6iP+i⦴)¨@)E=*F=?2FA:FABFEs0JFAGݗGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472710)) - rCpPw,3CAB.~GNvA\ r-YrvAyBy}3B}'Ii>I= Mb@Mb@Mb@    ) Y 5^I ?oʡſI +y X? - 94 A ;@) 3@I IA y AI-I-4٢EV޻ E=9EQ E>II MG٣IyU U>}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723772 Nusing accuracyPremultiplier from config59iכ?5Y[ iEB^\?v:yQ@MDz;;5JJJJJK:Jy6:JJ 9I99 EX@AZjFNOT Ignoring new targets: 510.80 m.Bj^Q;Jj^Q; ProNav: ac range: 510.799988 m, nav range: 263.384430 m, bearing: 25.276376 deg, approach rate: 0.084175 m/s, LOS rate: 0.183044 deg/s, cmd heading: 302.160465 deg, new cmd heading: 302.461483 deg. 2j>;HeadingCmd: 5.278949 target range: 510.799988 and range: 510.80 m. j&@jjjihhhhlBfffrfbfϘ@ɛu4 jI N޼ɚiI>8=Iӊi` iؼ)&@)EE*E"EH 3>I  I 0(II BI &I .I 6D6I V<:I 1 F*F) 2F) :F) BF- `0JF) 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976884GM圼zKBoHK9KK2 KRKJK ?G)B1OM?\Qw,ADA2U@Y2@2j1I92>y2H@O?x?`9ÿ9|Z? ~#?ߤ??ɨ2U@2×;2Cy:6B:'IIFIFQ4٢NqH< N7=9NgzPP RG٣RGGyVF; V> ZNusing accuracyPremultiplier from configX^59Zasכ?^5YZy iZEB\^GbQ@ZYDZX ;Z ;Z5fB f@fErB*** querying acoustic contact ***jpjpZjx~FNOT Ignoring new targets: 510.80 m.Bj~Y;Jj~Y;  ProNav: ac range: 510.799988 m, nav range: 263.421021 m, bearing: 25.355859 deg, approach rate: 0.087722 m/s, LOS rate: 0.190523 deg/s, cmd heading: 302.461486 deg, new cmd heading: 302.699899 deg. 2j <HeadingCmd: 5.283110 target range: 510.799988 and range: 510.80 m. j<@jjjihh!h)h)fffrfbf* @ɛ)5 < 15I1 5#߼ɚ1i9I=28=I=ziE|FiEl)E<@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227871 =$?I=h*F%?2F!:F!BF%0JF!GNGBOE>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480768 Qw, .DAF?ݠ@YF@FԏC9F >yFHM??9ÿC~V?"o?D?9?ɨF?ݠ@F㌍;FCy^@Bb'IIfIf4٢rI= rF=9rZ;Q r>tt vG٣tyz|o z> ~Nusing accuracyPremultiplier from config| 59~g}כ? 5Y~H i~EB  R Q@~dD~2;~c2;~L5 n@ZjiuFNOT Ignoring new targets: 510.80 m.BjuQ;Jj}Q; ProNav: ac range: 510.799988 m, nav range: 263.457001 m, bearing: 25.432658 deg, approach rate: 0.085942 m/s, LOS rate: 0.183416 deg/s, cmd heading: 302.699887 deg, new cmd heading: 302.930250 deg. 2j;HeadingCmd: 5.287130 target range: 510.799988 and range: 510.80 m. j,0@jjjihhhhfffrfbf 8 @ɛBB9 I GɚiI*8=Iy~iwǃiV),0@)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:58:39.6254 TRx dataTimestamp_ set to:1736373520.904951checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733164 1I9J]JYJYJYJ]:JYJYJYGӼGBO>jH <bH <H I  I (II BI ' =&I .I 6I <:I T FYQw,GDA6@Y6`@6<=96S>y6HQ??`?2ÿ`S|X?W}?@??ɨ6@6;6CyRMBV'I)X XZAZAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.983882uMb@Mb@Mb@qqq q)qYuZd;?sh|?ſyuY?u)uq u$@)qIu3Aqyu=AII٢g= ?=9_;Q > G٣y: > Nusing accuracyPremultiplier from config59כ?5Yz iEB]?t:ݜQ@pD3";; 5B @ZjFNOT Ignoring new targets: 510.80 m.Bj 4Y;Jj 4Y; ProNav: ac range: 510.799988 m, nav range: 263.493774 m, bearing: 25.512926 deg, approach rate: 0.087009 m/s, LOS rate: 0.189895 deg/s, cmd heading: 302.930255 deg, new cmd heading: 303.171027 deg. 2jR<HeadingCmd: 5.291333 target range: 510.799988 and range: 510.80 m. jR@jjjihhhh{Bfffrfbf`@ɛAE. AEvhII M<1ɚIiqIuZ8=I}}i}@i8@)R@)*F?2F:FBFb2JFzKKh9KK3 KWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:58:39.6254 LVL= 15136, 27313, 21042, 29555, AGC= 63, IDX= 441, 0.30,-2.090,-3.134, 2.225,-3.090, PHS= 1.088, 0.003,-0.971, RAW= 61.8, -1.4, CAL= 65.6, -5.2, ROT= 84.4, 5.2 Ygot valid direction response: 21:58:39.6254 LVL= 15136, 27313, 21042, 29555, AGC= 63, IDX= 441, 0.30,-2.090,-3.134, 2.225,-3.090, PHS= 1.088, 0.003,-0.971, RAW= 61.8, -1.4, CAL= 65.6, -5.2, ROT= 84.4, 5.2 PDAT read: Bearing 84.4, 5.2 (Local) ~Local bearing/azimuth received: Bearing 84.4, 5.2 (Local)  DAT read: Range 10 to 50 : 510.7 m (Round-trip 681.0 ms) speed 0.0 m/s  ,DAT read: user:2191>  BDAT read: Tx time:21:58:40.7403  $Ping request sent. Qw,$aDAn@YnJ@n<89n>ynHZ?h?Fÿw`e_?i?@?@?ɨn@n;nCyv_Bv'III4٢]= ]>=9][G;Q ]>aa eG٣eGGym8; > Nusing accuracyPremultiplier from config59כ?5Y iEBQ@|D :P:Ӯ5B s@~EkS?k7l k kZDA:kYCBkCZk&?" ISgq@#@q-z@ X g~7^~?4 ?Jk-?Rk|*Ae@  addTargetRange:: Added new target pos. range: 510.700012 m, deltaT: 4.286123 s, deltaX: -0.099976 m, approachRate: -0.023325 m/s, rangeRepo size: 4  Added new target pos. range: 510.700012 m, bearing: 37.304833 deg, lat: 36.901808 deg, lon: -122.118876 deg, deltaT: 4.286123 s, deltaX: -0.099976 m, approachRate: -0.023325 m/s, posRepo size: 4 Zj Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:58:40.7395 EFNOT Ignoring new targets: 510.70 m.BjEJjA ProNav: ac range: 510.700012 m, nav range: 246.693710 m, bearing: 27.482681 deg, approach rate: 0.000000 m/s, LOS rate: 0.189895 deg/s, cmd heading: 303.171033 deg, new cmd heading: 303.430134 deg. 2jHeadingCmd: 5.295855 target range: 510.700012 and range: 510.70 m. jw@jjjihhhhfffrf@3@bf`Q?ɛ=~$ 9=BI9 E\ɚAiAIE 8=IM|iM)ڹiM=D)Mw@)Q*F2F:FBF3JFGU h Will construct direction to contact in vehicle frame from tetrahedron phase data.G B = $?I9 OE >3Qw,{DA:q@Y:@:39:m>y:Hd?@ ?`aÿr`g?dh|?$AA EG٣AyEg; M> UNusing accuracyPremultiplier from configI]59M{כ?]5YM iMEB]Z?]x:] eQ@MDM;M>;MC5i m@iZjFNOT Ignoring new targets: 510.70 m.Bjn;Jjn; ProNav: ac range: 510.700012 m, nav range: 246.737045 m, bearing: 27.560094 deg, approach rate: 0.116889 m/s, LOS rate: 0.208774 deg/s, cmd heading: 303.430143 deg, new cmd heading: 303.662341 deg. 2jG<HeadingCmd: 5.299908 target range: 510.700012 and range: 510.70 m. jؘ@jjjihhhhBf!f!f!rf!bf% ?ɛmB`6& 隝>+I \ɚiI'8=I{ii3i$)ؘ@)H2>I I*(IIBI&I.I6IK<:I) F*F?2F:FBF'4JFGs-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)GABQOmx>%Qw,;7DA2@Y2 @2/92Ha>y2Hg?`?]ÿph?^ߥ? Ǔ? ?ɨ2@2⨌;2CzKBKB+9K@KB4 KBybBb'Iif=If< j=j=InInm4٢v#> vd=9v[;Q v>xx zG٣xyzѐ: ~> Nusing accuracyPremultiplier from config 59Zכ? 5Y iEB  Q@De::d5 @5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 510.70 m.BjM`;JjM`; ProNav: ac range: 510.700012 m, nav range: 246.776718 m, bearing: 27.630483 deg, approach rate: 0.110695 m/s, LOS rate: 0.196364 deg/s, cmd heading: 303.662342 deg, new cmd heading: 303.873471 deg. 2j<HeadingCmd: 5.303593 target range: 510.700012 and range: 510.70 m. j@jjjihhhhfffrfbf s?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ9 ޽I EɚiI7= IhIziGi/)@)J=J=J9J9J=+:J=S2:J9J9J=&M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248081";+Qw,.DAy~B~(IIoID4٢%{= %F=9%Q %>)) -G٣-GGy5 5> Nusing accuracyPremultiplier from configy59}ǯכ?5Y} i}EBQ@}D}F;}\G;}5 @ZjFNOT Ignoring new targets: 510.70 m.Bj`;Jj`; ProNav: ac range: 510.700012 m, nav range: 246.823807 m, bearing: 27.713175 deg, approach rate: 0.111812 m/s, LOS rate: 0.196317 deg/s, cmd heading: 303.873477 deg, new cmd heading: 304.121507 deg. 2j<HeadingCmd: 5.307921 target range: 510.700012 and range: 510.70 m. j~ک@jjjihhhhfffrfbf:L?ɛ5B5Z 9=ԏI9 =ɚ9i9I=7=IEyiE}*iE>)M~ک@)I*F?2F:FBF_0JFG .Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501005GB IhOG>ZH RH AAH I  I U(II ܈BI ( =&I .I 6I <:I R F8!2Qw,DA2 @Y2/@2NA+92!>y2Hg? m?ÿ`] m?`ɖf?!?`ʒ?ɨ2 @2t;2CyBBB!(IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751977Mb@Mb@Mb@ )Y rh?7A`¿Q?yL?u<A )`@IAyAI%I%)4٢=\= =:=9=2 ;Q =>AA EG٣AyEl,< M> Nusing accuracyPremultiplier from configI59M+כ?5YM* iMEBP?:ᚿQ@MDM ;M;MӼ5B <@}EZjQuFNOT Ignoring new targets: 510.70 m.BjuJ;JjuJ; ProNav: ac range: 510.700012 m, nav range: 246.866867 m, bearing: 27.793639 deg, approach rate: 0.094824 m/s, LOS rate: 0.177159 deg/s, cmd heading: 304.121495 deg, new cmd heading: 304.362841 deg. 2j*;HeadingCmd: 5.312134 target range: 510.700012 and range: 510.70 m. j@jjjihhhhBfffrfbf?ɛn ռI tɚiIj7=IזxioeGiY%;)@)zK]BHK]9KYK]5 K]*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005088 $?IJKـ3 KKK"KJU JU JQ JQ JU :JU $-:JQ JQ JU <JU <JU ;JU ;G -GY By O >J8Qw,DA6oF@Y6U@6%96#>y6H ??5 ĿYJ ? l?@Z??ɨ6oF@6?;6Cy>ĈB>8(I)@ @DFAIJIJd4٢RM= Rh=9R;Q V>TT VG٣TyZlW< Z> ^Nusing accuracyPremultiplier from config\b59^כ?b5Y^1 i^EB`fHfQ@^D^K(;^?;^5l n@lZjFNOT Ignoring new targets: 510.70 m.BjLX;JjLX; ProNav: ac range: 510.700012 m, nav range: 246.901123 m, bearing: 27.859446 deg, approach rate: 0.098452 m/s, LOS rate: 0.189102 deg/s, cmd heading: 304.362846 deg, new cmd heading: 304.560238 deg. 2j<HeadingCmd: 5.315579 target range: 510.700012 and range: 510.70 m. j9@jjjihhhhfffrfbf@ɛ}B} y隅, I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509332^t>Qw,wDA:u@Y:@:}9:%>y:H??Ŀ2?`+У?@ř?`?ɨ:u@:;:CyR݈BRW(IMb@Mb@Mb@ )YMb?p= ףy&1?y@?`e< @)I3AyIIt4٢= 6=9 y;Q  >  G٣y1R< > %Nusing accuracyPremultiplier from config%59כ?-5Y iEB-fC?-:-.-Q@D;;5A E@AZj  FNOT Ignoring new targets: 510.70 m.Bj= I;Jj= I;e ProNav: ac range: 510.700012 m, nav range: 246.937103 m, bearing: 27.938641 deg, approach rate: 0.079866 m/s, LOS rate: 0.175766 deg/s, cmd heading: 304.560239 deg, new cmd heading: 304.797790 deg. 2je@;mHeadingCmd: 5.319725 target range: 510.700012 and range: 510.70 m. jm0;@jijijqiqhqhqhyh}Bfyfyfyrfbf *;@ɛڊż 隵`y=I 1kɚiIKA7=IQvi%siV2)0;@)H}1>Iy I}(II} BIy&Iy.Iy6I}V<:I}/ FBI=ĝCJI=ĝCRI9ZI=( =bI=( =jI=4*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759689G 8G B O >v]EQw,EAzK.RIK.ͼ9K,K.6 K.  #(,/14798942% RK6>JK6?BA@YB@B9B(>yBH?? 5Ŀ`p? }b?`j?@b?ɨBA@Bn;BCyJBJu(IIRIR]4٢Z%> Zb=9^ׄ;Q ^>`` bG٣bGGyb< f> jNusing accuracyPremultiplier from configdj59fWכ?n5YfM  ifEBlnbnQ@fDf ;f ;f5vB v@vzEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 510.70 m.BjV;JjV;- ProNav: ac range: 510.700012 m, nav range: 246.964645 m, bearing: 28.002268 deg, approach rate: 0.081038 m/s, LOS rate: 0.187190 deg/s, cmd heading: 304.797793 deg, new cmd heading: 304.988652 deg. 2j-w<5HeadingCmd: 5.323056 target range: 510.700012 and range: 510.70 m. j5zV@j1j1j1i1h9h9h9h9fAfAfArfAbfM@ɛ <=I fɚ!i!I%7=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011876 iIyIuiifv()zV@)JaJeJaJaJaJe=:JaJaJaJaJe;Je;*FI2FI:FIBFM\5JFIGm^D8GuqAGurAGI BY O} >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263881KQw,Vf0EA"~Gy H@??@XĿ%?Sŭ߰? '?ԉ?ɨ ѡ@ 9; Cy%B%(II5I5<4٢E1= EA=9M:Q M>II UG٣QyU?D< U> eNusing accuracyPremultiplier from configYe59]כ?m5Y]( i]EBquuQ@]D]!E;]E;]5y }¹@|EZjFNOT Ignoring new targets: 510.70 m.BjG;JjG; ProNav: ac range: 510.700012 m, nav range: 246.995651 m, bearing: 28.076798 deg, approach rate: 0.072599 m/s, LOS rate: 0.174485 deg/s, cmd heading: 304.988656 deg, new cmd heading: 305.212214 deg. 2j~;HeadingCmd: 5.326958 target range: 510.700012 and range: 510.70 m. jqv@jjjihhhhfffrfbf@M @ɛBh 隥>I  ɚiI6=IKti i%) qv@) *F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519129 $?IhG,&G B O >Ha Ia  Ie (IIe ABIa &Ia .Ia 6Ie y<:Ie H FxoRQw,7JEA:B@Y:@:9:-+>y:H S?l?dJĿ@@??@&S ?@H??ɨ:B@:ċ;:Cy^B^(IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rAipvBDAT read: Rx Time:21:58:43.8355 vTRx dataTimestamp_ set to:1736373525.189016vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.769226mMb@Mb@Mb@iii i)iYm G٣y< > Nusing accuracyPremultiplier from config59|כ?5YT iEB)6?:Q@D/;;P5 @ZjFNOT Ignoring new targets: 510.70 m.Bj /;Jj /;= ProNav: ac range: 510.700012 m, nav range: 247.022141 m, bearing: 28.145123 deg, approach rate: 0.059624 m/s, LOS rate: 0.153774 deg/s, cmd heading: 305.212221 deg, new cmd heading: 305.417174 deg. 2j=;EHeadingCmd: 5.330535 target range: 510.700012 and range: 510.70 m. jE@jAjAjAiAhAhIhihmYBfqfqfqrfqbfu @ɛ:`~ ;>I vɚiI6=Isiip)@)*F]?2FY:FYBF]5JFYzKrMK9KK7 K IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027519*Jm a="Jm p=Jq Ju Jq Jq Jq Ju <:Jq Jq Jq Jq Ju ;Ju ;G &G B O >XQw,dEA6>@Y6M@6{D 96ш,>y6H{?`P?QĿ`e?Hg?s?@S?ɨ6>@6;6Cy>*B>(IIFIF{4٢N= N]=9Re&;Q R>PT VG٣VGGyVO< Z> Nusing accuracyPremultiplier from config59כ?5Y iFB!%%Q@D;;5-B -@-yEZjYeFNOT Ignoring new targets: 510.70 m.BjeL;JjeL;u ProNav: ac range: 510.700012 m, nav range: 247.045197 m, bearing: 28.207895 deg, approach rate: 0.065817 m/s, LOS rate: 0.179177 deg/s, cmd heading: 305.417182 deg, new cmd heading: 305.605479 deg. 2j};}HeadingCmd: 5.333822 target range: 510.700012 and range: 510.70 m. j@jjjihhhhfffrfbf@ɛ1K MX>IQ U=&ɚQiQIU^@6=Ie} sie8ie)e@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: Range 10 to 50 : 518.2 m (Round-trip 691.0 ms) speed 0.0 m/s 5,DAT read: user:2192> =BDAT read: Tx time:21:58:44.9404 E$Ping request sent.E I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:58:44.9396 ^Qw,W}EA6Wv@Y6@6,96 0>y6Hs?@.?ĿFj?N !à? ??ɨ6Wv@63܋;6Cyz;Bz(IMb@Mb@Mb@ )YJ +?&1Mbpy(?н+A )IAy AII4٢;= 9=9:;Q > G٣y}< > Nusing accuracyPremultiplier from config59כ?5Y& i*?:cQ@D; ;g5 k@- addTargetRange:: Added new target pos. range: 518.200012 m, deltaT: 4.288882 s, deltaX: 7.500000 m, approachRate: 1.748707 m/s, rangeRepo size: 4 Zj)-FNOT Ignoring new targets: 510.70 m.Bj50;Jj=0;E ProNav: ac range: 510.700012 m, nav range: 247.061798 m, bearing: 28.274278 deg, approach rate: 0.038671 m/s, LOS rate: 0.154618 deg/s, cmd heading: 305.605476 deg, new cmd heading: 305.804611 deg. 2jM:;MHeadingCmd: 5.337297 target range: 510.700012 and range: 518.20 m. jM$˪@jQjQjQiQhQhYhYh]BfYfafarfe1@bfe .U?ɛQ]_* Y]|>IY ]9~ɚaiaIeb5=Ie%ri˧ii)$˪@)H0>I I )IIoBI&I.I6I<:I F*F?2F:FBFJF"G-=G-=Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >"eQw,~ƗEA6@Y6u@6-96o1>y6H? `?@ Ŀ`?Ԋ?t?݀?ɨ6@6;4yFDBF(IzKNm$JKN9KLKN8 KNIVwIVR4٢^A5= b\=9bCQ b>dd fG٣dyfX < f> nNusing accuracyPremultiplier from confighr59j؛?r5Yj, ihpr됿rQ@jDjT ;j ;j5t z@x B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 510.70 m.Bj%0;Jj%0;5 ProNav: ac range: 510.700012 m, nav range: 247.075470 m, bearing: 28.331472 deg, approach rate: 0.036966 m/s, LOS rate: 0.154631 deg/s, cmd heading: 305.804617 deg, new cmd heading: 305.976190 deg. 2j5>;=HeadingCmd: 5.340292 target range: 510.700012 and range: 518.20 m. j=@j9j9j9i9hAhAhAhAfIfIfIrfIbfM`?ɛ}B}# y}O>Iy ?߼ɚiIp5=Iwaqiiyd)@) $?I!}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFy0JFJ1J5AAG5wGB!OU>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002043kQw,EA2Ǣ@Y28ש@2<921>y2H`?@?@CĿ{`?Ơ?`??ɨ2Ǣ@2;0yjLBj(IIvTIv4٢~H= ~F=9~:Q ~> G٣GGy [{<  > Nusing accuracyPremultiplier from config59؛?5Y,3 iFB!%%Q@D;;=5-B -K@-xEZjQ]FNOT Ignoring new targets: 510.70 m.Bje0;Jje0;u ProNav: ac range: 510.700012 m, nav range: 247.089218 m, bearing: 28.395078 deg, approach rate: 0.033397 m/s, LOS rate: 0.154505 deg/s, cmd heading: 305.976192 deg, new cmd heading: 306.166999 deg. 2ju;}HeadingCmd: 5.343622 target range: 510.700012 and range: 518.20 m. j}@jyjyjyihhhhfffrfbf@?ɛ} E>I "ݼɚiIQ5=I4pi i)@)*Fm?2Fi:FiBFu0JFq !I-hWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257509JEJEJAJAJE :JEy6:JAJAaM@aM@aM@aM@GoGGqAGiByO>ZH RH H 1>I  I =)II BI &I .I 6I <:I FrQw,{EAnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505816yvOBv(IMb@Mb@Mb@ )Y?RQ~jtxy ?½ĻA p@)IyAIFI%3٢qj< ;=9Q >    G٣ y  > Nusing accuracyPremultiplier from config%59؛?%5Y9 iFB%!?%:%-Q@D;;51 5@1ZjaeFNOT Ignoring new targets: 510.70 m.Bjm';Jjm';} ProNav: ac range: 510.700012 m, nav range: 247.102463 m, bearing: 28.459126 deg, approach rate: 0.030205 m/s, LOS rate: 0.146053 deg/s, cmd heading: 306.167000 deg, new cmd heading: 306.359130 deg. 2j}x;HeadingCmd: 5.346975 target range: 510.700012 and range: 518.20 m. jl@jjjihhhhxBfffrfbf`?ɛ8  >I ۼɚiIT4=Iyoini?)l@)ErAE*FU?2FY:FYBF]L1JFYGa GazK5k3IK5]9K1K59 K5 IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757982Gh Gi B O >xQw,cEAF-@YFL=@Fh9F.>yFH@B?? Ŀ B6#?@ ?`~??ɨF-@F{R;FCyRUBR(II^I^v}4٢b8< f`=9f;Q f>hh jG٣hy-= -> =Nusing accuracyPremultiplier from config1=595#؛?E5Y5X? i5EBAEEQ@5 D5X:5:5X5I M@QZjq}FNOT Ignoring new targets: 510.70 m.Bj}(;Jj}(; ProNav: ac range: 510.700012 m, nav range: 247.111145 m, bearing: 28.514172 deg, approach rate: 0.023183 m/s, LOS rate: 0.146977 deg/s, cmd heading: 306.359119 deg, new cmd heading: 306.524254 deg. 2j;HeadingCmd: 5.349857 target range: 510.700012 and range: 518.20 m. j2@jjjihhhhfffrfbf ?ɛ B[ >I Aټɚ!i!I%)4=I-ni5Ǻi5lż)52@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012720*F2F:FBFO5JFG Gi B O >  $?I!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261934J] J] JY JY J] +:J] 7:JY JY 4Qw,k`EAfe@YfWu@f9f->yfHp?(?ÿ #N?@">? a?*?ɨfe@fq{;fCy VB (IMb@Mb@Mb@ )YʡE? ףp= :vy?QTA @)IAyAII҅4٢i; 9=9;Q > G٣GGy< > Nusing accuracyPremultiplier from confige59-؛?e5YE iEBeg?m:mBuQ@Dx</x<5y @ZjFNOT Ignoring new targets: 510.70 m.Bjf;Jjf; ProNav: ac range: 510.700012 m, nav range: 247.117371 m, bearing: 28.576379 deg, approach rate: 0.013772 m/s, LOS rate: 0.137611 deg/s, cmd heading: 306.524246 deg, new cmd heading: 306.710859 deg. 2j%;%HeadingCmd: 5.353114 target range: 510.700012 and range: 518.20 m. j%L@j)j)j)i)h)h)h1h5Bf1fQfYrfYbf] 9@HI IV)IIBI&I.I6I=<:I FɛY] Y]Ɩ>IY e׼ɚaiaIepU4=Im#nim%κimw)mL@)q*F2F :F BF _5JF GϼWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514871G?G>GBO>Qw,, FA6@Y6@6jfݼ96h+>y6H_??`ÿ; zn?@H@?`[?`?ɨ6@6`,;6Cy>`BR(IIZIZW4٢b^= f_=9fN;;Q f>hh jG٣hyjY< n> vNusing accuracyPremultiplier from configtz59v6؛?z5YvJ ivEBxz~Q@vDzK|K~9K|K~: K~v:v;vO5B @uE5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 510.70 m.BjE-;JjE-;U ProNav: ac range: 510.700012 m, nav range: 247.121796 m, bearing: 28.629249 deg, approach rate: 0.012711 m/s, LOS rate: 0.151870 deg/s, cmd heading: 306.710847 deg, new cmd heading: 306.869454 deg. 2j]t;eHeadingCmd: 5.355882 target range: 510.700012 and range: 518.20 m. jecc@jajajaiahahihihifififqrfqbfu_@ɛB 隵>I I SռɚiI4=Icmi'Һi㩼)cc@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766914*FY2Fa:FaBFe_0JFa"Gu=Gu=Ga.ʼGiBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018355%#Qw,O2FA2b@Y2ɪ@2sҼ92P*>y2Hе??$ÿu`,?M?A??ɨ2b@2>;2CyVTBV(II]I]{4٢uh }@=9L;Q > G٣yN< > Nusing accuracyPremultiplier from config59CA؛?5Y4Q iEB􊿑Q@#D ;;5 @wEZjFNOT Ignoring new targets: 510.70 m.Bj %;Jj %; ProNav: ac range: 510.700012 m, nav range: 247.125824 m, bearing: 28.691320 deg, approach rate: 0.009390 m/s, LOS rate: 0.144691 deg/s, cmd heading: 306.869444 deg, new cmd heading: 307.055652 deg. 2j;%HeadingCmd: 5.359132 target range: 510.700012 and range: 518.20 m. j%~@j!j!j!i)h)h)h)h1f1f1f9rf9bf=`_ @ɛ)Ml QU^>IY e-ӼɚaiaIm83=Ili{׺i^)~@) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275367*F2F:FBFJFJ5J1J1J1J5 :J1J1J1jH bH <H I  I b)II BI &I .I 6I <:I  FBIqJIqRIqZIqbIqjIu 4GE G! B) OE > Qw,LFA:mأ@Y:@:̼9:)>y:H9?.u? ¿@}?@@T?`? ?ɨ:mأ@:к;:CyFLBF(IbWill construct direction to contact in vehicle frame from tetrahedron phase data.fBDAT read: Rx Time:21:58:48.0242 fTRx dataTimestamp_ set to:1736373529.224744fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5231775Mb@Mb@Mb@111 1)1Y5+?kt~jty5v?5 55rA 1)5@I5A1y5AIMIM̍4٢] eL=9e:Q e>ii mG٣mGGym< m> }Nusing accuracyPremultiplier from configq59u5K؛?5YuV iuEB ?:hQ@u+Du;u;u5 0@ZjFNOT Ignoring new targets: 510.70 m.Bj *;Jj *;= ProNav: ac range: 510.700012 m, nav range: 247.126801 m, bearing: 28.748685 deg, approach rate: 0.002235 m/s, LOS rate: 0.131285 deg/s, cmd heading: 307.055662 deg, new cmd heading: 307.227757 deg. 2j=3;EHeadingCmd: 5.362136 target range: 510.700012 and range: 518.20 m. jE@jAjAjAiIhIhIhhpBfffrfbf@ @ɛB,X />I JѼɚiIu3=Iki'ܺi˜)@)*F2F:FBFJF $?IhzKJK+9KK; KuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.773947G 圼G G rAG B O >5Qw,ZfFAR@YR @RiƼ9R/'>yRHQ?@?b?`ؔ¿2??@???ɨR@R ;RCy^RBb(Iif=If=IjIj#4٢rR< rR=9v= ;Q v>tx zG٣xyz>?< z>  Nusing accuracyPremultiplier from config 59U؛?5Y\ iEB׈Q@3Du:u:5B Ĵ@tEZjFNOT Ignoring new targets: 510.70 m.Bj,";Jj,";m ProNav: ac range: 510.700012 m, nav range: 247.126923 m, bearing: 28.805132 deg, approach rate: 0.000307 m/s, LOS rate: 0.141781 deg/s, cmd heading: 307.227756 deg, new cmd heading: 307.397097 deg. 2j;HeadingCmd: 5.365091 target range: 510.700012 and range: 518.20 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 21:58:48.0242 LVL= 15984, 28449, 17042, 25059, AGC= 69, IDX= 332, 0.22, 3.126, 1.860, 1.443, 2.249, PHS= 0.964,-0.342,-0.809, RAW= 75.3, 2.4, CAL= 79.3, -0.8, ROT= 70.7, 0.8 5Ygot valid direction response: 21:58:48.0242 LVL= 15984, 28449, 17042, 25059, AGC= 69, IDX= 332, 0.22, 3.126, 1.860, 1.443, 2.249, PHS= 0.964,-0.342,-0.809, RAW= 75.3, 2.4, CAL= 79.3, -0.8, ROT= 70.7, 0.8 =PDAT read: Bearing 70.7, 0.8 (Local) =~Local bearing/azimuth received: Bearing 70.7, 0.8 (Local) MDAT read: Range 10 to 50 : 509.7 m (Round-trip 679.6 ms) speed 0.2 m/s M,DAT read: user:2193> UBDAT read: Tx time:21:58:49.1404 U$Ping request sent.U!o B)aIEiv?O8?+= m(?)dI?id<jl?V3ܜ??)GI*i?R:publishing transmit ping timeQFpublishing direction and range infoɛ]ˆB]& ae>Ia e,ϼɚaiaIe F3=Im7kimI+iuI)uԮ@)q9YT쿖 A?8OCf?y )Ii )Iijl?V3ܜ??)Ii*F?2F:FBFJFG G I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:58:49.1396 G `6Je Je Ja Ja Je +:Je S2:Ja Ja G B O >SQw,^FAy=NB=(I}Mb@Mb@Mb@yyy y)yY}}?5^I?MbQy}M"?}}uy }@)}QAI}zAyy}AIIv}4HI III&I.I6Io<:I? F٢ x  '=9Q > G٣y > -Nusing accuracyPremultiplier from config!-59%a؛?55Y%c 5tIi%EB5$?5:5$5R@%=D% ;% ;%15A E@AkE^q?k=1& k knFA:kCBkCZk()?"x3,xJeEf@ܨ1}@YT쿖 A?8OCf?Jk?RkR*0`́E@w\@޺~@ʣZ?.{%&?%Xr~?"k.B*k,Bk7?k 2k Dk~?kk.DkZCk1? addTargetRange:: Added new target pos. range: 509.700012 m, deltaT: 4.033067 s, deltaX: -8.500000 m, approachRate: -2.107577 m/s, rangeRepo size: 4 - Added new target pos. range: 509.700012 m, bearing: 69.005949 deg, lat: 36.901512 deg, lon: -122.118876 deg, deltaT: 8.321949 s, deltaX: -1.000000 m, approachRate: -0.120164 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 509.70 m.Bj]JjYm ProNav: ac range: 509.700012 m, nav range: 218.903305 m, bearing: 33.039486 deg, approach rate: 0.000000 m/s, LOS rate: 0.141781 deg/s, cmd heading: 307.397090 deg, new cmd heading: 307.588711 deg. 2jiuHeadingCmd: 5.368436 target range: 509.700012 and range: 509.70 m. ju:ʫ@jqjqjqiqhhhhgBfffrf@3@bfd?ɛÈBƻ >I eͼɚiI\ 3=I%-ji%ɷi%k)%:ʫ@))uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG ՒG B O >uuQw,FAB1@YB A@B/9B!>yBHU?@J?W@r?]?"?@̗?ɨB1@Bԡ;BCyJLBJ(I I IzKMKK9KK< KRK- ?JK-?Ik4٢= N Mo=9M?];Q M?QQ UG٣UGGyUZ< ]? eNusing accuracyPremultiplier from configam59e`j؛?}5Yeh ieEB\R@eDDel;e;e25 $@Will construct direction to contact in vehicle frame from tetrahedron phase data.]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 509.70 m.Bjm9;Jju9; ProNav: ac range: 509.700012 m, nav range: 218.920792 m, bearing: 33.096979 deg, approach rate: 0.049216 m/s, LOS rate: 0.161801 deg/s, cmd heading: 307.588717 deg, new cmd heading: 307.761181 deg. 2j;HeadingCmd: 5.371446 target range: 509.700012 and range: 509.70 m. j@jjjihhh!h!fIfQfQrfQbfU>?ɛĈB|a χ>I h˼ɚiI2=Igiini)@)*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G ~FG ?G J?G B O >Qw,sFA6=@Y6QM@6G96n>y6H$ ?`zJ?>`?\ ޗ?N?@ ?ɨ6=@6B;6CyLR(IIZ^IZ&4٢b); bR=9fDHQ f>hh jG٣hyjE}; n> rNusing accuracyPremultiplier from configpv59rht؛?z5Yrn irEBxz4zR@rLDr ;r ;r5B @qEZjFNOT Ignoring new targets: 509.70 m.BjU>;JjU>; ProNav: ac range: 509.700012 m, nav range: 218.940521 m, bearing: 33.161885 deg, approach rate: 0.050586 m/s, LOS rate: 0.166401 deg/s, cmd heading: 307.761193 deg, new cmd heading: 307.955892 deg. 2jf;HeadingCmd: 5.374844 target range: 509.700012 and range: 509.70 m. j@jj!j!i!h!h!h)h)f)f)f)rf1bf5 t?ɛeňBe ae@>Ii mCʼɚiiiIm2=Iuhiu}i})}@)yEEpA $?Ih*F5?2F9:F9BF=V5JFA"Ge=Ge=Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246571GD&ZHRH@AHI I\)IIBI&I.I6I<:IV FG B O >Qw,FA"Will construct direction to contact in vehicle frame from tetrahedron phase data."Ai &checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495528>CH@Y>W@>09>>y>Hk(?`C?@ G`X? l|Yԗ?]? q?ɨ>CH@>t;>CyFB(IMb@Mb@Mb@ )YNbX9?+ηI +y%?v94A @)IyAIXI4٢EҼ 9=98Q > G٣y;; > Nusing accuracyPremultiplier from config59؛?5YOu iEB ['? :  R@UD;I;n5B c@sEZjFNOT Ignoring new targets: 509.70 m.BjF;JjF; ProNav: ac range: 509.700012 m, nav range: 218.962326 m, bearing: 33.236918 deg, approach rate: 0.050316 m/s, LOS rate: 0.173125 deg/s, cmd heading: 307.955881 deg, new cmd heading: 308.180957 deg. 2j;HeadingCmd: 5.378772 target range: 509.700012 and range: 509.70 m. j%@j!j!j!i!h!h!h)h-eBfIfQfQrfQbfU?ɛƈB. 隥+>I  qȼɚiI-~c2=I-gi5fdi5)5@)9*F?2F:FBF_5JF IzKk3IK+9KK= KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747211*JC="Ja=JJJJJ :Jo5:JJJsQw,2FAy)-(IIeIe4٢u> uR=9uQ u>yy }G٣}GGy > Nusing accuracyPremultiplier from config59x؛?5Y1{ iEBR@]DK;[;5 i@ZjFNOT Ignoring new targets: 509.70 m.BjM;JjM; ProNav: ac range: 509.700012 m, nav range: 218.981979 m, bearing: 33.303453 deg, approach rate: 0.053197 m/s, LOS rate: 0.180080 deg/s, cmd heading: 308.180949 deg, new cmd heading: 308.380537 deg. 2j,;HeadingCmd: 5.382256 target range: 509.700012 and range: 509.70 m. jp;@jjjihhhhfffrfbf@?ɛ=LjB= Ļ 9=V}>I9 =ƼɚAiAIE/2=IEXfiM_iMQɼ)Mp;@)IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000145*F2F:FBF_0JFG GGpAGBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253499NQw,3GAJ@YJi@J_9J)>yJHn?`H?@@IjK?w7? Q?`R?ɨJ@J^;HyTV(I5Mb@Mb@Mb@111 1)1Y5/$?~jt{Gzy5,?55#5A 1)5I@I5A1y5GAIeIev}4٢}<; }J=9r;Q > G٣y< > Nusing accuracyPremultiplier from config59d؛?5Y\ iEB%-?:wR@fD#;!;_ 5B I@pEZjFNOT Ignoring new targets: 509.70 m.BjI;JjI;H0>I IO)IIBI) =&I.I6I:<:I F ProNav: ac range: 509.700012 m, nav range: 218.992416 m, bearing: 33.374943 deg, approach rate: 0.025782 m/s, LOS rate: 0.176590 deg/s, cmd heading: 308.380528 deg, new cmd heading: 308.594984 deg. 2jb;HeadingCmd: 5.385999 target range: 509.700012 and range: 509.70 m. jZ@jjjihhhhVBfffrfbf-N@ɛɈBbg 隝{>I /żɚiIe1=IeiFi 6) Z@) *F?2F:FBFJFG GeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504041G p6ϼG B O >+Qw,RGA6J@Y6«@6w96>y6H}?k?@B^@Y?@(~l ?@c?@? >$?I<ɨ6J@6E;6CyF@BF(IIRIR4٢Z  ^U=9^1:Q ^>`` bG٣`yb; b> jNusing accuracyPremultiplier from configdn59f¡؛?n5Yf5 ifEBln*nR@fnDf2 ;f+;f 5p v@tZj %FNOT Ignoring new targets: 509.70 m.Bj5J;Jj5J;E ProNav: ac range: 509.700012 m, nav range: 219.002029 m, bearing: 33.442863 deg, approach rate: 0.025064 m/s, LOS rate: 0.177082 deg/s, cmd heading: 308.594995 deg, new cmd heading: 308.798746 deg. 2jE;MHeadingCmd: 5.389555 target range: 509.700012 and range: 509.70 m. jM KmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755254ɛ%ʈB%D )-l>I1 5 üɚ1i1I51=IMdiMiU*)UE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007930Qw,86GA6Ϥ@Y6߫@696>y6H?`M? E WMn?h㳿b?@Y?`V?ɨ6Ϥ@6~֎;6CyNtt zG٣zGGyz < z> Nusing accuracyPremultiplier from config|59~؛? 5Y~l i~EBR@~wD~6;~;~N5) -@)MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 509.70 m.BjeaH;JjeaH;u ProNav: ac range: 509.700012 m, nav range: 219.011642 m, bearing: 33.515227 deg, approach rate: 0.023273 m/s, LOS rate: 0.175186 deg/s, cmd heading: 308.798754 deg, new cmd heading: 309.015835 deg. 2ju;5HeadingCmd: 5.393344 target range: 509.700012 and range: 509.70 m. j5F@j9j9j9i9h9h9hAhAfAfAfArfIbfMؒ @ɛˈB. a>I N¼ɚiI]1=Ici49i)F@ Ih)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263514*FQ2FQ:FQBFYJFYjHibHm<HqIq IuI)IIuBIu( =&Iq.Iq6Iu{<:IuH FG ݗG ?G ?G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511127Qw,1PGAR@YR$@Rq/9R>yRH Т? {? SB|?e?W?V?ɨR@R8;Py^:B^(IuMb@Mb@Mb@qqq q)qYuˡE?㥛 Mb`?yu'?uu;urA u@)u@IuAqyuAII@4٢ ;=9:Q > G٣y; > Nusing accuracyPremultiplier from config59؛?5Y iEB(?:R@D),;>+;5B @oEZjq}FNOT Ignoring new targets: 509.70 m.BjB;JjB; ProNav: ac range: 509.700012 m, nav range: 219.021683 m, bearing: 33.590609 deg, approach rate: 0.022664 m/s, LOS rate: 0.170153 deg/s, cmd heading: 309.015844 deg, new cmd heading: 309.241980 deg. 2j;HeadingCmd: 5.397291 target range: 509.700012 and range: 509.70 m. j@jjjihhhh^Bfffrfbf@C @ɛ͈Bt 隭Y>I ?ɚiI1=Ibi*-i#)@) m$?Iq*F2F:FBFJF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:58:52.2235 TRx dataTimestamp_ set to:1736373533.508698checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764320zKBoHK9KK? K JuJuJqJqJu :Juf4:JqJqJus<Jus<Ju֌;Ju֌;G zG B O >!Qw,-|jGAV@YV> @VϞ9V>yVHq??X29?> ٓ?? K?ɨV@V;VCyn0Br(IIxIx٢E M=9:Q > G٣y$< > Nusing accuracyPremultiplier from config59K؛?5YǙ iEB&R@D6;b;5 @ZjFNOT Ignoring new targets: 509.70 m.BjI;JjI;  ProNav: ac range: 509.700012 m, nav range: 219.030304 m, bearing: 33.659227 deg, approach rate: 0.022183 m/s, LOS rate: 0.176549 deg/s, cmd heading: 309.241978 deg, new cmd heading: 309.447822 deg. 2j T;HeadingCmd: 5.400883 target range: 509.700012 and range: 509.70 m. j Ԭ@jjjihhh!h!f!f!f!rf)bf-`@ɛ]ψB]G Y]C>Ia eşɚaiaIee1=ImaimJimܲ)m Ԭ@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015566*F2F:FBF0JFGNG B O5 > a Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:58:52.2235 LVL= 14224, 24849, 16914, 22643, AGC= 68, IDX= 436,-0.08, 0.900,-0.539,-0.904,-0.115, PHS= 1.103,-0.376,-0.792, RAW= 78.0, 0.8, CAL= 83.4, -3.2, ROT= 66.6, 3.2  Ygot valid direction response: 21:58:52.2235 LVL= 14224, 24849, 16914, 22643, AGC= 68, IDX= 436,-0.08, 0.900,-0.539,-0.904,-0.115, PHS= 1.103,-0.376,-0.792, RAW= 78.0, 0.8, CAL= 83.4, -3.2, ROT= 66.6, 3.2  PDAT read: Bearing 66.6, 3.2 (Local)  ~Local bearing/azimuth received: Bearing 66.6, 3.2 (Local)  DAT read: Range 10 to 50 : 509.1 m (Round-trip 678.9 ms) speed 0.0 m/s % ,DAT read: user:2194> - BDAT read: Tx time:21:58:53.3405 - $Ping request sent.- ?;*n<5G?)۵ ;I۵ 3AZi۵ ?=Qw,LTGA]::publishing transmit ping timeY:Fpublishing direction and range info99/z3ۆ?Fڸ6Q?yy5/B5(I )Ii )Ii->?;*n<5G?)IiH I  I C)II BI ) =&I .I 6I @<:I  FBIJIRIZIbIjIS4Mb@Mb@Mb@ )YMbX?/$~jth?y*?D;A @)IzAyA15AAI=I=v}4٢M» 2=9Q > G٣GGy > Nusing accuracyPremultiplier from config59 ؛?5Y iEB,?:R@D;;5B lEkg?k褄p k kBGA:kCBkCZk){?"z"HDv:5c@^@%~@9/z3ۆ?Fڸ6Q?Jk?Rk]*.wA@rzV@Uu>@Tbo8?:9?J_l?"kӳB*kBk%?kE` 2k!Dk^5?kkDkOCk[I ? addTargetRange:: Added new target pos. range: 509.100006 m, deltaT: 4.284461 s, deltaX: -0.600006 m, approachRate: -0.140042 m/s, rangeRepo size: 4 - Added new target pos. range: 509.100006 m, bearing: 69.149335 deg, lat: 36.901387 deg, lon: -122.118876 deg, deltaT: 4.284461 s, deltaX: -0.600006 m, approachRate: -0.140042 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 509.10 m.Bj5Jj1e ProNav: ac range: 509.100006 m, nav range: 207.627350 m, bearing: 35.873993 deg, approach rate: 0.000000 m/s, LOS rate: 0.176549 deg/s, cmd heading: 309.447813 deg, new cmd heading: 309.713113 deg. 2jamHeadingCmd: 5.405514 target range: 509.100006 and range: 509.10 m. jm@jijqjqiqhqhqhyh}NBfyffrf@bf?ɛшBPCWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:58:53.3397  <>I %h ɚ!i!I%E1=I-`i57P i5 Լ)5@)YEmqAEmrA*F2F:FBFo0JFG GG (G% rAG% rA a Ii G B O >CQw,֟GAJWill construct direction to contact in vehicle frame from tetrahedron phase data.R}$@YR3@R噼9R>zKfKKf9KdKf@ Kf         :g3 yRH@n? ?N8? Dn G٣y`< > Nusing accuracyPremultiplier from config59؛?5Y} iEB_R@D5;p;5 @Zj!EFNOT Ignoring new targets: 509.10 m.BjMmd;JjMmd;] ProNav: ac range: 509.100006 m, nav range: 207.647537 m, bearing: 35.941557 deg, approach rate: 0.059675 m/s, LOS rate: 0.199706 deg/s, cmd heading: 309.713125 deg, new cmd heading: 309.915798 deg. 2j] IQ }Y%ɚyiyI}-1=IC_iiƼ)@)*F92F9:F9BF=`5JF9GϼGBO l>EWill construct direction to contact in vehicle frame from tetrahedron phase data.UwGm5tAA - Y5tAyBIQw,ɏGAJ6@YJ|E@JO擼9J?r>yJH`M?`? u4?Y|?2?l?ɨJ6@Je;JCyV BV(II^I^v}4٢f fY=9j:Q j>hh nG٣lyzй; z> Nusing accuracyPremultiplier from config|59~؛? 5Y~* i~EB   R@~D~0;~;~1#5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 509.10 m.Bj?K;Jj?K; ProNav: ac range: 509.100006 m, nav range: 207.668045 m, bearing: 36.010930 deg, approach rate: 0.052535 m/s, LOS rate: 0.177694 deg/s, cmd heading: 309.915790 deg, new cmd heading: 310.123887 deg. 2j;HeadingCmd: 5.412683 target range: 509.100006 and range: 509.10 m. j4@j j j i h h hh =$?IAfAfAfArfIbfMȴ?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ=ԈBERM qu>Iy 5ɚiI1=I@^i5iիҼ)E4@)*F=?2F9:F9BF=}4JFAZHaRHeAAHm1>Ii Im6)IImBIm( =&Ii.Ii6Im<:ImL FG] ~>ԼGe ?Ge ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215769GQ Ba O} >ѶQw,GA^O@Y^_@^N9^1>y^HE?൨?|hW?IB=?2?ߡ?ɨ^O@^ e;^CyjBj(IuPExceeded connect timeout, disconnecting.Mb@Mb@Mb@ )Ysh|??+Mbpy)?rA @)AIyAI]I$4٢6 7=9UغQ > G٣GGy; >  Nusing accuracyPremultiplier from config59؛?5Yɲ iEB'+?:qR@D*;;'5%B %@%kEZjIUFNOT Ignoring new targets: 509.10 m.BjUZ;JjUZ;m ProNav: ac range: 509.100006 m, nav range: 207.688690 m, bearing: 36.092520 deg, approach rate: 0.048375 m/s, LOS rate: 0.191160 deg/s, cmd heading: 310.123892 deg, new cmd heading: 310.368635 deg. 2jm1Qw,bGAZ|@YZA@Z9Z>yZH?B?r`GU?@ ? {? E?ɨZ|@ZW;Xyf Bf(I)h hIrIr]4٢z- z]=9z`;Q ~>99 EG٣AyMm< M> UNusing accuracyPremultiplier from configQe59Uٛ?e5YUn iUEBimmR@UDUL;UFL;Ua*5q u@qZjFNOT Ignoring new targets: 509.10 m.BjXR;JjXR; ProNav: ac range: 509.100006 m, nav range: 207.705292 m, bearing: 36.162367 deg, approach rate: 0.043713 m/s, LOS rate: 0.183897 deg/s, cmd heading: 310.368632 deg, new cmd heading: 310.578156 deg. 2ji;HeadingCmd: 5.420611 target range: 509.100006 and range: 509.10 m. ju@jjjihhhhfffrfbf?ɛ؈Bv[{ \=I Jɚ i I 1=I\Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718010ii%\˼)%u@)!*F?2F:FBFJF $?IG ټGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973737J J J J J J y6:J J a @a @a @a @_Rw,mHAH`I` Ib$)IIbBI`&I`.I`6Ibi<:Ib< Fy= B=(IMb@Mb@Mb@ )Y> ףp=?Zd;O{Gzy1?j# )QAIAypAII4٢-B -8=95Q 5>11 =G٣9y= => ENusing accuracyPremultiplier from configAM59Eٛ?U5YEG iEEBU}3?U:UlUR@EDE";E] ;E0.5]B eĸ@ehEZjFNOT Ignoring new targets: 509.10 m.Bj\;Jj\; ProNav: ac range: 509.100006 m, nav range: 207.729691 m, bearing: 36.246311 deg, approach rate: 0.056134 m/s, LOS rate: 0.193107 deg/s, cmd heading: 310.578155 deg, new cmd heading: 310.829955 deg. 2j<HeadingCmd: 5.425006 target range: 509.100006 and range: 509.10 m. j@jjjihhhhBfffrfbf@@ɛۈBO h=I ɚiI\1=I[i i")@)*F?2F:FBFJF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222114 unManaging dock network, ignoring radio surface power offGvżG B O > I BRw,G!HABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.474902Rť@YRbլ@R?ց9R>yRH@aU? e[?@2=@a&?`*/`:? ?}?ɨRť@Rţ;Py^B^(IIfIfHo4٢nq nb=9r;Q r>pt vG٣vGGyv< v> ~Nusing accuracyPremultiplier from configx59zYٛ? 5Yz izEB  D R@zDzO;z(O;zW15zKV$KK9KKB KRK%>JK%?) -~@)ZjFNOT Ignoring new targets: 509.10 m.Bj O;Jj O;- ProNav: ac range: 509.100006 m, nav range: 207.747986 m, bearing: 36.315933 deg, approach rate: 0.047573 m/s, LOS rate: 0.181020 deg/s, cmd heading: 310.829943 deg, new cmd heading: 311.038789 deg. 2j-v;UHeadingCmd: 5.428651 target range: 509.100006 and range: 509.10 m. jU@jQjQjQiYhYhYhYhYfafafarfabfmB@ɛ݈B} (=I ɚiI' 1=IZijiN¼)@)E*F2F:FBFk0JFGqA GEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.728410G fG B O% >MRw,;HAN|ߥ@YN@Ned~9N>yNH i?`@L? 9?c?8̏?^?U?ɨN|ߥ@N;NCynBnn(Iiz4>Iz4<I~I~4٢ Ì  H=9 }N:Q > G٣y5X; 5> =Nusing accuracyPremultiplier from config9E59=_(ٛ?E5Y=\ i=EBAM߀MR@=D=e:=:=45Q Ud@Q $?IB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 509.10 m.Bjg;Jjg; ProNav: ac range: 509.100006 m, nav range: 207.768372 m, bearing: 36.395455 deg, approach rate: 0.051919 m/s, LOS rate: 0.202510 deg/s, cmd heading: 311.038782 deg, new cmd heading: 311.277323 deg. 2j <HeadingCmd: 5.432814 target range: 509.100006 and range: 509.10 m. j٭@jjjihhhhfffrfbf@ɛ ߈B =  E Will construct direction to contact in vehicle frame from tetrahedron phase data.A iA E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230133PRw,THA@YJ@u9:>yHA?@8?`}` P?@Ա??{?ɨ@ ;CyMBMd(I5Mb@Mb@Mb@111 1)1Y5n?v/ai mG٣iymV < m> }Nusing accuracyPremultiplier from configq59uL6ٛ?5Yu iuEBe8?:R@uDu;u8;u85B ƺ@gEZjFNOT Ignoring new targets: 509.10 m.Bj];Jj];5 ProNav: ac range: 509.100006 m, nav range: 207.798264 m, bearing: 36.483329 deg, approach rate: 0.066030 m/s, LOS rate: 0.194082 deg/s, cmd heading: 311.277320 deg, new cmd heading: 311.540902 deg. 2j52<=HeadingCmd: 5.437415 target range: 509.100006 and range: 509.10 m. j=M@j9j9j9i9h9hAhAhEBfAfIfIrfibfu?g @ɛB?Y 隽@9*Rw,nHAr@YrN&@rp9r+E>yrH?)?`ab?fU??!! %G٣)y--< ->BK9:K9 MNusing accuracyPremultiplier from configIU59MAٛ?U5YM iMEBY]A]R@MDMh;M;M<5a e@aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734306Zj9=FNOT Ignoring new targets: 509.10 m.BjE[;JjE[;u ProNav: ac range: 509.100006 m, nav range: 207.822449 m, bearing: 36.555607 deg, approach rate: 0.064326 m/s, LOS rate: 0.192218 deg/s, cmd heading: 311.540911 deg, new cmd heading: 311.757719 deg. 2ju<}HeadingCmd: 5.441199 target range: 509.100006 and range: 509.10 m. j}M@jyjyjyiyhhhhfffrfbf`z@ɛBvż ୼I %ɚ!i!I%R1=IMkWiU'iUܼ)UM@)Y*FE?2FA:FABFE3JFA"GIGM= m$?IuhGe ؼ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.988457GQ J J J 1J J +:J $-:J 3J B Oe >L"Rw,͈HAH60>I4 I6(II6QBI4&I4.I46I6B<:I6 F,@Y&<@)r9{>yHc??O@rs?@D? K?Ҝ?ɨ,@1;y-ΈB-E(I)1 5AMb@Mb@Mb@ )Y-?Qy5>?\̼ A )v@IAyAII4٢xG ==9RQ > G٣GGy;  > Nusing accuracyPremultiplier from config59Oٛ?5Y iEBA?:4%R@D;;?5) -]@)ZjQUFNOT Ignoring new targets: 509.10 m.Bj]y;Jj]y;m ProNav: ac range: 509.100006 m, nav range: 207.860321 m, bearing: 36.644823 deg, approach rate: 0.092616 m/s, LOS rate: 0.218137 deg/s, cmd heading: 311.757728 deg, new cmd heading: 312.025326 deg. 2jmIA EعɚAiAIE"y1=IMXZViMN+iMA)MD@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 21:58:56.4226 LVL= 18192, 31137, 22514, 32755, AGC= 66, IDX= 427,-0.16,-2.012, 2.816, 2.623,-2.994, PHS= 1.070,-0.426,-0.669, RAW= 82.6, 0.3, CAL= 88.9, -3.9, ROT= 61.1, 3.9 =Ygot valid direction response: 21:58:56.4226 LVL= 18192, 31137, 22514, 32755, AGC= 66, IDX= 427,-0.16,-2.012, 2.816, 2.623,-2.994, PHS= 1.070,-0.426,-0.669, RAW= 82.6, 0.3, CAL= 88.9, -3.9, ROT= 61.1, 3.9 EPDAT read: Bearing 61.1, 3.9 (Local) E~Local bearing/azimuth received: Bearing 61.1, 3.9 (Local) UDAT read: Range 10 to 50 : 508.5 m (Round-trip 678.0 ms) speed 0.0 m/s ],DAT read: user:2195> ]BDAT read: Tx time:21:58:57.5405 ]$Ping request sent.e Y IY :(Rw,HA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6JDAT read: TxSync time:21:58:57.5397 BI@YBbY@Bj9B z>yBH?@ ?L_?sn^? ??ɨBI@B;BCy^ÈBb8(IIjIj4٢rJf v^=9z3:Q z>xx ~G٣|y~o< >  Nusing accuracyPremultiplier from config 59B[ٛ?5YH iEBR@Dn::C5JJ@A%B %@-dEk=Oٓٛ?k=X k9 k=5HA:k=@CBk=CZk=?zK`MK9KKD K"=C`RCUyψ]@+~@=E\x~y???Jk=\?Rk=,*=ٮ?@s9O@0w`f@=BU?tgp?vޭ?"k=yB*k=-?k==ٛ?k=y 2k=BDk=7?k= k= Dk=hBk=ܞ?- addTargetRange:: Added new target pos. range: 508.500000 m, deltaT: 4.285915 s, deltaX: -0.600006 m, approachRate: -0.139995 m/s, rangeRepo size: 4 ] Added new target pos. range: 508.500000 m, bearing: 89.379631 deg, lat: 36.900248 deg, lon: -122.118958 deg, deltaT: 4.285915 s, deltaX: -0.600006 m, approachRate: -0.139995 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 508.50 m.BjeJja ProNav: ac range: 508.500000 m, nav range: 123.705048 m, bearing: 71.109340 deg, approach rate: 0.000000 m/s, LOS rate: 0.218137 deg/s, cmd heading: 312.025335 deg, new cmd heading: 312.284155 deg. 2jHeadingCmd: 5.450387 target range: 508.500000 and range: 508.50 m. ji@jjjihhhhfffrf@bf@0?ɛ5B5^ 9=XI9 =KOɚAiAIE˥1=IM2Ui.ij%)i@)*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >Ze.Rw,|aHARQ@YR0a@R>9{9R>>yRH?p?(@ZP?q f??ঞ?ɨRQ@R;RC I yB0(II5I5_v4٢e eC=9mQ m>qq uG٣qy; > Nusing accuracyPremultiplier from config 59 Eiٛ?5Y  i rEBR@ D  ;  ; F5! -]@)EB*** querying acoustic contact ***jAjAZjY]FNOT Ignoring new targets: 508.50 m.BjeP;JjeP;u ProNav: ac range: 508.500000 m, nav range: 123.921959 m, bearing: 71.224868 deg, approach rate: 0.527239 m/s, LOS rate: 0.280317 deg/s, cmd heading: 312.284145 deg, new cmd heading: 312.630116 deg. 2jua@<}HeadingCmd: 5.456425 target range: 508.500000 and range: 508.50 m. j}@jyjyjihhhhfffrfbfD?ɛBP 隽I ߺɚiI1=ISiү2i. )@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JIJMJM0JIJIJMf4:JMـ3JI*F?2F:FBF^0JFGrA GZHaRHaHqIq Iu(IIu2BIu) =&Iq.Iq6Iu}<:IuJ FBI)JI)RI)ZI)bI)jI-)v4GvG B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995096sN5Rw,AHAy%B%'(Ii5=I5 G٣GGy > Nusing accuracyPremultiplier from config 59nvٛ? 5Y! iaEB J?:sR@ DV;;YJ5B @cEZjIMFNOT Ignoring new targets: 508.50 m.BjU~;JjU~;e ProNav: ac range: 508.500000 m, nav range: 124.134720 m, bearing: 71.334369 deg, approach rate: 0.529186 m/s, LOS rate: 0.271889 deg/s, cmd heading: 312.630107 deg, new cmd heading: 312.958045 deg. 2je:zK-BoIK-h9K)K-E K-' w;Rw,HA)< >mCrGGvA5A}n@Y}P~@}e9} >y}H?@?ӑaG R??}?ޚ?ɨ}n@}ek;}C YvAyByޭBޭ(IIaI+4٢ L=9Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499230 G٣y < > Nusing accuracyPremultiplier from config59ٛ?5Yg iQEBR@D*;:M5  %@Zj9=FNOT Ignoring new targets: 508.50 m.BjE;JjE;U ProNav: ac range: 508.500000 m, nav range: 124.346352 m, bearing: 71.443509 deg, approach rate: 0.526272 m/s, LOS rate: 0.270939 deg/s, cmd heading: 312.958038 deg, new cmd heading: 313.284896 deg. 2jU9<]HeadingCmd: 5.467853 target range: 508.500000 and range: 508.50 m. j]@jYjYjYiahahahahafififirfibfu`~?ɛ5B=q( 9=(I9 =k]ɚ9i9IE32=IEPiMlH] 1>IY  I] (II] BIY &IY .IY 6I] <:I] c FyoBRw, 7 IA>@Y>i@>f9>!>y>H ? 1?`ܓE/@?0`?@? ?ɨ>@>܍;>CyFBF!(ImMb@Mb@Mb@iii i)iYm?+ǿ:vyimv>mԼmA m@)mv@ImAiymGAII4٢< L=9-;Q > G٣y9< > Nusing accuracyPremultiplier from config59'ٛ?5Y i?EB$L?:ЊR@D;;WQ5B @`EZjFNOT Ignoring new targets: 508.50 m.Bj;Jj;  ProNav: ac range: 508.500000 m, nav range: 124.565544 m, bearing: 71.549350 deg, approach rate: 0.550181 m/s, LOS rate: 0.265198 deg/s, cmd heading: 313.284904 deg, new cmd heading: 313.601866 deg. 2j 6<HeadingCmd: 5.473385 target range: 508.500000 and range: 508.50 m. j%@jjjihhhhBf!f!f!rf!bf% $?I HRw,Z$IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255240jX@Yj@JpJpJpJpJpJpJpJpJpazJpazJr֌;azJr֌;azjم9j">yjH?`k?` `?@zb?+??ɨjX@j$;jCy]B]*(I)a eAimAIuIu4٢= I=9t9Q > G٣GGy; > Nusing accuracyPremultiplier from config59ٛ?5Yg  i.EBvR@)D:7:T5zKqKKKKF K ! -r@)ZjFNOT Ignoring new targets: 508.50 m.Bjœ;Jjœ; ProNav: ac range: 508.500000 m, nav range: 124.790924 m, bearing: 71.658177 deg, approach rate: 0.536073 m/s, LOS rate: 0.258380 deg/s, cmd heading: 313.601879 deg, new cmd heading: 313.927766 deg. 2jR1<HeadingCmd: 5.479073 target range: 508.500000 and range: 508.50 m. jT@jjjihhhhf!f!f)rfIbfU@ɛB4 I -ɚ)i)I-2=I5NMi54Gi=1)=T@)9*F]?2FY:FYBF]p0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507559GE !G B) OE >KNRw,=IA $I&hB¦@YB^ҭ@B8݆9B8~#>yBH@?Ǵ?@'@pN? uې?@X?@?ɨB¦@B;BCyNBN+(IIVIV4٢^]; bZ=9bQ b>dd fG٣dyfk< f> nNusing accuracyPremultiplier from confighr59jըٛ?r5Yj? ijEBprrR@j3Dj ;j ;j*X5t zd@zbEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 508.50 m.Bj';Jj'; ProNav: ac range: 508.500000 m, nav range: 124.993881 m, bearing: 71.756265 deg, approach rate: 0.533264 m/s, LOS rate: 0.257304 deg/s, cmd heading: 313.927761 deg, new cmd heading: 314.221544 deg. 2j0<HeadingCmd: 5.484200 target range: 508.500000 and range: 508.50 m. j~@jjjihhhhf f f rf bf @@ɛB 隽I ɚiI2=ICLiLiU9)~@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759258)i*F ?2F:FBF3JFjHbHH 2>I  I (II BI ( =&I .I 6I <:I N FG  .Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011202BURw,WIAy޽ƈB޽<(IMb@Mb@Mb@ )YZd;O?I +ƿ rhy~J?94CrA @)IQA 1I9yAIEIE4٢u=V= u&=9}Q }> G٣y > Nusing accuracyPremultiplier from config59Sٛ?5Y i EB~O?:3R@@D<;j;\5mB mz@u_EZjFNOT Ignoring new targets: 508.50 m.Bj$;Jj$; ProNav: ac range: 508.500000 m, nav range: 125.267792 m, bearing: 71.891749 deg, approach rate: 0.542551 m/s, LOS rate: 0.267775 deg/s, cmd heading: 314.221541 deg, new cmd heading: 314.627099 deg. 2j7<HeadingCmd: 5.491279 target range: 508.500000 and range: 508.50 m. j@jjjihhhhƈBfff rf bf f @ɛ5B=c 9=I9 =#WɚAiAIE2=IMhJiMsSiM%R)M@)QEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263220JJJJJJo5:JJJJJ;J;zKFJK+9KKG KE A=E E qA*F= ?2F9 :F9 BF= j0JFA GM qA GI  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A BDAT read: Rx Time:21:59:00.6215  TRx dataTimestamp_ set to:1736373541.828940 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516467G8G9BIOe ?]Rw,=)zIAR6 @YR@R9Rc(>yRHL?@V~?#?`O?`?1?ɨR6 @R;RCy^ψB^F(Iib=Ibp;IfIf@4٢rQ= r4=9vbMQ v>tx zG٣zGGyz.< ~> Nusing accuracyPremultiplier from config|59~nٛ? 5Y~# i~DB   R@~KD~;~ ;~o`5 @Zj9EFNOT Ignoring new targets: 508.50 m.BjEc;JjMc;e ProNav: ac range: 508.500000 m, nav range: 125.512772 m, bearing: 72.014374 deg, approach rate: 0.582374 m/s, LOS rate: 0.290938 deg/s, cmd heading: 314.627091 deg, new cmd heading: 314.994241 deg. 2jeGH1>I I(IIBI&I.I6I_<:I5 F(dRw,J IANWill construct direction to contact in vehicle frame from tetrahedron phase data.jDAT read: 21:59:00.6215 LVL= 13952, 24401, 18114, 24371, AGC= 69, IDX= 432,-0.07, 0.330,-1.277,-1.390,-0.740, PHS= 1.158,-0.490,-0.653, RAW= 85.3, -0.2, CAL= 92.2, -4.7, ROT= 57.8, 4.7 nYgot valid direction response: 21:59:00.6215 LVL= 13952, 24401, 18114, 24371, AGC= 69, IDX= 432,-0.07, 0.330,-1.277,-1.390,-0.740, PHS= 1.158,-0.490,-0.653, RAW= 85.3, -0.2, CAL= 92.2, -4.7, ROT= 57.8, 4.7 rPDAT read: Bearing 57.8, 4.7 (Local) r~Local bearing/azimuth received: Bearing 57.8, 4.7 (Local) zDAT read: Range 10 to 50 : 507.6 m (Round-trip 676.9 ms) speed 0.1 m/s ~,DAT read: user:2196> ~BDAT read: Tx time:21:59:01.7405 $Ping request sent.ii mG٣iyu > Nusing accuracyPremultiplier from config59^ٛ?5Y- iDB}H?:R@YD&;;Ie5B @\EkN9қ?kNŀ kL kNFIA:kNCBkNCZkN@"N/6BsW@bR@NȷCvp?:GX?JkNC?RkN*N530*E@T~ڔ@NP/R5֮XE?KS?"kN ,B*kNkN[қ?kN! 2kNnDkN%?kNE` kN!DkNpBkN*? addTargetRange:: Added new target pos. range: 507.600006 m, deltaT: 4.032285 s, deltaX: -0.899994 m, approachRate: -0.223197 m/s, rangeRepo size: 4  Added new target pos. range: 507.600006 m, bearing: 116.902202 deg, lat: 36.900182 deg, lon: -122.119234 deg, deltaT: 4.032285 s, deltaX: -0.899994 m, approachRate: -0.223197 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 507.60 m.BjJj ProNav: ac range: 507.600006 m, nav range: 100.219498 m, bearing: 71.901522 deg, approach rate: 0.000000 m/s, LOS rate: 0.290938 deg/s, cmd heading: 314.994254 deg, new cmd heading: 315.497961 deg. 2jHeadingCmd: 5.506478 target range: 507.600006 and range: 507.60 m. j5@jjjihhhhBf!f!f!rf%@bfe`?ɛBXټ 隝HZI ^ɚiIOM3=IBFii,di \h) 5@) EWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:21:59:01.7397 J@AJ?AJ J J J J :J \3:J J J <J <J ;J ;zK BHK h9K K H K BK qA:K E B=*Fe ?2Fa :Fa BFe _0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.GNGBO?8nRw,2IA @6qO@Y6^@6,Ϣ96->y6H~?IJ?@ӯE?@PY???ɨ6qO@6;6Cy>BBw(IIJ]IJ$4٢R~= R3=9RQ R>TT VG٣VGGyZM< Z> ^Nusing accuracyPremultiplier from config\b59^1ٛ?b5Y^5 i^DB`bzfR@^eD^:^:^I I(II2BI&I.I6Ih<:I; FBFe`0JFGM _uRw,@KIA6{@Y64@6896*>y6H@/?@ G٣y<< > Nusing accuracyPremultiplier from config59ٛ?5Y= iDBzK m$JK ػ9K K I K {Rw,KIA6<@Y6Ǯ@60Z96i(">y6H~?`c?ok?g̪?.?@?ɨ6<@6v;6CyN(BR(IIjVIjn4٢r= vV=9vaQ v>tx zG٣xyz< z> Nusing accuracyPremultiplier from config 59 Uڛ?5Y D i DB%R@ yD ; ; p5) -2@)ZjQUFNOT Ignoring new targets: 507.60 m.Bje;Jje; ProNav: ac range: 507.600006 m, nav range: 100.863281 m, bearing: 72.325251 deg, approach rate: 0.475493 m/s, LOS rate: 0.321616 deg/s, cmd heading: 316.397421 deg, new cmd heading: 316.766395 deg. 2j\<HeadingCmd: 5.528616 target range: 507.600006 and range: 507.60 m. jm@jjjihhhhfffrfbf*?UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498633ɛB~ 隥=I `yɚiIaE3=Ii+Ai{kigh)m@)*F2F:FBF1JF aIaGkG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750684Hu />Iq  Iu (IIu VBIu ) =&Iq .Iq 6Iu a<:Iu 5 FBI9JI9RI9ZI9bI9jI= 4"Rw,' JAyޕ9Bޕ(I-Mb@Mb@Mb@))) )))Y-|?5^?!rh:v?y--?-l罹-T<-+A )))I-A)y-=AIEIEr4٢U3= U(=9]Q ]>YY eG٣eGGym u> Nusing accuracyPremultiplier from config59ڛ?5YdK iDB?0?:|R@D;;t5B  @XEZjFNOT Ignoring new targets: 507.60 m.Bjm;Jjm; ProNav: ac range: 507.600006 m, nav range: 101.074638 m, bearing: 72.473576 deg, approach rate: 0.433015 m/s, LOS rate: 0.303242 deg/s, cmd heading: 316.766388 deg, new cmd heading: 317.210422 deg. 2jP<HeadingCmd: 5.536366 target range: 507.600006 and range: 507.60 m. j)@jj j i h h hhgBfffrfbf`?]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002834ɛB 隵=I aɚiI)3=I/?i uiw;))@)*FM?2FI:FIBFM0JFQ AIIGm i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255284GI B J AAJ @AO >Rw,(JAJJJJJ:JS2:JJJ<J<J ;J ;@Y룯@ݼ9@4>yHi?^?`Zi¿.?`?r?}?ɨ@zKK9KKJ K~w;騥CySB(II-I-t4٢== =?=9=+=Q =>AA EG٣AyE,= M> UNusing accuracyPremultiplier from configQ]59U"ڛ?]5YUQ iUDBY]ueR@UDU:U:Ux5i mp@mZEZjFNOT Ignoring new targets: 507.60 m.Bj;Jj; ProNav: ac range: 507.600006 m, nav range: 101.251534 m, bearing: 72.603909 deg, approach rate: 0.419862 m/s, LOS rate: 0.308807 deg/s, cmd heading: 317.210432 deg, new cmd heading: 317.600743 deg. 2jS<HeadingCmd: 5.543179 target range: 507.600006 and range: 507.60 m. ja@jjjihhhhfffrfbf@'@ɛ]B]0 Y]*>IY ejɚaiaIe2=Iq=iiv8)a@)~G Yy B*F2F:FBF;1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511695GGIBYOu> e $?Ie h9Rw,ۆBJAy~^B~(IIId4٢UE|= UZ=9]Q ]>aa eG٣aye m> }Nusing accuracyPremultiplier from configy59}x/ڛ?5Y}=W i}DBR@}D};};}{5 @ZjFNOT Ignoring new targets: 507.60 m.Bj;Jj; ProNav: ac range: 507.600006 m, nav range: 101.409615 m, bearing: 72.719675 deg, approach rate: 0.417690 m/s, LOS rate: 0.305405 deg/s, cmd heading: 317.600736 deg, new cmd heading: 317.947488 deg. 2jQ<HeadingCmd: 5.549231 target range: 507.600006 and range: 507.60 m. jL@jjjihhhhf f f rf bf`Q1@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762975ɛMBM IM>>IQ U4JɚQiQIUi2=I]x;i]{i]GY)]L@)a*F2F:FBF2JFjH1bH54<HU0>IQ IU*)IIUBIU( =&IQ.IQ6IU<:IUM F"G=G=G:Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014743ĖRw,`\JA Iy sB )IMb@Mb@Mb@ )YMb?333333I +?y ?94<A )IAy3AIIt4٢= D=9Q > G٣GGy > Nusing accuracyPremultiplier from config59<ڛ?5Y\ iDB!?:*jR@Da;;5B Z@WEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 507.60 m.Bja;Jja; ProNav: ac range: 507.600006 m, nav range: 101.561234 m, bearing: 72.841067 deg, approach rate: 0.346413 m/s, LOS rate: 0.276936 deg/s, cmd heading: 317.947492 deg, new cmd heading: 318.311117 deg. 2j><HeadingCmd: 5.555577 target range: 507.600006 and range: 507.60 m. jJDZ@jjjihhhhBf f f rfbf @ɛ=B= 9Ec>IA EɚAiAIEX|2=IMD:iMעiU$n)UJDZ@)Q*F2F :F BF _0JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268264Gф`GBOi>zK)K-9K)K-K K- )Oa^I:2*# Rw,EvJA:@FWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.522718Y:{$@:_9:>>y:H V??#lÿ`%w@?@U?? 8n?ɨ:@:3&;8ynBn#)IIvIvm4٢ =  V=9O Q >!! %G٣!y56'= > Nusing accuracyPremultiplier from config59aJڛ?5Ya iEB#fR@D"::5 W@Zj9EFNOT Ignoring new targets: 507.60 m.BjE!;JjE!; ProNav: ac range: 507.600006 m, nav range: 101.705437 m, bearing: 72.959754 deg, approach rate: 0.374708 m/s, LOS rate: 0.307969 deg/s, cmd heading: 318.311131 deg, new cmd heading: 318.666684 deg. 2j[S<HeadingCmd: 5.561783 target range: 507.600006 and range: 507.60 m. j @jjjihhhhfffrfbf @ɛ=BE4 EP=Ea>IA E ɚAiIH%2=Iҭ8ińi#G) @) $?I*F2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:59:04.8205 =TRx dataTimestamp_ set to:1736373546.116538=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771728JKm3 KS}-KK"KJu Ju Jq Jq Ju {:Ju @0:Jq Jq a @a @a @a @G XG ?G >HA IA  IE h)IIE BIE ) =&IA .IA 6IE H<:IE " FG B1 O >t֣Rw,JAyޝBޝ%)I-Mb@Mb@Mb@))) )))Y-`"?S㥛y&1?y-?-/ݼ-`e<) -@)-QAI))y)IEIE{4٢U; U7=9UQ ]>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59mXڛ?}5Ymf im EB}?}:}S}R@mDm);ma';mȆ5B '@TEZjFNOT Ignoring new targets: 507.60 m.Bj;Jj;m ProNav: ac range: 507.600006 m, nav range: 101.832268 m, bearing: 73.081206 deg, approach rate: 0.302673 m/s, LOS rate: 0.289474 deg/s, cmd heading: 318.666683 deg, new cmd heading: 319.030579 deg. 2jmFI %Fɚ!i!I%1=IM 7iMNiMd)M'.@)Q*F2F:FBFJF IG  G E Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:59:04.8205 LVL= 15424, 31905, 19058, 30131, AGC= 64, IDX= 436, 0.21, 1.776, 0.119, 0.058, 0.625, PHS= 1.239,-0.459,-0.570, RAW= 86.9, -2.4, CAL= 94.7, -8.3, ROT= 55.3, 8.3  Ygot valid direction response: 21:59:04.8205 LVL= 15424, 31905, 19058, 30131, AGC= 64, IDX= 436, 0.21, 1.776, 0.119, 0.058, 0.625, PHS= 1.239,-0.459,-0.570, RAW= 86.9, -2.4, CAL= 94.7, -8.3, ROT= 55.3, 8.3  PDAT read: Bearing 55.3, 8.3 (Local)  ~Local bearing/azimuth received: Bearing 55.3, 8.3 (Local)  DAT read: Range 10 to 50 : 506.7 m (Round-trip 675.7 ms) speed 0.3 m/s  ,DAT read: user:2197>  BDAT read: Tx time:21:59:05.9406  $Ping request sent. I I M nT??4zῸѸ/)M IM -=iM ?M *I I  :publishing transmit ping timeر  Fpublishing direction and range infoI 9M ) 9WbHaX??yI I I I I )I G B O- >tnRw,JAIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝nT??4zῸѸ/)ۙIۙiۙۙۙۙzK] MK]h9KYK]L K]1@Yϰ@9 gD>yHF:?`vo? Ŀ@Q?[U ?b?d?ɨ1@;騭CyB6)Ii =I < ==I]I]y4٢mz= m<=9mu,Q m> G٣GGyB= > Nusing accuracyPremultiplier from config59gڛ?5Yk iEBNR@D;%;5 N@k ~nΛ?kGt) k kJA:kYCBkCZkR4@"ʞ)1"T@Gi?@) 9WbHaX??Jk?Rk**sQJPB7ɚ(@ e@L6TPWRܘ?xR%?"kDA*kk+1SYΛ?ki' 2kDk=ٛ?ky kBDk!Bk? addTargetRange:: Added new target pos. range: 506.700012 m, deltaT: 4.288386 s, deltaX: -0.899994 m, approachRate: -0.209868 m/s, rangeRepo size: 4  Added new target pos. range: 506.700012 m, bearing: 161.433892 deg, lat: 36.899894 deg, lon: -122.119572 deg, deltaT: 4.288386 s, deltaX: -0.899994 m, approachRate: -0.209868 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 506.70 m.BjJj ProNav: ac range: 506.700012 m, nav range: 67.566383 m, bearing: 92.129469 deg, approach rate: 0.000000 m/s, LOS rate: 0.289474 deg/s, cmd heading: 319.030568 deg, new cmd heading: 319.441620 deg. 2jHeadingCmd: 5.575308 target range: 506.700012 and range: 506.70 m. jh@jjjih!h!h!h!f)f)f)rf-@3@bf5º?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:59:05.9398 ɛB  m>I  '%ɚiIN1=IEt75iE iEg.)Mh@)Q*F5?2F1:F1BF5`0JF1  $?I G _Rw,3JA.Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:@:9:!B>y:H`T? R?ÿ@F?ܼ7?.?f?ɨ:@:;:CynBn.)IIvMIv{4٢~A ~V=9Q >  G٣ y P<  > Nusing accuracyPremultiplier from config59tڛ?%5Y p i&EB!%_M%R@D::5-B -@5SEZjYeFNOT Ignoring new targets: 506.70 m.BjeZ;JjeZ;J}J}JyJyJ} :J}\3:JyJy ProNav: ac range: 506.700012 m, nav range: 67.733475 m, bearing: 92.256187 deg, approach rate: 0.486199 m/s, LOS rate: 0.367810 deg/s, cmd heading: 319.441609 deg, new cmd heading: 319.820818 deg. 2jl|<HeadingCmd: 5.581926 target range: 506.700012 and range: 506.70 m. j$@jjjihhhhfffrfbf x?ɛBӺ >I K׳ɚiI0=ZH1RH1H5/>I1 I5)II5߉BI1&I1.I16I50<:I5 FI3ii5=)$@)Em C= Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE ?2FA :FA BFE _0JFA G% %:GE qAGA G B! 9 I9 OE >JݷRw,YJA2|@Y2@292#G>y2H6[?C?Ŀ?@ЎL??t^?ɨ2|@2p;2Cy>B>6)I Mb@Mb@Mb@    ) Y ʡE?/$y&1|?y -?  `; nA @) @I A y \AI-I-m4٢}>< C=9jQ > G٣yE>; > Nusing accuracyPremultiplier from config59(ڛ?5Yt i1EBI?:QJR@Dr;;5 <@ B*** querying acoustic contact ***j j Zj9UFNOT Ignoring new targets: 506.70 m.Bj]E;Jj]E;m ProNav: ac range: 506.700012 m, nav range: 67.910225 m, bearing: 92.392504 deg, approach rate: 0.409774 m/s, LOS rate: 0.315212 deg/s, cmd heading: 319.820821 deg, new cmd heading: 320.228702 deg. 2jmSXI ɚiIFq0=I%.1i%i%Q)%uٲ@))uWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.E;=*F]?2FY:FaBFeo0JFa"Gm=Gm=zKBHK9KKM KG H05 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 Ai1 E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249148G B O > Rw,JAB2@YB!@B*9BB>yBHp?N/?oJĿ*`5? ZR?`,?@\e?ɨB2@B ێ;@ybBb*)I)d dInVInn4٢v1C vT=9v߻Q v>xx zG٣zGGy~)< ~>  Nusing accuracyPremultiplier from config 59 Iڛ?5Y x i ;EBJIR@ D ; M; 5%B %@%PEZjIMFNOT Ignoring new targets: 506.70 m.BjU;JjU;e ProNav: ac range: 506.700012 m, nav range: 68.072868 m, bearing: 92.518067 deg, approach rate: 0.435305 m/s, LOS rate: 0.335257 deg/s, cmd heading: 320.228693 deg, new cmd heading: 320.604475 deg. 2jefI bɚiI/=I[0iiX)/@) $?Ih*Ea="E=EP=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498364*Fu?2Fq:FqBFqJFqJJJ1JJ:J@0:J3JH9I9 I=)II=BI9&I9.I96I=K<:I=" FGuNGI Bq O >Rw,KAy~B~()IMb@Mb@Mb@ )Y(\?~jthyz?DXA @)I3AyAII%x4٢= ==9Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749619 G٣y > Nusing accuracyPremultiplier from config59ɟڛ?5Y/} iFEB {? : @ R@D;U;Ø5 ٯ@ZjAEFNOT Ignoring new targets: 506.70 m.BjE;JjM;] ProNav: ac range: 506.700012 m, nav range: 68.253357 m, bearing: 92.665957 deg, approach rate: 0.414938 m/s, LOS rate: 0.339097 deg/s, cmd heading: 320.604462 deg, new cmd heading: 321.046952 deg. 2j]hI ԮɚiIy/=I@ .iiKG B O >NfRw,B/KA6{@Y6Z@6~@(96;>y6H]?J? lÿ[p@_?o ?:?p?ɨ6{@6i7;6CzK@K@K@KBN KByJyBJ)IPPIRIR#4٢Z ZS=9^:Q ^>\` bG٣`yb[ = b> jNusing accuracyPremultiplier from configdj59fڛ?n5Yf% ifOEBlnq=nR@fDf ;f ;f 5p v@tZj FNOT Ignoring new targets: 506.70 m.Bj;Jj;% ProNav: ac range: 506.700012 m, nav range: 68.411369 m, bearing: 92.797837 deg, approach rate: 0.411082 m/s, LOS rate: 0.342304 deg/s, cmd heading: 321.046949 deg, new cmd heading: 321.441669 deg. 2j-j<-HeadingCmd: 5.610216 target range: 506.700012 and range: 506.70 m. j-ㆳ@j1j1j1i1h1h1h9h9f9fAfArfAbfE@V@ɛmBmػ qutP>Iq u2ɚqiqIuo /=IMG,i}-i^Y)ㆳ@)E=rAE9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254618*F?2F:FBF05JFGrA GqAGcGyBO^> %$?I! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506363WARw,uIKA:䴪@Y:Gı@:X&9:8>y:Hy??@ÿ"F?hɤ??Ct?ɨ:䴪@:;8JrJrJr0JpJr:Jr\3:Jrـ3JpyoB )Ii%>I%<HaIa IaIaIa&Ia.Ia6Ied<:Ie5 FBI!JI!RI!ZI%) =bI%) =jI%ŗ4IyIxV4٢5 ==9g:Q > G٣GGy< > Nusing accuracyPremultiplier from config%59ڛ?%5Y iZEB!%;%R@D::5]B ]6@eMEZjFNOT Ignoring new targets: 506.70 m.Bjܱ;Jjܱ;u ProNav: ac range: 506.700012 m, nav range: 68.592491 m, bearing: 92.949991 deg, approach rate: 0.371184 m/s, LOS rate: 0.310994 deg/s, cmd heading: 321.441680 deg, new cmd heading: 321.896925 deg. 2junU<}HeadingCmd: 5.618161 target range: 506.700012 and range: 506.70 m. j}dz@jyjjihhhhfffrfbfq@ɛ%B%8$ !%6>I! - ɚ)i)I-.=I5?*i5qIi5a)5dz@)9*F?2F:FBFA5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.yiychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758584 ) I) G= !rG B! O= >_Rw,cKA6[@Y6@6'96_7>y6H ??` ¿$@?`ki??Kv?ɨ6[@6;6Cy>dBB(IMMb@Mb@Mb@III I)IYM^I +?:vMbyMX?MԼMM+A M@)M`@IMAIyMAIesIeK4٢u_ uO=9uQ }>yy }G٣yye< > Nusing accuracyPremultiplier from config59ڛ?5Yى i^EB?:JCS@D1;;V5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 506.70 m.Bj};Jj}; ProNav: ac range: 506.700012 m, nav range: 68.759499 m, bearing: 93.081176 deg, approach rate: 0.492006 m/s, LOS rate: 0.385533 deg/s, cmd heading: 321.896925 deg, new cmd heading: 322.289518 deg. 2jK<HeadingCmd: 5.625013 target range: 506.700012 and range: 506.70 m. j@jjjihhhhBff f rf bf`@ɛEBEH1 AE>IA MBɚIiIIM2.=IU}(iQiUog)U@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010514*F2F:FBF_0JF*J4="JGeGBO@>) zKjIK9KKO KRK?JK ?U~Ga YyBEQ@EPB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261433Rw,|KAB@YB(@B%9Bt*8>yBH ?{?¿`;? y޻`??Cu?ɨB@B&;BC r$?IpyrSBv(II~I~%x4٢ʹ  R=9$L:Q > G٣y< %> -Nusing accuracyPremultiplier from config!-59%ڛ?55Y% i%cEB15A5S@%D% ;%;%5EB E@EJEZjamFNOT Ignoring new targets: 506.70 m.Bjm;Jju; ProNav: ac range: 506.700012 m, nav range: 68.929222 m, bearing: 93.215395 deg, approach rate: 0.436573 m/s, LOS rate: 0.344395 deg/s, cmd heading: 322.289525 deg, new cmd heading: 322.691183 deg. 2j[l<HeadingCmd: 5.632024 target range: 506.700012 and range: 506.70 m. j9@jj j i h h h1h1f1f9f9rf9bf=@!; @ɛBgT 隍=I e~ɚiI-=I&izϙijf)9@)*FE?2FI:FIBFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:59:09.0188 TRx dataTimestamp_ set to:1736373550.148600 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514548H}.>Iy I})II}߉BIy&Iy.Iy6I}<:I}i FGU`Gm ?Gm>GI By O >kRw,KA yAB(I)  eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.765725Mb@Mb@Mb@ )YZd;?~jt rhy?DCA @)3@Iy=AII٢_ ==9Q > G٣GGy >  Nusing accuracyPremultiplier from config 59 ڛ?5Y  i ?:bIS@ D ?'; %; 5! -@-LEZjIUFNOT Ignoring new targets: 506.70 m.Bj];Jj];e ProNav: ac range: 506.700012 m, nav range: 69.130707 m, bearing: 93.364069 deg, approach rate: 0.465328 m/s, LOS rate: 0.342362 deg/s, cmd heading: 322.691195 deg, new cmd heading: 323.135909 deg. 2jmjRw,pKA6@Y6@6$'96oT:>y6H@b? k,?¿ `&(?簼?$? r?ɨ6@6.;6CyB-BB(IIJIJ4٢RԽ Rb=9V.hQ V>TT ZG٣XyZ = Z> bNusing accuracyPremultiplier from config\b59^ڛ?f5Y^A i\df0FfS@^D^;^';^5zKK9KKP KBK!:K%rA]B ]$@eIEZjFNOT Ignoring new targets: 506.70 m.Bjܺ;Jjܺ; ProNav: ac range: 506.700012 m, nav range: 69.297508 m, bearing: 93.489341 deg, approach rate: 0.436096 m/s, LOS rate: 0.326731 deg/s, cmd heading: 323.135922 deg, new cmd heading: 323.510828 deg. 2j;`<HeadingCmd: 5.646329 target range: 506.700012 and range: 506.70 m. j@jjjihhhhfffrfbf@ɛB+ 隍@ BDAT read: Tx time:21:59:10.1406 $?IGBOm>$Ping request sent.y2H{}?y ?n¿ՍB?`>?`1 ?r?ɨ2@2A;2Cyr#Br(IIzIz%x4٢N C=ZH9RH=@AHE->IA IEo)IIEBIA&IA.IA6IE{<:IEF F9ںQ U>YY ]G٣Yye5B< e> mNusing accuracyPremultiplier from configiu59mۛ?u5Ym iiDS@m DmqRw,/KAB+ҫ@YB@B׆09B5>yBHທ? ?`¿ mb?@? ?@x?ɨB+ҫ@B;@y^B^(Iib=Ib=MMb@Mb@Mb@III I)IYMQ?+~jtyM(?MMļMA M@)IIMAIyMGAImImv}4٢o 7=90iQ > G٣GGy<< > Nusing accuracyPremultiplier from config59ۛ?5Y i_EB?*?:oMS@D;a;G5~B @FEWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 505.50 m.Bj];Jj]; ProNav: ac range: 505.500000 m, nav range: 53.881901 m, bearing: 118.371846 deg, approach rate: 0.650156 m/s, LOS rate: 0.193700 deg/s, cmd heading: 323.935737 deg, new cmd heading: 324.188930 deg. 2j<HeadingCmd: 5.658164 target range: 505.500000 and range: 505.50 m. j@jjjiJ J J J J :J -.:J J J <J <J v;J v;h!h!hIhM%BfIfIfQrfQbfUb?ɛ$B꺼 隝pI %ɚiI!,=Ih i뤻is)@)*F2F:FBF"1JFzKjIK9KKQ K Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G SQwG B O > $?I ~Sw,LA6@Y6T@64967>y6H`?-?I¿@t>6?]W?@?@}t?ɨ6@6I;6Cy>B>|(IIJYIJ4٢R  RZ=9V6Q V>TT ZG٣XyZz< Z> bNusing accuracyPremultiplier from config\b59^'ۛ?f5Y^[ i^\EBdfKfS@^D^:^:^5h n:@lZj|FNOT Ignoring new targets: 505.50 m.Bjk;Jjk; ProNav: ac range: 505.500000 m, nav range: 54.120186 m, bearing: 118.444562 deg, approach rate: 0.679006 m/s, LOS rate: 0.206296 deg/s, cmd heading: 324.188918 deg, new cmd heading: 324.406105 deg. 2j <%HeadingCmd: 5.661955 target range: 505.500000 and range: 505.50 m. j%.@j!j)j)i)h)h)h1h1f1f1f9rf9bf= ,?ɛe&Be:߼ imLIi mhɚiiiIuKm,=Iuiui}f)}.@)y*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.189323HQIQ IU=)IIUBIQ&IQ.IQ6IU<:IUe FG|tGBO]>B(Sw,NLA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441421:?@Y:3O@:e<9:v;>y:H L? ?T)ÿ գ? ?G?n?ɨ:?@:[;:CyRBRm(IMb@Mb@Mb@ )YʡE?~jty-2?A )@IyIPI 4٢Y :=9Q > G٣y]< > Nusing accuracyPremultiplier from config598ۛ?5Y iUEB!5?:YS@&D";{!;b5}B @ CEZj1=FNOT Ignoring new targets: 505.50 m.Bj=D=;Jj=D=;M ProNav: ac range: 505.500000 m, nav range: 54.423813 m, bearing: 118.518117 deg, approach rate: 0.686880 m/s, LOS rate: 0.165471 deg/s, cmd heading: 324.406118 deg, new cmd heading: 324.625550 deg. 2jM;UHeadingCmd: 5.665785 target range: 505.500000 and range: 505.50 m. jUN@jYjYjYiYhYhYhaheBfafafarfibfm@R Sw,:3LA6܈@Y6?@6q896-=>y6H; ?`X?@ ÿ@j?˽2 ?@}?@ol?ɨ6܈@6PĎ;6CzK>K>h9K<K>R K>  yJBJb(I)L LPPIVIV)4٢^*C ^]=9bBB;Q b>`` bG٣fGGyf< f> jNusing accuracyPremultiplier from confighn59jGۛ?n5Yj ijPEBprVrS@j.DjX ;j ;j5t vr@vEEZjFNOT Ignoring new targets: 505.50 m.BjD;JjD;- ProNav: ac range: 505.500000 m, nav range: 54.677773 m, bearing: 118.581527 deg, approach rate: 0.691438 m/s, LOS rate: 0.171840 deg/s, cmd heading: 324.625559 deg, new cmd heading: 324.814905 deg. 2j-;5HeadingCmd: 5.669089 target range: 505.500000 and range: 505.50 m. j5.i@j1j9j9i9h9h9hAhAfAfAfIrfIbfM?ɛ+BQ  I ɚiI+=Ig5i4iL).i@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.946496*F?2F:FBF_0JF IGф`GBO >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197399jH9 bH= <HE ,>IE C IE )IIE oBIE * =&IA 9Sw,MLA.Iq6Iu|<:IuF FyޝڈBޝS(III 4٢T 8=9Q > G٣y >  Nusing accuracyPremultiplier from config  59 UYۛ?5Y Ʒ i IEBS@ 8D  ; \ ; z5%B %@%BEZjFNOT Ignoring new targets: 505.50 m.Bj;;Jj;;% ProNav: ac range: 505.500000 m, nav range: 54.982933 m, bearing: 118.656925 deg, approach rate: 0.668132 m/s, LOS rate: 0.164162 deg/s, cmd heading: 324.814892 deg, new cmd heading: 325.039827 deg. 2j%S;=HeadingCmd: 5.673015 target range: 505.500000 and range: 505.50 m. jEW@jAjAjIiIhhh hff!fIrfQbfU|@ɛ.B@ (I gɚiI+=I4ii%i ^) W@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449578*F?2F:FBFJFGqA GrA }$?IyG dLG B O >cSw,bgLAyf҈BfJ(IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702152Mb@Mb@Mb@ )Y\(\?333333ÿy&1y:?` )@IAyAII҅4٢5a 5F=91Q =>99 =G٣9yA E> MNusing accuracyPremultiplier from configIU59M-jۛ?U5YM iM?EB]>?]:]\]S@MBDM3";M;M5a e@iB*** querying acoustic contact ***jjZjJJJJJ :J@0:JJJs<Js<J@;JA;uFNOT Ignoring new targets: 505.50 m.Bju;;Jju;; ProNav: ac range: 505.500000 m, nav range: 55.283821 m, bearing: 118.722636 deg, approach rate: 0.752768 m/s, LOS rate: 0.163503 deg/s, cmd heading: 325.039823 deg, new cmd heading: 325.235883 deg. 2jk;HeadingCmd: 5.676437 target range: 505.500000 and range: 505.50 m. j_@jjjihhhh׈Bfff rf bf @ɛ0Bs 隍 Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953669 i Ii N Sw,GLAVM@YV @V:9V>>yVH]? ?b¿s?Ԯ??H? i?ɨVM@V;TybшBbI(Iif!>If< f=f=InIn4٢r vb=9vQ v>xx zG٣zGGy~e<= ~> Nusing accuracyPremultiplier from config59Zyۛ?5YI i7EBX%S@KD ; ;D5-B -x@-?EZjQUFNOT Ignoring new targets: 505.50 m.Bj]8B;Jj]8B;m ProNav: ac range: 505.500000 m, nav range: 55.548771 m, bearing: 118.784697 deg, approach rate: 0.728378 m/s, LOS rate: 0.169799 deg/s, cmd heading: 325.235877 deg, new cmd heading: 325.421172 deg. 2jm;uHeadingCmd: 5.679671 target range: 505.500000 and range: 505.50 m. juݿ@jqjqjqiqhyhyhyhyfyffrfbfvT @ɛ2B AI tɚiIډ+=Ii5i%5)ݿ@)Q*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205447HI I(IILBI) =&I.I6I<:Ig FBIJIRIZIbIjI}4G]GBOe >Iv&Sw,LA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:21:59:13.2173 &TRx dataTimestamp_ set to:1736373554.432539*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458324F:@YFhI@FZ;9F+>>yFHv?@s?`J¿vS`6?&``? =? j?ɨF:@Fwv;FCyN͈BRC(I5Mb@Mb@Mb@111 1)1Y5S?oʡſS㥛y5:?5-5/ݼ5A 5p@)5@I11y5QAIMIM@4٢] eC=9e=Q e>q Iq 5G٣1yU5< U> eNusing accuracyPremultiplier from configYe59]ۛ?m5Y] i],EBm??}:}]}S@]UD]o;]n;]*5 @ZjFNOT Ignoring new targets: 505.50 m.Bj,;Jj,;5 ProNav: ac range: 505.500000 m, nav range: 55.875973 m, bearing: 118.853475 deg, approach rate: 0.719867 m/s, LOS rate: 0.150431 deg/s, cmd heading: 325.421166 deg, new cmd heading: 325.626293 deg. 2j5z;=HeadingCmd: 5.683251 target range: 505.500000 and range: 505.50 m. j=1ݵ@j9j9j9i9h9hAhAhEBfAfIfIrfibfu @ɛ5B  OI 'ɚiI9^+=I%Ki%ʣi%j8)%1ݵ@))*F?2F:FBFo0JF"G=G=G%:G ?G?GqBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.709389Q i Y y B=,Sw,LA64Z@Y6i@6<96<>y6H`Ή?`?@¿9K?>x?i?@l?ɨ64Z@6 ;4yRňBR:(IIZIZ4٢bd bU=9jbQ j>ll nG٣pyr4< r> vNusing accuracyPremultiplier from configtz59v7ۛ?z5YvT iv#EB|~\zK~KK|K|K~T K~ 6xGL6^5u}rsylS)K];fN;* S@v^Dv?;vC;vH5=B E!@E  ProNav: ac range: 505.500000 m, nav range: 56.137295 m, bearing: 118.908878 deg, approach rate: 0.652740 m/s, LOS rate: 0.137743 deg/s, cmd heading: 325.626291 deg, new cmd heading: 325.791725 deg. 2j;HeadingCmd: 5.686138 target range: 505.500000 and range: 505.50 m. j@jjjihhh)h)f)f)f1rf1bf5@=@}BDAT read: Tx time:21:59:14.3407 $Ping request sent.U Uc)UIQiU/}?UUjU(o?U< U?)U9IU8X?iU9=QQUN߂??^ܿ>?)UIUfiUoF,@UƹQQM:publishing transmit ping timeyUFpublishing direction and range infoQ9UQ;w:Zt^?K{?yQQQQ Q)QIQiQQQQQ Qɛ-7Be imDcIi mrɚiiiIu|<+=Iui}xi}4)}@)y)QIQiQQQUN߂??^ܿ>?)QIQiQQQQ*F=?2F9:F9BF=~0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:59:14.3399 G] P<3H +>I  I (II 7BI * =&I .I 6I S<:I ' FJ% J% J! J! J% :J% ':J! J! J% Y<J% Z<J% ;J% ;G9 BA O] >V3Sw,LAF@YFf@F<9FX<>yFHn??#¿z d?➾ =?@b?@?m?ɨF@F";FCy^ʈB^@(I)` `ddII)4٢-ޯ< -C=9-SQ U>QQ ]G٣]GGy]K< ]> eNusing accuracyPremultiplier from configam59eۛ?5Ye ieEBo[S@ehDeP(Ek}Ӓ?k} ky k}GLA:k}3CBk}wCZk}UiM@"}V)K=Ֆ :@L@}Q;w:Zt^?K{?Jk}oF,@Rk}ƹ*}b55GY`+O+~@}v)ɿҲ[rGX?"k}<*k}9k}c?k}~ 2k} Dk}+1SYΛ?k}  kyk} 5Bk}XX+@ addTargetRange:: Added new target pos. range: 504.399994 m, deltaT: 4.031045 s, deltaX: -1.100006 m, approachRate: -0.272884 m/s, rangeRepo size: 4  Added new target pos. range: 504.399994 m, bearing: 183.893889 deg, lat: 36.899587 deg, lon: -122.120149 deg, deltaT: 4.031045 s, deltaX: -1.100006 m, approachRate: -0.272884 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 504.40 m.BjJj ProNav: ac range: 504.399994 m, nav range: 45.261242 m, bearing: 153.396108 deg, approach rate: 0.000000 m/s, LOS rate: 0.137743 deg/s, cmd heading: 325.791718 deg, new cmd heading: 325.968208 deg. 2jHeadingCmd: 5.689219 target range: 504.399994 and range: 504.40 m. j@jAjAjAiAhAhAhIhIfIfIfQrfU`f@bfU?ɛ9B X^I EɚiIq+=IE5iEiE .)E@)IUWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I*FM?2FI:FIBFM0JFIG 5G B O >f:Sw,LA*Will construct direction to contact in vehicle frame from tetrahedron phase data.ymӈBmK(I5Mb@Mb@Mb@111 1)1Y5X9v?Zd;OǿV-y5=?5j<55A 5Z@)5@I5hA1y5 @IUIUk4٢es= e'=9eQ m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}ۛ?5Y} i} EBC?:/_S@}tD}D";};}05B &@;EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 504.40 m.BjJj ProNav: ac range: 504.399994 m, nav range: 45.601646 m, bearing: 153.211616 deg, approach rate: 0.794992 m/s, LOS rate: -0.427651 deg/s, cmd heading: 325.968210 deg, new cmd heading: 325.418884 deg. 2jHeadingCmd: 5.679631 target range: 504.399994 and range: 504.40 m. j@jjjihhhhBfffrfbfB?ɛ-;B50 9ElOIA EzɚAiAIE*=IMiIiUNK )U@)Q*F?2F:FBFG5JFGrA GzKOK9KKU K~||sh^TPLHB@>=<74222-**(('&+7PgpokdUJGNRQMHC>= Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GH0G qAG i Iq G B O >EASw,VMA6@Y6ȴ@6`B96 H>y6H1? ]Y?cÿ`x?@K~O??`[?ɨ6@6~8;6Cy>ԈBBL(IIFmIF3A4٢V_; Vm=9VQ V?XX ZG٣XyZ< ^? bNusing accuracyPremultiplier from config`f59bۛ?f5Yb\ ibEBdfL]jS@b|Db:b:b55l ]@aZjFNOT Ignoring new targets: 504.40 m.BjŻJjŻ ProNav: ac range: 504.399994 m, nav range: 45.845295 m, bearing: 153.084043 deg, approach rate: 0.663193 m/s, LOS rate: -0.345400 deg/s, cmd heading: 325.418872 deg, new cmd heading: 325.038191 deg. 2j mHeadingCmd: 5.672987 target range: 504.399994 and range: 504.40 m. j@jjjihhh h f f frfbf5 ?ɛe% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474118 ] $?Ia wGSw,OMA2cխ@Y2@2%A92y2H?{G?f3ÿ?@9r=?`e? t`?ɨ2cխ@2;2CyBBBe(IiF,>IFH? F=Fa=Mb@Mb@Mb@ )Yv?~jtȿ G٣GGy; > Nusing accuracyPremultiplier from config59ۛ?5Y iDBO??:laS@DR2;0; 5B @8EZjFNOT Ignoring new targets: 504.40 m.BjyݻJjyݻ- ProNav: ac range: 504.399994 m, nav range: 46.145866 m, bearing: 152.921589 deg, approach rate: 0.721201 m/s, LOS rate: -0.387257 deg/s, cmd heading: 325.038184 deg, new cmd heading: 324.554010 deg. 2j-ℼ5HeadingCmd: 5.664536 target range: 504.399994 and range: 504.40 m. j5C@j1j1j9i9h9h9hAhEBfAfIfIrfIbfU4?ɛ>B 隍+I ⷼɚiIy*=I_ii`)C@)*F?2F:FBF!JF!uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.725999JJG% GB O% >`MSw,$9MAzKNKKKV K=71.+%!'&%##!  iBKpA:KpA:@Y:@:*D9:`?>y:H`?Y9?@¿ @W?܂?@?g?ɨ:@:ɢ;8yFBFt(IINvIN&Q4٢V= V]=9ZQ Z>XX bG٣`yj< n> vNusing accuracyPremultiplier from configtz59vۛ?z5Yv ivDB|~`S@vDv͛ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230500H- *>I)  I- (II- ABI) &I) .I) 6I- C<:I-  FJK KKK"KJ J J J J :J $-:J J J <J <J ;J ;:TSw,-RMA^' @Y^@^ @9^!N6>y^H`? ,? ¿T?὿? ?@u?ɨ^' @^h!;^Cy B(II-I-t4٢]= ]@=9e:Q e>aa mG٣iymH< m> Nusing accuracyPremultiplier from config59ۛ?5Y iDB_S@D <<5B W@7EZjFNOT Ignoring new targets: 504.40 m.Bj Jj  ProNav: ac range: 504.399994 m, nav range: 46.695320 m, bearing: 152.633900 deg, approach rate: 0.624754 m/s, LOS rate: -0.321800 deg/s, cmd heading: 324.147200 deg, new cmd heading: 323.696049 deg. 2j\HeadingCmd: 5.649562 target range: 504.399994 and range: 504.40 m. j6ɴ@j j j i h h hhfffrfbf@ɛBBBD 隭$ԽI ɚiI5*=I&5"ii\-g;)6ɴ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484185 Ih*F]?2FY:FYBFe`0JFaG olGY Bq O >ZSw,lMA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738074(@Y?8@=9) 2>yH? ?@1`?hA`̶??{?ɨ(@E2;yB(I)! !Mb@Mb@Mb@ )Y-?ˡEĿ~jty?5?'D\ A )@IhAyp@IIm4٢E7= E<=9Mn:Q M>II MG٣Qy]< ]> eNusing accuracyPremultiplier from configam59eܛ?m5YeD ieDBu:?u:u\WuS@eDec;e;e5}B }]@4EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 504.40 m.BjiϻJjiϻ ProNav: ac range: 504.399994 m, nav range: 46.988861 m, bearing: 152.497749 deg, approach rate: 0.786823 m/s, LOS rate: -0.362666 deg/s, cmd heading: 323.696052 deg, new cmd heading: 323.290159 deg. 2jxHeadingCmd: 5.642478 target range: 504.399994 and range: 504.40 m. j-@jjjihhhh؈Bfffrfbf`?@ɛCB `I ɚi!I%k*=I-k$i1i5E<)5-@)1*F?2F:FBFo0JFG׹zK]xMK]+9KYK]W K]if7uS3 GBO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990002 $?IaSw,MA2;@Y2,K@2F:92/,>y2H?O?$d?cX?`z?@1?ɨ2;@2 ;2CyZ5B^(IIdId٢n(> nd=9n];Q n>pp rG٣rGGyr; v> zNusing accuracyPremultiplier from configt59v" ܛ?5Yv[ ivDBVS@vDvD;vuE;v5  @Zj%FNOT Ignoring new targets: 504.40 m.Bj-}Jj-}} ProNav: ac range: 504.399994 m, nav range: 47.232166 m, bearing: 152.386956 deg, approach rate: 0.634890 m/s, LOS rate: -0.287617 deg/s, cmd heading: 323.290147 deg, new cmd heading: 322.959485 deg. 2j}cEHeadingCmd: 5.636706 target range: 504.399994 and range: 504.40 m. j_@jjjihhhhfffrfbf` @ɛeDBmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.242027HI I(II`BI&I.I6Ib<:I1 FeRt˼  PI  QɚiI)=I%ipiE<)_@)!JmJmJiJiJm[:Jm>:JiJiJmf<Jmg<Jmʕ;Jm˕;*F2F:FBF0JFG g;G ?G >G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493969 I gSw,{MAB'I@YBX@B69Br&>yBH??Cy? Y` ٦? ?`?ɨB'I@B);@yJHBN(IuMb@Mb@Mb@qqq q)qYu rh?V-¿Mb`?yu,?uhu;uE A uZ@)u@Iqqyu@II%x4٢H= ?=98;Q > G٣yy; > Nusing accuracyPremultiplier from config591ܛ?5Y  iDBU0?:LRS@Da;#;5B l@1EZjFNOT Ignoring new targets: 504.40 m.BjQJj Q ProNav: ac range: 504.399994 m, nav range: 47.510357 m, bearing: 152.268494 deg, approach rate: 0.691085 m/s, LOS rate: -0.292561 deg/s, cmd heading: 322.959484 deg, new cmd heading: 322.606184 deg. 2jH%HeadingCmd: 5.630540 target range: 504.399994 and range: 504.40 m. j%b-@j!j!j!i!h!h)h)h- Bf)f1f1rf1bf5 & @ɛeFBm@ im;Iq uIɚqiqIur)=I}'iyi}}<)b-@)*F ?2F :F BF _5JF GDC<GBOD>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:59:17.4160 TRx dataTimestamp_ set to:1736373558.721235checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747630mSw,.XMA6GN@Y6]@6096>y6H@e?_?朿 bu?@ǹ|??T?ɨ6GN@6}Ј;6CzK>mNK<K<K>X K>@FnyJ[BJ(IiN=INp=IRIR]4٢Zw= ZZ=9 z;Q  >   G٣y/: > %Nusing accuracyPremultiplier from config!-59%M@ܛ?-5Y%*  i%DB)-5R-S@%D%:%:%59 =E@9ZjaeFNOT Ignoring new targets: 504.40 m.BjmJjm} ProNav: ac range: 504.399994 m, nav range: 47.760891 m, bearing: 152.163184 deg, approach rate: 0.652682 m/s, LOS rate: -0.272910 deg/s, cmd heading: 322.606172 deg, new cmd heading: 322.291904 deg. 2j}K;HeadingCmd: 5.625055 target range: 504.399994 and range: 504.40 m. js@jjjihhhhfffrfbf@ɛGBZ =I ] ɚiI ()=I:{(iNNWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.998015i<)s@) $?I*F2F:FBF{4JFGu=<G1B9OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:59:17.4160 LVL= 14656, 32753, 22498, 32755, AGC= 69, IDX= 421, 0.24, 2.787, 1.216, 1.465, 1.932, PHS= 0.943,-0.668,-0.470, RAW= 96.5, 2.6, CAL= 105.8, 0.4, ROT= 44.2, -0.4 ZH RH H I  I 0)II BI + =&I .I 6I <:I k FBIɜCJIɜCRIZI* =bI* =jIh4 Ygot valid direction response: 21:59:17.4160 LVL= 14656, 32753, 22498, 32755, AGC= 69, IDX= 421, 0.24, 2.787, 1.216, 1.465, 1.932, PHS= 0.943,-0.668,-0.470, RAW= 96.5, 2.6, CAL= 105.8, 0.4, ROT= 44.2, -0.4  PDAT read: Bearing 44.2, -0.4 (Local)  ~Local bearing/azimuth received: Bearing 44.2, -0.4 (Local)  DAT read: Range 10 to 50 : 503.3 m (Round-trip 671.1 ms) speed 0.3 m/s  ,DAT read: user:2200>  BDAT read: Tx time:21:59:18.5407  $Ping request sent. 1(O?Zy9ٿs0 \,?)ۍ CҾIۍ s9iۍ kGۍ ۉ ۉ = :publishing transmit ping time E Fpublishing direction and range info؉ 9؍ ܲS~¿4d2A?y؉ ؉ ؉ ؉ ى )ى Iى iى ى ى ى ى ډ )ډ Iډ iډ ډ ډ ۍ >1(O?Zy9ٿs0 \,?)ۉ Iۉ iۉ ۉ ۉ ۉ 2tSw,e4MA:K@Y:[@:m*9:>y:HY? ?&,wN?f'L?V?V?ɨ:K@:|;:Cy mB  )III<4٢ = ]==9m9d;Q >  G٣ GGyE. > Nusing accuracyPremultiplier from config 59Sܛ? 5Y iDB  XR S@DE<"?<H5B @0EkŖC?ka k kTMA:kCBkCZkL@"Ϡwr.Ri)F$dJB @ܲS~¿4d2A?JkkGRk*,N] vӐ~@c2οXO<:0Hj?"k*kuk~>?k*, 2kq Dk5o›?ki' kDkBk&:@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:59:18.5399  addTargetRange:: Added new target pos. range: 503.299988 m, deltaT: 4.287880 s, deltaX: -1.100006 m, approachRate: -0.256538 m/s, rangeRepo size: 4 M Added new target pos. range: 503.299988 m, bearing: 183.146140 deg, lat: 36.899265 deg, lon: -122.120193 deg, deltaT: 4.287880 s, deltaX: -1.100006 m, approachRate: -0.256538 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 503.30 m.BjUJjQ $?I ProNav: ac range: 503.299988 m, nav range: 80.547020 m, bearing: 166.650582 deg, approach rate: 0.000000 m/s, LOS rate: -0.272910 deg/s, cmd heading: 322.291902 deg, new cmd heading: 321.871096 deg. 2jHeadingCmd: 5.617711 target range: 503.299988 and range: 503.30 m. jIij@jjjihhhhfffrft@bfHK?ɛ]HB], ae=Ia edɚaiaIe(=Im\*imRiuu3=)uIij@)qEErA*FU?2FQ:FQBFU5JFQG <G rAG  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >P{Sw,6uMAJHJJJHJHJHJJ+:JHJHaR@aR@aR@aR@b5@Yb>E@bC'9bb>ybH ?39?%‰=?@T?@??ɨb5@b-;bCyrBr&)I)9 9|uA  Y|uAyEB%Mb@Mb@Mb@!!! !)!Y%uV?Zd;O{Gz?y%r(?%j%#QQ UG٣Yy}˻ }> Nusing accuracyPremultiplier from config59dܛ?5Y iDB*?:BS@D;;5 }@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 503.30 m.BjJj- ProNav: ac range: 503.299988 m, nav range: 80.788940 m, bearing: 166.551198 deg, approach rate: 0.604603 m/s, LOS rate: -0.247634 deg/s, cmd heading: 321.871107 deg, new cmd heading: 321.573852 deg. 2j-)5HeadingCmd: 5.612523 target range: 503.299988 and range: 503.30 m. j]ə@jYjYjYiYhahahahe>Bfifqfqrfqbf}=?ɛIB7\i !%=I! %ɚ!i!I%e(=I-+i-xiUٶ=)Uə@)QzKMLNKMh9KIKMY KM:*F?2F:FBF4JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMAMT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. IhG=GBO>N0Sw,. NA2 @Y2q)@2=-92=y2H`?@vl?@-ߠ ?Gq?ϻ?`?ɨ2 @2i;2CyBBBB)I)D DDFAIN;IN&3٢f& > j=9j; IY e_ٷɚaiaIe(=ImѰ,im鳻imV=)my@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990313HI Iu)IIƉBI* =&I.I6I<:Is F*F-?2F):F)BF-_0JF)Gk =G B O- >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244492 I ZSw,F #NA6 @Y6@696:=y6H?E}?Uí ? U?x? ]?ɨ6 @6К;6CyBBBW)I Mb@Mb@Mb@    ) Y Cl?{Gz?y ;? L ף<  A @) @I v@ y (@I%SI%4٢g= ==9;Q > G٣GGy > Nusing accuracyPremultiplier from config59ܛ?5Y iEB?:4S@D;;~5 @ZjFNOT Ignoring new targets: 503.30 m.Bj %cJj %c ProNav: ac range: 503.299988 m, nav range: 81.210205 m, bearing: 166.390373 deg, approach rate: 0.554620 m/s, LOS rate: -0.198585 deg/s, cmd heading: 321.349800 deg, new cmd heading: 321.092651 deg. 2jI%HeadingCmd: 5.604124 target range: 503.299988 and range: 503.30 m. j%T@j!j!j)i)h)h)h9hEVBfAfAfArfAbfM^?ɛuKBuF y}C>Iy }ɚyiyI}:'=I-iiy =)T@)*F ?2F :FBFJFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494853JJJJJ{:J*:JJGV=G ?G>GBO >wSw,|| ~G٣yy >  Nusing accuracyPremultiplier from config 59 ܛ?5Y 3# i  EB%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7462985-S@ D |; }; 55B 5k@5*E e$?IaZjamFNOT Ignoring new targets: 503.30 m.Bjm bJjm b ProNav: ac range: 503.299988 m, nav range: 81.421852 m, bearing: 166.314324 deg, approach rate: 0.551404 m/s, LOS rate: -0.197616 deg/s, cmd heading: 321.092657 deg, new cmd heading: 320.865103 deg. 2jHeadingCmd: 5.600152 target range: 503.299988 and range: 503.30 m. js4@jjjihhhhfffrfbfp{?ɛLB Rn>I ɚiIg'=I;.i!i#=)s4@)*F?2F:FBF0JFGs=GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998130H+>I I)IIBI&I.I6I<:IL FlSw,'VNA2ܭ@Y2@2S92i=y2HQ??M?&@D)? ??ɨ2ܭ@2z¢;2CyRljBRw)IiV>IVt> V=V=IZ|IZ[4٢n< nL=9r;Q r>tx zG٣|y&  > Nusing accuracyPremultiplier from config59ܛ?5Y' i.EBg6S@D<<] 5 4@ZjFNOT Ignoring new targets: 503.30 m.Bj]oPJj]oP ProNav: ac range: 503.299988 m, nav range: 81.646957 m, bearing: 166.233380 deg, approach rate: 0.508176 m/s, LOS rate: -0.182227 deg/s, cmd heading: 320.865102 deg, new cmd heading: 320.622943 deg. 2jHeadingCmd: 5.595926 target range: 503.299988 and range: 503.30 m. j@jjjihhhhfffrfbf@-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250262 U$?IQɛ}NB}`* 隥r>I 1ɚiI'=I@/iZi(=)@)*F=?2FA:FABFEn0JFAG #=GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502198Sw,ǜpNAJBJBJB/J@JB:JB,:JB(N3J@Rƭ@YRSִ@R)9R=yRH ??⳴`;? WWW? g?h?ɨRƭ@Ro ;Py^׉B^)IMMb@Mb@Mb@III I)IYMV-?{Gz G٣GGy<ɻ > Nusing accuracyPremultiplier from config59tܛ?5Y+ i=EB?:*S@D ;; 5B @'EZj)-FNOT Ignoring new targets: 503.30 m.Bj5_Jj5_E ProNav: ac range: 503.299988 m, nav range: 81.886971 m, bearing: 166.156962 deg, approach rate: 0.615646 m/s, LOS rate: -0.195443 deg/s, cmd heading: 320.622931 deg, new cmd heading: 320.394348 deg. 2jE!MHeadingCmd: 5.591936 target range: 503.299988 and range: 503.30 m. jM$@jIjIjIiIhIhQhYh]BfYfafarfabfe@@ɛOB̺ 隝>I eɚiI&=I0iRi'F.=)$@)*Fm?2Fi:FiBFm4JFq"Gu=Gu=zKLKKK[ K 9I9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755579Gk%=GpAGGi Bq O >~Sw,vNA6f@Y6ʼ@6$̼96Z=y6Hh??г`P?%5?y??ɨ6f@6s;6Cy>މB>)IIJIJd4٢R= R_=9R ;Q R>TT VG٣TyZ Z>  Nusing accuracyPremultiplier from config 59 ܛ?5Y / i IEB+S@ D ; 5; h5! %@!MB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 503.30 m.Bj]fJJj]fJm ProNav: ac range: 503.299988 m, nav range: 82.096535 m, bearing: 166.090102 deg, approach rate: 0.556056 m/s, LOS rate: -0.176952 deg/s, cmd heading: 320.394338 deg, new cmd heading: 320.194273 deg. 2jm򻝊uHeadingCmd: 5.588444 target range: 503.299988 and range: 503.30 m. juԲ@jqjyjyiyhyhyhhfffrfbf@ɛPB`ú 隽>I &ɚiIq&=I1iΤi.=)Բ@)H*>I I)II&BI&I.I6I<:IH FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009103*F92F9:F9BFE4JFAG},=GQBO> - $?I) m Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262690Sw,PNA:痭@Y:K@:(9: =y:H ??->S [?ˀ?@ӵ?`?ɨ:痭@:ȼ;:CyFBF)I)L LPP-Mb@Mb@Mb@))) )))Y-A`"?~jthMb?y-?-D-<-A -@))I-`@)y-@IEIE<4٢U= U?=9];Q e>aa eG٣aymGɻ m> uNusing accuracyPremultiplier from configq}59usܛ?}5Yu3 iuUEB%?:5%S@u Du;uF;u5B @&EZjFNOT Ignoring new targets: 503.30 m.Bj9Jj9] ProNav: ac range: 503.299988 m, nav range: 82.325981 m, bearing: 166.022121 deg, approach rate: 0.549013 m/s, LOS rate: -0.162211 deg/s, cmd heading: 320.194269 deg, new cmd heading: 319.990893 deg. 2j]޻eHeadingCmd: 5.584895 target range: 503.299988 and range: 503.30 m. jmu@jijijiiihhhhuBfffrfbf @ɛRBx& >I g˭ɚiI$&=I/2ii{2=)u@)*F2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516871JJJJJ0JJJJـ3JG G B O >ҮSw,,NA2{@Y27@2^s92)=y2H ?`r? "#?`Γ?_z? ?ɨ2{@2;2CyB߉BF)IININv}4٢V9  VV=9V;Q V>XX ZG٣ZGGy^< ^> `I` jNusing accuracyPremultiplier from configdj59fܛ?n5Yf87 zKnJKlKlKn\ Kn #" !  if`EBtv&vS@fDf;f;fg5| ~{@|=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:21:59:21.6360 ETRx dataTimestamp_ set to:1736373563.012680Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.771236ZjFNOT Ignoring new targets: 503.30 m.Bj 1Jj 1 ProNav: ac range: 503.299988 m, nav range: 82.536522 m, bearing: 165.959513 deg, approach rate: 0.521841 m/s, LOS rate: -0.154782 deg/s, cmd heading: 319.990893 deg, new cmd heading: 319.803549 deg. 2jsԻHeadingCmd: 5.581625 target range: 503.299988 and range: 503.30 m. j@jjjihhh h f f f rfbf @ɛSBp !%>I) MɚQiQIU%=IUt3i]i]1=)]@)Y*F?2F:FBF_0JFH+>I I *II?BI) =&I.I6IJ<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023173G '2=G B O] >Sw,E NA6Y@Y6;i@6G96(=y6H?O?ѱ`>`"{?JȐ?Q?`?ɨ6Y@6-f;6CyNBN)IIVIVd4٢^= ^I=9b;Q b>`` fG٣dyf' f> ~Nusing accuracyPremultiplier from configx~59z4ܛ?5Yz"; izjEB!'S@zDz ;zq:z5 B @#EZjFNOT Ignoring new targets: 503.30 m.Bj1Jj1 $?Ih ProNav: ac range: 503.299988 m, nav range: 82.761154 m, bearing: 165.892345 deg, approach rate: 0.521256 m/s, LOS rate: -0.155439 deg/s, cmd heading: 319.803554 deg, new cmd heading: 319.602599 deg. 2j Zջ HeadingCmd: 5.578118 target range: 503.299988 and range: 503.30 m. j@jjjihhhhfff!rf!MWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:59:21.6360 LVL= 15712, 24673, 17650, 20147, AGC= 69, IDX= 130, 0.07,-1.500,-2.786,-2.793,-2.396, PHS= 0.984,-0.343,-0.400, RAW= 87.9, -3.6, CAL= 96.2, -10.3, ROT= 53.8, 10.3 Ygot valid direction response: 21:59:21.6360 LVL= 15712, 24673, 17650, 20147, AGC= 69, IDX= 130, 0.07,-1.500,-2.786,-2.793,-2.396, PHS= 0.984,-0.343,-0.400, RAW= 87.9, -3.6, CAL= 96.2, -10.3, ROT= 53.8, 10.3 PDAT read: Bearing 53.8, 10.3 (Local) ~Local bearing/azimuth received: Bearing 53.8, 10.3 (Local) DAT read: Range 10 to 50 : 518.4 m (Round-trip 691.2 ms) speed 0.4 m/s bf@:@,DAT read: user:2201> BDAT read: Tx time:21:59:22.7407 $Ping request sent.II 4>I ᩼ɚiI%=I I4i $i /=) @) M?ctqc )M&\IM{=iM?M IIE:publishing transmit ping timeEFpublishing direction and range infoI9M8/$E?pp?yIIII I)IIIiIIIII I)IIIiIIIM?ctqc )IIIiIIII*F?2F:FBF^0JFG  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >4Sw,1NAJ>J>J>1J<J>[:J>7/:J>3J&@Yr5@r'd9rL=yrH@p?|J?= g@[?? E??ɨr>&@r;rCyމB)Ii% G٣yV > Nusing accuracyPremultiplier from config59ݛ?5Y? ioEB?:4+S@!D9;88;% 5 m@k[08ޛ?kBPc k k NA:kDBkDZkj?"h~yMDrR@OW/ @8/$E?pp?Jk?Rk *PH @=;@8)C -@PS{|?+ gT??"kA*k@j@kAN:ޛ?ke^ 2kDkkkk Bk69@  addTargetRange:: Added new target pos. range: 518.400024 m, deltaT: 4.292289 s, deltaX: 15.100037 m, approachRate: 3.517945 m/s, rangeRepo size: 4  Added new target pos. range: 518.400024 m, bearing: 82.548158 deg, lat: 36.899265 deg, lon: -122.120193 deg, deltaT: 4.292289 s, deltaX: 15.100037 m, approachRate: 3.517945 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 518.40 m.Bj-Jj)= ProNav: ac range: 518.400024 m, nav range: 83.018761 m, bearing: 165.812430 deg, approach rate: 0.000000 m/s, LOS rate: -0.155439 deg/s, cmd heading: 319.602610 deg, new cmd heading: 319.397980 deg. 2j9EHeadingCmd: 5.574546 target range: 518.400024 and range: 518.40 m. jEb@jAjAjIiIhIhIhQhU^BfQfQfYrf]@33@bf]`o)?ɛWB 隍>I IɚiI`%=I^i5iiZG'=)b@)*FE?2FA:FABFE_0JFA %$?I!zKaMK9KK] K   '('$! Will construct direction to contact in vehicle frame from tetrahedron phase data.GE {/=G B O- >Sw,G OAH*>I I*IIJBI&I.I6Ib<:I/ FBIIJIIRIIZIIbIIjIM4Will construct direction to contact in vehicle frame from tetrahedron phase data.yޕ؉Bޕ)IIaI+4٢D G=9Q > G٣GGy > Nusing accuracyPremultiplier from config59ݛ?5YC isEBS@)D5;5;#5B @ EB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 518.40 m.Bj%?Jj%?5 ProNav: ac range: 518.400024 m, nav range: 83.240845 m, bearing: 165.743972 deg, approach rate: 0.545370 m/s, LOS rate: -0.167663 deg/s, cmd heading: 319.397978 deg, new cmd heading: 319.193153 deg. 2j5!滝=HeadingCmd: 5.570971 target range: 518.400024 and range: 518.40 m. j=fE@j9jAjAiAhAhAhIhIfIfIfQrfQbfUv?ɛ}XB}x(A y隅D>I 7ɚiI"h%=IMS6iM/iM5=)MfE@)Q*F?2F:FBFJF ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G ɓ%=G B O >ESw,&&OAyˉB%})I-Mb@Mb@Mb@))) )))Y-Q?Qy&1|y-(?-u-`-A ))-@I-3@)y)IMRIMW4٢]c ]P=9aQ e>ii mG٣qyy }> Nusing accuracyPremultiplier from config59%ݛ?5YG i7?:,S@0Dv&;*$;.'5 @ZjFNOT Ignoring new targets: 518.40 m.BjuFJjuF ProNav: ac range: 518.400024 m, nav range: 83.460014 m, bearing: 165.675669 deg, approach rate: 0.558215 m/s, LOS rate: -0.173507 deg/s, cmd heading: 319.193154 deg, new cmd heading: 318.988785 deg. 2j'HeadingCmd: 5.567405 target range: 518.400024 and range: 518.40 m. j.(@jjjihhhhKBfffrfbf@X?ɛZB  c>I  ɚiIH%=Ih=7iQאiA=).(@)!5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240364*F?2F:FBFo0JF .~G}tA aYtAy BGE '2=G B) OE > ! I! ,Sw,@OA6ca@Y6p@6t 96r=y6H? c?@{Ѱ=?@v ?@$?-?ɨ6ca@6;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.490483yFBJm)I)L LzKNMKNs9KLKN^ KN }:Udgi\C$ lA{n`UMC;IZsIZK4٢b˓ bh=9fxdd jG٣hyj j> rNusing accuracyPremultiplier from configlr59n3ݛ?v5YnNK inrEBtv2vS@n7Dn:n:n>*5zB z?@~EZj%FNOT Ignoring new targets: 518.40 m.Bj%GOJj%GO5 ProNav: ac range: 518.400024 m, nav range: 83.652657 m, bearing: 165.612102 deg, approach rate: 0.550450 m/s, LOS rate: -0.181216 deg/s, cmd heading: 318.988795 deg, new cmd heading: 318.798534 deg. 2j5=HeadingCmd: 5.564084 target range: 518.400024 and range: 518.40 m. j= @jAjAjAiAhAhAhIhIfIfIfQrfQbfU ?ɛ[B塻 F>I %ɚ!i!I%|>%=I-8i-L玻i-<)- @)1*F2F:FBF4JFGГ>=GABQOm5>jH}<bHyHI I *II?BI* =&I.I6In<:I8 F5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742567JJJ0JJ;:J*:Jـ3JJ4@Y>WD@>$9>=y>H*? ?T`%@?Y@t?W??ɨ>4@>;>CyfBfZ)IInIn_v4٢  F=9! %G٣%GGy%gV -> =Nusing accuracyPremultiplier from config9E59=Cݛ?E5Y=O i=oEBIM\4MS@=?D=:=:=-5Q U+@YZjFNOT Ignoring new targets: 518.40 m.BjNJjN $?Ih- ProNav: ac range: 518.400024 m, nav range: 83.881050 m, bearing: 165.536107 deg, approach rate: 0.542807 m/s, LOS rate: -0.180120 deg/s, cmd heading: 318.798533 deg, new cmd heading: 318.571170 deg. 2j5:uHeadingCmd: 5.560116 target range: 518.400024 and range: 518.40 m. j}x@jyjyjiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996024hhhhfffrfbfa.@ɛ5]B5 9E@&>IA EǢɚYiYI]R%=Im9imEim<)ux@)qEy*Fe?2Fa:FaBFe1JFaG ?=G ?G >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246788Ga Bi O >̈́Sw,tOA>@Y>@>~9>=y>HG? N2?1ޭ QH`ç?@h`?]?` ?ɨ>@>ى;>CyzBzQ)IMb@Mb@Mb@ )YMb?ktI +y#? 094A @)@I@yIId4٢h :=9;Q >!! %G٣!y%J -> 5Nusing accuracyPremultiplier from config1=595Uݛ?=5Y5T i5iEB=w#?=:=@ES@5HD5;5{;515MB M@MEZjquFNOT Ignoring new targets: 518.40 m.Bj}oJj}o ProNav: ac range: 518.400024 m, nav range: 84.125557 m, bearing: 165.445249 deg, approach rate: 0.566005 m/s, LOS rate: -0.209714 deg/s, cmd heading: 318.571170 deg, new cmd heading: 318.299390 deg. 2jHeadingCmd: 5.555372 target range: 518.400024 and range: 518.40 m. jű@jjjihhhh(Bfffrfbf$@ɛ^B-t >I 롼ɚiIg%=IQ:inWir<)ű@)*Fe?2Fa:FaBFe4JFiG=$+/= $?IG1BAO]U>Will construct direction to contact in vehicle frame from tetrahedron phase data.աiեAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501139zKm2,OKmh9KiKm_ Km43b_SAzsC Or7b={bSI@@Ig'K]mry{jSw, TOAZޫ@YZI@Z:9Z=yZHഥ?T?@&hҌ?~`7C? ?ɨZޫ@Z Z;ZCH!I! I%)II%!BI!&I!.I!6I%q<:I%; Fy5B=+)IiE=IE< Ea=Ep=IMIMF4٢]I" ]W=9e<;Q e>ai mG٣qy}T[ }> Nusing accuracyPremultiplier from config59cݛ?5Y Y icEBAS@PD:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751056:55Q ]z@Y}B*** querying acoustic contact ***jjZjJJJJJJ%:JJJJJK;JL;FNOT Ignoring new targets: 518.40 m.Bj_Jj_ ProNav: ac range: 518.400024 m, nav range: 84.338737 m, bearing: 165.365557 deg, approach rate: 0.524467 m/s, LOS rate: -0.195562 deg/s, cmd heading: 318.299383 deg, new cmd heading: 318.060913 deg. 2j6HeadingCmd: 5.551210 target range: 518.400024 and range: 518.40 m. j @j j jihhhhfffrfbf%.z@ɛ_BNf 隍t=I ZɚiI%=Ib;ii<<)@)*F-?2F1:F1BF5\0JF1PExceeded connect timeout, disconnecting. IG 7<G qAG rA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005040Ga Bi O >Sw,'OA:@Y:@:7 ;9:JY=y:H@1? -~?ܩƐNk? udC??ɨ:@:J;8yF{BF)IMb@Mb@Mb@ )Yv/?ʡE G٣GGyy > Nusing accuracyPremultiplier from config 59%tݛ? 5Ye^ iXEB *? : OS@YD';;85B %?@%EZjAMFNOT Ignoring new targets: 518.40 m.Bj]XJj]Xm ProNav: ac range: 518.400024 m, nav range: 84.576447 m, bearing: 165.265635 deg, approach rate: 0.602124 m/s, LOS rate: -0.252394 deg/s, cmd heading: 318.060900 deg, new cmd heading: 317.761980 deg. 2jm7-uHeadingCmd: 5.545993 target range: 518.400024 and range: 518.40 m. j}x@jyjyjyiyhyhyhhBfffrfbfຍ @ɛ`B霁 隽Z=I |ɚiI%=I<G B O > $?I zSw,OA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:21:59:25.8118 6TRx dataTimestamp_ set to:1736373567.044724:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507649zK]XPK9KK` KxtdO;(fI.{rfZOF@;51'yޕgBޕ)III4٢'Ľ H=9 Q  >    G٣ y > %Nusing accuracyPremultiplier from config!-59%ݛ?-5Y%c i%MEB))-S@%bD% :%:%@<59 =@9ZjaeFNOT Ignoring new targets: 518.40 m.Bjm?Jjm?} ProNav: ac range: 518.400024 m, nav range: 84.807831 m, bearing: 165.169010 deg, approach rate: 0.567845 m/s, LOS rate: -0.236484 deg/s, cmd heading: 317.761984 deg, new cmd heading: 317.472900 deg. 2j}L"HeadingCmd: 5.540947 target range: 518.400024 and range: 518.40 m. jqO@jjjihhhhfffrfbf @ɛaB r;=隝Kiإi U=) qO@) *F?2F:FBFJFH5)>I1 I5)II5BI1&I1.I16I5Y<:I5) FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758405JJJJJ:J&:JJJ<J<J1;J1;G 5<G B O >Sw,XOA6 U@Y6qd@62;96Ҷ=y6HL?`?e O1?hQ\]xvҶ?}Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 21:59:25.8118 LVL= 15568, 29137, 17250, 29363, AGC= 67, IDX= 185, 0.34, 1.228,-0.554,-0.385, 0.200, PHS= 1.116,-0.707,-0.588, RAW= 93.4, 2.0, CAL= 101.7, -0.5, ROT= 48.3, 0.5 )) 5G٣1Ygot valid direction response: 21:59:25.8118 LVL= 15568, 29137, 17250, 29363, AGC= 67, IDX= 185, 0.34, 1.228,-0.554,-0.385, 0.200, PHS= 1.116,-0.707,-0.588, RAW= 93.4, 2.0, CAL= 101.7, -0.5, ROT= 48.3, 0.5 PDAT read: Bearing 48.3, 0.5 (Local) ~Local bearing/azimuth received: Bearing 48.3, 0.5 (Local) y > Nusing accuracyPremultiplier from config59ݛ?5Yi i?EBFRS@lD: DAT read: Range 10 to 50 : 500.1 m (Round-trip 666.8 ms) speed 0.3 m/s  ,DAT read: user:2202> BDAT read: Tx time:21:59:26.8908 $Ping request sent.?TWܿGVT?k6Sʛ?kvDҼ )ۅ#2Iۅiۅx0@ۅS+ہہ:publishing transmit ping timeFpublishing direction and range info؁9؅3 e|i?*?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅ\je>?TWܿGVT?)ہIہiہہk ka2OA:k CBkTCZk`L.@"3.PY9@_~@3 e|i?*?Jkx0@RkS+*0ҍέuM`.:@W~@5")HENoΪ?Ѕ?"kwA*kkk<1ʛ?k? 2k% Dkk  k% Dk_Bk5@ہہ addTargetRange:: Added new target pos. range: 500.100006 m, deltaT: 4.033729 s, deltaX: -18.300018 m, approachRate: -4.536749 m/s, rangeRepo size: 4  Added new target pos. range: 500.100006 m, bearing: 156.039981 deg, lat: 36.899265 deg, lon: -122.120149 deg, deltaT: 4.033729 s, deltaX: -18.300018 m, approachRate: -4.536749 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 500.10 m.Bj Jj  ProNav: ac range: 500.100006 m, nav range: 86.186546 m, bearing: 162.513944 deg, approach rate: 0.000000 m/s, LOS rate: -0.236484 deg/s, cmd heading: 317.472903 deg, new cmd heading: 317.092385 deg. 2jHeadingCmd: 5.534306 target range: 500.100006 and range: 500.10 m. j @jjjihhhhfffrfA@bf?ɛbB˭ 隕ּI -ɚiI&=I?ii<) @)*F ?2F :F BF 3JF G  G % Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:21:59:26.8900 G$3=G?G>GaBqO?iSw,TsOAr}@Yr@r D <9r=yrH?`4?jq '?}sh?`X?ɨr}@r4;pyGB(I 5$?I1uMb@Mb@Mb@qqq q)qYu(\?Mb~jtyuz4?uuļuA u@)u3@IqqyuG@IIb4٢|Y &=90;Q > G٣GGy > Nusing accuracyPremultiplier from config-59ݛ?-5Ywp i,EB-7?-:-d5S@vD(<'<qD5=B =`@=EMWill construct direction to contact in vehicle frame from tetrahedron phase data.k}\Aʛ?k}}w ky ky:kyBkyZk}g0@"}3.PY9@_~@}3 e|i?*?JkyRky*}t 5ܪMl8@ᨧ~@}|U_P?W 䔼?"k}A*k}Vmk}Oʛ?k}{: 2k}' Dk}Oʛ?k}{: kyk}Bk}g0@ZjFNOT Ignoring new targets: 500.10 m.BjSJjS ProNav: ac range: 500.100006 m, nav range: 86.454308 m, bearing: 162.395534 deg, approach rate: 0.627952 m/s, LOS rate: -0.276836 deg/s, cmd heading: 317.092379 deg, new cmd heading: 316.738252 deg. 2j%=-HeadingCmd: 5.528125 target range: 500.100006 and range: 500.10 m. j-g@j)j)j)i)h)h1h1h5ˆBf1f9f9rf9bfe!?zK}OK}9KyK}a K}VPy_8 p<xurppponnllidbda`^\[WPH>+ɛcB 隭[I ɚiI3 '=IKAi}iQ<)g@)*F}?2Fy:FyBF}_0JFyH *>I  I {)II ˉBI &I .I 6I <:I X FG 5< Will construct direction to contact in vehicle frame from tetrahedron phase data.J3K;ـ3 K; .K3K3"K3J J J J J :J *:J J J <J <J ;J ;G B O- >4MTw,<PAyn8Bn(IIv|Iv[4٢ g=9%Q %>!! %G٣)y- 5? eNusing accuracyPremultiplier from configam59eݛ?m5Yeu ieEBqquS@e~De~:e\:eG5}B }8@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 500.10 m.BjĠJjĠ ProNav: ac range: 500.100006 m, nav range: 86.665520 m, bearing: 162.302757 deg, approach rate: 0.641522 m/s, LOS rate: -0.281106 deg/s, cmd heading: 316.738248 deg, new cmd heading: 316.460599 deg. 2j@HeadingCmd: 5.523279 target range: 500.100006 and range: 500.10 m. j@jjjihhhhfffrfbfs|?ɛ  ؼ  I tɚiIg'=I5Bizi%8<)%@)! IIMhmWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E=*F5?2F1:F1BF1JF1Gu F<GQ BY O} > Tw,w2PA:@Y:~@:<9:(=y:H`i? A?ԭ@mU?g,I??ɨ:@:;:CyB0BF(IJWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.206534%Mb@Mb@Mb@!!! !)!Y%-?Q~jty%?5?%\%! %@)%@I%@!y%@I=qI=JH4٢E M7=9_:Q > G٣yü > Nusing accuracyPremultiplier from config59ݛ?5Y| i EB8?:kT@D;;K5B @ZjEFNOT Ignoring new targets: 500.10 m.BjE1JjE1U ProNav: ac range: 500.100006 m, nav range: 86.949661 m, bearing: 162.171221 deg, approach rate: 0.580528 m/s, LOS rate: -0.267861 deg/s, cmd heading: 316.460587 deg, new cmd heading: 316.067275 deg. 2jU7]HeadingCmd: 5.516415 target range: 500.100006 and range: 500.10 m. j]x@jYjjihhhhBfffrfbf?ɛdB`ּ !%νI! %Ȣɚ!i!I%'=I-KDi-E.ui-V<)-x@)1EpAEpAE};= $?I*F?2F:FBF`0JF"G%=G%p=EWill construct direction to contact in vehicle frame from tetrahedron phase data.MAiMAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.458914zK OK 9K K b K G5 N<G) BI Oe >eTw,LPA2M|@Y2@2(<92=y2He?`? zrt@k?@S@JH??ɨ2M|@2;0y:(B:(IIFIFd4٢J* NU=9NIY;Q N?PP RG٣RGGyVs V? ZNusing accuracyPremultiplier from configX^59Z+ݛ?=5YZ- iZDB9==m=T@ZDZIY I]I)II]BI]+ =&IY.IY6I]W<:I]) FBI)JI)RI)ZI)bI)jI-4fyrfybf}l?ɛ  |I  ɚ)i)I-w(=I57Ei5Oqi=I<)=4^@)9EMWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710592EM*E"E*F?2F:FBFJF I M Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965387G <G B O>z+Tw,ƧjPAy%!B%(IMb@Mb@Mb@ )YK?l¿:vy^:?TA @)@IyQ@II)4٢ȼ  =9Q > G٣y > Nusing accuracyPremultiplier from config59<ݛ?5Y7 iDB5>?:nT@DQ;;8S5 B @ Zj9EFNOT Ignoring new targets: 500.10 m.BjEߥJjEߥU ProNav: ac range: 500.100006 m, nav range: 87.461655 m, bearing: 161.932487 deg, approach rate: 0.622818 m/s, LOS rate: -0.290032 deg/s, cmd heading: 315.785655 deg, new cmd heading: 315.353269 deg. 2jU GHeadingCmd: 5.503953 target range: 500.100006 and range: 500.10 m. jb @jjjihhhhBfffrfbf@@ɛeBx 隅xI WɚiI)=I{Gik) cCiR=)b @5~G)AMvAaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215027 YvAyBJJJ/JJ:J(:J(N3Ja@a@a@a@*F?2F:FBFo0JF $?I G G B O >!Tw,HNPAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470701>a8@Y>G@>fE<9>~=y>H??za@@j?` ɹ??ɨ>a8@>Mو;>CyJ$BJ(IPRAIVIV4٢^R< ^`=9=–;Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ}59U?ݛ?}5YU: iUDBpT@UDU;U:;UV5B :@EZjzK KK+9KKc K FNOT Ignoring new targets: 500.10 m.Bj Jj = ProNav: ac range: 500.100006 m, nav range: 87.690636 m, bearing: 161.824439 deg, approach rate: 0.590586 m/s, LOS rate: -0.277950 deg/s, cmd heading: 315.353276 deg, new cmd heading: 315.029981 deg. 2jE>EHeadingCmd: 5.498311 target range: 500.100006 and range: 500.10 m. jE)@jIjIjIiIhIhIhQhQfYfYfYrfYbfe@@ɛUf QU@IY ]YɚYiYI])=ImHimOgim#@<)m)@)*F%?2F!:F!BF-1JF)G<He)>Ia Ie$)IIeBIe* =&Ia.Ie5D6Ie]<:Ie- FGBO}z>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7224661'Tw,*PA2@Y2=)@2K<92 {=y2H@z? ?@߮T?@Tyq@.#??ɨ2@2s;2CyBBB(IIJIJ4٢R RL=9R:Q V>TT VG٣VGGyZ Z> ^Nusing accuracyPremultiplier from config\b59^Uޛ?b5Y^Q i^DBdfqfT@^D^;^(;^Y5h j@hzB*** querying acoustic contact ***j|j|Zj5FNOT Ignoring new targets: 500.10 m.Bj=. $?IhJj=. ProNav: ac range: 500.100006 m, nav range: 87.921722 m, bearing: 161.715272 deg, approach rate: 0.609297 m/s, LOS rate: -0.287078 deg/s, cmd heading: 315.029990 deg, new cmd heading: 314.703355 deg. 2jEHeadingCmd: 5.492610 target range: 500.100006 and range: 500.10 m. juï@jjjiEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978503hqhhhfffrfbf Y@ɛ)- 15 I1 5NXɚ1i1I54*=I=.cJi=&bi==)Euï@)A*F%?2F!:F!BF%`5JF)GE = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227383G B1 OM >J @AJ @AJ J J 0J J :J ":J ـ3J a[-Tw,PA^4@Y^@^I<9^1=y^H]??E;-7?`"G2@^4?X?ɨ^4@^Fr;^Cyr(Br(IuMb@Mb@Mb@qqq q)qYuOn?333333ÿ~jtyu8?uuDu3A u@)u3@Iu@qyu=@II҅4٢G= 9=90Q > G٣yg@ > Nusing accuracyPremultiplier from config596ޛ?5YT iDB @ɛY 隥$I  ɚiIs*=I{LiiZ=)@)*F-?2F):F)BF5^0JF1 qIqMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480731G3;=zK5jIK5h9K1K5d K5GBO >E4Tw,PAH*>I I)IItBI, =&I.I6I3<:I FR+ϩ@YRް@R#I<9R>=yRHG??@q|!?`S2U[??ɨR+ϩ@R"#;RCyZ+BZ(IIbIb)4٢j< 5[=9=i$Q E>II MG٣Qy]% ]> uNusing accuracyPremultiplier from configiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:59:29.9606 TRx dataTimestamp_ set to:1736373571.332698checking for new query: numPingsReceived=0, elapsed TxPingTime=3.73154959m ޛ?5Ym} imDBbuT@mDm7Zq:Tw,PAbŧ@Yb)@bC~E<9b=ybH,?`P?@$3?@%??ɨbŧ@b;`y0B(IMb@Mb@Mb@ )YzG?OnÿMb`y 7?A @)I@I@y@II4٢< <=9Q > G٣GGy(< > Nusing accuracyPremultiplier from config59.ޛ?5Y iDB:?: wT@D@;;d5 e@Zj%FNOT Ignoring new targets: 500.10 m.Bj%Jj%= ProNav: ac range: 500.100006 m, nav range: 88.658539 m, bearing: 161.361412 deg, approach rate: 0.605457 m/s, LOS rate: -0.291381 deg/s, cmd heading: 313.997402 deg, new cmd heading: 313.644735 deg. 2j=GEHeadingCmd: 5.474133 target range: 500.100006 and range: 500.10 m. jE,@jAjAjAiAhAhAhIhMBfQfQfQrfQbf]@ɛ !-ֽI) -ɚ)i)I-+=I5Oi5eXi51M=)5,@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:59:29.9606 LVL= 15776, 32753, 27250, 32755, AGC= 62, IDX= 429,-0.20,-0.161,-1.910,-1.858,-1.269, PHS= 1.196,-0.594,-0.592, RAW= 90.1, -0.1, CAL= 97.7, -4.5, ROT= 52.3, 4.5 Ygot valid direction response: 21:59:29.9606 LVL= 15776, 32753, 27250, 32755, AGC= 62, IDX= 429,-0.20,-0.161,-1.910,-1.858,-1.269, PHS= 1.196,-0.594,-0.592, RAW= 90.1, -0.1, CAL= 97.7, -4.5, ROT= 52.3, 4.5 PDAT read: Bearing 52.3, 4.5 (Local) ~Local bearing/azimuth received: Bearing 52.3, 4.5 (Local) DAT read: Range 10 to 50 : 499.2 m (Round-trip 665.7 ms) speed 0.1 m/s ,DAT read: user:2203>  BDAT read: Tx time:21:59:31.0408  $Ping request sent.i٭?٭b٭P٭ I?٭ ڭC?)ڭ|٠Iڭi?iڭ|٠=ککۭeS9m?/>߿^0`)ۭIۭ ;iۭ@ۭ9۩۩u:publishing transmit ping timeJJJJJ:J%:JJ Fpublishing direction and range infoة9ح/0iBg!G??&f?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭeS9m?/>߿^0`)۩I۩i۩۩۩۩Ge k =G! B) OE > e $?Ia U Will construct direction to contact in vehicle frame from tetrahedron phase data.ZATw,%QA2@Y2@2sO@<92v=y2H? ?) ~)?@ YF?+?ɨ2@2]<;2CyJ:BN(IIVIV{4٢nb= nZ=9n\Q n>pp rG٣pyr: v> ~Nusing accuracyPremultiplier from configt~59v;ޛ?5Yv  ivDB#xT@vDv7:v:vh5 B @ Ek8R֛?kX' k k֏PA:kCBkCZk&>@"Dx~7J@rV~@/0iBg!G??&f?Jk@Rk9*ns38 -=7:@z@ KҨS?1g ?"kA*kk2D֛?kg 2k Dk<1ʛ?kk' DkƄBk.@e addTargetRange:: Added new target pos. range: 499.200012 m, deltaT: 4.286954 s, deltaX: -0.899994 m, approachRate: -0.209938 m/s, rangeRepo size: 4  Added new target pos. range: 499.200012 m, bearing: 132.713828 deg, lat: 36.899474 deg, lon: -122.120172 deg, deltaT: 4.286954 s, deltaX: -0.899994 m, approachRate: -0.209938 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 499.20 m.BjJjzK k3IK K K e K RK?JK?5 ProNav: ac range: 499.200012 m, nav range: 66.386902 m, bearing: 156.496271 deg, approach rate: 0.000000 m/s, LOS rate: -0.291381 deg/s, cmd heading: 313.644746 deg, new cmd heading: 313.313180 deg. 2j9=HeadingCmd: 5.468347 target range: 499.200012 and range: 499.20 m. j=@jAjAjAiAhAhAhihifififqrfu@33@bfu`:;?ɛ7ټ I ɚiIF,=IBPi?Sim=)@)*F?2F:FBF`0JFH&>I I)IIyBI+ =&I.I6If<:I1 FWill construct direction to contact in vehicle frame from tetrahedron phase data.GN=G B O >GTw,sQA6P@Y6[`@6#<96,=y6H? :?PN ?`<`s[?k?ɨ6P@6];6Cy>BBB(IIJIJ4٢R!= RN=9RQ V>TT VG٣TyZ Z> bNusing accuracyPremultiplier from config\f59^`Iޛ?f5Y^W i^DBdfyfT@^D^H<;^H<;^k5l n@p $?Ih}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 499.20 m.BjJj ProNav: ac range: 499.200012 m, nav range: 66.631020 m, bearing: 156.363134 deg, approach rate: 0.597531 m/s, LOS rate: -0.324688 deg/s, cmd heading: 313.313181 deg, new cmd heading: 312.915239 deg. 2j^HeadingCmd: 5.461401 target range: 499.200012 and range: 499.20 m. jî@jjjihhhhfff rfybf}`?Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.ɛ  μ (I ɚiIM,=Iw`RijMi"=)%î@)!*F?2F:FBFJFG =G ?G ?Ga By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994444J J J J J :J :J J FMTw,L9QA7@YF@w\<9=yH ?SK?\aҽ? 㗳`{ V?]?ɨ7@g;CySB(ImMb@Mb@Mb@iii i)iYm/$?Q{Gzt?ym&1?mmף;i m@)mv@Im@iym3@I[IK!4٢<= -=97tQ > G٣GGyֻ > Nusing accuracyPremultiplier from config59Yޛ?5Yy iDB3?:5rT@D;[;o5%B %@% EZji I-FNOT Ignoring new targets: 499.20 m.Bj5ޱJj5ޱ= ProNav: ac range: 499.200012 m, nav range: 66.918716 m, bearing: 156.217720 deg, approach rate: 0.617983 m/s, LOS rate: -0.311010 deg/s, cmd heading: 312.915227 deg, new cmd heading: 312.480870 deg. 2jEqUHeadingCmd: 5.453820 target range: 499.200012 and range: 499.20 m. j@jjjihhhhBfffrfbf`W?ɛ I ΩɚiI@-=IDQTiFi,E)=)@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246708*F?2F:FBFJFzKBIK9KKf KBKqA:KqAH5 $>I5 C I5 *)II5 BI1 &I1 .I1 6I5 T<:I5 " FGA G1 B9 OU >UTw,FUQA6-@Y6>=@6,<BWill construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.50024496|{=y6HC?`P?Y@h?u`@W??ɨ6-@65;6Cyb]Bb(IIrIrk4٢zZ= zW=9~LNQ ~>|| G٣yM >  Nusing accuracyPremultiplier from config 59 fޛ?5Y  i DBrT@ D  ;  ; r5) -X@)ZjFNOT Ignoring new targets: 499.20 m.BjJj ProNav: ac range: 499.200012 m, nav range: 67.146408 m, bearing: 156.103372 deg, approach rate: 0.589562 m/s, LOS rate: -0.295076 deg/s, cmd heading: 312.480881 deg, new cmd heading: 312.139006 deg. 2jJHeadingCmd: 5.447854 target range: 499.200012 and range: 499.20 m. jT@j!j!j!i!h)hIhQhQfQfQfQrfYbf]b'?ɛdB kI a䩼ɚiI-=IIUii9=)T@)*F?2F:FBF0JFG}8#= IGQBYO}X>=Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7551259[Tw,QoQA:k#@Y:2@:<9:U=y:H?W?pio@Э? 2߹??ɨ:k#@:;:CyReBR(I5Mb@Mb@Mb@111 1)1Y5 rh?+ηMb?y5C+?5v5<5`A 5@)1I53@1y5p@IMIM4٢]= ]D=9];Q e>aa eG٣aymoH m> uNusing accuracyPremultiplier from configq}59uCuޛ?}5Yu iuDB,?:ejT@uDug;u;uv5B IJ@EZjFNOT Ignoring new targets: 499.20 m.Bj2Jj2 ProNav: ac range: 499.200012 m, nav range: 67.393486 m, bearing: 155.989076 deg, approach rate: 0.619137 m/s, LOS rate: -0.285358 deg/s, cmd heading: 312.139017 deg, new cmd heading: 311.797388 deg. 2jCHeadingCmd: 5.441891 target range: 499.200012 and range: 499.20 m. j#@jjjihhhh"Bfffrfqbfu§?ɛgݨ :I V᩼ɚiI.=I_Wi%?il&I=)#@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003890*F2F:FBF_5JF"G=G= $?IhG'=GpAGG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254572 bTw,pQAZX@YZ@Z$<9Z=yZH?`f? ob~?`.dE@%??ɨZX@Z~;ZCyfgBf)IIrIr@4٢z3< ~Q=9:Q >  G٣ GGy ׻  > Nusing accuracyPremultiplier from config59ςޛ?%5Y i}DB!% k%T@DT ; ;z5) -@1ZjQ]FNOT Ignoring new targets: 499.20 m.BjeJje ProNav: ac range: 499.200012 m, nav range: 67.626022 m, bearing: 155.881728 deg, approach rate: 0.595107 m/s, LOS rate: -0.273780 deg/s, cmd heading: 311.797398 deg, new cmd heading: 311.476465 deg. 2j;HeadingCmd: 5.436290 target range: 499.200012 and range: 499.20 m. j@jjjihhzKk3IK]9KKg KRK]?JK]?hhfffrfbf`!,@ɛ cB ˥ ;I ԩɚiIj.=I#Xi8i{R=)%@)!H#>I IC)IIBI, =&I.I6I:<:I FBIJIRIZI+ =bI+ =jI:85*F?2F:FBF 5JFG@A=GyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506546O`>JyJ}JyJyJyJ}:JyJyJ}    G٣ y.. > Nusing accuracyPremultiplier from config%59ޛ?%5YK iyDB!-(l5T@ D;`;}5mB u@}EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761827UB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 499.20 m.Bj℻Jj℻ ProNav: ac range: 499.200012 m, nav range: 67.866577 m, bearing: 155.770429 deg, approach rate: 0.503979 m/s, LOS rate: -0.232353 deg/s, cmd heading: 311.476461 deg, new cmd heading: 311.143751 deg. 2jvHeadingCmd: 5.430483 target range: 499.200012 and range: 499.20 m. j ƭ@j jjih9hAhAhAfAfIfIrfIbfMi@ɛ tnTw,#QA6ͨ@Y6ݯ@6,<96 =y6H[?@ ?^j 7`p? !Ə`ֹ??ɨ6ͨ@6QȊ;6Cy>vBB)IDFAUMb@Mb@Mb@QQQ Q)QYU/$?#~jI +?yU1(?U㥽U94 G٣y > Nusing accuracyPremultiplier from config59ޛ?5Y  iwDB})?:BiT@D;;?5 @ZjFNOT Ignoring new targets: 499.20 m.BjJj ProNav: ac range: 499.200012 m, nav range: 68.110786 m, bearing: 155.661359 deg, approach rate: 0.702110 m/s, LOS rate: -0.312455 deg/s, cmd heading: 311.143749 deg, new cmd heading: 310.817717 deg. 2joVHeadingCmd: 5.424793 target range: 499.200012 and range: 499.20 m. j痭@jjjihhh h 4Bf f frfbf`:m @ɛEbBE}g AE !=IA MnɚIiIIM'/=IU[ ]$?IYiaie>K_=)e痭@)i*F?2F:FBF_0JFG8U=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265416GBOF>zKJQJK9KKh KBK!:K%sAZH RH AAH ">I  I \)II BI &I .I 6I c<:I + FkluTw,rQA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:21:59:34.1091 6TRx dataTimestamp_ set to:1736373575.368566:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519414:E@Y:@:+<9:E^=y:HLq??i!O?Vwr`@??ɨ:E@:;:CyfwBf)IJ1J5J1J1J1J5,:J1J1J1J1J5;J5;IIb4٢\; 8=9HQ > G٣GGy\ > Nusing accuracyPremultiplier from config596ޛ?5Y> ivDBjT@D;F;(5 ~@ZjIuFNOT Ignoring new targets: 499.20 m.BjJj ProNav: ac range: 499.200012 m, nav range: 68.371971 m, bearing: 155.544006 deg, approach rate: 0.574328 m/s, LOS rate: -0.257066 deg/s, cmd heading: 310.817730 deg, new cmd heading: 310.467020 deg. 2jl0HeadingCmd: 5.418672 target range: 499.200012 and range: 499.20 m. je@jjjihhhhfffrfbf`a/ @ɛ aBpf 0=I ɚiI/=IP] )I)i%N'iM^=)Me@)I*F?2F:FBFJFEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777920G U=G rAG qAG B O >q{Tw,p_QA.t@Y@n3<98=yHT??x`'4?@8_Q?@Y?ɨ.t@[Z;騉yzB)IMb@Mb@Mb@ )YRQ?A`"Mbp?y"?Y;vA Q@)AII@y@IIkf4٢]< J=9֒:Q > G٣yA %> -Nusing accuracyPremultiplier from config!559%Rޛ?55Y% i%rDBE #?M:Ua]T@%'D%{;%;%ň5mB m9@mEZjFNOT Ignoring new targets: 499.20 m.Bj'Jj'Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:59:34.1091 LVL= 13040, 27729, 17826, 27939, AGC= 68, IDX= 430, 0.40,-2.914, 1.582, 1.531, 2.172, PHS= 1.285,-0.543,-0.644, RAW= 87.3, -1.1, CAL= 94.8, -6.1, ROT= 55.2, 6.1 Ygot valid direction response: 21:59:34.1091 LVL= 13040, 27729, 17826, 27939, AGC= 68, IDX= 430, 0.40,-2.914, 1.582, 1.531, 2.172, PHS= 1.285,-0.543,-0.644, RAW= 87.3, -1.1, CAL= 94.8, -6.1, ROT= 55.2, 6.1 PDAT read: Bearing 55.2, 6.1 (Local) ~Local bearing/azimuth received: Bearing 55.2, 6.1 (Local)  DAT read: Range 10 to 50 : 498.1 m (Round-trip 664.2 ms) speed 0.3 m/s ,DAT read: user:2204> BDAT read: Tx time:21:59:35.1908 $Ping request sent.nTw,4 RA6@@Y6P@67<96;x=y6H`/??u `"? 㲿`JE?@?ɨ6@@6Д;6CyR~BR)IIZIZb4٢ &< i=9MW:Q M>aa mG٣iym铼 m? Nusing accuracyPremultiplier from config59Rޛ?5Y6 ioDB^cT@zKK9KKi K!!#  &/5.D<<݋5) -@1ke?k0  k kEQA:k CBkUCZk#T?"`nwȴ7>2QR@ji~@;Bf a?vS?Jk?Rk*yz7@I=B@~V @ ?|@r??"k]B*kq@k7?k^Q 2kY Dk2D֛?k? kY Dk!Bk@ addTargetRange:: Added new target pos. range: 498.100006 m, deltaT: 4.039272 s, deltaX: -1.100006 m, approachRate: -0.272328 m/s, rangeRepo size: 4  Added new target pos. range: 498.100006 m, bearing: 84.300295 deg, lat: 36.899804 deg, lon: -122.120145 deg, deltaT: 4.039272 s, deltaX: -1.100006 m, approachRate: -0.272328 m/s, posRepo size: 4 Zj%FNOT Ignoring new targets: 498.10 m.Bj%Jj!U ProNav: ac range: 498.100006 m, nav range: 40.420048 m, bearing: 129.796328 deg, approach rate: 0.000000 m/s, LOS rate: -0.234571 deg/s, cmd heading: 310.177960 deg, new cmd heading: 309.911439 deg. 2jY]HeadingCmd: 5.408975 target range: 498.100006 and range: 498.10 m. j]S@jajajaiahahahihifffrfbf˙?ɛ_BX s=I  QdɚiIP0=IM<_iMiMbY=)MS@)QEYH!>I Iu)IIƉBI&I.I6Iy<:I; F*F?2F:FBFn0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJ!:JJJJJly;Jmy;G np_=G B O > ! I! ژTw, $RA6 @Y6n@60<96v0=y6H`?J"? w5?V?9?ɨ6 @6HS;6CyBwBB)IIJIJt4٢R9 RQ=9VQ V>TX ZG٣ZGGy-D -> =Nusing accuracyPremultiplier from config1E595gޛ?E5Y5Q i5lDBAM#eMT@56D5u*;5H%;5D5UB UU@UEZjy}FNOT Ignoring new targets: 498.10 m.BjJj󦹝 ProNav: ac range: 498.100006 m, nav range: 40.668266 m, bearing: 129.789731 deg, approach rate: 0.690772 m/s, LOS rate: -0.018245 deg/s, cmd heading: 309.911446 deg, new cmd heading: 309.891778 deg. 2jWH-Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1HeadingCmd: 5.408632 target range: 498.100006 and range: 498.10 m. j@jjjihh h9hAfqfyfrfbfy?ɛ B=I ɚiI0=I _i C9iO8?=)@)*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G @Z=J @AJ G B O% >ƎTw, =RAy)I $?IhMb@Mb@Mb@ )YNbX9?I +Mb`?y%?94;`A h@)@I3@y@IxIT4٢Sd 7=9Q > G٣y >  Nusing accuracyPremultiplier from config59rޛ?5Y ihDB&?:%aT@?D2E;B; 5! -P@-EEB*** querying acoustic contact ***jAjAZjQeFNOT Ignoring new targets: 498.10 m.Bj}OJjO ProNav: ac range: 498.100006 m, nav range: 40.948219 m, bearing: 129.788499 deg, approach rate: 0.646997 m/s, LOS rate: -0.002829 deg/s, cmd heading: 309.891775 deg, new cmd heading: 309.888103 deg. 2j{HeadingCmd: 5.408568 target range: 498.100006 and range: 498.10 m. j@jjjihhhhIBfffrfbfz?ɛ^B 0H=I BǧɚiIr1=I_i ikzKMKKKj K653014751/-**(%"  BKpA:KmAjHm <bHm <Hu >Iq  Iu {)IIu ˉBIu - =&Iq .Iq 6Iu <:Iu a F+Tw,WRAFWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499536J@YJ@J4K<9Jgޭ=yJH`?5o??捰R郿@۴?@?ɨJ@JS;JCy^uBb)IIfcIfy/4٢v v]=9z>Q z>xx zG٣|y~S ~>  Nusing accuracyPremultiplier from config 59"ޛ? 5Y ieDBdT@GD2::F5B %U@%EJMJMJIJIJM:JM:JIJIJMY<JMZ<JM t;JM t;ZjFNOT Ignoring new targets: 498.10 m.Bj-.|JjU.|e ProNav: ac range: 498.100006 m, nav range: 41.188236 m, bearing: 129.783033 deg, approach rate: 0.608618 m/s, LOS rate: -0.013780 deg/s, cmd heading: 309.888114 deg, new cmd heading: 309.871812 deg. 2jeOmHeadingCmd: 5.408283 target range: 498.100006 and range: 498.10 m. jm@jijijiiihqhhhfffrfbfK?ɛ]Bl B=I wɚiIsa1=I_ii=)@)! I*F?2F:FBF 5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750788G?=G qAG pAG B Oe >ԛTw,wqRA6m{@Y6Ҋ@6щ0<96 h=y6H`??{@ϕ`?谿 ?'?ɨ6m{@6C;6CyRlBR)I5Mb@Mb@Mb@111 1)1Y5!rh?I +~jthy5l'?15D5IA 1)5QAI11y5f@IMIMd4٢e+ eC=9e$;Q m>ii mG٣mGGyu/ u> }Nusing accuracyPremultiplier from configy59}ޛ?5Y} i}_DB'?:1eT@}PD}/;}j;}5 @ZjFNOT Ignoring new targets: 498.10 m.Bj)Jj) ProNav: ac range: 498.100006 m, nav range: 41.462784 m, bearing: 129.775885 deg, approach rate: 0.697865 m/s, LOS rate: -0.018049 deg/s, cmd heading: 309.871804 deg, new cmd heading: 309.850501 deg. 2j1FHeadingCmd: 5.407911 target range: 498.100006 and range: 498.10 m. j @j j j i h h hh9Bfffrfbf ?ɛ[B씼 =I kAɚiI1=I`i%iP=) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002947*F?2F:FBF_0JFGzc =GYBiOZ> $?IE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254675Tw,~RAyr`Br(IIzIz%x4٢jh P=9 Q  >   G٣y > %Nusing accuracyPremultiplier from config%59' ߛ?-5Y iZDB))-T@XD:~:]59 =@9ZjaeFNOT Ignoring new targets: 498.10 m.BjmJjm} ProNav: ac range: 498.100006 m, nav range: 41.719910 m, bearing: 129.769276 deg, approach rate: 0.654824 m/s, LOS rate: -0.016728 deg/s, cmd heading: 309.850494 deg, new cmd heading: 309.830788 deg. 2j7HeadingCmd: 5.407568 target range: 498.100006 and range: 498.10 m. j @jjjihhhhff!f!rf!bf%@ɛ}ZB}q< 隅CIC III&I.I4D6Ii<:I- F*FA2FA:FABFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508056GU{=G) B1 OM > I Tw,VRA6&@Y6M6@6K<96=y6H/a?w?8&@|`E?@Y@w`~o? ?ɨ6&@6ȋ;4y>[B>(IIFIF<4٢Rܼ RQ=9V;Q V>TX ZG٣XyZ׼ Z> bNusing accuracyPremultiplier from config\b59^ߛ?f5Y^,  i^TDBdfgfT@^`D^:^:^Ƞ5jB jڲ@nEZj|FNOT Ignoring new targets: 498.10 m.BjqJjq빝 ProNav: ac range: 498.100006 m, nav range: 41.976292 m, bearing: 129.759159 deg, approach rate: 0.656042 m/s, LOS rate: -0.025730 deg/s, cmd heading: 309.830795 deg, new cmd heading: 309.800629 deg. 2jDHeadingCmd: 5.407041 target range: 498.100006 and range: 498.10 m. j{@jjjihhhhfffrfbf`>$@ Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762585ɛ YB c़  @;I &ɚiI2=IK`iXi<){@)!*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010815G G ?G !?Jm Jm Ji Ji Jm :Jm $:Ji Ji a} @a} @a} @a} @G B O >Tw,4RAyOB(I )I)Mb@Mb@Mb@ )YˡE?A`"~jtxy'?YĻA @)II@y@IIk4٢V 7=9Q >   G٣ GGy   > Nusing accuracyPremultiplier from config%59)ߛ?%5YY iKDB%}(?%:%(k-T@jD5;;55B 5@5EMB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 498.10 m.Bje(Jjm(} ProNav: ac range: 498.100006 m, nav range: 42.271038 m, bearing: 129.742479 deg, approach rate: 0.655964 m/s, LOS rate: -0.036862 deg/s, cmd heading: 309.800633 deg, new cmd heading: 309.750943 deg. 2j}cʺHeadingCmd: 5.406174 target range: 498.100006 and range: 498.10 m. j`@jjjihhhh0Bfffrfbf @ɛXB+ AEPII Mj@ɚiI> 3=IՃ`iDit<)`@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263936*F?2F:FBF`0JFG]q<GB!O=r>zKIKKs9KKl KBKqA:KpAH !>I C I h)II BI &I .I 5D6I S<:I  FBIɛCJIɛCRIZI- =bI- =jI5Tw,KRA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2BDAT read: Rx Time:21:59:38.2576 2TRx dataTimestamp_ set to:1736373579.4044802checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515633yUGBU(IIeIe]4٢ P=9Q > G٣y > 5Nusing accuracyPremultiplier from config)559-N7ߛ?=5Y- i-CDB99=T@-rD-:-u:-C5EB E@MEZjFNOT Ignoring new targets: 498.10 m.Bj#Jj# ProNav: ac range: 498.100006 m, nav range: 42.539074 m, bearing: 129.727511 deg, approach rate: 0.645859 m/s, LOS rate: -0.035838 deg/s, cmd heading: 309.750937 deg, new cmd heading: 309.706317 deg. 2jĺHeadingCmd: 5.405395 target range: 498.100006 and range: 498.10 m. j@jjjihhhhfffrfbf`g @ɛVBOJ I uɚiI>3= $?I hIڶ`i9iۈ<)@)*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770604G Vv<G rAG qAG B O% >$Tw,WRA) mCFbGP` v YtyvgBy=B(IMb@Mb@Mb@ )YMbX?v/{Gzty*?xiףA )hAIv@yAII4٢q4 8=9Q > G٣y > Nusing accuracyPremultiplier from config59Eߛ?5Y i;DBa+?:`lT@{D ;D;5 @Zj)5FNOT Ignoring new targets: 498.10 m.Bj=`>Jj=`>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021480 ProNav: ac range: 498.100006 m, nav range: 42.824467 m, bearing: 129.709960 deg, approach rate: 0.681127 m/s, LOS rate: -0.041610 deg/s, cmd heading: 309.706322 deg, new cmd heading: 309.654018 deg. 2jsJK|3 KS}-KK"KJEJEJAJAJE:JE':JAJAHeadingCmd: 5.404482 target range: 498.100006 and range: 498.10 m. j@jjjih hhhE8BfIfIfQrfQbfU:`@ɛTB<ſ  8I ̧ɚiIV4=I`iԂ׺i((<)@) $?I *F?2F:FBFn0JFG G5 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:59:38.2576 LVL= 13792, 25073, 18402, 28275, AGC= 64, IDX= 429, 0.44, 0.551,-0.941,-1.147,-0.395, PHS= 1.034,-0.499,-0.756, RAW= 82.4, 2.7, CAL= 87.5, -0.3, ROT= 62.5, 0.3  Ygot valid direction response: 21:59:38.2576 LVL= 13792, 25073, 18402, 28275, AGC= 64, IDX= 429, 0.44, 0.551,-0.941,-1.147,-0.395, PHS= 1.034,-0.499,-0.756, RAW= 82.4, 2.7, CAL= 87.5, -0.3, ROT= 62.5, 0.3  PDAT read: Bearing 62.5, 0.3 (Local)  ~Local bearing/azimuth received: Bearing 62.5, 0.3 (Local)  DAT read: Range 10 to 50 : 496.8 m (Round-trip 662.5 ms) speed 0.0 m/s  ,DAT read: user:2205> G < BDAT read: Tx time:21:59:39.3409  $Ping request sent. JATw, SAV:publishing transmit ping timeZFpublishing direction and range info9گ[A6?Ʃ?yfC5a G)snI@iZ?|7AX?A= z?)IX?i;ItP?|@(m֧?)!(Io>i@,;%:publishing transmit ping time%Fpublishing direction and range info9گ[A6?Ʃ?U@Yd@2R<9x=yH ? A?l찿@KXТ?@"Ff?`?ɨU@?C;Cy]6B](IIuIu#4٢O Z=9:Q >y )Ii )IiItP?|@(m֧?)Ii G٣y > Nusing accuracyPremultiplier from config59LRߛ?5Yh! i4DBrT@D[;;O5B @EzKe:IKe9KaKem KeRKu?JKu?k;1Dž?k$ k kg SA:kfCBkCZkrݭ?"nVmNU|]@IVQ}@گ[A6?Ʃ?Jk@Rk,;*7e 2@v~U@Lj~@X-?/[?x?"kۯB*kAk̐?kѧ 2kL Dkkk' DkO,BkR@ addTargetRange:: Added new target pos. range: 496.799988 m, deltaT: 4.286361 s, deltaX: -1.300018 m, approachRate: -0.303292 m/s, rangeRepo size: 4 5 Added new target pos. range: 496.799988 m, bearing: 77.826030 deg, lat: 36.899804 deg, lon: -122.120145 deg, deltaT: 4.286361 s, deltaX: -1.300018 m, approachRate: -0.303292 m/s, posRepo size: 4 Zj9=FNOT Ignoring new targets: 496.80 m.HM#>II IMO)IIMBIM, =&II.II6IMM<:IM FBjJj ProNav: ac range: 496.799988 m, nav range: 43.077881 m, bearing: 129.685981 deg, approach rate: 0.000000 m/s, LOS rate: -0.041610 deg/s, cmd heading: 309.654030 deg, new cmd heading: 309.602409 deg. 2jHeadingCmd: 5.403582 target range: 496.799988 and range: 496.80 m. j$@jj9j9i9h9h9hIhIfQfyfyrf @bfl?ɛSBǼ  aI  (ɚ i I w4=I5-ai5dlԺi5T;)=$@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF I G <G B O >8dTw,d'SA6P&@Y65@6&F<96=y6H`?Hi?೎v ?@Ev Ĉ?p?ɨ6P&@6p;4yR+BV(II^I^4٢  c S=9`Q >!! %G٣%GGy-u -> UNusing accuracyPremultiplier from configAe59E^ߛ?e5YE& iE-DBimntmT@EDEL;E;E5Will construct direction to contact in vehicle frame from tetrahedron phase data. @ZjYmFNOT Ignoring new targets: 496.80 m.BjJj  ProNav: ac range: 496.799988 m, nav range: 43.335876 m, bearing: 129.659778 deg, approach rate: 0.625926 m/s, LOS rate: -0.063193 deg/s, cmd heading: 309.602421 deg, new cmd heading: 309.524280 deg. 2j y-HeadingCmd: 5.402218 target range: 496.799988 and range: 496.80 m. jެ@jjjihhhhf!f!f!rfIbfM@?ɛQB(YӼ 隝@I ɚiI 5=Iai,EҺi3;)ެ@)*F]?2Fa:FaBFeZ5JFaG5<GBOM>- Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J /J J J :J (N3J NTw,IASA I:r@Y:!@:RxO<9:cǨ=y:Hj?\t?@A#`mx? a??ɨ:r@:k;:Cyb Bb(IUMb@Mb@Mb@QQQ Q)QYUV-?+~jtxyU-?UUĻU A U~@)QIU`@QyQIm^Im&4٢}R }C=9:Q > G٣y > Nusing accuracyPremultiplier from config59lߛ?5Y4- i$DB.?:||T@Df;^;S5 L@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.80 m.BjJj ProNav: ac range: 496.799988 m, nav range: 43.618011 m, bearing: 129.619718 deg, approach rate: 0.790133 m/s, LOS rate: -0.111463 deg/s, cmd heading: 309.524284 deg, new cmd heading: 309.404882 deg. 2j HeadingCmd: 5.400134 target range: 496.799988 and range: 496.80 m. j ͬ@j jjihhhhBfffrf!bf%ԩ?ɛOB-t )5 I1 5&ɚ1i1I55=I=bi=Wкi=;)=ͬ@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF^0JF"G=G=G4<GYBiOZ>zK% k3IK! K! K% n K% jHA bHE <HI II  IM 6)IIM BIM + =&II .II 6IM A<:IM  F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2310945xTw,"[SAyB(II-gI-64٢u& uK=9}Q }>yy G٣y > Nusing accuracyPremultiplier from config59xߛ?5Y93 iDBT@D ;%;չ5B @EZj FNOT Ignoring new targets: 496.80 m.BjԺJjԺ- ProNav: ac range: 496.799988 m, nav range: 43.890396 m, bearing: 129.581534 deg, approach rate: 0.667999 m/s, LOS rate: -0.093061 deg/s, cmd heading: 309.404892 deg, new cmd heading: 309.291052 deg. 2jwHeadingCmd: 5.398147 target range: 496.799988 and range: 496.80 m. j@jjjihhhhfffrfbf? $?Ihɛ MB h սI 婼ɚiI6=Iۑbibͺi%@i <)%@)A*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483535Gm Mh <G qAG pAGY Ba O} >Tw,ktSAz@Yz@z8K<9z(a=yzHx?`߂?o Z?\ʱf@?A?ɨz@zq̙;zCyB(IMb@Mb@Mb@ )YDl?I +MbpyO-?9vA h@)AIAyAIIW4٢ A=9^ Q > %G٣%GGy% %> -Nusing accuracyPremultiplier from config)559-ߛ?=5Y-9 i-DB=.?=:==T@-D-;-;-5A M2@IZjy}FNOT Ignoring new targets: 496.80 m.BjJj ProNav: ac range: 496.799988 m, nav range: 44.177464 m, bearing: 129.534790 deg, approach rate: 0.685544 m/s, LOS rate: -0.110906 deg/s, cmd heading: 309.291046 deg, new cmd heading: 309.151723 deg. 2j:HeadingCmd: 5.395715 target range: 496.799988 and range: 496.80 m. j@jjjihhhhBfffrfbf ?ɛLB _/a=`I ɚiI6=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735194I@1ciS˺i;)@)JJJ0JJl:J":Jـ3J*Fm?2Fi:FqBFqJFqG} G}"G}G} IGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989498Tw,tҎSA6@Y6@6'C<96=y6H@v??]@_]T?벿x?L?ɨ6@6p;6CyNBN(I)T TXZAI^I^ 4٢fZ fb=9frQ j>hh jG٣hyn1 n> rNusing accuracyPremultiplier from configpv59rߛ?v5Yr'? ir DBxzzT@rDr:r:r5}B }ط@}EZjFNOT Ignoring new targets: 496.80 m.BjgJjg ProNav: ac range: 496.799988 m, nav range: 44.422699 m, bearing: 129.495303 deg, approach rate: 0.650832 m/s, LOS rate: -0.104215 deg/s, cmd heading: 309.151711 deg, new cmd heading: 309.033905 deg. 2j HeadingCmd: 5.393659 target range: 496.799988 and range: 496.80 m. jۘ@jjjihhh1h1f9f9f9rf9bfEi#@ɛJBb} 隭 HI I)IIyBI, =&I.I6I<:IF FzK BoIK +9K K o K I M{ɚQiQIU#&7=IUci](Ⱥi]ȇ<)]ۘ@)Y*F%?2F):F)BF-`0JF)GWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239772BO-O> $?I ITw,ٳSABS@YB@BE2<9B=yBH0p??Ȟ J?鳿+W`/Ի??ɨBS@BcE;BCynBn(II~I~@4٢ F=9%y$Q %>)) -G٣)y5 5> ENusing accuracyPremultiplier from configAU59Eߛ?U5YEyE ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.491559iEDBaemT@EDE;E;EV5q u@qZjFNOT Ignoring new targets: 496.80 m.BjJj ProNav: ac range: 496.799988 m, nav range: 44.704639 m, bearing: 129.450126 deg, approach rate: 0.691388 m/s, LOS rate: -0.110086 deg/s, cmd heading: 309.033903 deg, new cmd heading: 308.899228 deg. 2jHeadingCmd: 5.391309 target range: 496.799988 and range: 496.80 m. j@jjjihhhhfffrfbf;L@ɛeGḆ 隝tI aɚiID7=IRdi %źin <)@)A*F?2F:FBFo0JFG%?G% ?GBOm> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743099J J J J J J $:J J Tw,jSA I:ݥ@Y:@:%<9:=y:Hg??`>?î^MR??ɨ:ݥ@:Ҕ;:CyfBf{(I]Mb@Mb@Mb@YYY Y)YY]Cl?|?5^~jtxy]/?]ҽ]Ļ] A ]@)YI]v@Yy]AI}I}r4٢3 C=9Q > G٣GGyVM > Nusing accuracyPremultiplier from config59ߛ?5YK iCB1?:YT@D'!; ;5 ~@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.80 m.BjJj  ProNav: ac range: 496.799988 m, nav range: 44.990574 m, bearing: 129.397359 deg, approach rate: 0.698993 m/s, LOS rate: -0.128175 deg/s, cmd heading: 308.899239 deg, new cmd heading: 308.741944 deg. 2j HeadingCmd: 5.388564 target range: 496.799988 and range: 496.80 m. jo@jjjihh!h!h%Bf!f)f)rf)bf-$@ɛEBu I \ɚiI A8=I5ei5/ºi54<)5o@)9mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.995149Eul;=ZHRH?AHI I(II`BI+ =&I.I6IP<:I F*F ?2F :F BF `0JF zK BoHK ]9K K p K G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247046(Tw,1aSAV&ҥ@YV@V" <9V=yVH +_?@?`4ǵz3?2`` J??ɨV&ҥ@V*I;VCyrBrn(Iiv8>Iv= z=z=I~I~4٢E [ EO=9M kQ M>II MG٣Qy}e }> Nusing accuracyPremultiplier from config59ߛ?5Y>R iCBT@D:C:w5B  @EZjFNOT Ignoring new targets: 496.80 m.Bj  Jj  M ProNav: ac range: 496.799988 m, nav range: 45.265244 m, bearing: 129.346844 deg, approach rate: 0.674640 m/s, LOS rate: -0.123322 deg/s, cmd heading: 308.741954 deg, new cmd heading: 308.591328 deg. 2jMDHeadingCmd: 5.385935 target range: 496.799988 and range: 496.80 m. jY@jjjihhhhfffrfbf @ $?IɛCBO 隝'I VzɚiIG8=I4eiiC<)Y@)EY=*F?2F:F!BF%1JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:59:42.4066 TRx dataTimestamp_ set to:1736373583.691512checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503019G Su<G B O >oTw,ISAyBh(IMb@Mb@Mb@ )YK7A`?y&1Mby+?`役 A )zAI@yAII4٢ @=9Q > G٣y > Nusing accuracyPremultiplier from config 59ߛ? 5YX iCBh-?:T@D;y;%5 T@ZjIMFNOT Ignoring new targets: 496.80 m.BjU-JjU-e ProNav: ac range: 496.799988 m, nav range: 45.546516 m, bearing: 129.289658 deg, approach rate: 0.680091 m/s, LOS rate: -0.137416 deg/s, cmd heading: 308.591334 deg, new cmd heading: 308.420837 deg. 2jemHeadingCmd: 5.382959 target range: 496.799988 and range: 496.80 m. jm3A@jijijiiihqhqhqhuBfyfyfyrfybf}"@ɛABj 隵f,I 􈯼ɚiIE`9=I9ufiiAo<)3A@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756036*J"Jp= IhE`=*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:59:42.4066 LVL= 12672, 20609, 14546, 21123, AGC= 68, IDX= 435, 0.13, 0.982,-0.459,-0.892, 0.018, PHS= 1.052,-0.430,-0.913, RAW= 76.3, 3.3, CAL= 80.2, 0.8, ROT= 69.8, -0.8  Ygot valid direction response: 21:59:42.4066 LVL= 12672, 20609, 14546, 21123, AGC= 68, IDX= 435, 0.13, 0.982,-0.459,-0.892, 0.018, PHS= 1.052,-0.430,-0.913, RAW= 76.3, 3.3, CAL= 80.2, 0.8, ROT= 69.8, -0.8  PDAT read: Bearing 69.8, -0.8 (Local)  ~Local bearing/azimuth received: Bearing 69.8, -0.8 (Local)  DAT read: Range 10 to 50 : 496.2 m (Round-trip 661.6 ms) speed -0.1 m/s % ,DAT read: user:2206> - BDAT read: Tx time:21:59:43.4909 - $Ping request sent.- 5mUw,TAVo@YVԽ@V<9Vz=yVH`C?כ?M ??!'??ɨVo@V/Y;VCy^ӈB^K(III4٢% %D=HqIq Iu(IIuGBIu, =&Iq.Iq6IuC<:Iu FBI1JI1RI1ZI5, =bI5+ =jI5v49Q > G٣GGy% > Nusing accuracyPremultiplier from config59ߛ?5Yd_ iCB9T@D7::5B @zKRIKh9KKq Kkvp?kNq k k+ TA:kCBkcCZk?"EctNNDX>d@"|@T=Hz??Jk^?Rk-*PeH@Ew디\@8~@Δ?5]}?Fx?"kB*kUFBk:!?k 2k- Dk7?k^Q kk-)Bk? addTargetRange:: Added new target pos. range: 496.200012 m, deltaT: 4.033274 s, deltaX: -0.599976 m, approachRate: -0.148756 m/s, rangeRepo size: 4  Added new target pos. range: 496.200012 m, bearing: 66.552590 deg, lat: 36.900070 deg, lon: -122.120069 deg, deltaT: 4.033274 s, deltaX: -0.599976 m, approachRate: -0.148756 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 496.20 m.BjJj!5 ProNav: ac range: 496.200012 m, nav range: 42.294453 m, bearing: 89.104769 deg, approach rate: 0.000000 m/s, LOS rate: -0.137416 deg/s, cmd heading: 308.420826 deg, new cmd heading: 308.236221 deg. 2j1]HeadingCmd: 5.379737 target range: 496.200012 and range: 496.20 m. j]&@jYjYjYiYhYhahahafafifirfm@3@bfm_?ɛ>Bs UI  )ɚiQIU#:=I]fHgi]+Pi]eW<)e&@)aEiEi*Ei"EiWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:59:43.4901 JJJJJL:J!:JJJ@ qq uG٣qy}ⰻ }> Nusing accuracyPremultiplier from config59ߛ?5Yh iCBN2?:~T@D;;5B @EZjimFNOT Ignoring new targets: 496.20 m.BjuD<JjuD< ProNav: ac range: 496.200012 m, nav range: 42.619518 m, bearing: 89.350214 deg, approach rate: 0.603305 m/s, LOS rate: 0.452058 deg/s, cmd heading: 308.236219 deg, new cmd heading: 308.966897 deg. 2j<HeadingCmd: 5.392489 target range: 496.200012 and range: 496.20 m. jF@jjjihhhhBfffrfbf Q?ɛ:BX 隭eIWill construct direction to contact in vehicle frame from tetrahedron phase data. $ɚiI:=Idiij()F@)JAAJAA*F?2F:FBF1JF $?IhG 3Z<G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,NTAjn|@YjӋ@j;9j5>yjH?? 㸿g%?'`y9?O?ɨjn|@jy;jCyrBv1(II~zI~=X4٢ uE  R=9 Q  > G٣yG > -Nusing accuracyPremultiplier from config!559%ߛ?55Y%Kn i%CB9=ډ=T@%D%S;%7;%5A E@AeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 496.20 m.Bj}<Jj}< ProNav: ac range: 496.200012 m, nav range: 42.856457 m, bearing: 89.525239 deg, approach rate: 0.641711 m/s, LOS rate: 0.471407 deg/s, cmd heading: 308.966886 deg, new cmd heading: 309.489043 deg. 2j¡<HeadingCmd: 5.401603 target range: 496.200012 and range: 496.20 m. j٬@jjjihhhhfffrfbfn?ɛu8B}O$ y}jtIy }zɚyiIW;=Ihaii d/)٬@)jHQbHQHaIa Ie(IIe2BIe+ =&Ia.Ia6Ie=<:Ie FzKEBoHKE+9KAKEr KE BKUpA:KUrA*F]?2FY:FYBF]4JFYG%2<GBOI>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JJJJJJ:JJJJJ t;J t; I Uw,hTAJT@YJ#d@JOC;9J#H>yJH@? ?㸿`^P?ⴿ@ih=?@?ɨJT@J.<;JCyZBZ,(IIjiIj:4٢v vL=9zQ z>| G٣GGy E  > %Nusing accuracyPremultiplier from config%59ߛ?-5Yt iCB)-|5T@Ds;6;5E~B EA@AZjq}FNOT Ignoring new targets: 496.20 m.Bj}n;Jj}n; ProNav: ac range: 496.200012 m, nav range: 43.102535 m, bearing: 89.702581 deg, approach rate: 0.608655 m/s, LOS rate: 0.436136 deg/s, cmd heading: 309.489040 deg, new cmd heading: 310.018012 deg. 2j<HeadingCmd: 5.410835 target range: 496.200012 and range: 496.20 m. j%@jjjihhhhfffrfbf)?ɛ5B wI ɚiIE;=IUR_iiﴼ)%@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494501*F?2F:FBF_0JF G!Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746841 Uw,?TA 6$?I4B:@YB@J@B:9BXq=yBH?`?`Er n? -2]@x?V?ɨB:@B<;BCyJBJ(IiRJ>IRi>-Mb@Mb@Mb@))) )))Y-|?5^?Mby&1y-2?--`e-\ A -h@))I-A)y-fAIEIE]4٢M&} UD=9U5Q ]>YY ]G٣Yye e> uNusing accuracyPremultiplier from configq}59uߛ?}5Yu{ iuCB5?:ʉT@uDul;u;u!5 @ZjFNOT Ignoring new targets: 496.20 m.Bj<Jj< ProNav: ac range: 496.200012 m, nav range: 43.362144 m, bearing: 89.889586 deg, approach rate: 0.629548 m/s, LOS rate: 0.450768 deg/s, cmd heading: 310.018024 deg, new cmd heading: 310.575662 deg. 2jHa Ia  Ie (IIe BIe , =&Ia .Ia 6Ie <:Ie k FzK F5LK 9K K s K </RK ?JK ?&Uw,`TAVWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251517Jy,@YJ;@Jd{:9J=yJH@?M?툸y4?@ bO~?@?ɨJy,@J҇;Hy]Be(IIuIuv}4JJJJJJ :JJJJJw;Jw;٢ɼ F=9 Q > G٣yG > Nusing accuracyPremultiplier from config598 ?5Ys iCBT@ D:&:5 h@ZjFNOT Ignoring new targets: 496.20 m.Bj%;Jj%;5 ProNav: ac range: 496.200012 m, nav range: 43.620026 m, bearing: 90.072049 deg, approach rate: 0.618595 m/s, LOS rate: 0.435095 deg/s, cmd heading: 310.575668 deg, new cmd heading: 311.119802 deg. 2j=MG,Uw,OBB(IMb@Mb@Mb@ )Y^I +?X9v:vyX9?TE A Q@)AIhAyAI-I-q4٢= =Q=9EQ E>AI MG٣MGGyM{ M> UNusing accuracyPremultiplier from configQ59U?5YU iUCBe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007331T3Uw, TAZ@YZ{(@Zy [9Z +>yZH[?p?a`v!1?lak? &:?`۽?ɨZ@Z;XyfBf(I)h hIrIrF4٢z zO=9zW߻Q ~>|| ~G٣|y > Nusing accuracyPremultiplier from config 59 "?%5Y ˏ i |CB!%ވ%T@ D l0; }0; 5) -@1MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 496.20 m.Bje0 <Jje0 =IUiil)\@)H">I I(II BI+ =&I.I6IO<:I F*Fe?2Fa:FaBFm0JFizKtLK9KKt KBK:KqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260896J J J J J J :J J J J J  t;J  t;Gm%$$ ) I5 hG9 BI Oe >:Uw,&TANE@YN.@Nû9NaZ>yNH`'? ?7@f?S߳ qx?@V?@V?ɨNE@N؇;NCy~B~ (II I 4٢5 5F=9=VлQ =>99 EG٣AyE: E> MNusing accuracyPremultiplier from configIU59M.?]5YMȖ iMqCBY]]T@M)DM ;M* ;M55a mݽ@EZjFNOT Ignoring new targets: 496.20 m.Bj;Jj; ProNav: ac range: 496.200012 m, nav range: 44.394367 m, bearing: 90.617657 deg, approach rate: 0.640708 m/s, LOS rate: 0.443286 deg/s, cmd heading: 312.193904 deg, new cmd heading: 312.746986 deg. 2j<HeadingCmd: 5.458465 target range: 496.200012 and range: 496.20 m. j@jjjihhhhfffrfbf . @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:59:46.5561 TRx dataTimestamp_ set to:1736373587.724758%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511814ɛ5&B5%, 9=I9 ={㾼ɚ9i9I=>=IE SiAiM)M@)I*F?2F:FBF0JFG _NG%?G%>GBOn> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762622 ! I! ?@Uw,UA6$@Y6>4@696V>y6H@g?v?` ? Pb@ׂ?b??ɨ6$@6(k;4ynBr (IMb@Mb@Mb@ )Y+?V-I +yv>?94\ A h@)hAIzAyAII٢t< C=9JQ > G٣GGya: > Nusing accuracyPremultiplier from config59I I{(IIBI, =&I.I6Iw<:I; FG jzKe BoIKe h9Ka Ke u Ke $-3DfG B O >.GUw,rUA6m=@Y6L@64eK96s>y6H@|?@?ײ q `.?D3{l?B?`?ɨ6m=@6#;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.bDAT read: 21:59:46.5561 LVL= 14624, 28145, 17266, 28723, AGC= 67, IDX= 416,-0.37,-0.559,-1.651,-2.012,-1.252, PHS= 0.781,-0.351,-0.762, RAW= 75.1, 4.9, CAL= 78.6, 4.2, ROT= 71.4, -4.2 nYgot valid direction response: 21:59:46.5561 LVL= 14624, 28145, 17266, 28723, AGC= 67, IDX= 416,-0.37,-0.559,-1.651,-2.012,-1.252, PHS= 0.781,-0.351,-0.762, RAW= 75.1, 4.9, CAL= 78.6, 4.2, ROT= 71.4, -4.2 ~PDAT read: Bearing 71.4, -4.2 (Local) ~Local bearing/azimuth received: Bearing 71.4, -4.2 (Local) DAT read: Range 10 to 50 : 495.8 m (Round-trip 661.1 ms) speed 0.0 m/s %,DAT read: user:2207> %BDAT read: Tx time:21:59:47.6409 -$Ping request sent.-    G٣ y; > mNusing accuracyPremultiplier from configa $?IU59ezI?]5YeK ie`CBY]X]U@e=De=e=e5a mV@ikB!܈?kB d k@ kBlUA:kBCBkB0CZkBܧ?"BЇR=#g.f@E |@B(L"ÿԣ%?݅~?JkB?RkB*Bj8 4A@S6@5`@g}@BYNñ?=SӼ?ńm?"kBC*kB BkB!ڜ?kBgM 2kBhDkB̐?kBѧ kBL DkBBkB0? addTargetRange:: Added new target pos. range: 495.799988 m, deltaT: 4.283890 s, deltaX: -0.400024 m, approachRate: -0.093379 m/s, rangeRepo size: 4  Added new target pos. range: 495.799988 m, bearing: 75.138931 deg, lat: 36.900222 deg, lon: -122.119529 deg, deltaT: 4.283890 s, deltaX: -0.400024 m, approachRate: -0.093379 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 495.80 m.BjJj ProNav: ac range: 495.799988 m, nav range: 94.309105 m, bearing: 80.209731 deg, approach rate: 0.000000 m/s, LOS rate: 0.448575 deg/s, cmd heading: 313.334054 deg, new cmd heading: 313.966218 deg. 2jHeadingCmd: 5.479744 target range: 495.799988 and range: 495.80 m. jZ@jjji!h!h!h!h)f)f)f)rf-~@bf5?ɛB sI ¼ɚi!I%|x?=I%PMi)i-g)-Z@5Will construct direction to contact in vehicle frame from tetrahedron phase data.)i*F 2F :F BF z0JF G rG B O} >=QMUw,b7UA}@Y}h@}k9}%>y}H%? x?@X@L?m?`}?-?ɨ}@};}CyB(ImWill construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%S㥛?rh|{Gzty%D?%%ף%A %@)%AI%A!y%fAJEJEJAJAJE:JE!:JAJAaM@aM@aU@aU@IUsIUK4٢; &=9zQ > G٣y^< > Nusing accuracyPremultiplier from config59eY?5Yޭ i\CB^G?:ŅU@ID3;;5 IyB !@EZjFNOT Ignoring new targets: 495.80 m.Bj;Jj;5 ProNav: ac range: 495.799988 m, nav range: 94.598122 m, bearing: 80.356000 deg, approach rate: 0.650078 m/s, LOS rate: 0.327994 deg/s, cmd heading: 313.966229 deg, new cmd heading: 314.403687 deg. 2j5a<=HeadingCmd: 5.487380 target range: 495.799988 and range: 495.80 m. j=@j9j9j9i9hAhAhAhEڈBfIfIfIrfIbfuVP?ɛB;% hI FļɚiI&?=IKiiߨ)@)*F2F:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G G rAG rAG B O >xTUw,TUA6߳@Y6Eì@6̼96,+>y6HlF?R?^w¿?!v?@hJ?M?ɨ6߳@6I ;6Cy>B>((IIJzIJ=X4٢R"= R|=9RzQ V ?TT ZG٣ZGGyZ< ^ ? bNusing accuracyPremultiplier from config\b59^0d?f5Y^ i^ZCBdffU@^RD^ ;^y;^5nxB r@rEH~">I| I~u(II~BI|&I|.I|6I~t<:I~9 FBIJIRIZIbI, =jIHn4}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 495.80 m.Bj;Jj; ProNav: ac range: 495.799988 m, nav range: 94.791756 m, bearing: 80.454401 deg, approach rate: 0.610635 m/s, LOS rate: 0.309679 deg/s, cmd heading: 314.403689 deg, new cmd heading: 314.698287 deg. 2jT<HeadingCmd: 5.492521 target range: 495.799988 and range: 495.80 m. j¯@jjji h h h h fffrfbf $?Iha[Uw,bnUA>Will construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.244087=~@Y=@=2#9==2>y=H@Hu? o?iÿ zH?`I#?@y(??ɨ=~@=l;=CyUBU&(I)Y YY]AIeiIe:4٢u/ }>=9}",Q }> G٣y_< > Nusing accuracyPremultiplier from config59r?5Y. iXCBU@\D"::c5vB @EZjFNOT Ignoring new targets: 495.80 m.Bjh;Jjh; ProNav: ac range: 495.799988 m, nav range: 95.046806 m, bearing: 80.585227 deg, approach rate: 0.623474 m/s, LOS rate: 0.318946 deg/s, cmd heading: 314.698289 deg, new cmd heading: 315.089706 deg. 2jZ<HeadingCmd: 5.499353 target range: 495.799988 and range: 495.80 m. j@jjjihhh h f ffrfbf`c?)Y a~G E YIyMaBɛeBm qu?Iy sƼɚiI?=I?HiUiܺiy) @)*F?2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495246*J4="J4=JJJJJ:JJJ I G )G B O >TbUw,iUA6w1@Y6@@6*@ 969>y6H? ?YĿl w?@Z2'?@? 9u?ɨ6w1@6@;6CyRĈBR8(I-%only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 74.42, 81.55, 82.57  %@% %@% %@%  %@% I5I54٢Et= EN=9Ej(Q M>II MG٣IyUx< U> ebBottom track data is 0.4 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYm59]3?m5Y]! iYm+:im\:m uU@]fD]&;]A>]25y })@yZjFNOT Ignoring new targets: 495.80 m.Bjծ;Jjծ; ProNav: ac range: 495.799988 m, nav range: 95.281013 m, bearing: 80.706484 deg, approach rate: 0.591915 m/s, LOS rate: 0.305701 deg/s, cmd heading: 315.089713 deg, new cmd heading: 315.452584 deg. 2jQ<HeadingCmd: 5.505686 target range: 495.799988 and range: 495.80 m. j.@jjjihhhhfffrfbfh?ɛ B :  @I  vǼɚiI4?=I%, Gi!i%j)%.@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748281*F2F:FBF`0JFH#>I I(IIBI+ =&I.I6I<:IV FGbGBO>zK% MK% +9K! K% w K% RK= ?JK= >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999276+hUw,AEUA @ID>z@Y>@>|9>@>y>Ht? ?7ſ`w< ?K,??i?ɨ>z@>;ll nG٣nGGyru< r> vbBottom track data is 0.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configtz59v?z5Yv it~ :|~2:~~U@vpDv8;vI?vm5  ɺ@ ZjQUFNOT Ignoring new targets: 495.80 m.Bj];Jj];m ProNav: ac range: 495.799988 m, nav range: 95.509506 m, bearing: 80.826194 deg, approach rate: 0.580464 m/s, LOS rate: 0.303386 deg/s, cmd heading: 315.452587 deg, new cmd heading: 315.810855 deg. 2jm6PWnUw,'UAy~B~`(Ii%>IC=        Mb@Mb@Mb@ )YGz?ʡE~jt?yp=?-D<nA @)IAyQAIIq4٢`= <=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y ibCBT:>?:fzU@zD* ;;8 5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503524uB @EJK KKK"KJJJJJl:J#:JJZj 5FNOT Ignoring new targets: 495.80 m.Bj5;Jj5;E ProNav: ac range: 495.799988 m, nav range: 95.745659 m, bearing: 80.958436 deg, approach rate: 0.512569 m/s, LOS rate: 0.286321 deg/s, cmd heading: 315.810844 deg, new cmd heading: 316.206584 deg. }$?Iy2jED<HeadingCmd: 5.518846 target range: 495.799988 and range: 495.80 m. jc@jjjihhhhUBfffrfbf @ɛ- B- )-I) -ȼɚ1i1I5?=I=Ci=i=u)=c@)9*F]?2FY:FYBF]l0JFYGa GeqA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759034G GY Ba O >u=uUw,{UA:_@Y:@:69:L>y:H@?,>?`ƿ5?Q ئ?`N?U?ɨ:_@:0;:CHV$>IT IV(IIVBIT&IT.IT6IV{<:IV? FybBbt(IIn}In]4٢v7= vY=9vԠQ v>xx zG٣xy~@4= ~> uNusing accuracyPremultiplier from configq}59u?}5YuF iumCB$vU@uDu~ ;u~ ;u5tB @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 495.80 m.Bj(;Jj(; ProNav: ac range: 495.799988 m, nav range: 95.955742 m, bearing: 81.079249 deg, approach rate: 0.582501 m/s, LOS rate: 0.334248 deg/s, cmd heading: 316.206586 deg, new cmd heading: 316.568227 deg. 2jde<HeadingCmd: 5.525158 target range: 495.799988 and range: 495.80 m. jΰ@jjjihhhhfffrfbf@l@ɛ% B%ǘ !%P!I! -'ɼɚ)i)I-?=I5Bi1i5)5ΰ@)9*F2F:FBF24JFzK cKK 9K K x K BKqA:KGޚ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008641GABQOm5> e$?Iehg{Uw,UA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259231:K@Y:~Z@:J-D9:FO>y:H ,v? ?ǿF?ШB?? O?ɨ:K@:J;:CyrBv(II~I~d4٢ k0=  H=9 Q  > G٣HGy-< => ENusing accuracyPremultiplier from configAM59En?M5YE iEyCBIMsUU@EDEP:E:E5}sB }S@}EZjFNOT Ignoring new targets: 495.80 m.Bj;Jj; ProNav: ac range: 495.799988 m, nav range: 96.167847 m, bearing: 81.202608 deg, approach rate: 0.523365 m/s, LOS rate: 0.303715 deg/s, cmd heading: 316.568230 deg, new cmd heading: 316.937485 deg. 2joP<HeadingCmd: 5.531603 target range: 495.799988 and range: 495.80 m. j@j j j i h h hhfffrfbf @ɛB(AҼ  I CɼɚiIۂUw, VA2G@Y2@2F=R92vP>y2HM?`?`eǿтx?D? ?DL?ɨ2G@2_F;2CyFBF(I)H HMb@Mb@Mb@ )Y&1?Q뱿~jt?y0?\<A @)hAIAypAI-I-q4٢E= E7=9EQ E>II MG٣IyUȑ< U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]" i]CBm1?m:mnmU@]D]a;];]5q u@qZjAEFNOT Ignoring new targets: 495.80 m.BjM;JjM;]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763360} ProNav: ac range: 495.799988 m, nav range: 96.383850 m, bearing: 81.332470 deg, approach rate: 0.473688 m/s, LOS rate: 0.284144 deg/s, cmd heading: 316.937498 deg, new cmd heading: 317.326204 deg. 2j}C<HeadingCmd: 5.538387 target range: 495.799988 and range: 495.80 m. jx:@jjjihhhhBfffrfbfm`@ɛeBeRE im=I>i ip)x:@)E8=H%>I I(IIABI&I.I6I^<:I+ F*F-?2F):F1BF54JF1G@GBO5>zK BHK +9K K y K Nlm9IFRK >JK > Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 21:59:50.7052 LVL= 17536, 27425, 19042, 25811, AGC= 67, IDX= 436,-0.30, 0.883,-0.599,-0.942,-0.284, PHS= 1.254,-0.268,-0.662, RAW= 78.8, -3.7, CAL= 86.8, -9.9, ROT= 63.2, 9.9 E Ygot valid direction response: 21:59:50.7052 LVL= 17536, 27425, 19042, 25811, AGC= 67, IDX= 436,-0.30, 0.883,-0.599,-0.942,-0.284, PHS= 1.254,-0.268,-0.662, RAW= 78.8, -3.7, CAL= 86.8, -9.9, ROT= 63.2, 9.9 M PDAT read: Bearing 63.2, 9.9 (Local) M ~Local bearing/azimuth received: Bearing 63.2, 9.9 (Local) ] DAT read: Range 10 to 50 : 495.0 m (Round-trip 660.1 ms) speed 0.3 m/s ] ,DAT read: user:2208> e BDAT read: Tx time:21:59:51.7910 m $Ping request sent.m Z'?-e 心z݃) B48I j=i ? !  :publishing transmit ping timei  Fpublishing direction and range info 9 ZnLt?e#?ݜ?y  ) I i ) I i Z'?-e 心z݃) I i ! I) Uw,@%VAR@٧@YR@R~^9R#R>yRH??ǿ@M?߹X̫?b?LG?ɨR@٧@Rv;RCy]!B](IIuIu<4٢= C=9Q > G٣y,< > Nusing accuracyPremultiplier from config 59?5YV iCB9=blEU@Di<S<5]qB ]@]Ek=l?k=a k9 k=!VA:k=CBk=CZk=/?"=D$@Nb@OΖ}@=ZnLt?e#?ݜ?Jk=?Rk=!*=8HE/@]Y +H@~@=0'?#W?h粎?"k=XAB*k=Ak=˲?k=- 2k=< Dk=˲?k9k9k=Bk=ֳ? addTargetRange:: Added new target pos. range: 495.000000 m, deltaT: 4.036092 s, deltaX: -0.799988 m, approachRate: -0.198209 m/s, rangeRepo size: 4  Added new target pos. range: 495.000000 m, bearing: 71.702935 deg, lat: 36.900236 deg, lon: -122.119529 deg, deltaT: 4.036092 s, deltaX: -0.799988 m, approachRate: -0.198209 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 495.00 m.BjJj ProNav: ac range: 495.000000 m, nav range: 96.846626 m, bearing: 80.500489 deg, approach rate: 0.000000 m/s, LOS rate: 0.284144 deg/s, cmd heading: 317.326218 deg, new cmd heading: 317.707264 deg. 2jHeadingCmd: 5.545038 target range: 495.000000 and range: 495.00 m. jp@jjjihhhhfffrf~@bf@{?ɛBH祿  `=I  iȼɚ i I vc>=I: G٣HGy >  Nusing accuracyPremultiplier from config 59?5Y( iCB&?:.eU@D ;;5! %@%EZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 97.100525 m, bearing: 80.667815 deg, approach rate: 0.459468 m/s, LOS rate: 0.302008 deg/s, cmd heading: 317.707260 deg, new cmd heading: 318.207910 deg. 2jDO<HeadingCmd: 5.553776 target range: 495.000000 and range: 495.00 m. j@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAhhщBff f rf bf MY?ɛ]B 隥=I /ǼɚiIs==I:iӑ,i )@)*Fu?2Fq:FqBF} 1JFyHI I)IItBI&I.I6Iհ<:I FG 憽zK5 NK1 K1 K5 z K5 & BKA :KE oA Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >3 Uw,bVAJ<J>J<J<J<J>":J<J<J> 7{;aFJ>8{;aJ LIP~b@Y~lq@~v9~dQ>y~H=?@p7?@ǿ`J?@Og`Ϯ?>?uF?ɨ~b@~B;|yeIBe(II?IT3٢= j=9YQ > G٣y@= > Nusing accuracyPremultiplier from config59B?5Y iCB  `U@D=;3=;!5oB j@E=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 495.00 m.BjU;JjU;e ProNav: ac range: 495.000000 m, nav range: 97.251556 m, bearing: 80.770048 deg, approach rate: 0.436285 m/s, LOS rate: 0.294862 deg/s, cmd heading: 318.207913 deg, new cmd heading: 318.514133 deg. 2je\JI ƼɚiI-8==IT\9ig3i۫)P@)*F?2F:FBFh4JFG}YSG9BIO]U>mWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.4MUw,3{VAymUBm(I Mb@Mb@Mb@    ) Y +?I +Zd;O?y v? 9 j<  @) QAI  A y AI0I(3٢5rt= 5C=95Q 5>99 =G٣9yE E>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500329  Nusing accuracyPremultiplier from config 59 t?5Y ' i CB?:WU@ D ; o; %5A M@I $?IhZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 97.422653 m, bearing: 80.893814 deg, approach rate: 0.376900 m/s, LOS rate: 0.272160 deg/s, cmd heading: 318.514124 deg, new cmd heading: 318.884766 deg. 2j:< HeadingCmd: 5.565589 target range: 495.000000 and range: 495.00 m. j N@jjjihh9h9h=BfAfAfArfAbfM?ɛ]B]G Ye8<>Ia eGżɚaiaIe{<=Imi7im=im@)mN@)q*F-?2F):F)BF-05JF)"G==G== Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755559G ,G BI Oe >8>Uw,VA6@Y6?@6f96oQ>y6H?`?`&ȿ`?]|}?@}?D?ɨ6@6Vu;6CyBXBB(I)D DIJiIJ:4٢RE< Vf=9VCQ V>TX ZG٣ZHGyZO= Z> bNusing accuracyPremultiplier from config\b59^%?f5Y^ i^DBhj5SjU@^D^;^4;^(5nnB nb@rEH$>I II)IIBI&I.I6I<:Id FBIJIRIZI+ =bI+ =jI{4ZjFNOT Ignoring new targets: 495.00 m.BjK;JjK; ProNav: ac range: 495.000000 m, nav range: 97.549149 m, bearing: 80.988252 deg, approach rate: 0.375913 m/s, LOS rate: 0.280281 deg/s, cmd heading: 318.884757 deg, new cmd heading: 319.167700 deg. 2jZ@<HeadingCmd: 5.570527 target range: 495.000000 and range: 495.00 m. jA@jjjihhhhf)f1fQrfYbf] x?ɛB 隥D>I C3ļɚiIf;=Ip6iCij)A@)*Fi2Fi:FiBFm_0JFiGE Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004689zKKK9KK{ K  GQ e $?IaJJJJJ,:J%:JJJ<J<JK;JL;BOj>gUw,կVA:0E@Y:T@:o@9:fP>y:Ha?l?ǿnK?`J ? ?E?ɨ:0E@:b;:CyF\BF(IINtINM4٢VP< VJ=9ZúQ Z>\\ ^G٣`yb< b> fNusing accuracyPremultiplier from configdj59f!?j5Yf ifDBlnPnU@fDf ;f ;f1,5p r@pZj  FNOT Ignoring new targets: 495.00 m.Bjt;Jjt;%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256365= ProNav: ac range: 495.000000 m, nav range: 97.702309 m, bearing: 81.104294 deg, approach rate: 0.398618 m/s, LOS rate: 0.301540 deg/s, cmd heading: 319.167691 deg, new cmd heading: 319.515267 deg. 2j=NI r¼ɚiI0;=I34iqIiEd)ts@)GGvA %jY%vAy%VBE*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509000 Q IQ G G qAG Gq B O >sUw,HVAB@YBd@BB9B‚P>yBH@?`>^?@ǿ ?l鹿??,E?ɨB@B$;BCyLN(I-Mb@Mb@Mb@))) )))Y-l?y&1|Q?y-?-`廹-u<-A )))I))y-pAIEiIE:4٢u.; }:=9}+Q }> G٣yn< > Nusing accuracyPremultiplier from config591?5Y i2DB?:GU@D{;;05lB M@MEZjFNOT Ignoring new targets: 495.00 m.BjB;JjB; ProNav: ac range: 495.000000 m, nav range: 97.854080 m, bearing: 81.227192 deg, approach rate: 0.327128 m/s, LOS rate: 0.264483 deg/s, cmd heading: 319.515266 deg, new cmd heading: 319.883382 deg. 2j5<HeadingCmd: 5.583018 target range: 495.000000 and range: 495.00 m. j@jjjihhhhBf f f rf bf @ɛ=B=1$ 9=VW>I9 EZɚAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760519i9I=.S:=IE(>3iE[RiM7<\)M@)IE=G=ZHRHHI Iu)IIƉBI&I.I6Ia<:I+ F*F2F:FBFJFGd~GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012191 I zK LK +9K K | K JU JU JQ JQ JU :JU *:JQ JQ JU <JU <JU ;JU ;LUw,oGVA2ש@Y2@2.#92p>P>y2H@@?)?ǿJ ?;(`!?"?4E?ɨ2ש@2';2Cy:ZB:(Ii>>I>p; r=rp=I rI J4٢}< I=95Q > G٣HGy< > Nusing accuracyPremultiplier from config59??5Y  iHDBEU@D;';35 $@ B*** querying acoustic contact ***j j Zj9=FNOT Ignoring new targets: 495.00 m.BjE`;JjE`;} ProNav: ac range: 495.000000 m, nav range: 97.993362 m, bearing: 81.341427 deg, approach rate: 0.353074 m/s, LOS rate: 0.289169 deg/s, cmd heading: 319.883386 deg, new cmd heading: 320.225600 deg. 2j}tF<HeadingCmd: 5.588991 target range: 495.000000 and range: 495.00 m. jٲ@jjjihhhhfffrfbf`. @ɛBV 隵V>I PɚiI9=I1iXiwS)ٲ@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264250*F ?2F :F BF JF G fgG B O >RUw,[WA:Hc@Y:r@:ɖ9:ZN>y:H??M?wǿz@S|?$/??H?ɨ:Hc@:Sɍ;:CyF`BF(IZWill construct direction to contact in vehicle frame from tetrahedron phase data.^BDAT read: Rx Time:21:59:54.8536 ^TRx dataTimestamp_ set to:1736373596.044629bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.517315 ~ $?I~h*Ji"Jmp=EMb@Mb@Mb@AAA A)AYE"~?qq uG٣qy}@= }> Nusing accuracyPremultiplier from config59P?5Y* i[DB?:AU@D;+;75jB @EZjFNOT Ignoring new targets: 495.00 m.Bj;Jj;M ProNav: ac range: 495.000000 m, nav range: 98.152466 m, bearing: 81.476139 deg, approach rate: 0.330407 m/s, LOS rate: 0.279300 deg/s, cmd heading: 320.225605 deg, new cmd heading: 320.629079 deg. 2jM?I 5ɚiI 8=I2/i@^i90)@)*F?2F:FBFo0JFGlSGaBqO>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768233H ">I  I )II ډBI &I .I 6I k<:I 1 FrUw,)ZWA6@Y6嬱@6g~96(KL>y6Hc??{'ǿO?ʟ@ ? O?K?ɨ6@6sI;6Cy^PBb(IIjwIjR4٢r ve=9v:Q v>xx zG٣xyz6< ~> Nusing accuracyPremultiplier from config 59{]? 5Y iiDB  /?U@Dv:@::5 @ZjAEFNOT Ignoring new targets: 495.00 m.BjU;JjU;e ProNav: ac range: 495.000000 m, nav range: 98.268135 m, bearing: 81.575012 deg, approach rate: 0.333126 m/s, LOS rate: 0.284416 deg/s, cmd heading: 320.629078 deg, new cmd heading: 320.925344 deg. 2je1C BDAT read: Tx time:21:59:55.9410 $Ping request sent.c0e?ܠ7'))I=iS?pɛ=B=R! 9=bL>I9E:publishing transmit ping timeؙEFpublishing direction and range info9TR?[`?z \]?y )Ii )Iic0e?ܠ7')Ii E޻ɚiI7=IW.i5di,)=@)*F]?2FY:FYBF]p0JFYG= Sm Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:21:59:55.9402 G B O- >Uw,4WAZڪ@YZ @Z9Z(H>yZHq?x? Ъƿ "?`:b??Q?ɨZڪ@Z;ZCyFB (I) IIi4٢-P -H=95"E;Q 5>19 =G٣=HGy=< => mNusing accuracyPremultiplier from configam59eCl?u5Ye  ieyDBquE=uU@eDe:eX:e>5y }E@k(ڛ?k8 k k{0#WA:kCBk2CZk^@"I@ ?K]7zX@D?~@TR?[`?z \]?JkS?Rkp*s,6iB6@R\o~@P{R~uCq??"kA*kIkٛ?k 2kZ DkkkkBk? addTargetRange:: Added new target pos. range: 493.799988 m, deltaT: 4.034041 s, deltaX: -1.200012 m, approachRate: -0.297471 m/s, rangeRepo size: 4  Added new target pos. range: 493.799988 m, bearing: 135.514020 deg, lat: 36.900236 deg, lon: -122.119529 deg, deltaT: 4.034041 s, deltaX: -1.200012 m, approachRate: -0.297471 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 493.80 m.BjJj} ProNav: ac range: 493.799988 m, nav range: 98.400879 m, bearing: 81.689704 deg, approach rate: 0.000000 m/s, LOS rate: 0.284416 deg/s, cmd heading: 320.925345 deg, new cmd heading: 321.300222 deg. 2jHeadingCmd: 5.607747 target range: 493.799988 and range: 493.80 m. jr@jjjihhh h f9f9fArfM~@bfU`?ɛ5B5Q$ 15:>I9 =ێɚ9i9I=7=IE,iEnviiE$S+)Er@)IWill construct direction to contact in vehicle frame from tetrahedron phase data. I *F2F:FBF0JFJJBAGW5GBO>&xUw,*NWA2@Y2l@2#92?>y2H` ?Nv?ſ?B t? \?_?ɨ2@2W4;0yR;BR(IeMb@Mb@Mb@aaa a)aYex?S㥛I +yeK?e/ݼe94eA a)e3@Ie AayeAI}\I}#4٢T F=9:Q > G٣y; > Nusing accuracyPremultiplier from config59{?5Yt iDBz?:%CU@D;;B5iB ݲ@EZjFNOT Ignoring new targets: 493.80 m.Bjd;Jjd;  ProNav: ac range: 493.799988 m, nav range: 98.541229 m, bearing: 81.804516 deg, approach rate: 0.366867 m/s, LOS rate: 0.299684 deg/s, cmd heading: 321.300213 deg, new cmd heading: 321.644154 deg. 2j M<HeadingCmd: 5.613750 target range: 493.799988 and range: 493.80 m. j֣@jjjihhh!h%Bf!f!f!rf)bf-@(?]Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛeBef imd'>Ii mVɚiiiIm6=Iu!`+iyi}~9)}֣@)y*F-?2F):F1BF5=1JF1jH<bH<H >I I)IIՉBI, =&I.I6I~<:I= FGU+G) B9 OU > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK jIK 9K K ~ K  {j G9P<Y.  PExceeded connect timeout, disconnecting.xUw,uhWA5L"@Y51@5ڃ95S>>y5H`5?-S?`cſ`? ;M??b?ɨ5L"@5】;5CyU,B](IIuRIuW4٢ J=9O;Q > G٣y}< > Nusing accuracyPremultiplier from config59?5Y" iDBAU@D: ;E5 г@B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 493.80 m.BjҞ;JjҞ;% ProNav: ac range: 493.799988 m, nav range: 98.678825 m, bearing: 81.917930 deg, approach rate: 0.337391 m/s, LOS rate: 0.277708 deg/s, cmd heading: 321.644154 deg, new cmd heading: 321.983918 deg. 2j%><-HeadingCmd: 5.619679 target range: 493.799988 and range: 493.80 m. j-jԳ@j)j)j)i)h1h1h1h1f9f9f9rf9bfE@'}?ɛBNW[ )-~ >I) -Bùɚ)i1I5 5=I5)i=6oi=6)=jԳ@)9*F?2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.aieAeT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.G% ,$=G- ?G- >G B1 O >OUw,DWA6V@Y6we@6B96<>y6H`A?`t/?@ſ`8!?@h?`m? Fe?ɨ6V@6;6Cy>B>(IiF=IFa= Jp=J= R $?ITbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.482311JJJJJ:J!:JJa@a@a@a@Mb@Mb@Mb@ )Y?&1~jty ?PļA )I`Ay\AIJI)4٢e妽 e==9e7';Q e>ii mG٣mHGyu0p< > Nusing accuracyPremultiplier from config59?5Y' iDB ?:GU@ DD;^;qI5gB ٴ@EZj!-FNOT Ignoring new targets: 493.80 m.BjU;JjU;e ProNav: ac range: 493.799988 m, nav range: 98.842422 m, bearing: 82.045057 deg, approach rate: 0.371841 m/s, LOS rate: 0.288470 deg/s, cmd heading: 321.983915 deg, new cmd heading: 322.364659 deg. 2jeEI  I o)II BI - =&I .I 4D6I t<:I 5 FG B O > Uw,!WAB@YB@Bv9Bi];>yBHd? ?ĿA?̹`ˮ?{??h?ɨB@B';BCy^Bb(IIj|Ij[4٢r rf=9ra;Q v>xx zG٣xy< >  Nusing accuracyPremultiplier from config 59 V?5Y + i DBXFU@ D 6; 7; L5! -C@)ZjIUFNOT Ignoring new targets: 493.80 m.Bj];Jj];m ProNav: ac range: 493.799988 m, nav range: 98.973900 m, bearing: 82.148026 deg, approach rate: 0.382457 m/s, LOS rate: 0.299130 deg/s, cmd heading: 322.364657 deg, new cmd heading: 322.673150 deg. 2jmJM<}HeadingCmd: 5.631709 target range: 493.799988 and range: 493.80 m. j}6@jyjjihhhhfffrfbf ?ɛBYw 0=I ɚiIR4=I(&ii4)6@) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987377*F ?2F :F BF JF"G=G=zK OK]9KK K &>EHIIGEBA?=;7533RK ?JK ? nManaging dock network, ignoring radio surface power offG1G B OE >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238251{Uw,EWAF.@YFͲ@F @l9F9>yFH W? e?[Ŀ`yS`? `Ѓ?3 ?@el?ɨF.@Fɹ;FCyNBRw(II^I^_v4٢fl fJ=9f;Q f>hh jG٣hynz< n> rNusing accuracyPremultiplier from configpv59r?v5Yr0 irDBtvDzU@rDr<:r:r P5~eB ~@~EZj!-FNOT Ignoring new targets: 493.80 m.Bj=@;Jj=@;M ProNav: ac range: 493.799988 m, nav range: 99.123604 m, bearing: 82.266129 deg, approach rate: 0.371255 m/s, LOS rate: 0.292445 deg/s, cmd heading: 322.673163 deg, new cmd heading: 323.026933 deg. 2jMHUw,WA6ګ@Y6L@6 f9617>y6H 8?@x?ÿnc`r?R??p?ɨ6ګ@6 ";6Cy>B>f(I)D DDFAUMb@Mb@Mb@QQQ Q)QYU(\?|?5^V-yU'?UҽUUA U@)U@IUAQyUfAImImHo4٢}P }@=9}Li;Q > G٣HGy< > Nusing accuracyPremultiplier from config59?5Y6 iDB)?:jVU@"DD;;S5 ķ@ZjFNOT Ignoring new targets: 493.80 m.BjW;JjW; ProNav: ac range: 493.799988 m, nav range: 99.306641 m, bearing: 82.390688 deg, approach rate: 0.428193 m/s, LOS rate: 0.290853 deg/s, cmd heading: 323.026939 deg, new cmd heading: 323.399920 deg. 2jG<HeadingCmd: 5.644393 target range: 493.799988 and range: 493.80 m. jߞ@jjjih h h h BfWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742678ff!rf)bf-`0-@ɛB] I}C I}=)II}BIy&Iy.Iy6I}`<:I}& FBI9JI9RI9ZI=, =bI=, =jI=RD5*F?2F:FBF0JFG/ U $?IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994760G B O >zK MK K K K 11//-)$    BK- pA:K- pAUw,3WAf@Yf8@f^9fS6>yfH?? ÿKHേ?h Sͫ?৬?)r?ɨf@f ;fCyrԈBrM(IIzIzk4٢н P=9%&;Q %>!! %G٣)y-7< -> 5Nusing accuracyPremultiplier from config1=595]?=5Y5*; i5DBAEMUEU@5+D5;5;51W5MdB M@MEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 493.80 m.Bj;Jj; ProNav: ac range: 493.799988 m, nav range: 99.474449 m, bearing: 82.505214 deg, approach rate: 0.428738 m/s, LOS rate: 0.292111 deg/s, cmd heading: 323.399922 deg, new cmd heading: 323.742916 deg. 2jyH<HeadingCmd: 5.650380 target range: 493.799988 and range: 493.80 m. jϴ@jjjihhhhfffrfbfI @ɛވBü I ZɚiIRM3=I!ik(iME)ϴ@)*F?2F:FBFw4JFG1 G5rA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246340)I McC~G XYy BGm,$=GI B O > 9 I9 ^Vw,XABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.498268F?@YF'@FyFH !??@xÿ 4\?zCD? ?:t?ɨF?@F;FCyRЈBRG(I-Mb@Mb@Mb@))) )))Y-9v?㥛 ¿X9vy-4?JEJEJAJAJE,:JE^:JAJA---A -p@)-@I-A)y-AIeIed4٢ua uE=9}w%;Q }> G٣y; > Nusing accuracyPremultiplier from config59?5Y>A iDB8?:`U@4D;o;Z5 <@ZjFNOT Ignoring new targets: 493.80 m.Bj@;Jj@; ProNav: ac range: 493.799988 m, nav range: 99.678467 m, bearing: 82.631863 deg, approach rate: 0.491815 m/s, LOS rate: 0.304682 deg/s, cmd heading: 323.742907 deg, new cmd heading: 324.122072 deg. 2jQ<HeadingCmd: 5.656997 target range: 493.799988 and range: 493.80 m. j@jjjihhhhՈBfffrfbf @ɛ5݈B5ƋƼ 9=ҼI9 =vɚ9i9I=02=IEM iE敆iMBQ)M@)i*F2F:FBF _5JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:21:59:59.0138 =TRx dataTimestamp_ set to:1736373600.328848Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.751487G \GHq Iq  Iu )IIu oBIq &Iq .Iq 6Iu 3<:Iu  FG B O >Vw,~XAy B ((Ii=I= =II٢- -O=95Q 5>99 EG٣EHGyE E> MNusing accuracyPremultiplier from configIU59M?U5YMG iMzDBYY]U@M>DM ;MH!;MG^5mbB m@mEZjFNOT Ignoring new targets: 493.80 m.Bjb;Jjb; ProNav: ac range: 493.799988 m, nav range: 99.873146 m, bearing: 82.751952 deg, approach rate: 0.492438 m/s, LOS rate: 0.303170 deg/s, cmd heading: 324.122064 deg, new cmd heading: 324.481624 deg. 2jP<HeadingCmd: 5.663273 target range: 493.799988 and range: 493.80 m. j9@jjjihhhhfffrfbf`@ɛ܈B I ɚiI2=I i %i h) 9@) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.002330*F?2F:FBF^0JFzK)MK9KK KGoNGqBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.} DAT read: 21:59:59.0138 LVL= 20576, 30513, 23186, 26163, AGC= 69, IDX= 28, 0.09, 1.333,-0.271,-0.295, 0.288, PHS= 1.132,-0.512,-0.587, RAW= 87.8, -0.4, CAL= 95.2, -5.0, ROT= 54.8, 5.0  Ygot valid direction response: 21:59:59.0138 LVL= 20576, 30513, 23186, 26163, AGC= 69, IDX= 28, 0.09, 1.333,-0.271,-0.295, 0.288, PHS= 1.132,-0.512,-0.587, RAW= 87.8, -0.4, CAL= 95.2, -5.0, ROT= 54.8, 5.0  PDAT read: Bearing 54.8, 5.0 (Local)  ~Local bearing/azimuth received: Bearing 54.8, 5.0 (Local)  DAT read: Range 10 to 50 : 501.5 m (Round-trip 668.7 ms) speed 0.1 m/s  ,DAT read: user:2210>  BDAT read: Tx time:22:00:00.0910  $Ping request sent. aa eG٣ayi m> uNusing accuracyPremultiplier from configq}59u?}5Yu~M iuqDByyU@uHDu:uP:u#b5cB ͺ@ku"ձΛ?ku]H3k kq kud=5XA:kuCBkuCZku@,@"uk PvB> C6R@n>~@uIÒ?#ͮr?JkuB@Rku*uڳG~Mpk<8<@ :@u(.;!}Ϭ?\>7ʹ?"kuA*kulku\qΛ?ku|f 2kuc Dkqku- ku< Dku]VBku /?m addTargetRange:: Added new target pos. range: 501.500000 m, deltaT: 4.282038 s, deltaX: 7.700012 m, approachRate: 1.798212 m/s, rangeRepo size: 4 } Added new target pos. range: 501.500000 m, bearing: 154.486861 deg, lat: 36.900236 deg, lon: -122.120060 deg, deltaT: 4.282038 s, deltaX: 7.700012 m, approachRate: 1.798212 m/s, posRepo size: 4 ZjyFNOT Ignoring new targets: 501.50 m.BjJj ProNav: ac range: 501.500000 m, nav range: 53.591343 m, bearing: 76.625829 deg, approach rate: 0.000000 m/s, LOS rate: 0.303170 deg/s, cmd heading: 324.481633 deg, new cmd heading: 324.958699 deg. 2j IHeadingCmd: 5.671599 target range: 501.500000 and range: 501.50 m. j}@jjjihhhhfffrfX@bf@{?ɛeڈBeܼ aeIi mɚiiiIm2=Iuiu뎻iu)u}@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:00:00.0902 )JeJeJaJaJe :Jez:JaJa*FU?2FQ:FQBFUP5JFQGu eG} rAG} qAG1 BA O] >ѩVw,;SXAzWill construct direction to contact in vehicle frame from tetrahedron phase data.yUBU(IMb@Mb@Mb@ )YV-?'1ZĿS㥛y G٣H I  I (II ABI &I .I 6I Q<:I  FyY ]> mNusing accuracyPremultiplier from configam59e?m5YeT iejDBubA?u:u cuU@eSDe/;e^;ezKU BoHKU 9KQ KU KU &Vw,CVmXAJǙ@YJ-@JBK9Ji4>yJH V?P?¿` ?se?Vh?Aw?ɨJǙ@J;JCyVBV!(I)X XXZAI^WI^44٢f< fp=9j/ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232256!Vw,+XA*JC="J Ĭ@Y ӳ@ RJ9 8>y H`-? P+?^ÿ=?'fFM??r?ɨ Ĭ@ b; CyEBE"(IMb@Mb@Mb@ )Y}?5^I?x&1ȿI +yMB?A9 Z@)IzAy@IUI4٢&; ,=9M9Q >    G٣y3< > Nusing accuracyPremultiplier from config%599?%5YJa i[DB-QH?-:5e5U@gDE5;,3;3m5=_B =Ӻ@=EZjFNOT Ignoring new targets: 501.50 m.Bj09<Jj09< ProNav: ac range: 501.500000 m, nav range: 54.186340 m, bearing: 77.439156 deg, approach rate: 0.492793 m/s, LOS rate: 0.647613 deg/s, cmd heading: 326.470557 deg, new cmd heading: 327.389254 deg. 2j9< HeadingCmd: 5.714020 target range: 501.500000 and range: 501.50 m. j Aٶ@j j j ihhhhBfffrfbf%`q?ɛֈB^ 隵pI )ɚiI91=Iʹii)Aٶ@)!*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484298G^G?G>GiByO>H >I  I (II #BI &I .I 6I k<:I . F'Vw,PXA6@Y6@@6iJ96 ;>y6HD? ?`q9ÿ5 ?JX? R?@l?ɨ6@6Kh;6Cy^Bb+(IIfIfF4٢ng1= ru=9rnQ r?tt vG٣tyv_< z? ~Nusing accuracyPremultiplier from configx59zrG?5Yzf izUDBdU@zoDz ;zX;zp5 ]@ e$?IaZjFNOT Ignoring new targets: 501.50 m.Bj4<Jj4<  ProNav: ac range: 501.500000 m, nav range: 54.349503 m, bearing: 77.653836 deg, approach rate: 0.481283 m/s, LOS rate: 0.631344 deg/s, cmd heading: 327.389245 deg, new cmd heading: 328.031323 deg. 2j <HeadingCmd: 5.725226 target range: 501.500000 and range: 501.50 m. j5@jjjihhhhf!f!f!rf!bf-W?ɛ]ՈB]&޼ Y]0`IY e uɚaiaIeK0=Imbiiim@)m5@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736360)y*F5?2F1:F9BF=0JF9zKKKK KGIGI BQ Om >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988282 .Vw,PXA6@Y6>#@6J96=?>y6HD^?`$? lÿp~"?`?2O??g?ɨ6@6;6CyFBF0(IiJ)>IJ> HJ=ININ)4٢V< VM=9Z8C9Q Z>X\ ^G٣^ HGybR< b> fNusing accuracyPremultiplier from configdj59fX?j5Yfm ifMDBln_cnU@fyDf ;f;fs5r^B r @rEZjFNOT Ignoring new targets: 501.50 m.BjMB<JjMB<- ProNav: ac range: 501.500000 m, nav range: 54.544430 m, bearing: 77.910141 deg, approach rate: 0.518628 m/s, LOS rate: 0.679489 deg/s, cmd heading: 328.031310 deg, new cmd heading: 328.797426 deg. 2j-)<5HeadingCmd: 5.738598 target range: 501.500000 and range: 501.50 m. j5@j1j1j1i9h9h9h9h9fAfAfArfAbfM @ɛuԈBu(Xּ q}8Iy }ɚyiyI}0=Ij iiaV)@)*F12F1:F9BF=4JF9G-銝 e$?IiG9BIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241879O<>4Vw,XA2@H@Y2W@2FG92\C>y2H`-~?)?9ÿcG"=?` R@?A>?a?ɨ2@H@2" ;2CyRȈBR>(IrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.492796EMb@Mb@Mb@AAA A)AYE(\?+ǿMbyEG?Ev>EA E@)E@IEAAyE @I]zI]=X4٢uQ= u?=9}:Q }>y G٣yt< > Nusing accuracyPremultiplier from config59j?5Ys iHDBQM?:_U@D);(;Ww5]B M@EZjFNOT Ignoring new targets: 501.50 m.Bj<<Jj<< ProNav: ac range: 501.500000 m, nav range: 54.756386 m, bearing: 78.193629 deg, approach rate: 0.494994 m/s, LOS rate: 0.659483 deg/s, cmd heading: 328.797438 deg, new cmd heading: 329.644547 deg. 2jL<HeadingCmd: 5.753383 target range: 501.500000 and range: 501.50 m. j@jjjihhh h Bf f frfbf @HI I(IIBI&I.I6I<:IC Fɛ҈B=jƼ I x໼ɚiI6V0=I$i iO˽)@)*F?2F:FBF`5JF YIYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744481G- 孽G5 qAG5 rAJsK{ـ3 K{KsKs"KsJ] J] JY JY J] |:J] ^:JY JY J] zK ]JK h9K K K BK :K qAi;Vw,XAF }@YFp@FG9FOG>yFH ?@߈?ÿHW?r1ߨ?5?[?ɨF }@FG;;DyV܈BVV(IIbIbb4٢nF= rU=9r:Q v>xx zG٣xy~< ~> Nusing accuracyPremultiplier from config 59{? 5Y-z iBDB]U@D*::z5[B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 501.50 m.Bj3<Jj3< ProNav: ac range: 501.500000 m, nav range: 54.947067 m, bearing: 78.448772 deg, approach rate: 0.470979 m/s, LOS rate: 0.628008 deg/s, cmd heading: 329.644546 deg, new cmd heading: 330.407271 deg. 2j<%HeadingCmd: 5.766695 target range: 501.500000 and range: 501.50 m. j%È@j!j!j!i)h)h)h)h)f1f1f1rf9bf=u@ɛeЈBe ae e $?Im h Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248503rBVw,!vYA^ƻ@Y^,˴@^G9^IL>y^H 3? YP?@]ÿ4v?@ ݨ?d? OS?ɨ^ƻ@^v;\yjBji(I)l lprAeMb@Mb@Mb@aaa a)aYeMb?sh|?ſMbpyeC?e)eeA e@)e@IeAaye@I}}I}]4٢ˑ= ?=98Q > G٣ HGy^< > Nusing accuracyPremultiplier from config59.?5Y iG?:WU@D.a;;q~5 @ZjFNOT Ignoring new targets: 501.50 m.Bj7<Jj7< ProNav: ac range: 501.500000 m, nav range: 55.146549 m, bearing: 78.725724 deg, approach rate: 0.464002 m/s, LOS rate: 0.641866 deg/s, cmd heading: 330.407259 deg, new cmd heading: 331.235047 deg. 2j@<HeadingCmd: 5.781142 target range: 501.500000 and range: 501.50 m. j@jjjihhh h ͈Bfffrfbf M5 @ɛEψBE֜ AMf=II MQɚIiIIM?/=IUiQiU=s)U@)Y*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:00:03.1514 TRx dataTimestamp_ set to:1736373604.360586checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501262H>I I(II-BI&I.I6I<:I= FBIuȚCJIuȚCRIqZIu- =bIu- =jIur4G ` ǽG B O >5HVw,Yn"YA tIxy~B~(IIIt4٢5> 5O=9=Q =>99 =G٣AyE M> UNusing accuracyPremultiplier from configIU59Mf?]5YM iIYY]U@MDM:M:M5mZB mN@mEZjFNOT Ignoring new targets: 501.50 m.Bjz:<Jjz:<5 ProNav: ac range: 501.500000 m, nav range: 55.331833 m, bearing: 78.979609 deg, approach rate: 0.477513 m/s, LOS rate: 0.652120 deg/s, cmd heading: 331.235051 deg, new cmd heading: 331.994109 deg. 2j5<=HeadingCmd: 5.794390 target range: 501.500000 and range: 501.50 m. j=k@j9j9j9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.752350i9hQhQhQhQfYfYfYrfabfeD@ɛ͈Br 隕x=I ɚiI[&/=IVCii)k@)JJJJJ:JU:JJJ'<J'<Je;Je;*F]?2FY:FaBFe_0JFaGmrA GizKBHK9KK K #"  RK?JK?G5DyӽGBOK> .~G |uA Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 22:00:03.1514 LVL= 16160, 30577, 19762, 32595, AGC= 71, IDX= 317,-0.37, 0.864,-0.848,-0.748,-0.289, PHS= 1.242,-0.512,-0.461, RAW= 91.4, -3.1, CAL= 99.6, -9.8, ROT= 50.4, 9.8 e Ygot valid direction response: 22:00:03.1514 LVL= 16160, 30577, 19762, 32595, AGC= 71, IDX= 317,-0.37, 0.864,-0.848,-0.748,-0.289, PHS= 1.242,-0.512,-0.461, RAW= 91.4, -3.1, CAL= 99.6, -9.8, ROT= 50.4, 9.8 } PDAT read: Bearing 50.4, 9.8 (Local) } ~Local bearing/azimuth received: Bearing 50.4, 9.8 (Local)  DAT read: Range 10 to 50 : 492.1 m (Round-tripms) speed 0.3 m/s  ,DAT read: user:2211> Y |uAy B BDAT read: Tx time:22:00:04.2411  $Ping request sent. Dho?"t޿G}d) I a=i ? Y  :publishing transmit ping time  Fpublishing direction and range info 9 ګ᛿:?R:V?y  ) I i ) I i Dho?"t޿G}d) I i VNVw,_$y2H ?@?`ǔĿw`?m¿@n)? ?`>?ɨ2I@2v;0yBBB(IIJ~IJT_4٢E= EK=9EQ M>II MG٣IyU0= U> Nusing accuracyPremultiplier from config59?5Y iSU@D::5XB 9@EkE9l̛?kE8" kA kE[7YA:kE CBkEYCZkEd@"E͐*n^2CqC@IX ~@Eګ᛿:?R:V?JkE?RkEY*EɼQNW?# Xe~@ELvUYgM^q 6?"kE*kEDkE]D̛?kEg" 2kE DkEٛ?kE|f kAkE"BkE5@ addTargetRange:: Added new target pos. range: 492.100006 m, deltaT: 4.033107 s, deltaX: -9.399994 m, approachRate: -2.330708 m/s, rangeRepo size: 4 $?I Added new target pos. range: 492.100006 m, bearing: 204.888687 deg, lat: 36.899905 deg, lon: -122.120329 deg, deltaT: 4.033107 s, deltaX: -9.399994 m, approachRate: -2.330708 m/s, posRepo size: 4 Zj%FNOT Ignoring new targets: 492.10 m.Bj%Jj!5 ProNav: ac range: 492.100006 m, nav range: 40.519974 m, bearing: 130.891389 deg, approach rate: 0.000000 m/s, LOS rate: 0.652120 deg/s, cmd heading: 331.994103 deg, new cmd heading: 332.877351 deg. 2j1=HeadingCmd: 5.809806 target range: 492.100006 and range: 492.10 m.eWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:22:00:04.2403  jm@jqjqjqiqhqhqhyhyfffrf~@bf P?ɛ=ˈBE9&b AE>IA EqɚAiIIMʌ.=IM^iQiU}G)U@)Q*F5?2F1:F1BF1JF1GU -۽G B! O= >UVw,WYA:Will construct direction to contact in vehicle frame from tetrahedron phase data.y-6B-(Ii5pIq Iu(IIuLBIu. =&Iq.Iq6Iuz<:Iu7 FMb@Mb@Mb@ )Y^I +?SÿMb`yX9?AA )@IAyAIe8Ie3٢u > },=9}Q }> G٣ HGy > Nusing accuracyPremultiplier from config59?5Y iCDBU=?:PU@DU"; ;5 @EZjFNOT Ignoring new targets: 492.10 m.Bj U:Jj U: ProNav: ac range: 492.100006 m, nav range: 40.860924 m, bearing: 130.910858 deg, approach rate: 0.822412 m/s, LOS rate: 0.046571 deg/s, cmd heading: 332.877356 deg, new cmd heading: 332.935277 deg. 2j:%HeadingCmd: 5.810817 target range: 492.100006 and range: 492.10 m. j%6@j!j!j!i!h)h)h)h-1Bf1f1f1rf1bf5ߡ?ɛeʈBe#ֻ aeX>Ia m@ɚiiiIm.=IuViu>i)6@)!*F?2F:FBFJF $?IG)GBO>%Will construct direction to contact in vehicle frame from tetrahedron phase data.JIJMJIJIJIJMK:JIJIJIJIJMc;JMc;zK yJH 5w? ~+?sſW?RĿ*?w?@"?ɨJ@J͑;JCy^PB^(IIfwIfR4٢nz> nj=9r2Q r>pt vG٣tyvv= v> ~Nusing accuracyPremultiplier from configx~59z?5Yzn ixnKU@zDzC:z:z5 VB `@E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 492.10 m.BjEɓ:JjEɓ:U ProNav: ac range: 492.100006 m, nav range: 41.119022 m, bearing: 130.933224 deg, approach rate: 0.750215 m/s, LOS rate: 0.064602 deg/s, cmd heading: 332.935276 deg, new cmd heading: 333.001952 deg. 2jUX1;HeadingCmd: 5.811980 target range: 492.100006 and range: 492.10 m. j@jjjihhhhfffrfbf?ɛ=ɈBE`a8 AM;>II uDZɚqiqIu-=I}Ai}CAi}LϽ)@)ErAErAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*Fm?2Fi:FiBFmo0JFi"Gu>Gu4>Gs ) I5 hGA Bi O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254161GbVw,-yYAVG@YV@W@VMX9Val>yVH ? )?ſ;/? Ŀ?>??ɨVG@V ;TyblBb)IUMb@Mb@Mb@QQQ Q)QYUQ?ʡE{Gzt?yU\/?UケUף;UA Q)U@IUAQyUpAImGIm3٢}r> }A=9}Q > G٣yP< > Nusing accuracyPremultiplier from config59?5Y iIDB1?:Z@U@D5;;K5 @ZjFNOT Ignoring new targets: 492.10 m.Bjv:Jjv: ProNav: ac range: 492.100006 m, nav range: 41.411583 m, bearing: 130.975879 deg, approach rate: 0.689842 m/s, LOS rate: 0.099868 deg/s, cmd heading: 333.001939 deg, new cmd heading: 333.129000 deg. 2ju;}HeadingCmd: 5.814198 target range: 492.100006 and range: 492.10 m. j} @jyjyjyiyhhhhBfffrfbf\?ɛȈB >I kɚ i I  ,=I5i5ꬡi5[ƽ)5 @)9*F?2F:FBF0JFGi۽GABIOmV>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506191H}>Iy I}$)II}BIy&Iy.Iy6I}<:I}F F % $?I! hVw,GVYA6'@Y6@6b96jo>y6H?@u? ſ@2[5[?`4ſ)??@&?@B?ɨ6'@62#;6CyvBv&)I)x xxxI~jI~;4٢ D>  Q=9Q > G٣% HGy%< %> 5Nusing accuracyPremultiplier from config)559-?=5Y- i-ODB9==EU@-D-H!;-j!;-5MUB M@MEZjquFNOT Ignoring new targets: 492.10 m.Bj}:Jj}: ProNav: ac range: 492.100006 m, nav range: 41.681671 m, bearing: 131.018813 deg, approach rate: 0.692002 m/s, LOS rate: 0.109288 deg/s, cmd heading: 333.129008 deg, new cmd heading: 333.256973 deg. 2j;HeadingCmd: 5.816432 target range: 492.100006 and range: 492.10 m. j5 @jjjihhhhfffrfbf:^?ɛLjBW;  Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766103M>IQ %0ɚiI,=ITiWibV)5 @) JIJMJIJIJIJMB:JIJIJIJIJM"b;JM#b;zKNK9KK K*F?2F:FBFB2JFGyϽ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011802G B O5 >RoVw,2YA2G@Y2"@27`92cs>y2Hp?-?ſ[ ͐? -ſ`g?? ?ɨ2G@2;0yBBBN)IIJsIJK4٢V%> VQ=9V:Q Z>XX ZG٣Xy^= ^> Nusing accuracyPremultiplier from config59s ?5Yl iVDB!%9%U@D>;p;65) -@)ZjQUFNOT Ignoring new targets: 492.10 m.Bj]M ;Jj]M ;m ProNav: ac range: 492.100006 m, nav range: 41.957687 m, bearing: 131.067534 deg, approach rate: 0.689546 m/s, LOS rate: 0.120914 deg/s, cmd heading: 333.256978 deg, new cmd heading: 333.402179 deg. 2jm;uHeadingCmd: 5.818966 target range: 492.100006 and range: 492.10 m. ju4@jqjqjyiyhyhhhfffrfbfYc@ɛƈBr< >I MɚiI/+=I.ii) 4@)  $?I*F?2F:FBF 5JFGVGý Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262497GBOB>LuVw,VYA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514092yvBv_)IZHRHAAH!I%C I%o)II%BI%/ =&I!.I!6I%Z<:I% FMb@Mb@Mb@ )YˡE?Q뱿Mb?y'?\<jA @)IyAIcIy/4٢p= 7=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 l?u5Y  utIi eDBu(?}:}[+}V@ D l< k< 5SB @EZjFNOT Ignoring new targets: 492.10 m.Bj3;Jj3;  ProNav: ac range: 492.100006 m, nav range: 42.239952 m, bearing: 131.139041 deg, approach rate: 0.624319 m/s, LOS rate: 0.157104 deg/s, cmd heading: 333.402188 deg, new cmd heading: 333.615274 deg. 2j ;5HeadingCmd: 5.822685 target range: 492.100006 and range: 492.10 m. j5oS@j1j1j1i1h1h9h9h=Bf9fAfArfAbfE@ɛňB\< 隵v>I ǫɚiI6*=Ii iM)oS@)*F2F:FBF%5JF IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766644GM YKGQ GQ G B O- >zK jIK 59K K K  )U/22.(o# ' k%|Vw,YAZ@YZ)@ZGD`9Z?v>yZH@t?9?E[ſ@6{?}ƿ ?}?@?ɨZ@ZT;ZCyn̉Bn})Iiv)>Iv= z=z=I~tI~M4٢ >  Z=9 Q > G٣ HGyߒ= > Nusing accuracyPremultiplier from config59-?5Y, isDB/$V@D3::o5 n@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 492.10 m.Bj Z;Jj Z; ProNav: ac range: 492.100006 m, nav range: 42.491703 m, bearing: 131.211891 deg, approach rate: 0.664354 m/s, LOS rate: 0.191109 deg/s, cmd heading: 333.615262 deg, new cmd heading: 333.832518 deg. 2j%(<%HeadingCmd: 5.826477 target range: 492.100006 and range: 492.10 m. j%r@j)j)j)i)h)h1h1h1f1f9f9rf9bf= @ɛeĈBe`1< mׁ $?I- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272423*J= 4="J= %=JA JE JA JA JA JE :JA JA aM @aM @aM @aM @ Vw, ZA2b@Y22r@27V`92v>y2H`?`?ſ`߿/?"ǿ@0?}??ɨ2b@2؎;2CyBBB)ImMb@Mb@Mb@iii i)iYmʡE?Zd;OMb?ym?mjimA m@)iIiiympAIHI<3٢> B=9*Q > G٣y= > Nusing accuracyPremultiplier from config59??5Y iDB?:V@D;;5QB v@EZjFNOT Ignoring new targets: 492.10 m.Bj;Jj;  ProNav: ac range: 492.100006 m, nav range: 42.731064 m, bearing: 131.307549 deg, approach rate: 0.596412 m/s, LOS rate: 0.237012 deg/s, cmd heading: 333.832517 deg, new cmd heading: 334.117879 deg. 2j "<HeadingCmd: 5.831457 target range: 492.100006 and range: 492.10 m. jL@jjjihh!h)h-Bf)f)f1rf1bf5 @ @ɛÈBX< U?I GɚiIS(=I Hi5]i5Hp)5L@)9*F%?2F!:F!BF!JF!}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521858H5>I5C I5)II5BI1&I1.I16I5<:I5] FGM IJGU ?GU >G! B) OM > I 6Vw,@&ZA:̱@Y:'ܸ@:^9:!u>y:H@?6l?Ŀ@޿@b?Wǿث?`7e? 2 ?ɨ:̱@:N;:Cy^B^)IIfoIfD4٢nd^= nV=9rqs:Q r>pt vG٣tyv = v> ~Nusing accuracyPremultiplier from configx59zlP?5Yz izDB    V@zDz"A;zA;zM5PB @EZjIUFNOT Ignoring new targets: 492.10 m.Bj]i;Jj]i;} ProNav: ac range: 492.100006 m, nav range: 42.954426 m, bearing: 131.400019 deg, approach rate: 0.583402 m/s, LOS rate: 0.240268 deg/s, cmd heading: 334.117882 deg, new cmd heading: 334.393848 deg. 2j}$<HeadingCmd: 5.836274 target range: 492.100006 and range: 492.10 m. jº@jjjihhhhfffrfbf Y@=Will construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:22:00:07.2995 MTRx dataTimestamp_ set to:1736373608.678372Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.789410ɛˆB&P< ?I נɚiIU'=IixiU)º@)*F?2F:FBFJFzK)PK9KK KGG9BIOeU> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038866N!Vw,@ZAR@YRu@R[9R$\r>yRHO?!?1ÿfݿ?@~ǿ{?tt vG٣vHGyzt= z> ~Nusing accuracyPremultiplier from config|59~b?5Y~. i~DB  I V@~D~a:~:~ب5 ;@Zj9=FNOT Ignoring new targets: 492.10 m.BjE;JjE;U ProNav: ac range: 492.100006 m, nav range: 43.191078 m, bearing: 131.505298 deg, approach rate: 0.587515 m/s, LOS rate: 0.259935 deg/s, cmd heading: 334.393849 deg, new cmd heading: 334.707954 deg. 2jUd2 -BDAT read: Tx time:22:00:08.3911 U$Ping request sent.]I  I *II ?BI . =&I .I 6I <:I L FBIJIRIZI. =bI. =jIA"5G!rGBO?Vw,aZA6 ݲ@Y6q@6[96m>y6Hq?4?w`ÿ0ݿu? 0ǿw? n? h?ɨ6 ݲ@6g;6CyfBf)I]Mb@Mb@Mb@YYY Y)YY]On? rh?~jt?y]?]C<]<]A ]@)YIYYy]AIucIuy/4٢}= =9LG8Q > G٣y\< > Nusing accuracyPremultiplier from config59{?5Y iDB?:辑V@D; ;5NB @EkS[?k,,& k kzKZA:kLCBkCZk?c@"m)RU!ه8Ag"(~@D0@ƿ-Px?JkF%7Rk@ȱ*>Zcc꡽Q㍉{|@l˶YԿ*k0C¿nV]ܖ?"k*ksku?ks& 2kDk\qΛ?k kkIBk.@ addTargetRange:: Added new target pos. range: 490.600006 m, deltaT: 4.317057 s, deltaX: -1.500000 m, approachRate: -0.347459 m/s, rangeRepo size: 4  Added new target pos. range: 490.600006 m, bearing: 203.700929 deg, lat: 36.899593 deg, lon: -122.120374 deg, deltaT: 4.317057 s, deltaX: -1.500000 m, approachRate: -0.347459 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 490.60 m.BjJj ProNav: ac range: 490.600006 m, nav range: 69.642609 m, bearing: 155.863319 deg, approach rate: 0.000000 m/s, LOS rate: 0.259935 deg/s, cmd heading: 334.707956 deg, new cmd heading: 335.135490 deg. 2jHeadingCmd: 5.849218 target range: 490.600006 and range: 490.60 m. j,@jjjihhhh-Bf f f rf ~@bfК?ɛB< 隍m)?I \ɚiIS$=I0޾iVmi),@)Will construct direction to contact in vehicle frame from tetrahedron phase data.E$ӿ<*Fu?2Fq:FqBFqJFqGMT[zKmBoHKmh9KiKm KmG BO->)i q ~G tA) ] Y] tAy] WB @ B 7Vw,{ZAWill construct direction to contact in vehicle frame from tetrahedron phase data.iABO-@YB<@BLY9BAd>yBH@4?7?`i¿ `ܿ@w?hƿO&?`P? C)?ɨBO-@B;BCyb"Bb)IIvbIv-4٢~_= ~T=9l:Q > G٣ y <  > Nusing accuracyPremultiplier from config59X?5Y} iDB!%|㾑%V@D7 ;z ;51 =@9]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 490.60 m.BjmNJjmN} ProNav: ac range: 490.600006 m, nav range: 69.870461 m, bearing: 155.859012 deg, approach rate: 0.599292 m/s, LOS rate: -0.011292 deg/s, cmd heading: 335.135499 deg, new cmd heading: 335.122619 deg. 2jHeadingCmd: 5.848993 target range: 490.600006 and range: 490.60 m. j*@jjjihhhhfffrfbf+?ɛamh= im0?Ii mˮɚiiI#=IdN޾iR»i])*@)EE*E"E $?IJJJJWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J:J:JJ*F-?2F):F)BF5`0JF1Gu GI BY O} >Vw,TZA2k@Y2N{@2jV92I]>y2H+? ?xܿ@8?`ſӪ?_}? T5?ɨ2k@2_;2Cy>B>)I F=F=MMb@Mb@Mb@III I)IYMn?y&1?y&1?yM?M`e=M` G٣HGyЈ< > Nusing accuracyPremultiplier from config59_?5Y iEB?:V@D#;;5MB @EZjFNOT Ignoring new targets: 490.60 m.Bj>9Jj>9 ProNav: ac range: 490.600006 m, nav range: 70.138031 m, bearing: 155.869724 deg, approach rate: 0.587059 m/s, LOS rate: 0.023413 deg/s, cmd heading: 335.122631 deg, new cmd heading: 335.154645 deg. 2j:HeadingCmd: 5.849552 target range: 490.600006 and range: 490.60 m. j/@jjjih Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229365HI I=*IIhBI&I.I6I<:Ig Fhh1h5Bf9f9f9rf9bfE*;?ɛmBmR< qu.?Iq }ɚyiyI}"=I.޾iAĻi⺼)/@)*F?2F!:F!BF%0JF!G$ GBOH> U$?IY Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481280ԫVw,˟ZAzK0K0K0K2 K2dTC  X7! RK:>JK:?B@YBW@BL9BV>yBH`?}}?,ɩۿ \?)Sſ=?ȟ?^B?ɨB@Bp;BCy^#Bb)IIjhIjV84٢% < -Q=9-;Q ->11 5G٣1y5< => ENusing accuracyPremultiplier from configAM59Eo?M5YE4 iEEBIMLMV@E%DE:E:E\5]KB ]@]EZjFNOT Ignoring new targets: 490.60 m.Bj9Jj9 ProNav: ac range: 490.600006 m, nav range: 70.366997 m, bearing: 155.880415 deg, approach rate: 0.584884 m/s, LOS rate: 0.027221 deg/s, cmd heading: 335.154650 deg, new cmd heading: 335.186620 deg. 2jt:HeadingCmd: 5.850110 target range: 490.600006 and range: 490.60 m. j4@jjjihhhhfffrfbfa?ɛ = m1?I H_ɚiIs!=IݾiĻib)4@)*F?2F:FBF}2JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733399G+GBO> Q IQ Vw,XZA>Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985321J^J^J\J\J^ :J^:J\J\]t@Y]@]`?9]M>y]H %?@>?6 Mۿz?@Ŀ?W?UR?ɨ]t@]ҕ;]Cym!Bm)I%Mb@Mb@Mb@!!! !)!Y%I +?Zd;O?~jt?y%9?%j<=%<%A !)%@I%zA!y%AI=kI==4٢Uɻ U8=9Uy;Q U>YY ]G٣Yyebh< e> mNusing accuracyPremultiplier from configiu59m?u5Ym im5EBu?u:}_}V@m.Dm;mM;m;5 @ZjFNOT Ignoring new targets: 490.60 m.Bjo9Jjo9 ProNav: ac range: 490.600006 m, nav range: 70.623154 m, bearing: 155.891042 deg, approach rate: 0.577492 m/s, LOS rate: 0.023871 deg/s, cmd heading: 335.186616 deg, new cmd heading: 335.218382 deg. 2j:HeadingCmd: 5.850665 target range: 490.600006 and range: 490.60 m. j8@jjjihhhhBfffrfbf X@ɛ!%>o< !-0?I) -Pɚ)i)I-H =I5Rsݾi5"WŻi53J)58@)A*F?2F:FBF`5JFG`6GpAGoAGBOa>ZH RH ?AH>I Ii*IIBI&I.I6I<:Id F-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237372 5 $?I1 Vw,:YZA2@Y2a@2392E>y2H`??@ ۿ?ÿh^?ǎ?_?ɨ2@2WH;2CyVBZ)I)\ ^AIbpIbF4٢jҴ jg=9j5 ll rG٣rHGyr1N< r> vNusing accuracyPremultiplier from configtz59v?z5Yv ivHEB|~麾~V@v4Dv: ;v ;vS5JB ¢@ EZj9EFNOT Ignoring new targets: 490.60 m.BjE9JjE9U ProNav: ac range: 490.600006 m, nav range: 70.827736 m, bearing: 155.900272 deg, approach rate: 0.574834 m/s, LOS rate: 0.025859 deg/s, cmd heading: 335.218390 deg, new cmd heading: 335.245999 deg. 2jU:]HeadingCmd: 5.851147 target range: 490.600006 and range: 490.60 m. j]<@jajajaiahahahihifififirfqbfuc@ɛ~I= 隭.?I {]ɚiI=I,4ݾiŻiT)<@)E*FU?2FQ:FQBFU2JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489521zKOK9KK KBKpA:KpAG'GiByO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741305LVw,B?ZAy}B})IIxIT4٢޼ >=9Q > G٣y > Nusing accuracyPremultiplier from config59W?5Y i`EBV@Vw,k[Ay~B~)IMb@Mb@Mb@ )Y ףp= ?~jt?Mbp?yQ?=;A @)@IAy@HI Io*IIBI- =&I.I6I<:I? FI{IZ4٢Rǽ F=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2456039Q >   G٣ y   > Nusing accuracyPremultiplier from config%59?%5YO ioEB%?%:%5%V@DD;;55HB 5T@5EZjY]FNOT Ignoring new targets: 490.60 m.Bjm9Jjm9} ProNav: ac range: 490.600006 m, nav range: 71.323715 m, bearing: 155.920370 deg, approach rate: 0.595636 m/s, LOS rate: 0.021478 deg/s, cmd heading: 335.279370 deg, new cmd heading: 335.306093 deg. 2j}k:HeadingCmd: 5.852195 target range: 490.600006 and range: 490.60 m. j/E@jjjihhhhʼnBfffrfbf@w[ @ɛX< !?I nɚi!I- =I-ܾi56ƻi5΁0)5/E@)1 Ih*F?2F:FBF_0JFJu Ju Ju 1Jq Ju :Ju q:Ju 3Jq Ju 3G B O >#Vw,y2[AzKBoHK9KK Ky-B-)II=I=q4٢Mi MU=9IQ U>QQ ]G٣]HGyY ]> eNusing accuracyPremultiplier from configam59e?m5Ye ie~EBqquV@eKDeX:e:e 5}FB }@EZjFNOT Ignoring new targets: 490.60 m.Bj9Jj9 ProNav: ac range: 490.600006 m, nav range: 71.550255 m, bearing: 155.928514 deg, approach rate: 0.595050 m/s, LOS rate: 0.021322 deg/s, cmd heading: 335.306089 deg, new cmd heading: 335.330441 deg. 2jj:HeadingCmd: 5.852620 target range: 490.600006 and range: 490.60 m. jH@jjjihhhhfffrfbf @ɛy}kM< y}?Iy FfɚiI=I sܾi"ƻi,:6)H@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750096*FM?2FI:FIBFIJFQ"Ge=Ge= !$?IG -,G B O >Vw,L[AJ JBA.Will construct direction to contact in vehicle frame from tetrahedron phase data.bDAT read: 22:00:11.4471 LVL= 26608, 32753, 29474, 32755, AGC= 71, IDX= 416,-0.12, 2.282, 0.617, 1.090, 1.532, PHS= 0.838,-0.868,-0.445, RAW= 103.8, 6.2, CAL= 114.0, 4.3, ROT= 36.0, -4.3 fYgot valid direction response: 22:00:11.4471 LVL= 26608, 32753, 29474, 32755, AGC= 71, IDX= 416,-0.12, 2.282, 0.617, 1.090, 1.532, PHS= 0.838,-0.868,-0.445, RAW= 103.8, 6.2, CAL= 114.0, 4.3, ROT= 36.0, -4.3 j8DAT read: $Error in header j*Received a bad headerMX#Rx 1: Read direction message, but no range.U`direction in FSK: [-0.223288,-0.126181,0.966551],9.i[4̿u$輵&A?,.g, ."s),I.Gi.+V?.?5^. .5?.k= .?).`=I.| ?i.`,.&4?XwѿW[ƻ?).?I.޽i.x$(.ܧT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseyޅBޅ)IEMb@Mb@Mb@AAA A)AYES?MbP?{GzyE?E:E#EE A E@)E@IEv@AyE@I}I}y4٢ K =9Q > G٣y > Nusing accuracyPremultiplier from config599(?5Y iEB?:1ݾV@UDmb<a<5 %@!ZjFNOT Ignoring new targets: 490.60 m.Bj$ʸJj$ʸ ProNav: ac range: 490.600006 m, nav range: 71.860146 m, bearing: 155.925574 deg, approach rate: 0.584704 m/s, LOS rate: -0.005523 deg/s, cmd heading: 335.330432 deg, new cmd heading: 335.321651 deg. 2jrHeadingCmd: 5.852467 target range: 490.600006 and range: 490.60 m. jiG@jjjihhhhzBfffrfbf5 a@ɛ< 隍$?I 9\ɚiIR=IܾiƻiM3)iG@)jH<bH<H>I I\*IIBI&I.I5D6If<:I) FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse*F] ?2FY :FY BFY JFY "$?I G hAG rAG rAGyBO>JuVw,]k[AN[@YNk@NYԼ9N6!>yNH ??@G@uڿ?Y曚?`??@?ɨN[@Np;NCJXJZJZ/JXJXJZ:JZ(N3JXJXJXJZwp;JZxp;yfȉBjy)IIn{InZ4zWill construct direction to contact in vehicle frame from tetrahedron phase data.zT****** received valid address query ******zR****** received valid ping request ******zreceived new query, but waiting for acoustic response period to elapse٢~S; ~_=9E=Q > G٣ y*< > Nusing accuracyPremultiplier from config%59A9?%5YO iEB!% ؾ%V@\D:<;55DB 5ç@5EZjY]FNOT Ignoring new targets: 490.60 m.Bje2Jje2 ProNav: ac range: 490.600006 m, nav range: 72.081726 m, bearing: 155.925230 deg, approach rate: 0.632440 m/s, LOS rate: -0.000978 deg/s, cmd heading: 335.321662 deg, new cmd heading: 335.320634 deg. 2j+HeadingCmd: 5.852449 target range: 490.600006 and range: 490.60 m. jCG@jjjihhh)h1f9f9fArfabfeS@ɛB< 隵?I `VɚiI;=I~ܾiƻiw)CG@) *F2F:FBFJFzKKKK KWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG.-G B O= > 1 I1 UVw,[A:d@Y:`t@:19:Z>>y:H$??`?G@7eڿ#?Ŗ?͒??ɨ:d@:;:CyrBra)I)t vAI~oI~D4٢ ӽ J=9 G٣HGy%7; %> -Nusing accuracyPremultiplier from config)559- L?55Y- i-EB15׾5V@-dD-T ;- ;-E5A E@AeB*** querying acoustic contact ***jajaZjimFNOT Ignoring new targets: 490.60 m.BjuJju ProNav: ac range: 490.600006 m, nav range: 72.325912 m, bearing: 155.925060 deg, approach rate: 0.603922 m/s, LOS rate: -0.000420 deg/s, cmd heading: 335.320624 deg, new cmd heading: 335.320115 deg. 2jHeadingCmd: 5.852440 target range: 490.600006 and range: 490.60 m. j0G@jjjihhhhfffrfbf`v@ɛzt< >I /PɚiI;n=I ܾi ƻi Qź) 0G@)*F?2F:FBF~0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******5R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseGNGBO>>HA IA  IE **IIE YBIA &IA .IE 4D6IE c<:IE & FBIJIRIZI- =bI- =jI74 Will construct direction to contact in vehicle frame from tetrahedron phase data. i  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsehVw,v[A:c@Y:s@:9:P>y:H$? ?@VVhڿ? @?C? )?ɨ:c@:8;:Cy=B=I)IMb@Mb@Mb@ )Y?/$:vy ?,ԼA @)~@I@y\@IlIm?4٢٩ 3=9;Q > G٣y3 > Nusing accuracyPremultiplier from config #$?I59ca?5Yu iEB ?:V@mD;;D5CB @EZjFNOT Ignoring new targets: 490.60 m.Bj( Jj(  ProNav: ac range: 490.600006 m, nav range: 72.611763 m, bearing: 155.910319 deg, approach rate: 0.596409 m/s, LOS rate: -0.030633 deg/s, cmd heading: 335.320105 deg, new cmd heading: 335.276058 deg. 2j0HeadingCmd: 5.851671 target range: 490.600006 and range: 490.60 m. j@@jjjihh)h)h-Bf1f1f1rf1bf5 @ɛˆBLYz< 隵>I JzIɚiIx=IMrܾiMƻiU)U@@)QJCKC KK .KCKC"KCJJJ0JJ :J:Jـ3JJ<J<Jn;Jn;%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse*F2F:FBF`0JF ~G- |uAzKE BHKE +9KA KE KE RKU ?JKU ?a Y |uAy BG i"G ?G >G B O >nVw,F{[ANk@YNjz@N~9N>yNH (??J`[ڿ v?>ӏ???ɨNk@N?;NCyZ|BZ)IIzI=X4٢5bK 5[=95Y"99 =G٣9yE; E> MNusing accuracyPremultiplier from configIU59Mr?U5YMU iMyEBQ]!]V@MuDM:M:M5eAB e]@eEZjFNOT Ignoring new targets: 490.60 m.BjlJjl ProNav: ac range: 490.600006 m, nav range: 72.845284 m, bearing: 155.898513 deg, approach rate: 0.665386 m/s, LOS rate: -0.033533 deg/s, cmd heading: 335.276064 deg, new cmd heading: 335.240758 deg. 2jHeadingCmd: 5.851055 target range: 490.600006 and range: 490.60 m. j;@jjjihhhhfffrfbf'@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛi{< m>I! %iEɚ!i!I%=I-,@ݾi-Żi-И9)5;@)1*F2F:FBF3JF =$$?I9GGB OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseVw,/[AZAg@YZv@Zs9ZF>yZH'??`{ sbڿ A?Y@n?ਥ?B?ɨZAg@Zn;XyblBb)Iif G٣HGy > Nusing accuracyPremultiplier from config59[?5Y< ifEB3+?:V@~D#9;7;!5 ]@Zjy}FNOT Ignoring new targets: 490.60 m.BjJj ProNav: ac range: 490.600006 m, nav range: 73.117271 m, bearing: 155.866656 deg, approach rate: 0.629683 m/s, LOS rate: -0.073479 deg/s, cmd heading: 335.240766 deg, new cmd heading: 335.145549 deg. 2jIHeadingCmd: 5.849393 target range: 490.600006 and range: 490.60 m. j;.@jjjihhhh-Bf)f)f)rf1bf=@V@HqIq Iu)IIu!BIq&Iq.Iq6Iuư<:Iuo FɛÈB<  =Ҩ>I 2.@ɚiI<=I޾i3Żi,:);.@) Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse*F?2F:FBF1JF 9I9G zQG B O >Vw,[AJJJ2JJ:J:Jc3JJ<J<Jwp;Jxp;2Will construct direction to contact in vehicle frame from tetrahedron phase data.6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse ^@Y m@ Ȼ9 >y H{#? ?/`?sڿD?@Xky? +b??ɨ ^@ ; Cy]ZB](IIIW4٢ B=9 E;Q  >11 5G٣1y=q+ => ENusing accuracyPremultiplier from configAM59E?M5YEF iESEBQUUV@EDEP#;E#;E5]@B ee@eEZjFNOT Ignoring new targets: 490.60 m.BjJj ProNav: ac range: 490.600006 m, nav range: 73.398170 m, bearing: 155.833715 deg, approach rate: 0.691337 m/s, LOS rate: -0.080761 deg/s, cmd heading: 335.145553 deg, new cmd heading: 335.047110 deg. 2j]HeadingCmd: 5.847675 target range: 490.600006 and range: 490.60 m. j( @jjjihhhhfffrfbf`'@ɛ+< s>I <ɚiIk =I0޾iĻi:)( @)zKK9KK K*F?2F:FBF4JFBKqA:KrAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG :G G G B O% > % %$?I! mWw,8\Ay]?B](IIuIuv}4٢ O=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y iAEBV@Dx5;G;B5;B ʯ@B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 490.60 m.Bj-®Jj5®] ProNav: ac range: 490.600006 m, nav range: 73.655922 m, bearing: 155.803712 deg, approach rate: 0.658578 m/s, LOS rate: -0.076393 deg/s, cmd heading: 335.047116 deg, new cmd heading: 334.957421 deg. 2j]QeHeadingCmd: 5.846110 target range: 490.600006 and range: 490.60 m. jmU@jijijqiqhqhqhqhyfyfyfyrfybf@@ɛĈB; 隭8v>I 9ɚiI=IZ߾i3ĻiBE;)U@uWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse)*Fe?2Fa:FaBFeW1JFaG} O:GY Hm >Ii  Im )IIm BIi &Ii .Ii 6Im <:Im ? FB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseQ Ww,!\ABJ@YBY@Bܸ9B>yBH?@Q?B ڿ?@?.??ɨBJ@Bd;BCyN+BN(I`bA}Mb@Mb@Mb@yyy y)yY}Q?ףp= ÿ~jty}\/?}}}A }@)yI}@yy}@IIm4٢Ľ L=9v G٣HGy5Ļ > I Nusing accuracyPremultiplier from config59?5Yl i(EB4?:+$V@D$;N;5:B @EZjFNOT Ignoring new targets: 490.60 m.BjJj- ProNav: ac range: 490.600006 m, nav range: 73.931084 m, bearing: 155.756256 deg, approach rate: 0.686023 m/s, LOS rate: -0.117874 deg/s, cmd heading: 334.957422 deg, new cmd heading: 334.815585 deg. 2j-ʡ5HeadingCmd: 5.843634 target range: 490.600006 and range: 490.60 m. j5 @j1j1j9i9h9h9hAhE^BfAfAfArfIbfM@@ɛ|\-; !%zN>I! %6ɚ!i!I%=Im iuûiu">;)u @)q}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEU*<*F ?2F :F BF ?5JF zK] BoHK] 9KY K] K] RKm ?JKm ?G5 ']?;GM ?GM ?G)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseBAOu>!Ww,@\ArE@Yr,U@r B;9rN>yrH~? `?Nڿ -?&Zh 9?`}?ɨrE@rX;pyޕ!Bޕ(III{4٢m( ,=9Z;Q > G٣y{ > Nusing accuracyPremultiplier from config59\?5Y i EBS$V@D ;G;57B Z@EZjQUFNOT Ignoring new targets: 490.60 m.Bj] Jj] u ProNav: ac range: 490.600006 m, nav range: 74.254189 m, bearing: 155.700834 deg, approach rate: 0.670861 m/s, LOS rate: -0.114572 deg/s, cmd heading: 334.815573 deg, new cmd heading: 334.650030 deg. 2juB}HeadingCmd: 5.840745 target range: 490.600006 and range: 490.60 m. j}b@jyjyjyiyhyhhh '$?Iifffrfbf@ɛY: :>I /4ɚiI0=Ii»iƤ;)b@)E =*FY2FY:FYBF]_0JFYJ1J5AA}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJeJeJe0JaJe:Je:Jeـ3Jaa@a@a@a@G 7eD;GY Ba O >X)Ww,Y\A28@Y2G@2/[;92s>y2H`?"~?,ʫڿ3?` ]ws>? 9?ɨ28@2m;2CyNBN(I]Mb@Mb@Mb@YYY Y)YY]> ףp=?1Zd˿ rhy]1?]"[]C ]A ]@)]h@IYYy](@IuIu4٢> N=9;Q > G٣y > Nusing accuracyPremultiplier from config59?5Y iDB]:?:a8V@D;;`5 t@ZjFNOT Ignoring new targets: 490.60 m.Bj=Jj=jH<bH<HI IO)IIBI&I.I6Ip<:I1 F% ProNav: ac range: 490.600006 m, nav range: 74.530067 m, bearing: 155.636135 deg, approach rate: 0.709994 m/s, LOS rate: -0.165890 deg/s, cmd heading: 334.650036 deg, new cmd heading: 334.456660 deg. 2j%㻝-HeadingCmd: 5.837370 target range: 490.600006 and range: 490.60 m. j-˺@j)j)j)i)h1h1h1h=8Bf9f9f9rf9bfE` @Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛ-9 )->I1 542ɚ1i1I5=I=Ai=i=^;)=˺@)AEIEI*EI"EI I*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGU /ŕ;G) B9 O] >Ww,u\A6`.@Y6=@66 <96?>y6H@??Xڿ=?FK??ɨ6`.@6;4y> B>(IIjIjy4٢r rD=9vR;Q v>xx zG٣zHGy~C ~> Nusing accuracyPremultiplier from config 59? 5Y iDB8V@D;;55B @EZjAEFNOT Ignoring new targets: 490.60 m.BjM8JjM8] ProNav: ac range: 490.600006 m, nav range: 74.819092 m, bearing: 155.568579 deg, approach rate: 0.692938 m/s, LOS rate: -0.161340 deg/s, cmd heading: 334.456660 deg, new cmd heading: 334.254776 deg. 2j]sݻmHeadingCmd: 5.833847 target range: 490.600006 and range: 490.60 m. jm߮@jijqjqiqhqhqhyhyfyfyfyrfbf|j!@ɛHo 隵 >I an0ɚiI=Iii <)߮@)zK!K%h9K!K% K%*Fe?2Fa:FiBFme0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGMO;GQGQ ($?IGB)OE>#Ww,雏\A*JR="J%=&Will construct direction to contact in vehicle frame from tetrahedron phase data..T****** received valid address query ******.R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapseJ8J:J8J8J8J:z:J8J8U!@Y0@/<9e>yH` ??Ω@~ڿ?A,K?n?ɨU!@G;騵Cy= B9Mb@Mb@Mb@ )Y(\?"~j̿X9vyz4?ScA )~@I@y@II{4٢J "=9;Q > G٣iymKJ m> uNusing accuracyPremultiplier from configq}59u?}5Yu iuDBb=?::V@uDuU";u!;u54B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 490.60 m.Bj>Jj> ProNav: ac range: 490.600006 m, nav range: 75.181686 m, bearing: 155.481985 deg, approach rate: 0.702188 m/s, LOS rate: -0.166888 deg/s, cmd heading: 334.254787 deg, new cmd heading: 333.996257 deg. 2j廝HeadingCmd: 5.829334 target range: 490.600006 and range: 490.60 m. j艺@jjjihhhhCBfffrfbfs"@ɛ!- )- >I) -I.ɚ)i1I5P=I5,_i= i=/<)=艺@)A*F2F:FBF_0JFHI I)IItBI&I.I6Io<:IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse I G 2<G B O >)Ww,&s\A^P @Y^@^ N<9^2>y^HE??ۿ@?^/`݉6? ?ɨ^P @^;^CynBn(II|I|٢ R  =9;Q ? G٣y ? -Nusing accuracyPremultiplier from config!559%9!?55Y%l i%DB9=;=V@%D%@;%@;%5A E߲@IZjiuFNOT Ignoring new targets: 490.60 m.Bj}c?Jj}c? ProNav: ac range: 490.600006 m, nav range: 75.389259 m, bearing: 155.432364 deg, approach rate: 0.701886 m/s, LOS rate: -0.167325 deg/s, cmd heading: 333.996250 deg, new cmd heading: 333.847798 deg. 2j廝HeadingCmd: 5.826743 target range: 490.600006 and range: 490.60 m. jt@jjjihhhhfffrfbf@Y #@ɛҸ >I B,ɚiIYp=IƲi徻i-<)t@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse*Fm?2Fi:FqBFu1JFqGM(<G!B)OM1>zKK9KK K U Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse0Ww,[\A )$?I~@Y@m<9 >yHyy }G٣}HGyu > Nusing accuracyPremultiplier from config595?5YG itDB<V@D];>e; 52B @EZjFNOT Ignoring new targets: 490.60 m.Bj>Jj> ProNav: ac range: 490.600006 m, nav range: 75.705650 m, bearing: 155.356819 deg, approach rate: 0.701420 m/s, LOS rate: -0.166779 deg/s, cmd heading: 333.847789 deg, new cmd heading: 333.622102 deg. 2j仝HeadingCmd: 5.822804 target range: 490.600006 and range: 490.60 m. jiT@jjjihhhhff f rf bf #@ɛAEt IM >II M*ɚIiIIMy=IU iUiUO<)]iT@)Y*F?2F:FBF~1JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.u=6Ww,&\AZHPRHRAAHTIT IV(IIVVBIT&IT.IT6IV<:IVZ FBIiJIiRIiZIibIijIm4y~B~(IMb@Mb@Mb@ )Yx?q= ףpͿV-yK7?kA -@)@I~@y@IIF4٢=Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣y > Nusing accuracyPremultiplier from config59G?5Ya iXDB@?:=V@D{8;5;d5 1B @EZjQUFNOT Ignoring new targets: 490.60 m.Bj] 4Jj] 4m ProNav: ac range: 490.600006 m, nav range: 75.979019 m, bearing: 155.290678 deg, approach rate: 0.652963 m/s, LOS rate: -0.157414 deg/s, cmd heading: 333.622093 deg, new cmd heading: 333.424385 deg. 2jmػHeadingCmd: 5.819353 target range: 490.600006 and range: 490.60 m. j$8@jjjihhhhiBfffrfbf&$@ɛÈB0S: d'>I  (ɚiIf= +$?II-j{i-{i-<)-$8@)1*F2F:FBF_5JF"GG} Will construct direction to contact in vehicle frame from tetrahedron phase data. ) =Ww,\A.~GvA@ ZY^vAy^^Arӳ@Yr@rʭ<9r>yrH'?N? lSmۿϗ?%wu? 8?ɨrӳ@r;rCyz%Bz(III4٢= U=9!! %G٣!y%f -> 5Nusing accuracyPremultiplier from config)559-fY?=5Y-v i-I &ɚiI> =I?iֺiU]<)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2214> BDAT read: Tx time:22:00:19.3412 $Ping request sent.DWw,]AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:00:19.3404 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248975J@JBJ@J@J@JB :J@J@  @Y qǺ@ r<9 ">y H@ ?F?⨥ ۿ ٌ? @`δ??ɨ  @ ; y8B%(Ii-=I-a= -=-a=Mb@Mb@Mb@ )Y5^I ?J +ɿMby8?HA @)@Iy@IIt4٢9= %=9B;Q > G٣HGy߻ > Nusing accuracyPremultiplier from config 59q? 5Y iDB >?:5V@D;[; 5.B U@EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 490.60 m.Bj(Jj(E ProNav: ac range: 490.600006 m, nav range: 76.604240 m, bearing: 155.149599 deg, approach rate: 0.702721 m/s, LOS rate: -0.147633 deg/s, cmd heading: 333.226652 deg, new cmd heading: 333.002889 deg. 2jMʻUHeadingCmd: 5.811997 target range: 490.600006 and range: 490.60 m. jU@jQjYjYiYhYhYhh{Bfffrfbfs&@ɛˆB5; AEJl>IA ELp"ɚIiIIMH=I]?i}&_JWw,,]AF@YF@FRЮ<9F >yFH?` ? 㤿@ۿ8?ٕ`ק?Я?ɨF@F;FCybMBb(IInInm4٢rF= vt=9v4;Q v?xx G٣ya߻ ? %Nusing accuracyPremultiplier from config!-59%?-5Y%$ i% DB)-55V@%D%-;%;%5Y ]@YZjFNOT Ignoring new targets: 490.60 m.Bj5Jj5 ProNav: ac range: 490.600006 m, nav range: 76.846565 m, bearing: 155.098405 deg, approach rate: 0.754610 m/s, LOS rate: -0.158917 deg/s, cmd heading: 333.002895 deg, new cmd heading: 332.849798 deg. 2j ڻ HeadingCmd: 5.809325 target range: 490.600006 and range: 490.60 m. j @j jjihhhhfffrf!bf%`*'@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752227ɛn >< Ӌ>I ԐɚiIb=I؝i.iAo<)@)*F?2F:FBF_0JFG G' TFailed to parse incomplete device message.GQd<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005361 I QWw,NdF]A6à@Y6*@6'W<96>y6H}?`?=`ۿ? `c*?@?ɨ6à@62;6Cy^^B^(IIfoIfD4٢n<= nK=9rQ;Q r>tt vG٣xy~O ~> Nusing accuracyPremultiplier from config59/?5Y;) iCB5V@D[K;J;5,B @EZjFNOT Ignoring new targets: 490.60 m.Bj&Jj&  ProNav: ac range: 490.600006 m, nav range: 77.133827 m, bearing: 155.037959 deg, approach rate: 0.694473 m/s, LOS rate: -0.145586 deg/s, cmd heading: 332.849790 deg, new cmd heading: 332.669129 deg. 2j ǻHeadingCmd: 5.806171 target range: 490.600006 and range: 490.60 m. j(̹@jjjihhhhf!f)f)rf1bf5`'@ɛ]B]OD< ae>Ia e ɚaiaIeV=Im";imöiu1~<)u(̹@)q*F?2F:FBF`0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259943Gw<GBO>H I  I )II jBI &I .I 6I G<:I  FVWWw,;`]AJ7@YJ@J<9J>yJHG?;?ۿ~? g??ɨJ7@Jpi;JCyRyBR)I)T TXZAbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508031EMb@Mb@Mb@AAA A)AYEQ?#~jĿ{Gzt?yE\/?E%Eף;EIA EC@)E3@IE@AyE@IeRIeW4٢m> uA=9u:Q u>yy }G٣}HGyi > Nusing accuracyPremultiplier from config59v?5Y". iCB34?:.V@ D5;;-5 /@Zji -$?IFNOT Ignoring new targets: 490.60 m.Bj Jj  ProNav: ac range: 490.600006 m, nav range: 77.419807 m, bearing: 154.984572 deg, approach rate: 0.681783 m/s, LOS rate: -0.126807 deg/s, cmd heading: 332.669117 deg, new cmd heading: 332.509546 deg. 2j HeadingCmd: 5.803386 target range: 490.600006 and range: 490.60 m. jW@jjjihhhhڈBfffrfbf(@ɛ]B]u< ae>Ia ekɚaiaIeM=I]Ww,4z]A6@Y6@6N<969" >y6H`^?-?>ۿ{?@" ??ɨ6@6;6CyBBB1)IIJIJ<4٢R= VX=9V[;Q V>XX ZG٣XyZĖ Z> bNusing accuracyPremultiplier from config`f59bѸ?f5Yb2 ibCBdf.jV@bDb@:ba:bz5n)B n@nEZjFNOT Ignoring new targets: 490.60 m.BjfJjf ProNav: ac range: 490.600006 m, nav range: 77.677322 m, bearing: 154.936754 deg, approach rate: 0.686862 m/s, LOS rate: -0.127119 deg/s, cmd heading: 332.509537 deg, new cmd heading: 332.366561 deg. 2j{HeadingCmd: 5.800891 target range: 490.600006 and range: 490.60 m. j根@jjjihhzKFMK9KK K    hhfffrf!bf%)@ɛS< 隍>I sɚiI=IFii{<)根@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012954*FM?2FI:FQBFU0JFQ"G]=G]= .$?IG5=<G B O5 >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264698ZdWw,]AyBW)I]Mb@Mb@Mb@YYY Y)YY]Zd;O?:v~jt?y]~*?]Խ]<]A Y)]I@IYYy]@IuIu%x4٢E= $=9Q > G٣y > Nusing accuracyPremultiplier from config59 ?5Y7 iCB,?:V@ DW;;5(B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 490.60 m.BjJj ProNav: ac range: 490.600006 m, nav range: 78.008377 m, bearing: 154.894585 deg, approach rate: 0.643213 m/s, LOS rate: -0.081585 deg/s, cmd heading: 332.366567 deg, new cmd heading: 332.240595 deg. 2j_%HeadingCmd: 5.798692 target range: 490.600006 and range: 490.60 m. j%㎹@j!j!j!i)h)h)h)h5Bf1f1f1rf1He>Ia Ie=)IIeBIa&Ia.Ia6Ie<:IeV Fbfv*@ɛBx< U>I  ɚiI=I5i5hpi=<$<)=㎹@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517102*F?2F:FBFh0JF qIyG <G B O >okWw,Ϣ]A6e@Y6\u@6^<96?>y6H@?-?@rK1ܿl?ɪ ? J?ɨ6e@6?;6Cy>ĉBBt)IiB!>IBp; Fa=Fp=INmIN3A4٢R> V}=9VA4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019937 /$?I iC rWw,U]A6$O@Y6^@6<96}>y6H)?`Y? B Yܿb?.`w3@??ɨ6$O@6;6CyBBB)IIJ{IJZ4٢R > RJ=9Vr;Q V>XX ZG٣ZHGyZ Z> bNusing accuracyPremultiplier from config\b59^?f5Y^? i^CBdffV@^/D^ ;^* ;^/$5n&B nc@n}EZj1=FNOT Ignoring new targets: 490.60 m.BjEúJjUúe ProNav: ac range: 490.600006 m, nav range: 78.491066 m, bearing: 154.831565 deg, approach rate: 0.655294 m/s, LOS rate: -0.085637 deg/s, cmd heading: 332.157154 deg, new cmd heading: 332.052123 deg. 2jekmHeadingCmd: 5.795403 target range: 490.600006 and range: 490.60 m. jus@jqjqjqiqhqhqhyhyfyfyfrfbfG,@ɛQUw= QU?IY ]GɚYiYI]2=Ii®i<)s@)*F=?2F9:F9BF=5JF9GEqA GAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272684G~<GBOER>ZH RH ?AH I  I )II ЉBI . =&I .I 6I <:I = F -xWw,J]A"Will construct direction to contact in vehicle frame from tetrahedron phase data."BDAT read: Rx Time:22:00:22.4028 &TRx dataTimestamp_ set to:1736373623.544539&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524840>|E@Y>T@>ix=9>d>y>H@s?^n?cjܿ@]?1P R?W?ɨ>|E@>֏;    G٣ y > %Nusing accuracyPremultiplier from config%59?-5YC iCB5|"?5:5w5V@9D%;n$;a(59 =&@9ZjyFNOT Ignoring new targets: 490.60 m.Bj5Jj5 ProNav: ac range: 490.600006 m, nav range: 78.794823 m, bearing: 154.812525 deg, approach rate: 0.635426 m/s, LOS rate: -0.039675 deg/s, cmd heading: 332.052133 deg, new cmd heading: 331.995234 deg. 2jٺHeadingCmd: 5.794410 target range: 490.600006 and range: 490.60 m. jk@jjjihhhIhMBfQfQfQrfYbf],@ɛ= ?I J&ɚiI=I@ii)k@)*F?2F:FBFF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775863J5J5J50J1J5,:J5z:J5ـ3J1J5<J5<J5l;J5l;G <G B O >U~Ww,m ]A21@Y2@@2 =92}p>y2H`?`w?`YܿU?t#@ ??ɨ21@2qŏ;2CyBBB)I)D DHJAIN~INT_4٢V= Vz=9V ;Q V?XX ZG٣XyZ ^? bNusing accuracyPremultiplier from config`f59b?f5YbE i`djjV@b@Db:b:b;+5n%B nʡ@nzEZjFNOT Ignoring new targets: 490.60 m.Bj 1Jj 1 ProNav: ac range: 490.600006 m, nav range: 79.001114 m, bearing: 154.799309 deg, approach rate: 0.605599 m/s, LOS rate: -0.038698 deg/s, cmd heading: 331.995224 deg, new cmd heading: 331.955678 deg. 2jvԺHeadingCmd: 5.793720 target range: 490.600006 and range: 490.60 m. j'f@jjjihhhhfffrfbf-@zK]LK]+9KYK] K] '3?ɛ!@3= 隵$?I rٻɚiI-=I8iyɫily<)'f@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031240*Fe?2Fa:FiBFm_0JFi 0$?IG喇<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.*J= C="J9 M DAT read: 22:00:22.4028 LVL= 16240, 21201, 15570, 22339, AGC= 73, IDX= 8, 0.19, 1.354,-0.354, 0.162, 0.567, PHS= 0.875,-0.874,-0.407, RAW= 104.9, 5.2, CAL= 115.4, 3.0, ROT= 34.6, -3.0 U Ygot valid direction response: 22:00:22.4028 LVL= 16240, 21201, 15570, 22339, AGC= 73, IDX= 8, 0.19, 1.354,-0.354, 0.162, 0.567, PHS= 0.875,-0.874,-0.407, RAW= 104.9, 5.2, CAL= 115.4, 3.0, ROT= 34.6, -3.0 ] PDAT read: Bearing 34.6, -3.0 (Local)  ~Local bearing/azimuth received: Bearing 34.6, -3.0 (Local)  DAT read: Range 10 to 50 : 493.0 m (Round-trip 657.4 ms) speed 0.3 m/s  ,DAT read: user:2215>  BDAT read: Tx time:22:00:23.4913  $Ping request sent.gAWw, ^Ay5H?@:?ԼܿrJ?Ò4?@?ɨ5@5F4;1yMBM)IHI I)II BI- =&I.I6I4<:I FBIiJIiRIiZIibIijIm4Mb@Mb@Mb@ )Yrh|??AA EG٣EHGyE@ M> UNusing accuracyPremultiplier from configIU59M0?}5YMI iMCB}N?:ݾV@MKDMb;M;M05#B @wEk-?k-[( k) k-0^A:k-CBk-CZk-{k@"-Þ IeYuPi>R'#}@-eo#Q_ʿ(-¿i/k?Jk-0!Rk-2:*-`L/o)T2}@-X2ѿ |PĿS?"k-O*k-7k- p?k-b[( 2k-Dk-]D̛?k-g" k- Dk-Bk-eT\@M addTargetRange:: Added new target pos. range: 493.000000 m, deltaT: 15.117823 s, deltaX: 2.399994 m, approachRate: 0.158753 m/s, rangeRepo size: 4 ]Will construct direction to contact in vehicle frame from tetrahedron phase data.} Added new target pos. range: 493.000000 m, bearing: 210.815217 deg, lat: 36.899531 deg, lon: -122.121029 deg, deltaT: 15.117823 s, deltaX: 2.399994 m, approachRate: 0.158753 m/s, posRepo size: 4 ZjyFNOT Ignoring new targets: 493.00 m.BjJj ProNav: ac range: 493.000000 m, nav range: 82.464691 m, bearing: 197.249378 deg, approach rate: 0.000000 m/s, LOS rate: -0.038698 deg/s, cmd heading: 331.955690 deg, new cmd heading: 331.890840 deg. 2jHeadingCmd: 5.792588 target range: 493.000000 and range: 493.00 m. j\@jjjihhh!h%ljBf!f!f)rf-~@bfM?ɛ= 隥=-?I z⿻ɚ 1$?IiI=I/ii0j<)\@)*F 2F :F BF 5JF "G =G =G Ӕ<Will construct direction to contact in vehicle frame from tetrahedron phase data.JUJUJQJQJU|:JUq:JQJQJU<JU<JUk;JUk;GBO>Ww,C4^A:{@Y:@: =9:=y:H=?p?# 8ܿFG?徿aࢿ *߽?`n?ɨ:{@:ą;:C%~G=5tA]A Y5tAyBy$Bލ)IIaI+4٢f= Z=9W:Q > G٣y%6 %> -Nusing accuracyPremultiplier from config)559-B?55Y-&L i-CB15!߾=V@-RD-:-:-b35a e@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 493.00 m.Bj`Jj` ProNav: ac range: 493.000000 m, nav range: 82.636101 m, bearing: 197.141632 deg, approach rate: 0.469344 m/s, LOS rate: -0.294411 deg/s, cmd heading: 331.890831 deg, new cmd heading: 331.568268 deg. 2j JHeadingCmd: 5.786958 target range: 493.000000 and range: 493.00 m. j.@jjjihhhhf!f!f!rf!bf%@"?ɛcA= 隥2?I ɚiIј=Iii<).@)*F?2F:FBF_0JFzK-ؐLK-9K)K- K-Qbq}yytvurqrpWill construct direction to contact in vehicle frame from tetrahedron phase data.i T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. M2$?IUiGu <^<GI Ba O >TxWw,N^Ayr'Br)IivR=Ivi> v=v=Iz[IzK!4٢%t< %Z=9-Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=S?M5Y=N i=CBQQUV@=YD= J;=3\;=65e!B e@etEZjFNOT Ignoring new targets: 493.00 m.BjJj ProNav: ac range: 493.000000 m, nav range: 82.804230 m, bearing: 197.036559 deg, approach rate: 0.462866 m/s, LOS rate: -0.288681 deg/s, cmd heading: 331.568255 deg, new cmd heading: 331.253681 deg. 2jFHeadingCmd: 5.781467 target range: 493.000000 and range: 493.00 m. j@jjjihhhhfffrfbf?ɛ.C= S4?I ޟɚiIx=IpiGi(<)@) }Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977651*F?2F:FBFi0JFGc<HYIY I] *II]?BI]. =&IY.IY6I]e<:I]& FGB O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229401 a Ia Ww,qh^A>@Y>@>za=9>=y>H%?z?@?ܿ^J?ê򪣿/?x?ɨ>@>;>CyR*BR)IMb@Mb@Mb@ )Yn?=9ok;Q > G٣HGyA; >  Nusing accuracyPremultiplier from config 59 h?5Y P i CB]?:ϴV@ aD ; ; b:5% B %Z@%vEZjY]FNOT Ignoring new targets: 493.00 m.BjeJjeu ProNav: ac range: 493.000000 m, nav range: 83.006737 m, bearing: 196.930262 deg, approach rate: 0.469551 m/s, LOS rate: -0.245868 deg/s, cmd heading: 331.253684 deg, new cmd heading: 330.935574 deg. 2ju(}HeadingCmd: 5.775915 target range: 493.000000 and range: 493.00 m. j}LԸ@jyjyjyiyhhhhBfffrfbf ?ɛz2= 5?I ϋɚiIf=Ixi i<)LԸ@)*FM?2FI:FIBFMo0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481837JɄK̈́m3 K̈́g.KɄKɄ"KɄJJJJJ :Jh:JJJ<J<JMi;JNi;G-%<G5 ?G5)?G B O- >[Ww,ND^AzK"OK"ػ9K K" K"ng^[XTPJB:/'# #*L}vha_\\[ZWWY\[VKC<73330-**-+'%%%$" >@Y>(@>&=9>=y>H8? /?@R7 ܿ@UN?EkΤ6?`?ɨ>@>*`;>CyJ&BJ)IIRIRm4٢ZӼ Za=9Z;Q ^>`` bG٣`yb; f> jNusing accuracyPremultiplier from configdj59fy?n5YfR rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.733579ifCBtvճvV@fhDf.|;fa|;f=5zB z@~sEZj%FNOT Ignoring new targets: 493.00 m.Bj% Jj% 5 ProNav: ac range: 493.000000 m, nav range: 83.178284 m, bearing: 196.841094 deg, approach rate: 0.472349 m/s, LOS rate: -0.245016 deg/s, cmd heading: 330.935561 deg, new cmd heading: 330.668609 deg. 2j5'( 4$?I HeadingCmd: 5.771256 target range: 493.000000 and range: 493.00 m. j !@j j j i h h1h9h9fAfIfQrfqbfu ?ɛ68= 3?I rɚiIW=I ii[Z=)!@)*F%?2F!:F!BF%0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989534GM %<G) BY O >Ww,d ^Ay=!B=)I)A AIIMb@Mb@Mb@H I  I 0*II ^BI - =&I .I 6I v<:I 3 F )Ym?kt?V-?y? =< A @)AIy@I5I51h4٢Eۨ E4=9EQ E>II MG٣IyM U> eNusing accuracyPremultiplier from configYe59]?m5Y]U i]CBmx?m:mmV@]pD];]o;]A5y ڟ@ZjFNOT Ignoring new targets: 493.00 m.BjRJjR ProNav: ac range: 493.000000 m, nav range: 83.388229 m, bearing: 196.739437 deg, approach rate: 0.462166 m/s, LOS rate: -0.223219 deg/s, cmd heading: 330.668610 deg, new cmd heading: 330.364410 deg. 2j1HeadingCmd: 5.765947 target range: 493.000000 and range: 493.00 m. j@jjjihhhhBfffrfbf@ɛBE5= ~0?I r,Mɚi!I%J=I%ii-Hӟi-E=)-@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238651*F?2F:FBFN2JF 5$?IG$3=GyBOa> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490281eެWw,^A6f"@Y61@60=96=y6H`̔?`?ЬTܿgO?+@ι?$?ɨ6f"@6@;6Cyn Br)IIztIzM4٢  a=9 ;Q  >  G٣HGyV; > %Nusing accuracyPremultiplier from config-59?-5YV iCB)-n-W@wDX:*:D55B =2@=pEZjimFNOT Ignoring new targets: 493.00 m.Bju[}Jju[} ProNav: ac range: 493.000000 m, nav range: 83.556038 m, bearing: 196.658819 deg, approach rate: 0.461988 m/s, LOS rate: -0.221502 deg/s, cmd heading: 330.364420 deg, new cmd heading: 330.123052 deg. 2jHeadingCmd: 5.761734 target range: 493.000000 and range: 493.00 m. j `@jjjihhhhfff!rf!bf%@ɛ`1= 隝$?I ,ɚiIJ=I}ii)=) `@)*FM?2FI:FIBFM@5JFIzK/sNK9KK K1S C!  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741321 IGMsc=GQGUrAGI BQ Om >kƳWw,s^A6@Y6'@6Gl6=96*=y6H ď?@?~Aܿ!L?`|˦A?@?ɨ6@6ݒ;4y>B>)IIFIF@4٢N桽 NQ=9R^;Q R>PT VG٣TyZHR Z> bNusing accuracyPremultiplier from config\b59^?b5Y^X i^CBdffW@^~D^e:^:^ H5h j.@lzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 493.00 m.Bj !}Jj !} ProNav: ac range: 493.000000 m, nav range: 83.736908 m, bearing: 196.572168 deg, approach rate: 0.462938 m/s, LOS rate: -0.221304 deg/s, cmd heading: 330.123041 deg, new cmd heading: 329.863653 deg. 2j%HeadingCmd: 5.757207 target range: 493.000000 and range: 493.00 m. j% ;@j!j!j!i!h!h)h)h)f1f1frfbf@ɛBz)= ?I  ɚiIT=Iii 3=) ;@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993731JJJJJ:J:JJa@a@a@a@*F?2F:FBF_0JFGm#=G9BIOeV>H>I I7*IIcBI. =&I.I6Il<:I- F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245462 6$?I ~Ww,ø^AV- @YV@V<=9V:=yVH?f?J ܿH?R>?f?ɨV- @Vh;VCy݉B)IiR>I; =a=Mb@Mb@Mb@ )YS?I +? rh?y?9=C< A $@)I@yAIIq4٢ 8=9+_;Q > G٣yW > Nusing accuracyPremultiplier from config59?5YZ iCB?:͡W@D1;;K5B @mEZjFNOT Ignoring new targets: 493.00 m.Bj9pJj9p ProNav: ac range: 493.000000 m, nav range: 83.943108 m, bearing: 196.474848 deg, approach rate: 0.446078 m/s, LOS rate: -0.210018 deg/s, cmd heading: 329.863658 deg, new cmd heading: 329.572418 deg. 2j"HeadingCmd: 5.752124 target range: 493.000000 and range: 493.00 m. jf@jjji h)h)h1h5ÉBf1f1f9rf9bf= @ɛˆB{ = 隭 ?I pٺɚiIA=Iii?=)f@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:00:26.5390 mTRx dataTimestamp_ set to:1736373627.828917uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.498784*F}?2F:FBFJFG '=Gy B O >Ww,e_A63@Y6@6$B=96 =y6H@}?%!? `ܿ@??@ > ??ɨ63@6+';4zK>NK> 9K<K> K>RKF>JKF?yRBRm)IbWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.750959IzIz{4٢-  W=9td;Q >!) -G٣-HGy5) 5> MNusing accuracyPremultiplier from configIU5 m7$?Ii9M ?u5YMn\ iIZW@MDMOI (UɚiI۰=IV i@iC=)P@)*Fi2Fi:FqBFqJFqGrA GG>=GBO>uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:00:26.5390 LVL= 20624, 30433, 23282, 32755, AGC= 69, IDX= 420,-0.13, 0.574,-0.920,-0.570,-0.273, PHS= 0.935,-0.599,-0.300, RAW= 100.6, -0.5, CAL= 109.8, -5.5, ROT= 40.2, 5.5 Ygot valid direction response: 22:00:26.5390 LVL= 20624, 30433, 23282, 32755, AGC= 69, IDX= 420,-0.13, 0.574,-0.920,-0.570,-0.273, PHS= 0.935,-0.599,-0.300, RAW= 100.6, -0.5, CAL= 109.8, -5.5, ROT= 40.2, 5.5 PDAT read: Bearing 40.2, 5.5 (Local) ~Local bearing/azimuth received: Bearing 40.2, 5.5 (Local) DAT read: Range 10 to 50 : 482.7 m (Round-trip 643.6 ms) speed 0.4 m/s JJJJJ:J":JJ*DAT read: use7.6413 Hunknown deviceResponse_: use7.6413 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.090838,-0.078502,0.992767]Fpublishing direction and range infoq9uG)A<ʉAվ?yuYCquPuv uZ)uIuEiu)\o?uXuu?u5 uK?)u ĽIu3?iu =qquKyB.?CտI[q`)ujIu IC I*IIEBI, =&I.I5D6I<:I] FMb@Mb@Mb@ )Y/$?S㥫?{Gzty&?/]=ף A )AI3@yzAII_v4٢e e6=9mnF;Q m>iq uG٣qyu(ݻ u> Nusing accuracyPremultiplier from configy59}?5Y}^ i}CB?:W@}D} ;}S;};S5 @k$ӛ?k' k kW=_A:kYCBkCZkׅ@" f%|EKBM)V}@G)A<ʉAվ?JkSsRkA*tS;NF7ROufd}@|sn\U0ÿLm(b?"k*kqk%ӛ?k!;' 2kDkks& kDk:Bks@ addTargetRange:: Added new target pos. range: 482.700012 m, deltaT: 4.032010 s, deltaX: -10.299988 m, approachRate: -2.554554 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:00:27.6405 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.254290 Added new target pos. range: 482.700012 m, bearing: 230.119202 deg, lat: 36.899531 deg, lon: -122.121481 deg, deltaT: 4.032010 s, deltaX: -10.299988 m, approachRate: -2.554554 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 482.70 m.BjJj ProNav: ac range: 482.700012 m, nav range: 103.113586 m, bearing: 218.284826 deg, approach rate: 0.000000 m/s, LOS rate: -0.214391 deg/s, cmd heading: 329.320030 deg, new cmd heading: 329.036046 deg. 2j AIAMHeadingCmd: 5.742763 target range: 482.700012 and range: 482.70 m. jMķ@jIjIjIiIhQhQhhBfffrf@3+~@bf?ɛÈBY<  1=%>I! %eɚ!i!I%l=I-#Y i-ai-yLJ=)-ķ@)1*F2F:FBFJFPExceeded connect timeout, disconnecting.G } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.507106G B O >,Ww,B7_A6@Y6@6J=96E=y6H\??8|wݿ%?`{Z>? ?ɨ6@6̏;6CyRtBR)I)T TXXIb{IbZ4٢fs ji=9j[:Q j>hl nG٣lyr͂ r> vNusing accuracyPremultiplier from configtz59vw?z5Yv` ivCBxznľ~W@vDv*;v\,;vLV5B K@ gEZj)5FNOT Ignoring new targets: 482.70 m.Bj=ըJjEըM ProNav: ac range: 482.700012 m, nav range: 103.212746 m, bearing: 218.188593 deg, approach rate: 0.304482 m/s, LOS rate: -0.295211 deg/s, cmd heading: 329.036058 deg, new cmd heading: 328.747641 deg. 2jUJUHeadingCmd: 5.737729 target range: 482.700012 and range: 482.70 m. j]y@jYjYjYiYhYhahahafafifirfibfm`}?ɛĈB< 隝>I 0ɚiI7=I ii!G=)y@)*Fm?2Fq:FqBFu0JFqGM,+H=G!B)OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.757615 =8$?I9'ETFailed to parse incomplete device message.Ww,)Q_AN{c@YNr@NN=9Nu=yNH:?["?wݿ e?  2`:? ?ɨN{c@NM;NCynPBn(IIvIvk4٢~- ~G=9~j;Q > G٣HGy   > Nusing accuracyPremultiplier from config%59 ?%5Y7c iCB!-Ⱦ-W@Da::Y51 5@1UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 482.70 m.BjmJjm ProNav: ac range: 482.700012 m, nav range: 103.327423 m, bearing: 218.075595 deg, approach rate: 0.278785 m/s, LOS rate: -0.274398 deg/s, cmd heading: 328.747633 deg, new cmd heading: 328.409018 deg. 2jQ<HeadingCmd: 5.731819 target range: 482.700012 and range: 482.70 m. jk@jjjihhh h 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.009537f9f9f9rfAbfEy(?JJJJJJJl:J:JJɛňBI< ֊>I ɚiI=I]& iix<=)k@)*F-?2F):F1BF50JF1jHbHp<H$>I I)IIBI&I.I6IY<:I$ FBIYJI]ǛCRIYZIYbIYjI]!g5Ge H=Gm >Gm > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.261890 ) I) GY Bi O >?Ww,j_Ay=+B=(IMb@Mb@Mb@ )Y5^I ?Mb?Zd;Oy?<jvA h@)I@yAII1h4٢;( <=9Q > G٣y   > 5nManaging dock network, ignoring radio surface power off Nusing accuracyPremultiplier from config59?5YKf iCB1?:W@Dz;3;]5B @dEZjFNOT Ignoring new targets: 482.70 m.BjJj ProNav: ac range: 482.700012 m, nav range: 103.436493 m, bearing: 217.946200 deg, approach rate: 0.241561 m/s, LOS rate: -0.286274 deg/s, cmd heading: 328.409019 deg, new cmd heading: 328.021250 deg. 2jwDHeadingCmd: 5.725051 target range: 482.700012 and range: 482.70 m. j3@jjjihh h h &Bfffrfbf ?ɛEƈBEX< AE2J>IA MWɚIiIIM"4=IUiUiUyX=)U3@)YEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.513584)  ~G-|uAEA mG Yu|uAyuzBEUNw =*F ?2F :F BF f0JF G n;= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.766847  9$?I zK rLK 9K K K   G B O >Ww,_AyMBUx(Ii]>I]> ]a=YIuIub4٢uj 9=9Q > G٣y > Nusing accuracyPremultiplier from config591?5Ypi iCBW@DL:z:a5B ܱ@aEZj)-FNOT Ignoring new targets: 482.70 m.Bj5Jj5E ProNav: ac range: 482.700012 m, nav range: 103.548500 m, bearing: 217.814252 deg, approach rate: 0.260193 m/s, LOS rate: -0.306184 deg/s, cmd heading: 328.021256 deg, new cmd heading: 327.625847 deg. 2jE!RMHeadingCmd: 5.718150 target range: 482.700012 and range: 482.70 m. jM@jIjIjIiIhQhQhQhQfYfYfYrfYbf]9?ɛȈB9; 隍 =I  =DɚiI(=I/iBǂio=)@)E.=*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.018895G0P=*J5R="J5R=JJJJJ:J!:JJGBO>H5 &>I5 C I5 \)II5 BI5 * =&I1 .I1 6I5 <:I5 C F Ww,j¡_AB@YB@Bx_=9B=yBH?`?]? ޿? 뫿?? ?ɨB@BW;BCyfȈBf=(ImMb@Mb@Mb@iii i)iYmK7A?DlMbym "?mOmm`A m~@)iIm@iymQAII4٢n K=9- G٣HGyU > Nusing accuracyPremultiplier from config59AC?5Y:m iCB6#?:{W@Dn ;; e5 ܴ@ =:$?I9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.271075ZjFNOT Ignoring new targets: 482.70 m.BjmJjm ProNav: ac range: 482.700012 m, nav range: 103.624146 m, bearing: 217.681171 deg, approach rate: 0.177466 m/s, LOS rate: -0.311983 deg/s, cmd heading: 327.625842 deg, new cmd heading: 327.226897 deg. 2jV%HeadingCmd: 5.711187 target range: 482.700012 and range: 482.70 m. j% ¶@j!j!j!i!h!h)hIhMBfQfQfYrfYbf]p@ɛɈB$ fX=I k[FɚiIn=I|ni}i K=) ¶@)EE*E"E*F 2F :F BF o0JF G qA G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.522808G W=GGGBO%>[Ww,k_A6ޭ@Y6F@64c=96=y6H!?f?Rm?3߿຺?e@{>l??ɨ6ޭ@6禋;4yRBR (IIZIZЬ4٢b4 b.=9b;Q b>dd fG٣dyje j> nNusing accuracyPremultiplier from configlr59nW?r5Ynq innCBtv7vW@nDnTA;n4;n&i5~B ~U@|Zj!%FNOT Ignoring new targets: 482.70 m.Bj-̻Jj-̻= ProNav: ac range: 482.700012 m, nav range: 103.712006 m, bearing: 217.524394 deg, approach rate: 0.200141 m/s, LOS rate: -0.356827 deg/s, cmd heading: 327.226905 deg, new cmd heading: 326.756982 deg. 2j=tEHeadingCmd: 5.702985 target range: 482.700012 and range: 482.70 m. jE~@jAjAjAiIhIhIhIhIfQfQfQrfQbf Z @ɛ%ʈB%eƻ !%I! %ϋɚ)i)I-V=I-i1 YI]iieV=)e~@)a}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.773845zK)LK+9KK K*F ?2F :FBFO5JFG R=GBOE>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=7.025518iWw,{_Ay-wB-'I)1 115AH(>I I(IILBI&I.I6I_<:I. FMb@Mb@Mb@ )Yn?p= ף/$yV.?, @)AI@yAII4٢D "=9Q > G٣ HGy > Nusing accuracyPremultiplier from config59Dn?5Yw i?CB1?:1W@D;;m5 @B*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 482.70 m.Bj5'ԻJj5'ԻE ProNav: ac range: 482.700012 m, nav range: 103.789330 m, bearing: 217.336938 deg, approach rate: 0.153131 m/s, LOS rate: -0.370957 deg/s, cmd heading: 326.756988 deg, new cmd heading: 326.195058 deg. 2jE~UHeadingCmd: 5.693178 target range: 482.700012 and range: 482.70 m. jU.@jQjQjQiQhYhYhYhe]Bfafafarfabfm @ɛˈB| 2 隝Z(I ߹ɚiI=I ii/z=).@) E;$?IA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.278705*F%?2F!:F!BF%\5JF!G5 K=G= ?G= >G B OE >Ww,G_AnWill construct direction to contact in vehicle frame from tetrahedron phase data.nBDAT read: Rx Time:22:00:30.6869 rTRx dataTimestamp_ set to:1736373631.860610rchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.530472y~IB~'IIIK4٢% %=9)Q - ?J=J=J9J9J=:J=%:J9J9J=/=)@)*Fy2Fy:FyBF}~1JFy"GG=GUf=GBO=r> )I1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.781460zK} K} 9Ky K} K} Xw,b`A2=@Y2@2h=92=y2H`?G?{Rt?->i?)[A= ? ^?ɨ2=@2;2CyR4BR'IIjIj4٢rڽ rO=9r%;Q r>tt vG٣tyz4\ z> ~Nusing accuracyPremultiplier from config|59~?5Y~ i~BB 7 W@~D~ ;~a:~s5 ֽ@Zj9=FNOT Ignoring new targets: 482.70 m.BjEwԻJjEwԻU ProNav: ac range: 482.700012 m, nav range: 103.894249 m, bearing: 217.073332 deg, approach rate: 0.141908 m/s, LOS rate: -0.371502 deg/s, cmd heading: 325.838874 deg, new cmd heading: 325.404647 deg. 2jU~]HeadingCmd: 5.679382 target range: 482.700012 and range: 482.70 m. je@jajajiiihqhqh!h)fQfQfYrfYbfeC@ɛ!赼 )5ؘI1 =]ɚAiAIMrx!=I}ؒiiX=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.037009E·3=H *>I  I \(II BI &I .I 6I <:I l F*Fa 2Fa :Fa BFe _5JFi 5 <$?I1  Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A DAT read: 22:00:30.6869 LVL= 19728, 32753, 28562, 32755, AGC= 70, IDX= 421, 0.11, 2.164, 0.311, 0.690, 1.164, PHS= 1.087,-0.806,-0.477, RAW= 99.4, 2.3, CAL= 109.7, 0.1, ROT= 40.3, -0.1  Ygot valid direction response: 22:00:30.6869 LVL= 19728, 32753, 28562, 32755, AGC= 70, IDX= 421, 0.11, 2.164, 0.311, 0.690, 1.164, PHS= 1.087,-0.806,-0.477, RAW= 99.4, 2.3, CAL= 109.7, 0.1, ROT= 40.3, -0.1  PDAT read: Bearing 40.3, -0.1 (Local)  ~Local bearing/azimuth received: Bearing 40.3, -0.1 (Local)  DAT read: Range 10 to 50 : 481.1 m (Round-trip 641.5 ms) speed 0.2 m/s  ,DAT read: user:2217>  BDAT read: Tx time:22:00:31.7913 % $Ping request sent.%  G٣!HGyܼ >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59H?5Y iBBC?:TW@D|S<S<x5%B %@-[EJEJEJAJAJE:JE-.:JAJAJE<JE<JEv;JEv;ktЛ?k1# k kx{'`A:kCBkCZkLe@"upv!QZ0B9%v}@r;¿JGg{R?JkS1Rk*j iQ@𕚪w}@3炮Q¿kt豿$co?"k*kHk aЛ?kJ# 2kDkkkkBk2r@ addTargetRange:: Added new target pos. range: 481.100006 m, deltaT: 4.285042 s, deltaX: -1.600006 m, approachRate: -0.373393 m/s, rangeRepo size: 4  Added new target pos. range: 481.100006 m, bearing: 205.792341 deg, lat: 36.899531 deg, lon: -122.121481 deg, deltaT: 4.285042 s, deltaX: -1.600006 m, approachRate: -0.373393 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 481.10 m.BjJj- ProNav: ac range: 481.100006 m, nav range: 103.938042 m, bearing: 216.826439 deg, approach rate: 0.000000 m/s, LOS rate: -0.371502 deg/s, cmd heading: 325.404637 deg, new cmd heading: 324.713665 deg. 2j)UHeadingCmd: 5.667323 target range: 481.100006 and range: 481.10 m. jUZ@jQjYjYiYhYhYhahe Bfafafarfm~@bfmH?ɛ͈BK I 쨺ɚiI#=I-iiqP=)Z@) E5 #Y= >$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 0JF zK k3IK h9K K K BK qA:K pAGW=GBO ?fXw,vR`ABC@YBpR@Bb=9B=yBH@n*??݄?@{?񞶿Q'ձ??ɨBC@B;BCyNBN/'IIVIV 4٢^; ^5=9^rۺQ b>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59j?n5Yj^ ijBBpr+VrW@jDj:jL:j|5vB v@vXEZjFNOT Ignoring new targets: 481.10 m.BjhJjh컝 ProNav: ac range: 481.100006 m, nav range: 103.969803 m, bearing: 216.638911 deg, approach rate: 0.070032 m/s, LOS rate: -0.413363 deg/s, cmd heading: 324.713668 deg, new cmd heading: 324.151277 deg. 2j؍HeadingCmd: 5.657507 target range: 481.100006 and range: 481.10 m. jL @jjjihh!h!h!f!f)firfibfm@?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ=ΈB=1 9=IA E޺ɚAiaIeQ$=Imr, iiimY[=)mL @)qEyEy*Ey"EyHu,>Iq Iu'IIuBIu) =&Iq.Iu6D6Iu_<:Iu3 F*F?2F:FBFJF I = Will construct direction to contact in vehicle frame from tetrahedron phase data.G ~Xw,7p`Ay݇B'IMb@Mb@Mb@ )Yp= ף?Zd;Ͽ G٣y > Nusing accuracyPremultiplier from config59?5Yb i_BBN?:[W@D&;w;M5 B @WE-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 481.10 m.Bj=AJjEAU ProNav: ac range: 481.100006 m, nav range: 103.999565 m, bearing: 216.418188 deg, approach rate: 0.062382 m/s, LOS rate: -0.462502 deg/s, cmd heading: 324.151270 deg, new cmd heading: 323.489322 deg. 2jU]HeadingCmd: 5.645954 target range: 481.100006 and range: 481.10 m. j]@jYjYjYiYhYhahaheBfififirfibfm`s?ɛ5ψB5m ===I9 = ɚQiQIUب%=Ie!#iaie|=)e@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J-J-J)J)J-;:J-@0:J)J)J-<J-<J-@;J-A;*F?2F:FBF@5JFGYW=G B O > ?$?I im Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495808m_"Xw,`AzKBBoIKB9K@KB KB  $$  ^ѯ@Y^k@^4AQ=9^>=y^H@d?`F?Ko?3?@<%??ɨ^ѯ@^';^Cyv؇Bz'I)x xAI I 4٢-j 5W=95y6Q 5>99 =G٣="HGyE/ E> MNusing accuracyPremultiplier from configIU59ML?U5YM iM;BBQUi_]W@MDM ;M\ ;M5a e4@aZjFNOT Ignoring new targets: 481.10 m.BjJj ProNav: ac range: 481.100006 m, nav range: 104.019173 m, bearing: 216.249530 deg, approach rate: 0.051619 m/s, LOS rate: -0.443925 deg/s, cmd heading: 323.489316 deg, new cmd heading: 322.983451 deg. 2jTHeadingCmd: 5.637125 target range: 481.100006 and range: 481.10 m. jSc@jjjihhhhfffrfbf[?ɛimw quIq u#ɚyiyI}&=IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747927*J54="J5=H I C I 'II 9BI ( =&I .I 6I U<:I - FBIu˜CJIu˜CRIqZIu* =bIu) =jIu;A5(Xw,`ANv@YNޟ@N~H=9Nخ=yNH0?`{?C:?@i?.ζ\@w ?m?ɨNv@N;NCyVBV 'I !I!]Mb@Mb@Mb@YYY Y)YY](\?Zd;ϿI +y]G?]~]9Y Y)]AI]@Yy]GAIuIuЬ4٢= ==9wQ > G٣y > Nusing accuracyPremultiplier from config 59? 5Y iBBQ?:/bW@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000155D ;Y;i5- B -@-TEZjaeFNOT Ignoring new targets: 481.10 m.Bjm9Jjm9 ProNav: ac range: 481.100006 m, nav range: 104.038971 m, bearing: 216.055959 deg, approach rate: 0.045474 m/s, LOS rate: -0.444520 deg/s, cmd heading: 322.983445 deg, new cmd heading: 322.402861 deg. 2jHeadingCmd: 5.626991 target range: 481.100006 and range: 481.10 m. jP@jjjihhhhBfffrfbf@J@ɛ{ 隕LI >ɚiI'=IQ'iiw=)P@)*F?2F:FBFJF .~G vA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251901G f=G pAG qA J- J- J) J) J- [:J- (:J) J) J- f<J- g<J- ;J- ; e Ye vAym ABG B O >.Xw,:`A:,K@Y:Z@:!u@=9:=y:H?@c?g ?V۶` s?@??ɨ:,K@:oY;8yFBF*'IIRIRb4٢Z/= Z`=9ZQ ^>\\ bG٣`ybN b> fNusing accuracyPremultiplier from configdj59f?j5YfԪ ifABlnQdnW@f%Df ;fK ;f5p r@tZjFNOT Ignoring new targets: 481.10 m.Bj%?Jj%?5 ProNav: ac range: 481.100006 m, nav range: 104.054115 m, bearing: 215.892691 deg, approach rate: 0.041931 m/s, LOS rate: -0.451985 deg/s, cmd heading: 322.402851 deg, new cmd heading: 321.913131 deg. 2j5=HeadingCmd: 5.618444 target range: 481.100006 and range: 481.10 m. j=Kʳ@j9j9j9iAhAhAhAhAfIfIfIrfIbfU@$@ɛy} % y隅wI HRɚiI\(=I~,*iiw=)Kʳ@) @$?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506954E&V=zK(:MK9KK K *Fu?2Fq:FqBFyJFyG= nu=G BA Ou >5Xw,`A.Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755863>@Y>@>7=9>=y>H~? ? ?w`V!b?5 ⦿ny? ?ɨ>@>&G;>CyFBF0'I N=Na=IRIRy4٢V< VH=JXJZ?A9^$Q ^>\` bG٣b#HGyb b> UNusing accuracyPremultiplier from configQ]59U ?]5YU iUABaefeW@U0DUn;Un;UR5B @SEZjFNOT Ignoring new targets: 481.10 m.BjJj ProNav: ac range: 481.100006 m, nav range: 104.069771 m, bearing: 215.701210 deg, approach rate: 0.035965 m/s, LOS rate: -0.439819 deg/s, cmd heading: 321.913127 deg, new cmd heading: 321.338791 deg. 2j얼HeadingCmd: 5.608420 target range: 481.100006 and range: 481.10 m. j-x@jj!j!i!h!h!hIhIfIfIfQrfQbf]@@ɛX quI gmɚiI *=H->I Ib'IIBI&I.I6I<:Im FIek,iiimy=)m-x@)i A$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007969E Pڀ=*F ?2F :F BF 05JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260768Gvpx=G ?G>?GBO}?|>Xw,`Api@Yx@h"=9C<=yH+?7j?7Ȇ@_ ?"R^?@ ?ɨpi@ˏ;騩y޽B޽K'IMb@Mb@Mb@ )Y%C?GzοMb`yZD?pvA @)I3@yAIeIe?4٢u= u<9uQ }> G٣y߼ > Nusing accuracyPremultiplier from config59"1?5Y iAB\M?:hW@ADR;;5B  @ PEEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 481.10 m.Bj}Jj} ProNav: ac range: 481.100006 m, nav range: 104.091316 m, bearing: 215.413439 deg, approach rate: 0.032989 m/s, LOS rate: -0.440519 deg/s, cmd heading: 321.338790 deg, new cmd heading: 320.475725 deg. 2j)HeadingCmd: 5.593357 target range: 481.100006 and range: 481.10 m. j@jj B$?Iijqiqhqhqhyh}'Bfyfyfyrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:00:34.8354 TRx dataTimestamp_ set to:1736373636.144746checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513063ɛ!-oм )-̾I) -ɚ1i1I5+=I=0iAiEcn=)@)EE*E"EzKRLK9KK K*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764351JJJ/JJ;:JJ(N3Ja @a @a @a @G)GaHM.>II IMh'IIMBII&II.II6IM<:IMR FBO ? HXw,$aAym&Buv'Iyy-only read 0 of 1 data item for BIT error. Device response is::TS,25010814014186,359, 0.0,1493.1, 0  @ @ @  @ IIh4٢$= =9Q > G٣$HGy > bBottom track data is 0.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from configUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:00:34.8354 LVL= 18112, 27793, 18450, 28771, AGC= 70, IDX= 421, 0.33,-3.131, 1.211, 1.495, 2.004, PHS= 1.236,-0.746,-0.511, RAW= 96.2, 0.2, CAL= 105.0, -3.9, ROT= 45.0, 3.9 Ygot valid direction response: 22:00:34.8354 LVL= 18112, 27793, 18450, 28771, AGC= 70, IDX= 421, 0.33,-3.131, 1.211, 1.495, 2.004, PHS= 1.236,-0.746,-0.511, RAW= 96.2, 0.2, CAL= 105.0, -3.9, ROT= 45.0, 3.9 PDAT read: Bearing 45.0, 3.9 (Local) ~Local bearing/azimuth received: Bearing 45.0, 3.9 (Local) DAT read: Range 10 to 50 : 479.9 m (Round-trip 639.9 ms) speed 0.1 m/s ,DAT read: user:2218> BDAT read: Tx time:22:00:35.9414 $Ping request sent.]]?]d; ]?)]'gI]I?i]'g=Y addTargetRange:: Added new target pos. range: 479.899994 m, deltaT: 4.034300 s, deltaX: -1.200012 m, approachRate: -0.297452 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 481.10 m.Bj0Jj0껝 ProNav: ac range: 481.100006 m, nav range: 104.111877 m, bearing: 215.166871 deg, approach rate: 0.034154 m/s, LOS rate: -0.409488 deg/s, cmd heading: 320.475727 deg, new cmd heading: 319.736211 deg. 2jHeadingCmd: 5.580450 target range: 481.100006 and range: 479.90 m. j @jjjihhhhff f rf `f}@bf  X?Y].HH?Iٿ$N^6p?)]jԾI]ٶi]H][]YY]:publishing transmit ping time]Fpublishing direction and range infoY9]6ڨ'Z܀|HdEY?yYYYY Y)YIYiYYYYY Y)YIYiYYYɛļ 隝yI ɚiIr,=I}3i].HH?Iٿ$N^6p?)YIYiYYYYi$=)  @)*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:00:35.9406 G q=G B O >NXw,Lp>aA6ڭ@Y6i@6$=96o=y6H0?`"?uߑ?@!` 6?[?ɨ6ڭ@6;4yBFBB'IIJIJ4٢R.> R_=9VQ V>TT ZG٣XyZ!D Z> bbBottom track data is 0.9 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f59^0W?f5Y^b i^ABf :dj-:j*mjW@^XD^e&;^m?^5B @MEk3؛?k-! k kq)aA:kCBkMCZkLW@" ?@G^q&׿c4}@6ڨ'Z܀|HdEY?JkHRk[]*ӑvwG5@<%!}@ zl$৖rI?"k)*k;kb؛?k! 2kgDk aЛ?kkkBku@ZjFNOT Ignoring new targets: 481.10 m.Bj< Jj<  ProNav: ac range: 481.100006 m, nav range: 104.121254 m, bearing: 215.005679 deg, approach rate: 0.028123 m/s, LOS rate: -0.483423 deg/s, cmd heading: 319.736209 deg, new cmd heading: 319.252687 deg. 2j⥼HeadingCmd: 5.572011 target range: 481.100006 and range: 479.90 m. jM@jj!j)i)h)h)h)h1fQfQfYrfYbf]@}?ɛμ 隭GI ᚻɚiIW-=I6ii~v=)M@) C$?Ii*F2F:FBF5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.GB|=GrAGrAGYBiOZ>zKjIK+9KK KUXw,RXaA2w@Y2ߜ@2a<92Nę=y2H??@wݕ?? ܳ 띿`1?o?ɨ2w@2;2Cy>]BB'IbWill construct direction to contact in vehicle frame from tetrahedron phase data.IZIZ4٢v= vE=9zwQ z>|| ~G٣|y~θ >  bBottom track data is 1.3 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config5JK|3 KS}-KK"KJJJ0JJ{:J@0:Jـ3J9g?55Yk iyAB=99= :EoEW@cDf;w?5MB MO@MOEZjy}FNOT Ignoring new targets: 481.10 m.BjJj ProNav: ac range: 481.100006 m, nav range: 104.129776 m, bearing: 214.823284 deg, approach rate: 0.021205 m/s, LOS rate: -0.453811 deg/s, cmd heading: 319.252686 deg, new cmd heading: 318.705565 deg. 2j5HeadingCmd: 5.562461 target range: 481.100006 and range: 479.90 m. j5@j1j9j9i9hAhIhIhIfQfQfQrfQbf]?ɛwf 隥RbI GɚiI`-=I_8ii|=)@)*Fm?2Fq:FqBF}_0JFyHAIA IE'IIECBIA&IA.IA6IEj<:IE= F IuWill construct direction to contact in vehicle frame from tetrahedron phase data.G=G B O >[Xw,&raA:Jb@Y:q@:ww<9:_=y:H@Z?[9?@=@6y?N 8??ɨ:Jb@:<;:CyRBR'IiVa=IV]> Va=Vp= 5 5 55 55  5 5 5Mb@Mb@Mb@111 1)1Y5Q?Q?y5\/?55\=5 A 5I@)5`AI5A1y5QAIMwIMR4٢e1> eC=9eۻQ m>y G٣%HGyL > Nusing accuracyPremultiplier from config59x?5Y' i}ABT:{2?:SW@lD2;1;5B @LEZjFNOT Ignoring new targets: 481.10 m.BjuܻJjuܻ ProNav: ac range: 481.100006 m, nav range: 104.170128 m, bearing: 214.662159 deg, approach rate: 0.096421 m/s, LOS rate: -0.384860 deg/s, cmd heading: 318.705561 deg, new cmd heading: 318.222386 deg. 2jHeadingCmd: 5.554029 target range: 481.100006 and range: 479.90 m. j@jjjihhhhBfffrfbfq?ɛΈBx W=rI ɚiIQ.=I :i i-4*=)-@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF^0JFG=GYBiOY> D$?I } Will construct direction to contact in vehicle frame from tetrahedron phase data.bXw,PaA6.@Y6.>@6<96u=y6H`t?<`?S*@U``?9 5Ֆh ? ?ɨ6.@6;6CyRBR (IIZ[IZK!4٢b:> bU=9f;0Q f>dd fG٣dyj+ j> nNusing accuracyPremultiplier from configlr59n?r5YnI inABtvyUvW@nuDn*:n:n5x z@xzKBoHK9KK KCC_*RK?JK?B*** querying acoustic contact ***jjZj9=FNOT Ignoring new targets: 481.10 m.BjE"ƻJjE"ƻu ProNav: ac range: 481.100006 m, nav range: 104.205078 m, bearing: 214.518727 deg, approach rate: 0.084446 m/s, LOS rate: -0.346442 deg/s, cmd heading: 318.222393 deg, new cmd heading: 317.792249 deg. 2jum}HeadingCmd: 5.546521 target range: 481.100006 and range: 479.90 m. j}}@jyjyjyihhhhfffrfbf?ɛbo< I #ɚ!i!I%/=I% HE />IA  IE 'IIE BIA &IA .IA 6IE <:IE R Fg iXw,aA  G٣y)ż > Nusing accuracyPremultiplier from config59l?5Y iABR#?:^<W@D<Ö<*5B 1@IEZjFNOT Ignoring new targets: 481.10 m.Bj ɻJj ɻ ProNav: ac range: 481.100006 m, nav range: 104.275200 m, bearing: 214.356992 deg, approach rate: 0.152918 m/s, LOS rate: -0.352466 deg/s, cmd heading: 317.792255 deg, new cmd heading: 317.307389 deg. 2jqEHeadingCmd: 5.538059 target range: 481.100006 and range: 479.90 m. jE7@jAjAjAiAhIhIhIhMABfQfQfQrfQbfU|@ɛ+ I p&ɚiId/=I>ii=)7@)*FE?2FA:FABFIJFI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249605G} x\=GY Bi O >\0oXw,aAyɈB?(I)    AII#4٢%&> -k=9-Q -?11 5G٣5&HGy5 5? ENusing accuracyPremultiplier from configAU59E;?U5YE iEABaaeW@EDE;E;E25i ma@qZjFNOT Ignoring new targets: 481.10 m.BjͻJjͻ ProNav: ac range: 481.100006 m, nav range: 104.326965 m, bearing: 214.238935 deg, approach rate: 0.157779 m/s, LOS rate: -0.359653 deg/s, cmd heading: 317.307394 deg, new cmd heading: 316.953403 deg. 2jvHeadingCmd: 5.531880 target range: 481.100006 and range: 479.90 m. j*@jjjihhhhfffrfbfY=@ɛ »  I  Yɚ i I/=IU@iiI=)*@) E$?IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.497678EX=zK5nMK59K1K5 K5!K U m s T82$z@Q*F?2F:FBFJFG x}= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751022JY J] @AJu Ju Ju 1Jq Ju [:Ju &:Ju 3Jq G B O>vXw,FaAym҈BuI(III̍4٢ = *=9Q > G٣y > Nusing accuracyPremultiplier from config59R?5Y iABW@D;;b5B ²@FEZj9EFNOT Ignoring new targets: 481.10 m.BjMJjMU ProNav: ac range: 481.100006 m, nav range: 104.399261 m, bearing: 214.075907 deg, approach rate: 0.149474 m/s, LOS rate: -0.336831 deg/s, cmd heading: 316.953398 deg, new cmd heading: 316.464665 deg. 2j]*g]HeadingCmd: 5.523350 target range: 481.100006 and range: 479.90 m. j]I@jajajiiihihqhyhyfyfyfrfbfm@ZHRH@AH-0>I) I-C(II-͈BI-' =&I).I)6I-r<:I-D FBICJICRIZI( =bI( =jIe4ɛ)5Y 9E;IA MM$ɚIiQIU5/= IiIBifiF=)I@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002457EgW=*F ?2F :F BF JF )Y Y ~G |uA  Y |uAy B=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.253637G=GqAGGqBO? ~Xw,5aA2$@Y2-4@2\>;92˲=y2H?@(?]Ѥo2 ?@@g~Ѳ?`?ɨ2$@2(;2CyBBF^(IMMb@Mb@Mb@III I)IYM|?5^?{Gz?Mb?yM?M# G٣y) > Nusing accuracyPremultiplier from config59?5Y iABu?:+W@D;;ҳ5B @HEZjFNOT Ignoring new targets: 481.10 m.BjǭJjǭ ProNav: ac range: 481.100006 m, nav range: 104.487022 m, bearing: 213.923346 deg, approach rate: 0.174940 m/s, LOS rate: -0.303855 deg/s, cmd heading: 316.464657 deg, new cmd heading: 316.007369 deg. 2jPHeadingCmd: 5.515369 target range: 481.100006 and range: 479.90 m. j}@jjjihh h h Bfffrfbf @ɛEψBE3 AE=IA M觻ɚIiIIM`0=IUDiQiUD=)]}@)YEaEa*Ea"Ea MG$?II=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:22:00:38.9836 ETRx dataTimestamp_ set to:1736373640.176684Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.506819*F2F:FBFJFG&=GA BQ Om >zKm fPKm +9Ki Km Km {8YF2!tS9(!  úXw, bA2@Y2U@2Lx;92e=y2Hw?P?`[d?@Yͮv<Ȳ? ?ɨ2@2;2CyNBRi(IiR=IR=IZIZ4٢bI= bW=9bCQ f>dd fG٣f'HGyj" j> nNusing accuracyPremultiplier from configlr59n?r5YnT inABtv-vW@nDn:n@:n"5zB z@zEEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 481.10 m.Bj-Jj-U ProNav: ac range: 481.100006 m, nav range: 104.551712 m, bearing: 213.809336 deg, approach rate: 0.170375 m/s, LOS rate: -0.300085 deg/s, cmd heading: 316.007363 deg, new cmd heading: 315.665549 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7577882jMHeadingCmd: 5.509403 target range: 481.100006 and range: 479.90 m. jM@jjjihh h h f f frfbf`kV@ɛ֜ 隵f=I eɚiI60=IFi]iق=)M@)*F?2F:FBF0JFH2>I I(II BI&I.I6IL<:I) F QIYGn=] Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >e DAT read: 22:00:38.9836 LVL= 16880, 29361, 16834, 27283, AGC= 69, IDX= 419, 0.17, 0.368,-1.457,-1.389,-0.773, PHS= 1.229,-0.637,-0.619, RAW= 90.5, 0.3, CAL= 98.2, -3.7, ROT= 51.8, 3.7 u Ygot valid direction response: 22:00:38.9836 LVL= 16880, 29361, 16834, 27283, AGC= 69, IDX= 419, 0.17, 0.368,-1.457,-1.389,-0.773, PHS= 1.229,-0.637,-0.619, RAW= 90.5, 0.3, CAL= 98.2, -3.7, ROT= 51.8, 3.7 u PDAT read: Bearing 51.8, 3.7 (Local) } ~Local bearing/azimuth received: Bearing 51.8, 3.7 (Local)  DAT read: Range 10 to 50 : 478.5 m (Round-trip 638.1 ms) speed 0.5 m/s  ,DAT read: user:2219>  BDAT read: Tx time:22:00:40.0914  $Ping request sent.  G٣ y > Nusing accuracyPremultiplier from configU59A?U5Y iABU(?U:U]W@Dr<<O5a e?@ak-Iz6?k]mK k k++bA:k@CBkCZkB @"jEg8QJ G@i }@b"lSE@-?(?JkM@Rk9*$7{_ A@@1}@VBz/A?$V??"kB*kݼk\a(?kD 2k@Dk%ӛ?kJ# kDkBkc@5 addTargetRange:: Added new target pos. range: 478.500000 m, deltaT: 4.030684 s, deltaX: -1.399994 m, approachRate: -0.347334 m/s, rangeRepo size: 4 e Added new target pos. range: 478.500000 m, bearing: 123.261666 deg, lat: 36.899715 deg, lon: -122.121159 deg, deltaT: 8.064984 s, deltaX: -2.600006 m, approachRate: -0.322382 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 478.50 m.BjuJjq ProNav: ac range: 478.500000 m, nav range: 72.798210 m, bearing: 203.808158 deg, approach rate: 0.000000 m/s, LOS rate: -0.300085 deg/s, cmd heading: 315.665553 deg, new cmd heading: 315.211745 deg. 2jWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:00:40.0906 HeadingCmd: 5.501483 target range: 478.500000 and range: 478.50 m. j& @jjjihhhhBfffrf}@bfݔ?J J J /J J {:J J1:J (N3J J  M H$?II ] Will construct direction to contact in vehicle frame from tetrahedron phase data.ђXw,KbA @V5p@YV@V!;9VWߏ=yVH`^?+?}YeN?` @6`@??ɨV5p@V\;VCyb܈BbV(Idf@AIjpIjF4٢r rp=9vN*Q v?tx zG٣xyz= ~? Nusing accuracyPremultiplier from config| 59~]? 5Y~ i~AB  W@~D~=3;~3;~?5%B %ݱ@%BEZjQUFNOT Ignoring new targets: 478.50 m.Bj]ܻJj]ܻm ProNav: ac range: 478.500000 m, nav range: 72.888077 m, bearing: 203.688097 deg, approach rate: 0.288297 m/s, LOS rate: -0.384686 deg/s, cmd heading: 315.211755 deg, new cmd heading: 314.852021 deg. 2jmuHeadingCmd: 5.495204 target range: 478.500000 and range: 478.50 m. juد@jqjqjqiqhyhyhyhyfffrfbf?ɛЈBK Ӎ3=jH bH <H 3>I  I (II 7BI & =&I .I 7D6I O<:I + FXw,¤ebA 9IAÿBC(I) AWill construct direction to contact in vehicle frame from tetrahedron phase data.iAMb@Mb@Mb@ )Y%C? rh?Q?yZ?C=u< )AIy AIIk4٢it "=9Q >   G٣ (HGy > Nusing accuracyPremultiplier from config%59 ?%5Y iAB%?-:--W@DA;;51 5Ӳ@1ZjY]FNOT Ignoring new targets: 478.50 m.BjeûJjeûu ProNav: ac range: 478.500000 m, nav range: 73.032822 m, bearing: 203.515437 deg, approach rate: 0.287836 m/s, LOS rate: -0.342665 deg/s, cmd heading: 314.852022 deg, new cmd heading: 314.335086 deg. 2ju+k}HeadingCmd: 5.486182 target range: 478.500000 and range: 478.50 m. j}Ύ@jyjjihhhhBfffrfbfy?ɛv  I ɚiI0=I]aLiYi]֑=)]Ύ@)a*F?2F:FBF[5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.J5 J1 J5 0J1 J5 ;:J1 J5 ـ3J1 J5 <J5 <J1 J1 GE iT=G B! O] >w'Xw,bAZ%ު@YZ@Z9ZG,|=yZH?@ ?+ ?@զ@Uc?j?u?ɨZ%ު@Z:n;ZCyfBf/(IIrzIr=X4٢zѽ z=9~ kQ ~?|| G٣yRo ? Nusing accuracyPremultiplier from config 59 ?5Y ! i ABW@ D : H: S5%B %@-?EZjIUFNOT Ignoring new targets: 478.50 m.Bj] ŻJj] Ż ProNav: ac range: 478.500000 m, nav range: 73.118324 m, bearing: 203.410185 deg, approach rate: 0.280212 m/s, LOS rate: -0.344533 deg/s, cmd heading: 314.335086 deg, new cmd heading: 314.019703 deg. 2jslHeadingCmd: 5.480678 target range: 478.500000 and range: 478.50 m. ja@jjjihhhhfffrfbf@?ɛ=шB= 9=%I9 EɚAiAIEY0=Im&qMim7Kimo=)ma@)q %I$?I!*F-?2F):F)BF-_0JF)Gm=GBOD>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK  OK 9K K K ZNC>871+'!!    Xw,ObA6@Y6@6v|96~=y6HZ?A?@L? _o??/?ɨ6@6T;6CyBBB(IIJIJ4٢R̽ RP=9VP~Q V>TT ZG٣XyZb Z> bNusing accuracyPremultiplier from config\b59^J&?b5Y^! i^BBdf~fW@^D^;^;^5p v@t}Will construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jj*JR="Ja=ZjFNOT Ignoring new targets: 478.50 m.Bj&Jj&  ProNav: ac range: 478.500000 m, nav range: 73.227531 m, bearing: 203.274944 deg, approach rate: 0.260396 m/s, LOS rate: -0.321992 deg/s, cmd heading: 314.019696 deg, new cmd heading: 313.614583 deg. 2j \5HeadingCmd: 5.473607 target range: 478.500000 and range: 478.50 m. j5'@j1j9j9i9h9h9hAhAfAfAfArfIbfM ?ɛ҈B(/ ȥI ŧɚiI0=I@Oi"Bi ~=) '@) He2>Ia Ie(IIe=֬Xw,{׵bAF݂@YFF@F y9Fb,=yFH@? c?䦿o ?^y!o?`? ?ɨF݂@F[;FCyNBR'I5Mb@Mb@Mb@111 1)1Y5x&?qq uG٣u)HGyuF }> Nusing accuracyPremultiplier from configy59}7?5Y}! ! iy ?:*W@}D};};}5B l@ J$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477559嶳Xw,WbA:M@Y:<]@:1R9:q=y:Hl? ?N@Ǔ?E`C*p?e+? ?ɨ:M@:;:CyBjBF'IININ4٢VC VW=9VʹQ Z>XX ZG٣Xy^H ^> fNusing accuracyPremultiplier from config`j59bmD?j5Ybx ! ibBBlnL,nW@bDbmG;bG;b+5p r@tZj FNOT Ignoring new targets: 478.50 m.Bj;һJj;һ% ProNav: ac range: 478.500000 m, nav range: 73.445343 m, bearing: 202.961851 deg, approach rate: 0.255024 m/s, LOS rate: -0.367596 deg/s, cmd heading: 313.095052 deg, new cmd heading: 312.676728 deg. 2j-G|-HeadingCmd: 5.457238 target range: 478.500000 and range: 478.50 m. j-@j1j1j1i1h1h1h9h9f9fAfArfAbfE;@ɛq} y}QIy tɚiI1=IEqSii<=)@)EE*E"EzKbMKh9KK KeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.730573*F?2F:FBFJFJJH 3>I  I (II #BI &I .I 6I Q<:I - FG I@= I GY B B e'JO= >WXw,`bAF>@YF@FFB9Fc=yFH ?o?྽? j 8 9e? ʥDr??`?ɨF>@F;FCyRKBR'IjWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.981681-ronly read 0 of 1 data item for BIT error. Device response is::TS,25010814014895,35.0, +10.,1493.1, 0  r@r r@r r@r  r@r IvIv?4٢~.  ~8=9IQ >   G٣ y Q > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%59T?%5Yo! i-+:)-:-y.-W@D5;>P55B 5@5;EZjYeFNOT Ignoring new targets: 478.50 m.Bjm ӻJjm ӻ} ProNav: ac range: 478.500000 m, nav range: 73.557762 m, bearing: 202.797519 deg, approach rate: 0.252822 m/s, LOS rate: -0.369005 deg/s, cmd heading: 312.676717 deg, new cmd heading: 312.184486 deg. 2j}>}HeadingCmd: 5.448647 target range: 478.500000 and range: 478.50 m. jQ[@jjjihhhhfffrfbf`@ɛԈB sI RɚiII1=IJUii=)Q[@)*F]?2FY:FYBF]j0JFaG5q؃=GB O-N>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233302J J J J J :J $-:J J J <J <J ;J ;6Xw,cA6vƩ@Y6հ@6A96F=y6H BB?$?V5 7?n @;r?E? X?ɨ6vƩ@6/;6CyBBBk'IIJIJ(4٢fi fO=9frQ j>hh jG٣j*HGy% %> 5bBottom track data is 0.8 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=59-2b?E5Y-! i)E :AE:E0EW@-D-oR;-@Z?-5I Um@QZjq}FNOT Ignoring new targets: 478.50 m.BjWӻJjWӻ ProNav: ac range: 478.500000 m, nav range: 73.659050 m, bearing: 202.647790 deg, approach rate: 0.250326 m/s, LOS rate: -0.369534 deg/s, cmd heading: 312.184478 deg, new cmd heading: 311.735920 deg. 2j}HeadingCmd: 5.440818 target range: 478.500000 and range: 478.50 m. j/@jjjihhhhfffrfbf @ K$?I iɛֈBS I 9ɚiIs1=I_Wii=) /@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485528Gp=zK KK ]9K K  K GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:00:43.1317  TRx dataTimestamp_ set to:1736373644.462015 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739808*J C="J QdXw,cA]v@Y]e@]9]D=y]Hc ?H&?`P3?`'饿s?`e?`?ɨ]v@]a;]CymBuD'III4٢ >=9Q > G٣yR >  bBottom track data is 1.3 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config59p?5Y! i9!%R:%3%W@DY<?5MB MQ@U8EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 478.50 m.BjoʻJjoʻHI Ib(IIBI&I.I6Ia<:I9 FBIJIRIZI' =bI' =jIX4  ProNav: ac range: 478.500000 m, nav range: 73.763374 m, bearing: 202.491121 deg, approach rate: 0.236036 m/s, LOS rate: -0.353965 deg/s, cmd heading: 311.735926 deg, new cmd heading: 311.266596 deg. 2j rHeadingCmd: 5.432627 target range: 478.500000 and range: 478.50 m. jح@jjjihh!hIhIfIfIfIrfQbfURI@ɛ׈B 隽پI λɚiI2=I4Yii-=)ح@) I*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.989434G Pă=G B O > .~G- vAA Xw,8cA BYBvAyBBJ,@YJA<@J39JM]=yJH`?@[?qhi?ҥ uft??`?ɨJ,@JO;JCyVԇBV'I        Mb@Mb@Mb@ )YS㥛?x&y$?7̼E A hA)IAI`AyAIIV4٢TI G=9չQ > G٣y > Nusing accuracyPremultiplier from config59"?5YM! iABT:%?:t`W@D;0;-5  @ Zj1=FNOT Ignoring new targets: 478.50 m.Bj=JjEM ProNav: ac range: 478.500000 m, nav range: 73.842590 m, bearing: 202.294535 deg, approach rate: 0.202588 m/s, LOS rate: -0.502213 deg/s, cmd heading: 311.266583 deg, new cmd heading: 310.677477 deg. UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:00:43.1317 LVL= 15408, 28465, 18834, 26355, AGC= 66, IDX= 415,-0.11, 1.976, 0.329, 0.155, 0.990, PHS= 1.075,-0.614,-0.837, RAW= 83.9, 4.2, CAL= 89.4, 2.6, ROT= 60.6, -2.6 Ygot valid direction response: 22:00:43.1317 LVL= 15408, 28465, 18834, 26355, AGC= 66, IDX= 415,-0.11, 1.976, 0.329, 0.155, 0.990, PHS= 1.075,-0.614,-0.837, RAW= 83.9, 4.2, CAL= 89.4, 2.6, ROT= 60.6, -2.6 PDAT read: Bearing 60.6, -2.6 (Local) ~Local bearing/azimuth received: Bearing 60.6, -2.6 (Local) DAT read: Range 10 to 50 : 477.1 m (Round-trip 636.2 ms) speed 0.3 m/s ,DAT read: user:2220> %BDAT read: Tx time:22:00:44.2415 %$Ping request sent.%Xw,%ScAB_ݨ@YB@B?9B`D=yBHş??PW? ߥt?jŰ?K?ɨB_ݨ@B;BCyNBN&IiRR=IR=IZIZb4٢r3 vS=9v؞Q z>|| ~G٣~+HGy~)̼ >  Nusing accuracyPremultiplier from config 59 ?5Y s"! i ABbW@ D Q; s; 5! %@)k"ʾ?k7(o k k:=cA:kCBkCZkO?"::ZRsY@|@Hcÿw?I I Xw,kGmcA6Will construct direction to contact in vehicle frame from tetrahedron phase data.:>@Y:@:,9:=y:Hd?C?婿Z?N\v? >?`_?ɨ:>@:BZ;:CyZBZ&IMb@Mb@Mb@ )Yv?)\(X9vy8?Gό A )3AIIAyAII4٢ٽ >=9EQ > G٣y:¼ > Nusing accuracyPremultiplier from config59$?5Y*)! iAB";?:qW@D;;Y5 B r@ 5EZj1=FNOT Ignoring new targets: 477.10 m.Bj=PJj=PM ProNav: ac range: 477.100006 m, nav range: 51.286057 m, bearing: 187.952869 deg, approach rate: 0.345602 m/s, LOS rate: -0.730704 deg/s, cmd heading: 310.083622 deg, new cmd heading: 309.152126 deg. 2jMUHeadingCmd: 5.395722 target range: 477.100006 and range: 477.10 m. j]©@jYjYjYiYhYhYhaheBBfafifirfqbfu@Y?ɛڈB1R 隥3 I <ɚiI3=I0cii=)©@)*FI2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.G[=GBO >Xw,&cAf@Yf @fL,9f8$2=yfH?`G9?졿` @ ?s㚿et?B?&?ɨf@f˳;fCyvzBz&I MM$?IQI}I}]4٢ M=9:Q > G٣y5 > Nusing accuracyPremultiplier from config59?5Ye/! iABgvW@ D;x;5 i@ZjFNOT Ignoring new targets: 477.10 m.BjNJjN ProNav: ac range: 477.100006 m, nav range: 51.417030 m, bearing: 187.666585 deg, approach rate: 0.331431 m/s, LOS rate: -0.722597 deg/s, cmd heading: 309.152120 deg, new cmd heading: 308.295523 deg. 2j HeadingCmd: 5.380772 target range: 477.100006 and range: 477.10 m. j I/@j j jihhhhfff!rf!bf% z?ɛ]ۈB]h Y]O0IY ]UɚaiaIe`4=Iegiiim8=)mI/@)quWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF"G=G=Gx=GBO=>zKM؃NKIKIKM KM  $'+-5% Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J {:J $-:J J qXw,cA>@Y>̮@>"9>A=y>H@?b?`0i`?@bӝ`q? 4??ɨ>@>g;>CygB &I) IEIE4٢uT uL=9u:Q u>yy }G٣},HGy- > Nusing accuracyPremultiplier from config59?5Y5! iABDxW@D; ;M5B f@4EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 477.10 m.Bj`NJj`N ProNav: ac range: 477.100006 m, nav range: 51.549656 m, bearing: 187.375823 deg, approach rate: 0.330046 m/s, LOS rate: -0.721711 deg/s, cmd heading: 308.295533 deg, new cmd heading: 307.425562 deg. 2jHeadingCmd: 5.365588 target range: 477.100006 and range: 477.10 m. j沫@jjjihhhhfffrfbf ?HI I'II9BI' =&I.I6D6Ij<:IA Fɛn :I 8eɚiIj 5=Iji i X=) 沫@)  1I= iWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E ·3=*F?2F:FBF0JFG =G B O >׻Xw,>̽cA:Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990072Bx@YBn@B9B2)S=yBH? P?`ͤg`? Yo?b? ?ɨBx@Bb;BCyJRBNq&I*JvR="Jv==Mb@Mb@Mb@999 9)9Y=E?#~jĿ/$y=F?=%== A =A)9I=A9y9IUIUD4٢e'ý e7=9eH:Q > G٣y > Nusing accuracyPremultiplier from config59?5Y>! iAB K? : D X@D$;";Y5 @ZjYeFNOT Ignoring new targets: 477.10 m.BjWdJjWd ProNav: ac range: 477.100006 m, nav range: 51.696709 m, bearing: 187.002339 deg, approach rate: 0.315303 m/s, LOS rate: -0.798522 deg/s, cmd heading: 307.425558 deg, new cmd heading: 306.308441 deg. 2j HeadingCmd: 5.346091 target range: 477.100006 and range: 477.10 m. j-@jjjihhhhBfffrfbf@ɛ=܈BEu AEGEIA E<ɚAiIIM5=IMjoiQiU7@=)U-@)QE]Jc= N$?I*F?2F:FBF_0JFG,I=GBO>%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242045Xw,ocAZi/@YZ>@ZΗ9Z f=yZHg?g?5`? 1p?@??ɨZi/@ZQ;ZCzKnLKnػ9KlKn Kn9<;:7&  +F Hp0~yvHBze&III4٢ 0@ Q=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-t?55Y-D! i-AB15`5X@-(D-n:-` ;-5EB EA@E1EZjimFNOT Ignoring new targets: 477.10 m.BjuehJjueh ProNav: ac range: 477.100006 m, nav range: 51.814976 m, bearing: 186.700439 deg, approach rate: 0.319100 m/s, LOS rate: -0.812703 deg/s, cmd heading: 306.308439 deg, new cmd heading: 305.404885 deg. 2jp HeadingCmd: 5.330321 target range: 477.100006 and range: 477.10 m. j@jjjihhhhfffrfbfd@ɛ݈BL I I0'IIBI& =&I.I7D6I<:I F*F2F:FBFJFG) G) IG &=E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746595G B O- >Xw,`cAyzJBzh&Ii%%>I%p=Mb@Mb@Mb@ )YQ?KǿMby\O?^: QA)AIAyGAII=4٢< >=9Q > G٣-HGy > Nusing accuracyPremultiplier from config591?5YM! iABT?:qX@4D\G;!E;a5  !@Zj9=FNOT Ignoring new targets: 477.10 m.BjE+pJjE+pU ProNav: ac range: 477.100006 m, nav range: 51.953472 m, bearing: 186.337550 deg, approach rate: 0.321401 m/s, LOS rate: -0.839887 deg/s, cmd heading: 305.404887 deg, new cmd heading: 304.319260 deg. 2jU]HeadingCmd: 5.311373 target range: 477.100006 and range: 477.10 m. j]@jYjYjYiYhahahaheڇBfififirfibfu-@ɛ% !%II! %0ɚ!i)I-97=IUxiQiUo=)U@)Q*F?2F:FBF0JFGJ=GYBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998135JJAA O$?I EYw,;: dA6't@Y6@6b96Lx=y6H0?7?D 4? w 1}???ɨ6't@6;6Cy>XBBx&IIJIJ94٢R(= R`=9RQ R>TT VG٣TyZ Z> Nusing accuracyPremultiplier from config\59^.?%5Y^ T! i^AB!%Z%X@^>D^d<^d<^5-B 57@53EZjQeFNOT Ignoring new targets: 477.10 m.Bje_kJje_ku ProNav: ac range: 477.100006 m, nav range: 52.066166 m, bearing: 186.028500 deg, approach rate: 0.300798 m/s, LOS rate: -0.823114 deg/s, cmd heading: 304.319270 deg, new cmd heading: 303.394213 deg. 2ju9 HeadingCmd: 5.295228 target range: 477.100006 and range: 477.10 m. jr@jjjihhhhfffrfbf @ɛވB BI 29ɚiIK8=I|ii_=)r@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253227*FU?2FQ:FQBFU`5JFQzK5*NK559K1K5 K5lXB5#RKM?JKIG=GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:00:47.2810  TRx dataTimestamp_ set to:1736373648.493642 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504085JKـ3 K .KK"KJ- J- J) J) J- :J- @0:J) J) Yw,$%dAH65>I4 I6&II6BI6% =&I4.I46I6"<:I6 Fy=WBAIUIU4٢n :=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y\! iABX@ID[0;0;g5B %@0EB*** querying acoustic contact ***jj AIE iZjIUFNOT Ignoring new targets: 477.10 m.Bj]rJj]ru ProNav: ac range: 477.100006 m, nav range: 52.204311 m, bearing: 185.656970 deg, approach rate: 0.316777 m/s, LOS rate: -0.849685 deg/s, cmd heading: 303.394216 deg, new cmd heading: 302.282721 deg. 2juHeadingCmd: 5.275829 target range: 477.100006 and range: 477.10 m. jӨ@jjjihhhhfffrfbf@ @ɛ 隍]CI DɚiI:9=Iii&=) Ө@) Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759855*F12F9:F9BF=1JF9G] 4=Gm ?Gm "?G9 Bq O >Yw,?dA.Will construct direction to contact in vehicle frame from tetrahedron phase data.FDAT read: 22:00:47.2811 LVL= 13664, 23793, 17138, 22691, AGC= 65, IDX= 439, 0.37, 1.144,-0.225,-0.908, 0.186, PHS= 1.046,-0.364,-1.097, RAW= 70.3, 4.4, CAL= 72.8, 3.7, ROT= 77.2, -3.7 NYgot valid direction response: 22:00:47.2811 LVL= 13664, 23793, 17138, 22691, AGC= 65, IDX= 439, 0.37, 1.144,-0.225,-0.908, 0.186, PHS= 1.046,-0.364,-1.097, RAW= 70.3, 4.4, CAL= 72.8, 3.7, ROT= 77.2, -3.7 RPDAT read: Bearing 77.2, -3.7 (Local) R~Local bearing/azimuth received: Bearing 77.2, -3.7 (Local) ZDAT read: Range 10 to 50 : 476.6 m (Round-trip 635.5 ms) speed 0.2 m/s ^,DAT read: user:2221> bBDAT read: Tx time:22:00:48.3915 b$Ping request sent.b G٣.HGy=O => MNusing accuracyPremultiplier from configAM59E ?M5YEf! iEABU^V?U}:U4UX@EWDEU;ET;E5y }@yk.pLR ?k.'w k, k.4?dA:k.LCBk.CZk.@?".2NYOi@'m:}z@.me4Gb~T?At?Jk.I?Rk.'*.%X@϶d@J(F{@.,}?م@?L?"k.%C*k.|Bk. ?k.u=Y 2k. Ck.\a(?k.D k,k.ABk.lo @U addTargetRange:: Added new target pos. range: 476.600006 m, deltaT: 4.031920 s, deltaX: -0.500000 m, approachRate: -0.124010 m/s, rangeRepo size: 4  Added new target pos. range: 476.600006 m, bearing: 59.852566 deg, lat: 36.900101 deg, lon: -122.120424 deg, deltaT: 4.031920 s, deltaX: -0.500000 m, approachRate: -0.124010 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 476.60 m.BjJj ProNav: ac range: 476.600006 m, nav range: 48.399853 m, bearing: 123.933670 deg, approach rate: 0.000000 m/s, LOS rate: -0.849685 deg/s, cmd heading: 302.282726 deg, new cmd heading: 300.946861 deg. 2j%HeadingCmd: 5.252513 target range: 476.600006 and range: 476.60 m. j%@j!j!j!i!h)h)hIhU BfQfQfQrf]}@bf]!T?ɛ!c N9I  RɚiI=9=I탿ii=)@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:00:48.3907 ))*F ?2F :F BF 0JF G =G B O >Yw,XdA20@Y25@@2Q492> q=y2H? b? I@eU? ?@=?S?ɨ20@2;0yB&IzK=qLK=9K9K= K=iImIm{4٢> =9jGQ ? G٣y^; ? Nusing accuracyPremultiplier from config59X?5Yl! iAB萿X@_D::x5B O@.EZj1=FNOT Ignoring new targets: 476.60 m.Bj=1Jj=1M ProNav: ac range: 476.600006 m, nav range: 48.640388 m, bearing: 123.889820 deg, approach rate: 0.856865 m/s, LOS rate: -0.155435 deg/s, cmd heading: 300.946850 deg, new cmd heading: 300.815951 deg. 2jMYջuHeadingCmd: 5.250229 target range: 476.600006 and range: 476.60 m. ju@jyjyjyiyhyhyhhfffrfbf`\?ɛY]4 ae-Ia mWɚiuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuAiIaq:=I{:i8i6=)@)JJJJJJ,:JJ*F?2F:FBF]0JFHqIq Iu&IIuBIu& =&Iq.Iq6Iu5<:Iu FBI5ƞCJI5ƞCRI1ZI5& =bI5& =jI535 %Q$?I% iG :=G B - Will construct direction to contact in vehicle frame from tetrahedron phase data.Om >lYw,]rdAJ@YJ@J;9JPg=yJH@,z?U? E c@v?ᙿ}?`? g?ɨJ@J%;JCyVBV&IUMb@Mb@Mb@QQQ Q)QYUuV?bX9ƿ:v?yUrH?UE6U G٣y% > Nusing accuracyPremultiplier from config59}!?5Y;t! iABM?:X@iD;;5B 6@0E)i iZjFNOT Ignoring new targets: 476.60 m.~G5tAABj%$ -YYE5tAyETBJj%$] ProNav: ac range: 476.600006 m, nav range: 48.953930 m, bearing: 123.829812 deg, approach rate: 0.757592 m/s, LOS rate: -0.144065 deg/s, cmd heading: 300.815956 deg, new cmd heading: 300.637086 deg. 2j]ŻeHeadingCmd: 5.247107 target range: 476.600006 and range: 476.60 m. jeM@jajajiihhhhLBfffrfbfy:?ɛh |%I `ɚiI;=I6i9+i4\=)M@))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GY8=GGpAGqBO>  I i"Yw,dA6B,@Y6;@6Q96(O=y6H ?`? Ĩ@ڰ@M?@Hsd??]?`?ɨ6B,@6?;4yRBR&IiV=IVi>IZIZ@4٢f5> fW=9fgQ j>hh jG٣hyn) n> rNusing accuracyPremultiplier from configpv59r+?v5Yr{! irABxzzX@rsDrL:r:rA 5 @ZjFNOT Ignoring new targets: 476.60 m.Bj<Jj< ProNav: ac range: 476.600006 m, nav range: 49.255177 m, bearing: 123.767233 deg, approach rate: 0.798700 m/s, LOS rate: -0.164903 deg/s, cmd heading: 300.637087 deg, new cmd heading: 300.450498 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.2jW⻝HeadingCmd: 5.243850 target range: 476.600006 and range: 476.60 m. jͧ@jjjihhhhfffrfbf:?ɛ!-Wr )-.I) -gɚ1i1I5x;=I=i=)"i=sC=)=ͧ@)A*F?2F:FBF`0JFzKBoHK9KK KG-=GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.HY IY  I] 'II] ɇBIY &IY .IY 6I] D<:I] ) F4)Yw,^dAN@YN'@NJY9NTc7=yNH ?`Y?D3?@Z*)?? ?ɨN@N ;NCyÇB&II=I=_v4٢Ua= R$?I @=9%Q %>)) -G٣-/HGy5  5> eNusing accuracyPremultiplier from configYe59]7?m5Y]! i]ABim9mX@]D]7:]X:]> 5B *@-EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 476.60 m.BjMJjM- ProNav: ac range: 476.600006 m, nav range: 49.614868 m, bearing: 123.686416 deg, approach rate: 0.805497 m/s, LOS rate: -0.179670 deg/s, cmd heading: 300.450487 deg, new cmd heading: 300.209796 deg. 2j-UHeadingCmd: 5.239649 target range: 476.600006 and range: 476.60 m. jU5@jQjQjYiYhYhYhahafafafarfibfm ?ɛYeIN  Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******%R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.I 4pɚiIV2<=I i  i =)5@)*F?2F:FBF_0JFG̈=G B O > 0Yw,:dABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011713JpJrJpJpJpJr-.:JpJpJr F=9Q > G٣y > UNusing accuracyPremultiplier from config]59A?]5YS! iAB]!??e:e^eX@D<Q;5i m @iZjFNOT Ignoring new targets: 476.60 m.BjJj ProNav: ac range: 476.600006 m, nav range: 49.896683 m, bearing: 123.636566 deg, approach rate: 0.719873 m/s, LOS rate: -0.126618 deg/s, cmd heading: 300.209791 deg, new cmd heading: 300.061087 deg. 2j˭HeadingCmd: 5.237054 target range: 476.600006 and range: 476.60 m. j@jjjihhhhBf ffrfbf2@ɛaeM aeIa e7vɚiiiIm<=I煿i\ iߛ=)@) I*FA2FA:FABFEp0JFA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263338G ݔ=G ?G ?G B O >76Yw,<dA6UѢ@Y6@6SH96=y6H ?2s?(`yK? N ?x?v?ɨ6UѢ@6U;4ybBbN'I)d dhjAInInפ4٢v-> vX=9z3;Q z>x| ~G٣|y >  Nusing accuracyPremultiplier from config 59 cK?5Y #! i ABX@ D  ;  ; 5%B %@%/EZjIUFNOT Ignoring new targets: 476.60 m.BjU2JjU2u ProNav: ac range: 476.600006 m, nav range: 50.174221 m, bearing: 123.579756 deg, approach rate: 0.768715 m/s, LOS rate: -0.156481 deg/s, cmd heading: 300.061084 deg, new cmd heading: 299.891595 deg. 2juֻ}HeadingCmd: 5.234096 target range: 476.600006 and range: 476.60 m. j}}@jyjyjyiyhhhhfffrfbf@@zKK+9KK Kɛ@ ؾI {ɚiI ==IHi@i>_=)}@)*FU?2FQ:FQBFU_5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517414G-=GBO*>ZH RH @AH6>I IH'IIBI&I.I6IU<:I5 F S$?I iU Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771040aqq }G٣}0HGy}jԼ }> Nusing accuracyPremultiplier from config599U?5Y! iAB,?:X@D;1;5B x@,EZjFNOT Ignoring new targets: 476.60 m.BjG JjG  ProNav: ac range: 476.600006 m, nav range: 50.453571 m, bearing: 123.528267 deg, approach rate: 0.659548 m/s, LOS rate: -0.120891 deg/s, cmd heading: 299.891586 deg, new cmd heading: 299.737977 deg. 2jHeadingCmd: 5.231415 target range: 476.600006 and range: 476.60 m. j g@j j j i h h hhBfffrfbf@ɛI* ¾I Y*ɚiI]w==Imi#iޑM=)g@)*F2F:FBFW5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019208J%J!J!J!J%{:J!J!J!J%<J%<J!J!G =G G qAG B O > I JCYw, eA2E'@Y26@2192 *=y2Hj? Y?@ؤ j? ঋ`3?a??v?ɨ2E'@2EӉ;2CyB*BB{'IIJIJy4٢b= fU=9f:Q f>hh jG٣hyj<Ӽ n> rNusing accuracyPremultiplier from configpv59r^?v5Yr)! ir BBtz듿zX@rDrz:rX:r5| ~@|Zj!-FNOT Ignoring new targets: 476.60 m.Bj5SJj5SE ProNav: ac range: 476.600006 m, nav range: 50.708363 m, bearing: 123.478851 deg, approach rate: 0.671982 m/s, LOS rate: -0.129676 deg/s, cmd heading: 299.737989 deg, new cmd heading: 299.590484 deg. 2jEMHeadingCmd: 5.228840 target range: 476.600006 and range: 476.60 m. jMR@jIjIjIiQhQhQhYhYfYfYfYrfabfe @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271196ɛP& I! %`sɚ!i!I%v==I-i5iUA26=)UR@)Y*F?2F:FBFZ0JFG40=GBOB>zKKh9KK K Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525515H I  I 'II CBI &I .I 6I V<:I FxIYw,$'eA2tޡ@Y2@2|&92<=y2HI-?8?,G,?wτ?@^??ɨ2tޡ@2@;0y^@B^'Iif>If< n=n= )I1IvIv4٢#= ;=9:Q > G٣y > Nusing accuracyPremultiplier from config 59g?5YO! iBBX@D;;5 %(@!eB*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 476.60 m.Bj%Jj% ProNav: ac range: 476.600006 m, nav range: 50.999092 m, bearing: 123.420001 deg, approach rate: 0.643520 m/s, LOS rate: -0.129519 deg/s, cmd heading: 299.590484 deg, new cmd heading: 299.414943 deg. 2jƱHeadingCmd: 5.225777 target range: 476.600006 and range: 476.60 m. j9@jjjihhhhfffrfbf b @ɛY] Y]IY ]ɚaiaIa=>=I+Yi5^Qi=q$=)E9@)Q Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:00:51.4308 5TRx dataTimestamp_ set to:1736373652.789461Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.782872*F5?2F9:F9BF=w4JF9G] M=G1 BA O] >[PYw,܀AeA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028030F-@YF@Fky9FN=yFH? ?cp!?C/?ө?6?ɨF-@F;FC*J^C="J^%=JbJbJ`J`Jb+:Jb7/:J`J`Jb&<Jb&<Jb[;Jb[;ynPBn'ImMb@Mb@Mb@iii i)iYm333333?i|?5Q?ym?mqm G٣1HGy 5> ]Nusing accuracyPremultiplier from configQ59Uq?5YU! iU-BB?:dX@UDU =Ieieغie=)ew)@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:00:51.4308 LVL= 10896, 22305, 14306, 22963, AGC= 68, IDX= 436, 0.46,-2.732, 2.378, 1.351, 2.509, PHS= 1.129,-0.085,-1.161, RAW= 62.0, 1.2, CAL= 64.1, -1.5, ROT= 85.9, 1.5 UYgot valid direction response: 22:00:51.4308 LVL= 10896, 22305, 14306, 22963, AGC= 68, IDX= 436, 0.46,-2.732, 2.378, 1.351, 2.509, PHS= 1.129,-0.085,-1.161, RAW= 62.0, 1.2, CAL= 64.1, -1.5, ROT= 85.9, 1.5 ]PDAT read: Bearing 85.9, 1.5 (Local) ]~Local bearing/azimuth received: Bearing 85.9, 1.5 (Local) mDAT read: Range 10 to 50 : 476.4 m (Round-trip 635.2 ms) speed 0.0 m/s u,DAT read: user:2222> uBDAT read: Tx time:22:00:52.5415 }$Ping request sent.}VYw,-`[eA6Fi@Y6x@6-96ON_=y6H ?d1?@ `=`/?Z%???ɨ6Fi@6';6Cy^YB^'IIjIjW4٢@= V=9 :Q  >  G٣y; > ENusing accuracyPremultiplier from config9M59=gy?U5Y=! i=8BBQU=UX@=D=;=;=%5B p@+EkEL 1(?kE0 kA kEqReA:kE3CBkECZkEF-?"E/q:Хep@ x@E0ju$?H5?JkE?RkE<{*E.,g@;j.b@qv|h y@E݋K\?ɻ`?l?"kEC*kE=I]ʇi];>Ѻi]S=)]2@)amWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:22:00:52.5407 *F%?2F!:F!BF%_0JF!jHbHHI I'IIBI&I.I6IH<:I+ F )I-iG HC%=Ga B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.\Yw, 7ueAyrbBr'I)t txzAMb@Mb@Mb@ )Yi|?5? G٣y > Nusing accuracyPremultiplier from config59?5Y ! iBBB ?:X@D;;K)5 @ZjFNOT Ignoring new targets: 476.40 m.Bj;Jj;- ProNav: ac range: 476.399994 m, nav range: 110.472969 m, bearing: 92.792115 deg, approach rate: 0.544642 m/s, LOS rate: 0.132520 deg/s, cmd heading: 299.216545 deg, new cmd heading: 299.375719 deg. 2j-;UHeadingCmd: 5.225092 target range: 476.399994 and range: 476.40 m. jU3@jQjQjQiYhYhYhYh]bBfafafarfabfm?ɛX xI WljɚiI>?=Ioi(nȺiS<)3@)*F%?2F!:F!BF-`0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ1JJ[:J$-:J3JJf<Jg<J;J;Gsc=GBO> I fcYw,neA6c@Y6@696l=y6Ht?@c?ϫiq`q?$<^?@l??ɨ6c@6x:;4yR]BR'IIZIZm4٢bμ b[=9f'Q f>dh jG٣j2HGyj j> rNusing accuracyPremultiplier from configlv59n?v5Yn! inKBBtvBvX@nDn:n:n,5x ~0@|Zj)-FNOT Ignoring new targets: 476.40 m.Bj5 ;Jj5 ;E ProNav: ac range: 476.399994 m, nav range: 110.666573 m, bearing: 92.837627 deg, approach rate: 0.517453 m/s, LOS rate: 0.121430 deg/s, cmd heading: 299.375715 deg, new cmd heading: 299.512013 deg. 2jE;MHeadingCmd: 5.227471 target range: 476.399994 and range: 476.40 m. jMqG@jIjIjIiIhIhQhQhQfYfYfYrfYbfe h?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ!-! )-I) 5%fɚ1i1I5?=I=!i=úi=Շ<)EqG@)AEI*F?2F:FBF0JFG l=zKK9KK KGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I (II BI &I .I 6I C<:I & FBIaJIaRIaZIabIajIeˤ4iYw,eA TITZ&@YZ@ZP9Z=yZHe?h?3쯿zQ`?ݪ`?G?@G?ɨZ&@Z ;XyMUBU'II}I}r4٢ ==9H&Q > G٣yڨ > Nusing accuracyPremultiplier from config59?5Y! iUBBX@D::S05ޓB @(EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 476.40 m.Bj  ;Jj  ; ProNav: ac range: 476.399994 m, nav range: 110.891190 m, bearing: 92.889859 deg, approach rate: 0.519758 m/s, LOS rate: 0.120619 deg/s, cmd heading: 299.512019 deg, new cmd heading: 299.668398 deg. 2j%;%HeadingCmd: 5.230200 target range: 476.399994 and range: 476.40 m. j-]@j)j)j)i)h)h)h1h1f1f9f9rf9bf=@?ɛe߈Beh im9Ii mh8ɚiiiImV?=I}6Ȇi}i f<)]@)*F?2F:FBFC2JFWill construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G]<G9BQOmx>.~G|uAA O Y|uAyBpYw,eA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751699y~EB'IMb@Mb@Mb@ )Y(\?X9vMbP?y?:rA A) AI Ay AII4٢. F=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y:! iWBBM? : Y X@D ;{;35 @ZjFNOT Ignoring new targets: 476.40 m.Bj;Jj; ProNav: ac range: 476.399994 m, nav range: 111.099312 m, bearing: 92.939292 deg, approach rate: 0.487162 m/s, LOS rate: 0.115492 deg/s, cmd heading: 299.668403 deg, new cmd heading: 299.816422 deg. 2j;HeadingCmd: 5.232784 target range: 476.399994 and range: 476.40 m. jr@jjjihhh h OBf f1f9rf9bfE? U$?Iɛ9E AE7IA %tɚ!i!I-sX@=I-si5$i5J<)5r@)1*F?2F:FBF>1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003959G 喇<G B O >vYw,eA6@Y6@6/=960 =y6H V?@[h?[=#N?@z?@&??ɨ6@6(;6Cyj5Bj'IIvIv"4٢~ ~[=9~Y:Q > G٣3HGy Ѱ  > Nusing accuracyPremultiplier from config59?5Y! iXBB!%%X@D ;p;175) -@)ZjY]FNOT Ignoring new targets: 476.40 m.Bje ;Jje ;u ProNav: ac range: 476.399994 m, nav range: 111.288399 m, bearing: 92.983793 deg, approach rate: 0.527355 m/s, LOS rate: 0.123901 deg/s, cmd heading: 299.816427 deg, new cmd heading: 299.949703 deg. 2ju;}HeadingCmd: 5.235110 target range: 476.399994 and range: 476.40 m. j}@jyjyjihhhhfffrfbfB@ɛB*3 zI  DɚiIG@=IX'iai[ <)@)EErAzKK9KK K UWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255968*Fq2Fq:FqBFu_0JFqJJJ0JJJ7/:Jـ3Ja@a@a@a@GU\`i<GABQOm5>HyIy I}0(II}BI}% =&Iy.Iy6I}!<:I} F I Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510322}Yw,peAyj)Bjz'IeMb@Mb@Mb@aaa a)aYeX9v?{GzQye?e#eueA eA)e AIaayeG AIuIu4٢4j A=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y! iRBB?:X@D;5;:5ݓB B@*EZjFNOT Ignoring new targets: 476.40 m.Bj ;Jj ; ProNav: ac range: 476.399994 m, nav range: 111.512894 m, bearing: 93.034878 deg, approach rate: 0.529988 m/s, LOS rate: 0.120359 deg/s, cmd heading: 299.949697 deg, new cmd heading: 300.102644 deg. 2j3;HeadingCmd: 5.237779 target range: 476.399994 and range: 476.40 m. j㛧@jjjihhhh8BfffrfbfA@ɛ=B=v\* I ɚiI0A=Iυic_i;)㛧@)*F=?2F9:F9BF9JFAUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759546GP<G pAG rA a Ia G B O >Yw,YfA6Π@Y6Oާ@6,96=y6HE?3i?f@2 :?`>݂?mo?$?ɨ6Π@6;4yFBFb'IIbIb4٢r˽ rV=9v:PQ v>xx ~G٣ y %ͻ  > %Nusing accuracyPremultiplier from config!-59%h?55Y%! i%MBB9=FEX@%D%ˁ;%;%E>5UܓB U`@]'EZjFNOT Ignoring new targets: 476.40 m.Bj;Jj; ProNav: ac range: 476.399994 m, nav range: 111.717186 m, bearing: 93.080921 deg, approach rate: 0.519533 m/s, LOS rate: 0.116877 deg/s, cmd heading: 300.102639 deg, new cmd heading: 300.240514 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0201872j5l;=HeadingCmd: 5.240186 target range: 476.399994 and range: 476.40 m. j=@j9j9j9i9hAhAhAhAfIfIfIrfIbfUW@ɛ@ 隝˾I fɚiIKA=Ii\Hi%&;)@)*Fm?2Fi:FiBFiJFiGEH<GB!OEQ>zKMKK+9KK K Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271612J J J J J J ,:J J He 5>Ia  Ie (IIe BIe & =&Ia .Ia 6Ie H<:Ie ) F m V$?Im iYw,j*fAjǠ@Yj:ק@j*99j=yjH??h?Tͷຐ@2?@[d9??Z?ɨjǠ@j;jCy B 6'II%I%?4٢-b, 5D=95Q 5>99 =G٣=4HGy] e> mNusing accuracyPremultiplier from configiu59m?u5Ym! imHBBqu\uX@mDmL:m:mA5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 476.40 m.Bj;Jj=;U ProNav: ac range: 476.399994 m, nav range: 111.937836 m, bearing: 93.130352 deg, approach rate: 0.522827 m/s, LOS rate: 0.116896 deg/s, cmd heading: 300.240527 deg, new cmd heading: 300.388528 deg. 2jUs;}HeadingCmd: 5.242769 target range: 476.399994 and range: 476.40 m. j}ħ@jyjyjyiyhyhhhfffrfbf- @ɛBSP I ɚiI/B=I ],i UɴiA7)ħ@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:00:55.5801 %TRx dataTimestamp_ set to:1736373656.8298115checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531863G *;G B O >Yw,0DfA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775633>"@Y>ɧ@>S9>=y>H`3?@k?帿 &?`Er?@?`?ɨ>"@>hu;>CyRۇBR'IMb@Mb@Mb@ )Y}?5^I?&1:vyM"?PԼA ) AIy AII4٢.۽ C=9uQ > G٣y[ > Nusing accuracyPremultiplier from config59W?5Y! i>BB"?:ÎX@D;;E5 @Zj!%FNOT Ignoring new targets: 476.40 m.Bj-[;Jj-[;E ProNav: ac range: 476.399994 m, nav range: 112.181465 m, bearing: 93.183073 deg, approach rate: 0.604729 m/s, LOS rate: 0.130576 deg/s, cmd heading: 300.388523 deg, new cmd heading: 300.546340 deg. 2jE:;MHeadingCmd: 5.245523 target range: 476.399994 and range: 476.40 m. jMSۧ@jIjIjIiIhIhQhQhUBfYfYfYrfYbfe`@ɛBtd 隍BI I ɚiIɻB=I ҄i|>io)Sۧ@)!*F?2F:FBFm0JFGg:GBOk>Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:00:55.5801 LVL= 14032, 19313, 16962, 21475, AGC= 68, IDX= 430,-0.15,-1.941,-2.774, 2.151,-2.965, PHS= 1.112, 0.238,-1.170, RAW= 52.3, -1.8, CAL= 54.4, -5.1, ROT= 95.6, 5.1 Ygot valid direction response: 22:00:55.5801 LVL= 14032, 19313, 16962, 21475, AGC= 68, IDX= 430,-0.15,-1.941,-2.774, 2.151,-2.965, PHS= 1.112, 0.238,-1.170, RAW= 52.3, -1.8, CAL= 54.4, -5.1, ROT= 95.6, 5.1 PDAT read: Bearing 95.6, 5.1 (Local) ~Local bearing/azimuth received: Bearing 95.6, 5.1 (Local) DAT read: Range 10 to 50 : 475.8 m (Round-trip 634.5 ms) speed 0.0 m/s ,DAT read: user:2223> BDAT read: Tx time:22:00:56.6930 $Ping request sent.•i? s?)KI?iK=5=`c^G?wPD&qT):Iª=i})?T :publishing transmit ping time% Fpublishing direction and range info9?ìjp?}V˦?y )Ii )Ii5=`c^G?wPD&qT)Ii"Yw,[]fAynBn&Iir=Ir4< v=v=IzIzļ4٢  W=9 Q  > G٣y= => ENusing accuracyPremultiplier from configAM59Ef?M5YE! iE5BBIQUX@EDEn:E:EH5}ړB }@$EkEmg:?kE ; kA kETfA:kECBkEECZkE?"Ezۚ#@T۽ {t@9Fu@E?ìjp?}V˦?JkE})?RkET*E_b,n@|&lMa@D mcw@EȒF~?rl?B?"kEk C*kE9uCkEx;?kEiB 2kECkE ?kEiB kE CkEB'CkEny?  addTargetRange:: Added new target pos. range: 475.799988 m, deltaT: 4.039708 s, deltaX: -0.600006 m, approachRate: -0.148527 m/s, rangeRepo size: 4 E Added new target pos. range: 475.799988 m, bearing: 29.443029 deg, lat: 36.901210 deg, lon: -122.119374 deg, deltaT: 4.039708 s, deltaX: -0.600006 m, approachRate: -0.148527 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 475.80 m.BjMJjI} ProNav: ac range: 475.799988 m, nav range: 167.261322 m, bearing: 55.848373 deg, approach rate: 0.000000 m/s, LOS rate: 0.130576 deg/s, cmd heading: 300.546328 deg, new cmd heading: 300.703305 deg. 2jyHeadingCmd: 5.248263 target range: 475.799988 and range: 475.80 m. j@jjjihhhhfffrf̼}@bf ?zKyJK9KK KɛEBM|o QU0IQ UUɚQiQIU_C=I]Wxi]zNi],)]@)auWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:22:00:56.6922 JJJJJ:J(:JJ*F?2F :F BF 0JF jH)bH)H=4>I9 I='II=BI9&I9.I96I=d<:I== F IG9G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.RYw,;wfAR@YR@R9R6=yRH ?Cq?ˣ?b?v??ɨR@R#;RCy~B~&IMb@Mb@Mb@ )Yq= ףp?V-Qy+?hA hA)`AIyG AII]4٢ ?=9 Q > G٣5HGy7 > Nusing accuracyPremultiplier from config 59 ?5Y ! i *BB,?:GX@ D ; ; L5A M@IZjFNOT Ignoring new targets: 475.80 m.Bje;Jje; ProNav: ac range: 475.799988 m, nav range: 167.412704 m, bearing: 55.933389 deg, approach rate: 0.357881 m/s, LOS rate: 0.200803 deg/s, cmd heading: 300.703313 deg, new cmd heading: 300.958129 deg. 2j <HeadingCmd: 5.252710 target range: 475.799988 and range: 475.80 m. j4@jjjihhh h Bf f frfbf@~?ɛ]Be# aeIa moɚiiiImRC=Iu惿iuiuRH)}4@)E*F?2F:FBFP1JF"G%=G%=GTuWill construct direction to contact in vehicle frame from tetrahedron phase data.G BO5r> W$?I4Yw,8fA6@Y6 @6x96J>y6H+?Zj? I@H?᧿@??[?ɨ6@6`;4y>BB&IIFIFʴ4٢N R_=9RŻQ R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from configXb59Z?b5YZ! iZ BB`bcfX@ZDZ,;Z;ZO5jٓB jY@j&EZjy}FNOT Ignoring new targets: 475.80 m.Bj_[;Jj_[; ProNav: ac range: 475.799988 m, nav range: 167.538925 m, bearing: 56.003862 deg, approach rate: 0.343764 m/s, LOS rate: 0.191789 deg/s, cmd heading: 300.958134 deg, new cmd heading: 301.169392 deg. 2j<HeadingCmd: 5.256398 target range: 475.799988 and range: 475.80 m. ji4@jjjihhhhfffWill construct direction to contact in vehicle frame from tetrahedron phase data.rfbf@~(?ɛUBUM Y]>)IY ]kɚaiaIeD=Imi^ei)i4@)*Fu?2Fq:FqBFuL5JFqGXzKe BHKe 9Ka Ke Ke  Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՉ G J J J J J J -.:J J B O >H 3>I  I 'II NBI ' =&I .I 6D6I =<:I F I _Yw,ÂfABy@YB@Bp9B >yBH ?@!u? ՜?oS?#?Ѽ?ɨBy@BӉ;@y^B^&I)` `dfAIjIj4٢rޢ rF=9r*Q r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config| 59~? 5Y~A! i~BBȒX@~ D~;~;~iS51 5f@1B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 475.80 m.BjE_;JjE_; ProNav: ac range: 475.799988 m, nav range: 167.685333 m, bearing: 56.084740 deg, approach rate: 0.353663 m/s, LOS rate: 0.195200 deg/s, cmd heading: 301.169405 deg, new cmd heading: 301.411827 deg. 2j< HeadingCmd: 5.260629 target range: 475.799988 and range: 475.80 m. j W@j jIjIiqhhhhfffrfbf1?ɛ-B5e 15 2I1 5ɚ1i9I=dBE=I=$タiExºi)W@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FI2FI:FQBFU4JFQGeiGqByO~>EYw,VfA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735235fc@Yf^s@f9fpW>yfH ?|?Uv`Z?^ e?J^??ɨfc@fΉ;fCyrkBr&ImMb@Mb@Mb@iii i)iYm+?~jtZd;Oymv>?mĽmjmAA m@)iIm AiymAII94٢ٽ @=9Q > G٣6HGyʻ > Nusing accuracyPremultiplier from config59?5Y " iBB"@?:9X@*D+;;%W5דB @#E YI]iZjFNOT Ignoring new targets: 475.80 m.Bjs;Jjs; ProNav: ac range: 475.799988 m, nav range: 167.861786 m, bearing: 56.176213 deg, approach rate: 0.411294 m/s, LOS rate: 0.212991 deg/s, cmd heading: 301.411822 deg, new cmd heading: 301.685951 deg. 2j,<HeadingCmd: 5.265413 target range: 475.799988 and range: 475.80 m. jD~@jjjihhhhfBfffrfbfK?ɛ) >I \ɚiI;E=I[Fi ɺi)D~@)E rAE qA*F2F:FBF~4JFG GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987306G k}G B O >pYw,n5fA2IS@Y2b@2>м92>y2H??`鿿W?| ? D?Ǹ?ɨ2IS@2m;2CyN^BR&IIZIZ4٢bች bY=9bŻQ b>dd fG٣dyf^ j> nNusing accuracyPremultiplier from confighr59jA?r5Yj " ijBBprzvX@j3Dj;hjmZ5x z@xZjFNOT Ignoring new targets: 475.80 m.Bjo;Jjo; ProNav: ac range: 475.799988 m, nav range: 168.017746 m, bearing: 56.256380 deg, approach rate: 0.408208 m/s, LOS rate: 0.209632 deg/s, cmd heading: 301.685959 deg, new cmd heading: 301.926234 deg. 2j< HeadingCmd: 5.269607 target range: 475.799988 and range: 475.80 m. j @j j j ihhhhfff!rf!bf%@@ɛMBMD% QUDIQ U/ɚQiQI]OF=I]i]^nкie| )e@)azK-BoHK-9K)K- K-UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240426*F?2F:FBF_0JFGHIC IU'II BI&I.I6I[<:I6 FBIJIRIZIbIjIl55 mX$?ImiGBOK> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494332 PExceeded connect timeout, disconnecting.) = ]C̠Yw,)fAb~GnvAx %Y%vAy% B!I@YX@9 >yHɠ?9}?`O?1 q?Gq? ?ɨ!I@;yuQBup&Ii};>I}< }>}=Mb@Mb@Mb@ ) DY~jt?1ZdQyD?"۽unA )AI Ayp AII4٢}lX %=9.Q > G٣y# > Nusing accuracyPremultiplier from config59[?5YM" iBBF?:X@@D:;E9;^5֓B V@%EZjFNOT Ignoring new targets: 475.80 m.Bj;Jj; ProNav: ac range: 475.799988 m, nav range: 168.234863 m, bearing: 56.364512 deg, approach rate: 0.460607 m/s, LOS rate: 0.229102 deg/s, cmd heading: 301.926245 deg, new cmd heading: 302.250217 deg. 2j;<%HeadingCmd: 5.275261 target range: 475.799988 and range: 475.80 m. j%Ψ@j!j!j!i)h)h)h)h5eBf1f1f1rf1bf]˟@ɛBT 隭KI 뽼ɚiI=BG=Ii%Nܺi%})%Ψ@)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.744221JCKKm3 KKS}-KCKC"KCJ}J}JyJyJ};:J}+:JyJyJ} Yw,gAyvNBzm&III4٢5 =r=9=Q =?AA EG٣E7HGyE E? UNusing accuracyPremultiplier from configQ]59U?]5YU" iUBBYYeX@UHDU:U:Ua5mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.995496}ՓB }j@"EZjFNOT Ignoring new targets: 475.80 m.Bjw;Jjw; ProNav: ac range: 475.799988 m, nav range: 168.383118 m, bearing: 56.438020 deg, approach rate: 0.437635 m/s, LOS rate: 0.216801 deg/s, cmd heading: 302.250214 deg, new cmd heading: 302.470545 deg. 2j% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247986zK BHK h9K K K  I H 4>I C I &II BI &I .I 6I <:I Z F_Yw,kF-gAy]FB]b&IqqI}I}4٢" F=9Q > G٣y > Nusing accuracyPremultiplier from config59!?5Y"" iBBX@RD::Pe5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 475.80 m.Bjzy;Jjzy; ProNav: ac range: 475.799988 m, nav range: 168.564484 m, bearing: 56.527578 deg, approach rate: 0.442177 m/s, LOS rate: 0.218110 deg/s, cmd heading: 302.470556 deg, new cmd heading: 302.738937 deg. 2j<HeadingCmd: 5.283791 target range: 475.799988 and range: 475.80 m. j@jjjihhhhfffrfbf%  @ɛ" -QI) 5Eȼɚ1i1I5H=I=Mi=i=d;)=@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:00:59.7317 TRx dataTimestamp_ set to:1736373660.860525checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504368 nManaging dock network, ignoring radio surface power off*F-?2F):F1BF1JF9G OGY Bi O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751481J] J] JY JY J] {:J] 7/:JY JY J] <J] <J] [;J] [;Yw,aGgAF?g@YFv@F9FC>yFH?`qX?-3ÿo5?`XX£?Q??ɨF?g@F\6;FCyNGBNd&I Z$?IMb@Mb@Mb@ )AYˡE?ʡEMbpyG?ケ 3@)I AyAIIb4٢; A=9Q  >    G٣ yR< > %Nusing accuracyPremultiplier from config-59+?-5Y*" iBB5+J?5:5=X@]D=N;xL;i5A E@AZjFNOT Ignoring new targets: 475.80 m.Bj3s;Jj3s; ProNav: ac range: 475.799988 m, nav range: 168.757050 m, bearing: 56.620621 deg, approach rate: 0.440553 m/s, LOS rate: 0.212622 deg/s, cmd heading: 302.738928 deg, new cmd heading: 303.017737 deg. 2j< HeadingCmd: 5.288657 target range: 475.799988 and range: 475.80 m. j <@j j j i h9h9h9h=GBfAfAfArfAbfE'@ɛ-B5 1=CQI9 =ͼɚ9i9IE"I=IEb~imKim0>)m<@)q*F?2F:FBF%0JF!G-rA G-rAG^D8}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003718GB9O= >7Yw,agA:p@Y:ڎ@:?L(9:y>y:H`?5F?@ ÿ@U??U??ɨ:p@:;:CyBNBFm&IIfIf94٢nn= na=9rQ r>pp vG٣v8HGyv< v> ~Nusing accuracyPremultiplier from configx~59z4?5Yz1" izBBX@zfDz:z@:z0l5 ғB @@!EZj9EFNOT Ignoring new targets: 475.80 m.BjEȁ;JjEȁ;] ProNav: ac range: 475.799988 m, nav range: 168.921631 m, bearing: 56.700320 deg, approach rate: 0.469080 m/s, LOS rate: 0.226932 deg/s, cmd heading: 303.017736 deg, new cmd heading: 303.256598 deg. 2j]<]HeadingCmd: 5.292826 target range: 475.799988 and range: 475.80 m. je^@jajajaiahahahihififqfqrfqbfu@@ɛ 隭MI +.ҼɚiII=I/}iui;B)^@)Will construct direction to contact in vehicle frame from tetrahedron phase data.iMDAT read: 22:00:59.7317 LVL= 22432, 27281, 29154, 32755, AGC= 67, IDX= 445,-0.28,-1.467,-2.121, 2.818,-2.383, PHS= 1.004, 0.309,-1.085, RAW= 49.1, -2.5, CAL= 51.0, -5.9, ROT= 99.0, 5.9 UYgot valid direction response: 22:00:59.7317 LVL= 22432, 27281, 29154, 32755, AGC= 67, IDX= 445,-0.28,-1.467,-2.121, 2.818,-2.383, PHS= 1.004, 0.309,-1.085, RAW= 49.1, -2.5, CAL= 51.0, -5.9, ROT= 99.0, 5.9 ]PDAT read: Bearing 99.0, 5.9 (Local) e~Local bearing/azimuth received: Bearing 99.0, 5.9 (Local) mDAT read: Range 10 to 50 : 475.8 m (Round-trip 634.4 ms) speed 0.1 m/s u,DAT read: user:2224> }BDAT read: Tx time:22:01:00.8416 }$Ping request sent.}H኿a[?¸2 c?)BҽI +?iB=*F?2F:FBF5JFzKk3IK9KK K  }"Emm?Ű77'`)wI3=i?5zGM:publishing transmit ping timeyMFpublishing direction and range info98E"[?@?I|?y ) IiIi )IiEmm?Ű77'`)IiH5>I I&IIBI&I.I6I<:Ic FG %:GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:01:00.8408 Yw,>%{gAy^B&IMb@Mb@Mb@ )Y'1Z? G٣y > Nusing accuracyPremultiplier from config59??5Y:" iBBpE?:ךX@rDr;;Qp5  I@ k 4N;?k U k  k K?ggA:k Bk DCZk 3?" K%2@mZSu@ :ӣt@ 8E"[?@?I|?Jk ?Rk 5zG* _n@aS@VLa@؋k&w@ z\镊?BNgA?(zx?"k b C*k uCk >_5Yw,=gA:@Y:m@:C9:3 &>y:H ?:$?@!Ŀ %?_@Wa? ?`?ɨ:@:;:CyRiBR&IIZIZ4٢b= bw=9b顼Q b?dd fG٣dyjz< j? nNusing accuracyPremultiplier from configlr59noG?v5Yn@" inBBtz.zX@nzDnP;n7;n5s5| ~@Zj!-FNOT Ignoring new targets: 475.80 m.Bj-3Q;Jj-3Q;= ProNav: ac range: 475.799988 m, nav range: 234.138031 m, bearing: 37.262704 deg, approach rate: 0.217864 m/s, LOS rate: 0.182897 deg/s, cmd heading: 303.580872 deg, new cmd heading: 303.760451 deg. 2jE ;EHeadingCmd: 5.301620 target range: 475.799988 and range: 475.80 m. jEߦ@jIjIjIiIhIhIhQhQfQfQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.farfabfe.?ɛ 隝0@I EܼɚiIJ=IG{iiM)ߦ@)*F?2F:FBF_0JF"G%=G%=G_NGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK V4MK 9K K K  u [$?Iq H= 6>I9  I= &II= ćBI= & =&I9 .I= 7D6I= ?<:I= $ FYw,͏gA2mĠ@Y2ӧ@2%T92&>y2Hp7?t? 6ſo 9A??@w?@?ɨ2mĠ@2wt;2CyB|BB&IIJIJ{4٢f= fJ=9f+(Q j>hh jG٣hyn)< r> ~Nusing accuracyPremultiplier from configx 59zP?5YzH" iz&BBX@zDz;z;zv5%ѓB %Q@%E=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 475.80 m.BjUUN;JjUUN; ProNav: ac range: 475.799988 m, nav range: 234.225204 m, bearing: 37.336474 deg, approach rate: 0.213245 m/s, LOS rate: 0.180391 deg/s, cmd heading: 303.760451 deg, new cmd heading: 303.981678 deg. 2j;HeadingCmd: 5.305481 target range: 475.799988 and range: 475.80 m. jƩ@jjjihhhhfffrf bf a?ɛQUl Y] 7IY ]:IɚYiYIeJ=IuJzi}ji}Q)}Ʃ@)yEqAEnA*F ?2F :FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.GlSG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493888*J= R="J= a=JE JE JA JA JE :JE -.:JA JA JE <JE <JE v;JE v;(Yw,pgA6@Y6@6O]96*>y6H\??`ſr`g?@? 4??ɨ6@6 ;6Cy>BB&I IMb@Mb@Mb@ )Yףp= ?i|?5Q?y>?u<A @)I Ay AIvI&Q4٢= :=9⦻Q > G٣9HGyE< > Nusing accuracyPremultiplier from config59^[?5YP" i6BB%"A?%:%%X@D;;z5UГB U@U EZjFNOT Ignoring new targets: 475.80 m.BjEH;JjEH; ProNav: ac range: 475.799988 m, nav range: 234.314987 m, bearing: 37.414832 deg, approach rate: 0.200695 m/s, LOS rate: 0.175089 deg/s, cmd heading: 303.981667 deg, new cmd heading: 304.216649 deg. 2jS;HeadingCmd: 5.309582 target range: 475.799988 and range: 475.80 m. j@jjjihhh h Bf ffrfbfn?ɛae; ae2Ia PɚiI9K=I >yiOiL)@)*F%?2F!:F!BF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747443GE wSG! B) OM >+Yw,DgA6n0@Y6?@6Yb96;->y6H>??`ƿ P՝?=? 9? }?ɨ6n0@6٧;6CynBn&IIvIvЬ4٢\> Z=9HQ >    G٣y%< > %Nusing accuracyPremultiplier from config!-59%Jd?-5Y%W" i%CBB)--X@%D%n:%:%}59 =&@9ZjaeFNOT Ignoring new targets: 475.80 m.BjmP;JjmP;} ProNav: ac range: 475.799988 m, nav range: 234.388885 m, bearing: 37.481004 deg, approach rate: 0.203236 m/s, LOS rate: 0.181930 deg/s, cmd heading: 304.216653 deg, new cmd heading: 304.415105 deg. 2j};HeadingCmd: 5.313046 target range: 475.799988 and range: 475.80 m. jy@jjjihhhhfffrfbf೙?ɛB: &I 4 ɚiIyK=I[xiKX#i`<)y@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998992*Fu?2Fq:FqBFu0JFqGqA GqAZHRHzKKK9KK K IiH7>I I)'IIBI&I.I6I]<:I; FGdLGBO5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251009eYYw,U/gA-h@Y-]x@-i9- 0>y-H ? '?@%ƿ2 L?`@2.?? y?ɨ-h@-Ĉ;-Cy=BE&IMb@Mb@Mb@ )Yd;O?!rh:v?y4?l罹T<jA )AIy AIIK4٢= ;=9OQ > G٣y< > Nusing accuracyPremultiplier from config59n?5Y_" iSBB7?:͖X@D;j;с5 @ZjFNOT Ignoring new targets: 475.80 m.Bj@;Jj@; ProNav: ac range: 475.799988 m, nav range: 234.472397 m, bearing: 37.557060 deg, approach rate: 0.185109 m/s, LOS rate: 0.168524 deg/s, cmd heading: 304.415111 deg, new cmd heading: 304.643197 deg. 2jP;HeadingCmd: 5.317027 target range: 475.799988 and range: 475.80 m. j%@jjjihhhhBfffrf bf i@ɛ15 9=`I9 =Jɚ9i9I=K=IE-VwiM&)iMP4)M%@)I*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502206 \$?IGf:G B O >=Zw,hA6)@Y6@6 q9634>y6H? ?ƿ??ZH?0[?s?ɨ6)@6`;6CyBƇBB'IIJIJ4٢Rj> Rc=9RQ V>TT VG٣V:HGyZ< Z> ^Nusing accuracyPremultiplier from config\b59^v?b5Y^e" i^_BBdffX@^D^q ;^;^҄5nΓB n{@rEZj FNOT Ignoring new targets: 475.80 m.Bj m@;Jj m@;% ProNav: ac range: 475.799988 m, nav range: 234.534775 m, bearing: 37.615085 deg, approach rate: 0.180904 m/s, LOS rate: 0.168233 deg/s, cmd heading: 304.643185 deg, new cmd heading: 304.817210 deg. 2j%;-HeadingCmd: 5.320064 target range: 475.799988 and range: 475.80 m. j-=@j)j)j)i)h1h1h1h1f1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.753859ffrfbfT@ɛ  ̑  qI  HɚiI5pK=I=vi=C.i=))==@)A*F?2F:FBF`5JFGP<3GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006574J J J J J :J +:J J a @a% @a% @a% @ I zKM BoHKM ]9KI KM KM RKU ?JKU >H I  I n'II BI % =&I .I 6I <:I FBIJIRIZIbIjIʌ5i Zw,/hABʡ@YBIڨ@B}1y9B(5>yBH`?4o?@!ǿQ"?kKD!?5|?7q?ɨBʡ@Bi;BCynևBn'IIvIvݜ4٢~= D=9eQ >    G٣ y V< > Nusing accuracyPremultiplier from config%59?%5Yl" inBB!%D-X@D~ ; ;u51 5@1uB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 475.80 m.Bj1?;Jj1?; ProNav: ac range: 475.799988 m, nav range: 234.609100 m, bearing: 37.685448 deg, approach rate: 0.176622 m/s, LOS rate: 0.167154 deg/s, cmd heading: 304.817218 deg, new cmd heading: 305.028241 deg. 2jn;HeadingCmd: 5.323747 target range: 475.799988 and range: 475.80 m. j#\@jjjihhhhfffrfbf @ɛ  I ɚiILK=Iui$3i$)#\@)*F2F:FBF 5JF"G=Gp=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258929 HY yfBG w*GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:01:03.8804  TRx dataTimestamp_ set to:1736373665.140662 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510942OZw,IhA 0I4rR@Yr @r~9rl4>yrH?? R?*ǿ"N?@';֯?t?@p?ɨrR@r߈;rCyMBM4'IMb@Mb@Mb@ )YDl?|?5^Mb?yO-?ҽ<A @)AI AyII4٢ =  :=9NQ >! %G٣!y%=j< %> 5Nusing accuracyPremultiplier from config)=59-ڊ?=5Y-s" i-BB=Z/?=:EEX@-D-$;-";-K5M͓B Mǽ@MEZjquFNOT Ignoring new targets: 475.80 m.Bj};;Jj};; ProNav: ac range: 475.799988 m, nav range: 234.680695 m, bearing: 37.756645 deg, approach rate: 0.165044 m/s, LOS rate: 0.164077 deg/s, cmd heading: 305.028243 deg, new cmd heading: 305.241767 deg. 2j5;HeadingCmd: 5.327474 target range: 475.799988 and range: 475.80 m. jz@jjjihhhh.BfffrfbfJ @ɛr I ɚiI0K=Iti998i*P)z@)*F2F:FBF3JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762022G%$$G B O >|Zw, chA%9,@Y%;@%u9%3>y%He?@^:?@bǿv?}ťO?tN?q?ɨ%9,@%C;%Cy5B=O'IIEIE4٢]= ]V=9]qQ ]>aa eG٣e;HGymNq< m> }Nusing accuracyPremultiplier from configq59uߓ?5Yu1z" iuBB撿X@uDuy;uq:u5˓B U@EZjFNOT Ignoring new targets: 475.80 m.Bj/9;Jj/9; ProNav: ac range: 475.799988 m, nav range: 234.741745 m, bearing: 37.818511 deg, approach rate: 0.159807 m/s, LOS rate: 0.161901 deg/s, cmd heading: 305.241755 deg, new cmd heading: 305.427306 deg. 2j9;HeadingCmd: 5.330712 target range: 475.799988 and range: 475.80 m. j2@jjjihhhhfffrfbf . @ɛ9= 9=bI9 =ɚAiAIEK=IEIsiMux BDAT read: Tx time:22:01:04.9931 $Ping request sent.ٍٍqg?ٍ'g ڍm0v?)ڍVIڍ6?iڍV>ډډۍM?&NxA )ۍL]Iۍ=iۍ?ۍ2Sۉۉ:publishing transmit ping timeر%Fpublishing direction and range info؉9؍-'?x?Ge?y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍM?&NxA )ۉIۉiۉۉۉۉGTGBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:22:01:04.9923 ĩZw,o}hA\@Y+l@W9U3>yH?J? \#ǿ =?ߧ?UA?q?ɨ\@\;騉yޥBޥa'IMb@Mb@Mb@ )Y+?ʡE99 =G٣9y=P< => mNusing accuracyPremultiplier from configiu59mi?u5Ym(" imBBu ?u:u}X@mDm];m;m5 k@k7 m1?kfh] k kkhA:kCBk^CZk8?"0 "<@:C0t@ДLu@-'?x?Ge?Jk?Rk2S*s1j@!PJa@y@5"&?9%a?,u?"kT C*kAWCky2?kfD 2kCky2?kkCkCk]?u addTargetRange:: Added new target pos. range: 476.000000 m, deltaT: 4.059045 s, deltaX: 0.200012 m, approachRate: 0.049276 m/s, rangeRepo size: 4  Added new target pos. range: 476.000000 m, bearing: 32.726225 deg, lat: 36.902323 deg, lon: -122.119374 deg, deltaT: 4.059045 s, deltaX: 0.200012 m, approachRate: 0.049276 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 476.00 m.BjJj ProNav: ac range: 476.000000 m, nav range: 259.092560 m, bearing: 33.817731 deg, approach rate: 0.000000 m/s, LOS rate: 0.161901 deg/s, cmd heading: 305.427318 deg, new cmd heading: 305.664691 deg. 2jHeadingCmd: 5.334855 target range: 476.000000 and range: 476.00 m. j"@jjjihhhhRBff!f!rf%}@bf%J=?ɛB.i 隝&վI AɚiIK=IriAi)"@)EErA 9I9uWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FqBFu^0JFqG}rA G}rAG Gi Bq O >%Zw,'ۗhA2Zm@Y2|@2K3927>y2H ? ?ǿR@?`C? ?`i?ɨ2Zm@2;2CyJ%BNu'IIVIV:4٢^= ^w=9^Q ^?`` bG٣`yf; f? jNusing accuracyPremultiplier from configdn59fʥ?n5Yf" ifBBpr=rY@fDf^;f:f5t z^@xZj%FNOT Ignoring new targets: 476.00 m.Bj%$&;Jj%$&;Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 476.000000 m, nav range: 259.122345 m, bearing: 33.862335 deg, approach rate: 0.097008 m/s, LOS rate: 0.145254 deg/s, cmd heading: 305.664680 deg, new cmd heading: 305.798476 deg. 2j_; HeadingCmd: 5.337190 target range: 476.000000 and range: 476.00 m. j Cʪ@j j jihhhhf!fIfIrfIbfU?ɛj{ 隽ľI ɚiIK=I,rigPEiU)Cʪ@)*F?2F:FBF_0JFGJJJ1JJJ-.:J3J  I E Will construct direction to contact in vehicle frame from tetrahedron phase data.H 8>I  I 'II BI &I .I 6I ><:I $ FG B O >zKu UOKu h9Kq Ku Ku  RK ?JK ?y+Zw,hAy=,B=~'IIMIMHo4٢]\< ]A=9]Q ]>aa eG٣e Nusing accuracyPremultiplier from configy59}g?5Y}T" i}BBY@}D};}e;}K5 @UB*** querying acoustic contact ***jQjQZjiuFNOT Ignoring new targets: 476.00 m.Bju;;Jju;; ProNav: ac range: 476.000000 m, nav range: 259.161407 m, bearing: 33.920416 deg, approach rate: 0.087760 m/s, LOS rate: 0.130469 deg/s, cmd heading: 305.798470 deg, new cmd heading: 305.972688 deg. 2j;HeadingCmd: 5.340231 target range: 476.000000 and range: 476.00 m. j,@jjjihhhhfffrfbf .?ɛBIk yI ɚiIǏK=IxeqiQIiل),@)*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GU_G) B1 OU >  ^$?I 2Zw,hAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.442144>Y@Y>û@>{q9>FC1>y>H &??Rǿ@}1?EJ`1J??@p?ɨ>Y@>?;>CyFYY ]G٣Yye< e> mNusing accuracyPremultiplier from configiu59m?u5Ym " imBB}T?}:}]}Y@mDm;m;mΝ5ɓB Ƹ@ZjaFNOT Ignoring new targets: 476.00 m.Bj;Jj; ProNav: ac range: 476.000000 m, nav range: 259.188416 m, bearing: 33.974251 deg, approach rate: 0.066674 m/s, LOS rate: 0.132886 deg/s, cmd heading: 305.972695 deg, new cmd heading: 306.134182 deg. 2je;HeadingCmd: 5.343050 target range: 476.000000 and range: 476.00 m. jC@jjjihhhhkBfffrfbfG?ɛamb m8=mIi m ɚqiqIugWK=Iupi}LNi}l )}C@)y*F?2F:FBF0JF"G%=G%=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.696436G= OGE ?GE ?G9 BA Oe >8Zw,wghA6@Y6@6Ƒ96:f0>y6H`? ? ,ǿZi?㣿4??Pr?ɨ6@65;6Cy>BBB'IIfIfƕ4٢nO< nS=9n\:Q n>pp rG٣pyv[< v> zNusing accuracyPremultiplier from configx~59zY?~5Yz" izBB|dY@zDzy;z:z25  f@ Zj9EFNOT Ignoring new targets: 476.00 m.BjE";JjE";] ProNav: ac range: 476.000000 m, nav range: 259.212921 m, bearing: 34.026243 deg, approach rate: 0.067013 m/s, LOS rate: 0.142164 deg/s, cmd heading: 306.134188 deg, new cmd heading: 306.290148 deg. 2j]!;eHeadingCmd: 5.345772 target range: 476.000000 and range: 476.00 m. je@jajajaiahihihihifqfqfqrfqbf}[?ɛBh 隭$I }ɚiI,K=IRoidQi7)@)J}J}J}0JyJ}{:J}7/:J}ـ3Jy IH)I) I-(II-BI)&I).I)6I-M<:I-/ FMWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.950855*FY2FY:FYBF]`5JFYG-zKKK]9KK KGB O%,> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202362c?Zw,HhA,@Y'@ݶ9.>yH&?v?ǿ @A?@&ʣR??@t?ɨ,@;騙y޵MB޵'IEMb@Mb@Mb@AAA A)AYE5^I ?y&1Mbp?yE?E`eE;E=A E@)E3AIEAAyAIUIU4٢e`:= m4=9m8Q m>qq uG٣u=HGyu4H< }> Nusing accuracyPremultiplier from config59?5Yȝ" iBB?:Y@D;;.5 @ZjFNOT Ignoring new targets: 476.00 m.Bj;Jj; ProNav: ac range: 476.000000 m, nav range: 259.235535 m, bearing: 34.086034 deg, approach rate: 0.049774 m/s, LOS rate: 0.131592 deg/s, cmd heading: 306.290162 deg, new cmd heading: 306.469517 deg. 2j;HeadingCmd: 5.348902 target range: 476.000000 and range: 476.00 m. j5*@jjjihhhh{BfffrfbfWP@ɛX 隭RI (ɚiIxJ=I/-oiYGUiG)5*@)*F)2F):F)BF)JF)JyJ}AA IiUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454024G] W Ge pAGa G9 BI Oe >EZw,( iA::K@Y:Z@:9:_->y:HP??ƿ#j? +ӣ@q?ˍ?`lu?ɨ::K@:oȈ;:CyBLBB'IININn4٢Vݻ Vl=9V8Q Z?XX ZG٣Xy^< ^? bNusing accuracyPremultiplier from config`f59b?f5Yb~" ibBBhjۆjY@bDb:b:b25rǓB r@rEZj FNOT Ignoring new targets: 476.00 m.Bj;Jj;% ProNav: ac range: 476.000000 m, nav range: 259.251587 m, bearing: 34.131354 deg, approach rate: 0.046317 m/s, LOS rate: 0.130759 deg/s, cmd heading: 306.469523 deg, new cmd heading: 306.605475 deg. 2j-z;-HeadingCmd: 5.351275 target range: 476.000000 and range: 476.00 m. j-=@j1j1j1i1h1h1h9h9f9f9fArfAbfE`@ɛuBu+g y}-Iy }m ɚyiyI˷J=IniWi#̼)=@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.726661EEQf=EI*F?2F:FBFV5JFGqA G _$?IH) I)  I- <(II- ȈBI) &I) .I) 6I- 5<:I-  F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978563zK BoHK 9K K K G= fG B! O= >LZw,2iA>;z@Y>@>Wє9>,>y>H@v??eƿQ\? 㣿@?7t?.v?ɨ>;z@>Ɉ;>Cy~MB~'III44٢%; %D=9%Q %>)) -G٣)y5a< 5> =Nusing accuracyPremultiplier from config9E59=?E5Y=&" i= CBAM MY@=D=:=:=֫5Q U@QZjy}FNOT Ignoring new targets: 476.00 m.Bj;Jj; ProNav: ac range: 476.000000 m, nav range: 259.269714 m, bearing: 34.185984 deg, approach rate: 0.043679 m/s, LOS rate: 0.131624 deg/s, cmd heading: 306.605471 deg, new cmd heading: 306.769348 deg. 2j;HeadingCmd: 5.354135 target range: 476.000000 and range: 476.00 m. jU@jjjihhhhfffrfbff @ɛBŊ_ I ɚiIxJ=IAmi_Zi9)U@)E K@=*F?2F:FBF_0JFG]y[ҼWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231526GB)OY> I J J J J J :J 7:J J J  G٣>HGy > Nusing accuracyPremultiplier from config59?5Yr" i CB?:ɁY@ DtM;J;ʯ5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 476.00 m.Bj1;Jj1;- ProNav: ac range: 476.000000 m, nav range: 259.281097 m, bearing: 34.248129 deg, approach rate: 0.025013 m/s, LOS rate: 0.136553 deg/s, cmd heading: 306.769341 deg, new cmd heading: 306.955767 deg. 2j-n;5HeadingCmd: 5.357389 target range: 476.000000 and range: 476.00 m. j5o@j1j1j1i1h9h9h9h=hBfAfAfArfAbfM v @ɛuB}a\ y}QIy }7IɚyiI0J=Imi]i&ּ)o@)Eп8=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734868*F ?2F :F BF 05JF Gm ϼG} ?G} ?GIBa IiO>zVZZw,!\kiAjH<bHH7>I IC(II͈BI&I.I6IV<:I5 FWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:01:08.0321 LVL= 16688, 28465, 18834, 25731, AGC= 67, IDX= 447, 0.14,-2.361, 3.134, 1.953, 2.926, PHS= 1.084, 0.255,-0.976, RAW= 53.6, -4.1, CAL= 57.4, -8.6, ROT= 92.6, 8.6  Ygot valid direction response: 22:01:08.0321 LVL= 16688, 28465, 18834, 25731, AGC= 67, IDX= 447, 0.14,-2.361, 3.134, 1.953, 2.926, PHS= 1.084, 0.255,-0.976, RAW= 53.6, -4.1, CAL= 57.4, -8.6, ROT= 92.6, 8.6 PDAT read: Bearing 92.6, 8.6 (Local) ~Local bearing/azimuth received: Bearing 92.6, 8.6 (Local) %DAT read: Range 10 to 50 : 476.0 m (Round-trip 634.7 ms) speed 0.0 m/s -,DAT read: user:2226> 5BDAT read: Tx time:22:01:09.1416 5$Ping request sent.5ٝ#yٝ|o?ٝC ڝ;?)ڝ`Iڝ?iڝ`>ڙڙ۝Uiy-H@?R?~ƿ@$ t?ò?@9?`YY eG٣aye< e> Nusing accuracyPremultiplier from configi59m?5YmP" im:CByY@mDm'y:H`? 8? Eƿ@?=`ݲ??@/}?ɨ:@:e;:CyFDBF'I]Mb@Mb@Mb@YYY Y)YY]+? G٣?HGyB< > Nusing accuracyPremultiplier from config59 ?5Yƽ" iNCB ?:*~Y@#D;;5 @ZjFNOT Ignoring new targets: 476.00 m.BjN+;JjN+; ProNav: ac range: 476.000000 m, nav range: 259.285248 m, bearing: 34.396430 deg, approach rate: 0.014742 m/s, LOS rate: 0.149768 deg/s, cmd heading: 307.206172 deg, new cmd heading: 307.430331 deg. 2j;HeadingCmd: 5.365672 target range: 476.000000 and range: 476.00 m. j@jjjih h hhDBfffrfbf ?ɛBLg حI G ɚiInI=I0jicdi)@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF3JFG6GQBiOY>  I Ha Ia  Ie <(IIe ȈBIe & =&Ia .Ia 6Ie <:Ie FBIJIRIZI% =bI% =jIs4 Will construct direction to contact in vehicle frame from tetrahedron phase data.gkZw,ӯiAN@YN'@N9N!>yNH ?@82?Rſ`ɪ`7?1v?`?@?ɨN@N:;LyZ4BZ'IIfIf:4zKnLKn]9KlKn Kn    RKv ?JKv?٢zʪ zU=9zQ z>|| ~G٣|y; >  Nusing accuracyPremultiplier from config 59 ?5Y " i \CB}Y@ +D : q ; ܼ5%ÓB %@%EZjIMFNOT Ignoring new targets: 476.00 m.BjU;JjU;e ProNav: ac range: 476.000000 m, nav range: 259.290100 m, bearing: 34.449387 deg, approach rate: 0.012656 m/s, LOS rate: 0.138127 deg/s, cmd heading: 307.430339 deg, new cmd heading: 307.589208 deg. 2je;mHeadingCmd: 5.368444 target range: 476.000000 and range: 476.00 m. jmLʫ@jijijiiihqhqhqhqfyfyfyrfbf?ɛBG| 隭cI ag ɚiI?FI=Iu,jiei)Lʫ@)*Fu?2Fq:FqBFuh4JFqmWill construct direction to contact in vehicle frame from tetrahedron phase data.G秼GqAGnAGqBO% >OrZw,iA2.@Y2=@2P92!>y2H`?%?Jſǝ %?a@K3?`?`?ɨ2.@2;2CyB+BB|'I PITuMb@Mb@Mb@qqq q)qYuuV?l~jtxyur(?uuĻq u@)uzAIqqyuAI{IZ4JK KKK"KJJJJJ:J$-:JJ٢+ >=9-pQ > G٣y; > Nusing accuracyPremultiplier from config59$?5YE" ilCB(?:n|Y@4D;;5 @ZjFNOT Ignoring new targets: 476.00 m.Bj%%;Jj%%;5 ProNav: ac range: 476.000000 m, nav range: 259.294922 m, bearing: 34.511888 deg, approach rate: 0.011196 m/s, LOS rate: 0.145116 deg/s, cmd heading: 307.589209 deg, new cmd heading: 307.776707 deg. 2j5.;=HeadingCmd: 5.371717 target range: 476.000000 and range: 476.00 m. j=@j9j9jAiAhAhAhIhM&BfIfIfIrfQbfUG?ɛ}B}z 隅ʾI M ɚiII=IUii64hih)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-_0JF1GmGI BQ Om >e Will construct direction to contact in vehicle frame from tetrahedron phase data.{xZw,iA2S@Y2Ic@2]92 >y2H`%??VſjB?"??ׄ?ɨ2S@2N;2CyB$BBt'IIJIJW4٢R R^=9V.;Q V>TT VG٣V@HGyZ M< Z> ^Nusing accuracyPremultiplier from config\b59^F0?b5Y^" i^zCBdf@{fY@^У~Zw,wgiAVn@YV%~@V9VB\>yVHL;??@ihſxW?`9J@?\?`O?ɨVn@V;VCybBbm'IInIn4٢vq vF=9v;Q z>xx zG٣xy~8< ~> Nusing accuracyPremultiplier from config 59 =? 5Y" iCBkzY@ED::q5Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247002-B -'@-EZjamFNOT Ignoring new targets: 476.00 m.Bj}%;Jj}%; ProNav: ac range: 476.000000 m, nav range: 259.301239 m, bearing: 34.625493 deg, approach rate: 0.007375 m/s, LOS rate: 0.144952 deg/s, cmd heading: 307.937576 deg, new cmd heading: 308.117515 deg. 2j;HeadingCmd: 5.377665 target range: 476.000000 and range: 476.00 m. j@jjjihhhhfffrfbfH@ɛB; ZپI ɚiIuH=IU,gi]G B O- >Zw,xBjA:H@Y:@:[9:$!>y:H`NN??6ſ8jh?@pzT?@֢? J?ɨ:H@:ڊ;:CyFBFd'IiJ)>IJ%=Mb@Mb@Mb@ )YM?:vI +yn2?T94nA @)QAI AyAI-I-4٢M MD=9Mw:Q M>QQ UG٣Qy]k; ]> eNusing accuracyPremultiplier from configam59erJ?m5Ye" ieCBu2?u:u ~uY@eNDef;e';e5y }@ZjFNOT Ignoring new targets: 476.00 m.Bj1;Jj1; ProNav: ac range: 476.000000 m, nav range: 259.308929 m, bearing: 34.689704 deg, approach rate: 0.018609 m/s, LOS rate: 0.155372 deg/s, cmd heading: 308.117511 deg, new cmd heading: 308.310137 deg. 2jB;HeadingCmd: 5.381027 target range: 476.000000 and range: 476.00 m. j`1@jjjihhQhYh]ՈBfYfYfYrfabfe@߯@ɛB}O 隭I  ɚiInH=Ifi`3ni)`1@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752382*F2F:FBFJFGS. I G B O >H I  I (II BI &I .I 6I ̯<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002915Zw,~1jAyrBrQ'IIzIzפ4٢  O=9 Q  > G٣AHGy > -Nusing accuracyPremultiplier from config)559-2W?55Y- " i-CB115Y@-WD-:-:-5EB Et@EEZjimFNOT Ignoring new targets: 476.00 m.Bjuq0;Jjuq0;zK}JK}9KyK} K}RKJK ? ProNav: ac range: 476.000000 m, nav range: 259.316559 m, bearing: 34.750825 deg, approach rate: 0.019256 m/s, LOS rate: 0.154257 deg/s, cmd heading: 308.310149 deg, new cmd heading: 308.493506 deg. 2j;HeadingCmd: 5.384227 target range: 476.000000 and range: 476.00 m. jK@jjjihhhhfffrfbf` @ɛ=B=򚏽 AExIA EɚAiAIEH=IM"fiMqpiMe)UK@)Q*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.257822GݗGB OE >ݝZw,JjA IF-@YF@F9F>yFHd? ?ĿYv~?@xu`O?_? e?ɨF-@FQJ;FCyNBRM'IMb@Mb@Mb@ )Y1Zd?㥛 ~jty";?DXA @)AI AyAII4JJJ1JJJ+:J3J٢] <=9:Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507125 G٣y$; > Nusing accuracyPremultiplier from config59 f?5Y}" iCB1ɘZw,djA6@Y6ë@6,96>y6H ps?^?ĿN ?  72?ls?@?ɨ6@6I;6CyNBNL'I)P PIZIZK4٢bf b`=9b:Q b?dd fG٣dyjz; j? rNusing accuracyPremultiplier from configpv59r`q?v5Yr&" irCBtvvvY@riDr:r:r5~B ~@~EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 476.00 m.Bj-?9;Jj-?9;= ProNav: ac range: 476.000000 m, nav range: 259.345642 m, bearing: 34.880292 deg, approach rate: 0.035879 m/s, LOS rate: 0.161956 deg/s, cmd heading: 308.714087 deg, new cmd heading: 308.881870 deg. 2jEL;EHeadingCmd: 5.391006 target range: 476.000000 and range: 476.00 m. jE@jIjIjIiIhIhIhQhQfQfafarfabfe @ɛBF 隕I1 =ūɚ9i9I=H=IEediMMuiM3)M@)Q %d$?I!H6>I I'IIBI&I.I6I<:Ic F*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.աiաchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.011218zKBHK9KK GKIg/G) BQ O >Zw,~jA2@Y2ë@292S>y2H?s?I? -ĿN@ˌ?鍢N?U?nj?ɨ2@2Pk;2Cy:B:I'IWill construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:01:12.1800 LVL= 16944, 29041, 25538, 29587, AGC= 70, IDX= 442, 0.48, 0.541,-0.394,-1.497,-0.516, PHS= 1.145, 0.169,-0.984, RAW= 57.2, -3.6, CAL= 61.6, -8.2, ROT= 88.4, 8.2 MYgot valid direction response: 22:01:12.1800 LVL= 16944, 29041, 25538, 29587, AGC= 70, IDX= 442, 0.48, 0.541,-0.394,-1.497,-0.516, PHS= 1.145, 0.169,-0.984, RAW= 57.2, -3.6, CAL= 61.6, -8.2, ROT= 88.4, 8.2 UPDAT read: Bearing 88.4, 8.2 (Local) U~Local bearing/azimuth received: Bearing 88.4, 8.2 (Local) eDAT read: Range 10 to 50 : 475.6 m (Round-trip 634.2 ms) speed 0.0 m/s e,DAT read: user:2227> mBDAT read: Tx time:22:01:13.2932 m$Ping request sent.m m{ r?  ?) CI |?i C>   [??b2d&&) 6.I zF=i :? *j ILIL٢%U %6=9-J~Q ->)) -G٣5BHG 5:publishing transmit ping timei5Fpublishing direction and range info 9 Ba3]?%Ksx?{:[?y     ) I i    y}Q >  ) I i    Nusing accuracyPremultiplier from config [??b2d&&) I i    59À?5Y" iCBxY@tD(= Q=5B @Ek ! &?k  v k  k рjA:k CBk ,CZk $1?" :f64@~ݰPr@do%w@ Ba3]?%Ksx?{:[?Jk :?Rk *j* _EStf@HLJVb@3 z@ j=?Ugڽ?`vs ?"k C*k 0Ck @kr&?k  2k aCk k  k k #Ck G? addTargetRange:: Added new target pos. range: 475.600006 m, deltaT: 4.282708 s, deltaX: -0.399994 m, approachRate: -0.093397 m/s, rangeRepo size: 4  Added new target pos. range: 475.600006 m, bearing: 39.807996 deg, lat: 36.902323 deg, lon: -122.119396 deg, deltaT: 4.282708 s, deltaX: -0.399994 m, approachRate: -0.093397 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 475.60 m.BjJj ProNav: ac range: 475.600006 m, nav range: 258.278442 m, bearing: 34.610615 deg, approach rate: 0.000000 m/s, LOS rate: 0.161956 deg/s, cmd heading: 308.881863 deg, new cmd heading: 309.146742 deg. 2jHeadingCmd: 5.395628 target range: 475.600006 and range: 475.60 m. j@jjji I ihhh!h!f!f!f)rf-}@bf-`ڌ?ɛBW 3I !ɚiIŖH=Iu6ci}:kyi}Mټ)}@)JJWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:01:13.2924 *F ?2F :F BF q0JF G 6G ?G ?GBO>:'Zw,jAVν@YV9ͫ@V%9V)>yVH@z?W?@ĿH o?@Y\? ???ɨVν@V;VCyrBrL'IuWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yx&1?EԸMbpyA?ƽA )3@I AyAIoID4٢.< +=9Q > G٣y; > Nusing accuracyPremultiplier from config59?5Y" iCB C?:Y@DA;;5 @ZjQUFNOT Ignoring new targets: 475.60 m.Bj]c;Jj]c;m ProNav: ac range: 475.600006 m, nav range: 258.304108 m, bearing: 34.687544 deg, approach rate: 0.066476 m/s, LOS rate: 0.199237 deg/s, cmd heading: 309.146738 deg, new cmd heading: 309.377503 deg. 2jmI I'IIBI' =&I.I6IC<:I$ FBAO]v>J5J5J50J1J5[:J5@0:J5ـ3J1J5fy2H7|??0ſ@F`h?`QA?~?E?ɨ2Z@2&;2CyBBFP'IE~G]tAq eYetAyeBI=I=4٢< ==9Q > G٣y;: > Nusing accuracyPremultiplier from config59?5Y<# iCB Y@DP::g5B >@ EZjFNOT Ignoring new targets: 475.60 m.Bj$;;Jj$;; ProNav: ac range: 475.600006 m, nav range: 258.328766 m, bearing: 34.760617 deg, approach rate: 0.055215 m/s, LOS rate: 0.163612 deg/s, cmd heading: 309.377489 deg, new cmd heading: 309.596686 deg. 2j;HeadingCmd: 5.403481 target range: 475.600006 and range: 475.60 m. jR@jjjihhhhfffrfbf?ɛB ϑ I H5ɚiIH=IG4aii[)%R@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF75JF Q IQ G ټG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.4Zw,jA @y=B=Y'IMb@Mb@Mb@ )Y#~j?X9vMbPyE? h@)`@IvAyQAIIq4٢- = -R=95Q 5>99 =G٣=CHGy= => MNusing accuracyPremultiplier from configAM59E?U5YE0 # iECBU8H?U:UPUY@EDEN;E;E5a eѺ@iZjFNOT Ignoring new targets: 475.60 m.BjN;JjN; ProNav: ac range: 475.600006 m, nav range: 258.359314 m, bearing: 34.827193 deg, approach rate: 0.082917 m/s, LOS rate: 0.180688 deg/s, cmd heading: 309.596684 deg, new cmd heading: 309.796387 deg. 2j;HeadingCmd: 5.406967 target range: 475.600006 and range: 475.60 m. j@jjjihhhhfffrfbfC?ɛB I ɚiIH=I O`i 6i _8)@)*F?2F:FBF_0JFGrGBO^>Will construct direction to contact in vehicle frame from tetrahedron phase data. E f$?II aZw,YjA6@Y6ū@696c>y6H r?@?Dſ`K?"[?j? w?ɨ6@69#;6CZH\RH\Hb1>IbC Ib'IIbBI`&I`.Ib6D6Ib<:Ib FBIJIRIZI& =bI& =jI4yBm'I!!I-I-4٢u.= V=9Q > G٣yo_ > Nusing accuracyPremultiplier from config59B?5Y# i DB}Y@D`;`a;#5B @ EJJJJJ:J$:JJJ<J<J~;J~;-B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 475.60 m.Bju?;Jju?; ProNav: ac range: 475.600006 m, nav range: 258.390503 m, bearing: 34.893432 deg, approach rate: 0.079014 m/s, LOS rate: 0.167789 deg/s, cmd heading: 309.796398 deg, new cmd heading: 309.995090 deg. 2jM;HeadingCmd: 5.410435 target range: 475.600006 and range: 475.60 m. jI"@jjjihhhhfffrfbf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛuB} y}-Iy }j,ɚyiIH=I%l_i%Li-L)-I"@))'eTFailed to parse incomplete device message.BKi:Ki*F?2F:FBFJFG GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002339JZw,@kkA@Yl@E9S>yH J??`ſ/`޵?@@? W? ?ɨ@;騝Cy'Bx'I-only read 0 of 1 data item for water mass range. Device response is::WD, +0.0 +0.00, +0.00, 20.00,570.42  @ @ @  @ II4٢!= 7= I9E;Q > G٣yuY< > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y# iDB+:[:Y@D&;?>I5 @ Zj15FNOT Ignoring new targets: 475.60 m.Bj=I;Jj=I;M ProNav: ac range: 475.600006 m, nav range: 258.424988 m, bearing: 34.970168 deg, approach rate: 0.079236 m/s, LOS rate: 0.176292 deg/s, cmd heading: 309.995102 deg, new cmd heading: 310.225278 deg. 2jM;UHeadingCmd: 5.414453 target range: 475.600006 and range: 475.60 m. jU2C@jQjQjYiYhYhYhYhafafafirfibfmw@ɛJ 隕ھI  ɚiIlH=IFe^i@{i)2C@)*F=?2F9:F9BF9JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255144GGBOm>oZw,Q1kAy7B'III{4eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506573٢]Ӭ= me=9mQ m>qq uG٣qyu }> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y!# i)DB :2:Y@DH<;=N?V5B @ EZjFNOT Ignoring new targets: 475.60 m.BjhE;JjhE; ProNav: ac range: 475.600006 m, nav range: 258.453003 m, bearing: 35.031783 deg, approach rate: 0.078481 m/s, LOS rate: 0.172587 deg/s, cmd heading: 310.225280 deg, new cmd heading: 310.410103 deg. 2j;HeadingCmd: 5.417678 target range: 475.600006 and range: 475.60 m. j]@jjjihhhhfff rf bf RT@ɛ5B=b< 9=˾I9 =-!ɚ9iAIE\H=IEۑ]iMGiMl")M]@)IEYEY*F?2F:FBFo0JF"G=Gp= g$?IiH0>I I (IIBI( =&I.I6I&<:I FJJJ1JJ:J&:J3JJM<JM<J1;J1;G5GB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758434O- >zK 3MK 9K K K %Zw,, 9kAZ@YZ%@ZIΖ9Z\>yZH? b? ,ſ*a?Qmղ?l? >?ɨZ@Z,;ZCybIBb'Iif>If;InIn4٢v= vR=9v%:Q v>xx zG٣zDHGy~u< ~> bBottom track data is 1.2 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config 59?5Yu(# i8DB9:Y@Dm(;?"5! %@!ZjIMFNOT Ignoring new targets: 475.60 m.BjM@E;JjU@E;u ProNav: ac range: 475.600006 m, nav range: 258.481903 m, bearing: 35.098487 deg, approach rate: 0.074724 m/s, LOS rate: 0.172451 deg/s, cmd heading: 310.410105 deg, new cmd heading: 310.610195 deg. 2j};HeadingCmd: 5.421171 target range: 475.600006 and range: 475.60 m. j;z@jjjihhhhf1f9f9rf9bf=@ɛބ 隍I #ɚiI>H=I\iTҊi,t);z@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010525*Fu?2Fq:FyBF}0JFyGO! IiG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262371Zw,)RkArj.@Yr=@r9r>yrHb??]ſ?HQ`ϲ??`?ɨrj.@rՈ;rCy_B'I        Mb@Mb@Mb@ )Y$C?Onÿ{Gzt?y:?ף;A @)I@I AyAII{4٢&= <=9Ai9Q > G٣yr; > Nusing accuracyPremultiplier from config59|?5Y_0# iHDBT:=?:Y@D&;$;5B z@ EZjFNOT Ignoring new targets: 475.60 m.Bj9;Jj9; ProNav: ac range: 475.600006 m, nav range: 258.530243 m, bearing: 35.172365 deg, approach rate: 0.106205 m/s, LOS rate: 0.162282 deg/s, cmd heading: 310.610202 deg, new cmd heading: 310.831792 deg. 2j;HeadingCmd: 5.425038 target range: 475.600006 and range: 475.60 m. jꙭ@jjjihhhhBff f rf bf  @ɛ5B=t} 9=I9 ="$ɚ9iAIErH=IM[iUq-iUT)Uꙭ@)Y*F?2F:FBF1JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:01:16.3312 TRx dataTimestamp_ set to:1736373677.540695checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515478GM oG B O- > I QZw,UlkAjH,bH.<H6/>I4 I6<(II6ȈBI6) =&I4.I46I6S<:I6+ FES@YESc@E9E#>yEH?@p?ޞſ@?`ӥ ? G٣yf>< > Nusing accuracyPremultiplier from config59,?5Y6# iUDBhY@DH!;;a5B "@EJJJ0JJ[:J*:Jـ3JJf<Jg<J;J;B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 475.60 m.Bj V8;Jj V8;% ProNav: ac range: 475.600006 m, nav range: 258.569183 m, bearing: 35.233344 deg, approach rate: 0.102930 m/s, LOS rate: 0.161160 deg/s, cmd heading: 310.831800 deg, new cmd heading: 311.014711 deg. 2j%4;-HeadingCmd: 5.428231 target range: 475.600006 and range: 475.60 m. j-@j)j)j1i1h1h1h9h9f9f9f9rfAbfE`@ɛimʤx qu]Iq u.%ɚqiqIuG=I}JZi}8i})@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766502*F?2F:F!BF%?5JF!zKBHKػ9KK KGeGA By O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:01:16.3312 LVL= 16208, 26865, 24242, 28083, AGC= 67, IDX= 438, 0.26, 2.622, 1.719, 0.621, 1.624, PHS= 1.086, 0.142,-1.006, RAW= 56.8, -2.5, CAL= 60.3, -6.4, ROT= 89.7, 6.4  Ygot valid direction response: 22:01:16.3312 LVL= 16208, 26865, 24242, 28083, AGC= 67, IDX= 438, 0.26, 2.622, 1.719, 0.621, 1.624, PHS= 1.086, 0.142,-1.006, RAW= 56.8, -2.5, CAL= 60.3, -6.4, ROT= 89.7, 6.4  PDAT read: Bearing 89.7, 6.4 (Local)  ~Local bearing/azimuth received: Bearing 89.7, 6.4 (Local)  DAT read: Range 10 to 50 : 475.3 m (Round-trip 633.8 ms) speed 0.0 m/s  ,DAT read: user:2228>  BDAT read: Tx time:22:01:17.4416  $Ping request sent. } Ā} }?} ¸2 } $?)} I} Hd?i} =y y } X? Ϋˋ` )} v=I} 1=i} G2?} gy y  :publishing transmit ping time  Fpublishing direction and range infoy 9} Ln?j"ɹ?4/?yy y y y y )y Iy iy y y y y y )y Iy iy y y } X? Ϋˋ` )y Iy iy y y aZw,zkA۱ }h$?Iy*o@Y~@B9#>yH@?Y_?ſ?+@IJ?@??@?ɨ*o@b;y=B='I)A AuMb@Mb@Mb@qqq q)qYui|?5?L7A`~jt?yu1?u+uD G٣EHGyh; > Nusing accuracyPremultiplier from config]59?e5YM?# ikDBe4?e:eieY@D$j<i<5q u@qkJ#?Will construct direction to contact in vehicle frame from tetrahedron phase data.iJDAT read: TxSync time:22:01:17.4409 kJ k k[͂kA:kCBkCZkC?"[ H&@ugOr@qaw@Ln?j"ɹ?4/?JkG2?Rkg*fd@7tc@RYy@2JJJz?:lD-t?"A?"kSC*k&CkEj#?k4 2kCk~-?kknCkvCk&?U addTargetRange:: Added new target pos. range: 475.299988 m, deltaT: 4.030997 s, deltaX: -0.300018 m, approachRate: -0.074428 m/s, rangeRepo size: 4  Added new target pos. range: 475.299988 m, bearing: 43.664877 deg, lat: 36.902191 deg, lon: -122.119396 deg, deltaT: 4.030997 s, deltaX: -0.300018 m, approachRate: -0.074428 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 475.30 m.BjJj ProNav: ac range: 475.299988 m, nav range: 246.809708 m, bearing: 37.278517 deg, approach rate: 0.000000 m/s, LOS rate: 0.161160 deg/s, cmd heading: 311.014713 deg, new cmd heading: 311.277348 deg. 2jHeadingCmd: 5.432815 target range: 475.299988 and range: 475.30 m. j٭@jjjihhhhۈBfffrf̴}@bf@ׅ?ɛiuKb quIq }K-&ɚyiyI}lG=IYiT_io)٭@)*FM ?2FI :FI BFM 0JFI Gm ?Gu ?Gu ? Will construct direction to contact in vehicle frame from tetrahedron phase data.G)B1OU>Zw,kA2@Y2 @2 ǖ92%t$>y2H?9H?`\ſ5? ¦Բ? i?`?ɨ2@2;2CyBBB(IIJ_IJb(4٢Rq/> Rt=9VcEQ V?TT ZG٣XyZhJ< Z? ^Nusing accuracyPremultiplier from config\b59^ ?b5Y^D# i^yDBdf≿fY@^D^:^k<^51 5.@9ZjFNOT Ignoring new targets: 475.30 m.Bj*C;Jj*C; ProNav: ac range: 475.299988 m, nav range: 246.846283 m, bearing: 37.331968 deg, approach rate: 0.116773 m/s, LOS rate: 0.170626 deg/s, cmd heading: 311.277347 deg, new cmd heading: 311.437676 deg. 2j2; HeadingCmd: 5.435613 target range: 475.299988 and range: 475.30 m. j @j j j i h hhhfffrfbf` %? iIiɛ}c 隍EI X&ɚiI}eG=IXi4i_G)@)Hm.>Ii Im{(IImBIi&Ii.Ii6Im\<:Im1 F*FU?2FQ:FQBFU 5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.G ozKU KU ]9KQ KU KU Gq B O >"Zw,}kAJ@YJ@J[9J >yJHU4?B?LĿ³@M??@GA? )?ɨJ@J@;JCyVBV((II^I^F4٢f= fH=9f#6Q j>  G٣y< > %Nusing accuracyPremultiplier from config%59?-5YK# iDB)-v-Y@D::b5=B =̯@=EZjYeFNOT Ignoring new targets: 475.30 m.Bjm&A;Jjm&A; ProNav: ac range: 475.299988 m, nav range: 246.891632 m, bearing: 37.399196 deg, approach rate: 0.113930 m/s, LOS rate: 0.168865 deg/s, cmd heading: 311.437666 deg, new cmd heading: 311.639312 deg. 2j;HeadingCmd: 5.439132 target range: 475.299988 and range: 475.30 m. j_ @jjjihhhhfffrfbf|?ɛ6T I i%'ɚiI"G=IXiih )_ @)EUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JF"G=G= ui$?I}iGGBO>JM JM JI JI JM :JM ':JI JI aU @aU @aU @aU @ Will construct direction to contact in vehicle frame from tetrahedron phase data.Zw,KkA6sܥ@Y6@6"96>y6H`(Y?? -ſ p?߲?൷??ɨ6sܥ@6 ;4ybLjBb=(Iif=If>? f=f=UMb@Mb@Mb@QQQ Q)QYUMbX?!rh~jtx?yU*?Ul罹U;UA U@)U@IU`AQyUAI`I(*4٢= <=99Q > G٣FHGy_< > Nusing accuracyPremultiplier from config59#?5YR# iDB1-?:Y@DU;;5B @EZjFNOT Ignoring new targets: 475.30 m.Bj%1;Jj%1;5 ProNav: ac range: 475.299988 m, nav range: 246.928833 m, bearing: 37.465541 deg, approach rate: 0.087085 m/s, LOS rate: 0.155286 deg/s, cmd heading: 311.639320 deg, new cmd heading: 311.838324 deg. 2j5$;=HeadingCmd: 5.442605 target range: 475.299988 and range: 475.30 m. j=)@j9jAjAiAhAhIhIhM BfIfQfQrfYbf]H?ɛBH 隅xI ޏ'ɚiI%F=I>0Wi@i))@)*F ?2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.G5 G B O= > q Iq ZHa RHa Hi Ii  Im (IIm -BIi &Ii .Ii 6Im ><:Im  FOZw,#kA6@Y6@696">y6H`Ux?1?Äſ{ ? d޲?W4??ɨ6@6>;6Cy>݈BBW(IIJIJ_v4٢V= V]=9V!8Q Z>XX ZG٣Xy^\<bWill construct direction to contact in vehicle frame from tetrahedron phase data. b> jNusing accuracyPremultiplier from configdj59f`.?n5YfW# ifDB9=Y=Y@fDfj y}ȠIy }['ɚyiyI}oF=IjVi#1i )}B@))e= i~G|uA1 ]WY]|uAy]A*F%?2F:FBF`0JFzKBoHKػ9KK KuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GG B O > q Iy l[w,d lAv6@Yv F@vh9vO&>yvHd?`?@,ſ@\ ?`C`"?`M?~?ɨv6@v;ty~B~y(IMb@Mb@Mb@ )YRQ?MbX{Gz?y"?ʽ#<XA )@IAyAII{4٢= 8=9J:Q > G٣y_< > Nusing accuracyPremultiplier from config59:?5Y%^# iDB$?: Y@D06;4;5 5mB m@mEZjFNOT Ignoring new targets: 475.30 m.Bj';Jj';JJJJJ:J*:JJ ProNav: ac range: 475.299988 m, nav range: 246.990799 m, bearing: 37.588503 deg, approach rate: 0.068760 m/s, LOS rate: 0.146437 deg/s, cmd heading: 312.010828 deg, new cmd heading: 312.207172 deg. 2j;HeadingCmd: 5.449043 target range: 475.299988 and range: 475.30 m. j^@jjjihhhh%OBf!f!f!rf!bf-@@ɛw. 隕@ϼIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256426 F'ɚiIdE=IXUi7iv)^@)EEqA*F?2F:FBFJFG GpAG] G1 BA O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508337 [w,~&lA6;Z@Y6i@6 96'>y6Ha??ſE`? R??`|?ɨ6;Z@6;4yNBN(I)P PTTIZIZ4٢ ~=  W=9 `HQ > G٣GHGyG:< %> -Nusing accuracyPremultiplier from config!559%E?55Y%c# i%DB15~5Y@% D%;%;%5I M@IZjq}FNOT Ignoring new targets: 475.30 m.Bj2;Jj2; ProNav: ac range: 475.299988 m, nav range: 247.016479 m, bearing: 37.644910 deg, approach rate: 0.071114 m/s, LOS rate: 0.156187 deg/s, cmd heading: 312.207182 deg, new cmd heading: 312.376387 deg. 2ja;HeadingCmd: 5.451996 target range: 475.299988 and range: 475.30 m. jv@jjjihhhhfffrfbfR@ɛ%B%DQ" !%ДI I(IIeBI&I.I6IP<:I& FBIÝCJIÝCRIZI) =bI) =jIm4*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760393GG B O >zK] k3IK] 9KY K] K] RKe >JKe ??[w,?lA>S@Y>@>q9>2)>y>H?`?ſ)+??h?z?ɨ>S@>>;>CyR BR(III{4٢Y= >=9D4:Q > G٣yZ:< > Nusing accuracyPremultiplier from config59Q?5Yi# iDB܁Y@D:7:M5B @EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012401ZjimFNOT Ignoring new targets: 475.30 m.Bj}k';Jj}k'; ProNav: ac range: 475.299988 m, nav range: 247.044418 m, bearing: 37.708632 deg, approach rate: 0.064183 m/s, LOS rate: 0.146369 deg/s, cmd heading: 312.376379 deg, new cmd heading: 312.567521 deg. 2j;HeadingCmd: 5.455332 target range: 475.299988 and range: 475.30 m. j@jjjihhhhfffrfbfU@ɛu S=I  &'ɚiI E=I*Si򀟻i%ks)%@)1*F2F:FBF1JF IGnJJJJJ:JJJG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265088)[w,YlA6@Y6@6Pt960(>y6H?B?@hſ0?@a?4?@{?ɨ6@6Y;6CyN-BN(I-Mb@Mb@Mb@))) )))Y-Mb?{GzYY eG٣ayeJ< e> mNusing accuracyPremultiplier from configiu59mN]?}5Ym'o# imDB}!?}:}n{}Y@mDm;mp;m5 &@ZjFNOT Ignoring new targets: 475.30 m.Bj );Jj ); ProNav: ac range: 475.299988 m, nav range: 247.061478 m, bearing: 37.765043 deg, approach rate: 0.044699 m/s, LOS rate: 0.147798 deg/s, cmd heading: 312.567515 deg, new cmd heading: 312.736736 deg. 2j;HeadingCmd: 5.458286 target range: 475.299988 and range: 475.30 m. jG@jjjihhhhBfffrfbfu ۄ @ɛBP 隭=I Xo'ɚiID=I,Si iN)G@)*Fe?2Fi:FiBFmO5JFi"Gu=Gup=-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517581Gf k$?IiGa Bq O >jH <bH H ,>I C I =)II BI &I .I 6I U<:I ) FR[w,slABWill construct direction to contact in vehicle frame from tetrahedron phase data.FBDAT read: Rx Time:22:01:20.4794 FTRx dataTimestamp_ set to:1736373681.824755Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.769543>i˦@Y>ڭ@>:9>~(>y>H ?y?4ſJ?`L« ? ?|?ɨ>i˦@>;>CyR6BR(IiV=IV=I^I^4٢r<= vR=9zR9Q z>xx zG٣~HHGy~}-< ~>  Nusing accuracyPremultiplier from config 59h? 5Yt# iDB_zY@&D;:\:5%B %@%EEB*** querying acoustic contact ***jAjAZjIMFNOT Ignoring new targets: 475.30 m.BjU1';JjU1';e ProNav: ac range: 475.299988 m, nav range: 247.077927 m, bearing: 37.822046 deg, approach rate: 0.042182 m/s, LOS rate: 0.146170 deg/s, cmd heading: 312.736740 deg, new cmd heading: 312.907739 deg. 2je;uHeadingCmd: 5.461270 target range: 475.299988 and range: 475.30 m. j}®@jyjyjyiyhyhyhhfffrfbf@ɛ 隽L=I ''ɚiIc%D=IiRifi)®@)*FU?2FQ:FQBFU_0JFQ'TFailed to parse incomplete device message.G85Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021243GBO> I =#[w,5lA=@Y=Q@=9=H&>y=HO+?b?Ӌſ`8? t_? ?`~?ɨ=@=6;=CyUIBU(IMb@Mb@Mb@ )YZd;O?ˡE G٣y)< > %Nusing accuracyPremultiplier from config!-59%v?-5Y%)z# i%EB5?5:5j5Y@%/D%;%>;%5=B =6@=EJJJsK{3 K{.KsKs"KsJJJ1JJ:J :J3JZjAMFNOT Ignoring new targets: 475.30 m.BjU;JjU;Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:01:20.4794 LVL= 15712, 32753, 32754, 32755, AGC= 70, IDX= 435, 0.39,-0.028,-1.069,-2.096,-1.178, PHS= 1.238, 0.156,-0.921, RAW= 60.1, -5.1, CAL= 66.2, -10.6, ROT= 83.8, 10.6 Ygot valid direction response: 22:01:20.4794 LVL= 15712, 32753, 32754, 32755, AGC= 70, IDX= 435, 0.39,-0.028,-1.069,-2.096,-1.178, PHS= 1.238, 0.156,-0.921, RAW= 60.1, -5.1, CAL= 66.2, -10.6, ROT= 83.8, 10.6 PDAT read: Bearing 83.8, 10.6 (Local) ~Local bearing/azimuth received: Bearing 83.8, 10.6 (Local) DAT read: Range 10 to 50 : 475.1 m (Round-trip 633.5 ms) speed 0.0 m/s ,DAT read: user:2229> BDAT read: Tx time:22:01:21.5933 $Ping request sent.?y؍C؉؍`=؍ ٍ)ٍIٍFiٍv?ٍw>ٍkٍC?ٍK ڍh?)ڍq=Iڍ6?iڍq=>ډډۍetQ?ϔQ0}>ζ)ۍޅIۍ=iۍoM?ۍ$,vۉۉ]:publishing transmit ping timebf@W6@Fpublishing direction and range info؉9؍Drڰ?gvT0?խ`>?y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍetQ?ϔQ0}>ζ)ۉIۉiۉۉۉۉɛ B ` >I ]&ɚiI}C=IEQiM58iMbؼ)Uݮ@)*F12F1:F1BF55JF1E Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:22:01:21.5925 GU ޼G B! O= >[)[w,hAlAZ@YZ@Zʷ9Zu%>yZH@A?P?Fbſ {N?6߫`R?,??ɨZ@Z,;;ZCy)5(IIM@AIuIuHo4٢w T=9:Q > G٣y< > Nusing accuracyPremultiplier from config59? 5Y"# i&EB!%$i-Y@6D%)<2)<]!51 5=@1kX?kY^ k kLlA:kCBkCZk9?"}G?@SV?[p@D.Zx@Drڰ?gvT0?խ`>?JkoM?Rk$,v*IӇ'c@`@Yz@F(?3i;??"kUC*kpCk$?k 2kCk@kr&?kkCk4fCk~8? m$?I addTargetRange:: Added new target pos. range: 475.100006 m, deltaT: 4.284176 s, deltaX: -0.199982 m, approachRate: -0.046679 m/s, rangeRepo size: 4  Added new target pos. range: 475.100006 m, bearing: 41.598001 deg, lat: 36.901994 deg, lon: -122.119396 deg, deltaT: 4.284176 s, deltaX: -0.199982 m, approachRate: -0.046679 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 475.10 m.BjJjM ProNav: ac range: 475.100006 m, nav range: 230.206558 m, bearing: 41.292313 deg, approach rate: 0.000000 m/s, LOS rate: 0.134258 deg/s, cmd heading: 313.095189 deg, new cmd heading: 313.252228 deg. 2jIUHeadingCmd: 5.467283 target range: 475.100006 and range: 475.10 m. jU@jQjQjQiQhYhYhyhyfffrf}@bf`?H+>I Ih)IIBI* =&I.I6I<:I Fɛ B-y @>I j?&ɚiIC=I Pi xi Ӽ) @) *F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G ڼG B O >zK% NK% 9K! K% K%   c<0[w,HlA6@Y6'@6E|96>y6HG?*W?Ŀ Z?fI?A??ɨ6@6;6CyNSBR(I)T TTTIZIZd4٢b6P= bY=9fukQ f>dd jG٣jIHGyjC; j> rNusing accuracyPremultiplier from configlr59nΎ?r5YnՃ# in8EBtvhvY@n=Dn:n:n$5x z@xZjFNOT Ignoring new targets: 475.10 m.Bj1;Jj1; ProNav: ac range: 475.100006 m, nav range: 230.220108 m, bearing: 41.348478 deg, approach rate: 0.037360 m/s, LOS rate: 0.154851 deg/s, cmd heading: 313.252228 deg, new cmd heading: 313.420713 deg. 2j;HeadingCmd: 5.470223 target range: 475.100006 and range: 475.10 m. j @j j j i h h hWill construct direction to contact in vehicle frame from tetrahedron phase data.hf!f!f!rf!bf->?ɛ B 隥B>I p%ɚiIB=ICPi9Ȧi) @)*F?2F:FBF`0JF IGԼ*J"Jp=Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Pi6[w,*lAyzWB~(IMb@Mb@Mb@ )Y5^I ?y&1{Gzt?y?`弹ף;AA @)@IAy=AIZI4٢< ;=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y%# iKEB<?:cY@FD;c;l(5B D@EZj)-FNOT Ignoring new targets: 475.10 m.Bj5.;Jj5.;E ProNav: ac range: 475.100006 m, nav range: 230.230576 m, bearing: 41.413050 deg, approach rate: 0.024756 m/s, LOS rate: 0.152704 deg/s, cmd heading: 313.420715 deg, new cmd heading: 313.614421 deg. 2jE;MHeadingCmd: 5.473604 target range: 475.100006 and range: 475.10 m. jM'@jIjIjQiQhQhQhQh]BfYfYfYrfabfe?ɛ B 隝>I *U%ɚiI-A=I@Oipi&)'@)*F%?2F!:F)BF-o0JF)%Will construct direction to contact in vehicle frame from tetrahedron phase data.G r IG B O5 >ZH RH AAH I  I )II ՉBI &I .I 6I F<:I  FJ J J 0J J l:J !:J ـ3J J >y2H*?~ ?`Ŀ6?@}?ӆ?%?ɨ2.e@2J;0BWill construct direction to contact in vehicle frame from tetrahedron phase data.yFTBF(IIRMIR{4٢V Z^=9Z9Q Z>X\ ^G٣\y%< %> -Nusing accuracyPremultiplier from config)559-?55Y-# i-]EB15!a]Y@-MD-;-;-+5a et@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 475.10 m.Bj$;Jj$; ProNav: ac range: 475.100006 m, nav range: 230.237762 m, bearing: 41.469103 deg, approach rate: 0.018493 m/s, LOS rate: 0.144224 deg/s, cmd heading: 313.614420 deg, new cmd heading: 313.782572 deg. 2j;HeadingCmd: 5.476539 target range: 475.100006 and range: 475.10 m. j?@j!j!j!i!h!h!h)h)f)f)f1rf1bf=?ɛ Bjw 隭>I $ɚiI^A=I]]Ni]өi]6ż)]?@)a*F%?2F!:F!BF%0JF!zKKKh9KK K=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.GI G B O- > n$?I zC[w,mA@Y@rސ9{>yH@??@ĿTr x????ɨ@;騥Cy޽\B޽(Iia>I> =p=UMb@Mb@Mb@QQQ Q)QYU-?MbMbP?yU5?UU:UA U@)QIU3AQyUAIeIeF4٢}0 = }0=9}͓;Q }> G٣JHGyj< > Nusing accuracyPremultiplier from config59*?5Y:# ipEBB?:YY@VD;;/5J)J-BAB Τ@EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003314ZjFNOT Ignoring new targets: 475.10 m.Bjp(;Jjp(; ProNav: ac range: 475.100006 m, nav range: 230.238998 m, bearing: 41.538333 deg, approach rate: 0.002629 m/s, LOS rate: 0.147262 deg/s, cmd heading: 313.782579 deg, new cmd heading: 313.990265 deg. 2j!;HeadingCmd: 5.480164 target range: 475.100006 and range: 475.10 m. j]@jjjihhhh{Bfffrfbf@;@ɛ B{{ !%>I! %PJ$ɚ)i)I-@=I-ʒMi5 i5S)5]@)1*FY2FY:FYBF]0JFYG} a.ʼG G pAE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255861GY Ba O >I[w,(mA^§@Y^lѮ@^O9^ >y^H?`?@Ŀ`W?TƱ?D??ɨ^§@^;^CyrOBr(I IiII4٢%z %K=9-K;Q 5>11 5G٣1y=ZF< => ENusing accuracyPremultiplier from configAM59E?U5YE# iEEBQUXUY@E^DE51;Ex1;E135Y e@aZjFNOT Ignoring new targets: 475.10 m.Bj<;Jj<; ProNav: ac range: 475.100006 m, nav range: 230.239182 m, bearing: 41.599980 deg, approach rate: 0.000488 m/s, LOS rate: 0.164464 deg/s, cmd heading: 313.990271 deg, new cmd heading: 314.175212 deg. 2j;HeadingCmd: 5.483392 target range: 475.100006 and range: 475.10 m. jw@jjjihhhhfffrfbf8@H*>I III&I.I6I<:I FɛBL7 隕h>I #ɚiI{J@=IGLiqi८)w@)*F92F9:F9BF=V5JFAGA GErAJJJJJ:J$:JJJM<JM<J~;J~;UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5072721Y Yy' BG% fG B) OE >P[w,mBmAzK":IK"9K K" K":@Y:@:苽9:7} >y:H? u?@uĿ |<c?@Yy?? ?ɨ:@:;:CyBKBF(IIJIJ4٢Vϼ Vg=9VX;Q Z>XX ZG٣Xy^e< ^> bNusing accuracyPremultiplier from config`f59bH?f5Ybg# ibEBhjMWjY@beDb:b:bI65uB uɥ@uEZjFNOT Ignoring new targets: 475.10 m.Bjc';Jjc'; ProNav: ac range: 475.100006 m, nav range: 230.238464 m, bearing: 41.654354 deg, approach rate: -0.001930 m/s, LOS rate: 0.146341 deg/s, cmd heading: 314.175205 deg, new cmd heading: 314.338328 deg. 2j;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759345HeadingCmd: 5.486239 target range: 475.100006 and range: 475.10 m. jE@jjjihhhhfffrfbf`:@ɛEBM˂ IMp=II Mȉ#ɚQiQIU?=ImLim-iu )uE@)y o$?I*FM?2FQ:FQBFU4JFYG- m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011330G B O- >V[w,^\mAB@YB@B9B>yBH@Q??` WĿ- ?ҭ`]?`?`҉?ɨB@B ;BCyJCBJ(I)L LPP-Mb@Mb@Mb@))) )))Y-Cl?Zd;O{Gzty-;?-j-ף-\ A -@)-@I))y-zAIMIMt4٢ @=9~:Q > G٣KHGy; > Nusing accuracyPremultiplier from config59?5Yѡ# iEBX?:YY@nDj!;;$:5 L@Zj)-FNOT Ignoring new targets: 475.10 m.Bj58;Jj58;M ProNav: ac range: 475.100006 m, nav range: 230.239700 m, bearing: 41.722564 deg, approach rate: 0.002928 m/s, LOS rate: 0.161584 deg/s, cmd heading: 314.338338 deg, new cmd heading: 314.542965 deg. 2jM;MHeadingCmd: 5.489810 target range: 475.100006 and range: 475.10 m. jU@jQjYjYiYhahahahe8Bfififirfibfm @ɛB 隝=I k5#ɚiIQ\?=IKiYi)@)*Fu?2Fy:FyBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266522 IGo>jH bH <H )>I  I {)II ˉBI &I .I 6I <:I FBIȜCJIȜCRIZI* =bI* =jI)4G B O >J% J% J! J! J% :J% :J! J! J% <J% <J% w;J% w;\[w,}vmAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:01:24.6305 TRx dataTimestamp_ set to:1736373685.856765checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516453B%@YB,@BS59BuT >yBH u ??SĿ1~?`m@OC?@?_?ɨB%@B;BCyN7BN(IIVIV4٢^u bU=9b}:Q b>dd fG٣dyf< j> nNusing accuracyPremultiplier from confighr59jj?r5YjW# vtIijEBtv$XvZ@juDj6;jA6;j^=5x z @|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 475.10 m.Bj-";Jj-";e ProNav: ac range: 475.100006 m, nav range: 230.240204 m, bearing: 41.779689 deg, approach rate: 0.001249 m/s, LOS rate: 0.141652 deg/s, cmd heading: 314.542970 deg, new cmd heading: 314.714345 deg. 2jem;eHeadingCmd: 5.492802 target range: 475.100006 and range: 475.10 m. jmů@jijijiiihihihhfffrfbf @ɛB : =I "ɚiI>=I%VJi%Y i%r餼)%ů@))*F2F:FBFJF "G=G=zKBHK+9KK KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767277G- G B O- > p$?I c[w,lmA/@Y>@q9v7>yH?`Ø?-Ŀ ?\*??`?ɨ/@f;騽Cy#B(I-Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 22:01:24.6305 LVL= 15472, 27249, 21906, 26595, AGC= 69, IDX= 430, 0.22,-1.590,-2.748, 2.736,-2.652, PHS= 1.150,-0.049,-0.898, RAW= 65.6, -2.3, CAL= 71.0, -6.9, ROT= 79.0, 6.9 eYgot valid direction response: 22:01:24.6305 LVL= 15472, 27249, 21906, 26595, AGC= 69, IDX= 430, 0.22,-1.590,-2.748, 2.736,-2.652, PHS= 1.150,-0.049,-0.898, RAW= 65.6, -2.3, CAL= 71.0, -6.9, ROT= 79.0, 6.9 mPDAT read: Bearing 79.0, 6.9 (Local) u~Local bearing/azimuth received: Bearing 79.0, 6.9 (Local) DAT read: Range 10 to 50 : 474.8 m (Round-trip 633.1 ms) speed 0.1 m/s ,DAT read: user:2230> BDAT read: Tx time:22:01:25.7433 $Ping request sent. G٣y; > Nusing accuracyPremultiplier from config59? 5Y# iEB (? : _ Z@D;;B5B =4@=Ek-2X?k-鳁 k) k-mA:k-fCBk-CZk-n?"-ɪ1t?o.Yim@хYy@-Ťpd?iC?ҴR?Jk-f?Rk- *-WDt~Y@ҤI$(a@n{@-(=H}?M:C?80S?"k-A C*k-Bk-J ?k- 2k-Ck-Ej#?k)k-aCk-`Ck-@? addTargetRange:: Added new target pos. range: 474.799988 m, deltaT: 4.031951 s, deltaX: -0.300018 m, approachRate: -0.074410 m/s, rangeRepo size: 4  Added new target pos. range: 474.799988 m, bearing: 53.388787 deg, lat: 36.901926 deg, lon: -122.119396 deg, deltaT: 4.031951 s, deltaX: -0.300018 m, approachRate: -0.074410 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 474.80 m.BjJj ProNav: ac range: 474.799988 m, nav range: 224.678772 m, bearing: 43.155035 deg, approach rate: 0.000000 m/s, LOS rate: 0.141652 deg/s, cmd heading: 314.714353 deg, new cmd heading: 314.947784 deg. 2jMHeadingCmd: 5.496876 target range: 474.799988 and range: 474.80 m. jMh@jIjQjQiQhQhQhYh]BfYfYfYrfe̬}@bfe@?ɛ-B- 15P=I=KIi=쑰i=^R)=h@)A*F 2F :F BF 3JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:01:25.7425 I G!G!B9H(>I Ib)IIBI&I.I5D6I'<:I FOu? k[w,۰mAG@YUW@9a>yHM(??@Ŀ.? +߭;??@?ɨG@;yMBM(IiU%=IUp; Ua=U%=II 4٢ M=9,Q > G٣LHGy; > Nusing accuracyPremultiplier from config598?5Yݲ# iEBF^Z@D;;E5 B @ EZjy}FNOT Ignoring new targets: 474.80 m.BjO;JjO; ProNav: ac range: 474.799988 m, nav range: 224.692368 m, bearing: 43.222670 deg, approach rate: 0.036382 m/s, LOS rate: 0.180981 deg/s, cmd heading: 314.947782 deg, new cmd heading: 315.150673 deg. JJJJJL:J&:JJJ@ <JA <J1;J1;2ji;HeadingCmd: 5.500417 target range: 474.799988 and range: 474.80 m. jj@jjjWill construct direction to contact in vehicle frame from tetrahedron phase data.ihhhh!f!f!f!rf!bf-5?ɛB$# 隵I "ɚiIk >=IcHi-i5)5j@)1*F?2F:FBF_0JFG -zK K K K K RK ?JK ?G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >V~r[w,`umAJ4@YJID@J49J>yJH@/? Y?`TĿ p x!?? ??ɨJ4@JQ;JCyRBR(II^I^)4٢nc rY=9rx| ~G٣|y?˻ >  Nusing accuracyPremultiplier from config 59 ?5Y ط# i EB^Z@ D h; B; H5! %%@! Eq$?IEiZjY]FNOT Ignoring new targets: 474.80 m.Bje(F;Jje(F;u ProNav: ac range: 474.799988 m, nav range: 224.705872 m, bearing: 43.285581 deg, approach rate: 0.037189 m/s, LOS rate: 0.173242 deg/s, cmd heading: 315.150666 deg, new cmd heading: 315.339387 deg. 2ju;}HeadingCmd: 5.503711 target range: 474.799988 and range: 474.80 m. j}f@jyjyjyiyhhhhfffrfbf@du?ɛuBu & y}@-I "ɚiIN==IGiuײi,k)f@)!ErAErA*F2F:FBF%`0JF!G5rA G5pAEWill construct direction to contact in vehicle frame from tetrahedron phase data.GM VG! B1 OM >ϭx[w,fmA6B=@Y6L@696[->y6H ?`? mĿ`)?`ds??V?ɨ6B=@6ʉ;6Cy>BB(IMb@Mb@Mb@ )Y(\?sh|?~jtyz4? A Z@)@Iy@Will construct direction to contact in vehicle frame from tetrahedron phase data.I_Ib(4٢J <=9zQ > G٣y; > Nusing accuracyPremultiplier from config59S-?5Y=# iEB5?:jZ@D;;L5 թ@ZjFNOT Ignoring new targets: 474.80 m.Bj%\N;Jj%\N;5 ProNav: ac range: 474.799988 m, nav range: 224.737030 m, bearing: 43.363179 deg, approach rate: 0.072453 m/s, LOS rate: 0.180413 deg/s, cmd heading: 315.339397 deg, new cmd heading: 315.572157 deg. 2j5;=HeadingCmd: 5.507773 target range: 474.799988 and range: 474.80 m. j=?@j9jAjAiAhAhAhQhUBfQfQfYrfYbf]/?ɛBm, 隵 I "ɚiIV==ImjFimkimؠ)m?@)q 1I1*F?2F:FBFo0JFH&>I I6)IIBI+ =&I.I6I<:I FG8GBOa>e Will construct direction to contact in vehicle frame from tetrahedron phase data.J= J= J9 J9 J= :J= !:J9 J9 J= <J= <J= my;J= my;L~[w,.mA6L@Y6m[@696>>y6H/*??R^Ŀ 3? Ye n?M??ɨ6L@62;6Cy^Bbt(IdfAIjdIj?14٢rx rZ=9r9Q v>tt vG٣vMHGyz; z> ]Nusing accuracyPremultiplier from configQ]59Uo;?e5YU# iUEBae6jeZ@UDU ;U ;UP5mB m֪@uEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 474.80 m.BjMM;JjMM; ProNav: ac range: 474.799988 m, nav range: 224.764862 m, bearing: 43.432801 deg, approach rate: 0.071762 m/s, LOS rate: 0.179490 deg/s, cmd heading: 315.572143 deg, new cmd heading: 315.780982 deg. 2j];HeadingCmd: 5.511418 target range: 474.799988 and range: 474.80 m. j]@jjjihhhhfffrfbf|?ɛ B 7  ĐI e6#ɚiI==IEii%)%]@)!zKjIKͼ9KK K*F?2F:FBF2JFBK:KoAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. r$?IG޼GBO >x[w,nAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007433:q@Y:~@:'M9: >y:H *E?h?[ĿzL?垮?@??ɨ:q@:;:CyrBrg(IuMb@Mb@Mb@qqq q)qYu+?:v{Gzyuv>?uԽuףu A up@)uh@IuzAqyu@II4٢ J ?=9$;Q > G٣yX-< > Nusing accuracyPremultiplier from config59%K?5Y# iEBb@?:nZ@Dc;;S5 @ZjFNOT Ignoring new targets: 474.80 m.Bj Y;Jj Y; ProNav: ac range: 474.799988 m, nav range: 224.802170 m, bearing: 43.511901 deg, approach rate: 0.089759 m/s, LOS rate: 0.190277 deg/s, cmd heading: 315.780983 deg, new cmd heading: 316.018244 deg. 2j<HeadingCmd: 5.515559 target range: 474.799988 and range: 474.80 m. ju@jjjihhhhBfffrfbf@;@ɛUBU,= QU8IQ ]=#ɚYiYI]v<=Ie,DieϷim0f) u@)*F2F:FBF"2JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259523 I iG rG B O >H I  I )II tBI &I .I 6I *<:I  F[w, 1nANz@YNH@N9N=>yNH L?a? _Ŀ XS?q@?x?Ȉ?ɨNz@Nԇ;NCyVBVm(IIfIf4٢j<< nX=9nQ n>pp rG٣pyvN; v> zNusing accuracyPremultiplier from configx~59z{Y?~5Yz# izEB|7nZ@zDz;z`;zV5 B  @ EZj15FNOT Ignoring new targets: 474.80 m.BjE Z;JjE Z;U ProNav: ac range: 474.799988 m, nav range: 224.836212 m, bearing: 43.583952 deg, approach rate: 0.090116 m/s, LOS rate: 0.190701 deg/s, cmd heading: 316.018236 deg, new cmd heading: 316.234355 deg. 2jU<]HeadingCmd: 5.519331 target range: 474.799988 and range: 474.80 m. j][@jYjYjYiahahahahifififirfibfu@ɛB= 隥XI z#ɚiIvm<=ICijYi+)[@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512693*F2F:FBF4JFG~GGrAGBO >zK% BoHK% 9K! K% K%    Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763368̒[w,/KnAB@YB@B?9B >yBH`\?P?IiĿ c? :ı???ɨB@B[N;BCyJBJc(I Rs$?ITiV,>IV= V=V=IZIZ:4٢b' fK=9f$Q f>hh jG٣jNHGyj(; j> UNusing accuracyPremultiplier from configI}59MAi?}5YM-# iMEBxmZ@MDM;M;MZ5 @ZjFNOT Ignoring new targets: 474.80 m.BjV;JjV; ProNav: ac range: 474.799988 m, nav range: 224.873001 m, bearing: 43.662921 deg, approach rate: 0.087531 m/s, LOS rate: 0.187858 deg/s, cmd heading: 316.234343 deg, new cmd heading: 316.471209 deg. 2j<HeadingCmd: 5.523465 target range: 474.799988 and range: 474.80 m. j9@jjjihhhhfffrfbf`@ɛ=B=A 9ETԽIA E($ɚAiAIE<=IM}BiMKiM7k )M9@)Q*F?2F:FBF_0JF *JC="J4=JJJJJ:Jz:JJa@a@a@a@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015794G-^G B O5 >[w,enA2ğ@Y2/@292 !>y2H e?E?ĿiFm?7? ??ɨ2ğ@2 T;2Cy:BBo(IMb@Mb@Mb@ )Y(\?aa mG٣iyug; u> Nusing accuracyPremultiplier from configy59} z?5Y}# i}EBK?:0xZ@}D}};}Bh;}|^5B ߪ@EZjaeFNOT Ignoring new targets: 474.80 m.BjmK\;JjmK\;} ProNav: ac range: 474.799988 m, nav range: 224.929626 m, bearing: 43.751434 deg, approach rate: 0.123242 m/s, LOS rate: 0.192597 deg/s, cmd heading: 316.471214 deg, new cmd heading: 316.736686 deg. 2j}-<HeadingCmd: 5.528098 target range: 474.799988 and range: 474.80 m. j.@ t$?IjjjihhhhBfffrfbf` @ɛ; XI H{$ɚiI~;=IcMAi𐽻iTs).@)jHIbHM<H]%>I]C I])II]jBIY&IY.IY6I]<:I] F*Fi2Fq:FqBFu^0JFqM Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:22:01:28.7797 U TRx dataTimestamp_ set to:1736373689.892661U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520435) F= XCG   .~G- vAA } &Y vAy EBG1 BA O} >#[w,1}nA:Ѩ@Y:<@:zl9:^D!>y:Hl?<>?Ŀ:t?߮`)? J?@;?ɨ:Ѩ@:a;8yBBBp(IIJIJ#4٢Ry; Rj=9VQ V?TT ZG٣XyZ#P; Z? bNusing accuracyPremultiplier from config`f59b1?f5Yb# ibEBdfwfZ@bDb:b:ba5p rҪ@pB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 474.80 m.Bjtq;Jjtq;- ProNav: ac range: 474.799988 m, nav range: 224.974014 m, bearing: 43.820692 deg, approach rate: 0.135318 m/s, LOS rate: 0.211094 deg/s, cmd heading: 316.736690 deg, new cmd heading: 316.944422 deg. 2j-<5HeadingCmd: 5.531723 target range: 474.799988 and range: 474.80 m. j5@j1j1j1i1h9h9h9h9fAfAfArfAbfEc @ɛ}B}P? y}8Iy ֵ$ɚiIW~;=I_@iLi0)@)*F?2F:FBF`0JFzK%c{LK% 9K!K% K%8SgY. '.1/*$    GmGu ?Gu ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771727G9BIOe4> IJ J J J J :J :J J U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iU A] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023535\[w,onAyzB~(I) Mb@Mb@Mb@ )YK7A`?jtĿ{GzyK? #A @);@IAyQ@I I 4٢+= (=9Q >!! %G٣%OHGy- -> 5Nusing accuracyPremultiplier from config1=595?=5Y5g# i5FBEN?E:E{EZ@5D5?;5<;5e5MB U@UEZjq}FNOT Ignoring new targets: 474.80 m.Bjh;Jjh; ProNav: ac range: 474.799988 m, nav range: 225.043411 m, bearing: 43.918983 deg, approach rate: 0.143289 m/s, LOS rate: 0.202886 deg/s, cmd heading: 316.944410 deg, new cmd heading: 317.239189 deg. 2j= <HeadingCmd: 5.536869 target range: 474.799988 and range: 474.80 m. j.@jj)j)i)h1h1h1h]lBfYfYfYrfabfe@ɛB03 eI ]$ɚiIy;=I?i%m»i%/)%.@)!*F%?2F):F)BF-_0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:01:28.7797 LVL= 17968, 24801, 18242, 24819, AGC= 67, IDX= 439,-0.03, 1.108,-0.106,-0.860, 0.030, PHS= 1.167,-0.089,-0.892, RAW= 67.2, -2.1, CAL= 72.7, -6.7, ROT= 77.3, 6.7  Ygot valid direction response: 22:01:28.7797 LVL= 17968, 24801, 18242, 24819, AGC= 67, IDX= 439,-0.03, 1.108,-0.106,-0.860, 0.030, PHS= 1.167,-0.089,-0.892, RAW= 67.2, -2.1, CAL= 72.7, -6.7, ROT= 77.3, 6.7 PDAT read: Bearing 77.3, 6.7 (Local) ~Local bearing/azimuth received: Bearing 77.3, 6.7 (Local) -DAT read: Range 10 to 50 : 474.2 m (Round-trip 632.3 ms) speed 0.0 m/s 5,DAT read: user:2231> =BDAT read: Tx time:22:01:29.8933 E$Ping request sent.EI9  I= )II= oBI9 &I9 .I9 6I= <:I9 BIJIRIZI+ =bI+ =jI4Gm xG) B1 OU >9[w,FnAva¨@Yvѯ@vPҔ9vGI#>yvH}?%(?Ŀ??`?@PE??ɨva¨@vl;tyEBE(III̍4٢= b=9Q > G٣y < > Nusing accuracyPremultiplier from config59Q?5Y# iFBz Z@DB;;h5B g@Ek ?kH k knA:kCBkwCZk J?" ;No;&LZ݆-l@ɭz@,z1r?G=?M]ɯ3?JkVI?Rkk*zKU NKQ KQ KU KU RKe ?JKe ? Will construct direction to contact in vehicle frame from tetrahedron phase data. e u$?Ia /[w,`ZnANͨ@YNܯ@NO\9N67>yNH?-? ÿ`?07Dz??Տ?ɨNͨ@N;NCyjBj(IIrIr4٢~T== W=9 /Q > G٣yi^; > Nusing accuracyPremultiplier from config59Ƕ?5Y# iFBzZ@DA;0;~l55B 5@=EZjFNOT Ignoring new targets: 474.20 m.Bj4;Jj4; ProNav: ac range: 474.200012 m, nav range: 204.432693 m, bearing: 43.296132 deg, approach rate: 0.137745 m/s, LOS rate: 0.234661 deg/s, cmd heading: 317.481017 deg, new cmd heading: 317.753804 deg. 2j !<%HeadingCmd: 5.545850 target range: 474.200012 and range: 474.20 m. j-w@j)j)j)i)h)h1h9h9fafifqrfqbf} ڎ?JJJJJ,:J:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ 5i$ 158I1 =U%ɚ9i9I=!:=IE)Ew@)I*F ?2F :F BF a0JF G5  .G= rAG9 G B O5 >ɹ[w, nA>Will construct direction to contact in vehicle frame from tetrahedron phase data.%@Y%j@%9%&>y%H ?P ? sĿ' f??;?@j?ɨ%@%x[;%CyE>BE(IMb@Mb@Mb@ )YQ?w/ĿMb`yH?& A @)$@Iy@ IITI4٢> )=9fQ > G٣PHGy"< > Nusing accuracyPremultiplier from config59?5Y$ i'FB?M?:%|Z@D;;wp5 ĥ@Zj)-FNOT Ignoring new targets: 474.20 m.Bj5;Jj5;e ProNav: ac range: 474.200012 m, nav range: 204.494583 m, bearing: 43.396754 deg, approach rate: 0.137763 m/s, LOS rate: 0.223910 deg/s, cmd heading: 317.753815 deg, new cmd heading: 318.055585 deg. 2jeI I6)IIBI&I.I6IJ<:I FɛB}|| }1=}0{=Iy $ɚiI%9=Ih;iJUʻi@)@)*Fm?2Fi:FiBFu0JFqGE%:5Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BIOe>  nManaging dock network, ignoring radio surface power off\[w,oA6n@Y6#@6696n">y6H`?Q?Eſ i`? Ү R?,/?ׁ?ɨ6n@6;6CyN_BN(IIZ\IZ#4٢b>> bn=9bTxQ b?dd fG٣hyjA< n? rNusing accuracyPremultiplier from configpv59r?v5Yr $ ir2FBtv{zZ@r DrX:rz:r{s5~B ~@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 474.20 m.Bjbu;Jjbu; ProNav: ac range: 474.200012 m, nav range: 204.540787 m, bearing: 43.473086 deg, approach rate: 0.129884 m/s, LOS rate: 0.214530 deg/s, cmd heading: 318.055572 deg, new cmd heading: 318.284515 deg. 2j:<HeadingCmd: 5.555113 target range: 474.200012 and range: 474.20 m. j|ñ@jjjihhhhffQfYrfYbf]4?ɛ] 隍>I t$ɚiIl'9=Ib:i ̻ia?)|ñ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zK&~JK9KK K*F5?2F1:F1BF=45JF9 w$?I GMlL=G) BY O >J J AA= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744817JI JM JI JI JI JM :JI JI [w,woAj?@YjO@jS9j(>yjH??Āſ Jn?x`?`?`[z?ɨj?@jER;hyrjBr)IuMb@Mb@Mb@qqq q)qYuS?L7A`{Gz?yu/=?u+u# G٣y*H< > Nusing accuracyPremultiplier from config59?5Y$ iFFB2@?:MsZ@D;3;@w5B ݢ@uEZjFNOT Ignoring new targets: 474.20 m.Bjm;Jjm; ProNav: ac range: 474.200012 m, nav range: 204.585648 m, bearing: 43.562797 deg, approach rate: 0.103890 m/s, LOS rate: 0.207712 deg/s, cmd heading: 318.284520 deg, new cmd heading: 318.553594 deg. 2j<HeadingCmd: 5.559809 target range: 474.200012 and range: 474.20 m. j@jjjihhhhBfff rf bf `y^?ɛqu1 y}>Iy }#ɚyiyI}8=I./9ipϻi>)@)*F%?2F!:F!BF%4JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997795 x$?I!iGi Gu ?Gu >H I  I {)II ˉBI , =&I .I 6I #<:I FGA BI Om >[w,}6oA6i@Y6y@6296,>y6H?@?ſ,@H? xSS?`V?t?ɨ6i@6I;4yVBV9)II^I^<4٢f_> fY=9jQ j>hh jG٣nQHGyn^< n> vNusing accuracyPremultiplier from configpv59r~?z5Yr$ irWFBxzqzZ@rDr :r:rz5B !@EZj)5FNOT Ignoring new targets: 474.20 m.Bj5z;Jj5z;M ProNav: ac range: 474.200012 m, nav range: 204.623764 m, bearing: 43.641153 deg, approach rate: 0.106559 m/s, LOS rate: 0.219011 deg/s, cmd heading: 318.553603 deg, new cmd heading: 318.788624 deg. 2jMNI H#ɚiI7=I["8iVѻiU:) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248959E*F]?2Fa:FiBFm4JFi"Gu=Gu= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500807zK% BoHK% 9K! K% K%  I G9 G B) OM >,[w,NPoA:X@Y:Ě@:9:->y:H?੆?ſ9 g?t??@Kr?ɨ:X@:ލ;:CyFBFT)IINxINT4٢VQ= VM=9Zd|Q Z>X\ ^G٣\y^(< ^> fNusing accuracyPremultiplier from config`f59bY?j5Ybh$ ibiFBhjpjZ@b&Db:b:b~5l n@aZjFNOT Ignoring new targets: 474.20 m.Bjc;Jjc; ProNav: ac range: 474.200012 m, nav range: 204.663361 m, bearing: 43.724218 deg, approach rate: 0.094655 m/s, LOS rate: 0.198529 deg/s, cmd heading: 318.788616 deg, new cmd heading: 319.037762 deg. 2j?<5HeadingCmd: 5.568259 target range: 474.200012 and range: 474.20 m. j5./@j9j9j9i9h9hAhAhAfAfAfIrfIbfMr@ɛ >I hL"ɚiI 7=IEh7*JR="J=iԻi<)./@Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755547)1EM =*F ?2F :F BF Z5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006178 I G <GjHbH4<H$>I I)IIBI+ =&I.I6I/<:I FBO-?[w,;roA6@Y6İ@6496} 1>y6HU$??d?7ƿh`S(?@??`m?ɨ6@6;6CyNωBN)I}Mb@Mb@Mb@yyy y)yY}V-?)\(Zd;O?y}-?}Gό}j<} A y)yI}@yy}\@I~IT_4٢}> =9FKQ > G٣y< > Nusing accuracyPremultiplier from config59?5Y$$ iFB/?:lZ@3D=3;+;5B _@EZj FNOT Ignoring new targets: 474.20 m.Bjga;Jjga;- ProNav: ac range: 474.200012 m, nav range: 204.708481 m, bearing: 43.831416 deg, approach rate: 0.082963 m/s, LOS rate: 0.197064 deg/s, cmd heading: 319.037754 deg, new cmd heading: 319.359274 deg. 2j5><5HeadingCmd: 5.573871 target range: 474.200012 and range: 474.20 m. j=&]@j9j9j9i9h9h9hAhE+BfAffrfbf @ɛIM_ IM>IQ U ɚQiQIU 6=I]5i]ػi]?)]&]@)aEiEi*Ei"EiJKـ3 KKK"KJJJJJ:J:JJJ3 [w,boA^ߩ@Y^@^jɝ9^3>y^HA? tB?bRƿ`c`C?1.?5? k?ɨ^ߩ@^9;\yzB~)IIMyIMxV4٢]6> e7=9e9Q e>ai mG٣mRHGym@< m> }Nusing accuracyPremultiplier from configq59u$?5Yu*$ iuFB2kZ@uI CɚiI(5=Ir4iڻi<)@)EqAE*F-?2F1:F1BF5_0JF1G]qA G]rAJAJAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761213G-lL=G B! OM >[w,0oAJ@YZ@͘96>yH?? ?ƿ` `?@Ѵ`+??@g?ɨJ@-;%Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 22:01:32.9290 LVL= 16144, 28513, 20786, 26435, AGC= 65, IDX= 430, 0.04,-3.038, 1.789, 1.260, 2.026, PHS= 1.307,-0.190,-0.769, RAW= 74.3, -3.8, CAL= 82.1, -9.8, ROT= 67.9, 9.8 eYgot valid direction response: 22:01:32.9290 LVL= 16144, 28513, 20786, 26435, AGC= 65, IDX= 430, 0.04,-3.038, 1.789, 1.260, 2.026, PHS= 1.307,-0.190,-0.769, RAW= 74.3, -3.8, CAL= 82.1, -9.8, ROT= 67.9, 9.8 mPDAT read: Bearing 67.9, 9.8 (Local) u~Local bearing/azimuth received: Bearing 67.9, 9.8 (Local) }DAT read: Range 10 to 50 : 473.5 m (Round-trip 631.4 ms) speed -0.1 m/s ,DAT read: user:2232> BDAT read: Tx time:22:01:34.0434 $Ping request sent.!!%ƌO?2< 9Q})%LI%=i%)"?%y!!=:publishing transmit ping time؉=Fpublishing direction and range info!9%;P?;I7+8?3Q?y!!!! !)!I!i!!!!! !)!I!i!!!%ƌO?2< 9Q})!I!i!!!!H1I1 I50*II5^BI5, =&I1.I16I5<:I5 FMb@Mb@Mb@ )YV-?Mb/$?y|?< A )@Iy@I I ٢T> E=9M!;Q M>IQ UG٣QyU< U> Nusing accuracyPremultiplier from configY59]7?5Y]r1$ i]FBj ?:YZ@]GD];]j;]{5B @k%dx~?k%h k! k%ioA:k%CBk%CZk%?"%|ix@=a1ye@/dX{@%;P?;I7+8?3Q?Jk%)"?Rk%y*%ȄvOD@k?|U@pNY|@%Dx:?x;?8Y?"k%B*k%{"Bk%j ?k%|bY 2k%:Dk%J ?k% k%Ck%,Ck%n0w? addTargetRange:: Added new target pos. range: 473.500000 m, deltaT: 4.031763 s, deltaX: -0.700012 m, approachRate: -0.173624 m/s, rangeRepo size: 4 % Added new target pos. range: 473.500000 m, bearing: 64.701902 deg, lat: 36.901369 deg, lon: -122.119583 deg, deltaT: 4.031763 s, deltaX: -0.700012 m, approachRate: -0.173624 m/s, posRepo size: 4 Zj!%FNOT Ignoring new targets: 473.50 m.Bj-Jj)] ProNav: ac range: 473.500000 m, nav range: 172.790924 m, bearing: 55.323815 deg, approach rate: 0.000000 m/s, LOS rate: 0.190704 deg/s, cmd heading: 319.613675 deg, new cmd heading: 319.940608 deg. 2jaeHeadingCmd: 5.584017 target range: 473.500000 and range: 473.50 m. jeD@jijijiihhhhBfffrf}@bfzM?ɛ B%!J]J]JYJYJ]:J]+:JYJYJ]<J]<J]Ƅ;J]Ƅ; q~G隅>I|uA hɚiIT3=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:01:34.0426 5 Y5 |uAy5 BIM 2iM =޻iM }!)M D@)Q *F 2F :F BF O5JF G!GB O%?8[w,oA*Will construct direction to contact in vehicle frame from tetrahedron phase data.:r@Y:@:p9:7>y:H P??9ƿ@>m@ ?JW?+? f?ɨ:r@:r;8yB4BF)I)H HLLIR3IRʴ3٢VQ> ZU=9^H:Q ^>\\ ^G٣`ybO< b> fNusing accuracyPremultiplier from configdj59fGD?j5Yf6$ ifFBlnWnZ@fODf ;f ;fˎ5p r@p z$?I"iZj%FNOT Ignoring new targets: 473.50 m.Bj%;Jj%;zKJK]9KK K  '.8:=AFGIILQTVVYXYXWWURTQOOLJKJIGGCABAB;2&  ProNav: ac range: 473.500000 m, nav range: 172.846924 m, bearing: 55.400113 deg, approach rate: 0.164221 m/s, LOS rate: 0.223676 deg/s, cmd heading: 319.940595 deg, new cmd heading: 320.169416 deg. 2j<HeadingCmd: 5.588010 target range: 473.500000 and range: 473.50 m. jв@jjjihhhhf f f rfbf -?ɛqu; uP*J"J%=Will construct direction to contact in vehicle frame from tetrahedron phase data.F[w,#oA2ؠ@Y2D@2d92փ8>y2H?@ð?C1ƿ J`N?pֵ˲?`? e?ɨ2ؠ@2_=;0y>@B> *I Mb@Mb@Mb@    ) Y > ףp=?y&1{Gz?y ? `弹 ף<  @) I  y @I%QI%4٢5p= 5C=9=:Q =>9A EG٣ESHGyE^< E> UNusing accuracyPremultiplier from configIe59M|R?e5YM:$ iMFBe/?e:eImZ@MVDM e;Mhc;Mv5uB u@}EZjAMFNOT Ignoring new targets: 473.50 m.BjuI;JjuI; ProNav: ac range: 473.500000 m, nav range: 172.890076 m, bearing: 55.477821 deg, approach rate: 0.097912 m/s, LOS rate: 0.176274 deg/s, cmd heading: 320.169407 deg, new cmd heading: 320.402470 deg. 2j;HeadingCmd: 5.592078 target range: 473.500000 and range: 473.50 m. jN@jjjihhhhBff f1rf1bf5?mWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛw19 隭?I ]ɚiIr1=Ia0in2i/)N@) {$?I*F?2F:FBFJFZHaRHeAAHm%>Ii Im*IImBIm+ =&Ii.Ii6Im)<:Im FBI-ƛCJI-ƛCRI)ZI)bI-, =jI-ƿ4G w!G qAG nAG J J J J J ,:J $:J J J <J <J ~;J ~;B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.[w,oA6Cͪ@Y6ܱ@6rɔ966>y6H`??tſ *TT VG٣TyZf< Z> Nusing accuracyPremultiplier from config\59^_?5Y^>$ i^GB!%G%Z@^]D^;^;^ҕ5) -@)ZjY]FNOT Ignoring new targets: 473.50 m.BjeZ;JjeZ;u ProNav: ac range: 473.500000 m, nav range: 172.928741 m, bearing: 55.549100 deg, approach rate: 0.103467 m/s, LOS rate: 0.190697 deg/s, cmd heading: 320.402480 deg, new cmd heading: 320.616270 deg. 2ju<HeadingCmd: 5.595809 target range: 473.500000 and range: 473.50 m. j@jjjihhhhfffrfbf`f?ɛ!B;< 1?I ūɚiIV1=I/i]i)@)*Fu?2Fq:FqBFuj0JFq}Will construct direction to contact in vehicle frame from tetrahedron phase data. IGozKU;NKU9KQKU KU  GBO>(\w,NpAWill construct direction to contact in vehicle frame from tetrahedron phase data.i%j @Y%@%uώ9% 6>y%Hk?Bg?ſ?@v:ֱ?@U?j?ɨ%j @%Tr;!y=WB=(*IiE?>IE> E=E=Mb@Mb@Mb@ )Y/$?MbP G٣y`< >  Nusing accuracyPremultiplier from config 59 o?5Y  C$ i GB6?:8Z@ eD 3; ; 5) -@)B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 473.50 m.BjC;JjC;5 ProNav: ac range: 473.500000 m, nav range: 172.959686 m, bearing: 55.632955 deg, approach rate: 0.063188 m/s, LOS rate: 0.171197 deg/s, cmd heading: 320.616265 deg, new cmd heading: 320.867783 deg. 2j5;=HeadingCmd: 5.600199 target range: 473.500000 and range: 473.50 m. j=4@j9j9j9i9hahahaheBfififirfibfm ”?ɛ"B@: ?I  #/ɚ i I /=I+.i-iЦ )4@)y Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.E d=  I *FU ?2FQ :FY BF] ^0JFY H] &>I] C I] *II] ɊBIY &IY .IY 6I] <:I] FGE?GU?GU>G9BAOe ?} \w,:pA23I@Y2X@2o92<5>y2H7?@N??ſSD"?T?`|?@gn?ɨ23I@2A\;0JBJ@JB1J@JB:J@JB3J@JB<JB<J@J@yNYBR+*IIZIZkf4٢b< b0=9b;Q b>dd fG٣fTHGjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254558yn?< r> vNusing accuracyPremultiplier from configpz59rr?z5YrNG$ ir0GBxz6~Z@rmDrp;r;r5 B k@ EZjFNOT Ignoring new targets: 473.50 m.BjI;JjI; ProNav: ac range: 473.500000 m, nav range: 172.988205 m, bearing: 55.714332 deg, approach rate: 0.061595 m/s, LOS rate: 0.175730 deg/s, cmd heading: 320.867780 deg, new cmd heading: 321.111867 deg. 2j4;HeadingCmd: 5.604459 target range: 473.500000 and range: 473.50 m. jW@jjjihhhhf)f)f)rf)bf5~@ɛy}lp; y}e?Iy ɚiIK.=I-i i)W@)Ec<*F=?2F9:F9BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506465 |$?IG]  G9 zK= LK= 9K9 K= K= BQ Om >\w,TpAV톫@YVY@V9V?95>yVH``?`#?*Ŀ@@.F?@s*d? }?p?ɨV톫@Vl;VCybOBb*IhhIjIj_v4٢r8D rH=9vtt zG٣xyz< z> Nusing accuracyPremultiplier from config|59~>?5Y~J$ i~BGB   5 Z@~tD~:~:~5! % @!ZjIMFNOT Ignoring new targets: 473.50 m.BjUP;JjUP;e ProNav: ac range: 473.500000 m, nav range: 173.011719 m, bearing: 55.785238 deg, approach rate: 0.060332 m/s, LOS rate: 0.181905 deg/s, cmd heading: 321.111864 deg, new cmd heading: 321.324551 deg. 2je;mHeadingCmd: 5.608171 target range: 473.500000 and range: 473.50 m. jm$v@jijijiiqhqhqhhfffrfbf*@ɛ#B(F; ?I ~ ɚiI-=I,ifi)$v@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762074Eu<*F?2F:FBFJFG} o Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012317 I GQ Ba O} >//\w,npA @yiijH<bH<H%>IC I*IIΊBI* =&I.I6IA<:I FMb@Mb@Mb@ )YMbX?y&1|Mby ?`廹vA @)@II@y@I=I=k4٢M[: U3=9UQ U>YY ]G٣]UHGy] e> mNusing accuracyPremultiplier from configiu59m?u5Ym=O$ imNGBu ?u:uc6}Z@m|Dm;m#;m5B @EZjFNOT Ignoring new targets: 473.50 m.BjK;JjK;M ProNav: ac range: 473.500000 m, nav range: 173.040268 m, bearing: 55.866348 deg, approach rate: 0.062785 m/s, LOS rate: 0.178347 deg/s, cmd heading: 321.324556 deg, new cmd heading: 321.567845 deg. 2jM;MHeadingCmd: 5.612418 target range: 473.500000 and range: 473.50 m. jU혳@jQjQjQiQhQhQhYh]BfYffrfbf`W @ɛ$B@1; ?I sɚiI,=Ij+i\iɯ)혳@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262577*F% ?2F! :F! BF) JF) G ^G G qAGaBiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:01:37.0782 TRx dataTimestamp_ set to:1736373698.208767checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515694 }$?IO>3C#\w,pAN@YN&@NvZ9Nb/>yNH`h?@2? ÿ5 U?`>_ pK?? |?ɨN@N;NCyZ:B^*IIf|If[4٢nŽ n==9rjpp rG٣y= > Nusing accuracyPremultiplier from config59ެ?5YbS$ iWGB1Z@D:L;5 :@EZjFNOT Ignoring new targets: 473.50 m.BjH;JjH;zK%BoHK%+9K!K% K% "?IF@=:6M ProNav: ac range: 473.500000 m, nav range: 173.064774 m, bearing: 55.947266 deg, approach rate: 0.053148 m/s, LOS rate: 0.175470 deg/s, cmd heading: 321.567847 deg, new cmd heading: 321.810564 deg. 2jU;UHeadingCmd: 5.616654 target range: 473.500000 and range: 473.50 m. jU@jYjYjYiYhYhYhhfffrfbf @ɛ%Bf: W ?I G ɚiI,=Iϡ*iJ5@AJ1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769992JqJuJu0JqJqJu:Juـ3Jqa@a@a@a%@)i)\w,xpA>:@Y>WJ@>L9>X->y>H@?~?¿`@?5???ɨ>:@>;>CyjBn)IMb@Mb@Mb@ )YCl?I +:vy?9ԼA @)I3@yz@IIv}4٢ ;=9K;Q > G٣yj+< >  Nusing accuracyPremultiplier from config59?5YmW$ iVGB"?:6Z@D(;B;<5%B -Ֆ@EB*** querying acoustic contact ***j ~$?I#iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020071jZjFNOT Ignoring new targets: 473.50 m.BjCK;JjCK;M ProNav: ac range: 473.500000 m, nav range: 173.092316 m, bearing: 56.024584 deg, approach rate: 0.063312 m/s, LOS rate: 0.177705 deg/s, cmd heading: 321.810565 deg, new cmd heading: 322.042481 deg. 2jM;UHeadingCmd: 5.620702 target range: 473.500000 and range: 473.50 m. jUܳ@jQjYjYiYh!h)h9h]MBfafifqrfybf@Y@ɛm'Bu@qQ qH$>I I*IIBI+ =&I.I6I+<:I Fu*>I  ɚiI9W+=I)ii)ܳ@)*Fm?2Fi:FiBFuo0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:01:37.0782 LVL= 19408, 32433, 21170, 28227, AGC= 68, IDX= 422,-0.08, 1.238,-0.348,-0.616, 0.082, PHS= 1.244,-0.383,-0.700, RAW= 81.2, -1.8, CAL= 88.5, -7.1, ROT= 61.5, 7.1  Ygot valid direction response: 22:01:37.0782 LVL= 19408, 32433, 21170, 28227, AGC= 68, IDX= 422,-0.08, 1.238,-0.348,-0.616, 0.082, PHS= 1.244,-0.383,-0.700, RAW= 81.2, -1.8, CAL= 88.5, -7.1, ROT= 61.5, 7.1  PDAT read: Bearing 61.5, 7.1 (Local)  ~Local bearing/azimuth received: Bearing 61.5, 7.1 (Local)  DAT read: Range 10 to 50 : 472.9 m (Round-trip 630.6 ms) speed 0.1 m/s  ,DAT read: user:2233>  BDAT read: Tx time:22:01:38.1918  $Ping request sent. G B O >0\w,wpAF`@YF|o@F'=9F+>yFH@?`?`? O Ѣ?qD?F?ɨF`@F&;FCyf Bf)IIrIr{4٢zʽ N=9 G٣%VHGy%9< %> -Nusing accuracyPremultiplier from config)U59-O?U5Y-G[$ i-UGBY]4]Z@-D-l;-;-5a e@ikC0I o ɚiI*=I (iyi6)@) !I!EWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:01:38.1911 *F5?2F1:F9BF=0JF9G޼zKcLK9KK K41,*+(&!   GBO>6\w,pAJ*J(J(J(J*:J(J(J(RWill construct direction to contact in vehicle frame from tetrahedron phase data.TiT=\b@Y=q@=B39=έ >y=H`?`?`=? M@mf???ɨ=\b@=;9ymBu)IUMb@Mb@Mb@QQQ Q)QYURQ?Dl G٣y<: > Nusing accuracyPremultiplier from config59?5Y`$ iLGB#?:FZ@D;;5B ͘@EZjFNOT Ignoring new targets: 472.90 m.BjG;JjG; ProNav: ac range: 472.899994 m, nav range: 160.302322 m, bearing: 59.328736 deg, approach rate: 0.160074 m/s, LOS rate: 0.236542 deg/s, cmd heading: 322.257969 deg, new cmd heading: 322.579681 deg. 2jV"<HeadingCmd: 5.630077 target range: 472.899994 and range: 472.90 m. j)@jjjihhh h Bf f f rfbf?ɛE)BE4 AE>II M2ɚIiIIM=A*=IU2'iU|iUԼ)U)@)Y*F2F:FBF`5JF I MWill construct direction to contact in vehicle frame from tetrahedron phase data.G ZH RH H #>I  I i*II BI , =&I .I 6I <:I FG B O ><\w,~pA6,@Y6@6,'96!>y6H ^ ?D}?@f@? ??`C?ɨ6,@6J;6CyRBR)IIZIZd4٢b3 b=9bI "ɚiI)=I B&iiǼ){G@)*F?2F:FBF5JFGcʼGGpAGBO>  $?I e Will construct direction to contact in vehicle frame from tetrahedron phase data.C\w,dZqA5@Y5|@5UL954">y5H`?j?`?Q ?̹S? /8??ɨ5@5{q;5CymډBm)IIPI 4٢ <=9b;Q >zK8GMK9KK K G٣WHGy; > -Nusing accuracyPremultiplier from config!-59%j?-5Y%i$ i%;GB9=D=Z@%D%5L;%xL;%5EB E@MEZjiuFNOT Ignoring new targets: 472.90 m.Bju~;Jju~; ProNav: ac range: 472.899994 m, nav range: 160.414642 m, bearing: 59.497714 deg, approach rate: 0.147563 m/s, LOS rate: 0.222561 deg/s, cmd heading: 322.788702 deg, new cmd heading: 323.086408 deg. 2j<HeadingCmd: 5.638922 target range: 472.899994 and range: 472.90 m. j r@jjjihhhhfffrfbf ?ɛ+B >I 8ɚiIu)=Ix$ii?ڼ) r@)*Fm?2Fi:FiBFm_0JFiJ}J}JyJyJ},:J}:JyJyWill construct direction to contact in vehicle frame from tetrahedron phase data.G~>ԼGi Bq O >J\w,6;*qANì@YNmҳ@N' 9N,">yNH0?T? ``i?o ?@,??ɨNì@N.Z;NCyZBZl)ImMb@Mb@Mb@iii i)iYm/$?V-ˡEym&1?mm'i mx@)m@Im@iym@II̍4 I$i٢ L=9b G٣y-< > Nusing accuracyPremultiplier from config595 ?5Yo$ i-GB3?:~QZ@D{;;5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 472.90 m.Bj5;Jj5;E ProNav: ac range: 472.899994 m, nav range: 160.492203 m, bearing: 59.591624 deg, approach rate: 0.196052 m/s, LOS rate: 0.237266 deg/s, cmd heading: 323.086417 deg, new cmd heading: 323.368010 deg. 2jE"I ɚiI,)=I]#i %i`jݼ)O@)*F?2F:FBFJFHqIq Iu$*IIuTBIq&Iq.Iq6Iu<:Iu FBI)JI)RI)ZI)bI-+ =jI-#5GM ټG! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.P\w,IDqA:ج@Y:@: 9:!>y:H>?{G? ]U ?`뺿?`?&?ɨ:ج@:ċ;:CyBBFR)IININt4٢V޽ V[=9V X\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj59fQ?j5Yf$t$ ifGBhjPnZ@fDfH:f:fB5rB r@rEZj  FNOT Ignoring new targets: 472.90 m.Bj;Jj;% ProNav: ac range: 472.899994 m, nav range: 160.565979 m, bearing: 59.681226 deg, approach rate: 0.200987 m/s, LOS rate: 0.243989 deg/s, cmd heading: 323.368012 deg, new cmd heading: 323.636692 deg. 2j-r'<-HeadingCmd: 5.648526 target range: 472.899994 and range: 472.90 m. j-@j1j1j1i1h1h9h9hAfAfAfArfAbfM!!@ɛquom q},y>Iy }9ɚyiyI}(=I y"iji=)@) $?I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253814E8<*FY2FY:FYBFYJFYGepA GeqAzKeJKe+9KaKe KeG] FټG1 BA O] >_&W\w,"]qAJJJJJJ:JJBWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508350e@YeJ@e09eA!>yeH9F?oA?cؚ?`<? ?=?ɨe@el\;ayޥBޥI)IuMb@Mb@Mb@qqq q)qYu{Gz?oʡſ G٣XHGy3; > Nusing accuracyPremultiplier from config59.?5Y|$ i GBH?:]Z@D;5;5 U@ZjFNOT Ignoring new targets: 472.90 m.Bjn;Jjn; ProNav: ac range: 472.899994 m, nav range: 160.696381 m, bearing: 59.813092 deg, approach rate: 0.260327 m/s, LOS rate: 0.263037 deg/s, cmd heading: 323.636684 deg, new cmd heading: 324.031955 deg. 2j4<HeadingCmd: 5.655425 target range: 472.899994 and range: 472.90 m. j=@jjjihhhhUBfffrfbf@GK@ɛ%-B% )-i>I) 5<ɚiI'(=I iiƉ )=@ u$?Iq)q5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758937jH] <bH] <He ">Ia  Ie )IIe BIa &Ia .Ia 6Ie ?<:Ie  FE =*F) 2F) :F) BF- /5JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010264GmEGIBQOu?ja\w,OqAB%@YB@B(eؼ9BN !>yBH`P?>8?̽? ?H ??ɨB%@B:;BCyNBNE)IIVIV_v4٢^T ^ =9bƢ;Q b>`` bG٣dyf^o; f> nNusing accuracyPremultiplier from confighn59jD?n5Yj $ ijFBpr]rZ@jDja:j:j5zB zs@zEZjFNOT Ignoring new targets: 472.90 m.Bj%U;Jj%U;5 ProNav: ac range: 472.899994 m, nav range: 160.829651 m, bearing: 59.947534 deg, approach rate: 0.260792 m/s, LOS rate: 0.262866 deg/s, cmd heading: 324.031961 deg, new cmd heading: 324.434945 deg. 2j5g4<=HeadingCmd: 5.662458 target range: 472.899994 and range: 472.90 m. j=2@j9j9jAiAhAhAhAhIfIfQfQrfQbfU@8 @ɛ.B 隍`>I ^ɚiIh(=Iii0])2@)EE*E"E AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261707*F2F:FBF_0JFGOGaBiO>zKK 9KK K\Fg\w,MqABWill construct direction to contact in vehicle frame from tetrahedron phase data.NBDAT read: Rx Time:22:01:41.2257 RTRx dataTimestamp_ set to:1736373702.496384Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.520005M@YM@M 9Mh@">yMHZ?-?AnB?t ء?0?:?ɨM@M$;MCyeBe;)IMb@Mb@Mb@ )YV-?+ǿy&1yM?v>`A 5@)p@Iy@I I #4٢ =95;Q 5>11 =G٣9yE; E> MNusing accuracyPremultiplier from configIU59M[?U5YM$ iMFBU!S?U:U `]Z@MDM3;MȔI kɚiI1(=IAi%i,)o@) 5$?I1-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766945*Fe?2Fi:FiBFiJFi"Gu=Gu=HE #>IA  IE )IIE BIA &IA .IA 6IE <:IE FG5 \ GA GE qAG BQ O >&n\w,&qAy5B5R)I)9 9IMIMd4٢]= ]e=9]Q e>ai mG٣mYHGyu u> }Nusing accuracyPremultiplier from configy59}]k?5Y}$ i}FBZ@}D}:}:}5B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 472.90 m.Bjĩ;Jjĩ;JJJJJ:J%:JJJ3 BDAT read: Tx time:22:01:42.3419 $Ping request sent.I % ɚAiAIE=z(=IMްiMqiMm>)M@)Q*F?2F:FBFJFGoGqByO~> I%i Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:01:42.3412 u\w,'qA2j@Y2@2 92 -#>y2H@]?` *?l(@~@c?Ҽƀ?MN?A?ɨ2j@2;2CyBBB[)IIJIJ]4٢v= vR=9z9;Q z>xx zG٣xy~y: ~>  Nusing accuracyPremultiplier from config 59|? 5Y $ iFB_Z@De:e:5B %@%Eken?ke ka keqA:keCBkeyCZke?"eFRZ`A޺Ћ Y@|@eSB*keNke8.?ke+)C 2keDkej ?ke|bY ke:Dke2BkeX^?5 addTargetRange:: Added new target pos. range: 472.200012 m, deltaT: 4.032000 s, deltaX: -0.699982 m, approachRate: -0.173607 m/s, rangeRepo size: 4 E Added new target pos. range: 472.200012 m, bearing: 112.304169 deg, lat: 36.900851 deg, lon: -122.120214 deg, deltaT: 4.032000 s, deltaX: -0.699982 m, approachRate: -0.173607 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 472.20 m.zKQKU9KQKU KUY0"rA% BjMJjq ProNav: ac range: 472.200012 m, nav range: 97.099113 m, bearing: 67.756074 deg, approach rate: 0.000000 m/s, LOS rate: 0.296840 deg/s, cmd heading: 325.154571 deg, new cmd heading: 325.522433 deg. 2jHeadingCmd: 5.681438 target range: 472.200012 and range: 472.20 m. jXε@jjjihhhhfffrfbf?ɛ15T 15>I1 =ɚ9i9I= ^(=IE iEބiEvR)EXε@)I*J"Ja=*F?2F:FBFo0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge r(GA BY O > $?I ){\w,qARWill construct direction to contact in vehicle frame from tetrahedron phase data.y~B~f)IMb@Mb@Mb@ )Y?+ǿQyL?u )@I$@yIuIaO4٢|'= >=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y/$ iFBLR?:`Z@D;A;5 @ZjFNOT Ignoring new targets: 472.20 m.Bj<Jj<- ProNav: ac range: 472.200012 m, nav range: 97.265518 m, bearing: 67.939452 deg, approach rate: 0.411722 m/s, LOS rate: 0.452940 deg/s, cmd heading: 325.522445 deg, new cmd heading: 326.071619 deg. 2j-l<HI III+ =&I.I6I4<:I FHeadingCmd: 5.691023 target range: 472.200012 and range: 472.20 m. j@jjjihhhh]Bfffrfbfu?ɛ9M2G QUЉ>IQ UɚQiQIU)=(=I]iYi] s)e@)a*F?2F:FBF0JF GIGBOb>JJJJJ,:J :JJJ<J<Jw;Jw;UWill construct direction to contact in vehicle frame from tetrahedron phase data.\w,*rANwe@YNt@N9N@#>yNH%?1?54@T?@WN >?)I??ɨNwe@N0;NCyZωBZ)Ii^=I^<IfeIf34٢n= nZ=9rdV;Q r>pp vG٣vZHGyv< v> zNusing accuracyPremultiplier from configxe59zx?m5Yza$ izFBim]mZ@z Dz}I  6ɚiI(=Ipi!i%c)%a@)! ]$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP5JFG_NzKmNKmh9KiKm KmGBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.'@\w,"rAy B )IMb@Mb@Mb@ )Yq= ףp?ˡEĿ~jtxyK?'ĻA )@Iy@IXI4٢%> .=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y$ iFBO?:WZ@DZ;;C5B  @EZjIUFNOT Ignoring new targets: 472.20 m.Bj];Jj]; ProNav: ac range: 472.200012 m, nav range: 97.579582 m, bearing: 68.301310 deg, approach rate: 0.371952 m/s, LOS rate: 0.436993 deg/s, cmd heading: 326.553503 deg, new cmd heading: 327.155397 deg. 2j<%HeadingCmd: 5.709939 target range: 472.200012 and range: 472.20 m. j-ҷ@j)j)jAiAhIhIhIhMBfQfQfQrfQbfU?ɛ 隭>I u7ɚiI'=IBii )ҷ@) E$?IA*Fq2Fq:FqBFu3JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I)IIBI, =&I.I6I/<:I FG] ф`G1 B9 O > ~G vA! f\w,Ig =i=9AQ E>AA EG٣IyI M> ]Nusing accuracyPremultiplier from configYe59]?e5Y]$ i]FBaimZ@]"D]:]:]S5u~B u4@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 472.20 m.BjQ;JjQ;JKm3 KS}-KK"KJJJJJ:J:JJJ<J<J t;J t; ProNav: ac range: 472.200012 m, nav range: 97.707489 m, bearing: 68.450470 deg, approach rate: 0.366809 m/s, LOS rate: 0.427198 deg/s, cmd heading: 327.155406 deg, new cmd heading: 327.602290 deg. 2j<HeadingCmd: 5.717739 target range: 472.200012 and range: 472.20 m. j@jjjihhhhfffrfbf`|@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛI; }>I ɚiIf'=Iii)@)*F?2F:FBF[0JF"G=G=GSQwG9BIOeU> 1I5&i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255239N\w,W@VrA6@Y6,@6964>y6H? {i?1 B? m`,0?s??ɨ6@6 ;4y>BB)I)D DIJIJ%x4٢f/= fR=9f;Q f>hh jG٣j[HGyn},= n> rNusing accuracyPremultiplier from configpv59r?v5Yr$ irFBxzSz[@r-Dr:r:r5~}B ~@EZjFNOT Ignoring new targets: 472.20 m.Bj;Jj; ProNav: ac range: 472.200012 m, nav range: 97.845215 m, bearing: 68.616762 deg, approach rate: 0.337560 m/s, LOS rate: 0.407001 deg/s, cmd heading: 327.602292 deg, new cmd heading: 328.100454 deg. 2j<HeadingCmd: 5.726433 target range: 472.200012 and range: 472.20 m. j>@jjjihhhhfffrfbfV@ɛ)-X;; )-h>I) 5[ɚ9i9I=S'=IELiAiE )M>@)IzKJK59KK K*F?2F:FBF_0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511081G bGBO > ! I! /w\w, prA>@Y>@&@>5^BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7590799>ߢ9>y>H`i?C?Z)? nk? ?sx?ɨ>@>;;>CyR=BR *I-Mb@Mb@Mb@))) )))Y-Zd;?K7A~jt?y->?- -D<-A -@)-@I-;@)y-@IEIEa4٢U> UB=9]X:Q ]>Ya eG٣ayeIL< e> uNusing accuracyPremultiplier from configiu59m?}5Ym$ imFB}A?}:}}J}[@m7Dm[;m;mf5 @ZjHE%>IA IE**IIEYBIE+ =&IA.IA6IE<:IE FBIJIRIZI, =bI, =jI/5FNOT Ignoring new targets: 472.20 m.Bje;Jje; ProNav: ac range: 472.200012 m, nav range: 97.974983 m, bearing: 68.787154 deg, approach rate: 0.323216 m/s, LOS rate: 0.423834 deg/s, cmd heading: 328.100458 deg, new cmd heading: 328.610942 deg. 2jo<%HeadingCmd: 5.735343 target range: 472.200012 and range: 472.20 m. j%@j!j!j!i!h)h)hIhUBfQfQfQrfQbf]@ɛ&; 9?I ^ɚiI&=Ia? ii)@)*F?2F:FBFJFJJJJJ:J:JJJ3<J4<Jwp;Jxp;=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011972G  G B O >\_\w,srA2S@Y2!c@2(9287@>y2H"? ?to?C¿ؤ??n?ɨ2S@2Ӎ;2CyR^BR1*IIZIZb4٢b$)> bT=9b;Q f>dd fG٣dyj < j> nNusing accuracyPremultiplier from configlr59n!?r5Yn$ inFBtvHv[@n@Dn:n*:n5~{B ~ё@EZjFNOT Ignoring new targets: 472.20 m.Bj;Jj; $?I ProNav: ac range: 472.200012 m, nav range: 98.092422 m, bearing: 68.943111 deg, approach rate: 0.292138 m/s, LOS rate: 0.387488 deg/s, cmd heading: 328.610947 deg, new cmd heading: 329.078246 deg. 2j<HeadingCmd: 5.743499 target range: 472.200012 and range: 472.20 m. jʷ@jjji!h!h!h!h)f)f)f)rf)bf5 @ɛ9=V< 9=?IA E,ɚAiAIE&=IM( iiimf)uʷ@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266115*F?2F:FBF`0JFGqA GGG?G?GBOb>zKBHK9KK KE Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:22:01:45.3745 M TRx dataTimestamp_ set to:1736373706.525322U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516864 \w,rA-U@Y-@-2݆9-D>y-H@F?`?JiA@?¿`tې? p?#h?ɨ-U@-=~;-CyE|BEV*Iimi>Im4<Mb@Mb@Mb@ )YV-?p= ףZd;O?y-?j<`A 5@)@IyQ@II%x4٢-= -=95:Q 5>11 5G٣=\HGy=Nr< E> MNusing accuracyPremultiplier from configIU59M?U5YM $ iMFBUv.?U:U5][@MKDM 3;M2;MJ5ezB m܏@mEZjFNOT Ignoring new targets: 472.20 m.Bj);Jj); I ProNav: ac range: 472.200012 m, nav range: 98.210556 m, bearing: 69.137038 deg, approach rate: 0.235852 m/s, LOS rate: 0.386708 deg/s, cmd heading: 329.078241 deg, new cmd heading: 329.659304 deg. 2j<HeadingCmd: 5.753640 target range: 472.200012 and range: 472.20 m. j@jjjihhhhgBfffrfbf @ɛ8g<  &?I  Z:ɚ i I &=ICii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767234*F?2F:FBF_0JFH5&>I1 I5*II5BI1&I1.I16I5˯<:I5 FG G B O >\w,˽rA6֮@Y6[@6d96H>y6Hm?`?_o?`|ÿ@iL?@?a?ɨ6֮@6;6CyBBB~*IIJIJk4٢Vr_> V=9ZO:Q Z?XX ^G٣\y^8< ^? bNusing accuracyPremultiplier from config`j59bp?j5Ybd$ ibFBhj2j[@bRDb0;b;b5p r֍@p~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 472.20 m.Bj@;Jj@;% ProNav: ac range: 472.200012 m, nav range: 98.275612 m, bearing: 69.245687 deg, approach rate: 0.224465 m/s, LOS rate: 0.374626 deg/s, cmd heading: 329.659299 deg, new cmd heading: 329.985024 deg. 2j-<5HeadingCmd: 5.759325 target range: 472.200012 and range: 472.20 m. j5dL@j1j1j1i1h9h9h9h9fAfAfArfAbfMU @ɛu.Bu8q< qu6?Iq }ɚyiyI}%=Iii)dL@Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.023577)i*F?2F:FBF0JF IGGq B  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:01:45.3745 LVL= 15632, 30705, 19554, 32755, AGC= 69, IDX= 431, 0.29,-2.157, 2.468, 2.384, 2.959, PHS= 1.255,-0.445,-0.578, RAW= 86.3, -2.7, CAL= 94.2, -8.7, ROT= 55.8, 8.7  Ygot valid direction response: 22:01:45.3745 LVL= 15632, 30705, 19554, 32755, AGC= 69, IDX= 431, 0.29,-2.157, 2.468, 2.384, 2.959, PHS= 1.255,-0.445,-0.578, RAW= 86.3, -2.7, CAL= 94.2, -8.7, ROT= 55.8, 8.7  PDAT read: Bearing 55.8, 8.7 (Local)  ~Local bearing/azimuth received: Bearing 55.8, 8.7 (Local)  ^DAT read: Range 10 to 50 : 471.3 m ser:2235>  BDAT read: Tx time:22:01:46.4919  $Ping request sent. ڙ ڙ ۝ ?9 D)۝ I۝ ==i۝ xu?۝ ۙ ۙ e :publishing transmit ping time m Fpublishing direction and range infoؙ 9؝ j` yz) _?`O?yؙ ؙ ؙ ؙ ٙ O >)ٙ Iٙ iٙ ٙ ٙ ٙ ٙ ڙ )ڙ Iڙ iڙ ڙ ڙ ۝ ?9 D)ۙ Iۙ iۙ ۙ ۙ ۙ \w,rA6> @Y6/@6Zv96@HL>y6H`?`^?\`IB??Ŀڎ?@]?\?ɨ6> @6[#;6Cy~B*IIIi4٢%[Z= %D=9-;Q ->)) 5G٣1y5< 5> eNusing accuracyPremultiplier from configam59e 2?m5Ye7$ ieFBiu0u[@e[DeQ;e;e5xB @EkpP?kAA$ k kBrA:kCBkCZk I@"v *RS@ۅ}@j` yz) _?`O?Jkxu?Rk *m8U8ѿQKj}@UˬB?"k‰*kkW??kN$ 2kDk}t?kW/x kDk'yBk?u addTargetRange:: Added new target pos. range: 471.299988 m, deltaT: 4.284153 s, deltaX: -0.900024 m, approachRate: -0.210082 m/s, rangeRepo size: 4  Added new target pos. range: 471.299988 m, bearing: 180.619933 deg, lat: 36.900467 deg, lon: -122.120555 deg, deltaT: 4.284153 s, deltaX: -0.900024 m, approachRate: -0.210082 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 471.30 m.BjJj ProNav: ac range: 471.299988 m, nav range: 62.288448 m, bearing: 97.466635 deg, approach rate: 0.000000 m/s, LOS rate: 0.374626 deg/s, cmd heading: 329.985017 deg, new cmd heading: 330.482950 deg. 2jHeadingCmd: 5.768015 target range: 471.299988 and range: 471.30 m. j@jjjizKK9KK KRK?JK?hhhhfffrft}@bf@;?ɛamZ< 隍Ż\w,carA @2Will construct direction to contact in vehicle frame from tetrahedron phase data.6\@Y6El@6$ 96a_>y6H@^? ?kę}%?ƿ?@? ;?ɨ6\@6;6Cy^B^*IMb@Mb@Mb@ )YQ?Zd;O:v?y(?j<A );@IQ@y@IzI=X4٢ޡ= @=9ԛQ >ZHRH@AHIC I*IIBI* =&I.I6D6I<:I F G٣]HGy< > Nusing accuracyPremultiplier from config 59 C?5Y >$ i FBi?: [@ cD ;  ; ;5! -@)ZjIUFNOT Ignoring new targets: 471.30 m.BjU;JjU;e ProNav: ac range: 471.299988 m, nav range: 62.467606 m, bearing: 97.639654 deg, approach rate: 0.443249 m/s, LOS rate: 0.426834 deg/s, cmd heading: 330.482938 deg, new cmd heading: 331.000491 deg. 2jewѰ\w,I sAN䚯@YNQ@N Py9N^>yNH V? ?me`H?` ƿ)?`? `>?ɨN䚯@NZ;NCyZ̊BZ*IIbBIb3٢n_= nZ=9nx:Q r>pp rG٣pyve< v> zNusing accuracyPremultiplier from configx~59zAS?~5Yz$ izFB[@zjDz:zn:zs5 vB @ E $?I'iZjAEFNOT Ignoring new targets: 471.30 m.BjM;JjM; ProNav: ac range: 471.299988 m, nav range: 62.621765 m, bearing: 97.789569 deg, approach rate: 0.415821 m/s, LOS rate: 0.403376 deg/s, cmd heading: 331.000502 deg, new cmd heading: 331.449130 deg. 2jj<HeadingCmd: 5.784879 target range: 471.299988 and range: 471.30 m. j@jjjih hhhfffrfbf`?ɛ/B= EN?II M;'ԼɚIiIIM*#=IU"iQiUx)U@)YmWill construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2FY:FYBF]94JFYzK% BoHK% 9K! K% K% BK) :K) G ^Gy B O >J J J J J :J :J J % Will construct direction to contact in vehicle frame from tetrahedron phase data.\w,(%sAbƯ@Yն@Su9\>yH ?`5?DKPA@+b?ſ /?`I?B?ɨbƯ@{;CyԊB*IMMb@Mb@Mb@III I)IYMV-?S㥛?I +?yMh?M/yy }G٣yy1< > Nusing accuracyPremultiplier from config59rg?5Yf$ iFB?: [@sD;;5 @ $?I Zj)-FNOT Ignoring new targets: 471.30 m.Bj5i;Jj5i;e ProNav: ac range: 471.299988 m, nav range: 62.794147 m, bearing: 97.988747 deg, approach rate: 0.345090 m/s, LOS rate: 0.397637 deg/s, cmd heading: 331.449136 deg, new cmd heading: 332.045007 deg. 2jerIC I+IIBI+ =&I.I5D6I"<:I FG G B O >"\w,>sA6 @Y6U@6@T96FX>y6HX??` d?ſ? ? H?ɨ6 @6;4y<>*I DFa=IJvIJ&Q4٢R~: V=9V];Q V?XX ZG٣XyZ'< Z? bNusing accuracyPremultiplier from config`f59b`t?f5Yb$ ibFBdfj[@byDbv:b:br5nuB ]@]EuB*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 471.30 m.BjE;JjE; ProNav: ac range: 471.299988 m, nav range: 62.903183 m, bearing: 98.115956 deg, approach rate: 0.344214 m/s, LOS rate: 0.400889 deg/s, cmd heading: 332.045002 deg, new cmd heading: 332.425962 deg. 2j<HeadingCmd: 5.801928 target range: 471.299988 and range: 471.30 m. jd@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.hhfffrfbfM?ɛim~ #= imR?Ii PɼɚiI"=IrgiiX-)d@)*F?2F:FBF`0JFG G9BIOeV> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002176\w,XsA2aT@Y2c@27>92W>y2H=?;Z?z HV?@ſƇ??@hK?ɨ2aT@2;0yRЊBR*IIZoIZD4٢bY bI=9bV;Q f>dd fG٣f^HGyjٱ< j> nNusing accuracyPremultiplier from configlr59nW?r5Yn$ inFBtvv[@nDn:na:n 5x zN@xZj!-FNOT Ignoring new targets: 471.30 m.Bj-!;Jj-!;= ProNav: ac range: 471.299988 m, nav range: 63.044376 m, bearing: 98.282529 deg, approach rate: 0.361156 m/s, LOS rate: 0.425119 deg/s, cmd heading: 332.425963 deg, new cmd heading: 332.924550 deg. 2j=IUH,"=Ieiaieރ)m@)JJJ/JJ:J:J(N3JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254495*F?2F:FBFJFG- мG1 G5 rA I G B O- >y\w,rsA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505781^J@Y^@^k,9^>U>y^Hh??8(?g ƿ]? ?M?ɨ^J@^;^Cy~B~*IjHybHyHI I*+II)BI&I.I6I:IMb@Mb@Mb@ )Yx&?+?{Gz?y7 ?=#< @);@Ih@y@IIy4٢ :=9^";Q > G٣y< > Nusing accuracyPremultiplier from configu59?}5Y$ iGB} ?}:}%}[@Dv<B<5sB #@EZjFNOT Ignoring new targets: 471.30 m.Bj;Jj; ProNav: ac range: 471.299988 m, nav range: 63.181702 m, bearing: 98.456794 deg, approach rate: 0.299648 m/s, LOS rate: 0.379424 deg/s, cmd heading: 332.924539 deg, new cmd heading: 333.446182 deg. 2j 2<-HeadingCmd: 5.819734 target range: 471.299988 and range: 471.30 m. j5B;@j1j1j1i1h1h1h9h=ƉBf9f9fArfAbfE`@ɛ0B0< 隵H?I 5EɚiI!=IIiiې)B;@)) MGGe|uAy Y|uAy B*F=?2FA:FABFAJFA"GIGM=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757720Ge G9 BI Oe >j\w,sA2W@Y2@292-T>y2H?? ݼ<?`ƿ#݃?`?`O?ɨ2W@2;2C B$?IDyFBF*I)H HIRIRi4٢Z Z_=9Z$;Q Z>\\ bG٣`yf:< f> jNusing accuracyPremultiplier from confighn59j?n5Yj$ ij GBlrr[@jDj;j;j 5t v@tZjFNOT Ignoring new targets: 471.30 m.Bj%;Jj%;5 ProNav: ac range: 471.299988 m, nav range: 63.295292 m, bearing: 98.602849 deg, approach rate: 0.326535 m/s, LOS rate: 0.419107 deg/s, cmd heading: 333.446174 deg, new cmd heading: 333.883544 deg. 2j5Џ<5HeadingCmd: 5.827367 target range: 471.299988 and range: 471.30 m. j=y@j9j9j9i9hAhAhIhIfIfQfQrfQbfU`5@ɛ|= D?I ɚiI !=I aiihŒ)y@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011501*F?2F:FBFJ2JFGGBO >zK K 9K K K J J BAJ J J 0J J J :J ـ3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261953f+\w,usAyB*I iIiMb@Mb@Mb@ )Yw/?y&1?y&1|y?`<` A )I;@y=@IIr4٢] !=9Q > G٣_HGy > Nusing accuracyPremultiplier from config59ݹ?5Y $ i GB?:[@D#;;x5rB T@EZj!-FNOT Ignoring new targets: 471.30 m.Bj-V;Jj5V;E ProNav: ac range: 471.299988 m, nav range: 63.452446 m, bearing: 98.797961 deg, approach rate: 0.311089 m/s, LOS rate: 0.385269 deg/s, cmd heading: 333.883552 deg, new cmd heading: 334.467416 deg. 2jE4Iy I}+II}BIy&Iy.Iy6I}<:I} FBI9JI9RI9ZI=+ =bI=+ =jI=4G G ?G ?G B O >\w,>sAy~B~i*II~IT_4٢=J E=9AQ E ?II MG٣IyI U ? eNusing accuracyPremultiplier from configYe59]?m5Y]-$ i] GBiim[@]D]:]:]F5q }[@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 471.30 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765836 ProNav: ac range: 471.299988 m, nav range: 63.552475 m, bearing: 98.921175 deg, approach rate: 0.310776 m/s, LOS rate: 0.382207 deg/s, cmd heading: 334.467424 deg, new cmd heading: 334.836480 deg. 2j'<HeadingCmd: 5.843999 target range: 471.299988 and range: 471.30 m. j @jjjihhhhfffrfbfL@ɛ%2B%Z< !%-?I! -Nɚ)i)I-3 =I5i1i5)= @)9*F?2F:FBFq4JFGGaBOC> }$?Iym Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:01:49.5348 LVL= 20976, 26353, 20594, 20467, AGC= 69, IDX= 41,-0.26, 1.414, 0.233,-0.009, 0.361, PHS= 1.141,-0.081,-0.373, RAW= 79.5, -9.9, CAL= 90.2, -19.7, ROT= 59.8, 19.7  Ygot valid direction response: 22:01:49.5348 LVL= 20976, 26353, 20594, 20467, AGC= 69, IDX= 41,-0.26, 1.414, 0.233,-0.009, 0.361, PHS= 1.141,-0.081,-0.373, RAW= 79.5, -9.9, CAL= 90.2, -19.7, ROT= 59.8, 19.7  PDAT read: Bearing 59.8, 19.7 (Local)  ~Local bearing/azimuth received: Bearing 59.8, 19.7 (Local)  DAT read: Range 10 to 50 : 479.0 m (Round-trip 638.7 ms) speed 0.2 m/s  ,DAT read: user:2236>  BDAT read: Tx time:22:01:50.6419  $Ping request sent. i i m Jw0?rvӝl=ƿ)m 4Im 1>im p?m 4i i  :publishing transmit ping time  Fpublishing direction and range infoi 9m ၕ?bd3D?@v?yi i i i i )i Ii ii i i i i i )i Ii ii i i m Jw0?rvӝl=ƿ)i Ii ii i i i 8\w,HsA6@Y6O@6,96{T>y6H@??`W h޿v? ƿVԁ?^?O?ɨ6@6HB;4yBwBBP*IiFC=IF;IJIJ_v4٢ҽ %L=9%";Q %>)) -G٣)y-$= 5> }Nusing accuracyPremultiplier from configy59}?5Y}$ i}GB徑[@}D}C:}":}5pB @Ek4?k $ k ksA:kCBkCZkI ="_?L@ݶM'`@O*|@ၕ?bd3D?@v?Jkp?Rk4*/&O@S=i~@d*ʮ}@='?Uٜ7t?/qL?"k@*k7yBkY?kqo$ 2k Dkk+)C kDkOBka? addTargetRange:: Added new target pos. range: 479.000000 m, deltaT: 4.031846 s, deltaX: 7.700012 m, approachRate: 1.909798 m/s, rangeRepo size: 4  Added new target pos. range: 479.000000 m, bearing: 2.239717 deg, lat: 36.900467 deg, lon: -122.120689 deg, deltaT: 4.031846 s, deltaX: 7.700012 m, approachRate: 1.909798 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 479.00 m.BjJj  ProNav: ac range: 479.000000 m, nav range: 51.936348 m, bearing: 101.156532 deg, approach rate: 0.000000 m/s, LOS rate: 0.382207 deg/s, cmd heading: 334.836473 deg, new cmd heading: 335.330299 deg. 2jHeadingCmd: 5.852618 target range: 479.000000 and range: 479.00 m. jH@jjjihhh!h!f!f!f)rf-}@bf?zKKػ9KK Kɛ3B<  %"?I  ɚ i I ĩ=I^sܾii^)H@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:01:50.6412 J%J%J!J!J%,:J%':J!J!*F?2F :F BF4JF m $?Iq GE vG B! OE >a\w,5sAWill construct direction to contact in vehicle frame from tetrahedron phase data.y~`B~3*IZHRH>AH!I! I%*II%BI!&I!.I!6I%d<:I%+ FMb@Mb@Mb@ )YQ?~jty\?D̼A 5@)$@I~@y@ISI4٢5 '=9Q > G٣`HGy > Nusing accuracyPremultiplier from config 59?5Y$$ iGB?:[@D;; !5kB %@!ZjFNOT Ignoring new targets: 479.00 m.BjS<JjS< ProNav: ac range: 479.000000 m, nav range: 52.113121 m, bearing: 101.382309 deg, approach rate: 0.374531 m/s, LOS rate: 0.476734 deg/s, cmd heading: 335.330296 deg, new cmd heading: 336.005298 deg. 2j<HeadingCmd: 5.864399 target range: 479.000000 and range: 479.00 m. j(@jjjihhhh`Bff f rf bf @TE?ɛU4B]F< 隅 ?I /ɚiIC=I(k־ii 眽)(@)*F?2F:FBF i3JF GڋWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Y IY O]w," tA6\S@Y6b@6<+96Y>y6H`&?B> *IIFdIF?14٢RV R=9RQ V?TT VG٣TyZY1= ^? bNusing accuracyPremultiplier from config\b59^8?f5Y^I$ i^FBdf]f[@^D^@:^ ;^#5niB n@nEZj|FNOT Ignoring new targets: 479.00 m.Bjn <Jjn < ProNav: ac range: 479.000000 m, nav range: 52.222404 m, bearing: 101.524428 deg, approach rate: 0.378429 m/s, LOS rate: 0.491102 deg/s, cmd heading: 336.005310 deg, new cmd heading: 336.430766 deg. 2j<%HeadingCmd: 5.871825 target range: 479.000000 and range: 479.00 m. j-@j)j)j)i)h1h1h1h1f9f9f9rf9bf=?A?ɛS<  M?I  Vɚ i I=IҝҾiim)@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGGBO>zK5 BHK5 9K1 K5 K5  Will construct direction to contact in vehicle frame from tetrahedron phase data.:v ]w,'tA@Y@Ȫ59V>yH@GQ?r? {3ݿ?ƿ:?x?M?ɨ@ F;騙yB)I)! !9=A $?IMb@Mb@Mb@ )YK?x&~jty^?7 A @)@IQ@yG@IVIn4٢ !=9Q > G٣yg2< > Nusing accuracyPremultiplier from config59 ?5Y$ iFB?:`[@D;<; (5 @ Zj1=FNOT Ignoring new targets: 479.00 m.Bj=<Jj=I9 =ݠɚAiAIEg=I}=̾iij)K@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I*IIBI, =&I.I6I%<:I F*F=?2F9:F9BF9JF9GU G1 BA Oe >c]w,AtA6ҷ@Y6?ǹ@6%@967S>y6H j?}?ϵjݿ ??ƿ ? 6?Q?ɨ6ҷ@6乇;6Cy>BB)IININ̍4٢R R=9V! Q V?XX ZG٣ZaHGyZ< ^? bNusing accuracyPremultiplier from config\f59^?f5Y^U$ i^FBdfj[@^D^. ;^ ;^*5nhB r@rEJ5J5J1J1J5 :J5:J1J1J5I tɚiI\=IfsȾii+J)@) *Fy2Fy:FyBF}0JFyGUм $?I(iGB!OEQ>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007408]w,Z[tA6@Y6\ @6b7962P>y6Hj?,9?`P )ܿ#?vƿ ?@?V?ɨ6@6T;6CyNBR)IIVIV4٢bT bJ=9b_:Q b>dh jG٣hyja< n> rNusing accuracyPremultiplier from configpv59r^+?v5Yr% irFBtvv[@rDr:r3:rN.5| ~@Zj!-FNOT Ignoring new targets: 479.00 m.Bj-!<Jj5!< ProNav: ac range: 479.000000 m, nav range: 52.740002 m, bearing: 102.096475 deg, approach rate: 0.451599 m/s, LOS rate: 0.500537 deg/s, cmd heading: 337.568385 deg, new cmd heading: 338.140945 deg. 2j<HeadingCmd: 5.901673 target range: 479.000000 and range: 479.00 m. jڼ@jjjihhhhfffrfbf`j@ɛ-7B-; 15ֶ>I1 UrɚQiYI]#=I]Uþiaie)eڼ@)azK JK h9K K  K *F2F:FBF_1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260570G  I G B O >]w,"7utAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511554:.@Y:=@:A>9:ϷN>y:H@??@ˊܿ?'Oƿԇ?`?Y?ɨ:.@: ;:CyFBF)I J=J=H`I` Ib=*IIbhBIb+ =&I`.I`6Ibگ<:Ib FMb@Mb@Mb@ )Y#~j?p= ף~jty%?D`A @)@I;@y @II4٢n 9=9Q > G٣y_i< >  Nusing accuracyPremultiplier from config 59??5Yh% iFB)?:$[@D%;;*25%gB %d@%EZjIMFNOT Ignoring new targets: 479.00 m.BjU<JjUI1 5tɚ1i1I=i=IEνiAiE)E2@)I*F2F:F BF _5JF J]JYJYJYJ],:JYJYJYJ]<J]<JYJYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763474G G B O >  $?I `#]w,UtA6k@Y6[{@6kSF96٢N>y6H?`fs?M@(ܿ/? ^ƿEʈ??/Y?ɨ6k@6;6CyBʼnBBu)IININ{4٢V Va=9Z Q Z>XX ZG٣^bHGy^#< b> fNusing accuracyPremultiplier from config`f59bCO?j5Yb& % ibFBhj"j[@bDb<:b:bW55l r@pZjFNOT Ignoring new targets: 479.00 m.BjP<JjP< ProNav: ac range: 479.000000 m, nav range: 53.140041 m, bearing: 102.474004 deg, approach rate: 0.475873 m/s, LOS rate: 0.448724 deg/s, cmd heading: 338.759433 deg, new cmd heading: 339.269175 deg. 2j<HeadingCmd: 5.921364 target range: 479.000000 and range: 479.00 m. j{@jjjihhhhfffrfbf @ɛ 8B `1:5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015504 9=>I9 =yGɚAiAIE=IE@iIiM䩽){@)*F)2F1:F1BF=05JFAG Ga Bq O >zK BoHK 9K K K BK :K pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267360)]w,DtA Ii@Y֨@U9=N>yH? !?9`ۿdD? ,Xƿ??Y?ɨi@;騝CyޭBޭp)IMb@Mb@Mb@ )Y rh?K7A`ſ~jty,?+ )@I$@yf@IIt4٢ؐ !=9-Q > G٣y3< > Nusing accuracyPremultiplier from config59jf?5Y% ikFB/2?:,[@DBI;G;95 eB C@EZj1=FNOT Ignoring new targets: 479.00 m.Bj=<JjEIQ U/ɚQiQI}Ò=Inﲾiif)@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:22:01:53.6714 UTRx dataTimestamp_ set to:1736373714.846191]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522519HI I)II+BI&I.I6IW<:I# F*FQ2FQ:FQBFU@5JFQ ~G= vAY Y vAy BGu #mG} ?Gy GI BY Ou >0]w,tAB]س@YB@B!9`9B^P>yBH@?Y?}?ZeۿP\?`fƿ?`G?;V?ɨB]س@B;BCyRBR_)I)T TXZAI^I^d4٢f f=9jWQ j?hl nG٣lyn< n? vNusing accuracyPremultiplier from configpv59rt?v5Yrk% J~J~J|J|J~ :J~q:J|J|J~<J~<J~k;J~k;irTFB*[@rDr;r;rz<5cB @%EEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 479.00 m.Bj]G<Jj]GIQ UɚQiQIUm=I]iYi])]@)aEErA*F%?2F!:F!BF%_0JF!G e$?Ie)iGBOH>- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025634e6]w,htA2Y @Y2@2hp92Q>y2H ?`J?Y`*ۿ;p? =ƿ ??`S?ɨ2Y @2;2CyBBB\)IININ<4٢fBN fK=9f Q j>hh jG٣jcHGy-z{< -> =Nusing accuracyPremultiplier from config1E595?E5Y5 % i56FBAE(E[@5D5:5:5@5I U!@QZjy}FNOT Ignoring new targets: 479.00 m.Bj<Jj< ProNav: ac range: 479.000000 m, nav range: 53.802128 m, bearing: 103.048302 deg, approach rate: 0.542706 m/s, LOS rate: 0.471006 deg/s, cmd heading: 340.407257 deg, new cmd heading: 340.984624 deg. 2j<HeadingCmd: 5.951304 target range: 479.000000 and range: 479.00 m. jq@jjjihhhhfffrfbf@ɛ@ܺ dp>I yɚiIUA=IB쩾iiλ)q@)*F?2F:FBFJFzKUBHKU+9KQKU KUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:01:53.6714 LVL= 16272, 32753, 31106, 32755, AGC= 66, IDX= 304, 0.38, 1.056,-0.490,-0.266, 0.264, PHS= 0.880,-0.707,-0.532, RAW= 95.8, 4.8, CAL= 104.7, 3.4, ROT= 45.3, -3.4 Ygot valid direction response: 22:01:53.6714 LVL= 16272, 32753, 31106, 32755, AGC= 66, IDX= 304, 0.38, 1.056,-0.490,-0.266, 0.264, PHS= 0.880,-0.707,-0.532, RAW= 95.8, 4.8, CAL= 104.7, 3.4, ROT= 45.3, -3.4 PDAT read: Bearing 45.3, -3.4 (Local) ~Local bearing/azimuth received: Bearing 45.3, -3.4 (Local) DAT read: Range 10 to 50 : 468.9 m (Round-trip 625.3 ms) speed 0.2 m/s ,DAT read: user:2237> BDAT read: Tx time:22:01:54.7919 $Ping request sent.= Will construct direction to contact in vehicle frame from tetrahedron phase data.=]w,tAH$I$ I&)II& BI$&I$.I$6I&<<:I& FBI JI RI ZI bI jI 4yB[)I Mb@Mb@Mb@    ) Y 9v?Mbȿ G٣y > Nusing accuracyPremultiplier from config59C?5Y% iFB;?:@.[@D;; D5bB @Ekʛ?ktA) k kgtA:ksCBkCZkq]@"LQUR{@|@,rǿWM8?I~q?JkD@Rk&*Vʄ^|]U$FD.|@Ze<vп3C#Nt?"k4"*k&kgDnʛ?kuH) 2kDk8.?kqo$ kkAk ?@} addTargetRange:: Added new target pos. range: 468.899994 m, deltaT: 4.288262 s, deltaX: -10.100006 m, approachRate: -2.355268 m/s, rangeRepo size: 4  Added new target pos. range: 468.899994 m, bearing: 198.375590 deg, lat: 36.900344 deg, lon: -122.121235 deg, deltaT: 4.288262 s, deltaX: -10.100006 m, approachRate: -2.355268 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 468.90 m.BjJj- ProNav: ac range: 468.899994 m, nav range: 26.323061 m, bearing: 171.033470 deg, approach rate: 0.000000 m/s, LOS rate: 0.471006 deg/s, cmd heading: 340.984627 deg, new cmd heading: 341.677777 deg. 2j)-HeadingCmd: 5.963402 target range: 468.899994 and range: 468.90 m. j51Ծ@j1j1j1i1h1h1h9h=sBfyffrf`fN}@bf@'?ɛhgt m>IA MlɚIiIIM=Iii*н)1Ծ@)JK|3 KKK"KJ%J%J!J!J%,:J%z:J!J!J%<J%<J%l;J%l;Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF"G >G> a Ia G #G G G B O >DD]w,uA2@Y2@2j92U>y2H`1?@~h?.ڿ`w? Wǿ5v?ވ?L?ɨ2@2Q;2CyBBBc)IiFXX ZG٣Xy^= ^> bNusing accuracyPremultiplier from config`f59b?f5Yb!% ibFBhjj*j[@bDb;bp;bkG5l n@lWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 468.90 m.BjdJjd ProNav: ac range: 468.899994 m, nav range: 26.569693 m, bearing: 170.736969 deg, approach rate: 0.671724 m/s, LOS rate: -0.800049 deg/s, cmd heading: 341.677782 deg, new cmd heading: 340.796608 deg. 2jD HeadingCmd: 5.948023 target range: 468.899994 and range: 468.90 m. j4V@j j j i hhhhfffrfbf?ɛ@yl: \{>I ɚiI=I?`iil)4V@)*F5?2F1:F1BF1JF1G 2GBOl>= Will construct direction to contact in vehicle frame from tetrahedron phase data.zKU BoHKU 9KQ KU KU $3663,'%$#" /W d J]w,X-uA ^$?I\ @YyȻ@܌9X>yHoG?9?@C@(ٿƮ?`~ǿQ1?` ?#H?ɨ @TR;騅Cyޝ͉Bޝ)IMb@Mb@Mb@ )YtV? rȿy&1y2?C``A @)I@yp@IMI{4٢= +=9mfQ m>qy }G٣}dHGy}X< }> Nusing accuracyPremultiplier from config59?5Y&% iEBe9?: +[@D;I;K5`B 2@EZjFNOT Ignoring new targets: 468.90 m.Bjr[Jjr[ ProNav: ac range: 468.899994 m, nav range: 26.882074 m, bearing: 170.368301 deg, approach rate: 0.657901 m/s, LOS rate: -0.767415 deg/s, cmd heading: 340.796605 deg, new cmd heading: 339.703595 deg. 2jHeadingCmd: 5.928946 target range: 468.899994 and range: 468.90 m. j@jjjihhhhBf f f rf bf `k?ɛ1=s: 9=>I9 =S獼ɚAiAIE=IM^iIiMaW)M@)IHI I)IIBI&I.I6I5<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFG JʽG G >G B O >OQ]w,!GuA69@Y6 @6Ĝ96<[>y6HTb?`x?C[Nٿ@#?Aǿ1s?:? B?ɨ69@6";6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yv܉Bv)III1h4٢W= p=9ԻQ ? G٣y%[< % ? -Nusing accuracyPremultiplier from config)559-1?55Y-*% i-EB15(=[@-D- ;- ;-N5E_B E2@MEmB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 468.90 m.BjKJjK ProNav: ac range: 468.899994 m, nav range: 27.089483 m, bearing: 170.133795 deg, approach rate: 0.632921 m/s, LOS rate: -0.710130 deg/s, cmd heading: 339.703584 deg, new cmd heading: 339.005487 deg. 2j󼝊HeadingCmd: 5.916762 target range: 468.899994 and range: 468.90 m. jV@jjjihhhhfffrfbf`0?ɛ; !%>I! %+ɚ!i!I-?=Ii&il'2)V@) $?I*F2F:FBF2JFG GoAGm8ĽG9BIOmW>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.)W]w, auA6I@Y6X@6496^>y6H`? ?9>ؿ?gyȿs??@tt vG٣tyv< v> ~Nusing accuracyPremultiplier from config|59~?5Y~O/% i~EB`&[@~%D~:~v:~R5 R@ZjFNOT Ignoring new targets: 468.90 m.Bj=Jj= ProNav: ac range: 468.899994 m, nav range: 27.345438 m, bearing: 169.856496 deg, approach rate: 0.618954 m/s, LOS rate: -0.664289 deg/s, cmd heading: 339.005484 deg, new cmd heading: 338.181435 deg. 2j㼝HeadingCmd: 5.902380 target range: 468.899994 and range: 468.90 m. jK@jjjihhhhf!f!f)rfIbfU?JJJJJL:Jq:JJa@a@a@a@ɛ; >I ɚiI=I ¾iiWǎ)K@)zKeZrOKe9KaKe KeQ'aC%<e,JYYF3" lZQUWRRUSF9,!t\G;2,%!#"Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019339*F?2F:FBF_5JFG}s I*iGBO%>H #>I  I )II !BI &I .I 6I <:I F= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270985^]w,zuAnV@Ynò@n9n c>ynHo?`:@? |ؿ? \ɿ?@e$?5?ɨnV@n׈;nCyzBz)IMb@Mb@Mb@ )Y rh?~jtÿ{Gzy,?#A @)@I;@y @IIb4٢%= ;=9?ӹQ >aa eG٣eeHGym< m> uNusing accuracyPremultiplier from configq}59u5?}5Yu3% iuEB}0?:}[@u/Du{;u;uV5]B @EZjFNOT Ignoring new targets: 468.90 m.Bj],Jj], ProNav: ac range: 468.899994 m, nav range: 27.630245 m, bearing: 169.591234 deg, approach rate: 0.653931 m/s, LOS rate: -0.602776 deg/s, cmd heading: 338.181435 deg, new cmd heading: 337.393902 deg. 2jμHeadingCmd: 5.888635 target range: 468.899994 and range: 468.90 m. jo@jjjihhhh҈BfffrfbfS@ɛ!%< !-U>I) - ,ɚ)i)I51r=I5ʾi1i=zL:)=o@)9*F?2F:FBF}4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523649GtLVGpAGqA $?I G B O >#d]w,^uAZ@YZ5@Z.9ZƝd>yZH@6?@?]ڹ׿@I?@\ɿf?kU?`2?ɨZ@Z;ZCybBf)IIIt4٢ #> Y=9Q > %G٣!y%< %> -Nusing accuracyPremultiplier from config)559-?=5Y-7% i-EB9= =[@-7D- ;- ;-,Y5E[B E@MEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775067Zj9=FNOT Ignoring new targets: 468.90 m.BjEJjEu ProNav: ac range: 468.899994 m, nav range: 27.860031 m, bearing: 169.386927 deg, approach rate: 0.593187 m/s, LOS rate: -0.523062 deg/s, cmd heading: 337.393914 deg, new cmd heading: 336.786074 deg. 2ju|}HeadingCmd: 5.878026 target range: 468.899994 and range: 468.90 m. j}@jyjyjihhhhfffrfbfk~@ɛ8Bbp< t>I Jɚ i)I5=I5qϾi9i=Q<)=@)9*F%?2F!:F!BF%_0JF!"G->G->G_+GBOj>JJJJJ :J:JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027033zK OK 9K K K !"#&**'$%""#$# $k]w,buA (I,π@Y<@9lO]>yH ? ?; ֿgO?ȿ@?]q???ɨπ@&;y3B)Ii=IMb@Mb@Mb@ )YˡE?Cl绿I +?y'?;߽94< A @)@Ih@y@I yI xV4٢`= -=9x:Q >!! %G٣!y-= -> 5Nusing accuracyPremultiplier from config1=595(?=5Y5;% i1=C*?=:EE[@5AD5;5<;5I]5I U@QZjy}FNOT Ignoring new targets: 468.90 m.BjQJjQ ProNav: ac range: 468.899994 m, nav range: 28.155478 m, bearing: 169.175429 deg, approach rate: 0.663127 m/s, LOS rate: -0.469723 deg/s, cmd heading: 336.786082 deg, new cmd heading: 336.158273 deg. 2j.HeadingCmd: 5.867069 target range: 468.899994 and range: 468.90 m. j@jjjihhhAhE9BfAfIfIrfIbfMO& @HI I$*IITBI&I.I6IZ<:I$ FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278956ɛ Qu< P>I QɚiIg=IA վii1%=)@)*F?2F:FBFJFG_vGBO>lr]w,siuA:Will construct direction to contact in vehicle frame from tetrahedron phase data.:BDAT read: Rx Time:22:01:57.8198 >TRx dataTimestamp_ set to:1736373719.146286Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.533644Z:@YZ@Z|ا9Z(T>yZH ?`Sx?%2ֿ@i?ǿ@?k?M?ɨZ:@Z;ZCyfRBf"*IInIn<4٢v?7> vv=9z:Q z?xx zG٣zfHGy~y< ~?  Nusing accuracyPremultiplier from config 598?5Y>% iEB[@HD::/`5ZB %@%EEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 468.90 m.Bj]Jj]m ProNav: ac range: 468.899994 m, nav range: 28.364494 m, bearing: 169.030938 deg, approach rate: 0.629034 m/s, LOS rate: -0.431641 deg/s, cmd heading: 336.158278 deg, new cmd heading: 335.728007 deg. 2jmuHeadingCmd: 5.859559 target range: 468.899994 and range: 468.90 m. ju@jqjqjq U$?IQiqhhhhfffrfbf]{ @ɛ!-~< )- ?I) -yɚ)i1I5=I5ؾi9i=(I=)=@)a*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782996G 7:G ?G >G B O5 >0x]w,mYuAyz]Bz0*II I d4٢=I_= =E=9EQ E>AA MG٣IyM M> Nusing accuracyPremultiplier from config59XM?5YMB% iEB[@QD::c5 Ǐ@ZjFNOT Ignoring new targets: 468.90 m.Bj6Jj6򻝊 ProNav: ac range: 468.899994 m, nav range: 28.631409 m, bearing: 168.849665 deg, approach rate: 0.629470 m/s, LOS rate: -0.423513 deg/s, cmd heading: 335.728004 deg, new cmd heading: 335.189273 deg. 2jSHeadingCmd: 5.850156 target range: 468.899994 and range: 468.90 m. j{4@jjjihhhhff!f!rf!bf%@ɛQU< UŰ BDAT read: Tx time:22:01:58.9420 $Ping request sent.iH I  I o*II BI &I .I 6I D<:I  F Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:22:01:58.9413 ) V~]w,$uA2cƶ@Y2ս@2*92 <>y2H ?m?^`տ@?<,ſB?4a?t?ɨ2cƶ@2 ;2CyBlBBB*I)D D%.~G=5tAUA }Y}5tAy}>BMb@Mb@Mb@ )YRQ?&1~jt?y"?P< A @)IQ@yG@IIm4٢= @=9߱;Q >1 5G٣1y=< => ENusing accuracyPremultiplier from configAM59Eb?M5YENE% iEEBU'#?U:U޾U[@EYDE<;E:;Eg5]YB eΎ@eEk<Ǜ?k3. k kÀuA:kCBk=CZka n@"+eUTIFH|@2febǿ(BXH?JkI*Rk쭿*p//<`L`7jU=y{@r=&.Hҿg:ǿXF?"k*kkgǛ?k؅B. 2kiCkW??kN$ kDk,Ak@@ addTargetRange:: Added new target pos. range: 467.700012 m, deltaT: 4.048392 s, deltaX: -1.199982 m, approachRate: -0.296409 m/s, rangeRepo size: 4 M Added new target pos. range: 467.700012 m, bearing: 213.181905 deg, lat: 36.900316 deg, lon: -122.121253 deg, deltaT: 4.048392 s, deltaX: -1.199982 m, approachRate: -0.296409 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 467.70 m.BjUJjQe ProNav: ac range: 467.700012 m, nav range: 31.771540 m, bearing: 172.655188 deg, approach rate: 0.000000 m/s, LOS rate: -0.423513 deg/s, cmd heading: 335.189266 deg, new cmd heading: 334.627922 deg. 2jaHeadingCmd: 5.840359 target range: 467.700012 and range: 467.70 m. j9@jjjihhhhgBfffrf@3;}@bf 5 $?I1 R@]w,}vA2+@Y2@2Ɛ92Q >y2H@? @?Vӱ-1ֿ ? 1???ɨ2+@2H;2CyvBv`*II~ZI~4٢ >  Y=9 =r;Q  > G٣gHGy > %Nusing accuracyPremultiplier from config!-59%s?-5Y%G% i%EB)5@ྑ5[@%aD%;%;%j5=WB =*@EEZjimFNOT Ignoring new targets: 467.70 m.BjugϻJjugϻ ProNav: ac range: 467.700012 m, nav range: 31.994829 m, bearing: 172.527233 deg, approach rate: 0.637304 m/s, LOS rate: -0.362654 deg/s, cmd heading: 334.627934 deg, new cmd heading: 334.246754 deg. 2jxHeadingCmd: 5.833706 target range: 467.700012 and range: 467.70 m. j@jjjihhhhfffrfbf]?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛƍ= 5&?I cɚiI,=I"ii=)@)*Fq2Fq:FqBFuP5JFqG.H=GrAGrAGJJJJJ|:Jq:JJBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK} JK} 9Ky K} K}  6XVLC;62-+*( ) I) l]w,/vA;@Y@Bv9o>yH/?\?i8Oֿ? Ȏ??@y?ɨ;@;騵CyEBEt*IMb@Mb@Mb@ )YCl? G٣y D  > -Nusing accuracyPremultiplier from config!559%Ҋ?=5Y%J% i%EBER?M:MڿM[@%jD%;%;%n5 *@H-">I) I-*II-ɊBI-, =&I).I)6I-*<:I- FBIJIRIZIbIjIh4ZjamFNOT Ignoring new targets: 467.70 m.BjmJju ProNav: ac range: 467.700012 m, nav range: 32.278378 m, bearing: 172.401807 deg, approach rate: 0.564421 m/s, LOS rate: -0.247475 deg/s, cmd heading: 334.246754 deg, new cmd heading: 333.873787 deg. 2j)HeadingCmd: 5.827197 target range: 467.700012 and range: 467.70 m. jfx@jjjihhhhaBWill construct direction to contact in vehicle frame from tetrahedron phase data.fffrfbf s,?ɛ15I< Y].?IY ]T/XɚYiYI]U=IeCwierie=)mfx@)iE =*F= ?2FA :FA BFM _0JFI "G} =G} >GM j= Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B1 Ou >]w,LvA2t{@Y2ኽ@2B92>y2H`? F?Qֿg?`vR??p?ɨ2t{@2ȏ;2Cy>B>*IIJUIJ4٢R= R`=9R TT VG٣TyZ. Z> ^Nusing accuracyPremultiplier from config\b59^o?b5Y^L% i^EB`ff[@^qD^:^a:^r5jVB j0@jEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 467.70 m.Bj0Jj0 $?I ProNav: ac range: 467.700012 m, nav range: 32.496582 m, bearing: 172.305404 deg, approach rate: 0.658200 m/s, LOS rate: -0.288839 deg/s, cmd heading: 333.873799 deg, new cmd heading: 333.586536 deg. 2j:FHeadingCmd: 5.822184 target range: 467.700012 and range: 467.70 m. jTO@jjjihhhhfffrfbf y?ɛ59B='= 9=5?I9 =>Pɚ9i9IE}=ImmimimAp=)mTO@)qEe<*F?2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G G B O >]w,evA:[@Y:k@:9:?=y:H@f?`T? }ֿ@\?` HՀ??I?ɨ:[@:E;:CyFBF*IININq4٢V< VK=9VXX ZG٣ZhHGy^ ^> bNusing accuracyPremultiplier from config`f59b?f5YbdO% ibEBhjmþj[@byDb;b;bu5rTB v֊@vEZj%FNOT Ignoring new targets: 467.70 m.Bj%RJj%R5 ProNav: ac range: 467.700012 m, nav range: 32.739887 m, bearing: 172.197887 deg, approach rate: 0.603241 m/s, LOS rate: -0.264594 deg/s, cmd heading: 333.586548 deg, new cmd heading: 333.266396 deg. 2j55EHeadingCmd: 5.816596 target range: 467.700012 and range: 467.70 m. jE!@jAjAjIiIhIhIhQhQfQfQfQrfYbf]?ɛE= AE7?IA MHFɚIiIIMI$=I]i]ie=)e!@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009179zK5U0MK59K1K5 K5%!   BK]qA:K]oA $?IEu<*Fy2Fy:FyBF}_5JFyGpA GjH bH H #>I  I *II BI &I .I 6I U<:I  F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248707G ʖ=G ?G >G B O >]w,vA2*@Y2:@2f692=y2H?f?F@"׿ ?`jr`fq?@?t?ɨ2*@2rx;2Cy>B>*I=Mb@Mb@Mb@999 9)9Y=V-?qq uG٣qy}N }> Nusing accuracyPremultiplier from configy59}?5Y}R% i}EB?:[@}D},;};}y5 q@EZjFNOT Ignoring new targets: 467.70 m.Bj؄Jj؄ ProNav: ac range: 467.700012 m, nav range: 33.023537 m, bearing: 172.087551 deg, approach rate: 0.602323 m/s, LOS rate: -0.232282 deg/s, cmd heading: 333.266404 deg, new cmd heading: 332.938244 deg. 2jiHeadingCmd: 5.810869 target range: 467.700012 and range: 467.70 m. j@jjjihhh h VBf f frfbf@ɛ9=B= AE9?IA MF<ɚIiIIM=IUiU }iU =)U@)YEaEa*Ea"EaJJJJJ,:JJJJaJaJk;aJk;aEPExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501015 5$?I5+i*F2F:FBFB5JFGm &= Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ iՙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754738Gi Bq O >]w,A vAR@YRl@R Y99R,=yRHP?`&w?o׿ [?s !K8X??ɨR@R_;RCy^B^*I)` `IjIj%x4٢r1 rO=9r|?tt vG٣xyz z> ~Nusing accuracyPremultiplier from config| 59~?5Y~VT% i~EBP[@~D~T;~bU;~3}5RB ~@%EZjAFNOT Ignoring new targets: 467.70 m.BjJj򅻝 ProNav: ac range: 467.700012 m, nav range: 33.259918 m, bearing: 171.994027 deg, approach rate: 0.596202 m/s, LOS rate: -0.234210 deg/s, cmd heading: 332.938254 deg, new cmd heading: 332.659678 deg. 2j HeadingCmd: 5.806007 target range: 467.700012 and range: 467.70 m. jʹ@jjjihhhhfffrfbf@ɛ-:B-= 15H8?I1 5l2ɚ1i1I5=I=PieieΔ=)eʹ@)i*F?2F:FBF_0JFG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005314zKcLKKK KGyBO> I ]w,8vA2L@Y2@2ִ;92>ح=y2H?3? CF%ؿ ?͎vs J?i?ɨ2L@2K;2CyNBR*IH-!>I) I-*II-BI)&I).I)6I-E<:I- FMb@Mb@Mb@ )Y~jt?Mb`?MbPy?;@ @)@I@y@II{4٢ż ;=9$ G٣iHGy H  >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256886 %Nusing accuracyPremultiplier from config-59?-5YV% iEB-?-:-Rľ5[@D;r;59 =Ԋ@9ZjaeFNOT Ignoring new targets: 467.70 m.BjmJjm ProNav: ac range: 467.700012 m, nav range: 33.517952 m, bearing: 171.884376 deg, approach rate: 0.588665 m/s, LOS rate: -0.248228 deg/s, cmd heading: 332.659692 deg, new cmd heading: 332.333273 deg. 2j[*HeadingCmd: 5.800310 target range: 467.700012 and range: 467.70 m. j#@jjjihhhhDBfffrfbfFW @ɛ;B+= B5?Ii m٤(ɚqiqIu =I}u;i};i}B=)}#@)*F-?2F):F)BF)JF)G5qAG5qAGB O-N>JJJ1JJ:Jz:J3JJ3<J4<Jl;Jl;  nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:02:01.9674  TRx dataTimestamp_ set to:1736373723.176862 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510082 $?I ]w,#vAy~B~*I  AAI I ҅4٢ %Y=9%Q %>)) -G٣)y- -> =Nusing accuracyPremultiplier from config1=595?E5Y56Y% i5EBAAE[@5D5X:5:5N5MQB U@UEuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 467.70 m.Bj֌Jj֌ ProNav: ac range: 467.700012 m, nav range: 33.740040 m, bearing: 171.791384 deg, approach rate: 0.592020 m/s, LOS rate: -0.246256 deg/s, cmd heading: 332.333263 deg, new cmd heading: 332.056127 deg. 2j)HeadingCmd: 5.795473 target range: 467.700012 and range: 467.70 m. jt@jjjihhhhfffrfbf1V @ɛ%=  2?I p ɚiI=Iuiulܻi}uɘ=)}t@)y*F ?2F :F BF o0JF GBO )>%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760807*J "J %=$]w,΋vA>Will construct direction to contact in vehicle frame from tetrahedron phase data.fDAT read: 22:02:01.9674 LVL= 18912, 32753, 25810, 32755, AGC= 69, IDX= 422, 0.20, 1.835, 0.070, 0.441, 0.970, PHS= 0.953,-0.853,-0.532, RAW= 99.6, 5.2, CAL= 109.5, 3.6, ROT= 40.5, -3.6 jYgot valid direction response: 22:02:01.9674 LVL= 18912, 32753, 25810, 32755, AGC= 69, IDX= 422, 0.20, 1.835, 0.070, 0.441, 0.970, PHS= 0.953,-0.853,-0.532, RAW= 99.6, 5.2, CAL= 109.5, 3.6, ROT= 40.5, -3.6 nPDAT read: Bearing 40.5, -3.6 (Local) n~Local bearing/azimuth received: Bearing 40.5, -3.6 (Local) vDAT read: Range 10 to 50 : 465.9 m (Round-trip 621.2 ms) speed 0.1 m/s %@Y%6@5,DAT read: user:2239> =BDAT read: Tx time:22:02:03.0920 =$Ping request sent.=(wrɿAv̫b&P?y>C<>I< >d)Ei>s?>5^Z>'1>/?>޹= >?)>=I>4?i><<>]q?ڱR#:ֿFU?)>dI>뺽i>7>~<<=:publishing transmit ping time9EFpublishing direction and range info<9>(wrɿAv̫b&P?y<<<< < qIqII)]q?ڱR#:ֿFU?) G٣y> > Nusing accuracyPremultiplier from config59?5Y"\% iEB\Ͼ[@D0;|;Z5ePB e@mEk>Zқ?k>tN' k< k>ҊvA:k>CBk>XCZk>T@">TO=/'WjɳK98xIa~|@>(wrɿAv̫b&P?Jk>7Rk>~*>\SR{Yc 3РAqb|@>pX̿Rx  1?"k>`*k>k>iқ?k>]Q' 2k>Dk>iқ?k>]Q' k>Dk>Bk>T@e addTargetRange:: Added new target pos. range: 465.899994 m, deltaT: 4.031864 s, deltaX: -1.800018 m, approachRate: -0.446448 m/s, rangeRepo size: 4  Added new target pos. range: 465.899994 m, bearing: 190.546490 deg, lat: 36.899698 deg, lon: -122.121522 deg, deltaT: 4.031864 s, deltaX: -1.800018 m, approachRate: -0.446448 m/s, posRepo size: 4 ZjEFNOT Ignoring new targets: 465.90 m.BjMJjQ] ProNav: ac range: 465.899994 m, nav range: 104.062378 m, bearing: 190.546616 deg, approach rate: 0.000000 m/s, LOS rate: -0.246256 deg/s, cmd heading: 332.056122 deg, new cmd heading: 331.691461 deg. 2jaeHeadingCmd: 5.789108 target range: 465.899994 and range: 465.90 m. jm`@@jijijiiihihhhfffrf`f}@bf!?H!I! I%*II%BI!&I!.I!6I%<:I% Fɛ`]w,TwA6☴@Y6O@6v<96=y6Hf:? ?(@ڿ`U&?DZ NP??ɨ6☴@67U;6CyBBBg*I]Mb@Mb@Mb@YYY Y)YY]Mb?Mb~jty] ?]]D]~@ ]@)]@I]@Yy]@JJJ0JJ :J:Jـ3JJ<J<JBr;JCr;IIF4٢  H=9I G٣jHGy6Լ > -Nusing accuracyPremultiplier from config 559 )?55Y _% i EB5 ?=:=⾑=[@ D ;  ; 5A EW@AWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj%FNOT Ignoring new targets: 465.90 m.BjM]iJjM]i] ProNav: ac range: 465.899994 m, nav range: 104.267937 m, bearing: 190.464795 deg, approach rate: 0.513582 m/s, LOS rate: -0.204024 deg/s, cmd heading: 331.691471 deg, new cmd heading: 331.446494 deg. 2j] HeadingCmd: 5.784832 target range: 465.899994 and range: 465.90 m. jY@jjjihhhhBfffrfbf6?ɛ=B -=  &?I  } ɚ iIɓ=I(iһig=)Y@ m$?Ii)*F?2F:FBFo0JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.GE x=GQ Ba O} >7E]w,~wA60@Y6 @@64.<96N=y6H? ?@ȳYڿ`?@U@E%??ɨ60@6E;6Cy>yBBR*IIFIFW4٢Rн Ru=9R|8B<(= ?I QɚiIcd=IiлirG=)@)*Fi2Fi:FiBFm05JFiGEq=GB O-,>JAAJ@AuWill construct direction to contact in vehicle frame from tetrahedron phase data. -$?I1zK5 KK559K1K5 K5k]w,K8wA $$Bϳ@YBߺ@B<9B̋=yBH?p?t`3sۿ@?Wx`{t??ɨBϳ@B։;@HPIP IR*IIRBIP&IP.IP6IR*<:IR Fy^nB^D*IWill construct direction to contact in vehicle frame from tetrahedron phase data.~G tAUA }q YtAyHBMb@Mb@Mb@ )Yy&1?)\()1 5G٣1y5Ǽ 5> ENusing accuracyPremultiplier from config9m59=P?m5Y=e% i=EBu &?u:uu\@=D=;=2;= 5}MB }@}EZjFNOT Ignoring new targets: 465.90 m.BjmJjm ProNav: ac range: 465.899994 m, nav range: 104.674896 m, bearing: 190.284938 deg, approach rate: 0.484614 m/s, LOS rate: -0.226307 deg/s, cmd heading: 331.234860 deg, new cmd heading: 330.908011 deg. 2jP%HeadingCmd: 5.775434 target range: 465.899994 and range: 465.90 m. j-\и@j)j)j)i)h)h)h1h5Bf1f1f9rf9bf= `f?ɛې< ,=隭?I vɚiI_X=Ii˻iǐ6=)\и@)*F2F:FBFP5JFJJJJJJz:JJJJJl;Jl; Will construct direction to contact in vehicle frame from tetrahedron phase data.G KXi= ) I) Gi By O >R]w,!RwAy~cB~8*IIrIJ4٢-n -o=9-Q 5?11 5G٣5kHGy= =? ENusing accuracyPremultiplier from configAM59E`?M5YExh% iEEBQQU\@EDE:EC:E5Y ]@a}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 465.90 m.BjdJjd ProNav: ac range: 465.899994 m, nav range: 104.841988 m, bearing: 190.207141 deg, approach rate: 0.505515 m/s, LOS rate: -0.234991 deg/s, cmd heading: 330.908021 deg, new cmd heading: 330.675003 deg. 2jE!HeadingCmd: 5.771368 target range: 465.899994 and range: 465.90 m. j @jjjihhhhfffrfbfK?ɛ?Bn= m?I HɚiI;=Iyi ɻiI=) @) *F2F:FBF_0JFGg\=Will construct direction to contact in vehicle frame from tetrahedron phase data.iAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GQBiO:>~]w,lwA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9915876d@Y6"@6q=968=y6H@h? ?Y? nܿp|?q Q??ɨ6d@69܈;6CyVB'*IIIv}4٢% %J=9-k)) 5G٣1y5ai 5> ENusing accuracyPremultiplier from config9E59=Qs?M5Y=l% i=EBIM M\@=D=@:=@:=5UKB ]Y@]zEZjFNOT Ignoring new targets: 465.90 m.BjJj ProNav: ac range: 465.899994 m, nav range: 105.037102 m, bearing: 190.112411 deg, approach rate: 0.483546 m/s, LOS rate: -0.234330 deg/s, cmd heading: 330.675003 deg, new cmd heading: 330.391344 deg. 2j HeadingCmd: 5.766417 target range: 465.899994 and range: 465.90 m. j|@jjjihhhhf $?Iffrfbf`م@ɛ{< O ?I ߻ɚiI/I=I Ji bƻi=)|@zKUBoHKUh9KQKU KU(:/+C>5-" )*F12F1:F1BF=`0JF9H >I I*IIBI&I.I6I=<:I FBIqJIqRIqZIu, =bIu, =jIuƢ4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243436Gm7=GI BQ Om >#e]w,مwAyHB *IMb@Mb@Mb@ )Y/$?~jt rhy1(?CQ@ -@)@Iy@IIK4٢e A=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Yp% iEB^)?:r\@DU;R;85 1@|EZj!%FNOT Ignoring new targets: 465.90 m.Bj-_Jj-_E ProNav: ac range: 465.899994 m, nav range: 105.240219 m, bearing: 190.008159 deg, approach rate: 0.479134 m/s, LOS rate: -0.245447 deg/s, cmd heading: 330.391331 deg, new cmd heading: 330.079180 deg. 2jEr(EHeadingCmd: 5.760969 target range: 465.899994 and range: 465.90 m. jMY@jIjIjIiIhIhIhqhuȈBfyfyfyrfybf @ɛ)-<UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.495547 Y]?IY ][лɚaiaIec=Ieiûi =)Y@) $?IEF<*Fi 2Fi :Fi BFm 2JFi GE l= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748546G B) OE >]w,VwA6w@Y6䚹@60=96_=y6HP? ?u?`ݿ 9?`% @? ?ɨ6w@6';4y>9BB*IIJIJ@4٢R R^=9R TT VG٣TyZ8 Z> bNusing accuracyPremultiplier from config\f59^?f5Y^s% i^mEBdjj\@^D^2;^";^p5nIB n @nyEZj FNOT Ignoring new targets: 465.90 m.Bj ҎJj Ҏ ProNav: ac range: 465.899994 m, nav range: 105.414597 m, bearing: 189.916132 deg, approach rate: 0.473981 m/s, LOS rate: -0.249727 deg/s, cmd heading: 330.079192 deg, new cmd heading: 329.803570 deg. 2j%b+%HeadingCmd: 5.756158 target range: 465.899994 and range: 465.90 m. j%s2@j!j)j)i)h)h)h1h1f1f1f1rfbf@ɛ @B <  >I  !_ĻɚiI=I=@i=i=a <)=s2@)AE2g=*F!2F!:F)BF-`0JF)JmJiJiJiJm:JiJiJia}@a}@a}@a}@eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.999817 IzKLKs9KK K G +=G B O >]w,wAH"!>I  I"o*II"BI &I .I 6I"<:I" Fyޕ5Bޝ)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253123Mb@Mb@Mb@ )Y rh?:vMbyC+?Խ~@ @)Q@IZ@y@IIƕ4٢d ,=9Q > G٣lHGy > Nusing accuracyPremultiplier from config59?5Yx% iSEB^-?:"\@D;I;5 A@Zj)5FNOT Ignoring new targets: 465.90 m.Bj5]Jj5]E ProNav: ac range: 465.899994 m, nav range: 105.636765 m, bearing: 189.790036 deg, approach rate: 0.467301 m/s, LOS rate: -0.264669 deg/s, cmd heading: 329.803580 deg, new cmd heading: 329.426093 deg. 2jE5MHeadingCmd: 5.749570 target range: 465.899994 and range: 465.90 m. jMz@jQjQjQiQhQhQhYh]BfYfYfYrfabfe @ɛ -F]< 1=h>I9 EfɚAiAIEh=IMiM۽iMV=)Uz@)QEd=e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504310*FE ?2FI :FI BFM _0JFQ $?I ,iGr<GaBiO?v>]w,n0wAyz'Bz)III4٢s 4=9Q %>!! %G٣!y) -> 5Nusing accuracyPremultiplier from config1=595z?=5Y5}% i5;EBAAE\@5D5:5:55Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:02:06.1154 TRx dataTimestamp_ set to:1736373727.460672checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756586HB @vEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 465.90 m.BjFJj%F5 ProNav: ac range: 465.899994 m, nav range: 105.848846 m, bearing: 189.670427 deg, approach rate: 0.451312 m/s, LOS rate: -0.254019 deg/s, cmd heading: 329.426089 deg, new cmd heading: 329.067986 deg. 2j5T.=HeadingCmd: 5.743320 target range: 465.899994 and range: 465.90 m. j=Gɷ@j9jAjAiAhAhihihififqfqrfqbfu x@ɛ!%]< !->I) -/ɚ)i)I- =I54 i5Ui5%=)5Gɷ@)9EE*E"EJKm3 KKK"KJUJUJQJQJU|:JUK:JQJQ*F ?2F :F BF JF = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.007554G w= e $?Ia G B! Om >zK 2KK +9K K K c]w,wAL@Y@_=9 A=yH z? ?igq?`޿`?ݺ@h??ɨL@&;y=B=)IIeIe4٢| D=9QQ ]G٣]mHGye? > Nusing accuracyPremultiplier from config59?5Yc% iEB'ZHRH?AH1I1 I5C*II5mBI1&I1.I16I5<:I5 F \@DZ=r=5GB Ē@sEZj)5FNOT Ignoring new targets: 465.90 m.Bj5+Jj5+e ProNav: ac range: 465.899994 m, nav range: 106.055626 m, bearing: 189.549725 deg, approach rate: 0.435707 m/s, LOS rate: -0.253836 deg/s, cmd heading: 329.067996 deg, new cmd heading: 328.706600 deg. 2jm4.mHeadingCmd: 5.737012 target range: 465.899994 and range: 465.90 m. jm@jqjqjqiqhqhqhyhyfyfyWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:02:06.1154 LVL= 18016, 32753, 24210, 32755, AGC= 67, IDX= 416, 0.32,-2.539, 1.752, 2.008, 2.603, PHS= 1.229,-0.804,-0.597, RAW= 95.3, 1.8, CAL= 104.2, -0.9, ROT= 45.8, 0.9 Ygot valid direction response: 22:02:06.1154 LVL= 18016, 32753, 24210, 32755, AGC= 67, IDX= 416, 0.32,-2.539, 1.752, 2.008, 2.603, PHS= 1.229,-0.804,-0.597, RAW= 95.3, 1.8, CAL= 104.2, -0.9, ROT= 45.8, 0.9 %PDAT read: Bearing 45.8, 0.9 (Local) %~Local bearing/azimuth received: Bearing 45.8, 0.9 (Local) 5DAT read: Range 10 to 50 : 464.3 m (Round-trip 619.1 ms) speed 0.4 m/s 5,DAT read: user:2240> fyrf9bfE6@ɛ"J< ;=隕[>I ɚiIC=I iTi <)@)BDAT read: Tx time:22:02:07.2421 $Ping request sent.U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:22:02:07.2414 Z^w,xA^ı@Y^jԸ@^f=9^F=y^H ???>o?@d ߿ ?Ż֬? ?ɨ^ı@^ˆ;^CyfBf)I pIp-Mb@Mb@Mb@))) )))Y-K7?y&1I +y-I,?-`役-94-@ -@)-@I-@)y-z@IeIe4٢/ ;=9;Q > G٣y > Nusing accuracyPremultiplier from config59@?5Y% iEB.?%:%+%\@D:<:<5I M@IkҶ?kM;o& k kwA:k&CBkCZkc\@"a| MX4@R|@@UHp?Bѻ?Jk/@@Rk+*bՁG)b ߳,OŸ|@fP%9V?"ke*kF8k(?k ' 2kDkkkk|BkS@  addTargetRange:: Added new target pos. range: 464.299988 m, deltaT: 4.284591 s, deltaX: -1.600006 m, approachRate: -0.373433 m/s, rangeRepo size: 4 M Added new target pos. range: 464.299988 m, bearing: 197.302938 deg, lat: 36.899698 deg, lon: -122.121522 deg, deltaT: 4.284591 s, deltaX: -1.600006 m, approachRate: -0.373433 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 464.30 m.BjUJjQe ProNav: ac range: 464.299988 m, nav range: 106.242928 m, bearing: 189.437790 deg, approach rate: 0.000000 m/s, LOS rate: -0.253836 deg/s, cmd heading: 328.706597 deg, new cmd heading: 328.403411 deg. 2jHeadingCmd: 5.731721 target range: 464.299988 and range: 464.30 m. jBj@jjjihhhhƈBfffrf}@bfX?ɛ%k< !%>I) -ɚ)i)I- =I5, i5`i5<)5Bj@)9*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gr<G?G>GBO>u ^w,ڪ'xA:@Y:@:Ii=9:E=y:H`_? ~?a?H߿p?@@6%?j?ɨ:@:Q;:CyrBr)III#4٢-c -d=95:Q 5>99 EG٣AyE,L M> ]Nusing accuracyPremultiplier from configQe59U?m5YU% iUDBim,u\@U DUMq;Ug;U-5EB w@pEZjFNOT Ignoring new targets: 464.30 m.Bj;Jj; ProNav: ac range: 464.299988 m, nav range: 106.403252 m, bearing: 189.341657 deg, approach rate: 0.482554 m/s, LOS rate: -0.288911 deg/s, cmd heading: 328.403418 deg, new cmd heading: 328.115456 deg. 2jFFHeadingCmd: 5.726695 target range: 464.299988 and range: 464.30 m. jA@jjjihhhhff f JJJJJ,:Jq:JJrfqbfu?ɛv@< 隽>I ɚiI^Z=I)vi|i=^<)A@)%Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I*F?2F:FBF?5JFzKJK59KK K %+))))&#" =S_A- GHn<H) I)  I- $*II- TBI) &I) .I) 6I- I<:I-  FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.[^w,AxA:w@Y:{@:Gj=9:=y:H ??`K? ߿?dD@%??ɨ:w@:L3;:Cy^ B^)IMMb@Mb@Mb@III I)IYMuV?Mb~jtxyMr(?MMĻI M@)M@IMZ@IyIIeIed4٢} h }F=9}:Q }> G٣nHGyK > Nusing accuracyPremultiplier from config590 ?5YK% iDB**?:S(\@D;A;Ķ5 @ZjFNOT Ignoring new targets: 464.30 m.BjYJjY ProNav: ac range: 464.299988 m, nav range: 106.589058 m, bearing: 189.234601 deg, approach rate: 0.460115 m/s, LOS rate: -0.264642 deg/s, cmd heading: 328.115458 deg, new cmd heading: 327.794853 deg. 2j5HeadingCmd: 5.721099 target range: 464.299988 and range: 464.30 m. j?@jjjihhhhBfffrfbfU?ɛ5?B=|< 9=F>I9 =Qwɚ9iAIEG=IEiMiM<)M?@)i%Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IEQ*F?2F:FBF1JFG +V<G  Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >`^w,^xA6`@Y6 p@6Uo=969=y6H?K?8DN? ߿Ջ?9 @??ɨ6`@64;6CyTT VG٣TyZWϻ Z> bNusing accuracyPremultiplier from config\b59^E?f5Y^% i^DBdf)f\@^D^:^ :^5jCB j@noEzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 464.30 m.Bj NJj N ProNav: ac range: 464.299988 m, nav range: 106.784554 m, bearing: 189.121986 deg, approach rate: 0.450996 m/s, LOS rate: -0.259321 deg/s, cmd heading: 327.794848 deg, new cmd heading: 327.457624 deg. 2j%1-HeadingCmd: 5.715214 target range: 464.299988 and range: 464.30 m. j-@j)j)j)i)h1h1h1h1f9fAfArfAbfEl?ɛ  <  @>I  Kaɚi1I5L=I=fi=IJi=D =)=@)AE5;6=*F?2F:FBF0JFJJJJJ|:J^:JJuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode. IG- <G B O >zK =NK +9K K K ^w,xxAHI I*IIEBI&I.I6Ip<:I3 F)q yE.~GevAq YvAyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976131@ BU@YIe@Xx=9=yHŴ??^?`߿(?*2"I??ɨU@L;騙y B)IAA@ Mb@Mb@Mb@ )Yw/?ktMbPy&? @ @)@I@iIIW4٢$ӻ =9{;Q >   G٣ y: > %Nusing accuracyPremultiplier from config%59_6?-5Y% iDB-[(?-:-&-\@(Dw;;V55BB =@=lEZjaeFNOT Ignoring new targets: 464.30 m.BjeiJjmiu ProNav: ac range: 464.299988 m, nav range: 107.032684 m, bearing: 188.982432 deg, approach rate: 0.453133 m/s, LOS rate: -0.254259 deg/s, cmd heading: 327.457628 deg, new cmd heading: 327.039947 deg. 2j}~.HeadingCmd: 5.707924 target range: 464.299988 and range: 464.30 m. jP@jjjihhhhfffrfbf` @ɛM>BMn< IM>II UEɚQiQIU8=I}XDi}ii}W=)}P@) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229193E C;=  $?I -i*FQ 2FQ :FQ BFU 0JFQ Gu7 =G}?G}>GQBYO?'^w,6xARWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.479914ybBf)IInIn4٢v6 v9=9vQ z>xx zG٣zoHGy~ ~> Nusing accuracyPremultiplier from config 59I? 5YJ% iDB\@1Dv:a:15 @ZjIMFNOT Ignoring new targets: 464.30 m.BjUlJjUle ProNav: ac range: 464.299988 m, nav range: 107.232681 m, bearing: 188.870682 deg, approach rate: 0.452793 m/s, LOS rate: -0.252530 deg/s, cmd heading: 327.039949 deg, new cmd heading: 326.705328 deg. 2jeO-mHeadingCmd: 5.702084 target range: 464.299988 and range: 464.30 m. jmxw@jijijiiihqhqhhfffrfbf%`Ҋ@ɛIM8< Qu>Iq u.ɚqiyI}=I}i䦻iCZ3=)xw@)EE*E"E*F2F:FBF0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.733805 IzK KK s9K K  K )=Q^`chnG s=G B O >z-^w,XxAH">I I*II:BI&I.I6I7<:I FBIJIRIZIbIjI34@YqC@Hz=9T=yH?@!?Tf?vq? A? ?ɨ4@_;騡yB)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985022]] UMb@Mb@Mb@QQQ Q)QYUMb?QyU#?UuUQ U-@)U@IU@QyUG@IIQ4٢ =9dz;Q > G٣y > Nusing accuracyPremultiplier from config59a?5Y% ivDB#?:]\@=D;;5@B Г@jEZjFNOT Ignoring new targets: 464.30 m.BjpJjp ProNav: ac range: 464.299988 m, nav range: 107.484100 m, bearing: 188.739973 deg, approach rate: 0.443110 m/s, LOS rate: -0.229828 deg/s, cmd heading: 326.705324 deg, new cmd heading: 326.314120 deg. 2jHeadingCmd: 5.695256 target range: 464.299988 and range: 464.30 m. j?@jjjihhhhBfffrfbf@ɛM=BMީ< IM>II uɚqiyI}Q=IiEi) ;=)?@)*Fe?2Fi:FiBFm1JFiJ J J /J J J h:J (N3J J 5^w,9 xA6O'@Y66@6[==96bR=y6Ht? ,?|Bd?@e `$j? ݾ$@P?5?ɨ6O'@64;4yNBN)IIVIVn4٢bT b=9f:Q j?hh nG٣lynJ n? rNusing accuracyPremultiplier from configpv59rwo?v5Yr% irgDBxzz\@rCDr ;r ;r5| ~S@Zj!-FNOT Ignoring new targets: 464.30 m.Bj5Jj5E ProNav: ac range: 464.299988 m, nav range: 107.626373 m, bearing: 188.666174 deg, approach rate: 0.484951 m/s, LOS rate: -0.251219 deg/s, cmd heading: 326.314118 deg, new cmd heading: 326.093014 deg. 2jEh,UHeadingCmd: 5.691397 target range: 464.299988 and range: 464.30 m. jU@jQjYjYiYhYhYhahafafafarfibfm 7G @ɛI ɚiIZ=Iwi]ҟi C=)@)*F?2F:FBF_0JFG}/7=GGrAWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:02:10.2638 TRx dataTimestamp_ set to:1736373731.494099checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491347G9BAOm5>(;^w,xA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739921 DID@Y@'=9J=yH ? HX?Ba?`&9wR?B~ܯ??ɨ@I%;騁yB)III{4٢ Ѽ 8=9 Q  >    G٣ pHGyi u> Nusing accuracyPremultiplier from configy59}I?5Y}-% i}RDBa \@}LD}:}:}5?B @gEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.30 m.BjJj ProNav: ac range: 464.299988 m, nav range: 107.833412 m, bearing: 188.557938 deg, approach rate: 0.451017 m/s, LOS rate: -0.235331 deg/s, cmd heading: 326.093011 deg, new cmd heading: 325.768930 deg. 2j!%HeadingCmd: 5.685740 target range: 464.299988 and range: 464.30 m. j%@j!j!j!i!h)h)hIhQfQfQfQrfQbf]@ɛ;B%ذ<zK-CMK-h9K)K- K-wy| !m>Ii mg^ٺɚqiqIuG=I$ii?=)@)HAIA IE)IIE0BIA&IA.IA6IE&<:IE F*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 22:02:10.2638 LVL= 13728, 29969, 19698, 29043, AGC= 66, IDX= 432, 0.24, 1.967, 0.112, 0.307, 0.881, PHS= 1.175,-0.722,-0.577, RAW= 93.9, 1.4, CAL= 102.4, -1.7, ROT= 47.6, 1.7 uYgot valid direction response: 22:02:10.2638 LVL= 13728, 29969, 19698, 29043, AGC= 66, IDX= 432, 0.24, 1.967, 0.112, 0.307, 0.881, PHS= 1.175,-0.722,-0.577, RAW= 93.9, 1.4, CAL= 102.4, -1.7, ROT= 47.6, 1.7 }PDAT read: Bearing 47.6, 1.7 (Local) }~Local bearing/azimuth received: Bearing 47.6, 1.7 (Local) DAT read: Range 10 to 50 : 463.1 m (Round-trip 617.5 ms) speed 0.2 m/s ,DAT read: user:2241> BDAT read: Tx time:22:02:11.3921 $Ping request sent.>Ǥ?~?yC5u L)sqIBiff?8FM?+< ?)IȭT?i<>Ǥ?~?y )Ii )IiNB^w,yAyeBe)I)i iuAqJ}JyJ}0JyJ}:JyJ}ـ3JyJ}<J}<JyJyEMb@Mb@Mb@AAA A)AYEx&1?~jtyEA ?EDA u$?Iu.i}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:02:11.3914 EA A)EI@IAAyE=@IIn4٢2 /=9Q  >   G٣y > mNusing accuracyPremultiplier from configam59e!?u5Ye% ie=DBu ?u:uu\@eUDe;e;e5}>B )@dEkEsX?kEt_:& kA kEDxA:kECBkECZkEu[@"E2K+_\62@b%)|@EgT>>Ǥ?~?JkE3@RkE*E[WxB@Lb%|@E_NtC?"kE+*kEkEY?kEV+& 2kEDkAkAkAkEBkER@e addTargetRange:: Added new target pos. range: 463.100006 m, deltaT: 4.031171 s, deltaX: -1.199982 m, approachRate: -0.297676 m/s, rangeRepo size: 4 u Added new target pos. range: 463.100006 m, bearing: 196.468184 deg, lat: 36.899698 deg, lon: -122.121522 deg, deltaT: 4.031171 s, deltaX: -1.199982 m, approachRate: -0.297676 m/s, posRepo size: 4 Zjq}FNOT Ignoring new targets: 463.10 m.Bj}Jj ProNav: ac range: 463.100006 m, nav range: 108.042007 m, bearing: 188.453203 deg, approach rate: 0.000000 m/s, LOS rate: -0.235331 deg/s, cmd heading: 325.768932 deg, new cmd heading: 325.429449 deg. 2jHeadingCmd: 5.679815 target range: 463.100006 and range: 463.10 m. j @jjjihhhhBfffrf|@bf g?ɛ:B< 隍԰>I !ɚiI=IyvimSi`V=) @)*Fu?2Fq:FqBFqJFq% Will construct direction to contact in vehicle frame from tetrahedron phase data.G= Г>=G B) OE >޵H^w,$yAZ@YZc@Zu=9Z=yZH\???? O|.?^@M ??ɨZ@Zt;ZCyfBf)IIrfIr44٢v!* zq=9z5Q z?|| ~G٣|y  ? Nusing accuracyPremultiplier from config59?5Y% i/DB!%^%\@\D;;5-=B 5@5fEZjQ]FNOT Ignoring new targets: 463.10 m.Bj]Jjem ProNav: ac range: 463.100006 m, nav range: 108.193115 m, bearing: 188.376251 deg, approach rate: 0.490556 m/s, LOS rate: -0.249465 deg/s, cmd heading: 325.429445 deg, new cmd heading: 325.198915 deg. 2ju4+uHeadingCmd: 5.675792 target range: 463.100006 and range: 463.10 m. ju@jyjyjyiyhhhhfffrfbf`?ɛw< S>I UɚiI%?=I&~i픻i9?=)@)*F?2F:FBF`0JFGm.H=Gu ?Gu?G)B1OM1> m$?IqWill construct direction to contact in vehicle frame from tetrahedron phase data.zKm 2OKm 9Ki Km  Km Hu #>Iq  Iu )IIu !BIq &Iq .Iq 6Iu n<:Iu 3 FyN^w,7>yA~Will construct direction to contact in vehicle frame from tetrahedron phase data.y5։B5)I-only read 0 of 1 data item for water mass range. Device response is::WD, +0.0 +0.00, +0.00, 20.00,627.26  @ @ @  @ I I ̍4٢-;b -,=9-Q ->11 5G٣5qHGy= => EbBottom track data is 0.5 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAM59Eع?M5YE;% iEDBU+:QU:QU\@EfDE'8;Eh>E5]II M<XɚIiIIM=IU;iU'iUX=)]q@)Y*F?2F:FBF_0JFJJJ1JJ,:J:J3JJ<J<Jn;Jn; qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.G R`U=G B O >?U^w,EXyAB9H@YBW@Bi=9B!=yBH`,? (?5T?`2 S,` ? g?ɨB9H@BL;BCyNBNp)IiRR=IR< Va=Va=IVyIVxV4٢b b|=9bqQ b ?dd fG٣dyfS j ? vbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configlv59n?z5Yne% in DBz :xz]:zL!~\@nlDn[;nFM?n5 @Zj)5FNOT Ignoring new targets: 463.10 m.Bj=eJj=eM ProNav: ac range: 463.100006 m, nav range: 108.552849 m, bearing: 188.192609 deg, approach rate: 0.483204 m/s, LOS rate: -0.248987 deg/s, cmd heading: 324.874478 deg, new cmd heading: 324.648933 deg. 2jM*UHeadingCmd: 5.666193 target range: 463.100006 and range: 463.10 m. jUtQ@jQjQjQiQhYhYhihifififirfqbfuv?ɛ7BP!< 隥>I !.ɚiIF=I8i̍i,-9=)tQ@)*Fq2Fq:FqBFuo1JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.GW=GiBO>*J "J a= m $?Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.'[^w,qyAV)@YV8@V@i=9V%=yVH@?v?Ј6Pj?.3 vr?,?ɨV)@V;VCy``InIn̍4٢vj: vH=9v9Q z>xx zG٣xy~K ~>  bBottom track data is 1.2 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config59?5Yd% iCB93:G"\@tDX%;Ś?5%:B %@%`EZjQ]FNOT Ignoring new targets: 463.10 m.BjeJjeu ProNav: ac range: 463.100006 m, nav range: 108.735481 m, bearing: 188.098074 deg, approach rate: 0.446698 m/s, LOS rate: -0.230835 deg/s, cmd heading: 324.648945 deg, new cmd heading: 324.365817 deg. 2juk}HeadingCmd: 5.661252 target range: 463.100006 and range: 463.10 m. j(@jjjihhhhfffrfbfY?ɛ=6BEq< IM`>II uFɚqiqIu3=I} 7i},i}1B=)(@)zKu OKuh9KqKu KuHBKpA:KpA*F 2F :F BF`5JFH%>I I)II BI+ =&I.I6I8<:I FG;X7=GBO]T>%Will construct direction to contact in vehicle frame from tetrahedron phase data.b^w,@yAF1@YF@F(e=9F=yFH?(?@"?κ@ ??ɨF1@FWG;FCynBrg)I m m mm mm  m m uMb@Mb@Mb@qqq q)qJJJ0JJJ:Jـ3JJJJu;Ju; IYu)\(?&1MbyuG!?uPuuA u@)u`@Iu@qyup@I-I-E4٢]A  ]5=9ewQ e>aa mG٣mrHGym*T m>uWill construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59x?5Y% iCBT:!?:$\@~D>;=;5  @B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 463.10 m.BjMJjU] ProNav: ac range: 463.100006 m, nav range: 108.938896 m, bearing: 187.991428 deg, approach rate: 0.439752 m/s, LOS rate: -0.230122 deg/s, cmd heading: 324.365820 deg, new cmd heading: 324.046483 deg. 2jeeHeadingCmd: 5.655678 target range: 463.100006 and range: 463.10 m. jeQ@jijijiiihhhhBfffrfbf@ɛ4BM< 隭1>I lHɚiIm=IJ i'iWA=)Q@)*F]?2FY:FYBFe2JFa- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- A- T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.G 9=GY Bi O >Vh^w,VyA2eѯ@Y2@2b=92Y=y2H`? H?TC 1"?Ba>`H?`c?ɨ2eѯ@2;2CyNBNP)I)P PTTIZIZ4٢bν bh=9fQ f>dh jG٣hyjb j> rNusing accuracyPremultiplier from configlr59n5?v5Yni% inCBtv%v\@nDnv:n:n5z9B z@]EZjFNOT Ignoring new targets: 463.10 m.BjJj ProNav: ac range: 463.100006 m, nav range: 109.093826 m, bearing: 187.909806 deg, approach rate: 0.428865 m/s, LOS rate: -0.225619 deg/s, cmd heading: 324.046495 deg, new cmd heading: 323.801978 deg. 2j%HeadingCmd: 5.651411 target range: 463.100006 and range: 463.10 m. j%[ش@j!j!j)i)h)h)h9h9f9fAfArfIbfM@S@ɛ3B< 隭lh>I \T ɚiIIM=IU!i]+i]g?=)][ش@)Y $?I*Fe?2Fa:FaBFe4JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757327G @A=zK OK 9K K  K  Gi B H I C I )II BI * =&I .I 6I -<:I  F ~G |uA % Y% |uAy- kBO] >m)o^w,ᗿyAnWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011223@Y@k^=9d=yH?sm?o[BWDZ?`Z+`ɫ!.??ɨ@Y;騍CyB;)IMb@Mb@Mb@ )YS㥛?Q뱿y&1y$?\`eA )@I$@y@I I 4٢، )=9%rQ %>!) -G٣)y-7 -> =Nusing accuracyPremultiplier from config1e595?e5Y5% i5CBe%?e:m.m\@5D5;5;55q u)@qZjFNOT Ignoring new targets: 463.10 m.BjMJjM ProNav: ac range: 463.100006 m, nav range: 109.307121 m, bearing: 187.790587 deg, approach rate: 0.455444 m/s, LOS rate: -0.254068 deg/s, cmd heading: 323.801975 deg, new cmd heading: 323.445021 deg. 2j].HeadingCmd: 5.645181 target range: 463.100006 and range: 463.10 m. j%R@j!j!j!i!h!h!h)h-ވBf)f)f1rf1bf5 @ɛ1BR< 隥I>I < 9ɚiI=IDT#i ~iu~C=)R@)*Fi2Fi:FqBFu4JFq $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259657JJJJJ:J":JJJ3<J4<J7{;J8{;G N@=Gi By O >v^w,wNyABdq@YBҀ@BW=9BM=yBH??m@5?`J빿`'??ɨBdq@B;BCyJBJ )IIVIVQ4٢Zz  Z}=9^Q ^ ?`d fG٣fsHGyf f ? nNusing accuracyPremultiplier from confighr59jD?r5Yj% ijCBpr/r\@jDj;j;j5v8B zv@zZEZjFNOT Ignoring new targets: 463.10 m.Bj%Jj%5 ProNav: ac range: 463.100006 m, nav range: 109.449593 m, bearing: 187.710354 deg, approach rate: 0.451114 m/s, LOS rate: -0.253714 deg/s, cmd heading: 323.445029 deg, new cmd heading: 323.204645 deg. 2j5.=HeadingCmd: 5.640985 target range: 463.100006 and range: 463.10 m. j=@j9j9j9i9hAhIhIhIfIfQfQrfQbfUQ @ɛ0BR< 隅>I n9ɚiI=I9g$ioyi"5;=)@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511796G@A=GBO > I /i Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:02:14.4121  TRx dataTimestamp_ set to:1736373735.776612 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7646582|^w,)yA68A@Y6P@6JR=968=y6H ?୾?8Dte`|?@`@??ɨ68A@6*;6Cy>{BB)IiF=IFR=IJIJ̍4٢ ==9RQ > G٣yo_ > Nusing accuracyPremultiplier from config59]/?5Y% iCB21\@D;B;57B @\EZjFNOT Ignoring new targets: 463.10 m.BjԍJjԍ  ProNav: ac range: 463.100006 m, nav range: 109.638748 m, bearing: 187.603081 deg, approach rate: 0.438045 m/s, LOS rate: -0.247993 deg/s, cmd heading: 323.204633 deg, new cmd heading: 322.883374 deg. 2j 1*HeadingCmd: 5.635378 target range: 463.100006 and range: 463.10 m. jU@jjjihhh!h!f!f!f)rf)bf5@ɛ .B <&(<  >I1 59ɚ1i1I55=IE%iMcriM;=)MU@)YzKKKs9KK KHqIuC Iu)IIuЉBIu+ =&Iq.Iq6Iu<:Iu FBIIJIIRIIZIM+ =bIM+ =jIMo*5*F?2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019585G% 9=G B) OU >^w, zAyjmBn)I ]$?IYMb@Mb@Mb@ )YZd;O?RQ~jty~*?½A @)v@I;@y\@IIK4٢ G=9Q > G٣y > Nusing accuracyPremultiplier from config59@?5Y% iwCBJ,?:9\@D;<;&56B @YEZj%FNOT Ignoring new targets: 463.10 m.Bj%Jj%5 ProNav: ac range: 463.100006 m, nav range: 109.818726 m, bearing: 187.494617 deg, approach rate: 0.437931 m/s, LOS rate: -0.263490 deg/s, cmd heading: 322.883369 deg, new cmd heading: 322.558512 deg. 2j=4=HeadingCmd: 5.629708 target range: 463.100006 and range: 463.10 m. j=&@jAjAjAiAhAhAMWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:02:14.4121 LVL= 14112, 24465, 18914, 24547, AGC= 67, IDX= 430, 0.13, 0.609,-1.229,-1.197,-0.629, PHS= 1.326,-0.553,-0.571, RAW= 89.5, -2.2, CAL= 97.5, -8.0, ROT= 52.5, 8.0 Ygot valid direction response: 22:02:14.4121 LVL= 14112, 24465, 18914, 24547, AGC= 67, IDX= 430, 0.13, 0.609,-1.229,-1.197,-0.629, PHS= 1.326,-0.553,-0.571, RAW= 89.5, -2.2, CAL= 97.5, -8.0, ROT= 52.5, 8.0 PDAT read: Bearing 52.5, 8.0 (Local) ~Local bearing/azimuth received: Bearing 52.5, 8.0 (Local) DAT read: Range 10 to 50 : 461.8 m (Round-trip 615.8 ms) speed 0.3 m/s hhɈBfffrfbf3@,DAT read: user:2242> BDAT read: Tx time:22:02:15.4921 $Ping request sent.I u:ɚiI=ICJ'ijiQ=)&@)Fpublishing direction and range infoQ9U&ݕ)N0?[?yUCQU 7U_ UI)U_IUCiU^?Uh U-U?UnF U-?)U5IUj?iU5>QQU_?5E^w,&zA6Zخ@Y6@6E=96Ke=y6Hg?=?=`@?C?F `*?1?ɨ6Zخ@6H;6CyB^BB(IIJIJd4٢j΢ n[=9nc Q r>pt vG٣vtHGyz z> ~Nusing accuracyPremultiplier from config|59~ZP?5Y~% i~`CB < \@~D~e:~:~l55B m@VEk͍M?ku-$ k kzA:kCBkOCZkJ?"B33Ynh9J@幮|@&ݕ)N0?[?JkXj?RkLz*/rK"@0!d"@5RT|@+'H?4?H?"kA*k[Ak.S?k8~$ 2kDk(?k ' kDk%NBkV@ addTargetRange:: Added new target pos. range: 461.799988 m, deltaT: 4.283891 s, deltaX: -1.300018 m, approachRate: -0.303467 m/s, rangeRepo size: 4  Added new target pos. range: 461.799988 m, bearing: 45.416863 deg, lat: 36.900227 deg, lon: -122.121488 deg, deltaT: 4.283891 s, deltaX: -1.300018 m, approachRate: -0.303467 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 461.80 m.BjJj ProNav: ac range: 461.799988 m, nav range: 51.536179 m, bearing: 192.421108 deg, approach rate: 0.000000 m/s, LOS rate: -0.263490 deg/s, cmd heading: 322.558525 deg, new cmd heading: 322.252276 deg. 2j HeadingCmd: 5.624363 target range: 461.799988 and range: 461.80 m. j @jjjihhh!h!f)f)f)rf5|@bf ?ɛ+Bk; =I #N:ɚiI3=I%(i%di%2=)%@)! ]$?IYJJJJJ,:J:JJa@a@a@a@*F?2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.GO=GaBiOZ>zKe k3IKe 9Ka Ke  Ke Hu &>Iu C Iu \)IIu BIq &Iq .Iq 6Iu 3<:Iu F$9^w,@zA^Will construct direction to contact in vehicle frame from tetrahedron phase data.yUB(I) Mb@Mb@Mb@ )YB`"?"~j/$y.?S㽹hA @)I@IQ@y@II%x4٢ -=9Q > G٣y > Nusing accuracyPremultiplier from config596d?5Y% iBCB91?:A\@D";< ;5  @B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 461.80 m.Bj%f-Jj-f-= ProNav: ac range: 461.799988 m, nav range: 51.719135 m, bearing: 192.124005 deg, approach rate: 0.374743 m/s, LOS rate: -0.606389 deg/s, cmd heading: 322.252287 deg, new cmd heading: 321.364206 deg. 2j=мEHeadingCmd: 5.608863 target range: 461.799988 and range: 461.80 m. jM{@jIjIjIiIhIhQhQhUBfQfYfYrfYbf]1?ɛ)B ; 隍<=I [3):ɚiI: =I],iip=){@)*F?2F:FBF0JF !I!]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.G R=G B O >V^w,ZzA>e@Y>u@>1z1=9>=y>H'?+n?1(@b?e@- ??ɨ>e@>~;>CyJDBJ(IIVIVq4٢^ν ^v=9b}jQ b?`` bG٣dyf^, f? jNusing accuracyPremultiplier from confighn59jr?r5Yj% ij-CBprbEr\@jDj;j4;jp5v3B z@zSEZjFNOT Ignoring new targets: 461.80 m.BjGJj%G5 ProNav: ac range: 461.799988 m, nav range: 51.846813 m, bearing: 191.913010 deg, approach rate: 0.423890 m/s, LOS rate: -0.698777 deg/s, cmd heading: 321.364198 deg, new cmd heading: 320.732798 deg. 2j5=EHeadingCmd: 5.597843 target range: 461.799988 and range: 461.80 m. jE!@jAjAjAiAhAhIhIhIfIfQfQrfQbfU`?ɛ}'BR#; 隅f=I 2:ɚiI =Ir/ii^=)!@)*F2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240239G X=GBO!> - $?I) J J J J J :J J J } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490983т^w,ytzA>^/@Y>>@>Y+=9>z=y>H@?|?`j ώ ?@)㷿@i`=?J?ɨ>^/@>c;>CyttI~I~ƕ4٢ E=9lQ > G٣uHGy% %> -Nusing accuracyPremultiplier from config)559-L?55Y-c% i-CB9=G=\@-D- ;- ;-5A E@AZjiuFNOT Ignoring new targets: 461.80 m.Bj}m4Jj}m4 ProNav: ac range: 461.799988 m, nav range: 52.005741 m, bearing: 191.649671 deg, approach rate: 0.381963 m/s, LOS rate: -0.630964 deg/s, cmd heading: 320.732788 deg, new cmd heading: 319.945239 deg. 2jؼHeadingCmd: 5.584098 target range: 461.799988 and range: 461.80 m. j@jjjihhhhfffrfbf@d?lJTimed out from 2025-01-08T21:52:17.6Zq6lfCompleted lineCaptureHoming:MicromodemComms:CheckIn16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkVCompleted lineCaptureHoming:MicromodemCommsɛ%B;; t=I -?:ɚiI!=IUg2iQiUpz=)U@)YjH bH H'>I I6)IIBI* =&I.I6I{<:IA FzK-BoHK-h9K)K- K-*FE?2FA:FABFE_0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745987G q=GGpAG B O >h^w,MzA2}@Y2@2(=92m=y2Hf?`G?@N 1?O`p?`?ɨ2}@2,;2Cy>>B>(IiB>IB> `I`Mb@Mb@Mb@ )YI +?Q~jty94?DzA @)@I~@y@IeIe4٢}&Ǽ D=9κQ > G٣y[ > Nusing accuracyPremultiplier from config59?5Y% iBB6?:J\@D;;51B .@REZjFNOT Ignoring new targets: 461.80 m.BjZ;JjZ; ProNav: ac range: 461.799988 m, nav range: 52.168301 m, bearing: 191.375419 deg, approach rate: 0.389570 m/s, LOS rate: -0.655189 deg/s, cmd heading: 319.945240 deg, new cmd heading: 319.125106 deg. 2j༝HeadingCmd: 5.569784 target range: 461.799988 and range: 461.80 m. j;@jjjih h h h Bfffrfbf3@5%k%nAggregate::initialize lineCaptureHoming:MicromodemComms16% l%~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6%=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995074ɛU#BUs; Y]]=IY ]2K:ɚYiYI]C!=Ie|6iaim=)m;@)i*F=?2F9:FABFAJFAGU{=G) B9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247106 $?I O ?=^w,1zAJKـ3 K .KK"KJ2J2J0J0J2L:J2&:J0J0F̭@YF,ܴ@F*$=9Fմ=yFH?\?␿??)ؘ,?@H?ɨF̭@Ḟ;FCyR9BR(II^I^Q4٢f f=9f2Q f>hh nG٣lynK n> rNusing accuracyPremultiplier from configpv59r?v5Yr% irBBxzmLz\@rDrP ;r ;r>5| ~@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499043ZjFNOT Ignoring new targets: 461.80 m.Bj2Jj2 ProNav: ac range: 461.799988 m, nav range: 52.369484 m, bearing: 191.036366 deg, approach rate: 0.372656 m/s, LOS rate: -0.625619 deg/s, cmd heading: 319.125098 deg, new cmd heading: 318.111957 deg. 2jּHeadingCmd: 5.552101 target range: 461.799988 and range: 461.80 m. jЪ@jjjihhhhf!f!f!rf!bf%}o@ɛ Bpqx; 隕PJ=I Y:ɚiIC"=IQ(;iiX=)Ъ@)EEqA*Fe?2Fa:FaBFe4JFaGmqA GmrAH)>I I)II~BI&I.I6D6II<:I FzKUk3IKU9KQKU KUG-=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754909G B1 O >^w,жzA:@Y:i@:\H =9:ێ=y:H ? ?@6䑿 `e?@`?X?ɨ:@:k;:CyF8BF(IMb@Mb@Mb@ )YX9v?"~jMbpy3?S㽹A @)Ih@y@I5I5(4٢E EC=9E-Q E>II MG٣MvHGyUl U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]% i]BBe5?m:mKm\@]D];];] 5u0B u~@uOEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 461.80 m.BjAJjA ProNav: ac range: 461.799988 m, nav range: 52.533257 m, bearing: 190.766329 deg, approach rate: 0.411696 m/s, LOS rate: -0.676708 deg/s, cmd heading: 318.111962 deg, new cmd heading: 317.304433 deg. 2j5輝HeadingCmd: 5.538007 target range: 461.799988 and range: 461.80 m. j[7@jjjihhhQhUBfYfYfYrfYbfeǷ@ }$?I}0iɛBv; U=I Yd:ɚiIk"=I>ii̧=)[7@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004596*F?2F :F BF _0JF G:=GBOc> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255000\^w,2zA6O@Y6_@6g=96=y6H ?K?`w@C`wf?1Ҟ@ji??ɨ6O@6g;6CyBXX ZG٣Xy^n ^> bNusing accuracyPremultiplier from config`f59b?f5Yb& ibBBdf}Mj\@bDb:b:bA5l %8@!ZjamFNOT Ignoring new targets: 461.80 m.Bjm2Jju2 ProNav: ac range: 461.799988 m, nav range: 52.683376 m, bearing: 190.518062 deg, approach rate: 0.379533 m/s, LOS rate: -0.625878 deg/s, cmd heading: 317.304443 deg, new cmd heading: 316.561808 deg. 2jּHeadingCmd: 5.525046 target range: 461.799988 and range: 461.80 m. j-Ͱ@jjjihhhhfffrfbf @ɛ]B]"k; Y]=Ia eq:ɚaiaIe%#=IkBii=)-Ͱ@)*Fm?2Fi:FiBFiJFi yIyJJJJJJ:JJ=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:22:02:18.5110 ETRx dataTimestamp_ set to:1736373739.808724Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.508140G=G B O >)I I GG vAH *>I  I )II yBI ) =&I .I 6I <:I F - jY- vAy5 BC^w,emzAZ:@YZ@Za=zK^BoHK^9K\K^ K^ BKfqA:KfrA9Z=yZH X?@h?`_     G٣ y ! > Nusing accuracyPremultiplier from config%59(?%5YO & iBB!%O-\@D ;A;55/B 5@5LEZjQ]FNOT Ignoring new targets: 461.80 m.Bje=Jje=u ProNav: ac range: 461.799988 m, nav range: 52.844173 m, bearing: 190.250234 deg, approach rate: 0.400086 m/s, LOS rate: -0.664363 deg/s, cmd heading: 316.561810 deg, new cmd heading: 315.760828 deg. 2ju㼝}HeadingCmd: 5.511066 target range: 461.799988 and range: 461.80 m. j}Z@jyjyjyiyhyhhhfffrfbf@ɛeBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763623mʦ; o=I }:ɚ)i1I=#=I}Eiiź=)Z@)*F?2F:FBFJFGZ=GGrAGBO> u$?IyE Will construct direction to contact in vehicle frame from tetrahedron phase data.} DAT read: 22:02:18.5110 LVL= 14512, 26993, 18082, 27859, AGC= 65, IDX= 434,-0.32, 0.156,-1.486,-1.591,-0.882, PHS= 1.127,-0.557,-0.712, RAW= 85.6, 1.6, CAL= 91.9, -1.8, ROT= 58.1, 1.8  Ygot valid direction response: 22:02:18.5110 LVL= 14512, 26993, 18082, 27859, AGC= 65, IDX= 434,-0.32, 0.156,-1.486,-1.591,-0.882, PHS= 1.127,-0.557,-0.712, RAW= 85.6, 1.6, CAL= 91.9, -1.8, ROT= 58.1, 1.8  PDAT read: Bearing 58.1, 1.8 (Local)  ~Local bearing/azimuth received: Bearing 58.1, 1.8 (Local)  DAT read: Range 10 to 50 : 460.9 m (Round-trip 614.6 ms) speed 0.3 m/s  ,DAT read: user:2243>  BDAT read: Tx time:22:02:19.5922  $Ping request sent. ףp=?Mb`y1?̽A @)AI@y=@II4٢[= %!=9%Q %>)) -G٣-wHGy5 5> UNusing accuracyPremultiplier from configI]59M#?]5YM & iMBBe3?e:ePLe\@MDM;M;MS5-B Ӟ@k} >Q?k}1| ky k}{A:k}sCBk}CZk}?"}n  IG(U@a|$|@}.Yһ;qȀ?SXC?Jk}y@Rk}ۉ*}s@GQhM@I7|@}vP?g ?u?"k}nB*k}@@k}߫S?k} 2k}gDk}Y?k}V+& kyk}#Bk}XT@m addTargetRange:: Added new target pos. range: 460.899994 m, deltaT: 4.031834 s, deltaX: -0.899994 m, approachRate: -0.223222 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.խAiթJDAT read: TxSync time:22:02:19.5915  Added new target pos. range: 460.899994 m, bearing: 85.981772 deg, lat: 36.900334 deg, lon: -122.121464 deg, deltaT: 4.031834 s, deltaX: -0.899994 m, approachRate: -0.223222 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 460.90 m.BjJj- ProNav: ac range: 460.899994 m, nav range: 40.893974 m, bearing: 189.894889 deg, approach rate: 0.000000 m/s, LOS rate: -0.664363 deg/s, cmd heading: 315.760820 deg, new cmd heading: 314.690610 deg. 2j)5HeadingCmd: 5.492387 target range: 460.899994 and range: 460.90 m. j5@j1j1j1i1h9hYhaheʈBfafafirfm`f|@bfm@~?ɛB>;  =I %:ɚiI#$=IqJiiY=)@)*F?2F:FBFJF a Ia G ʯ=U Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >.^w, 5{AF n@YF}@F=9F=yFH ? ?W@?@y|ٱ??ɨF n@F;FCyfDBf(Iina=In= n=np=IrIrh4٢z-< zl=9~[Q ~?|| G٣yZ ? Nusing accuracyPremultiplier from config 59 ?5Y & i BBQ\@ D ; D; S5! %@)ZjFNOT Ignoring new targets: 460.90 m.Bj7qJj7q% ProNav: ac range: 460.899994 m, nav range: 41.026733 m, bearing: 189.613852 deg, approach rate: 0.399776 m/s, LOS rate: -0.843543 deg/s, cmd heading: 314.690611 deg, new cmd heading: 313.850291 deg. 2j%UHeadingCmd: 5.477721 target range: 460.899994 and range: 460.90 m. jU}I@jQjYjYiYhYhYhahafaffrfbf@3?ɛB3G< =I `b:ɚi I /n$=I 2NiiX==)}I@)H5+>I1 I5)II5~BI5* =&I1.I16I5x<:I5A FBIÜCJIÜCRIZI* =bI* =jI_*5*F?2F:FBFo0JFzKg%LKh9KK K   ""#RK?JK?G)=GBOm>]Will construct direction to contact in vehicle frame from tetrahedron phase data.^w,xN{A R$?ITy=BB=(IMb@Mb@Mb@ )YFx?+~jtx?y+?;A h@)hAIy@IIq4٢o0JJJJJ:J!:JJJ G٣y% %> -Nusing accuracyPremultiplier from config)559-?=5Y-6& i-BB=,?=:=MJ=\@-D-1;-_/;-)5E,B M@MIEWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZj 5FNOT Ignoring new targets: 460.90 m.Bj=XJj=Xm ProNav: ac range: 460.899994 m, nav range: 41.197922 m, bearing: 189.276620 deg, approach rate: 0.386500 m/s, LOS rate: -0.758217 deg/s, cmd heading: 313.850280 deg, new cmd heading: 312.842897 deg. 2jmuHeadingCmd: 5.460139 target range: 460.899994 and range: 460.90 m. juu@jqjqjyiyhyhyhhBfffrfbf@2?ɛBi; =I ʞ:ɚiIR$=I%/Ri!i%(=)%u@)i*F?2F:FBFx0JFGE b=GM ?GM >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.G! B) OE >1^w,h{Aj^@Yjnn@j*=9jq=yjH"P??`l>?@װ`G@5(?y?ɨj^@j>;jCyzEBz(IIIi4٢-P}< 5X=95"Q =>AA EG٣ExHGyM᳽ M> eNusing accuracyPremultiplier from configYe59]8 ?e5Y]#& i]BBimRm\@] D]a:]:]v!5q uk@yZjFNOT Ignoring new targets: 460.90 m.BjvjJjvj ProNav: ac range: 460.899994 m, nav range: 41.339417 m, bearing: 188.982049 deg, approach rate: 0.395199 m/s, LOS rate: -0.819926 deg/s, cmd heading: 312.842909 deg, new cmd heading: 311.962294 deg. 2j% %HeadingCmd: 5.444769 target range: 460.899994 and range: 460.90 m. j-;@j)j)j)i)h)h)h1h9f9f9f9rfAbfE Z?ɛ B::< \=I 4:ɚiI%=IlVii&=);@) I1i*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499020G=GBOf>H) I)  I- $)II- BI- ( =&I) .I) 6I- <:I- FzK= rMK= ]9K9 K= K=   ؙ^w,D{A6-@Y6"@6 =96]=y6H@R?@P?s@@ ?[3?_?ɨ6-@6}k;6CyBNBF(I)P PIZIZK4٢br4= bQ=9f;Q f>dd fG٣dyjAü j> nNusing accuracyPremultiplier from configlr59n/?r5Yn<$& inyBBtv"Uv\@n(Dns;n;n$5x zޝ@x-Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755585ZjamFNOT Ignoring new targets: 460.90 m.BjNIJjNI ProNav: ac range: 460.899994 m, nav range: 41.483685 m, bearing: 188.680104 deg, approach rate: 0.337532 m/s, LOS rate: -0.703976 deg/s, cmd heading: 311.962306 deg, new cmd heading: 311.059700 deg. 2j%񼝊UHeadingCmd: 5.429016 target range: 460.899994 and range: 460.90 m. jU@jQjQjQiQhYhYhYhYfafafarfabfej?ɛ Bv(< >I :ɚiIJs%=IѪZii=)@)*F?2F:FBF_5JF $?IJJJJJL:J:JJJ@ <JA <J t;J t;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003074G =G B O >&^w,(a{AJ@YJ@J =9JaH=yJH ?@S?{@L ?7u@ ?`M?ɨJ@Jۈ;JCyVQBV(IEMb@Mb@Mb@AAA A)AYE{Gz?&1~jtx?yE#?EPAEA E~@)AIE@AyE@IeIe4٢u~< }?=9}:Q }> G٣y > Nusing accuracyPremultiplier from config59??5Yv)& iqBB]$?: O\@1D;O;(5*B @FEZjFNOT Ignoring new targets: 460.90 m.BjIQ ]|:ɚYiYIeǽ%=IV^ii=)p6@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256519*F?2F:FBF4JFG}q=G9BAOew> q Iu 2i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507085B^w,:<{Ay}TB}(IBAII4٢Z< H=9Q > G٣yHGy > Nusing accuracyPremultiplier from config59LN?5Yx.& iiBB\@9D;G ;(,5Q Ud@YZjyFNOT Ignoring new targets: 460.90 m.BjEEJjEE ProNav: ac range: 460.899994 m, nav range: 41.793869 m, bearing: 188.076875 deg, approach rate: 0.358757 m/s, LOS rate: -0.689869 deg/s, cmd heading: 310.136050 deg, new cmd heading: 309.256921 deg. 2j켝HeadingCmd: 5.397552 target range: 460.899994 and range: 460.90 m. j@jjjihhhhfffrfbfZ@ɛBK< >I :ɚiI<&=Ibii=)@)H,>I I0)IIBI&I.I6I<:I F*Fu?2Fq:FqBFu_0JFqzK0(LKػ9KK K &A uq"l5 wocVH;4+%  MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762813G=G B O > ] $?IY ^w,<{A2^ة@Y2@2=92_=y2HJ?`U?QI? C?wo?@ ?ɨ2^ة@24;0y>IBB(IiJ>IJy G٣y > Nusing accuracyPremultiplier from config59\?5Y@3& idBB; ?:N\@AD;g;/5)B @EEJJJJJJ":JJJJJ7{;J8{;ZjFNOT Ignoring new targets: 460.90 m.BjcLJjcL ProNav: ac range: 460.899994 m, nav range: 41.940968 m, bearing: 187.798210 deg, approach rate: 0.378626 m/s, LOS rate: -0.714754 deg/s, cmd heading: 309.256923 deg, new cmd heading: 308.423922 deg. 2jCHeadingCmd: 5.383013 target range: 460.899994 and range: 460.90 m. jA@jj!j)i)h)h)h1h5 Bf1f1f1rf9bf= @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011642ɛB << l >I H:ɚ i I NW&=Iqfii.=)%A@)!*F?2F:FBFJFGJ=GaBOe>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263185C^w,{ARq@YR.@RC=9R<=yRH?;?m?3?Uc碿 ??ɨRq@R׈;PynQBn(IIvIv4٢= S=9h;Q  >    G٣ y > uNusing accuracyPremultiplier from configi}59m>k?}5Ym8& im_BByQ\@mIDmq+;mq+;m"35 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 460.90 m.BjuGJjuG ProNav: ac range: 460.899994 m, nav range: 42.084961 m, bearing: 187.521959 deg, approach rate: 0.364825 m/s, LOS rate: -0.697518 deg/s, cmd heading: 308.423913 deg, new cmd heading: 307.598056 deg. 2jY=HeadingCmd: 5.368599 target range: 460.899994 and range: 460.90 m. j˫@jjjihhhhfffrfbfA @ɛB%qR< !%R>I! %b:ɚ)i)I-֦&=I5U"ji9i=7=)=˫@)9 $?I*F2F:FBFf0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:02:22.6100 TRx dataTimestamp_ set to:1736373743.840743checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516254GW=GBO>ZH RH AAH I C I =)II BI &I .I 6I ><:I  F _w,|AzK.OK9KK K   #  $V#:@Y:#@:7=9:r %G٣%zHGy% %> -Nusing accuracyPremultiplier from config)559-Dy?55Y-<& i-YBB9=(U=]@-QD-q ;- ;-65E'B Eʝ@MBEZjFNOT Ignoring new targets: 460.90 m.Bj(BJj(B ProNav: ac range: 460.899994 m, nav range: 42.226463 m, bearing: 187.246359 deg, approach rate: 0.349787 m/s, LOS rate: -0.678984 deg/s, cmd heading: 307.598061 deg, new cmd heading: 306.774092 deg. 2jU輝mHeadingCmd: 5.354218 target range: 460.899994 and range: 460.90 m. jU@jjjihhhhfffrfbf@ɛB;< 隽>I  ;ɚiI'=Imii>=)U@) I*F?2F:FBF `0JFJJJJJ:J%:JJJ<J<JK;JL;Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:02:22.6100 LVL= 10992, 26417, 15730, 24371, AGC= 66, IDX= 424, 0.10, 1.032,-0.236,-0.684, 0.272, PHS= 0.848,-0.461,-0.959, RAW= 74.5, 7.1, CAL= 77.7, 9.2, ROT= 72.3, -9.2 Ygot valid direction response: 22:02:22.6100 LVL= 10992, 26417, 15730, 24371, AGC= 66, IDX= 424, 0.10, 1.032,-0.236,-0.684, 0.272, PHS= 0.848,-0.461,-0.959, RAW= 74.5, 7.1, CAL= 77.7, 9.2, ROT= 72.3, -9.2 PDAT read: Bearing 72.3, -9.2 (Local)  ~Local bearing/azimuth received: Bearing 72.3, -9.2 (Local)  DAT read: Range 10 to 50 : 460.2 m (Round-trip 613.6 ms) speed 0.0 m/s  ,DAT read: user:2244>  BDAT read: Tx time:22:02:23.6922  $Ping request sent. Iڵ?iڵl$ڱڱ۵qp,D?Tw)ǿ?)۵,KI۵}i۵)@۵y۱۱m :publishing transmit ping time m Fpublishing direction and range infoر9صUҥbȿ R?}J"?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵qp,D?Tw)ǿ?)۱I۱i۱۱۱۱G} 5 =GY Ba O >5_w,:|Abw@Yb槯@b=9bqq uG٣qy}*ټ }> Nusing accuracyPremultiplier from config597?5YB& iQBB)?:R]@[D;;:5Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:02:23.6915  &@k ?kY k k|A:kCBkCZk?"ŁHUߓe@!Uu/z@Uҥbȿ R?}J"?Jk)@Rky*tN@"d@,z@69>?dO([?U2?"k C*kwBk ?ka 2kCk߫S?k8~$ kkUAk?u addTargetRange:: Added new target pos. range: 460.200012 m, deltaT: 4.032268 s, deltaX: -0.699982 m, approachRate: -0.173595 m/s, rangeRepo size: 4  Added new target pos. range: 460.200012 m, bearing: 68.909702 deg, lat: 36.900734 deg, lon: -122.121259 deg, deltaT: 4.032268 s, deltaX: -0.699982 m, approachRate: -0.173595 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 460.20 m.BjJj ProNav: ac range: 460.200012 m, nav range: 13.352026 m, bearing: 79.685604 deg, approach rate: 0.000000 m/s, LOS rate: -0.678984 deg/s, cmd heading: 306.774094 deg, new cmd heading: 305.755797 deg. 2jHeadingCmd: 5.336445 target range: 460.200012 and range: 460.20 m. j)Ī@jjjihhhhBfffrf@3|@bf?ɛuB]?< 隝>I  ;ɚiIu'=I]riiR=))Ī@)*F?2F:FBFJF I} Will construct direction to contact in vehicle frame from tetrahedron phase data.G w=G B O >r _w,8|A2@Y2&@2A=92?O4BB(IIJIJi4٢RRɽ R{=9R*nQ R ?TT VG٣TyZF ^? bNusing accuracyPremultiplier from config\f59^ ?f5Y^TF& i^LBBdfVj]@^aD^m ;^ ;^=5n&B n@n?EZjFNOT Ignoring new targets: 460.20 m.BjQ=JjQ=%bG=5tAUAu ProNav: ac range: 460.200012 m, nav range: 13.470567 m, bearing: 80.332511 deg, approach rate: 0.368041 m/s, LOS rate: 1.990774 deg/s, cmd heading: 305.755795 deg, new cmd heading: 307.678675 deg.  Y5tAyBB2jȪ=HeadingCmd: 5.370006 target range: 460.200012 and range: 460.20 m. j׫@jjjihhhhffH->I I6)IIBI&I.I6IU<:I* Ffrfbf?ɛMBU~)0< QU=IQ UF!;ɚQiYI]'=ItqiFXi;=)׫@)E*F?2F:FBF.1JFzK"pMKKK KG  =uWill construct direction to contact in vehicle frame from tetrahedron phase data.GB)Omx> E $?IA gr_w,ΦR|A>,@Y>@>x=9>ҪH? m?q?hr?%獣? ?ɨ>,@>ۈ;>CyJ/BJ(I%Mb@Mb@Mb@!!! !)!Y%A`"?y&1Mb`?y!%`e%;%hA %3@)%AI%@!y%@=AA9I=I=(4٢Mڼ MA=9U:Q U>QY ]G٣]{HGy]U# e> uNusing accuracyPremultiplier from configiu59m(?}5YmZK& imCBB}!?}:}Y}]@miDm;m;mlA5 s@ZjFNOT Ignoring new targets: 460.20 m.BjR=JjR= ProNav: ac range: 460.200012 m, nav range: 13.631841 m, bearing: 81.160872 deg, approach rate: 0.395006 m/s, LOS rate: 2.004823 deg/s, cmd heading: 307.678685 deg, new cmd heading: 310.132782 deg. 2j=HeadingCmd: 5.412838 target range: 460.200012 and range: 460.20 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. j5@jjjihhhhBfqfqfqrfybf}r?ɛ%B%BJ < !% =I! -;ɚ)i)I-x$(=I5tQki1i5:=)55@)9*F12F9:F9BF=0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy GQ Ba O} >_w,l|A6@Y6#@6=96gXX ^G٣\y^  ^> bNusing accuracyPremultiplier from config`f59bү?f5YbO& ib;BBhjj]j]@bpDb ;b~ ;bD5l n@p}B*** querying acoustic contact ***jyjyZj $?I3iFNOT Ignoring new targets: 460.20 m.Bj<Jj< ProNav: ac range: 460.200012 m, nav range: 13.784063 m, bearing: 81.890704 deg, approach rate: 0.376970 m/s, LOS rate: 1.787373 deg/s, cmd heading: 310.132772 deg, new cmd heading: 312.296998 deg. 2jU=HeadingCmd: 5.450611 target range: 460.200012 and range: 460.20 m. jgk@jjjihhhhf f)fQrfQbfU`\?ɛB; 隽X=I ;ɚiI(=IJ aii2֟<)gk@)JJJJJ:J:JJa%@a%@a%@a%@*F?2F:FBFa4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G}m#=GQBYO}X>jH<bHHI I)II~BI) =&I.I6I<:I FBIuȝCJIuȝCRIqZIu( =bIu( =jIuv4zK5 BoHK5 9K1 K5  K5 %!_w,|AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751034J@YJ@JL"=9J=aa mG٣iy= > mNusing accuracyPremultiplier from configY59]{?5Y]U& i]0BB` ]@]yD]H<]<]H5M$B mv@u>EZjFNOT Ignoring new targets: 460.20 m.Bjz<Jjz< ProNav: ac range: 460.200012 m, nav range: 13.968173 m, bearing: 82.718357 deg, approach rate: 0.388614 m/s, LOS rate: 1.723903 deg/s, cmd heading: 312.296985 deg, new cmd heading: 314.745642 deg. 2j=HeadingCmd: 5.493348 target range: 460.200012 and range: 460.20 m. jɯ@jj)j)i)h)h)h1h1f1f1f9rf9bf==\?ɛB I^; 隵C=I };ɚiI )=IMii%Uc)-ɯ@)1EmrAEmpA*F?2F:FBF4JFG GpAG=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007815GBO>J'_w,Sz|ArV@Yr$f@r+=9r G٣|HGyҼ > Nusing accuracyPremultiplier from config59?5YKZ& i%BB?:f]@D\;[;-L5 s@ Zj)-FNOT Ignoring new targets: 460.20 m.Bj=Jj= ProNav: ac range: 460.200012 m, nav range: 14.131050 m, bearing: 83.389823 deg, approach rate: 0.460280 m/s, LOS rate: 1.875606 deg/s, cmd heading: 314.745635 deg, new cmd heading: 316.735969 deg. 2j= HeadingCmd: 5.528086 target range: 460.200012 and range: 460.20 m. j @5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255058j jIjIiQhQhQhQhUBfYfYfYrfYbfe`0@ɛB Z{;   N-_w,U|A6y@Y6 @6*0=96={ |'??ɨ6y@6;6CyRBRl(I)T TZAZAI^I^P4٢fe j\=9jY;Q j>ll rG٣pyr r> vNusing accuracyPremultiplier from configtz59v?z5Yv^& ivBB|~vi~]@vDvL$;vn$;vnO5 #B Q@ ;EZj)5FNOT Ignoring new targets: 460.20 m.Bj5<Jj=Ia Ie(IIe`BIe( =&Ia.Ia6Ie<:Ie F*FU?2FQ:FQBF]j0JFYG-b=GBO (>MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761466zKmKm59KiKm Km9D9,  $?I r4_w,@1|Ayr܈BrW(IuMb@Mb@Mb@qqq q)qYuCl?Zd;O:vyu;?uj G٣y > Nusing accuracyPremultiplier from config59I?5Yd& iBB?:r]@D$;!;6S5 g@ZjFNOT Ignoring new targets: 460.20 m.BjA<JjA< ProNav: ac range: 460.200012 m, nav range: 14.493133 m, bearing: 84.720081 deg, approach rate: 0.442900 m/s, LOS rate: 1.526494 deg/s, cmd heading: 318.583710 deg, new cmd heading: 320.674574 deg. 2j=HeadingCmd: 5.596827 target range: 460.200012 and range: 460.20 m. j5@jjIjIiIhQhQhQhU܈BfYfYfYrfYbfe@ɛB% XI ;ɚiI*=I./ii+")5@)*F2F:FBF`0JFGu~<G1BAOew>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263902I:_w,|A2?z@Y2@25=92,=y2HO??bs@@ ?$k|??ɨ2?z@2;2CyRBV4(II^I^4٢f fY=9jhh nG٣lyn!0 r> vNusing accuracyPremultiplier from configpv59r?z5Yri& irABxzvz]@rDr ;r6;r}V5 '@ !I!5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 460.20 m.BjM<JjM<] ProNav: ac range: 460.200012 m, nav range: 14.672803 m, bearing: 85.306763 deg, approach rate: 0.506810 m/s, LOS rate: 1.634608 deg/s, cmd heading: 320.674567 deg, new cmd heading: 322.412498 deg. 2je:=eHeadingCmd: 5.627160 target range: 460.200012 and range: 460.20 m. je@jijijiiihihihqhqfqfqfyrfybf}dd @ɛBĞ 隵 I ;ɚiI0.+=Iߌ+iiS=)@)*FM?2FI:FIBFMd1JFQJJJ0JJL:J$:Jـ3JG% G-?G-?Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:02:26.7087 TRx dataTimestamp_ set to:1736373747.873672checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517413G!B)OU2>ZHIRHM@AHU0>IQ IU(IIU7BIQ&IQ.IQ6IU<:IUL FU Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iU A] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767152`A_w,V*}A2~X@Y2g@2wo4=921B[=y2H??v:?@`Y^?T?ɨ2~X@2A;2CzK>LK>9K<K> K>yRBV(Ii^)>I\IfIfP4٢ ==9-Q >!) -G٣5}HGye m> Nusing accuracyPremultiplier from config 59q?55Yp& iAB9EwE]@D}<0<Z5m!B T@:EZjFNOT Ignoring new targets: 460.20 m.Bj<Jj< $?I4i ProNav: ac range: 460.200012 m, nav range: 14.900084 m, bearing: 86.016408 deg, approach rate: 0.465468 m/s, LOS rate: 1.431133 deg/s, cmd heading: 322.412495 deg, new cmd heading: 324.507967 deg. 2ju=5HeadingCmd: 5.663733 target range: 460.200012 and range: 460.20 m. j5L=@j9j9j9iAhAhihihifqfqfqrfqbfu`Ao@ɛB< I Ő;ɚ i I 4,=Itiik)L=@)*F?2F!:F!BF%|0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021899G59G B O5 >G H_w,n!}A:T@Y: d@:oG/=9:=y:HX?&? u|?;7祿`Nֱ??ɨ:T@:X;:CyBBB(I-Mb@Mb@Mb@))) )))Y-w/?p= ף{Gzy-&?--ף-A -I@))I))y-AIEIE4٢U| ]P=9]WQ ]>aa eG٣aym m> uNusing accuracyPremultiplier from configi59m%?5Ym6u& imAB'?:C~]@mDmbY;mW;m]5 }@ZjFNOT Ignoring new targets: 460.20 m.Bj<Jj }BDAT read: Tx time:22:02:27.7922 $Ping request sent.7N_w,;}A6\@Y6ˑ@65(=96=y6H@U? ?fi@?`n@ O? ?ɨ6\@6ֈ;6CyNBN'IIZIZ4٢r rR=9vQ v>tt vG٣xyzj< z> %Nusing accuracyPremultiplier from config%59?-5Yz& iAB)-|5]@D,3;,3;#a5] B ]@]7EkE"1?kEs kA kE/(}A:kECBkECH1>I I(IIBI' =&I.I6I}<:IZkEn&?"ET#Ԓ6p@ aw@E.x.iKD2?hke?JkEH?RkETx*EE 7f@\b`@@I+Vy@EC1? ?Q'?"kEC*kE0CkEI2?kEe 2kECkE.S?kE kEgDkEBkEr?u addTargetRange:: Added new target pos. range: 459.299988 m, deltaT: 4.283822 s, deltaX: -0.900024 m, approachRate: -0.210098 m/s, rangeRepo size: 4  Added new target pos. range: 459.299988 m, bearing: 37.311349 deg, lat: 36.900762 deg, lon: -122.120713 deg, deltaT: 4.283822 s, deltaX: -0.900024 m, approachRate: -0.210098 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 459.30 m.BjJj ProNav: ac range: 459.299988 m, nav range: 63.890987 m, bearing: 86.591527 deg, approach rate: 0.000000 m/s, LOS rate: 1.571253 deg/s, cmd heading: 326.085580 deg, new cmd heading: 328.076628 deg. 2jHeadingCmd: 5.726017 target range: 459.299988 and range: 459.30 m. j;@jjjihhhhfffrf̴|@bf?ɛBf4 隕CI :ɚiIQ-=Iii );@)*F2F:FBF/5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKKs9KK KGӽGqAGqAGBO> I U_w,xU}A2@Y2kǬ@2=92p>y2H`G? ?㲿@]?Y5#?Z?ɨ2@2;2CyB|BB'I)D DMb@Mb@Mb@ )YK7?ʡEyI,?-̼A @)3AII@yAI5I54٢EO ED=9MKQ M>II MG٣U~HGyU< U> eNusing accuracyPremultiplier from configYe59]?m5Y]& i]ABm-?m:m逿m]@]D];];]d5}Will construct direction to contact in vehicle frame from tetrahedron phase data.q >@ZjAEFNOT Ignoring new targets: 459.30 m.BjM;JjM;} ProNav: ac range: 459.299988 m, nav range: 64.117424 m, bearing: 86.736821 deg, approach rate: 0.562936 m/s, LOS rate: 0.359932 deg/s, cmd heading: 328.076635 deg, new cmd heading: 328.510966 deg. 2j}w<HeadingCmd: 5.733598 target range: 459.299988 and range: 459.30 m. jy@jjjihhhhBfffrfbf|?ɛB)9V UI  :ɚ i I n-=I5U i1i1)=y@)9EAEErA*F2F:FBF_0JF"G>G>G4pGBOe>- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- AI[_w,Uo}A:@Y:o!@ B$?ID:=9: Z>y:H̍?@R?@r*-1?񼿿`|`?Ϙ?ɨ:@:q;8yN\BN'IIVIV@4٢^& ^T=9b`` fG٣dyf< f> jNusing accuracyPremultiplier from confighn59j+?r5Yjن& ijABpr~r]@jDj ;j ;jh5x zA@xB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 459.30 m.Bj-;Jj-;= ProNav: ac range: 459.299988 m, nav range: 64.328400 m, bearing: 86.874645 deg, approach rate: 0.574308 m/s, LOS rate: 0.373949 deg/s, cmd heading: 328.510953 deg, new cmd heading: 328.923063 deg. 2j=Q= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498389@b_w, s}AzK.BoHK.9K,K. K.  BK6pA:K6pAb@Yb@b<9b;>ybH? ?M.az? o)) -G٣)y-= -> =Nusing accuracyPremultiplier from config1E5959?E5Y5& i5pABAE%zE]@5D5;5:5k5MB Uu@U4EZj9uFNOT Ignoring new targets: 459.30 m.Bj;Jj; ProNav: ac range: 459.299988 m, nav range: 64.555397 m, bearing: 87.027078 deg, approach rate: 0.511175 m/s, LOS rate: 0.342056 deg/s, cmd heading: 328.923059 deg, new cmd heading: 329.378740 deg. 2j jGqByO>XZh_w,}A6H=@Y6L@6<96T>y6Hp?`W?_D@X?ÿ#@wl?8M?ɨ6H=@6ߣ;6Cy^EBb'I}Mb@Mb@Mb@yyy y)yY}^I +?"~jX9vy}X9?}S㽹}}A }h@)}AI}v@yy}AII4٢欽 D=9'%Q > G٣HGyVL= > Nusing accuracyPremultiplier from config59qG?5Y& iRAB;?:z]@Da;;po5B @6EZj FNOT Ignoring new targets: 459.30 m.Bj r;Jj r;% ProNav: ac range: 459.299988 m, nav range: 64.799110 m, bearing: 87.189316 deg, approach rate: 0.620771 m/s, LOS rate: 0.411686 deg/s, cmd heading: 329.378742 deg, new cmd heading: 329.863611 deg. 2j%D<-HeadingCmd: 5.757206 target range: 459.299988 and range: 459.30 m. j-;@j)j)j)i)h1h9hAhEBfAfAfArfIbfM?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003529ɛB I %:ɚ!i!I%g/=IMiQiUAu)U;@)YEE*E"E $?I5i*F?2F:FBFJFG GrA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254329G BhpG B O >4o_w,eǿ}AH I  I"(II"BI &I .I 6I"h<:I"= FBIJIRIZI' =bI' =jI35rr@Yr @r<9rFp>yrH@z??<Ŀ<L?ƿH?@D?ɨrr@r[;py-7B-'IImImb4٢{ 5=9UQ > G٣yDT= > Nusing accuracyPremultiplier from config59W?5Yښ& i1ABs]@D:7:ls5UB U_@U3EZjFNOT Ignoring new targets: 459.30 m.Bj;Jj; ProNav: ac range: 459.299988 m, nav range: 65.060524 m, bearing: 87.370914 deg, approach rate: 0.558179 m/s, LOS rate: 0.386197 deg/s, cmd heading: 329.863603 deg, new cmd heading: 330.406194 deg. 2j<HeadingCmd: 5.766676 target range: 459.299988 and range: 459.30 m. j@jjjihhhhfffrfbf`Q@ɛވB-  I  [O:ɚ i I^W0=I9ii?u)@)*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiձchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508941G])rzK+LK9KK K GBIOZ> !I)J J AAJ J J J J :J $:J J J <J <J ~;J ~;U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758370P)v_w,}A2̨@Y2ۯ@2-Z$<92>y2H?`?ʰƿ`U?RWȿ/E?Q?ɨ2̨@2sU;2Cy>*BB{'IMb@Mb@Mb@ )YQ?/$ly5?1&A @)AIzAypAII4٢P G=9ØQ > G٣yJ|= > Nusing accuracyPremultiplier from config59e?5Y& iAB)9?:t]@Dl;;v5  3@ Zj1=FNOT Ignoring new targets: 459.30 m.Bj=;Jj=;M ProNav: ac range: 459.299988 m, nav range: 65.290771 m, bearing: 87.528567 deg, approach rate: 0.583970 m/s, LOS rate: 0.398438 deg/s, cmd heading: 330.406194 deg, new cmd heading: 330.877472 deg. 2jM  $?I D|_w,>u}A6@Y6@63:96>y6H@0? )?ȿ @;?y[ʿ@s\??ɨ6@6";6CyB&BBv'IIJIJQ4٢Rӧ Vb=9VnQ V>XX ZG٣ZHGy^= ^> bNusing accuracyPremultiplier from config`f59b/s?f5Yb& ib@Bdfzlj]@bDb:b:b!z5nB nY@n1E~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 459.30 m.BjR;JjR;- ProNav: ac range: 459.299988 m, nav range: 65.491829 m, bearing: 87.673641 deg, approach rate: 0.554989 m/s, LOS rate: 0.399226 deg/s, cmd heading: 330.877477 deg, new cmd heading: 331.311355 deg. 2j-<5HeadingCmd: 5.782474 target range: 459.299988 and range: 459.30 m. j5 @jjjihhhhfffrfbf @ɛوBN̼ 7I Ȏ9ɚiI?1=I%.i!i%U)% @))%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265872*F?2F:FBFP5JF"G>G>GVSwGABIOe4>HAIA IE'IIEvBIA&IA.IA6IEV<:IE1 F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:02:30.8087  TRx dataTimestamp_ set to:1736373752.162517 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522812zK5 J3KK5 9K1 K5  K5 n-_w,S ~A I -@Y-]@-m9-@^>y-H`?9f? Rʿ@n ?˿?@?@y?ɨ-@-#=;)y޵%B޽u'IMb@Mb@Mb@ )Y㥛 ?㥛 ¿{Gzy5?##A @)AIIAy AII4٢- -=95hQ 5>19 =G٣9y='O= => MNusing accuracyPremultiplier from configIU59M?U5YMf& iM@BU9?U:U[iU]@MDM;MY;M~5a ep@aZjFNOT Ignoring new targets: 459.30 m.Bj;Jj; ProNav: ac range: 459.299988 m, nav range: 65.778938 m, bearing: 87.883892 deg, approach rate: 0.553749 m/s, LOS rate: 0.403740 deg/s, cmd heading: 331.311358 deg, new cmd heading: 331.939330 deg. 2j<HeadingCmd: 5.793434 target range: 459.299988 and range: 459.30 m. jc@jjjihhhh>Bfffrfbf Y @ɛ=ֈBE9 E;=EܱIA ElָɚIiIIMW1=IMiQiUQJ)Uc@)Q*J]C="JYJeJaJaJaJe:JaJaJaJe<Je<JaJa=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.771241*F12F1:F1BF534JF1GU &XfG] ?G] ?G1 B9 OU >X_w,H4'~AFe@YFt@FΊ9F%)>yFHtV?ڟ? K˿ A?̿`Y??el?ɨFe@F[؊;DyR$BRt'IIZIZ4٢b%. f=9fWQ f?hh jG٣hyn= n? rNusing accuracyPremultiplier from configpv59rՑ?v5Yr& ir@B|~a]@rDr;rՎ;r:5 B ^@0EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:02:30.8087 LVL= 16032, 27377, 30562, 32243, AGC= 66, IDX= 441,-0.04, 0.290,-0.949,-1.894,-1.261, PHS= 1.639, 0.359,-0.636, RAW= 64.1, -13.7, CAL= 75.9, -22.2, ROT= 74.1, 22.2 Ygot valid direction response: 22:02:30.8087 LVL= 16032, 27377, 30562, 32243, AGC= 66, IDX= 441,-0.04, 0.290,-0.949,-1.894,-1.261, PHS= 1.639, 0.359,-0.636, RAW= 64.1, -13.7, CAL= 75.9, -22.2, ROT= 74.1, 22.2 PDAT read: Bearing 74.1, 22.2 (Local) ~Local bearing/azimuth received: Bearing 74.1, 22.2 (Local) DAT read: Range 10 to 50 : 459.2 m (Round-trip 612.3 ms) speed 0.2 m/s ,DAT read: user:2246> BDAT read: Tx time:22:02:31.8923 $Ping request sent.ؕj ٕbw)ٕ}IٕBiٕ?ٕη>ٕ"ٕf3?ٕGt ڕ?)ڕaƾIڕ~?iڕa>ڑڑەTSr?}ggd6;Pο)ەUyIەOt>iە:֓?ەIJۑۑ]:publishing transmit ping timeeFpublishing direction and range infoؑ9ؕHA²?7 ]?kf_?yؑؑؑؑ ّk\#?kԭ~% k k*~A:kCBkCZk ="%-DX@ ]F !l@2=?(>B?Bf.E Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:22:02:31.8916 H9 I9  I= 'II= gBI9 &I9 .I9 6I= Y<:I= 4 F<_w,X@~A6 <@Y6xK@6Qؼ96>y6H~??l˿` ?`}LͿ`?5#?\?ɨ6 <@6;4yN%BRu'IIZcIZy/4٢ %y;  G=9 潼Q  > G٣HGy= => ENusing accuracyPremultiplier from configAM59Ei?M5YE& iE@BIU [U]@E DEe:E:E܄5Y eQ@aZjFNOT Ignoring new targets: 459.20 m.Bj<Jj< ProNav: ac range: 459.200012 m, nav range: 88.401955 m, bearing: 48.416092 deg, approach rate: 0.109879 m/s, LOS rate: 0.552587 deg/s, cmd heading: 332.380009 deg, new cmd heading: 332.958397 deg. 2j<HeadingCmd: 5.811220 target range: 459.200012 and range: 459.20 m. j@jjjihhhh!f1fQfQrfYbf]c?ɛӈBټ 隭­I pɚiIq1=Ijii,)@)EqAEqA*Fi2Fi:FiBFm_0JFiGq GuqAWill construct direction to contact in vehicle frame from tetrahedron phase data.GENzKBHK+9KK GB O%M>K>cXP4 )**%  I%6i=PExceeded connect timeout, disconnecting.J J J /J J :J ':J (N3J J M<J M<J ;J ;] Will construct direction to contact in vehicle frame from tetrahedron phase data.n_w,Z~A2@Y2@292X>y2H`W?L?Ak˿.[?@[̿?`֕?Mq?ɨ2@2=ъ;2CyV/BV'I=Mb@Mb@Mb@999 9)9Y=K7A`?nQ롿y=+?=V=\=*A =@)=vAI= A9y=Q AIIy4٢6=  ;=9 eQ  > G٣ya= > %Nusing accuracyPremultiplier from config-59"?-5Yr& i@B-.?-:-U5]@D;;5=B =@=-EZjaeFNOT Ignoring new targets: 459.20 m.Bjmk;Jjmk;} ProNav: ac range: 459.200012 m, nav range: 88.434845 m, bearing: 48.606616 deg, approach rate: 0.076524 m/s, LOS rate: 0.443115 deg/s, cmd heading: 332.958390 deg, new cmd heading: 333.529728 deg. 2j} <HeadingCmd: 5.821192 target range: 459.200012 and range: 459.20 m. j4G@jjjihhhhBfffrfbf0?ɛшB ɡI 6r`ɚiIB1=Idiip!)4G@)EE`=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF\0JF $?I G ]NG G G BO%>]_w,؜x~AN@YN-@Ne&Y9N >yNHM?? @˿@$yg?̿!?H?Ow?ɨN@N/Џ;LyZABZ'IIbiIb:4٢j= j@=9n!Q n>ll nG٣lyro= r> vNusing accuracyPremultiplier from configtz59va?~5Yv& ivt@B|~H~]@v Dvw;v;vZ5 {@ -B*** querying acoustic contact ***j)j)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.ZjY]FNOT Ignoring new targets: 459.20 m.Bje;Jje;u ProNav: ac range: 459.200012 m, nav range: 88.452972 m, bearing: 48.793386 deg, approach rate: 0.042201 m/s, LOS rate: 0.434719 deg/s, cmd heading: 333.529721 deg, new cmd heading: 334.089899 deg. 2ju,<}HeadingCmd: 5.830969 target range: 459.200012 and range: 459.20 m. j}L@jyjyjyihhhhfffrfbf@aW?ɛψB( =ЍI PqɚiI0=Imiqiu)uL@)qEm&t@=jH <bH <HI I'IIvBI& =&I.I6I<:I F*F?2F:FBF_0JFG_IGBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494971zK] z1MKY KY K]  K]  = nManaging dock network, ignoring radio surface power offh_w,}~A ,I,yOB'IMb@Mb@Mb@ )YK7A?S㥻:vy "?/ݽԼ(A @)AIE Ay AII̍4٢n= .=9Q > G٣HGy > Nusing accuracyPremultiplier from config59?5YA& ih@B$?:@]@*D;0;v5 B @ *EZj)5FNOT Ignoring new targets: 459.20 m.Bj5;Jj5;M ProNav: ac range: 459.200012 m, nav range: 88.463554 m, bearing: 48.988931 deg, approach rate: 0.022792 m/s, LOS rate: 0.421129 deg/s, cmd heading: 334.089906 deg, new cmd heading: 334.676447 deg. 2jMG V>G W# Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999239Gi Bq O >ղ_w,߬~AjO@Yj^@j19j+ו>yjH,?%&?j8ʿ`qd?6˿(ð?`l?`ْ?ɨjO@j ;jCyrbBr'II~I~4٢ =  g=9 Q > G٣y%C> %> 5Nusing accuracyPremultiplier from config)559-?=5Y-#& i-c@B9=3=]@-1D-;-;-5A M\@IZjquFNOT Ignoring new targets: 459.20 m.Bj};Jj}; ProNav: ac range: 459.200012 m, nav range: 88.460854 m, bearing: 49.136597 deg, approach rate: -0.007603 m/s, LOS rate: 0.415726 deg/s, cmd heading: 334.676455 deg, new cmd heading: 335.119458 deg. 2j<HeadingCmd: 5.848938 target range: 459.200012 and range: 459.20 m. j*@jjjihhhhff f rf bf @ɛeˈBeeg 隅HSI ɚiI٧/=IU޾iip)*@)EpAEoA $?I 7iE#'=*F2F:FBFo0JFJ=J=J=0J9J=;:J=!:J=ـ3J9aE@aE@aE@aE@ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251076~GE|uAq &#Y|uAysBGU#G B H I  I 'II BI ' =&I .I 6I ?<:I  FO >_w,ʩ~Ay~fB~'III4٢%<< %I=9%Q ->)) -G٣)y5 5> uNusing accuracyPremultiplier from configq}59u?}5Yu& iu]@B]@u:Du7!;u{!;u)5B @)EZjFNOT Ignoring new targets: 459.20 m.Bj;Jj; ProNav: ac range: 459.200012 m, nav range: 88.458466 m, bearing: 49.308009 deg, approach rate: -0.005794 m/s, LOS rate: 0.415923 deg/s, cmd heading: 335.119461 deg, new cmd heading: 335.633698 deg. 2j<HeadingCmd: 5.857913 target range: 459.200012 and range: 459.20 m. jt@jjjih h hhfffrfbfj@ɛEʈBE7y IMFII MպɚIiQIU>.=IULپiYi]k۽)]t@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505981zKejIKaKaKe Ke #%%%"  %$?I!E=*F-?2F):F)BF-_0JF)G RJA JE BAG B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755051f_w,z~A6Ъ@Y6?@6ug96>y6H??}ɿ.߿r-?@ʿn?`rl?@?ɨ6Ъ@6;4yB{BB'I F=F=Mb@Mb@Mb@ )YK?K{Gzy^?^#)A p@)AI\ Ay\ AIIII٢]= ]8=9][Q ]>aa eG٣eHGym= m> Nusing accuracyPremultiplier from config59?5Y& ib@B#?:e&]@BD{;; 5 @ZjFNOT Ignoring new targets: 459.20 m.Bj%;Jj%;U ProNav: ac range: 459.200012 m, nav range: 88.442558 m, bearing: 49.483318 deg, approach rate: -0.035475 m/s, LOS rate: 0.391030 deg/s, cmd heading: 335.633693 deg, new cmd heading: 336.159699 deg. 2jU.<]HeadingCmd: 5.867094 target range: 459.200012 and range: 459.20 m. j];@jYjYjYiYhYhahahe͉BfififrfbfM@ɛȈBQ> JI ɚiIk .=I վiQi]$Κ)];@)aEmEm*Ei"EiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007127  I *F ?2F :F BF JF G} #'ȽG pAG GQ Je Je Ja Ja Je :Je #:Ja Ja By O >_w,~A6G@Y6vV@6Oԝ96&>y6H`M!??`Eyȿ޿? ɿ?@r? '?ɨ6G@6;6Cy>B>'IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258988IJIJ:4٢Z= Zd=9] Q ]>YY eG٣aye N= e> mNusing accuracyPremultiplier from configi59m.?5Ymz& img@B!]@mIDmI9 I=<(II=ȈBI9&I9.I96I=V<:I=/ FBIJIRIZIbIjI4*F?2F:FBF05JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:02:34.9084 ]TRx dataTimestamp_ set to:1736373756.192551]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511818G- DG B O- >zKE MKE 9KA KE  KE  $?I _w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763125Ʋ@Yֹ@l9>yH[?@'?ǿ 9ݿ g? ɿR???ɨƲ@R;騽CyލBޕ (I) Mb@Mb@Mb@ )Y&1?i G٣HGy< > Nusing accuracyPremultiplier from config59~0?5Y& iu@BE?M:MU]@UD%<O<5uB u8@}#EZj) 5 FNOT Ignoring new targets: 459.20 m.Bj5 B;Jj= B;m  ProNav: ac range: 459.200012 m, nav range: 88.389015 m, bearing: 49.853966 deg, approach rate: -0.057178 m/s, LOS rate: 0.350163 deg/s, cmd heading: 336.597214 deg, new cmd heading: 337.271953 deg. 2jm Pp  BDAT read: Tx time:22:02:35.9923  $Ping request sent. i i m M)Iq?yF`@⿙5D_)m $B!Im 4=im {k?m ii i U :publishing transmit ping time U Fpublishing direction and range infoi 9m {+^ޔ?.oT?w"O?yi i i i i )i Ii ii i i i i i )i Ii ii i i m M)Iq?yF`@⿙5D_)i Ii ii i G ´i i GBO>;K_w,q3A I >5@Y>D@>T9>ዂ>y>Hx?@}?@ǿHuܿ`!? dȿ` ?`? ?ɨ>5@>Ӎ;>CyJBJ0(IIRIRd4٢Z3P> Z=9^Q ^ ?\` bG٣`yb1W= b.? 5Nusing accuracyPremultiplier from config)559-%;?=5Y-& i-|@B9=~=]@-YD-n:-:-5A h@kEGB?kEm;«' kA kE,A:kECBkECZkEW@"Ekxݵ"@,T eW@VDI I(IIBI&I.I6In<:I? FG ߆Gq By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.*_w,IMA6X@Y6ǔ@6 M961{>y6H`?` ?aQƿۿ/?@ǿ e?%??ɨ6X@6Í;6CyBɈBB?(IIJZIJ4٢fq= fJ=9j9Q j>hh nG٣lyn'< n> zNusing accuracyPremultiplier from configtz59vK?z5Yv& iv@B|~~]@vaDv;vO;vc5 @ ZjFNOT Ignoring new targets: 459.00 m.Bj4;Jj4; ProNav: ac range: 459.000000 m, nav range: 88.343918 m, bearing: 50.095964 deg, approach rate: -0.071829 m/s, LOS rate: 0.376294 deg/s, cmd heading: 337.537512 deg, new cmd heading: 337.970843 deg. 2j<HeadingCmd: 5.898704 target range: 459.000000 and range: 459.00 m. j/¼@jjjihhh h f f fzKk3IK9KK Krf1bf5A?ɛÈB* 5$?I1 QUJgT_w,!gA:@Y:к@:읽9: _>y:H`??šĿ 9zۿ}m?Ŀ??&?ɨ:@:H;:Cy^׈B^P(IMb@Mb@Mb@ )YʡE?~jt{Gzt?y?ļף;x!A )v@I AyAIIq4٢`= ;=9-;Q > G٣yz< > Nusing accuracyPremultiplier from config59^?5Y;& i@B?:Z]@iD;;d5BWill construct direction to contact in vehicle frame from tetrahedron phase data. @ EZj!%FNOT Ignoring new targets: 459.00 m.Bj-R;Jj-R;} ProNav: ac range: 459.000000 m, nav range: 88.291428 m, bearing: 50.258854 deg, approach rate: -0.116183 m/s, LOS rate: 0.360760 deg/s, cmd heading: 337.970847 deg, new cmd heading: 338.459796 deg. 2j}w<HeadingCmd: 5.907238 target range: 459.000000 and range: 459.00 m. j@jjjihhhh҉Bfffrfbf`a?ɛˆBa: IM8,=II U:+ɚQiQIU(=I](|iYie¤s)e@)a 5$?I1EG=J J J J J :J :J J *FE ?2FA :FA BFE >5JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH H I  I (II -BI ( =&I .I 6I <:I P FGM!rG!B1OM?_w,q8A6 @Y6@6ʙ96,W>y6H@1?ň?@ÿڿ?@;Ŀ4? ȟ?95?ɨ6 @6Ș;6CyBBB`(IIJRIJW4٢Rc= R0=9R܎;Q V>TT VG٣VHGyZ< Z> bNusing accuracyPremultiplier from config`f59bp?f5Yb=& ib@Bdfj]@bqDbl;b;b@5nB nƢ@nE~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 459.00 m.Bj ;Jj;% ProNav: ac range: 459.000000 m, nav range: 88.239334 m, bearing: 50.415746 deg, approach rate: -0.120525 m/s, LOS rate: 0.363202 deg/s, cmd heading: 338.459806 deg, new cmd heading: 338.930749 deg. 2j%Cy<-HeadingCmd: 5.915458 target range: 459.000000 and range: 459.00 m. j-nK@j)j)j)i)hhhhfffrfbf8?ɛUBUd9; QU$=IQ ])ɚYiYI]r'=IeFiaie#9p)enK@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E%D%< )I)*F?2F:FBF_0JF*J "J %= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714378G yG B O >e_w,AyrBvt(IuMb@Mb@Mb@qqq q)qYuZd;O?I +? G٣y > Nusing accuracyPremultiplier from config59?5Y& i@B ?:־]@xDa;; 5 ¡@ZjFNOT Ignoring new targets: 459.00 m.Bj;Jj; ProNav: ac range: 459.000000 m, nav range: 88.176933 m, bearing: 50.562233 deg, approach rate: -0.143659 m/s, LOS rate: 0.337479 deg/s, cmd heading: 338.930762 deg, new cmd heading: 339.370523 deg. 2jg<%HeadingCmd: 5.923133 target range: 459.000000 and range: 459.00 m. j%N@j!j!j!i!h)h)h1h=Bf9f9f9rfAbfE??ɛim; im=Ii ɚiIϿ&=IXi!i%P)%N@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966361EU(<*F?2F:FBF]0JF 5 $?I5 8iG qG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218505J J J J J L:J #:J J O >Z_w,UA6@Y6"@696L>y6H#?v?h¿ڿ?ÿ?`a?`H?ɨ6@6k;4y>B>v(IIFIF 4٢U; U8=9]7Ya eG٣ayeR= e> uNusing accuracyPremultiplier from configi59m?5Ym9& im@Bξ]@mDm;m;m5B @EH.>I I(IIVBI&I.I6I<:I FZj9EFNOT Ignoring new targets: 459.00 m.BjE;JjE;u ProNav: ac range: 459.000000 m, nav range: 88.110207 m, bearing: 50.711270 deg, approach rate: -0.144782 m/s, LOS rate: 0.323620 deg/s, cmd heading: 339.370516 deg, new cmd heading: 339.817956 deg. 2ju^<}HeadingCmd: 5.930942 target range: 459.000000 and range: 459.00 m. j}Gʽ@jyjyjihhhhfffrfbf@@ɛB; !%=I ~ٺɚiIB%=I6YiiAl)Gʽ@)E E *E "E Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470193E*FE ?2FA :FA BFI JFI zK $)LK 9K K  K  I G 憽GaBqO>_w, |AF@YFk%@FA9FuM>yFHF^?`]?/h ٿ?`8NĿ`@e?Fu?,K?ɨF@F;FCZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722453ybBbx(IMb@Mb@Mb@ )Y> ףp=?{Gz?~jth?y?#<D;&A @)@I AyQAII#4٢< '=9rI G٣HGy = > Nusing accuracyPremultiplier from config59ת?5Y& i@B?:]ƾ]@D;;35 u@EZjFNOT Ignoring new targets: 459.00 m.Bj%8;Jj%8; ProNav: ac range: 459.000000 m, nav range: 88.028694 m, bearing: 50.884673 deg, approach rate: -0.172629 m/s, LOS rate: 0.367577 deg/s, cmd heading: 339.817948 deg, new cmd heading: 340.338626 deg. 2jC|<HeadingCmd: 5.940030 target range: 459.000000 and range: 459.00 m. j@jjjihhh!h%hBf!f!f)rf)bf-#@ɛuBu; y}H=Iy }ʺɚyiyIu$=I ii1S)@)*FE?2FA:FABFE_0JFAG5yG BOMt>mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.975315 $?I 3_w,;A6N@Y6)^@6-z96*M>y6Hu?` ?`uؿ%?Ŀ@?Dm?'M?ɨ6N@6h+;6CyBBB~(IIJIJW4٢R< R_=9RTT VG٣Ty^< ^> bNusing accuracyPremultiplier from config`f59b-?f5Yb & ib@Bdj¾j]@bDb3:bU:bh5nB n@nEZj FNOT Ignoring new targets: 459.00 m.Bj r;Jj r; ProNav: ac range: 459.000000 m, nav range: 87.966789 m, bearing: 51.014493 deg, approach rate: -0.168681 m/s, LOS rate: 0.353985 deg/s, cmd heading: 340.338627 deg, new cmd heading: 340.728353 deg. 2j%r<%HeadingCmd: 5.946832 target range: 459.000000 and range: 459.00 m. j%rL@j)j)j)i)h)h)h1h1fffrfbf` @ɛB; =I |ɚiIU#=I6ii%V)%rL@)!)i mC*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226817.~G ) UYQy]BZHRH@AHI I )IIoBI&I.I6Ic<:I5 FGoGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:02:39.0067  TRx dataTimestamp_ set to:1736373760.224688 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479475 `w,UA[@Yʐ@Zn9hL>yHp?.2?h0Rؿ$?@oĿǭ?V?@O?ɨ[@b;Cy-B-(IIEIE4٢U< U@=9U;Q U>YY ]G٣eHGyem< e> mNusing accuracyPremultiplier from configiu59m*?u5Ym_& imABy}]@mDm2;m2;m 5 Ġ@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 459.00 m.BjB;JjB; =$?I9M ProNav: ac range: 459.000000 m, nav range: 87.894142 m, bearing: 51.164971 deg, approach rate: -0.169751 m/s, LOS rate: 0.351907 deg/s, cmd heading: 340.728358 deg, new cmd heading: 341.180157 deg. 2jMq<zK]JQJK]+9KYK] K]HeadingCmd: 5.954717 target range: 459.000000 and range: 459.00 m. j @jjjihhhhfffrfbf @ɛy);  >I ܰɚiI-"=I,iಉi \) @)EEJJJJJ,:J:JJJ `w,VE*AҴ@YAļ@۟a9K>yH@/?J?@-ÿ !׿|6?0ĿT0?0>?qR?ɨҴ@;;騱yB(IWill construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:02:39.0067 LVL= 18048, 32753, 22962, 32755, AGC= 67, IDX= 421, 0.16, 2.714, 1.136, 1.331, 1.825, PHS= 0.977,-0.641,-0.496, RAW= 94.6, 2.1, CAL= 103.4, -0.4, ROT= 46.6, 0.4 mYgot valid direction response: 22:02:39.0067 LVL= 18048, 32753, 22962, 32755, AGC= 67, IDX= 421, 0.16, 2.714, 1.136, 1.331, 1.825, PHS= 0.977,-0.641,-0.496, RAW= 94.6, 2.1, CAL= 103.4, -0.4, ROT= 46.6, 0.4 uPDAT read: Bearing 46.6, 0.4 (Local) u~Local bearing/azimuth received: Bearing 46.6, 0.4 (Local) DAT read: Range 10 to 50 : 457.6 m (Round-trip 610.2 ms) speed 0.4 m/s ,DAT read: user:2248> BDAT read: Tx time:22:02:40.0923 $Ping request sent.qq uG٣qy}t=< }> Nusing accuracyPremultiplier from config59?5Y`& iAB?:u]@D.*<S*<5 B ۠@Ek{֛?k(* k k.A:kCBk:CZk6g_@" *. addTargetRange:: Added new target pos. range: 457.600006 m, deltaT: 4.029598 s, deltaX: -1.399994 m, approachRate: -0.347428 m/s, rangeRepo size: 4  Added new target pos. range: 457.600006 m, bearing: 200.000913 deg, lat: 36.901270 deg, lon: -122.121322 deg, deltaT: 4.029598 s, deltaX: -1.399994 m, approachRate: -0.347428 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 457.60 m.BjJj!U ProNav: ac range: 457.600006 m, nav range: 56.698685 m, bearing: 14.774303 deg, approach rate: 0.000000 m/s, LOS rate: 0.351907 deg/s, cmd heading: 341.180161 deg, new cmd heading: 341.784610 deg. 2jQ]HeadingCmd: 5.965267 target range: 457.600006 and range: 457.60 m. j]w@jYjYjYiYhahahaheKBfiffrf|@bfw?ɛBnV; $>I AɚiID!=I>Ƣiirl)w@) Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:02:40.0916 *F ?2F :F BF JF H ->I  I )II tBI ) =&I .I 6I <:I FBIJIRIZI( =bI( =jIM5G ]GBO>5`w,DIAFܵ@YF9@FV9FyJ>yFH@!??ݾ ׿@HD?Ŀת?` #?T?ɨFܵ@FE;FCyBv(II]pI]F4٢"H c=9;Q > G٣yZ< > Nusing accuracyPremultiplier from config59g?5Y_& i'AB]@D;;5 B %U@%EZjFNOT Ignoring new targets: 457.60 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 457.600006 m, nav range: 56.527607 m, bearing: 14.899505 deg, approach rate: -0.492581 m/s, LOS rate: 0.361584 deg/s, cmd heading: 341.784606 deg, new cmd heading: 342.161344 deg. 2j&x<HeadingCmd: 5.971842 target range: 457.600006 and range: 457.60 m. jT@jjjihhh h f f f rfbf.?ɛy}$; y}p=I !ɚiI =Ihhii-q)T@) }$?Iy*F?2F:FBF0JFzKBHKh9KK K  GlGBOE>J J JsK{|3 KsKsKs"KsJ J J J J J ":J J J J J 7{;J 8{;] Will construct direction to contact in vehicle frame from tetrahedron phase data.\Z`w,cAyBo(IMb@Mb@Mb@ )Yv? rh~jty?CnA @)@IyAIId4٢ ˼ G=9Q > G٣HGy > Nusing accuracyPremultiplier from config59 ?5Y& i+AB?:O;]@D <<5 @ZjFNOT Ignoring new targets: 457.60 m.Bj;Jj; ProNav: ac range: 457.600006 m, nav range: 56.337597 m, bearing: 15.049956 deg, approach rate: -0.459020 m/s, LOS rate: 0.364679 deg/s, cmd heading: 342.161332 deg, new cmd heading: 342.614196 deg. 2jFz<%HeadingCmd: 5.979746 target range: 457.600006 and range: 457.60 m. j-Z@j)j)j)i)h1h1h9h=.BfAfAfArfIbfMɨ?ɛ)-; 15=I1 5ꞇɚ1i1I5 =I=r\i9iEꆽ)EZ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF=0JFA qIyG G B O >'`w,|A6'@Y6R7@6A9A96/63>y6H?O?q5 ׿x?`¿ $?2C?y?ɨ6'@6c͚;6CyNBRc(IIZxIZT4٢~T ~Y=9Ne   G٣ y A<  >%Will construct direction to contact in vehicle frame from tetrahedron phase data. -Nusing accuracyPremultiplier from config!559%?55Y%"' i%.AB15 ɾ5]@%D%!;%{!;%5E B E3@EEZjimFNOT Ignoring new targets: 457.60 m.Bjuk;Jjuk; ProNav: ac range: 457.600006 m, nav range: 56.158142 m, bearing: 15.190820 deg, approach rate: -0.504973 m/s, LOS rate: 0.397649 deg/s, cmd heading: 342.614201 deg, new cmd heading: 343.038136 deg. 2js<HeadingCmd: 5.987145 target range: 457.600006 and range: 457.60 m. j@jjjihhhhfffrfbf6o?ɛB!; L=I 6ɚiI=Iii聽)@)jH<bH<HI I)IIjBI&I.I6IQ<:I' F*F?2F:FBF3JFGm 1|G)B1OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data. m $?Ii o%`w,)ΖAzKozLK9KK K y]Be_(IIoID4٢_^ ==9Q > G٣y > ENusing accuracyPremultiplier from config959=50?5Y=' i=1AB]@=D=<=<=5 B N@  E%B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 457.60 m.Bj=;Jj=;*JMa="JMa=JUJUJU1JQJU:JU:JU3JQJU3<JU4<JUBr;JUCr;m ProNav: ac range: 457.600006 m, nav range: 55.950287 m, bearing: 15.355450 deg, approach rate: -0.448258 m/s, LOS rate: 0.356359 deg/s, cmd heading: 343.038137 deg, new cmd heading: 343.533850 deg. 2jmt Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000318+`w,BAB͞@YB=@B>%9B\7>yBH?@F~?|xDֿ@o?@(ÿ?h?@u?ɨB͞@B ;BCyJوBJR(IMb@Mb@Mb@ )Y\(\?Q~jty?uļA Z@)IAyAII@4٢W L=9 G٣HGy= > Nusing accuracyPremultiplier from config59=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252488HI I(IIVBI( =&I.I6I,<:I F^~2`w,uʀAyʈB@(II5I54٢E ER=9MQ M>II MG٣QyU U> eNusing accuracyPremultiplier from configYe59]:T?m5Y]*' i])ABiim]@]D];]U;]5uB uɣ@} EZjFNOT Ignoring new targets: 457.60 m.Bj;Jj; ProNav: ac range: 457.600006 m, nav range: 55.593056 m, bearing: 15.675106 deg, approach rate: -0.461519 m/s, LOS rate: 0.416128 deg/s, cmd heading: 344.013788 deg, new cmd heading: 344.495870 deg. 2jʎ<HeadingCmd: 6.012587 target range: 457.600006 and range: 457.60 m. jg@jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512402ɛYe0: aeܞ8`w,=(䀽AyzƈBz<(I}Mb@Mb@Mb@yyy y)yY}ףp= ?KQy}?}^}}A }C@)yI}Ayy}AIIn4٢ E=9Q > G٣y   > Nusing accuracyPremultiplier from config59h?5Yx ' tIi AB% ?%:% %^@D ;/;C5) - @1ZjYeFNOT Ignoring new targets: 457.60 m.Bjmn<Jjmn< ProNav: ac range: 457.600006 m, nav range: 55.401016 m, bearing: 15.865659 deg, approach rate: -0.451080 m/s, LOS rate: 0.449140 deg/s, cmd heading: 344.495863 deg, new cmd heading: 345.069485 deg. 2j<HeadingCmd: 6.022599 target range: 457.600006 and range: 457.60 m. j!@jjjihhhhBfffrfbfl@ɛ<: >`w, A:d@Y:s@:AM9:oLE>y:H@=? ?৯Կ /?@Aſ`稠?=?'d?ɨ:d@:`;:Cy^LjBb=(IIfIfK4٢ ; U=9K %G٣!y%= %> -Nusing accuracyPremultiplier from config)559-y?55Y-;' i-AB9=6=^@-D-);-;-5EB M@ME]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268383ZjFNOT Ignoring new targets: 457.60 m.Bj-;Jj-; ProNav: ac range: 457.600006 m, nav range: 55.228966 m, bearing: 16.029561 deg, approach rate: -0.459593 m/s, LOS rate: 0.439190 deg/s, cmd heading: 345.069490 deg, new cmd heading: 345.562715 deg. 2j<HeadingCmd: 6.031207 target range: 457.600006 and range: 457.60 m. j@jjjihhhhfffrfbfT_ @ɛBo:  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:02:43.1049  TRx dataTimestamp_ set to:1736373764.264653 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521378 I ԫE`w,iA2|@Y2뢾@2ԕ926H>y2H@M??@IyԿe?\ƿ?A? U`?ɨ2|@2v~;2Cy^B^2(IIfIf4zKnyJKn9KlKn" Kn0/*#٢z/ zL=9z;Q z>   G٣HGyh< %> MNusing accuracyPremultiplier from config959=ߌ?5Y=5' i= AB -뾑5^@=D===`==5y s@ EEB*** querying acoustic contact ***jAjAZjquFNOT Ignoring new targets: 457.60 m.Bj}/;Jj}/; ProNav: ac range: 457.600006 m, nav range: 55.040974 m, bearing: 16.208178 deg, approach rate: -0.401995 m/s, LOS rate: 0.383250 deg/s, cmd heading: 345.562711 deg, new cmd heading: 346.100373 deg. 2j<HeadingCmd: 6.040591 target range: 457.600006 and range: 457.60 m. jL@jjjihhhhfffrfbf `"@ɛ @;I %"PɚAiIIM$<=IUjxiQiUXx)UL@)QmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.772425*F%?2F):F)BF-0JF)Ge Ge rAGe rAG9 BA Om >% Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027623mK`w,1A }$?I}9i@Yƾ@ɏ9I>yH`zY?p~?x}5Կ@?ƿ?%? ^?ɨ@R;騍CyB/(IMb@Mb@Mb@ )YX9v?X9v G٣y< > Nusing accuracyPremultiplier from config 59U? 5Y' i@B_!?:+^@D;-;5B @EZjAMFNOT Ignoring new targets: 457.60 m.BjM<JjM<] ProNav: ac range: 457.600006 m, nav range: 54.836056 m, bearing: 16.423576 deg, approach rate: -0.513823 m/s, LOS rate: 0.542120 deg/s, cmd heading: 346.100384 deg, new cmd heading: 346.748965 deg. 2jeuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:02:43.1049 LVL= 19552, 32753, 27074, 32755, AGC= 67, IDX= 418, 0.23,-2.263, 2.439, 2.746,-3.087, PHS= 0.912,-0.710,-0.453, RAW= 98.5, 3.4, CAL= 108.4, 1.4, ROT= 41.6, -1.4 Ygot valid direction response: 22:02:43.1049 LVL= 19552, 32753, 27074, 32755, AGC= 67, IDX= 418, 0.23,-2.263, 2.439, 2.746,-3.087, PHS= 0.912,-0.710,-0.453, RAW= 98.5, 3.4, CAL= 108.4, 1.4, ROT= 41.6, -1.4 PDAT read: Bearing 41.6, -1.4 (Local) ~Local bearing/azimuth received: Bearing 41.6, -1.4 (Local) DAT read: Range 10 to 50 : 456.2 m (Round-trip 608.3 ms) speed 0.2 m/s ,DAT read: user:2249> BDAT read: Tx time:22:02:44.1924 $Ping request sent.y6H j?@<? o鵿ӿ?r4ǿa?@r?Y?ɨ6Q@6l;6CyBBB4(IIJIJ4٢}|< }e=9};Q }> G٣y < > Nusing accuracyPremultiplier from config59?5Y' i@B^@Dq;;95B /@EkO՛?kMn. k kRAA:kCBkCZkn@"fzR7[0|@} JĿϊ䢿?Jk:Rk;*֩r\G8@eR+vFq7{@8pϿrĿK ̋?"kƔ*kkX=՛?kDg. 2kCkaa/?k1 )' kkBkR@m addTargetRange:: Added new target pos. range: 456.200012 m, deltaT: 4.292778 s, deltaX: -1.399994 m, approachRate: -0.326128 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data. Added new target pos. range: 456.200012 m, bearing: 213.173056 deg, lat: 36.900457 deg, lon: -122.121561 deg, deltaT: 4.292778 s, deltaX: -1.399994 m, approachRate: -0.326128 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 456.20 m.BjJj ProNav: ac range: 456.200012 m, nav range: 38.436867 m, bearing: 188.486233 deg, approach rate: 0.000000 m/s, LOS rate: 0.542120 deg/s, cmd heading: 346.748979 deg, new cmd heading: 347.357698 deg. 2jHeadingCmd: 6.062535 target range: 456.200012 and range: 456.20 m. j%J@j!j!j!i!h!h!h)hIfQfQfQrfU@3|@bfU$%?ɛB a 隥2X`w,_eAF@YF]%@F˼9FnO>yFHkw?@b?ӿ4? <ǿWt??^U?ɨF@FА;FCynȈBn>(IMb@Mb@Mb@ )Y+? G٣HGyC< > Nusing accuracyPremultiplier from config59W?5Y7' i@B/$?:\^@D ^;v\;5 @ZjY]FNOT Ignoring new targets: 456.20 m.BjeV,JjmV, ProNav: ac range: 456.200012 m, nav range: 38.645714 m, bearing: 188.241815 deg, approach rate: 0.517767 m/s, LOS rate: -0.602677 deg/s, cmd heading: 347.357685 deg, new cmd heading: 346.628435 deg. 2jμUHeadingCmd: 6.049808 target range: 456.200012 and range: 456.20 m. jU@jYjYjYiYhYhahhBfffrfbf?ɛY]K: Y] _`w,4AJJJJJL:J:JJyƈB;(II-sI-K4=Will construct direction to contact in vehicle frame from tetrahedron phase data.٢ENV MS=9MQ M>QQ UG٣Qy > Nusing accuracyPremultiplier from config59?5Y' i@B^@D ;:[5B @EZjFNOT Ignoring new targets: 456.20 m.Bj%'Jj%'5 ProNav: ac range: 456.200012 m, nav range: 38.847755 m, bearing: 188.008626 deg, approach rate: 0.510450 m/s, LOS rate: -0.586075 deg/s, cmd heading: 346.628439 deg, new cmd heading: 345.932548 deg. 2j5ɼ=HeadingCmd: 6.037662 target range: 456.200012 and range: 456.20 m. j=4@j9jAjAiAhAhAhIhIfIfIfIjHYbH]<HaIa Ie(IIeBIa&Ia.Ia6Ie<:Ie FBI)JI)RI)ZI-) =bI-) =jI-$4rfybf}?ɛPP: 隵 i Ii e`w,= A:m@Y:}@:~9:;T>y:H?(? 5`Vҿ`?Uȿ7?@e_?M?ɨ:m@:;:CybLjBb=(IttIzlIzm?4٢n; O=9 dH;Q  >   G٣y< > %Nusing accuracyPremultiplier from config%59?-5Y!' i@B)--^@D::51 5@zK=RKK=h9K9K=$ K=9ZjFNOT Ignoring new targets: 456.20 m.BjJj% ProNav: ac range: 456.200012 m, nav range: 39.041901 m, bearing: 187.792532 deg, approach rate: 0.489470 m/s, LOS rate: -0.542096 deg/s, cmd heading: 345.932552 deg, new cmd heading: 345.287522 deg. 2j-HeadingCmd: 6.026404 target range: 456.200012 and range: 456.20 m. jM@jjjihhhhfffrfbf@??ɛ5B58: 15 Will construct direction to contact in vehicle frame from tetrahedron phase data.#l`w,!貁A^*@Y^@^n9^RU>y^H`Z?? ',Xҿ@y?UȿpM?w? %M?ɨ^*@^H;^CyvֈBvO(I $?I Mb@Mb@Mb@ )Yx&1?@5^I ¿S㥛yA ?b/ݼ @)3@IAyI-I-F4٢== =8=9E9;Q E>AA EG٣EHGyU < U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]K%' i]@Bmj$?m:mim^@]D];];]5uB }@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 456.20 m.Bj#Jj# ProNav: ac range: 456.200012 m, nav range: 39.271675 m, bearing: 187.545995 deg, approach rate: 0.536423 m/s, LOS rate: -0.572186 deg/s, cmd heading: 345.287509 deg, new cmd heading: 344.552269 deg. 2jWļHeadingCmd: 6.013572 target range: 456.200012 and range: 456.20 m. j.o@jjjihhhhBfffrfbf?ɛ B e; `k=I 0ɚiI?9=I ii>).o@)!*F 2F :F BF JF JEJEJAJAJE:JE:JAJA]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.HYIY IYIYIY&IY.IY6I]z<:I]F FGM ^G! B1 OM > s`w,́A6@Y6@696^fV>y6H@?L?Fѿ ?ȿ0??K?ɨ6@6^;6CyNBR`(IIZ~IZT_4٢b= be=9f;Q f>dd fG٣hyj< j> rNusing accuracyPremultiplier from configlr59n?r5Yn!(' in@Btvv^@n Dn:n:n5zB ~@~EZj!-FNOT Ignoring new targets: 456.20 m.Bj-Jj-E ProNav: ac range: 456.200012 m, nav range: 39.456867 m, bearing: 187.352797 deg, approach rate: 0.521583 m/s, LOS rate: -0.541575 deg/s, cmd heading: 344.552280 deg, new cmd heading: 343.975428 deg. 2jEֹMHeadingCmd: 6.003504 target range: 456.200012 and range: 456.20 m. jM@jIjIjIiIhQhQhYhYfYfYfYrfabfe@ɛ; 隍D=I  ɚi1I5=I=n2i9i=()=@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255462 $?I*F?2F:FBF0JFGBGBO=>zKBoHKs9KK% Ke Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5065346y`w,@恽AJ/@YJZ?@JV09JDV>yJH@7? ?; gѿ@y&? ɿ?ϕ?`UL?ɨJ/@J;HynBnk(I tv=Mb@Mb@Mb@ )Y+?Pn{Gzyv?ף+A )I@I@yI I 4٢%'= %6=9-&;Q ->11 =G٣9y=ޘ< E> UNusing accuracyPremultiplier from configI]59Ma&?]5YM+' iMv@B]!?e:ee^@M)DM+;M);M5i m@iZjFNOT Ignoring new targets: 456.20 m.BjJj ProNav: ac range: 456.200012 m, nav range: 39.692486 m, bearing: 187.121313 deg, approach rate: 0.518513 m/s, LOS rate: -0.506389 deg/s, cmd heading: 343.975430 deg, new cmd heading: 343.285136 deg. 2jíHeadingCmd: 5.991456 target range: 456.200012 and range: 456.20 m. j@jjjihhhhψBfffrfbf jp@ɛ/; =I ɚiI=I]ii f5<)@)*Fe?2Fa:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758666G=`6 IGBOn>J] J] JY JY J] :J] z:JY JY (`w,کA6]@Y6Am@6\96Q>y6H`? ? "Xѿ`8?`ܞȿ?#?ZT?ɨ6]@66;6Cy>BB}(IIJIJ4٢R= Re=9R;Q V>TT VG٣VHGyZ< Z> ^Nusing accuracyPremultiplier from config\b59^G7?b5Y^,.' i^i@Bdff^@^0D^A;^1;^5nB n@nE Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010597ZjFNOT Ignoring new targets: 456.20 m.BjJj- ProNav: ac range: 456.200012 m, nav range: 39.879177 m, bearing: 186.942317 deg, approach rate: 0.529929 m/s, LOS rate: -0.505706 deg/s, cmd heading: 343.285144 deg, new cmd heading: 342.750686 deg. 2j-5HeadingCmd: 5.982128 target range: 456.200012 and range: 456.20 m. j5m@j1j1j1i1h9h9h9h9fffrfbfa@ZHRH@AH,>IC I(II-BI&I.I6Im<:I; Fɛ5B5G< am>Ii m?۹ɚiiiImV=Iu2$iqiu<)}m@)*F12F1:F1BF5P5JF1G]ݗWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262554G1 B9 $?I O >F`w,YRA>m@Y>ݑ@>}m69>K>y>H?Q?꯿п3J?`ȿ͆?@H?@^?ɨ>m@>;>CyF BF(IIPIP٢Vת= ZK=9ZH;Q Z>\\ ^G٣\yb5< b> jNusing accuracyPremultiplier from confighn59jJ?r5Yj*1' ijY@Bpr뾑r^@j9Djc;j;j? 5t z @zEZj9EFNOT Ignoring new targets: 456.20 m.BjE JjE e ProNav: ac range: 456.200012 m, nav range: 40.092640 m, bearing: 186.741902 deg, approach rate: 0.522384 m/s, LOS rate: -0.487842 deg/s, cmd heading: 342.750695 deg, new cmd heading: 342.152673 deg. 2jefmHeadingCmd: 5.971691 target range: 456.200012 and range: 456.20 m. jm@jijijiiihqhqhqhqzK}jIK}]9KyK}& K})8AIMfyffrfbf @ɛ*JR="J-T18< 隝+>I .ɚiI$=I<|ii =)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:02:47.2034 ETRx dataTimestamp_ set to:1736373768.549788Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516731*Fi2Fi:FiBFu?5JFqG=>uGB!OMt> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766484q`w,U24A 0I0y=BE(IMb@Mb@Mb@ )YS?~jtYY ]G٣Yye e> uNusing accuracyPremultiplier from configiu59ma?}5Ym[4' imN@B}?}:}վ}^@mBDm;m;m5B k@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 456.20 m.BjJj ProNav: ac range: 456.200012 m, nav range: 40.350483 m, bearing: 186.525320 deg, approach rate: 0.531820 m/s, LOS rate: -0.443860 deg/s, cmd heading: 342.152671 deg, new cmd heading: 341.507108 deg. 2jNHeadingCmd: 5.960423 target range: 456.200012 and range: 456.20 m. jʻ@jjjihhhhBfffrfbfd@ɛaUE< !%(=>I! %>aɚ)i)I-%=I5Ai1i5\0=)5ʻ@)A*F2F:FBF2JF"G=G=Gƪ<GqAG=Will construct direction to contact in vehicle frame from tetrahedron phase data.GqByO~>DAT read: 22:02:47.2034 LVL= 26256, 32753, 31666, 32755, AGC= 68, IDX= 418,-0.16, 2.591, 0.950, 1.406, 1.848, PHS= 0.831,-0.851,-0.445, RAW= 103.4, 6.2, CAL= 113.5, 4.3, ROT= 36.5, -4.3 Ygot valid direction response: 22:02:47.2034 LVL= 26256, 32753, 31666, 32755, AGC= 68, IDX= 418,-0.16, 2.591, 0.950, 1.406, 1.848, PHS= 0.831,-0.851,-0.445, RAW= 103.4, 6.2, CAL= 113.5, 4.3, ROT= 36.5, -4.3 PDAT read: Bearing 36.5, -4.3 (Local) H+>I I(IIGBI&I.I6I<:I F~Local bearing/azimuth received: Bearing 36.5, -4.3 (Local) DAT read: Range 10 to 50 : 455.1 m (Round-trip 606.8 ms) speed 0.3 m/s ,DAT read: user:2250> BDAT read: Tx time:22:02:48.2924 $Ping request sent.y2H?`*?b@~пl?Qƿsv?@.?`{?ɨ2Ш@2Љ;2CyB#BB(IIJIJ4٢=  w=9 +Iq uBB8ɚqiqIugn=I}@iyi},]=)}v@)*F=?2F9:FABFE_0JFAzK LK9KK' KPPQSRMD@;74/*)#    J5 @AJ1 JM JM JI JI Gm b<JM |:JM !:JI JI JM `w,gA2c@Y2Ӿ@2 924->y2H@?`/?GX@Frп|? Ŀd?6??ɨ2c@2v;2Cy>*B>(IMb@Mb@Mb@ )YA`"?y&1~jth?y?`eD;rA -@)`@II@y@I~IT_4٢= <=9;Q > G٣y:  > Nusing accuracyPremultiplier from config59ƅ?5Y8' iD@B?:%^@QD;;35) -@)ZjQUFNOT Ignoring new targets: 455.10 m.Bj]H]Jj]H]m ProNav: ac range: 455.100006 m, nav range: 118.272820 m, bearing: 198.087727 deg, approach rate: 0.505390 m/s, LOS rate: -0.193462 deg/s, cmd heading: 341.024433 deg, new cmd heading: 340.791772 deg. 2jmuHeadingCmd: 5.947938 target range: 455.100006 and range: 455.10 m. juU@jyjyjyiyhyhyhhBfffrfbf?ɛ~< 隽e>I KRe9ɚiI42=Iziih=)U@)*FE?2FA:FABFAJFIG<Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO J> =$?IA)i m XC }G  5 - Y1 y= Bk`w,DÁAB@YB@B=89B;>yBH@?T?U`Sп`ȋ?ÿ`X?d?ɨB@B ;BCy^5B^(IIjwIjR4٢zw= z]=Will construct direction to contact in vehicle frame from tetrahedron phase data.9J;Q >!! %G٣!y%{h -> 5Nusing accuracyPremultiplier from config)559-?=5Y-:' i-B@BAE`E^@-XD-5;-5;-x5MB UJ@UEZjyFNOT Ignoring new targets: 455.10 m.BjMJjMjHbH<H*>I I)IIjBI&I.I6I6<:I F ProNav: ac range: 455.100006 m, nav range: 118.449142 m, bearing: 198.020195 deg, approach rate: 0.468666 m/s, LOS rate: -0.179234 deg/s, cmd heading: 340.791770 deg, new cmd heading: 340.589474 deg. 2jHeadingCmd: 5.944408 target range: 455.100006 and range: 455.10 m. j8@jjjihhhhfffrfbf` ?ɛe.< 隥{>I 9ɚiI)=I4tiY݁in=)8@)*FM?2FI:FIBFMo0JFIGQ GQG%ZX=G= ?G= ?GBO=P>Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 L`w,A:@Y:p@:f ;9:>y:H?@?пǒ?@RWa2?`ʬ?ɨ:@:!1;:CyfEBf(IInsInK4٢v~= vJ=9zm;Q z>xx ~G٣~HGy~ >  Nusing accuracyPremultiplier from config 59u?5Y!=' i@@B^@`D::5! %G@!ZjQUFNOT Ignoring new targets: 455.10 m.Bj]NJj]N ProNav: ac range: 455.100006 m, nav range: 118.636726 m, bearing: 197.948182 deg, approach rate: 0.471244 m/s, LOS rate: -0.180622 deg/s, cmd heading: 340.589487 deg, new cmd heading: 340.373792 deg. 2jHeadingCmd: 5.940643 target range: 455.100006 and range: 455.10 m. j@jjjihhhhfffrfbfL?zKMK+9KK( K,* ɛP< 隽ɍ>I N#:ɚiJ J J J J  :J :J J J <J <J n;J n;I=IaiBziR?q=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.E5+W<*F 2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.  $?I! G np_=GBO>`w,C:A:;V@Y:e@:J<9:=y:H@?9?mѿ`v?amZ?`l?ɨ:;V@:/i;8yFHBF(I=Mb@Mb@Mb@999 9)9Y=5^I ?y&1y&1|?y=?=`弹=`;= A =p@)9I=@9y=@II#4٢B8< =9] G٣yoN > Nusing accuracyPremultiplier from config59>?5Y?' i>@B>?:M^@jD6D;B;!5B @EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 455.10 m.Bj-GAJj-GA= ProNav: ac range: 455.100006 m, nav range: 118.886765 m, bearing: 197.859964 deg, approach rate: 0.479945 m/s, LOS rate: -0.168977 deg/s, cmd heading: 340.373789 deg, new cmd heading: 340.109694 deg. 2j=绝EHeadingCmd: 5.936034 target range: 455.100006 and range: 455.10 m. jE@jIjIjIiIhIhIhQhU BfQfQfYrfYbf]60?ɛBƕ< 隕]>I VNp:ɚiI=IȽiqi]j=)@)E9=eWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.H)>I I$)IIBI* =&I.I6IL<:I FBIĜCJIĜCRIZIbIjIĎ4*F?2F:FBFo0JFG,l=GBOg> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215475 e $?Ii #`w,mՂAm@Ym*@mr<9m5=ymH`Y?`(?/@ѿ@a?@ nv??ɨm@mL;mCyޅTBޅ(I) AII4٢sn= H=99 G٣y > Nusing accuracyPremultiplier from config59?5YA' i;@B^@qD;:%5B *@EZj FNOT Ignoring new targets: 455.10 m.BjBJjB% ProNav: ac range: 455.100006 m, nav range: 119.082321 m, bearing: 197.790257 deg, approach rate: 0.478351 m/s, LOS rate: -0.170231 deg/s, cmd heading: 340.109707 deg, new cmd heading: 339.900929 deg. 2j-黝5HeadingCmd: 5.932390 target range: 455.100006 and range: 455.10 m. j5$ֽ@j1j1j1i1h9h9h9h9fAfAfArfAbfE$@ɛqu!Զ< qu&>Iq u:ɚyiyI}=I}riii(^=)$ֽ@)EE*E"EzK}KLK}9KyK}) K}   RK ?JK?J-J-J)J)J-|:J-z:J)J)J-<J-<J-l;J-l;=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.468615*F?2F:FBF`0JFG q=G B O >`w, A 6@Y6!@6<96=y6H ?@7?|ѿ`?>ct?2?ɨ6@6u;;6Cy>QBB(I Mb@Mb@Mb@    ) Y zG?Mb{Gz?y  ?  #< `A @) I@I @ y 3@I-I-44٢5 =E=9=(:AA EG٣EHGyM) M> UNusing accuracyPremultiplier from configQ]59UX?]5YUC' iU9@B]?]:]e^@UyDUO;U;U(5i m`@iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718501 $?IZjEFNOT Ignoring new targets: 455.10 m.BjE2JjE2U ProNav: ac range: 455.100006 m, nav range: 119.282661 m, bearing: 197.722937 deg, approach rate: 0.465250 m/s, LOS rate: -0.156074 deg/s, cmd heading: 339.900922 deg, new cmd heading: 339.699302 deg. 2jU9ֻ}HeadingCmd: 5.928871 target range: 455.100006 and range: 455.10 m. j}P@jyjjihhhhBfffrfbfe`@ɛB< 1>I C:ɚiI=I hi ai cS=) P@)*F?2F:FBFg1JFG}xd=GBO_>u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970627ZH RH AAH I  I =)II BI &I .I 6I 8<:I  F`w, A6 @Y6}@6&<96=y6HX?=?d|ҿ ly?@B@??ɨ6 @6;6CyBTBB(IIJIJ4٢Vi< VU=9Z1XX ZG٣\y^е ^> fNusing accuracyPremultiplier from config`f59b?f5YbtE' ib7@Bhjj^@bDb:b:b ,5]B ]@]EZjFNOT Ignoring new targets: 455.10 m.Bjh:Jjh: ProNav: ac range: 455.100006 m, nav range: 119.467125 m, bearing: 197.660098 deg, approach rate: 0.479143 m/s, LOS rate: -0.162971 deg/s, cmd heading: 339.699294 deg, new cmd heading: 339.511071 deg. 2j߻HeadingCmd: 5.925586 target range: 455.100006 and range: 455.10 m. jg@jjjihhhhfffrfbf@)e @ɛf< t>I :ɚ i I M=I6i r[iA=)g@)*F?2F:FBF.5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222753 I Gg\=GBO>zK= LK= 59K9 K= * K= JSK[m3 KSKSKS"KSJ J J J J ,:J :J J J <J <J xp;J xp;`w,$A*Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:22:02:51.3014 :TRx dataTimestamp_ set to:1736373772.585716Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.487609Y@Yi@<9c=yHྊ? ?c?`ӿAj?>@aB?Y?ɨY@c;CyMOBލ(Ii>Ip; =R=MMb@Mb@Mb@III I)IYMA`"?~jth?Mb`yM?MD;MMIA M@)M`@IM@IyM@IeIe4٢uV u=9uX;Q }>yy G٣y  > Nusing accuracyPremultiplier from config59?5YG' i,@B?:^@D=;;05B W@EZjFNOT Ignoring new targets: 455.10 m.Bjc@Jjc@ ProNav: ac range: 455.100006 m, nav range: 119.727570 m, bearing: 197.574039 deg, approach rate: 0.510134 m/s, LOS rate: -0.168198 deg/s, cmd heading: 339.511082 deg, new cmd heading: 339.253467 deg. 2j滝HeadingCmd: 5.921090 target range: 455.100006 and range: 455.10 m. jy@jjjihhhhBff f rfbfz @ɛ=B=y< AEȔ>IA E:ɚAiAIE=IMdiMYSiM7=)Uy@)Q*F2F:FBF`5JFGYhA= $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.730458GBO`w,}>A%@Y%7,@%Nx =9%=y%Hw?]?z?Ctӿ@Y?䶿`6.I??ɨ%@%;%Cy=AB=(IIMIMפ4٢eµ e=9eQI1 5*G ;ɚ9i9I=C=I=iENiE+&=)EOd@)AmWill construct direction to contact in vehicle frame from tetrahedron phase data.H(>I IC)IIBI&I.I5D6IM<:I FDAT read: 22:02:51.3014 LVL= 17120, 32753, 32754, 32755, AGC= 63, IDX= 413,-0.07,-0.368,-2.157,-1.671,-1.216, PHS= 0.935,-0.895,-0.458, RAW= 103.2, 5.1, CAL= 113.6, 3.1, ROT= 36.4, -3.1 Ygot valid direction response: 22:02:51.3014 LVL= 17120, 32753, 32754, 32755, AGC= 63, IDX= 413,-0.07,-0.368,-2.157,-1.671,-1.216, PHS= 0.935,-0.895,-0.458, RAW= 103.2, 5.1, CAL= 113.6, 3.1, ROT= 36.4, -3.1 PDAT read: Bearing 36.4, -3.1 (Local) ~Local bearing/azimuth received: Bearing 36.4, -3.1 (Local)  DAT read: Range 10 to 50 : 453.5 m (Round-trip 604.7 ms) speed 0.4 m/s ,DAT read: user:2251> BDAT read: Tx time:22:02:52.3925 $Ping request sent. I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:22:02:52.3917 `w,JXA6X߷@Y6@6_=96P8=y6Hc? ?M?}ӿH?5 ꢿ ??ɨ6X߷@67c;6CyN7BR(IIZIZ44٢fcP fU=9jhh nG٣ly   > Nusing accuracyPremultiplier from config59=7?5Y1K' i@B!%]%^@D ; ;65-B -@-Ek%0ۛ?k- k kHEA:kCBk0CZkdl@"TVGzJ2{@9uN!ɿ Qg5-۩?Jk%'Rk;窿*tSX̽JN$VId{@{˿f;c;Ȟjs?"k5t*kBkwۛ?k- 2ktCkk- ktCkCkgh@ addTargetRange:: Added new target pos. range: 453.500000 m, deltaT: 4.035573 s, deltaX: -1.600006 m, approachRate: -0.396476 m/s, rangeRepo size: 4  Added new target pos. range: 453.500000 m, bearing: 211.628147 deg, lat: 36.899811 deg, lon: -122.122206 deg, deltaT: 4.035573 s, deltaX: -1.600006 m, approachRate: -0.396476 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 453.50 m.BjJj ProNav: ac range: 453.500000 m, nav range: 129.790207 m, bearing: 208.060209 deg, approach rate: 0.000000 m/s, LOS rate: -0.163437 deg/s, cmd heading: 339.104767 deg, new cmd heading: 338.910885 deg. 2jHeadingCmd: 5.915111 target range: 453.500000 and range: 453.50 m. jH@jjjihhhhfffrfX|@bf`L?ɛ B c< ,= ,w>I  ;ɚiI=IDtiPOIi=)H@)*F ?2F:FBFJFG,=zK=KK=s9K9K=+ K=RKyJK}?G B9Will construct direction to contact in vehicle frame from tetrahedron phase data.Oa>`w,$rAy~-B~(I $?IMb@Mb@Mb@ )YGz?y&1| G٣y > Nusing accuracyPremultiplier from config 59L? 5YsM' i@Bw?:G^@D;;:5 _@!ZjIUFNOT Ignoring new targets: 453.50 m.Bj]dJj]de ProNav: ac range: 453.500000 m, nav range: 129.973267 m, bearing: 207.974399 deg, approach rate: 0.425872 m/s, LOS rate: -0.199347 deg/s, cmd heading: 338.910872 deg, new cmd heading: 338.653808 deg. 2jmmHeadingCmd: 5.910624 target range: 453.500000 and range: 453.50 m. jm#@jqjqjqiqhqhyhyh}̈Bfyffrfbf=?ɛB< 隽:a>I -#;ɚiIo_=I^iJCi-=)#@)EQ*F?2F:FBFJF"G =G =J]J]JYJYJ]|:J]q:JYJYae@ae@ae@ae@ Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH <H '>I  I 0)II BI &I .I 6I <:I FG% '=G B O >U`w,AUEV@YUe@Ud+=9U[u=yUH {6??L[?Կ? Q帿`j? ?ɨUEV@UhF;UCyu Bu(IIIF4٢y >=9: G٣HGy > Nusing accuracyPremultiplier from config59wa?5YO' i?Bȯ^@D2 ;" ;E>5B $@EZj FNOT Ignoring new targets: 453.50 m.Bj -dJj -d ProNav: ac range: 453.500000 m, nav range: 130.150925 m, bearing: 207.888682 deg, approach rate: 0.414025 m/s, LOS rate: -0.199488 deg/s, cmd heading: 338.653811 deg, new cmd heading: 338.397011 deg. 2j%HeadingCmd: 5.906142 target range: 453.500000 and range: 453.50 m. j%@j!j)j)i)h)h)h1h1f1f1f1rf9bf=K?ɛB< HD>I -;ɚiI=I i1>i-B<)@) e$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFG -=G B O >*JQ "JU 4=zKu qKKu 9Kq Ku , Ku CXPC@?@=:;9762-*,0/-**.,'$$!! BK :K oA `w,祃A"Will construct direction to contact in vehicle frame from tetrahedron phase data.yލBޕ(IMMb@Mb@Mb@III I)IYM~jt?V- G٣y > Nusing accuracyPremultiplier from config59Ov?5Y`R' i?B?:^@Dk;f;B5B #@ZjauFNOT Ignoring new targets: 453.50 m.Bj}bJjb  ProNav: ac range: 453.500000 m, nav range: 130.323746 m, bearing: 207.799613 deg, approach rate: 0.385566 m/s, LOS rate: -0.198450 deg/s, cmd heading: 338.397023 deg, new cmd heading: 338.130174 deg. 2j 1HeadingCmd: 5.901485 target range: 453.500000 and range: 453.50 m. jؼ@jjjih9h9hAhEBfAfAfArfIbfM ?ɛB3R< 隽>I P7;ɚiI_1=I2nþiuP8iY<=)ؼ@) U$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.E =E rAE *Fu ?2Fq :Fy BF} _0JFy G qA G pA ~G% vA aY vAy BJmJmJiJiJm :JmH:JiJiWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I )IIoBI&I.I6I<:I FG<<GBO?`w,˃A^@Y^@^ N=9^=y^H`2?@r?ؑ?d>ֿ?`긿ͩUǵ??ɨ^@^wT;^CyfBf(IInIn4٢v3 v!=9zK|| ~G٣|y~:4 >  Nusing accuracyPremultiplier from config59?5YU' i?B;^@D)K;[K;{F5) -ڞ@)EB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 453.50 m.Bj]*pJj]*pm ProNav: ac range: 453.500000 m, nav range: 130.516495 m, bearing: 207.696166 deg, approach rate: 0.391805 m/s, LOS rate: -0.209967 deg/s, cmd heading: 338.130181 deg, new cmd heading: 337.820303 deg. 2juuHeadingCmd: 5.896077 target range: 453.500000 and range: 453.50 m. ju@jyjyjyiyhyhyhhfffrfbf+@ɛB<< 隽 >I ?;ɚiI=I3ƾi{4imǫ<)m@)iEM-= I*F2F:FBFJF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.G =GBOa>J AAJ ?AzK %1NK 9K K - K 5`w,僽ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501306yޅBލb(IMMb@Mb@Mb@III I)IYMx&1?:v~jtyM!?MTMļMA Mh@)MhAIM@IyM@II4٢ %=9Q > G٣HGy > Nusing accuracyPremultiplier from config59̥?5YX' i?B3"?:l޾^@D;D;J5B @EZj15FNOT Ignoring new targets: 453.50 m.Bj=;yJj=;yM ProNav: ac range: 453.500000 m, nav range: 130.706497 m, bearing: 207.587418 deg, approach rate: 0.381255 m/s, LOS rate: -0.217894 deg/s, cmd heading: 337.820309 deg, new cmd heading: 337.494543 deg. 2jMUHeadingCmd: 5.890391 target range: 453.500000 and range: 453.50 m. jU~@jQjQjQiQhYhahaheBfafifirfibfm`y)@ɛB+; 隝\=I jhD;ɚiI|=IVɾi/i<)~@)EE*E"E m$?Iu;ieWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754908*F ?2F :F BF! JF! G={=GIGMqAJJJ1JJJz:J3JGB!OE?\aw,xA2 T@Y2zc@2]=92i=y2H??}?~ֿ ?P3@ݼ?@?ɨ2 T@2Y;2CZHHRHJ?AHLIL IN(IINGBIN+ =&IL.IL6IN+<:IN FBIaJIaRIaZIe* =bIe* =jIe|4^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003154yb؈BbQ(IIjIj(4٢r rH=9vii mG٣iyu| }> Nusing accuracyPremultiplier from config592?5Y[' i?B$㾑^@D;;N5B j@EZjFNOT Ignoring new targets: 453.50 m.Bj{Jj{M ProNav: ac range: 453.500000 m, nav range: 130.867920 m, bearing: 207.493715 deg, approach rate: 0.379939 m/s, LOS rate: -0.220277 deg/s, cmd heading: 337.494537 deg, new cmd heading: 337.213775 deg. 2jU,UHeadingCmd: 5.885491 target range: 453.500000 and range: 453.50 m. jUU@jYjYjYiYhYhYhahfffrfbf@ԫ@ɛU; 2=I F;ɚiI:1=I%˾i%+i%1<)%U@))*F?2F:FBF`0JFG3;=GBO`> m$?IieWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.254150aw,PqA:/@Y:?@:V%b=9:"?=y:HC?L??@׿?@?`?ɨ:/@:Ĉ;8yBɈBF?(I)H HININ 4٢V VO=9Z(;Q Z>XX ZG٣\y^#@ ^> fNusing accuracyPremultiplier from config`f59bJ?f5Yb^' ib}?Bhjc徑j^@bDb:b:bQ5l rM@tZj FNOT Ignoring new targets: 453.50 m.Bj~Jj~- ProNav: ac range: 453.500000 m, nav range: 131.010880 m, bearing: 207.410329 deg, approach rate: 0.382023 m/s, LOS rate: -0.222584 deg/s, cmd heading: 337.213789 deg, new cmd heading: 336.963906 deg. 2j-MHeadingCmd: 5.881130 target range: 453.500000 and range: 453.50 m. jM72@jIjIjQiQhQhQhQhYfYfYfarfabfep @ɛˆBd%; uP=隕@u i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766224 aw,O9A:b @Y:@:d=9:9=y:H?@ ?@/? SS׿? ﺿ+`U?%?ɨ:b @:R?;:CyBBF'(IMb@Mb@Mb@ )YNbX9?Zd;Oy&1y%?j`A ;@)AIyz@I-I-?4٢=p =A=9E^:Q E>II MG٣MHGyUq+ U> Nusing accuracyPremultiplier from config59N?5Yfb' i]?Bs'?:^@D;;U5B u@EZj9EFNOT Ignoring new targets: 453.50 m.BjUJj]u ProNav: ac range: 453.500000 m, nav range: 131.168121 m, bearing: 207.305941 deg, approach rate: 0.354936 m/s, LOS rate: -0.235348 deg/s, cmd heading: 336.963913 deg, new cmd heading: 336.651129 deg. 2j}!}HeadingCmd: 5.875670 target range: 453.500000 and range: 453.50 m. j~@jjjihhhhdBfffrfbf@(@ɛa: 隅ʼI (F;ɚiIo=Iĥоi$i<)~@)EJJJ0JJ|:J:Jـ3J*Fe?2Fi:FiBFmo0JFqGrA GrAH(>I I(IIBI* =&I.I6I$<:I F%Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 22:02:55.3991 LVL= 12416, 24753, 17202, 26867, AGC= 70, IDX= 421, 0.09,-1.981, 2.502, 2.890,-2.900, PHS= 1.007,-0.835,-0.497, RAW= 99.9, 3.9, CAL= 110.1, 2.0, ROT= 39.9, -2.0 uYgot valid direction response: 22:02:55.3991 LVL= 12416, 24753, 17202, 26867, AGC= 70, IDX= 421, 0.09,-1.981, 2.502, 2.890,-2.900, PHS= 1.007,-0.835,-0.497, RAW= 99.9, 3.9, CAL= 110.1, 2.0, ROT= 39.9, -2.0 }PDAT read: Bearing 39.9, -2.0 (Local) }~Local bearing/azimuth received: Bearing 39.9, -2.0 (Local) DAT read: Range 10 to 50 : 451.8 m (Round-trip 602.4 ms) speed 0.1 m/s ,DAT read: user:2252> BDAT read: Tx time:22:02:56.4925 $Ping request sent.G B O- >aw,+SA2@Y2*@2yf=92=y2H?y?@?׿? l `"˷?@?ɨ2@22ψ;2Cy>BB%(IIJIJP4٢r rP=9rѡ:Q r>tt vG٣tyvF z> $?I =Nusing accuracyPremultiplier from configxE59z.?E5Yze' izA?BAEE^@zDz'aw,mA2̵@Y2=ܼ@24b=92+=y2H?@a??`׿?`ۻ0WxR?S?ɨ2̵@2r;0yRBR(Iivp=Iv4<-only read 0 of 1 data item for BIT error. Device response is::TS,25010814040293,35.0, +10.,1493.1, 0  @ @ @  @ II4٢-;I -F=9-cQ 5>11 5G٣1y=( => MbBottom track data is 0.4 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAU59E?U5YEi' iE"?B]+:Ye:em^@EDEQ;E#>E[5y $@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 451.80 m.Bj׏Jj׏ ProNav: ac range: 451.799988 m, nav range: 131.448761 m, bearing: 207.118746 deg, approach rate: 0.376693 m/s, LOS rate: -0.251512 deg/s, cmd heading: 336.368594 deg, new cmd heading: 336.074201 deg. 2j,HeadingCmd: 5.865602 target range: 451.799988 and range: 451.80 m. j@jjjihhhhfffrfbfsb?ɛ#0 KI @B;ɚ!i!I%\=I%վi-jai-Q<)-@)) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E]S,=*F?2F:FBF0JFG% Hn<jH bH p<H I  I u(II BI &I .I 6I Q<:I $ FG B O >U!aw,}\AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987724>]@Y>@>($_=9>B=y>H? z5??׿t?|૿`Z?a?ɨ>]@>†;iq uG٣uHGyub u> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy59}?5Y}l' i}?B :T:^@}D}3&;}W?}\^5B @EZjFNOT Ignoring new targets: 451.80 m.BjJj ProNav: ac range: 451.799988 m, nav range: 131.602798 m, bearing: 207.015616 deg, approach rate: 0.357127 m/s, LOS rate: -0.238821 deg/s, cmd heading: 336.074213 deg, new cmd heading: 335.765188 deg. 2j#HeadingCmd: 5.860208 target range: 451.799988 and range: 451.80 m. jӆ@jjjihhhhfffrf bf @?ɛ15 1=L(aw,mA:~@Y:@:^Y=9:=y:H`?~?z? Dؿ`c?@߼`(?A?ɨ:~@:>;:CyBBF'IININ4٢R VY=9V_uQ Z>X\ ^G٣\ybX b> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from configdj59fc-?j5Yfp' if>Bn9ln,:nn^@fDfH;f7?f`5t vj@vEZj FNOT Ignoring new targets: 451.80 m.BjrJjr- ProNav: ac range: 451.799988 m, nav range: 131.735992 m, bearing: 206.925907 deg, approach rate: 0.354591 m/s, LOS rate: -0.238582 deg/s, cmd heading: 335.765187 deg, new cmd heading: 335.496336 deg. 2j-#5HeadingCmd: 5.855515 target range: 451.799988 and range: 451.80 m. j=b`@j9j9jAiAhAhAhAhIfIfIfIrfIbfU2?ɛy}+| y}Iy 99;ɚiI=IھiDiP<)b`@)EE*E"EJJJJJ:Jh:JJJ3`JK9KK0 K'7I]kkgf_ZXUOJA?:1& eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495505*F2F:FBF4JF 5 $?I1 Ge < Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744966G9 BI Om >G.aw,仄A:hl@Y:{@:W=9:=y:H Ƅ??&?zؿ@W?`9: ??ɨ:hl@:Ո;:CyB(I)! !        Mb@Mb@Mb@ )YDl?Q~jtyO-?IA h@)AI@yf@II4٢<< 59=9=>iQ =>99 EG٣AyE E> UNusing accuracyPremultiplier from configI]59MC?]5YMjt' iM>B]T:]0?e:ee^@M DM6;ME5;Md5mB m,@mEZjFNOT Ignoring new targets: 451.80 m.BjJj ProNav: ac range: 451.799988 m, nav range: 131.894913 m, bearing: 206.809729 deg, approach rate: 0.349910 m/s, LOS rate: -0.255492 deg/s, cmd heading: 335.496324 deg, new cmd heading: 335.148213 deg. 2jW/HeadingCmd: 5.849440 target range: 451.799988 and range: 451.80 m. j.@jjjihhhhcBfffrfbf a?ɛ; 隽lI ֻ3;ɚiIb =I ޾i +i <) .@)HI II(II҈BI&I.I6I<:I F*F?2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997682G <G B O >  I ).5aw,RՄA2N@Y2T^@25T=92=y2Hy? ?I?uؿiK? E@-??ɨ2N@2>;0yBBB'IIJIJ?4٢R3/ V`=9VQ V>XX ZG٣ZHGyZ[' Z> bNusing accuracyPremultiplier from config`f59bT?f5Ybw' ib>Bdff^@bDb:b:b*g5nB n@}EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247845ZjFNOT Ignoring new targets: 451.80 m.BjxJjx ProNav: ac range: 451.799988 m, nav range: 132.018036 m, bearing: 206.719439 deg, approach rate: 0.328091 m/s, LOS rate: -0.240374 deg/s, cmd heading: 335.148203 deg, new cmd heading: 334.877589 deg. 2j$HeadingCmd: 5.844717 target range: 451.799988 and range: 451.80 m. j@jjjihhhhfffrfbf4@ɛ)- )-HӽI) 5K.;ɚ1i1I5 !=I=i=N i=u=)=@)A*F?2F:FBFJFG<JJJ1JJ:J:J3JJ<J<Jxp;Jxp;G%?G%?G } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503381zK MK ý9K K 1 B K O >W;aw,:AB3@YB C@BM=9BK=yBH`o?P?~_w?3ؿ^@?Y`@m??ɨB3@Bv;BCyRBR'IMMb@Mb@Mb@III I)IYM!rh?ʡE{GzyMl'?MケM#MA I)MAIM@IyMAIeIe4٢uo< }>=9}vQ }> G٣y[ > Nusing accuracyPremultiplier from config59h?5Y{' i>B*?:7^@D;;j5 D@B*** querying acoustic contact ***jj $?IZjFNOT Ignoring new targets: 451.80 m.BjኻJjኻ  ProNav: ac range: 451.799988 m, nav range: 132.162186 m, bearing: 206.612795 deg, approach rate: 0.328598 m/s, LOS rate: -0.242836 deg/s, cmd heading: 334.877591 deg, new cmd heading: 334.558012 deg. 2j &UHeadingCmd: 5.839139 target range: 451.799988 and range: 451.80 m. jU:ں@jQjQjYiYhYhahahezBfififrfbfP@ɛ9=\^ 9=̽I9 =4=);ɚAiAIE!=I Ziiݽ=):ں@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751979*F92F9:F9BF=`0JFA) ſ= Cm~G &YyEBG% $3=G B O5 >H *>I  I <(II ȈBI &I .I 6I 2<:I  F!@Baw,vp AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003738:@Y:*@:rF=9:mJ=y:H g?A?j?ٿ5?O ٨@Ժ?-?ɨ:@: ;:CyFBF(IiJ?>IJ;IEIE4٢U< UL=9]ЅQ ]>aa eG٣aye m> uNusing accuracyPremultiplier from configi}59m{?}5Ym' im>By}}^@m#Dm ;m" ;mkn5B @EZjFNOT Ignoring new targets: 451.80 m.BjJj ProNav: ac range: 451.799988 m, nav range: 132.295929 m, bearing: 206.513721 deg, approach rate: 0.362762 m/s, LOS rate: -0.268456 deg/s, cmd heading: 334.558020 deg, new cmd heading: 334.261098 deg. 2j=8HeadingCmd: 5.833957 target range: 451.799988 and range: 451.80 m. jƯ@jjjihhhhfffrfbf@ɛU LI Tx%;ɚi!I%Vr"=I%Di-i-N-=)-Ư@))*F-?2F):F)BF-0JF) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256858Gmsc=Gi B O >/lHaw,S#A6<@Y6 @6==96=y6H[?@ew?F?(Kٿ,*?,^4Vߺ?@?ɨ6<@6;4y^B^(IIfIfm4٢n < rR=9r2Q r>pt vG٣vHGyv v> ~Nusing accuracyPremultiplier from configx~59z?5Yzx' izl>B^@z+Dz7:z:zq5 @ZjAEFNOT Ignoring new targets: 451.80 m.BjMJjM] ProNav: ac range: 451.799988 m, nav range: 132.425537 m, bearing: 206.417336 deg, approach rate: 0.332034 m/s, LOS rate: -0.246679 deg/s, cmd heading: 334.261098 deg, new cmd heading: 333.972229 deg. 2j]K)eHeadingCmd: 5.828915 target range: 451.799988 and range: 451.80 m. jey@jajajaiahihihihifqfqfyrfybf}@ @JJJ0JJ:J!:Jـ3JJ3<J4<Jmy;Jmy;ɛ8Q 隍䧽I 8 !;ɚiI#=IiiC=)y@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:02:59.5095 eTRx dataTimestamp_ set to:1736373780.661549zK}BoHK}9KyK}2 K}   checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524035*F2F:FBF 1JF"G=G= $?IG =G G qAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759849]Naw,&=A2@Y2=@24=92 =y2H(T?@=?$S]`Bqٿ'"?@M@𚦿 ?&?ɨ2@2F;0yRBR(I5Mb@Mb@Mb@111 1)1Y5y&1?EԸMb`?y5`%?5ƽ5;5 A 5~@)5AI5@1y5AIEIE(4٢U; UC=9]Q ]>aa eG٣aym» m> uNusing accuracyPremultiplier from configq}59u3?}5YuH' iu]>B;'?:^@u4DuW1;u0;u{u5B @EZjFNOT Ignoring new targets: 451.80 m.BjzJjz ProNav: ac range: 451.799988 m, nav range: 132.569046 m, bearing: 206.316709 deg, approach rate: 0.343198 m/s, LOS rate: -0.240387 deg/s, cmd heading: 333.972235 deg, new cmd heading: 333.670683 deg. 2j$HeadingCmd: 5.823652 target range: 451.799988 and range: 451.80 m. j\[@jjjihhhhBfffrfbf`@ɛˆBJ*C 隥蟽I ;ɚiI#=IGiyiZ=)\[@)*F?2F:FBF@5JFHU+>IQ IQIQIU) =&IQ.IU6D6IU<:IU FBIJIRIZIbIjI5UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.015350G=GQ Ba O} > I |Uaw,WA>Ĵ@Y>UԻ@>SQ*=9>_=y>H G??*pٿ?顼`H൙?`?ɨ>Ĵ@>A;>CyJBJ(I)L LXZAIfIf\4٢nAV< nS=9rڻQ r>pt vG٣tyv3 v> ~Nusing accuracyPremultiplier from configx59zA? 5Yz׊' izO>B   ^@z MBDAT read: Tx time:22:03:00.5925 M$Ping request sent.UV[aw,pAyrBr (IMb@Mb@Mb@ )Y)\(?~jt{Gzt?yG!?ף; A )3AI3@yA =$?I9I-I-%x4٢MT< M5=9MQ U>QQ ]G٣]HGy] ]> eNusing accuracyPremultiplier from configam59e?m5Ye' ieA>But"?u:uu^@eEDep;e;e|5y }D@k?kh0+ k k)^ZA:kCBk8CZk$g@"5\~"Q/9*jb.d|@ÿ1a$נ?Jkͧ<Rk󆈵*m2{QRTߣABM|@>lyÿc /ɳ? Eׇ?"k*kًk?kq6+ 2kJDkwۛ?kkkpBki@- addTargetRange:: Added new target pos. range: 459.600006 m, deltaT: 4.283249 s, deltaX: 7.800018 m, approachRate: 1.821052 m/s, rangeRepo size: 4 = Added new target pos. range: 459.600006 m, bearing: 206.929763 deg, lat: 36.899949 deg, lon: -122.122206 deg, deltaT: 4.283249 s, deltaX: 7.800018 m, approachRate: 1.821052 m/s, posRepo size: 4 ZjAMFNOT Ignoring new targets: 459.60 m.BjUJjQe ProNav: ac range: 459.600006 m, nav range: 119.220299 m, bearing: 209.381182 deg, approach rate: 0.000000 m/s, LOS rate: -0.239505 deg/s, cmd heading: 333.391178 deg, new cmd heading: 333.056280 deg. 2jaeHeadingCmd: 5.812929 target range: 459.600006 and range: 459.60 m. jm@jijijiiihihqhqhuBfqfyfyrf}|@bf} ?ɛeBa 隍I  ;ɚiI$=I|i׺i5=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:FABFE[0JFAGa Gi Gm >G9 jHE <bHE <HI II  IM C(IIM ͈BII &II .II 6IM .<:IM  FBq O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.{baw,ΊAV@YV@V7.=9Vg4=yVH`-? ]G?k@}.ڿ ? e$;??ɨV@V%D;VCy~B~(II I n4٢Q< _=9%Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1E595?E5Y5֑' i58>BAE E^@5MD5n:5n:55UB U @UEmB*** querying acoustic contact ***jqjqZjy}FNOT Ignoring new targets: 459.60 m.Bj=Jj= ProNav: ac range: 459.600006 m, nav range: 119.335251 m, bearing: 209.284006 deg, approach rate: 0.327615 m/s, LOS rate: -0.276687 deg/s, cmd heading: 333.056280 deg, new cmd heading: 332.765034 deg. 2j=HeadingCmd: 5.807846 target range: 459.600006 and range: 459.60 m. jٹ@jjjihhhhfffrfbf?ɛX  rI M^;ɚIiIIM_f%=IU_iUκi]'=)]ٹ@)Y*F92FA:FABFE_0JFA %$?I%=iG-1=GBO%M>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ٹhaw,pA2a@Y2%q@2W=920L=y2H!?}?{`"iڿ`? 0ʠ@՞??ɨ2a@2螌;2Cy>BB (IiF=IF5?IJIJ 4٢RoF RS=9R߻Q V>TT VG٣TyZm$ Z> bNusing accuracyPremultiplier from config\b59^|?f5Y^2' i^/>Bdf f^@^UD^@:^@:^g5h j2@lZj-FNOT Ignoring new targets: 459.60 m.Bj5yJj=yU ProNav: ac range: 459.600006 m, nav range: 119.456192 m, bearing: 209.181360 deg, approach rate: 0.310320 m/s, LOS rate: -0.263108 deg/s, cmd heading: 332.765041 deg, new cmd heading: 332.457419 deg. 2jU4]HeadingCmd: 5.802476 target range: 459.600006 and range: 459.60 m. j]㭹@jajajaiahihihhfffrfbf?ɛMBJUJUJU0JQJU:JU(:JUـ3JQJU<JU<JU;JU;y 隥$I ;ɚiI%=Iioºi.=)㭹@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238175zKKK9KK4 K*F ?2F :F BF`0JF IGM 4=GQ GQ GA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489681Gnaw,vmAyrBr(ImMb@Mb@Mb@iii i)iYmA`"?A`"y&1|?ym?mYm`;i m@)iIm@iymfAIIʴ4٢< <=9Q > G٣HGy > Nusing accuracyPremultiplier from config59?5Y' i(>B?:_@]D;;35B ʣ@EZjFNOT Ignoring new targets: 459.60 m.BjɌJjɌ  ProNav: ac range: 459.600006 m, nav range: 119.591904 m, bearing: 209.074696 deg, approach rate: 0.313564 m/s, LOS rate: -0.246169 deg/s, cmd heading: 332.457409 deg, new cmd heading: 332.137783 deg. 2j(HeadingCmd: 5.796898 target range: 459.600006 and range: 459.60 m. j0@jjjihh!h!h%؈Bf!f)f)rf)bf-@ &?ɛB9 hQI cL ;ɚ i I X&=I5i5I IU(II܈BI&I.I6I<:I F*F?2F:FBFo0JF"G=G=%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741826GM {/=G! B1 OM > $?I huaw,I؅A}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993553X@Yg@ <9i=yH@? N?@&`O{ڿ??^?ɨX@,h;CyB(II5I5 4٢=5 E2=9EQ E>IQ UG٣QyU& U> eNusing accuracyPremultiplier from configYe59]?m5Y])' i] >Biuu_@]fD]{!;]"";]65}B }@}EZjFNOT Ignoring new targets: 459.60 m.BjYJjY ProNav: ac range: 459.600006 m, nav range: 119.735641 m, bearing: 208.962042 deg, approach rate: 0.313493 m/s, LOS rate: -0.245405 deg/s, cmd heading: 332.137783 deg, new cmd heading: 331.800229 deg. 2jk(HeadingCmd: 5.791007 target range: 459.600006 and range: 459.60 m. jO@jjjihhhhfffrfbf@ɛpͺ aI  ;ɚiI&=Ii!kis-S=)O@)*Fy2Fy:FyBF}n0JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248246zKE KA KA KE 5 KE G A=G B O >h{aw,F$A>P@Y>2`@>]<9>i=y>H`8?@!?ڿ?.?~?2?ɨ>P@>;>CyFBJ (I)L LmMb@Mb@Mb@iii i)iYm +?L7A`堿Mb?ym?m+m G٣y' > Nusing accuracyPremultiplier from config59D!?5Y' i>B?:+_@lD#;;H5  @Zj!%FNOT Ignoring new targets: 459.60 m.Bj5KJj5KE ProNav: ac range: 459.600006 m, nav range: 119.849457 m, bearing: 208.879189 deg, approach rate: 0.320475 m/s, LOS rate: -0.233069 deg/s, cmd heading: 331.800235 deg, new cmd heading: 331.551916 deg. 2jEMHeadingCmd: 5.786673 target range: 459.600006 and range: 459.60 m. jMl,@jIjQjQiQhhhhBfffrfbf@ɛBJ  隵rI ;ɚiIH-'=I6iFi^=)l,@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499040*Fm?2Fi:FiBFmo1JFiG }M=G B O >ZH RH AAH .>I C I b(II BI ( =&I .I 6I <:I FJK KL.KK"KJ J J J J :J ":J J J <J <J 7{;J 8{;= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749514aw,  A22@Y2UB@2 U<92~+=y2H%?`?`6@ڿ`k?@縿۩Y??ɨ22@2)o;2CyZBZ(IIfIfb4٢~鿼 U=9Q >    G٣ HGy  -> Nusing accuracyPremultiplier from configy59}2?5Y}' i}>B_@}tD};};}5ߒB ?@EB*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 459.60 m.Bj5)Jj5)E ProNav: ac range: 459.600006 m, nav range: 119.977219 m, bearing: 208.785858 deg, approach rate: 0.314276 m/s, LOS rate: -0.229338 deg/s, cmd heading: 331.551917 deg, new cmd heading: 331.272223 deg. 2jEdHeadingCmd: 5.781791 target range: 459.600006 and range: 459.60 m. jo@jjjihhhhfffrfbf 1@ɛimv4 quTIq uA;ɚqiqIu,'=I}\[i}i}'a=)o@)! $?I*F2F:FBF_5JFGqA GPExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002210G g\=G B O >aw,a%A:r@Y:#@:<9:ߡ=y:H???hڿ ? w+^B ?@I?ɨ:r@:Q;8y^B^(IIfIf4٢v vL=9vJOQ v>xx zG٣xy~+ ~> Nusing accuracyPremultiplier from config 59C? 5Yp' i>B _@{DU::!5 @!ZjAMFNOT Ignoring new targets: 459.60 m.BjM JjM e ProNav: ac range: 459.600006 m, nav range: 120.102066 m, bearing: 208.694332 deg, approach rate: 0.334567 m/s, LOS rate: -0.245016 deg/s, cmd heading: 331.272234 deg, new cmd heading: 330.997945 deg. 2je'(mHeadingCmd: 5.777004 target range: 459.600006 and range: 459.60 m. jm7ݸ@jqjqjqiqhqhyhyhyfffrfbfQ @ɛЫs quIq u:ɚyiyI}'=I!iwi]e=)7ݸ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257029zK-BoHK-+9K)K-6 K- *Fq2Fy:FyBF]0JF }$?IyG6a=Gi B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A BDAT read: Rx Time:22:03:03.5954  TRx dataTimestamp_ set to:1736373784.940941 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507009) A A2aw,?A 2Y0y2B~{@Y~@~T<9~[F=y~H@&?nS?H`Pۿ? ៗk??ɨ~{@~6Љ;~Cy B 'Ii=Ip= ==MMb@Mb@Mb@III I)IYM9v?~jtMbp?yM?MM;I M@)IIIIyM3AImIm4٢}u }3=9}uQ }> G٣y W > Nusing accuracyPremultiplier from config59W?5Y' i>B?:_@D;;5ޒB T@EZj!MFNOT Ignoring new targets: 459.60 m.Bj])Jj]) ProNav: ac range: 459.600006 m, nav range: 120.251038 m, bearing: 208.589782 deg, approach rate: 0.319700 m/s, LOS rate: -0.224092 deg/s, cmd heading: 330.997934 deg, new cmd heading: 330.684675 deg. 2jHeadingCmd: 5.771536 target range: 459.600006 and range: 459.60 m. jm@jjjihhhhՈBfffrfbfd @ɛ}B}UkH0>I I\(IIBI' =&I.I6I&<:I F 隥ҽI :ɚiIfT(=IniTic=)m@)JJJ1JJL:J:J3JJ@ <JA <Ju;Ju;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757844*F2F:FBF4JF I G }xd=G B O >6aw,YA "nManaging dock network, ignoring radio surface power offy|B'II=I= 4٢Mp M`=9MQ M>QQ UG٣UHG]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:03:03.5954 LVL= 16048, 32753, 19490, 32755, AGC= 66, IDX= 303,-0.05,-2.138, 2.323, 2.542, 3.126, PHS= 1.108,-0.756,-0.586, RAW= 94.7, 2.7, CAL= 103.5, 0.5, ROT= 46.5, -0.5 Ygot valid direction response: 22:03:03.5954 LVL= 16048, 32753, 19490, 32755, AGC= 66, IDX= 303,-0.05,-2.138, 2.323, 2.542, 3.126, PHS= 1.108,-0.756,-0.586, RAW= 94.7, 2.7, CAL= 103.5, 0.5, ROT= 46.5, -0.5 PDAT read: Bearing 46.5, -0.5 (Local) ~Local bearing/azimuth received: Bearing 46.5, -0.5 (Local) DAT read: Range 10 to 50 : 449.0 m (Round-trip 598.7 ms) speed 0.3 m/s ,DAT read: user:2254> BDAT read: Tx time:22:03:04.6925 $Ping request sent.e e"L)eIeBieҍ?e7Aeeԏ?a e8?)e5 Nusing accuracyPremultiplier from config59i?5Y' i >B_@D*::5 !@akeAu?keƸ' ka kei\A:keCBkeCZke L@"e* Pz")@f:V{@eڊ'jM¿}q?,?Jke<@RkeuX*eM};Npʹ]ky:&{@epf`L7z#ij?"ke:*ke)tke<߽Q?ket' 2keDDker%?keW+ keCke=Bke@h@ addTargetRange:: Added new target pos. range: 449.000000 m, deltaT: 4.031966 s, deltaX: -10.600006 m, approachRate: -2.628992 m/s, rangeRepo size: 4 % Added new target pos. range: 449.000000 m, bearing: 182.739147 deg, lat: 36.900183 deg, lon: -122.122031 deg, deltaT: 4.031966 s, deltaX: -10.600006 m, approachRate: -2.628992 m/s, posRepo size: 4 Zj!%FNOT Ignoring new targets: 449.00 m.BjmJji} ProNav: ac range: 449.000000 m, nav range: 90.121017 m, bearing: 207.698069 deg, approach rate: 0.000000 m/s, LOS rate: -0.224092 deg/s, cmd heading: 330.684674 deg, new cmd heading: 330.405024 deg. 2jyHeadingCmd: 5.766655 target range: 449.000000 and range: 449.00 m. jq@jjjihhhhfffrfe|@bfm`_?ɛݻ 隵I r:ɚiIB(=IK;i_1iv=)q@)*F?2F:FBF_0JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:03:04.6917 zK KK ]9K K 7 K #,3<@Xcq~oTIFD@><9998;;976651433/0.-++*+''&&&%$!G= d=G B O% >aw, uA *$?I(=@YkM@<9+=yHŦ?2w?@A`zܿ ? \w +:??ɨ=@MO;Cy=rB='IMb@Mb@Mb@ )Y㥛 ? rh{Gzy?C # A @)IAy\AI=~I=T_4٢U! U$=9}$Q }>yy G٣yY0 > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.59|?5Y' i=B?:_@D)<(<5ݒB @EZjq}FNOT Ignoring new targets: 449.00 m.Bj}rJj}r ProNav: ac range: 449.000000 m, nav range: 90.264229 m, bearing: 207.556415 deg, approach rate: 0.310641 m/s, LOS rate: -0.306775 deg/s, cmd heading: 330.405019 deg, new cmd heading: 329.980740 deg. 2jRHeadingCmd: 5.759250 target range: 449.000000 and range: 449.00 m. jK@jjjihhhhĈBfffrfbf?ɛ 隵~I :ɚiI_!)=I iD iXE=)K@)*F?2F:FBFJFH 1>I  I I(II ҈BI &I .I 6I <:I  FBI}ɝCJI}ɝCRIyZI}( =bI}( =jI}G5J1 J5 J5 0J1 J1 J5 :J5 ـ3J1 J1 J1 J5 w;J5 w;M Will construct direction to contact in vehicle frame from tetrahedron phase data.G nu=G B O >Уaw,A6@Y6)@6 <96`Ԣ=y6HU??!`ܿ |w?ReT??ɨ6@6;6Cy>ZB>'I)D DFADIJIJ(4٢z zo=9z)˻Q ~?|| ~G٣|y ?  Nusing accuracyPremultiplier from config 59 [?5Y ' i =B_@ D : : 5) -,@-EMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 449.00 m.Bje꽻Jje꽻u ProNav: ac range: 449.000000 m, nav range: 90.370407 m, bearing: 207.450685 deg, approach rate: 0.333872 m/s, LOS rate: -0.332072 deg/s, cmd heading: 329.980728 deg, new cmd heading: 329.663914 deg. 2juc}HeadingCmd: 5.753721 target range: 449.000000 and range: 449.00 m. j}{@jyjyjyiyhhhhfffrfbfj?ɛQj ^FI ]:ɚiI-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.aw,AV@YV.@Vi<9V%=yVHo?@?ӗݿf?= >?@?ɨV@V3;VCyjNBj'IIvIv@4٢~v ~K=9Q >   G٣ HGy gF  > %Nusing accuracyPremultiplier from config!-59%?-5Y%' i%=B)-E-_@%D%:%:%)5=ܒB =ߨ@=EZjaeFNOT Ignoring new targets: 449.00 m.BjmaJjma} ProNav: ac range: 449.000000 m, nav range: 90.496849 m, bearing: 207.324144 deg, approach rate: 0.313841 m/s, LOS rate: -0.313649 deg/s, cmd heading: 329.663916 deg, new cmd heading: 329.284827 deg. 2j}AWHeadingCmd: 5.747104 target range: 449.000000 and range: 449.00 m. jG@jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243355ffrfbf1?ɛquGc q}j_Iy }:ɚyiyI})=I< iiQ=)G@)zKU}NKU9KQKU8 KU%# *F?2F:FBF 0JF GrA G I>iG% F=U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496000G B O- >ذaw,ŌÆA:n@Y:Ϲ@:j<9:=y:H@|n?T?@Zݿ LT?RPP`1??ɨ:n@:3;8yF:BF'IMb@Mb@Mb@ )YS?J +II MG٣IyU> U> ]Nusing accuracyPremultiplier from configYe59]b?e5Y]+' i]=Be3?e:mm_@]D];]M;]5uڒB u@qZjFNOT Ignoring new targets: 449.00 m.BjsJjs ProNav: ac range: 449.000000 m, nav range: 90.624817 m, bearing: 207.189113 deg, approach rate: 0.311059 m/s, LOS rate: -0.327763 deg/s, cmd heading: 329.284813 deg, new cmd heading: 328.880301 deg. 2j`HeadingCmd: 5.740044 target range: 449.000000 and range: 449.00 m. jq@jjjihhhhwBffHI I*(IIBI&I.I6I/<:I Ffrfbfd?ɛY]{} aeIa ep:ɚaiaIe>*=JJJJJ:J$-:JJJM<JM<J;J;IO iriY=)q@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748436*F?2F:FBF0JF $?IG 0P=G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998707G aw,݆A6u@Y6旹@6Wc<96B=y6HT?୷?cnRݿ`\;?`;Aj?u?ɨ6u@6;6CyB-BB~'IiF>IF> F=FR=ININʴ4٢V VS=9ZnQ Z>XX ^G٣\y^ ^> bNusing accuracyPremultiplier from config`j59b?j5Ybt' ib=Blnn_@bDbi@;b@;b!5rْB rĪ@rEZj FNOT Ignoring new targets: 449.00 m.BjJj% ProNav: ac range: 449.000000 m, nav range: 90.744270 m, bearing: 207.061919 deg, approach rate: 0.308667 m/s, LOS rate: -0.328234 deg/s, cmd heading: 328.880302 deg, new cmd heading: 328.499230 deg. 2j%Ca5HeadingCmd: 5.733393 target range: 449.000000 and range: 449.00 m. j5w@j1j1j1i1h1h1h9h9f9f9fArfAbfEw@ɛ|觼 !%I! %$g:ɚ!i)I-Q*=IM, iIiM?X=)Mw@)Y*F?2F:FBFK5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251570GE]X=GY B zK MK 9K K 9 K @dH04'O > I o.aw,fIA2S@Y22c@2o-W<92CZ=y2H G٣HGyo > Nusing accuracyPremultiplier from config59?5Y' i=B|?:5_@D:;;55ؒB 5@5EZjaeFNOT Ignoring new targets: 449.00 m.Bjm»Jjm»} ProNav: ac range: 449.000000 m, nav range: 90.871544 m, bearing: 206.909787 deg, approach rate: 0.285012 m/s, LOS rate: -0.340202 deg/s, cmd heading: 328.499232 deg, new cmd heading: 328.043485 deg. 2j}ziHeadingCmd: 5.725439 target range: 449.000000 and range: 449.00 m. j6@jjjihhhh^Bfffrfbf@ @ɛOv I \:ɚiIw+=Iqii ^=)6@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504275*FU?2FQ:FYBF]S4JFYGmYW=ZHRH?AHI I'IIBI&I.I6Is<:IF FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758150}aw,-A>n @Y>@>A<9>&=y>H?`&?@蛿޿~?`#@1??ɨ>n @>щ;>CyN BNV'IIVIV4٢r^ rS=9r;dQ r>tt vG٣tyzz z> ~Nusing accuracyPremultiplier from config|59~?5Y~%' i~=B  g _@~D~:~:~>5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 449.00 m.BjZJjZ ProNav: ac range: 449.000000 m, nav range: 90.978149 m, bearing: 206.780625 deg, approach rate: 0.275034 m/s, LOS rate: -0.332837 deg/s, cmd heading: 328.043495 deg, new cmd heading: 327.656470 deg. 2jldHeadingCmd: 5.718684 target range: 449.000000 and range: 449.00 m. jv@jjjihh  5$?I1hAhIfIfQfQrfQbfU3@ɛy}*dļ 隅İI 9ɚiI%+=I&iB={iT^V=)v@)*F ?2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006621G-V^=G B O- >?aw,*AJ6J6J4J4J6l:J6:J4J4a:@a:@a:@a:@^̱@Y^4ܸ@^>/<9^=y^H@??q߿?4粿@煿?`=?ɨ^̱@^F;^CyB H'I) AAI%I%ʴ4٢5|d 5F=95-Q 5>99 =G٣9yEX E> MNusing accuracyPremultiplier from configIU59M?U5YM' iM=BY]l!]_@MDM;MZ;Mڸ5e֒B e_@mEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259578ZjFNOT Ignoring new targets: 449.00 m.BjλJjλ ProNav: ac range: 449.000000 m, nav range: 91.094818 m, bearing: 206.637517 deg, approach rate: 0.295038 m/s, LOS rate: -0.361436 deg/s, cmd heading: 327.656469 deg, new cmd heading: 327.227702 deg. 2j xHeadingCmd: 5.711201 target range: 449.000000 and range: 449.00 m. j(¶@jjjihhh!h!f!f)f)rf)bf-)c @ɛ8м DI 7ɚiI(,=ImiiU=)(¶@)zKm5NKmh9KiKm: Km]xHs&S"rVG?4 -$?I)*F}?2Fy:FyBFJF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Rx Time:22:03:07.6939 5 TRx dataTimestamp_ set to:1736373788.972616= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511752Ge R`U=G) B1 OU >&aw,oDA6Q@Y6—@6vK<96#=y6Hx?s?ѻv߿@?@Ơ@Z郿@?@?ɨ6Q@6͉;6CyNBR9'IUMb@Mb@Mb@QQQ Q)QYUS㥛?EԸ~jtyU$&?UƽUU A Q)UAIUAQyUAIuIu4٢Fo E=9Q > G٣HGy> > Nusing accuracyPremultiplier from config59%?5Y' i=B(?:)_@DY;b;y5 &@ZjFNOT Ignoring new targets: 449.00 m.BjջJjջ ProNav: ac range: 449.000000 m, nav range: 91.212234 m, bearing: 206.483484 deg, approach rate: 0.285296 m/s, LOS rate: -0.373786 deg/s, cmd heading: 327.227697 deg, new cmd heading: 326.766201 deg. 2jCHeadingCmd: 5.703146 target range: 449.000000 and range: 449.00 m. j,@j j j i h h hh1Bf!f)f)rf)bf-} @ɛ]B]Ͳ Y]MȾIY e:sɚaiaIe+,=Imx}iqHI I'IIqBI&I.I6IP<:I- Fi wU=),@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765270*F?2F:FBF`0JF )I1G 8U=G B O= >] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:03:07.6939 LVL= 14208, 28225, 18882, 32099, AGC= 64, IDX= 431,-0.05,-2.371, 2.128, 2.158, 2.800, PHS= 1.200,-0.625,-0.645, RAW= 89.5, 0.8, CAL= 96.9, -3.0, ROT= 53.1, 3.0  Ygot valid direction response: 22:03:07.6939 LVL= 14208, 28225, 18882, 32099, AGC= 64, IDX= 431,-0.05,-2.371, 2.128, 2.158, 2.800, PHS= 1.200,-0.625,-0.645, RAW= 89.5, 0.8, CAL= 96.9, -3.0, ROT= 53.1, 3.0  PDAT read: Bearing 53.1, 3.0 (Local)  ~Local bearing/azimuth received: Bearing 53.1, 3.0 (Local)  DAT read: Range 10 to 50 : 447.8 m (Round-trip 597.1 ms) speed 0.1 m/s  ,DAT read: user:2255>  BDAT read: Tx time:22:03:08.7926  $Ping request sent. aa eG٣aye e> Nusing accuracyPremultiplier from configi59m?5YmI' im=B_@mDmb;m.B;mj5ՒB Ů@Ekǡ?k3$ k k=^A:kCBk]CZk @"aK&F(:zjZJ@L{@5rS;SsV(!?'z?JkzC@RkM*UTu9(u3ΩA@ff{@`"|h2?ц?"kN B*kkb&?k0,$ 2kfDk?kq6+ kDDkBkc@ addTargetRange:: Added new target pos. range: 447.799988 m, deltaT: 4.035849 s, deltaX: -1.200012 m, approachRate: -0.297338 m/s, rangeRepo size: 4  Added new target pos. range: 447.799988 m, bearing: 126.288741 deg, lat: 36.900254 deg, lon: -122.121948 deg, deltaT: 4.035849 s, deltaX: -1.200012 m, approachRate: -0.297338 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 447.80 m.Bj Jj  ProNav: ac range: 447.799988 m, nav range: 80.981377 m, bearing: 204.100918 deg, approach rate: 0.000000 m/s, LOS rate: -0.373786 deg/s, cmd heading: 326.766195 deg, new cmd heading: 326.234657 deg. 2jHeadingCmd: 5.693869 target range: 447.799988 and range: 447.80 m. j%-4@j!j!j!i!hIhIhIhIfQfQfQrfU{@bf]`,?ɛAEּ AEҾII MD8ɚIiIIM#'-=I]miYi]Ow=)-4@)JJJ1JJL:J!:J3JWill construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:22:03:08.7918 *F%?2F):F)BF-_0JF)zK% NK! K! K% ; K%  $?I G R`U=G B O >aw,8yAy޵B޵ 'Ii G٣y > Nusing accuracyPremultiplier from config591.?5Y' i=B/?: 2_@D;;5! %R@%EZjIMFNOT Ignoring new targets: 447.80 m.BjU/JjU/ ProNav: ac range: 447.799988 m, nav range: 81.126961 m, bearing: 203.891356 deg, approach rate: 0.311978 m/s, LOS rate: -0.448273 deg/s, cmd heading: 326.234669 deg, new cmd heading: 325.607137 deg. 2jҙHeadingCmd: 5.682917 target range: 447.799988 and range: 447.80 m. jtڵ@jjjihhhh2Bfffrfbf?ɛ B" ھI KEɚYiYI]<-=I]2iaieeT=)etڵ@)ajH<bH<HI I'IISBI&I.I6Ir<:IF F*F?2F:FBFJFGghs=G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.aw,SA6E@Y6@6f;96/=y6H@f?@o|?-֢CO?@k@Ls:?@K?ɨ6E@6A;6CyNBN&'IIVIV4٢b= b=9bQ b?dd fG٣fHGyfν j ? nNusing accuracyPremultiplier from confighr59j:?v5Yj%' ij=Btv89v_@jDj1;j 2;j5~ԒB ~@~E %$?I%?iB*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 447.80 m.Bj=Jj=M ProNav: ac range: 447.799988 m, nav range: 81.205727 m, bearing: 203.770548 deg, approach rate: 0.292138 m/s, LOS rate: -0.447635 deg/s, cmd heading: 325.607139 deg, new cmd heading: 325.245071 deg. 2jMUHeadingCmd: 5.676598 target range: 447.799988 and range: 447.80 m. jU@jQjQjQiYhYhYhYhYfafafirfibfm?ɛK 隥վI |ɚiI.=IWIiiK2@=)@)*F?2F:FBFf1JF"G=GR=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gs=G B O >J J J 0J J J :J ـ3J aw,fA~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251429y ۇB 'IIIn4٢-8 -D=9-Q 5>11 5G٣1y= => ENusing accuracyPremultiplier from configAU59E/L?U5YE$' iEr=BQQ_@EDED=ExF=E5 @ zKBoIKKK< K )I9ZjFNOT Ignoring new targets: 447.80 m.BjɻJjɻ ProNav: ac range: 447.799988 m, nav range: 81.326172 m, bearing: 203.587323 deg, approach rate: 0.232408 m/s, LOS rate: -0.353020 deg/s, cmd heading: 325.245084 deg, new cmd heading: 324.696243 deg. 2jFrHeadingCmd: 5.667018 target range: 447.799988 and range: 447.80 m. j7X@jjjihhhh!f!f!f)rf)bf-h?ɛB?R 隍~޾I DɚiI.=Iiis=)7X@)*FU?2FY:FYBF]|0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiյAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503862G- VE=G! B1 OM >aw,cLJA6@Y6`(@6:96=y6H?? ą  ?f(`UZ?@?ɨ6@6;6CyRBR('I)X XXZA=Mb@Mb@Mb@999 9)9Y=(\?rh|ii mG٣iym@' u>H0>I I'II>BI&I.I6Im<:IA FBIaJIaRIaZIe' =bIe' =jIeKW4 Nusing accuracyPremultiplier from config59w^?5YT' ij=B0?:<_@D#;<;`5ӒB Ů@EZjFNOT Ignoring new targets: 447.80 m.BjJj ProNav: ac range: 447.799988 m, nav range: 81.446655 m, bearing: 203.399326 deg, approach rate: 0.358246 m/s, LOS rate: -0.558163 deg/s, cmd heading: 324.696238 deg, new cmd heading: 324.133100 deg. 2jHeadingCmd: 5.657190 target range: 447.799988 and range: 447.80 m. j@jjjihhhh 3Bfffrfbf?ɛeBe\ imlҾIi GɚiI /=IAA iiW|V=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756323*Fe?2Fa:FaBFm@5JFi $?I!G A=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007576aw,>ᇽA6@Y6Y@6{:96$=y6H ? :?ڤ(?7N[F??ɨ6@6B;6CyB߇BB'IIRIRm4٢V' ZV=9ZR9Q Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59fj_@fEf:f:f5p rE@pZj FNOT Ignoring new targets: 447.80 m.BjqJjq- ProNav: ac range: 447.799988 m, nav range: 81.550423 m, bearing: 203.236166 deg, approach rate: 0.294942 m/s, LOS rate: -0.463167 deg/s, cmd heading: 324.133102 deg, new cmd heading: 323.644256 deg. 2j-5HeadingCmd: 5.648658 target range: 447.799988 and range: 447.80 m. j5@j1j1j1i1h1h9hhfffrfbf@@ɛ-B5IF 15پI9 = Oɚ9i9I=ru/=I]fp"iYi]~`=)]@)YEi*F?2F:FBF_0JFG5qA G1G0P=GBOE>JJJJJl:J!:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259595 ! I) zK BHK 9K K = K :aw,c&AV@YV@V=d:9V=yVH`d?@bL?:eYy? '@ T6?j?ɨV@V;VCybBb/'IMMb@Mb@Mb@III I)IYM G٣HGy > Nusing accuracyPremultiplier from config59?5YU' i^=B5?:2<_@E;;f5ҒB ^@EZjFNOT Ignoring new targets: 447.80 m.BjOJjOuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512853 ProNav: ac range: 447.799988 m, nav range: 81.680069 m, bearing: 203.038662 deg, approach rate: 0.297308 m/s, LOS rate: -0.452200 deg/s, cmd heading: 323.644252 deg, new cmd heading: 323.052705 deg. 2j+HeadingCmd: 5.638333 target range: 447.799988 and range: 447.80 m. j:m@jjjihhhh9Bfffrfbf K@ɛB]\ !%a˾I! %f/ɚ!i!IM /=IU%iYi]=k=)e:m@)i*F!2F!:F!BF!JF!H1>I I'II4BI( =&I.I6I0<:I FGe U=% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763634G9 BI O >bw,A6p@Y6[@6a:96=y6H9?{?`)*?&+ B`n??ɨ6p@6Ȉ;6Cy>B>6'IiB;>IBC= F=F=IJIJ4٢R= R[=9RQ V>TT VG٣TyZ{ Z> b$?Id jNusing accuracyPremultiplier from config\n59^?n5Y^' i^Z=Blr=r_@^ E^a;^;^5vђB v@vE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 447.80 m.BjBJj%B- ProNav: ac range: 447.799988 m, nav range: 81.789200 m, bearing: 202.870994 deg, approach rate: 0.292326 m/s, LOS rate: -0.448528 deg/s, cmd heading: 323.052703 deg, new cmd heading: 322.550384 deg. 2j5陼5HeadingCmd: 5.629566 target range: 447.799988 and range: 447.80 m. j5h%@j9jjihhhhfffrfbf @RO@ɛUBu0 y}3ľIy } BɚyiyI}G0=IS'iiq=)h%@)*F-?2F):F)BF)JF)G i=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016895GBOG>) bw,.A: :@Y:}I@:*9:$=y:H?`?` Ro?NQ?X?`?ɨ: :@:;:CyFBF@'IININ\4٢Z= ZI=9^HQ b>dh jG٣hvWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270020yB  > %Nusing accuracyPremultiplier from config-59+?55YP' iV=B9=?=_@EΆ;;E5Q Uk@QZjFNOT Ignoring new targets: 447.80 m.BjjJjj ProNav: ac range: 447.799988 m, nav range: 81.910904 m, bearing: 202.682482 deg, approach rate: 0.285364 m/s, LOS rate: -0.441356 deg/s, cmd heading: 322.550383 deg, new cmd heading: 321.985704 deg. 2jsHeadingCmd: 5.619710 target range: 447.799988 and range: 447.80 m. jԳ@jjjihhhhfffrfbf @ Iɛ]Be 隕I X4XɚizKRIK+9KK> K)AH6weUF5+"%8KZ^8I10=I})ii g{=)%Գ@)!E1E5rA*F2F:FBFJF"G=Gp=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:03:11.7928 TRx dataTimestamp_ set to:1736373793.012558checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521751G ,l=G B O >bw,"HA67@Y6 @6q96=y6H`"?? Q n?xְ`#N?`z?`?ɨ67@68;6Cy>BBJ'I Mb@Mb@Mb@  HaIa Ie'IIeCBIe' =&Ia.Ia6Ia:Ia  ) Y S?|?5^~jtx?y /? ҽ ;  ) I  y II34٢= 9=9Q > G٣HGy > Nusing accuracyPremultiplier from config59?5Y' iU=B1?:j>_@E;W;5ВB Ѭ@EZj1=FNOT Ignoring new targets: 447.80 m.Bj=Jj=M ProNav: ac range: 447.799988 m, nav range: 82.035767 m, bearing: 202.493557 deg, approach rate: 0.298585 m/s, LOS rate: -0.451087 deg/s, cmd heading: 321.985691 deg, new cmd heading: 321.419800 deg. 2jMɚUHeadingCmd: 5.609834 target range: 447.799988 and range: 447.80 m. j]ƒ@jYjYjYiYhYhYhaheOBfafafirfibfm @ɛBE 隥kI iɚiI1=I`,iiO=JJJJJ:JmQ:JJJ $?I@i Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:03:11.7928 LVL= 11760, 25441, 16946, 26099, AGC= 66, IDX= 436,-0.42, 2.783, 1.212, 1.067, 1.783, PHS= 1.087,-0.524,-0.719, RAW= 84.4, 1.8, CAL= 90.2, -1.5, ROT= 59.8, 1.5  Ygot valid direction response: 22:03:11.7928 LVL= 11760, 25441, 16946, 26099, AGC= 66, IDX= 436,-0.42, 2.783, 1.212, 1.067, 1.783, PHS= 1.087,-0.524,-0.719, RAW= 84.4, 1.8, CAL= 90.2, -1.5, ROT= 59.8, 1.5  PDAT read: Bearing 59.8, 1.5 (Local)  ~Local bearing/azimuth received: Bearing 59.8, 1.5 (Local)  DAT read: Range 10 to 50 : 447.0 m (Round-trip 596.0 ms) speed 0.2 m/s  ,DAT read: user:2256>  BDAT read: Tx time:22:03:12.8926  $Ping request sent. AA EG٣IyM@m M> Nusing accuracyPremultiplier from configy59}?5Y}( iy?_@}E}V;}0;}5 D@k"?k_] k kaA:kCBkCZkL7?"I,H7шvV@ Ъ*{@ߏFɱEM?d?JkB@Rk쪿*R"X R@{@B;f?zRъ?"kyB*kk0U?kBUP 2kPCk<߽Q?kt' kkkBkH@ addTargetRange:: Added new target pos. range: 447.000000 m, deltaT: 4.036034 s, deltaX: -0.799988 m, approachRate: -0.198211 m/s, rangeRepo size: 4 = Added new target pos. range: 447.000000 m, bearing: 97.230939 deg, lat: 36.900352 deg, lon: -122.121593 deg, deltaT: 4.036034 s, deltaX: -0.799988 m, approachRate: -0.198211 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 447.00 m.BjmJjq ProNav: ac range: 447.000000 m, nav range: 65.209221 m, bearing: 179.685413 deg, approach rate: 0.000000 m/s, LOS rate: -0.451087 deg/s, cmd heading: 321.419796 deg, new cmd heading: 320.813547 deg. 2jHeadingCmd: 5.599253 target range: 447.000000 and range: 447.00 m. j-@jjjihhhhfffrf{@bf@oc?ɛ-B-ɼ )- I) 5}ɚ1i1I5b1=I=7/i9i=q=)=-@)A*F?2F:FBFx0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:03:12.8918 I G {=zK D OK 9K K ? K #NhRC=3-% G B O >ebw,(c|AVۊ@YVL@V9V+_=yVHqC?`7?@'H.? |a?ƴ??ɨVۊ@Vp4;VCyBm'I]Will construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}HzG?333333y&1|?y}=*?}}`;y y)}AI}zAyy}\AII4٢u"= u8=9u!ɺQ }>yy }G٣}HGy > Nusing accuracyPremultiplier from config59r? 5Y ( iV=B T+?:8_@E\<wV<5%ΒB %@%EZjFNOT Ignoring new targets: 447.00 m.BjݻJjݻ ProNav: ac range: 447.000000 m, nav range: 65.432999 m, bearing: 179.515363 deg, approach rate: 0.511891 m/s, LOS rate: -0.387659 deg/s, cmd heading: 320.813548 deg, new cmd heading: 320.305156 deg. 2jHeadingCmd: 5.590380 target range: 447.000000 and range: 447.00 m. jd@jjjihhhhpBfffrfbf@L?ɛ-B-ü )5iI1 58ɚ1i1I571=I=[1i9i==)ed@)i*F?2F:FBF0JFjHE<bHE4=HIII IM'IIMXBII&II.II6IM<:IM FG"=GBO>J5 J5 J1 J1 J5 L:J5 ":J1 J1 J5 @ <J5 A <J5 7{;J5 8{; Will construct direction to contact in vehicle frame from tetrahedron phase data.M%bw,Xw+bw,A6#@Y6@696=y6H .?@L? ?`گ@w??`?ɨ6#@6Q;4y>5B>'IiBa=IBl> F=DININ4٢V&= VK=9V^ Q Z>XX ZG٣Xy^: ^>bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247150 jNusing accuracyPremultiplier from confighn59jP?=5Yj}( ijY=BAEi=E_@j'EjfqJK3 K.-KK"KJ J J J J J :J J J J J Br;J Cr;)) -G٣)y5|p 5> =Nusing accuracyPremultiplier from config9E59=l ?E5Y=( i=]=BE&?M:M8M_@=,E= ;=;=5Q U@]EZjFNOT Ignoring new targets: 447.00 m.BjֻJjֻ ProNav: ac range: 447.000000 m, nav range: 66.032646 m, bearing: 179.058757 deg, approach rate: 0.506905 m/s, LOS rate: -0.375550 deg/s, cmd heading: 319.476935 deg, new cmd heading: 318.939664 deg. 2jހWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751142HeadingCmd: 5.566547 target range: 447.000000 and range: 447.00 m. j(!@jjjihhhhBfffrfbfU?ɛ%B-: )-[I) -Әɚ)i1I5C2=I5u7i9i=}=)=(!@)a*F?2F:FBF_0JF 9I9GI@=G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0032239bw,戽A:@Y: @:"Z9:=y:H?`?ݤ?`έ\\ ^G٣fHGyf i f> nNusing accuracyPremultiplier from confighn59j?r5Yj( ij_=Bpr@:r_@j0Ej;j;j75v̒B z@zEZjFNOT Ignoring new targets: 447.00 m.Bj%һJj%һ5 ProNav: ac range: 447.000000 m, nav range: 66.208618 m, bearing: 178.927696 deg, approach rate: 0.495548 m/s, LOS rate: -0.368094 deg/s, cmd heading: 318.939672 deg, new cmd heading: 318.547541 deg. 2j5|=HeadingCmd: 5.559703 target range: 447.000000 and range: 447.00 m. j=@j9j9j9i9hAhAhIhIfIfQfQrfQbfU@ɛB C  @I  5Mɚ1i9I=k2=IE 69iIiMe=)M@)y*FM?2FI:FIBFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255166 U$?IYGe[=GI By O >zKe VBJKe ػ9Ka Ke A Ke 8@?bw,{AF;W@YFf@F`9F=yFH@?C1?"䨿;A q~? r?#? ?ɨF;W@Fu;FCyRUBR'ITVAWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507075MMb@Mb@Mb@III I)IYM?V-y&1|?yM ?MII M`@)MAIMAIyMAqqIuIub4٢e*= e2=9m::Q m>ii uG٣qyug` }> Nusing accuracyPremultiplier from configy59}.?5Y}( i}c=B. ?:V1_@}4E};} ;}95 t@ZjFNOT Ignoring new targets: 447.00 m.BjJj ProNav: ac range: 447.000000 m, nav range: 66.433006 m, bearing: 178.773272 deg, approach rate: 0.489421 m/s, LOS rate: -0.335681 deg/s, cmd heading: 318.547537 deg, new cmd heading: 318.085841 deg. 2j`fHeadingCmd: 5.551645 target range: 447.000000 and range: 447.00 m. j@jjjihhhhՈBfffrfbf k@ɛB" t)I HɚiI2=I5F;ii=)@)*F?2F:FBF`0JFHI I'IIBI&I.I6I <:I FBIJIRIZI( =bIjI4J5J5J1J1J5:J5:J1J1J5 <J5 <J5u;J5u;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759426G 6=G B O > A IA L+Fbw, AF%@YF4@Fd~9F"=yFHp?@Y? x`.i q`?̬@go? ޲??ɨF%@Fʄ;FCyLLIZIZ49b;Q b>`d fG٣dyf f> nNusing accuracyPremultiplier from configlr59n<?r5Yn ( ine=Bpv2v_@n8En :n:nJ5z˒B za@zEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 447.00 m.Bj-ǿJj-ǿE ProNav: ac range: 447.000000 m, nav range: 66.604271 m, bearing: 178.654857 deg, approach rate: 0.486248 m/s, LOS rate: -0.335335 deg/s, cmd heading: 318.085844 deg, new cmd heading: 317.731516 deg. 2jE#fEHeadingCmd: 5.545461 target range: 447.000000 and range: 447.00 m. jMkt@jIjIjIiIhIhIhYhYfYfYfYrfabfe`Nw@ɛB 隝Z'I ⥻ɚiI 2=Iz Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263036RLbw,3AybB'III\4٢%z= %<9-Q ->)) -G٣-HGy5 5> ENusing accuracyPremultiplier from config9E59=M?M5Y=%( i=h=BIIM_@=<E=Q;=;=5Y ]@YZjFNOT Ignoring new targets: 447.00 m.BjwJjw ProNav: ac range: 447.000000 m, nav range: 66.807686 m, bearing: 178.515255 deg, approach rate: 0.489304 m/s, LOS rate: -0.334783 deg/s, cmd heading: 317.731521 deg, new cmd heading: 317.313997 deg. 2jeHeadingCmd: 5.538174 target range: 447.000000 and range: 447.00 m. j8@jjjihh $?Ihh1f1f9f9rf9bf= @ɛ5B=h AE. II }թɚyiyI2=I>i8i:=)8@)zK-K- 9K)K-B K-*F!2F!:F)BF-o0JF)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:03:15.8915 ETRx dataTimestamp_ set to:1736373797.044694Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516182G j=G B H 2>I  I (II BI ' =&I .I 6I <:I FO >9Sbw,MAy]fB]'IMMb@Mb@Mb@III I)IYMK?Q롿y&1|?yM^?M\IM A I)M3AIIIyMAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770029JJJJJ:J :JJJM<JM<Jw;Jw;II4٢M< 1=9Q > G٣y >  Nusing accuracyPremultiplier from config59n_?5Y)( ik=B?:5_@@E|;;5%ʒB %:@%EZjIMFNOT Ignoring new targets: 447.00 m.BjUuJj]u  ProNav: ac range: 447.000000 m, nav range: 67.024239 m, bearing: 178.364325 deg, approach rate: 0.469303 m/s, LOS rate: -0.326030 deg/s, cmd heading: 317.314005 deg, new cmd heading: 316.862690 deg. 2j _HeadingCmd: 5.530297 target range: 447.000000 and range: 447.00 m. j2@jjjihhhh%Bf!f!f!rfibfu@ɛB2[ 隽I ϦɚiI3= $?IID@ii>=)2@)*Fm?2Fi:FiBFm0JFq"G}=G}=G= =GBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021592dYbw,gcgA>g@Y>;w@>r/H9>r=y>H!?`?@|K`_?`i?ಪ?`n?ɨ>g@>՚;>CyFaBJ'IIRIR"4٢Z ^w=9^$;Q b?`` bG٣`yf f? jNusing accuracyPremultiplier from configh%59jk?%5Yjd-( ijn=B)-;-_@jDEjHB =BDAT read: Tx time:22:03:16.9927 E$Ping request sent.EzK K 9K K C K 9!#&(&#%"KRK ?JK ?L`bw,@Art+@Yr:@r<<9rˍ=yrHC??`y@X-?``%g? Ե?V?ɨrt+@rA;rCyz`B~Will construct direction to contact in vehicle frame from tetrahedron phase data.~'IMb@Mb@Mb@ )Y\(\?ktMbP?y? 0: A v@)AIAyzAII?4٢W -=9s9Q > G٣HGyD{ > %Nusing accuracyPremultiplier from config!-59%}?55Y%2( i!5E?5:5@5_@%HE%;%O;% 5=ɒB E@EEkҮ?kؐ k k2sA:kCBkkCZk?"ٍJRi` b@ks-y@{()ſ!?CE]?Jkx@Rkȗ*s2@a@4lEWgz@y|_̥?S-ӆuI?wF Q?"kW C*kߗAk+?kn]  2kUCkb&?k0,$ kkEBk`@= addTargetRange:: Added new target pos. range: 445.899994 m, deltaT: 4.284134 s, deltaX: -1.100006 m, approachRate: -0.256763 m/s, rangeRepo size: 4 U Added new target pos. range: 445.899994 m, bearing: 82.350238 deg, lat: 36.900686 deg, lon: -122.121179 deg, deltaT: 4.284134 s, deltaX: -1.100006 m, approachRate: -0.256763 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 445.90 m.Bj]Jjau ProNav: ac range: 445.899994 m, nav range: 49.388950 m, bearing: 127.661373 deg, approach rate: 0.000000 m/s, LOS rate: -0.308224 deg/s, cmd heading: 316.531129 deg, new cmd heading: 316.087999 deg. 2jq}HeadingCmd: 5.516776 target range: 445.899994 and range: 445.90 m. j}n@jyjyjyiyhyhhhֈBfffrf`f{@bfI?ɛBn*e BI ^ɚiIX3=I%f3Di-9i-=)-n@))HiIi Im*(IImBIi&Ii.Ii6Im<:Im F*F?2F:FBFO5JFGV=GQBYOu>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I Bixfbw,!"AF׫@YFv@Fx9FÊ=yFH`?@a?@n?`po?U?$?ɨF׫@Fee;FCyR]BR'IIZIZ4٢f} fr=9f4Q f?hh jG٣hyn n? rNusing accuracyPremultiplier from configpz59r?z5YrI6( ipxzqC~_@rLEr R;roR;r 5 @%B*** querying acoustic contact ***j!j!Zj1=FNOT Ignoring new targets: 445.90 m.Bj=;Jj=;M ProNav: ac range: 445.899994 m, nav range: 49.587032 m, bearing: 127.695968 deg, approach rate: 0.646307 m/s, LOS rate: 0.112426 deg/s, cmd heading: 316.087986 deg, new cmd heading: 316.191356 deg. 2jMP;UHeadingCmd: 5.518580 target range: 445.899994 and range: 445.90 m. jU6@jYjYjYiYhYhYhahafafafarfibfuv?ɛB n I ^ɚiIx3=IU#CiUx9iUWf=)U6@)Y Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F%?2F!:F)BF-_0JF)G5rA G1GMq؃=G! B1 OM >*J "J %=J% J% J! J! J% :J% &:J! J! a- @a5 @a5 @a5 @ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988236lbw,vA>}@Y>R@>9>ʀA=y>H@\g? ?nܲ`a? 렿r?-? ?ɨ>}@>ӳ;>CyFZBF'IIVIV_v4٢Zo ^K=9^kQ ^>`` bG٣`ybݼ f> nNusing accuracyPremultiplier from confighr59jǘ?r5Yj:( ihpr>Fr_@jOEj ;j:ju5vȒB z֦@zE yIyZjFNOT Ignoring new targets: 445.90 m.Bj:Jj: ProNav: ac range: 445.899994 m, nav range: 49.828800 m, bearing: 127.734712 deg, approach rate: 0.574677 m/s, LOS rate: 0.091648 deg/s, cmd heading: 316.191368 deg, new cmd heading: 316.307037 deg. 2j{;HeadingCmd: 5.520599 target range: 445.899994 and range: 445.90 m. j@jjjihhhhf f f rf bf @|?ɛy  I  iɚiIZ3=I58Ci=:i=?==zKTOKh9KKD KBKqA:KrA)@)*F}?2Fy:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240564GKXi=GiByO>Ha Ia  Ie 0(IIe BIa &Ia .Ia 6Ie d<:Ie ; Fsbw,dΉA>tE@Y>T@>_a9>PK=y>HB?? tE@> ;>CyRQBR'IMb@Mb@Mb@ )Y^I +?ˡEy&1|yX?'` )AIAyIIt4٢- <=9f Q > G٣HGy > Nusing accuracyPremultiplier from config59n?5Y?( il=B?:*G_@TEC;rB;A5 l@Zj FNOT Ignoring new targets: 445.90 m.Bj:Jj:% ProNav: ac range: 445.899994 m, nav range: 50.087234 m, bearing: 127.774624 deg, approach rate: 0.623190 m/s, LOS rate: 0.095746 deg/s, cmd heading: 316.307044 deg, new cmd heading: 316.426160 deg. 2j-k;-HeadingCmd: 5.522678 target range: 445.899994 and range: 445.90 m. j-ȹ@j)j1j1i1h9h9h9h=LjBfAfAfArfAbfMO?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492178ɛ B 4"I ¿ɚiI3=I5Bi5!*:i5"=)5ȹ@)A }$?Iy*F?2F:FBFJFG) G B - Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744331O= >ybw,艽AR@YR@#@R𪯻9RX=yRH4"?!?@ˣ@I7?@ Wu?@?|?ɨR@R_Ҏ;Py5KB5'IIUIUs4٢m! mN=9u[9Q u>yy }G٣yy}z > Nusing accuracyPremultiplier from config59?5YD( ii=BH_@WEDA;A;5ƒB @EZjFNOT Ignoring new targets: 445.90 m.Bj:Jj: ProNav: ac range: 445.899994 m, nav range: 50.323074 m, bearing: 127.809042 deg, approach rate: 0.595139 m/s, LOS rate: 0.086448 deg/s, cmd heading: 316.426163 deg, new cmd heading: 316.528935 deg. 2jPm;HeadingCmd: 5.524472 target range: 445.899994 and range: 445.90 m. jzȰ@jjjihhhhfffrfbfkl?ɛ5B=x) 9=-I9 =ûɚ9i9IE3=IE;BiM5::iM: =)MzȰ@)IEqAEpA*F-?2F):F)BF-0JF)"G5=G5=JJJ1JJ,:J#:J3JG YIY) CzK s$LK K K E K M GGe vAy Y vAy Bbw,AZԪ@YZ:@rWill construct direction to contact in vehicle frame from tetrahedron phase data.rAirAvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248587Z-sa9Zú~=yZH?&?qe2?7b.l?@ ү??ɨZԪ@Z;Xy%DB%'IMMb@Mb@Mb@III I)IYM/$?QI +yM?MuM94M A M`@)MAIMAIyMQAIeIe\4٢m' u;=9u ;Q u>yy }G٣yy}O > Nusing accuracyPremultiplier from config59 ?5Y4I( id=Br?: R_@\Ey;;5 )@ZjFNOT Ignoring new targets: 445.90 m.Bj:Jj:  ProNav: ac range: 445.899994 m, nav range: 50.590515 m, bearing: 127.836497 deg, approach rate: 0.610733 m/s, LOS rate: 0.062365 deg/s, cmd heading: 316.528943 deg, new cmd heading: 316.610872 deg. 2j 3+;HeadingCmd: 5.525902 target range: 445.899994 and range: 445.90 m. j1԰@jjjihhh!h%Bf!f!f!rf!bf-n@ɛQU QU:IY ].ɻɚYiYI]%4=IeOAie J:iee<)e1԰@)iH3>I I#(IIBI&I.I7D6I<:I F*F5?2F1:F1BF50JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501304Gm #= M $?II GY Ba O} >Æbw,^Ay%7B-'II5I54٢m5 m]=9mQ m>qq uG٣uHGy} }> Nusing accuracyPremultiplier from config59#?5YM( i_=B_@_E::5ŒB @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 445.90 m.Bj{:Jj{: ProNav: ac range: 445.899994 m, nav range: 50.817398 m, bearing: 127.859561 deg, approach rate: 0.615434 m/s, LOS rate: 0.062283 deg/s, cmd heading: 316.610878 deg, new cmd heading: 316.679761 deg. 2j*;HeadingCmd: 5.527104 target range: 445.899994 and range: 445.90 m. j ް@jjjihhhhfffrfbfA@ɛ-B5tخ 15RI1 =!λɚ9i9I=\4=IEAiEZV:iE<)E ް@)I*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757283GAC =GBO>>J J J 0J J l:J ":J ـ3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008196bw,O6A>~@Y>@>p/29>ے=y>HN?`c?`Trư? J@Ef?lW??ɨ>~@>;;>CyJ,BN~'I lIlIVIV"4٢vY vR=95q:Q 5>99 =G٣9yEBؼ E> MNusing accuracyPremultiplier from configIu59M ?u5YMZR( iMY=By}T}_@McEM2;MK;M>#5ƒB @EZjFNOT Ignoring new targets: 445.90 m.Bjq:Jjq: ProNav: ac range: 445.899994 m, nav range: 51.061386 m, bearing: 127.881298 deg, approach rate: 0.594222 m/s, LOS rate: 0.052687 deg/s, cmd heading: 316.679754 deg, new cmd heading: 316.744654 deg. 2j ;5HeadingCmd: 5.528237 target range: 445.899994 and range: 445.90 m. j5Q@j9j9j9i9h9h9hAhAfAfAfIrfbfm @ɛ 隵FgzKVBJK+9KKF K3  aSEHn"I 7ջɚiI)4=I]IDAi]>,a:i]u<)]Q@)a*F2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262486G5qA G1H I  I (II BI &I .I 6D6I <:I FBIJIRIZI' =bIjI>s4GU <G) B9 OU >ړbw,)PAy5#B5s'IMb@Mb@Mb@ )YV-?MbX9Mby|?ʡ A @)IAy(AII4٢5% =7=9=Q =>AA EG٣AyE M> UNusing accuracyPremultiplier from configQ]59U-?]5YUW( iUQ=B] ?]:][e_@UhEU ;Uj;U'5mWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:22:03:19.9905 }TRx dataTimestamp_ set to:1736373801.332692}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513329}ĒB @EZjFNOT Ignoring new targets: 445.90 m.Bj &:Jj &: ProNav: ac range: 445.899994 m, nav range: 51.335789 m, bearing: 127.896949 deg, approach rate: 0.640037 m/s, LOS rate: 0.036310 deg/s, cmd heading: 316.744641 deg, new cmd heading: 316.791342 deg. 2jZ:HeadingCmd: 5.529052 target range: 445.899994 and range: 445.90 m. j@jjjihhhhBfffrfbf`yb @ɛ% ɼ )-xI) -ڻɚ)i)I-S4=I5Ai5h:i5 U<)=@)9 $?ICi*F?2F:FBF_0JFG}~<G9BAOeU> Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764461bw,ljA*@Y-:@K]9_=yH??$ps?&ƣk?L??ɨ*@Љ;騍CyޥBޥ['III4٢qǽ R=9ܺQ > G٣HGyk׼ > Nusing accuracyPremultiplier from config59|?5Y\( iH=BP^_@lEy;*;x*5 I@Zj)5FNOT Ignoring new targets: 445.90 m.Bj5:Jj5:E ProNav: ac range: 445.899994 m, nav range: 51.580044 m, bearing: 127.908066 deg, approach rate: 0.630857 m/s, LOS rate: 0.028576 deg/s, cmd heading: 316.791332 deg, new cmd heading: 316.824524 deg. 2jE:MHeadingCmd: 5.529631 target range: 445.899994 and range: 445.90 m. jM@jQjQjQiQhQhQhYhYfYfYfarfabfe`y@ɛBNۼ 隥lI ɚiI45=I-@i-k:i-;)-@)1JJJJJ:J!:JJ*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:03:19.9905 LVL= 15216, 25425, 24178, 28787, AGC= 67, IDX= 427,-0.33,-2.826, 2.423, 1.534, 2.635, PHS= 0.911,-0.165,-1.103, RAW= 62.3, 4.1, CAL= 63.0, 3.8, ROT= 87.0, -3.8 Ygot valid direction response: 22:03:19.9905 LVL= 15216, 25425, 24178, 28787, AGC= 67, IDX= 427,-0.33,-2.826, 2.423, 1.534, 2.635, PHS= 0.911,-0.165,-1.103, RAW= 62.3, 4.1, CAL= 63.0, 3.8, ROT= 87.0, -3.8 PDAT read: Bearing 87.0, -3.8 (Local) ~Local bearing/azimuth received: Bearing 87.0, -3.8 (Local) DAT read: Range 10 to 50 : 445.2 m (Round-trip 593.6 ms) speed 0.0 m/s ,DAT read: user:2258> BDAT read: Tx time:22:03:21.0927 $Ping request sent.zK  G٣y- > Nusing accuracyPremultiplier from config59V ?5Yb( i?=B&?:Ae_@pEr;j;B.5 @ kJ0ǝ#?kSO k kuA:kCBkCZkL?"w'Hn@tE&w@pQYfUc(Չ?DdƇ?Jk3?Rk%:z**aoZ@e `lg@e5^Sx@޵ f?D"Ž?A•?"k $?I bw,AFߩ@YF6@Fk69F2=yFH`S??ி2B?^fw?1?@A?ɨFߩ@Fϊ;FCyvBvE'II~I~4٢ C  j=9Q > G٣y %> -Nusing accuracyPremultiplier from config!559%;?55Y%?g( i%9=B15f5`@%tE%a:%>J;%P15MÒB MO@MEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 445.20 m.Bj;Jj; ProNav: ac range: 445.200012 m, nav range: 79.766312 m, bearing: 99.717442 deg, approach rate: 0.641552 m/s, LOS rate: 0.251691 deg/s, cmd heading: 316.865016 deg, new cmd heading: 317.099925 deg. 2j,<HeadingCmd: 5.534438 target range: 445.200012 and range: 445.20 m. j@jjjihhhhfffrfbfY?ɛBK} ڟI <ɚiI45=I?ivl:i()@)*Fu?2Fq:FqBFuo0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G;GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992441 G٣HGy%= -> ]Nusing accuracyPremultiplier from configQe59UE'?e5YU3m( iU1=Baege`@UxEU:U:U/55i @Zj FNOT Ignoring new targets: 445.20 m.Bj y;Jj y;% ProNav: ac range: 445.200012 m, nav range: 80.019302 m, bearing: 99.816074 deg, approach rate: 0.560257 m/s, LOS rate: 0.217734 deg/s, cmd heading: 317.099920 deg, new cmd heading: 317.394878 deg. 2j%m<]HeadingCmd: 5.539586 target range: 445.200012 and range: 445.20 m. jeID@jajijiihhh)hIfQfYfarfqbf}@?zKOK+9KKH Kgca]XUJ?2" BKpA:KpAɛ%B% !%@I! -ɚ)i)I-+6=I5\>i5e:i5т)5ID@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245360*F?2F:FBF_0JFG?&G?G?G B O >H I  I 'II lBI &I .I 6I *<:I  F}$bw,`ъA:٩@Y:@:- 9:-=y:H3O? ?!+L6?(?k? ?ɨ:٩@:+;:CyFBF('IMb@Mb@Mb@ )Ysh|??:v rhy)?ԽC A )IAyzAI-I-4٢= EX=9E9AQ E>II MG٣IyM: U> ]Nusing accuracyPremultiplier from configQe59U74?e5YU_r( iU)=Be,?e:e#hm`@U|EU;UU;Um85q uŭ@qJJJJJ:J:JJJ4- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748977Obw,)@늽AB@YBZ@B9B;A=yBH ZX?? ߗf@:?b&??~?ɨB@B[;BCyNBN!'IIVIV-4٢^ּ ^S=9bQ b>`` fG٣dyf; f> jNusing accuracyPremultiplier from configh59jA?%5Yjw( ij =B9=g=`@jEjWzK F'MK K K I K _QonF* (6bw,ArWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252531y=ׇB='IeMb@Mb@Mb@aaa a)aYetV?V-{Gzye2?eeףeE A e@)aIaayeQAI}I}~4٢, 1=9Q > G٣HGy > Nusing accuracyPremultiplier from config59R?5Y~( i=B65?:i`@E$;;?5B @EZjFNOT Ignoring new targets: 445.20 m.Bj&;Jj&;- ProNav: ac range: 445.200012 m, nav range: 80.758873 m, bearing: 100.095959 deg, approach rate: 0.642936 m/s, LOS rate: 0.238064 deg/s, cmd heading: 317.909488 deg, new cmd heading: 318.231906 deg. 2j-a#<5HeadingCmd: 5.554194 target range: 445.200012 and range: 445.20 m. j5@j1j1j1i1h1h9h9h=HBfAfAfArfAbfE@R@ɛ}B} 隅þI  ɚiI!7=I!:iؠN:i5)@)HqIuC Iu'IIuSBIq&Iq.Iq6IuY<:Iu5 F*F2F:FBFP5JF"G=G=JJJJJl:JJJJ <J <JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504456  $?I G G B O >dbw,AF@YFY@F)9F =yFH\\?@?lO 6? J0?@L??ɨF@FW;FCyRƇBV'I Z=Z=I^I^4٢f0Ƚ fk=9fQ j?ll nG٣lyn ; n? vNusing accuracyPremultiplier from configpv59rT_?z5Yr( ir =Bxziz`@rErm ;r;rB5| @%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 445.20 m.Bj=;Jj=;M ProNav: ac range: 445.200012 m, nav range: 80.977020 m, bearing: 100.176719 deg, approach rate: 0.634463 m/s, LOS rate: 0.234252 deg/s, cmd heading: 318.231901 deg, new cmd heading: 318.473528 deg. 2jM *J C="J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012535 I bw,p8AJ@YJ@JmV:9J>yJH`a??@ Nu8? J?q??ɨJ@JS;JCy|~'IIIļ4٢Es; EC=9E Q E>II MG٣IyU; U> ]Nusing accuracyPremultiplier from configYe59]n?e5Y]( i]G! B1 OU >Hi Ii  Im 'IIm 9BIi &Ii .Ii 6Im #<:Im  Frbw,RANI@YN@NS9Nl >yNH`?@?`ɹ4?ȶ |? ??ɨNI@N ;NCy^͇Bb'I-vonly read 0 of 1 data item for BIT error. Device response is::TS,240 0.0,1493.1, 0  v@v v@v z@z  z@z IzIz4٢|<  N=9 Q  > G٣HGyHɹ > %bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config!-59%}?-5Y%( i%%[I5=B E8@E|EZjimFNOT Ignoring new targets: 445.20 m.Bju;JJJJJL:J:JJJ@ <JA <J t;Jt;Jju; ProNav: ac range: 445.200012 m, nav range: 81.487877 m, bearing: 100.364519 deg, approach rate: 0.627043 m/s, LOS rate: 0.228996 deg/s, cmd heading: 318.762743 deg, new cmd heading: 319.035145 deg. 2j(<HeadingCmd: 5.568214 target range: 445.200012 and range: 445.20 m. j.@jjjihhhhfffrfbf  @ɛBr ʾI zɚiI#8=I`7iIx':i).@) uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:03:24.0903 }TRx dataTimestamp_ set to:1736373805.372554checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517476  $?IEi*FI2FI:FIBFIJFIGUrA GQG%S&żGBO%M>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768915Ĝbw,lAJ@YJ @J5j9J>yJH f?0?|7?@ە$U?@D?e?ɨJ@Jꗊ;JCynBn&I)p rAtvAIzIz4٢a  J=9 zaQ  > G٣!y-"; -> 5bBottom track data is 0.8 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config1E595?E5Y5( i5 BDAT read: Tx time:22:03:25.1927 $Ping request sent.إ^ ٥Y)٥3fI٥Bi٥%?٥㥛=٥K٥x?٥ ڥ?)ڥIڥ%?iڥ=ڡڡۥ;? |:쿝T)pd)ۥIۥzK5 BHK1 K1 K5 K K5 *eQ! RKE ?JKE ?bw,x_ARi@YR@R4%9R>yRH`:i? &?D8?+xd?`vg?ѩ?ɨRi@R];RCyZŇBZ&I~Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:03:25.1919   % %% %%  % % %Mb@Mb@Mb@!!! !)!Y%d;O?X9v G٣y-: > Nusing accuracyPremultiplier from config59?5Y{( i9? kp@) Wrv@:ܓZk?@]?c?JkV?Rkmp*9) Pa@Bwc@+M¹x@?f?j=[E?"kC*k Ck4/?kVk 2kCk+?kn]  kUCk1Ck:d? addTargetRange:: Added new target pos. range: 445.000000 m, deltaT: 4.042981 s, deltaX: -0.200012 m, approachRate: -0.049471 m/s, rangeRepo size: 4  Added new target pos. range: 445.000000 m, bearing: 48.350183 deg, lat: 36.901128 deg, lon: -122.120029 deg, deltaT: 4.042981 s, deltaX: -0.200012 m, approachRate: -0.049471 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 445.00 m.BjJjH!I! I%t'II%%BI!&I!.I!6I%\<:I%7 FBIÞCJIÞCRIZIbIjIN4] ProNav: ac range: 445.000000 m, nav range: 146.193268 m, bearing: 83.880800 deg, approach rate: 0.000000 m/s, LOS rate: 0.198646 deg/s, cmd heading: 319.313338 deg, new cmd heading: 319.559829 deg. 2jYeHeadingCmd: 5.577371 target range: 445.000000 and range: 445.00 m. jey@jajjihhhh;Bfffrf{@bf`?ɛBP 隭ξI 'ɚiI_8=I:4iɀ9iˀ)y@)JKm3 KS}-KK"KJJJJJl:J$:JJJ <J <J~;J~;*F2F:FBFJF } $?IyWill construct direction to contact in vehicle frame from tetrahedron phase data.G} G9 BA Om >bw,8fA=4@Y=@=ȗ9=>y=Hh?? @-Z:?s?j?V?ɨ=4@=;=CyULJBU'IImIm4٢:< Y=9ZݻQ > G٣HGy" > Nusing accuracyPremultiplier from config596?5Y( i I II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974626@bw,AR@YR &@R룼9R>yRHw?s?缿I?`}?`(?`?ɨR@R!;RCyb·Bb 'Iif4=Ifi>IjIjݜ4٢r= vW=9z~Q z>xx ~G٣|y~; >  Nusing accuracyPremultiplier from config 59=?5Yɧ( i:;89:86730Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226014G- W G H I C I n'II BI &I .I 6I <:I  FB) Ou >zbw,FӋAR+@YRo;@R39R>yRH?@Z^?W?` %? ?@>?ɨR+@R;PyZ͇BXMb@Mb@Mb@ )YOn?X9vMby8?+A )AIyAIIW4٢m ?=9%ǻQ > G٣y@; > Nusing accuracyPremultiplier from config59?5Y?( i- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730474Cbw,-틽A>Z@Y>i@>})9>>y>H?`)9?s`t?ҥ?[??ɨ>Z@>ӊ;>Cy^އB^'IIfIf4٢r= rX=9rQ r>tt vG٣tyv ~Nusing accuracyPremultiplier from configx59z?5Yz( izFcw,AzKNNKNػ9KLKNM KN1/-,*'%#$$$$" "!" ! !^u@Y^0@^ɼ9^nd>y^H? "?O@w=? Q1?w?1?ɨ^u@^͊;^CyjBj('IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.234121)t vAmMb@Mb@Mb@iii i)iYmn?I +Mbym6?m9mi m@)iImAiyiBAII4٢%= 8=9%:Q ->99 EG٣EHGyM; M> }Nusing accuracyPremultiplier from configy59}?5Y}h( i}cw,!A>Ꙫ@Y>\@>Fּ9>~>y>H`|?`?G@\`?,Ț?`ݹ?L?ɨ>Ꙫ@>a;>CybBb-'II~I~4٢.< %\=95Q 5>99 =G٣AyMC< M> Nusing accuracyPremultiplier from config59P?5Yܿ( i*J "J J J J J J L:J :J J I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990865&cw,[;AN@YNl@N}9N>yNH? ?w̿M`o? a8??@3?ɨN@Nxo;NCyB :'IIIs4٢-X= -I=9- Q ->11 5G٣1y=; => ENusing accuracyPremultiplier from configAM59E?M5YEL( iAQUDY]`@EEEZ;EZ;Eg5a et@iZjFNOT Ignoring new targets: 445.00 m.Bjg;Jjg; ProNav: ac range: 445.000000 m, nav range: 147.605270 m, bearing: 84.435457 deg, approach rate: 0.487649 m/s, LOS rate: 0.202705 deg/s, cmd heading: 320.987554 deg, new cmd heading: 321.221505 deg. 2j <HeadingCmd: 5.606373 target range: 445.000000 and range: 445.00 m. jhg@jjjihhhhfffrfbf@ɛB I FɚiIr9=I C-i 8i +) hg@)*F2F:FBFo0JF"G=G=zKMK 9KKN K   BK:KqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241983G%$$GBO>H I C I 'II 9BI &I .I 6I 2<:I  Fcw,FUAFҪ@YFj@F9F">yFH@?|?`, 1?`#f?8??ɨFҪ@Fs~;DyRBRQ'I=Mb@Mb@Mb@999 9)9Y=kt?~jt{Gzty= 0?=Ľ=ף=AA =~@)9I=IA9y=GA ]$?IYI]I]4٢m= uE=9uBQ u>yy }G٣}HGy}2< > Nusing accuracyPremultiplier from config59n?5Y ( i1?:+\`@Ey;);k5B >@qEZjFNOT Ignoring new targets: 445.00 m.Bj^;Jj^; ProNav: ac range: 445.000000 m, nav range: 147.804062 m, bearing: 84.516002 deg, approach rate: 0.480864 m/s, LOS rate: 0.194572 deg/s, cmd heading: 321.221502 deg, new cmd heading: 321.462812 deg. 2j<HeadingCmd: 5.610584 target range: 445.000000 and range: 445.00 m. j艳@jjjihhhhBfffrfbf M& @MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:03:28.1904 ]TRx dataTimestamp_ set to:1736373809.408728]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495205ɛBYV }I 1JɚiI9=I/,ii))艳@) *F?2F:FBF0JFG(G ?G?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7468378cw,EoAF!@YF@Fp$9Fʴ">yFH ?B? T ?6 ? ?ɨF!@FA;FCyVBV_'II^I^y4٢fn= fV=9j蟻Q j>hh nG٣lyn>; r> vNusing accuracyPremultiplier from configpv59r&?z5YrT( ipxzq[z`@rEr:r:rn5 @sEZj15FNOT Ignoring new targets: 445.00 m.Bj5^;Jj=^;M ProNav: ac range: 445.000000 m, nav range: 147.987518 m, bearing: 84.590458 deg, approach rate: 0.480261 m/s, LOS rate: 0.194672 deg/s, cmd heading: 321.462799 deg, new cmd heading: 321.685887 deg. 2jM BDAT read: Tx time:22:03:29.2928 $Ping request sent.aaed*}?q\r]+󴫿)eIeS]=ieՎ?e"saa:publishing transmit ping time%Fpublishing direction and range infoa9e)O, ^!?Ⰳ? #H?yaaaa a)aIaiaaaaa a)aIaiaaaed*}?q\r]+󴫿)aIaiaaaa) ſ= G%).~G YyBGI BQ Ou >!"cw, A> @Y>| @>Sf9>ra$>y>H @?Z?݄@?@{| ?r?s?ɨ> @>;>CyN$BNt'IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bJDAT read: TxSync time:22:03:29.2920 zKf:KMKdKdKfO KfRKn ?JKn?%Mb@Mb@Mb@!!! !)!Y%sh|??㥛 ~jth?y%)?%%D;%A %$@)%zAI%3A!y%(AII4٢= ,=9"Q > G٣y#< > 5Nusing accuracyPremultiplier from config)559-]8?=5Y-( i-O(cw,ۢA $@Y D4@ b 9 %>y H`)? )?R?ks?B?`]?ɨ $@ mQ; CyU4BU'IIeIe4٢= c=9hǻQ > G٣HGyI; > Nusing accuracyPremultiplier from config59(F?5Y,( i.cw,yA6kA@Y6P@6M96O>y6H[ ?@~?Ɍ? m?ɨ6kA@6 ;6CyBIBB'IININ@4٢V= ZO=9ZQ Z>\\ ^G٣\y^< b> fNusing accuracyPremultiplier from config`j59b$U?j5Yb0( ib$5cw,׌A &$?I$y[B'IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493871Mb@Mb@Mb@ )Y{Gz?~jt G٣y   > Nusing accuracyPremultiplier from config59f?5Y( iU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746815G B O >K;cw,ǡA>H@Y>@>Ao 9>V&>y>H? ?@WRV? q ? ?`?ɨ>H@>种;IN]>IRIR(4٢Zw`= Za=9^tQ b>`` bG٣bHGyf= f> jNusing accuracyPremultiplier from confighr59j(t?r5Yj( ij] Will construct direction to contact in vehicle frame from tetrahedron phase data.] Ai] Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249982Bcw,g AzKBxNMKB]9K@KBQ KB&a}zuqqme\TK@:850*)#6@Y6T@6B!96G)>y6H@? ? G`)Xd{?6.yvvBv'IMb@Mb@Mb@ )YMbX9?ˡE~jtx?y!?';A h@)AIAyAII 4٢= 8=9 WQ > G٣y< > Nusing accuracyPremultiplier from config59V?5Y( iyRHe??,?@? `ptt vG٣tyz < z> ~Nusing accuracyPremultiplier from config|59~ŗ?5Y~'( i~ `@~E~ ;~7 ;~5B ۣ@jE5B*** querying acoustic contact ***j1j1ZjFNOT Ignoring new targets: 445.00 m.Bje;Jje; ProNav: ac range: 445.000000 m, nav range: 179.961563 m, bearing: 55.840158 deg, approach rate: 0.092838 m/s, LOS rate: 0.200231 deg/s, cmd heading: 323.199989 deg, new cmd heading: 323.480774 deg. 2jj <%HeadingCmd: 5.645804 target range: 445.000000 and range: 445.00 m. j%n@j!j!j!i!h!h)h1h1f1f1fYrfYbf]@?@ɛzB2S t:I ˿TɚiIm 8=Ib+#i\i)n@)E+,=*Fi2Fi:FiBFm_0JFi $?IHiGEd':GB)OMt>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005703OLQcw,qEAFix@YFۇ@FB.9F.>yFH ?` y? `h?Lƥ?@?Ɂ?ɨFix@F;FCy^B^'I)h hlnAIrIr4٢zp= zJ=9~*Q ~>| G٣HGyvR< > Nusing accuracyPremultiplier from config 59 ?5Y ( i =B!%=%`@ E %; z%; 55) -@1ZjFNOT Ignoring new targets: 445.00 m.Bjf;Jjf; ProNav: ac range: 445.000000 m, nav range: 179.998077 m, bearing: 55.920956 deg, approach rate: 0.091181 m/s, LOS rate: 0.201724 deg/s, cmd heading: 323.480764 deg, new cmd heading: 323.723110 deg. 2jq <5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261312eHeadingCmd: 5.650034 target range: 445.000000 and range: 445.00 m. jeʹ@jajijiiihihihqhqfqfqfqrfybf}J @zKJNK 9KKR K  I8ɛyB6  Xcw,! dAB@YB@B͠19B/>yBH ]?V?d ?@3Q2?C?@"?ɨB@Bq;BCyJBJ'I%Mb@Mb@Mb@!!! !)!Y%$C? rh{Gzt?y%?%C%ף;%A %Q@)%zAI!!y%AIEIEƕ4٢MP< U&=9UmۺQ U>YY ]G٣Yye)< e> mNusing accuracyPremultiplier from configi59mպ?5Ym( im=B-?:p2`@mEmԷ;m#;m5B Ң@gEZjAmFNOT Ignoring new targets: 445.00 m.BjuCX;JjuCX; ProNav: ac range: 445.000000 m, nav range: 180.028458 m, bearing: 56.014453 deg, approach rate: 0.061445 m/s, LOS rate: 0.189070 deg/s, cmd heading: 323.723099 deg, new cmd heading: 324.003541 deg. 2j<HeadingCmd: 5.654929 target range: 445.000000 and range: 445.00 m. j-@jjjihhhh3Bfffrfbf@ɛxB3. =I _SɚiI7=Il i*i)-@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761887*F}?2Fy:FyBFyJFyGUW GBO=q> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017228_^cw,}AyB'III4٢< @=9Q > G٣y > Nusing accuracyPremultiplier from config 59 ^?5Y ) i =B!!%`@ E 51; 1; 65) 5r@1ZjQ]FNOT Ignoring new targets: 445.00 m.Bj]d;Jj]d;u ProNav: ac range: 445.000000 m, nav range: 180.055161 m, bearing: 56.095445 deg, approach rate: 0.065756 m/s, LOS rate: 0.199412 deg/s, cmd heading: 324.003547 deg, new cmd heading: 324.246483 deg. 2ju<}HeadingCmd: 5.659169 target range: 445.000000 and range: 445.00 m. j}@jyjyjyiyhyhhhff)f)rf)bf-@ɛuwBu$ y}`I=Iy }*SɚyiyI}/6=Ii4i)@)*F=?2F9:FABFEo0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 22:03:32.2895 LVL= 14432, 22001, 16578, 22115, AGC= 67, IDX= 431, 0.10,-0.293,-1.444,-2.307,-1.395, PHS= 1.190,-0.002,-0.914, RAW= 64.4, -3.0, CAL= 70.0, -7.9, ROT= 80.0, 7.9 Ygot valid direction response: 22:03:32.2895 LVL= 14432, 22001, 16578, 22115, AGC= 67, IDX= 431, 0.10,-0.293,-1.444,-2.307,-1.395, PHS= 1.190,-0.002,-0.914, RAW= 64.4, -3.0, CAL= 70.0, -7.9, ROT= 80.0, 7.9 PDAT read: Bearing 80.0, 7.9 (Local) ~Local bearing/azimuth received: Bearing 80.0, 7.9 (Local) DAT read: Range 10 to 50 : 444.3 m (Round-trip 592.5 ms) speed 0.3 m/s ,DAT read: user:2261> BDAT read: Tx time:22:03:33.3928 $Ping request sent.3 ?u:^^꿒)r G)sxI-X=ii?Y*:publishing transmit ping timeFpublishing direction and range info94آ?M^ d?Uy?y )Ii )Ii3 ?u:^^꿒)r G)IiH) I)  I- h(II- BI) &I) .I) 6I- <:I-  FG wGa Bq O >ecw,NїA I 6[@Y6@6 396.>y6H@F?@A?`AƓ`_?\ p? ??ɨ6[@6';6CynBn'Iiz=Iz= p=a=JaJeJaJaJaJe!:JaJaJaJaJemy;Jemy;UWill construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}bX9?QMb`y}E?}u}}A y)}hAI}vAyy}pAIIh4٢2< >=9Q > G٣HGy!< > Nusing accuracyPremultiplier from config-59?-5YC) i(=B5R?5:5/5`@E;g;5=B =@=dEk-A6 ?k-ªم k) k-A:k-&CBk-CZk-Ky?"-NSn @sl@rH˦w@-4آ?M^ d?Uy?Jk-i?Rk-Y**-3YrV@sc`@ے{7}y@-Ly'@jijijiiihihqhqhu)Bfqfyfyrf}{@bf}?ɛvBl u=I GRɚiI 6=Iii%.)%>@)!*F?2F:FBF~0JFGrA GrA% Will construct direction to contact in vehicle frame from tetrahedron phase data.G gG B O >kcw,zıA6@Y6h@6|S8969->y6H vM??@@`%?;q?F??ɨ6@6;6Cy>B>(IIJIJ4٢Rg< Rt=9RwbQ R?TT VG٣TyZ$; Z? ^Nusing accuracyPremultiplier from config\b59^?b5Y^~ ) i^/=B`f.f`@^E^2;^_3;^5l n@lzB*** querying acoustic contact ***j|j|ZjFNOT Ignoring new targets: 444.30 m.Bj %c;Jj %c; ProNav: ac range: 444.299988 m, nav range: 180.096664 m, bearing: 56.237768 deg, approach rate: 0.057800 m/s, LOS rate: 0.198585 deg/s, cmd heading: 324.518953 deg, new cmd heading: 324.703750 deg. 2jI<%HeadingCmd: 5.667150 target range: 444.299988 and range: 444.30 m. j%JY@j!j!j!i)h)h1h1h1f1f9f9rf9bf=`?ɛmuBmq qu=Iq uGQɚqiqIuv5=I}i}Ni})JY@) -$?I1*F?2F:FBF@5JF*J]a="JYGw}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GBO@>~G|uA Y|uAy < Brcw,ˍArWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.987871zKvNKKKT KyB'IMb@Mb@Mb@ )Y ףp= ?X9vI I{(IIBI&I.I6I<:I FyQ?tA h@)I`AyAII{4٢_ )=9Q > %G٣!y% %> 5Nusing accuracyPremultiplier from config)559-/?=5Y-j) i-5=B=?=:=4=`@-E-;-:-5EB M8@MaEZjiuFNOT Ignoring new targets: 444.30 m.BjuW;JjuW; ProNav: ac range: 444.299988 m, nav range: 180.130493 m, bearing: 56.328693 deg, approach rate: 0.070178 m/s, LOS rate: 0.188591 deg/s, cmd heading: 324.703751 deg, new cmd heading: 324.976473 deg. 2jm<HeadingCmd: 5.671909 target range: 444.299988 and range: 444.30 m. jH@jjjihhhhBfffrfbf`S?ɛtB f=I |PɚiI 45=I|i%%ƥi%)-H@)1 )I)*F]?2FY:FYBF]O5JFYJJJJJL:JJJJ@ <JA <JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237364 PExceeded connect timeout, disconnecting.G oG B O >xcw,\V卽A:m9@Y:H@:*979:[*>y:Hv?`Z? OTG?0?,?ц?ɨ:m9@:j;8yFBF'IININ<4٢V Z|=9ZY:Q Z ?\\ ^G٣^HGyb< b ? fNusing accuracyPremultiplier from configdj59f?j5Yf) if:=Bhj2n`@fEfX:fz:f5p r@rcEZj  FNOT Ignoring new targets: 444.30 m.Bj\W;Jj\W;5 ProNav: ac range: 444.299988 m, nav range: 180.151917 m, bearing: 56.389802 deg, approach rate: 0.066015 m/s, LOS rate: 0.188283 deg/s, cmd heading: 324.976467 deg, new cmd heading: 325.159771 deg. 2j=7 5 $?I1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741264\cw,"7AFjc@YFr@F$19Fa(>yFH6?? 2 `?@"?4??ɨFjc@F;DyRBR'IIZIZ4٢rL< vG=9val;Q v>xx zG٣xyz5L< > %Nusing accuracyPremultiplier from config!-59%?-5Y%) i%?=B)-k1-`@%E%z:%:%5]B ]D@]`EZjFNOT Ignoring new targets: 444.30 m.BjS;JjS; ProNav: ac range: 444.299988 m, nav range: 180.178375 m, bearing: 56.468085 deg, approach rate: 0.062391 m/s, LOS rate: 0.184566 deg/s, cmd heading: 325.159761 deg, new cmd heading: 325.394572 deg. 2jT;HeadingCmd: 5.679207 target range: 444.299988 and range: 444.30 m. j@jjjihhhhfffrfbf?ɛsB 隍e=I YvOɚiIT4=IRiAi)@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995661zKMBHKIKIKMU KMRKe ?JKe>HI I(IIBI&I.I6IG<:I& FBIȞCJIȞCRIZIbIjIkP4G G B O >  I $cw,AJ@YJ @JG+9J(>yJH? ?@ {?@`ybg?? ?ɨJ@J~p;HyVBV'IMMb@Mb@Mb@III I)IYMA`"?ˡE~jtyM?M'MDMA M$@)MQAIMAIyMAII4٢ ==9X;Q > G٣yb< >UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.245785 Nusing accuracyPremultiplier from config59)?5Yu) iB=Bz?:3`@E;;5 K@ZjFNOT Ignoring new targets: 444.30 m.Bj_Z;Jj_Z;5 ProNav: ac range: 444.299988 m, nav range: 180.210205 m, bearing: 56.553515 deg, approach rate: 0.071145 m/s, LOS rate: 0.190917 deg/s, cmd heading: 325.394583 deg, new cmd heading: 325.650827 deg. 2j5<=HeadingCmd: 5.683679 target range: 444.299988 and range: 444.30 m. j=@j9j9j9i9h9hAhAhEBfAfqfqrfqbfuCx@ɛ 3 P#cw,2A6嶭@Y6Xƴ@6G(96(>y6H ?,?@q@I?z? ??ɨ6嶭@6;;6CyBzBB'IIJIJh4٢R_ R^=9R;Q V>TT VG٣VHGyZ;< Z> ^Nusing accuracyPremultiplier from config\f59^h6?f5Y^) i^D=Bdj2j`@^ E^/;^/;^5nB n@n]E~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 444.30 m.Bj nZ;Jj nZ;% ProNav: ac range: 444.299988 m, nav range: 180.233826 m, bearing: 56.618531 deg, approach rate: 0.069388 m/s, LOS rate: 0.190967 deg/s, cmd heading: 325.650825 deg, new cmd heading: 325.845846 deg. 2j%<-HeadingCmd: 5.687083 target range: 444.299988 and range: 444.30 m. j-@j)j)j)i)h)h1h1h1f9f9f9rf9bfE @ɛqu< qu@hcw,NLAfWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004662HqIq Iuu(IIuBIu& =&Iq.Iq6IuD<:Iu$ FzKjIK 9KKV KyvB'IBKqA:KqAeMb@Mb@Mb@aaa a)aYeMbX9?~jt:vye!?eeԼa e@)aIeAayeAI}I}.4٢>s #=9Q > G٣y > Nusing accuracyPremultiplier from config59!J?5Y#) i==B#?:>`@E;;5 ң@ZjFNOT Ignoring new targets: 444.30 m.Bj e;Jj e; ProNav: ac range: 444.299988 m, nav range: 180.285645 m, bearing: 56.718409 deg, approach rate: 0.103919 m/s, LOS rate: 0.200240 deg/s, cmd heading: 325.845840 deg, new cmd heading: 326.145385 deg. 2jl < HeadingCmd: 5.692311 target range: 444.299988 and range: 444.30 m. j i'@j j j i hhhh͈Bfffrfbf @ɛrBBeG ;I "NɚiI>3=I%Ci%9Ѻi%G)%i'@)) $?I*F2F:FBFa0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.253328G5 G B1 O] >=cw,fABN@YB@B$9B)>yBH`?T?r@; a?^#??@ ?ɨBN@BfQ;BCyJeBN'IIVIVE4٢^޽ ^=9^)3;Q ^?`` bG٣`yb< f? jNusing accuracyPremultiplier from confighn59jV?n5Yj*') ij9=Bln<n`@jEj:j:j5vB vפ@vZEZjFNOT Ignoring new targets: 444.30 m.Bj% d;Jj% d;E ProNav: ac range: 444.299988 m, nav range: 180.316849 m, bearing: 56.780939 deg, approach rate: 0.099505 m/s, LOS rate: 0.199364 deg/s, cmd heading: 326.145385 deg, new cmd heading: 326.332944 deg. 2jE IJK ـ3 K KK"KJ] J] JY JY J] :J] :JY JY m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757258cw,xA^@Y^)@^=&9^'>y^H?`H?ZX?`Jٻ?Ƥ?@? ?ɨ^@^Lj;^Cy ]B 'IIMIM4٢ ?=9YQ > G٣HGy՟; > Nusing accuracyPremultiplier from config59h?5Y,) i4=BK<`@E< <v5 P@Zj)-FNOT Ignoring new targets: 444.30 m.BjUU;JjUU;e ProNav: ac range: 444.299988 m, nav range: 180.360382 m, bearing: 56.868582 deg, approach rate: 0.092749 m/s, LOS rate: 0.186681 deg/s, cmd heading: 326.332942 deg, new cmd heading: 326.595806 deg. 2je BDAT read: Tx time:22:03:37.4928 $Ping request sent.IC I\(IIBI' =&I.I6I4<:I FzKk3IK9KKW KG I JiG B O >iKcw,fAy5OB5'I5Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:22:03:37.4920 Mb@Mb@Mb@ )Y?RQMbyf&?½A )@IAyAIIs4٢%a{ %2=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=y?e5Y=p1) i=*=Bm^(?m:maBm`@=E=;=F;=`5q u1@uYEk%|?k%Ռ{ k! k% A:k%CBk%.CZk%F?"%H="'ړউg@`6y@%N";նP-? ܁?Jk%H?Rk%ΐ*%l6zG@&/\@mz@%[/a?x݉?ld ?"k%)B*k%;Bk%n !?k%f 2k%Ck!k!k!k%i4Ck%~?- addTargetRange:: Added new target pos. range: 443.399994 m, deltaT: 4.039517 s, deltaX: -0.899994 m, approachRate: -0.222797 m/s, rangeRepo size: 4  Added new target pos. range: 443.399994 m, bearing: 67.714601 deg, lat: 36.901924 deg, lon: -122.120026 deg, deltaT: 4.039517 s, deltaX: -0.899994 m, approachRate: -0.222797 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 443.40 m.BjJj ProNav: ac range: 443.399994 m, nav range: 180.413589 m, bearing: 56.960503 deg, approach rate: 0.000000 m/s, LOS rate: 0.186681 deg/s, cmd heading: 326.595795 deg, new cmd heading: 326.840877 deg. 2jHeadingCmd: 5.704450 target range: 443.399994 and range: 443.40 m. jڊ@jjjihhhhBfffrf`f{@bf% F?ɛim imIq uPɚqiqIu2=I(idiIe)ڊ@)*FQ2FQ:FQBFU_5JFY Will construct direction to contact in vehicle frame from tetrahedron phase data.GU :G B O= >gcw,AB/@YB5?@Buw*9B<%>yBH: ?`F(?f7?^d[M?`??ɨB/@Bub;@yNFBN'IIVIV4٢^U ^~=9bQQ b ?dd fG٣dyjZ~< j ? nNusing accuracyPremultiplier from configlr59n?r5YnD5) in$=Btv#Av`@n!En:n :n25x z@xB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 443.40 m.Bj%{;Jj%{;= ProNav: ac range: 443.399994 m, nav range: 180.451248 m, bearing: 57.026820 deg, approach rate: 0.125010 m/s, LOS rate: 0.220097 deg/s, cmd heading: 326.840890 deg, new cmd heading: 327.039798 deg. 2j= ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.yH?? ڿ@ ?r?c?Y?ɨA@ |;H1I1 I5<(II5ȈBI1&I1.I56D6I55<:I1y޵CB޽'I >=zKBHK9KKX K mMb@Mb@Mb@iii i)iYmQ?V-X9vym\/?mmmA m@)m`@ImAiymAI}I}d4٢=N %=9xκQ > G٣HGy; > Nusing accuracyPremultiplier from config59?5Y;) i=B2?:TF`@&E#;;5B ܦ@VEZjAMFNOT Ignoring new targets: 443.40 m.BjMku;JjUku; ProNav: ac range: 443.399994 m, nav range: 180.520813 m, bearing: 57.135661 deg, approach rate: 0.137189 m/s, LOS rate: 0.214562 deg/s, cmd heading: 327.039812 deg, new cmd heading: 327.366205 deg. 2j@<HeadingCmd: 5.713618 target range: 443.399994 and range: 443.40 m. jն@jjjihhhhlBfffrfbf-? %$?I!ɛq I SɚiIy1=I"iiI$)ն@)*F?2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228366Gu GQ Bi O >cw,$莽A6F@Y6TV@6296@*>y6H ? ? Q{`?`'Wn>?6;??ɨ6F@6#;6CyF>BF'IIVIV4٢f6 f=9jBYQ j ?pp rG٣pyv: v ? ~Nusing accuracyPremultiplier from configx59z@?5Yz?) iz=B2F`@z*EzE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730805) F= .~G kcw,;A J YHyJpBr_@YrNo@rb@/9r(>yrH$? Z?Z g?@('@V??@o?ɨr_@rqĉ;rCy~;B~'II I 94٢_i G=9%:Q %>!! -G٣)y-_; -> 5Nusing accuracyPremultiplier from config1=595f?E5Y5D) i5 =BAEsEE`@5.E51;5c;55UB UM@]TEZjFNOT Ignoring new targets: 443.40 m.Bjz;Jjz; ProNav: ac range: 443.399994 m, nav range: 180.620758 m, bearing: 57.291845 deg, approach rate: 0.139426 m/s, LOS rate: 0.218573 deg/s, cmd heading: 327.569971 deg, new cmd heading: 327.834627 deg. 2j<HeadingCmd: 5.721794 target range: 443.399994 and range: 443.40 m. j@jjj i h h h hf9f9f9rf9bf=?ɛ 隍XܽI ΕUɚiI0=I\i i3)@)*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986311ZHRHH1>I I#(IIBI&I.I6I3<:I FGB4.zKe UKKe h9Ka Ke Y Ke ctlFYE S%y^N>1% #-+-0*%!Gq B O > $?I 0cw,0AB@YBa@Bt*9BP)>yBHf7?c?YM?~L?`?@?ɨB@B8;BCyJ9BJ'I)P PPRAUMb@Mb@Mb@QQQ Q)QYUGz?HzG~jtyU0?U= UļUA U@)U3@IQQyUAIIЬ4٢һ @=94;Q > G٣HGy< > Nusing accuracyPremultiplier from config59 ?5YJ) i=B4?:QK`@3E;;5 d@Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235971Zjy}FNOT Ignoring new targets: 443.40 m.BjAz;JjAz; ProNav: ac range: 443.399994 m, nav range: 180.687210 m, bearing: 57.384271 deg, approach rate: 0.157363 m/s, LOS rate: 0.218791 deg/s, cmd heading: 327.834627 deg, new cmd heading: 328.111801 deg. 2j'<HeadingCmd: 5.726631 target range: 443.399994 and range: 443.40 m. j@@jjjihhhhXBfffrfbfC@ɛqB2S I WɚiI0=ImQziuAiu6)u@@)q*F!2F!:F!BF-0JF)G} 3G G qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486850GI BQ Ou >Zcw,}w5A6睮@Y6Z@6(964)>y6HH?T? C@4`7?@L? l ? ?ɨ6睮@6;4y>8B>'IIJIJ\4٢Vέ V^=9V[:Q V>XX ZG٣XyZ"< ^> bNusing accuracyPremultiplier from config`f59bg?f5YbjO) ibcw,SOAJWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.994177HI I(IIBI( =&I.I6IR<:I- FBICJICRIZIbIjI5yMCBM'IzKmNKm 9KiKmZ Km  Mb@Mb@Mb@ )YOn?p= ףMby8? @)IAypAI%I%b4٢$= =9Q > G٣y > Nusing accuracyPremultiplier from config59? 5YV) icw,mmA2Bܮ@Y2@2<(92p0,>y2Hk??`wX:1?ԑ?g?अ?ɨ2Bܮ@2;2Cy>FB>'IIHIH٢R]< Rk=9VR9Q V?TX ZG٣ZHGyZ͵< Z? bNusing accuracyPremultiplier from config\b59^I?f5Y^R[) i^ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746749cw,A:@Y:@:m'9:&3->y:H@?t? O6F? ޤ?k?@c?ɨ:@: ;:CyJTBJ'IIVIV4٢Z= ZJ=9^C:Q ^>`` bG٣`ybB< f> jNusing accuracyPremultiplier from configdn59fI?n5Yf`) if BDAT read: Tx time:22:03:41.5929 $Ping request sent.ځځۅV%N;?9N/E )ۅEMIۅ_\0=iۅ?ۅ{ہہ :publishing transmit ping timeة Fpublishing direction and range info؁9؅ђh%m[? j?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅV%N;?9N/E )ہIہiہہہہJ J J 1J J ,:J :J 3J J EVcw,A H@Y TX@ )9 6/>y H\?8?`nbTj?@/?@?u?ɨ H@ iE; Cy%YBe'IMb@Mb@Mb@ )Yd;O?K7A~jty4? DA @)@IAyA@AII4٢< #=9&Q %>!) -G٣)y5< 5> MNusing accuracyPremultiplier from configAu59E*?}5YEQg) iEcw,UgA:&i@Y:x@:,9:n'>y:H ޹? $?@ȿ????@?ɨ:&i@:,;8yFjBF'IHHININ4٢Vu= Vf=9ZQ Z>X\ ^G٣^HGy^Z9< b? fNusing accuracyPremultiplier from config`j59b9?j5Ybk) ib<5HeadingCmd: 5.756597 target range: 453.000000 and range: 453.00 m. j5 6@j9j9j9i9hAhAhAhAfIfIfIrfIbfM?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛAE{f AEIA M]\ɚIiIIM8.=IUiU74i/>) 6@)*F5?2F9:F9BF=_0JF9Guf:GQ B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.921102O >H- 0>I)  I- #(II- BI- ' =&I) .I) 6I- <:I- Fccw,y؏AzK"k3IK"h9K K"\ K"j< +.e Vref1p_O8BK(:K( 4I4Jꦯ@YJ]@Jk.9J,>yJHf??p1`4X?@aJZۥ? |? *?ɨJꦯ@J;JCyVyBV'I-Mb@Mb@Mb@))) )))Y-tV?S㥻Ya eG٣ayem< e> uNusing accuracyPremultiplier from configiu59mL?u5Ymp) imcw,ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.425940Fد@YF8@F19FY1>yFH?#?@q`&.w?B4??O~?ɨFد@F%-;FCyRBR'IIZIZd4٢fN= fS=9jVQ j>hh jG٣lyn< n> vNusing accuracyPremultiplier from configpv59r^?v5Yru) irdw, Aq@Y(@$/9S3>yH??l``?@? R?z?ɨq@^N;騍Cy޵B޵'Ii>I>II4Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.934062ZHRH@AH1>I IC(II͈BI&I.I6I<:I F٢-= -*=95Z:Q 5>9a eG٣eHGymvi< m> Nusing accuracyPremultiplier from config59w?5Y|) i5 dw,p*ARK6 ?JK6?VD@YV T@V#/9V4>yVH`/?@_?f 6?@*C? p?y?ɨVD@V>;VCy^Bz (IMb@Mb@Mb@ )Y(\?(\µ{Gzty.?ףA @)`@IzAyAIIF4٢&j= >=9K/6Q > G٣yo< > Nusing accuracyPremultiplier from config59b?5Y) i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.6860524dw, DAjm@YjT}@jC.9j#5>yjH5E? G٣yZ< %> -Nusing accuracyPremultiplier from config!-59%u?55Y%) i%Iy }UWɚyiyI}Z,=Ipi!Pi)@)*FU?2FQ:FQBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.H0>I In(IIBI( =&I.I6I?<:I Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.957503G5 H0 %$?I G B O- >zK LK 9K K ^ K P$dw,]AJJJJJ,:Jz:JJJ<J<Jl;Jl;yޕBޕ1(IMb@Mb@Mb@ )Y?Mb~jth?yf&?D;A @)@IAyII4٢= 2=9Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.190101 G٣HGy > Nusing accuracyPremultiplier from config59?5Y) i=B4'?:%a@lE;2;5 @Zj)5FNOT Ignoring new targets: 453.00 m.Bj5Y;Jj5Y;E ProNav: ac range: 453.000000 m, nav range: 160.922897 m, bearing: 58.416862 deg, approach rate: 0.061566 m/s, LOS rate: 0.231415 deg/s, cmd heading: 331.381654 deg, new cmd heading: 331.702206 deg. 2jEIq uļTɚqiqIuu+=I}i}WVi}D)}A@)E*F]?2Fa:FaBFe0JFaGq Gq Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:03:44.5875  TRx dataTimestamp_ set to:1736373825.812669 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443099G g0G ?G &?Gq B O >GLdw,wA F&$?IDyˈBA(II-I-4٢=<= Eg=9AQ E>II MG٣IyI U> ]Nusing accuracyPremultiplier from configQe59U5?e5YU.) iU =Baaea@UpEU. ;UX:U5mB u̝@u@EZjFNOT Ignoring new targets: 453.00 m.BjP;JjP; ProNav: ac range: 453.000000 m, nav range: 160.944977 m, bearing: 58.498401 deg, approach rate: 0.062655 m/s, LOS rate: 0.231353 deg/s, cmd heading: 331.702208 deg, new cmd heading: 331.946792 deg. 2j<HeadingCmd: 5.793564 target range: 453.000000 and range: 453.00 m. jd@jjjihhhhfffrfbf@P @ɛH:  @>I  Rɚ i I =+=I-i5[[i5}vS)5d@)9*F?2F:FBF 5JFG?GaBqO9>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.694071v8$dw,ȳA@Y@/HQIQ IU(IIUBIU' =&IQ.IQ6IU <:IU FBI!JI!RI!Will construct direction to contact in vehicle frame from tetrahedron phase data.ZI!9 5>bI%( =jI%4yH܅??%@QD` =?A ?`?w?ɨ@%;-DAT read: 22:03:44.5875 LVL= 16240, 29121, 18194, 24931, AGC= 70, IDX= 299, 0.16,-0.225,-1.705,-1.896,-1.254, PHS= 1.117,-0.404,-0.645, RAW= 82.8, -0.8, CAL= 89.7, -5.7, ROT= 60.3, 5.7 5Ygot valid direction response: 22:03:44.5875 LVL= 16240, 29121, 18194, 24931, AGC= 70, IDX= 299, 0.16,-0.225,-1.705,-1.896,-1.254, PHS= 1.117,-0.404,-0.645, RAW= 82.8, -0.8, CAL= 89.7, -5.7, ROT= 60.3, 5.7 =PDAT read: Bearing 60.3, 5.7 (Local) =~Local bearing/azimuth received: Bearing 60.3, 5.7 (Local) qIqyލވBލY(IDAT read: Range 10 to 50 : 442.8 m (Round-trip 590.5 ms) speed 0.3 m/s ,DAT read: user:2264> BDAT read: Tx time:22:03:45.6929 $Ping request sent.f+e\"l??yfCp?q G)caIFi?ξ%?d Hd?)%˽I$?i%=(~ x?g])j&Iqnf+e\"l??y )Ii )Ii(~ x?g])IizKMKKػ9KK_ KBK:KtAmMb@Mb@Mb@iii i)iYmMb?Zd;Oym#?mj G٣y< >  Nusing accuracyPremultiplier from config 559 ?55Y ) i =B=#?=:==a@ vE B; ; 5y @?EkRm?kC/$% k kW]A:kfCBkCZkN@"rJ9׉xrY@O4z@Q2X>f+e\"l??Jkn?"kN-B*kkv^?k % 2k.Ckn !?kf kCkBkP?} addTargetRange:: Added new target pos. range: 442.799988 m, deltaT: 4.067412 s, deltaX: -10.200012 m, approachRate: -2.507740 m/s, rangeRepo size: 4  Added new target pos. range: 442.799988 m, bearing: 120.684497 deg, lat: 36.901461 deg, lon: -122.120438 deg, deltaT: 4.067412 s, deltaX: -10.200012 m, approachRate: -2.507740 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 442.80 m.Bj Jj M  ProNav: ac range: 442.799988 m, nav range: 125.786606 m, bearing: 70.086809 deg, approach rate: 0.000000 m/s, LOS rate: 0.231353 deg/s, cmd heading: 331.946784 deg, new cmd heading: 332.381226 deg. 2jI U HeadingCmd: 5.801147 target range: 442.799988 and range: 442.80 m. jU @jQ jQ jQ iQ hQ hQ hY h] Be Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:22:03:45.6921 fy f f rf ̬{@bf +H?ɛM jBM | I U g>IQ qMɚ i I M*=I i Nei 4) @) E)=*F?2F:FBF_0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data. '$?IG_DGrAGrAGqBO5?/dw,A>5@Y>1E@>2k59> xA>y>Hڪ?1?` U?G¿`?4?Tf?ɨ>5@>v;>CyjBj](IIriIr:4J~J|J|J|J~ :J|J|J|a@a@a@a@٢ .<  =9F,Q > G٣HGy%M< %> -Nusing accuracyPremultiplier from config)559-a?=5Y-) i-=B9=w=a@-{E-;-;-5A Ec@IZjiuFNOT Ignoring new targets: 442.80 m.Bju;Jju; ProNav: ac range: 442.799988 m, nav range: 125.873016 m, bearing: 70.241304 deg, approach rate: 0.179622 m/s, LOS rate: 0.320927 deg/s, cmd heading: 332.381239 deg, new cmd heading: 332.844394 deg. 2j?\<HeadingCmd: 5.809230 target range: 442.799988 and range: 442.80 m. j7@jjjihhhhfffrfbf`a?ɛ@R; m>I lJɚiIٟ)=I8iiJ5)7@)E =-Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFem0JFaG=BGBOL>HQ IQ  IU (IIU 7BIQ &IQ .IQ 6IU <:IU F Will construct direction to contact in vehicle frame from tetrahedron phase data. i A q Iu Mi6dw,FِAZ8V@YZe@Zl79Z&q>>yZH?? _@߿@i???@j?ɨZ8V@Z ;XyjBjs(IeMb@Mb@Mb@aaa a)aYe/$?{GzMb`?ye?e#e;eA ep@)aIaayeQAI}|I}[4٢= @=9NQ > G٣zKJK+9KK` Ky< > Nusing accuracyPremultiplier from config59?5Y) i)=B?:a@Et2;0;j 5B 6@=EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 442.80 m.Bjv;Jjv; ProNav: ac range: 442.799988 m, nav range: 125.935768 m, bearing: 70.357134 deg, approach rate: 0.146391 m/s, LOS rate: 0.270080 deg/s, cmd heading: 332.844380 deg, new cmd heading: 333.191693 deg. 2jZ9<HeadingCmd: 5.815292 target range: 442.799988 and range: 442.80 m. j@jjjihhhhBfffrfbf`?ɛkB; >I @FɚiIe(=I i ki <) @)Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.E}=*F?2F:F BF _0JF G lL=G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447303B O >yBH?@?`v߿`t?U?@=9b,Q b>dd fG٣fHGyj; j> nNusing accuracyPremultiplier from configlr59n3?r5YnR) in3=Btvrva@nEn;n;n& 5zB z՚@z:E M($?IIZjy}FNOT Ignoring new targets: 442.80 m.Bjǖ;Jjǖ; ProNav: ac range: 442.799988 m, nav range: 125.998497 m, bearing: 70.472744 deg, approach rate: 0.143120 m/s, LOS rate: 0.263639 deg/s, cmd heading: 333.191681 deg, new cmd heading: 333.538333 deg. 2j4<HeadingCmd: 5.821342 target range: 442.799988 and range: 442.80 m. joH@jjjihhhhfffrfbf`]G?ɛIM; IMe>IQ UBɚQiQIU#(=I]vi]'qimDL)uoH@)EE*E"EJUJUJQJQJU,:JUq:JQJQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699755*F?2F:FBFJFG ,$=G B O >-8Ddw,A6G@Y6@6u196n8>y6H@r? q?[߿w?X`,? ? ps?ɨ6G@6;6CyBBB(I)D DInInQ4٢vb= v==9vn;Q v>xx ~G٣|y~zq< ~>  Nusing accuracyPremultiplier from config 59$? 5Y!) i<=Ba@E* ;~ ;5 %@!ZjimFNOT Ignoring new targets: 442.80 m.HyIy I}(II}VBIy&Iy.Iy6I}?<:I} FBj;Jj; ProNav: ac range: 442.799988 m, nav range: 126.060837 m, bearing: 70.589753 deg, approach rate: 0.146868 m/s, LOS rate: 0.275530 deg/s, cmd heading: 333.538327 deg, new cmd heading: 333.889178 deg. 2j=<HeadingCmd: 5.827466 target range: 442.799988 and range: 442.80 m. jz@jjjihhhhfffrfbf`@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961764 )$?Iɛ1; <>I   >ɚ i I `['=ITi.yiI)z@)zKBoHK9KKa K*F?2F:FBF0JFGIGqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210678_Jdw,+A:r@Y:˸@:*9:&6>y:H?=?`M ߿?Q`BP?@?@v?ɨ:r@:G1;:CyRBR(I-Mb@Mb@Mb@))) )))Y-On?~jt~jty-?--D) )))I))y)IMIM4٢]ּ ]D=9]@;Q ]>aa eG٣aym(< m> uNusing accuracyPremultiplier from configq}59u6?}5Yu) iu?=B}?:>a@uEu;u;u5B Z@7EZjFNOT Ignoring new targets: 442.80 m.BjȘ;JjȘ; ProNav: ac range: 442.799988 m, nav range: 126.117516 m, bearing: 70.699977 deg, approach rate: 0.137432 m/s, LOS rate: 0.267144 deg/s, cmd heading: 333.889180 deg, new cmd heading: 334.219698 deg. 2jV7<HeadingCmd: 5.833234 target range: 442.799988 and range: 442.80 m. j۩@jjjihhhhBfffrfbfu@E@ɛlBI< 隝F>I :ɚiI&=I`i~iLP)۩@)*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463627 IGPIGqAGG B O >JKm3 KS}-KK"KJ J J J J L:J J J FQdw,qYEA:4@Y:@:s8#9:6>y:H@??޿??ce? ? {w?ɨ:4@:3;:Cy^Bb(IIfIf?4rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.714783٢vw; vR=9z;Q z>xx ~G٣~HGy~< >  Nusing accuracyPremultiplier from config 59 ?G?5Y ) i A=Ba@ E 9; ; 5) -G@)ZjQUFNOT Ignoring new targets: 442.80 m.Bj]Җ;Jj]Җ;m ProNav: ac range: 442.799988 m, nav range: 126.169662 m, bearing: 70.803299 deg, approach rate: 0.133153 m/s, LOS rate: 0.263716 deg/s, cmd heading: 334.219707 deg, new cmd heading: 334.529543 deg. 2jm4I u6ɚiI|&=I*i:)i' M)(ֺ@)*Fi2Fq:FqBFuZ0JFqH1>I I(IIeBI( =&I.I6I2<:I FG_NWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968208GBOe > *$?I zKQ KU 9KQ KU b KU uWdw,#I_ARK ?JK?6"@Y6(@6996Kd6>y6H?? }޿?S`?r?tx?ɨ6"@6kw;6Cy>B>(IiB=IBp;Mb@Mb@Mb@ )Y\(\?+y&1y?`e )IAy(AIIW4٢-< -F=95g;Q 5>19 =G٣9y=O< => MNusing accuracyPremultiplier from configA59E*Y?5YEi) iEB=B>?:da@EEETI v2ɚiIj%=Iii;O)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220778*F%?2F!:F)BF52JFIG NGq B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:03:48.6858  TRx dataTimestamp_ set to:1736373829.868689 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471792ɚ]dw,yA $I$VL@YV[@VmM9VF7>yVH34?dO?? {$޿??`?w?ɨVL@Vf;TyrBr(II~I~b4٢ 0  M=9 n;Q  > G٣y< > -Nusing accuracyPremultiplier from config!-59%j?-5Y%) i%C=B15 5a@%E%v:%:%5]B ]@]6EZjFNOT Ignoring new targets: 442.80 m.Bjf;Jjf; ProNav: ac range: 442.799988 m, nav range: 126.277046 m, bearing: 71.021269 deg, approach rate: 0.137681 m/s, LOS rate: 0.282214 deg/s, cmd heading: 334.861991 deg, new cmd heading: 335.183170 deg. 2jA<HeadingCmd: 5.850050 target range: 442.799988 and range: 442.80 m. j3@jjjihhh!h!f!f!f)rf)bf- @ɛi*< 隭>I {.ɚiI^$=I%ݾi%Yi-ªM)-3@)Q) C--GAQJJ@AJJJJJ,:Jh:JJ YyBEqAE*F=?2F9:F9BF=_0JFAGI GIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.723398G _NGY Bi O >ddw, 蒑A6>@Y6@6966>y6HM?`3?ݿ`=? ¿#?߸?@x?ɨ6>@6xȇ;6CyRBR|(IIZIZ4٢~. K=9L;Q >    G٣ HGy < >H9I9 I=)II=jBI=' =&I9.I96I=<:I= F Nusing accuracyPremultiplier from config59|?5Y) i* a@EQ<6<"5B @3EWill construct direction to contact in vehicle frame from tetrahedron phase data. M,$?IQZjY]FNOT Ignoring new targets: 442.80 m.Bje.{;Jje.{;DAT read: 22:03:48.6859 LVL= 17360, 32753, 22738, 32755, AGC= 66, IDX= 425,-0.24,-2.361, 2.325, 2.260, 2.809, PHS= 1.201,-0.437,-0.552, RAW= 86.6, -2.5, CAL= 94.5, -8.5, ROT= 55.5, 8.5 Ygot valid direction response: 22:03:48.6859 LVL= 17360, 32753, 22738, 32755, AGC= 66, IDX= 425,-0.24,-2.361, 2.325, 2.260, 2.809, PHS= 1.201,-0.437,-0.552, RAW= 86.6, -2.5, CAL= 94.5, -8.5, ROT= 55.5, 8.5 PDAT read: Bearing 55.5, 8.5 (Local) ~Local bearing/azimuth received: Bearing 55.5, 8.5 (Local) DAT read: Range 10 to 50 : 441.5 m (Round-trip 588.7 ms) speed 0.2 m/s ,DAT read: user:2265> BDAT read: Tx time:22:03:49.7930 $Ping request sent.ڱڱ۵V"o? k_l)۵I۵٤4=i۵?۵3³۱۱:publishing transmit ping timeFpublishing direction and range infoر9صBR?o|&͎?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱɛnB; C>I G<*ɚiI\ $=zKBoIKs9KKc KBK :K qAڱ۵V"o? k_l)۱I۱i۱۱۱۱I=ھi=Wi=v!K)Ea@)Q*F2F:FBFJFU Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:22:03:49.7922 G NG B O >jdw, AF@YF$@F{ 9F|6>yFH c? ?KIsݿ ? (¿?M? y?ɨF@F6 ;FCy^B^(I)d dhjA=Mb@Mb@Mb@999 9)9Y=Q?V-< .=9s!;Q > G٣yN< > Nusing accuracyPremultiplier from config59?5Y) i@=B?:a@E;;&5B "@ 0EkgJ,?k^C/( k kdA:kCBkI Ѱ&ɚiIm#=I ؾi &i pG) ߆@) MWill construct direction to contact in vehicle frame from tetrahedron phase data. -$?INi*F?2F:FBFJF*JA "JA G GG B O >"qdw,ǑABWill construct direction to contact in vehicle frame from tetrahedron phase data.Z&Բ@YZ@Z 9ZD6>yZH#t?xj?O s4ݿ?@N¿7? c?y?ɨZ&Բ@Z5Ň;ZCyfBfw(IInIn4٢vg] vg=9z:Q z>x| ~G٣|y~H< ~>  Nusing accuracyPremultiplier from config59?5Y+) i==Ba@E8;#9;)5! %@)ZjIMFNOT Ignoring new targets: 441.50 m.Bj];Jj];m ProNav: ac range: 441.500000 m, nav range: 97.371445 m, bearing: 73.544837 deg, approach rate: 0.176788 m/s, LOS rate: 0.370138 deg/s, cmd heading: 335.765515 deg, new cmd heading: 336.134643 deg. 2jm~I #ɚiI7#=I LCվi i(P)@)*F=?2F9:FABFEo0JFAHI III&I.I6I<:I FBIaJIaRIaZIabIe' =jIeƓ545Will construct direction to contact in vehicle frame from tetrahedron phase data. IG ʄGG B O >zK jIK 9K K d K RK ?JK ?wdw,%>ᑽA2 @Y2@2692J)>y2HA?&? *s`[ܿ@?@? ?@?ɨ2 @2;2Cy:B:|(IJJJJJL:Jq:JJJ@  G٣HGyt< >  Nusing accuracyPremultiplier from config 59?5Y) i8=B?:a@EK;cQ;-5EB Ed@E-E]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 441.50 m.Bj;Jj; ProNav: ac range: 441.500000 m, nav range: 97.448349 m, bearing: 73.695915 deg, approach rate: 0.176366 m/s, LOS rate: 0.346195 deg/s, cmd heading: 336.134646 deg, new cmd heading: 336.587510 deg. 2jm<HeadingCmd: 5.874560 target range: 441.500000 and range: 441.50 m. jf@jjjihhhhff!f!rf!bf- ?ɛqBWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. < J>I :ɚiIc"=IF7Ѿi i T) f@)*F?2F:FBF0JFG% NG B O5 >e Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.434331 .$?I n~dw,Aj8D@YjS@j+9j ->yjHΦ? ?slܿU?q Ġ?t?1?ɨj8D@j.;jCy~B~l(IiI?II٢% %X=9%e:Q ->)) -G٣)y5< 5> =Nusing accuracyPremultiplier from config9E59=?E5Y=Z) i=3=BIMMa@=E=:=U:=05Q U;@QZjFNOT Ignoring new targets: 441.50 m.Bj;Jj; ProNav: ac range: 441.500000 m, nav range: 97.514503 m, bearing: 73.828154 deg, approach rate: 0.176634 m/s, LOS rate: 0.352841 deg/s, cmd heading: 336.587515 deg, new cmd heading: 336.983956 deg. 2j&r<HeadingCmd: 5.881480 target range: 441.500000 and range: 441.50 m. j5@jjjihhhhfffrfbf,?ɛrB < w>I 6ɚqiyI}"=I}`;iiZ}R)5@)*F)2F):F)BF-_5JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.686060GSGi Bq O >fdw,aAH2/>I0 I2(II2`BI2( =&I0.I06I2<:I2 FF@YF@F (9F|2>yFH?>?`ۿXk?h=¿V? /? ?ɨF@Fd;FCynBno(IIvIv4٢~O< L=9p;Q >    G٣ y {<  > Nusing accuracyPremultiplier from config%59E?%5Y) i-=B!%%a@E::V45-B 5@5*EZjaeFNOT Ignoring new targets: 441.50 m.Bjm ;Jjm ;%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940762 /$?I ProNav: ac range: 441.500000 m, nav range: 97.583023 m, bearing: 73.968058 deg, approach rate: 0.171422 m/s, LOS rate: 0.349768 deg/s, cmd heading: 336.983966 deg, new cmd heading: 337.403379 deg. 2j p<HeadingCmd: 5.888800 target range: 441.500000 and range: 441.50 m. j q@jjjihhhhfffrfbf@ɛmsBmP; im4z>Ii uɚqiqIuwh!=zKBHKh9KKe KBK:KIɾihiO) q@)!J%J!J!J!J% :J!J!J!J%<J%<J!J!*F?2F:FBFU1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191041G G B O >\dw,"/AyBz(IMb@Mb@Mb@ )YʡE?ktZd;Oy j A -@)@I@y(@II4٢= 7=9Q > G٣HGy > Nusing accuracyPremultiplier from config 59? 5Y) i%=BU?:$a@E; ;>85 t@Zjy}FNOT Ignoring new targets: 441.50 m.Bjm;Jjm; ProNav: ac range: 441.500000 m, nav range: 97.666306 m, bearing: 74.123787 deg, approach rate: 0.183836 m/s, LOS rate: 0.343458 deg/s, cmd heading: 337.403367 deg, new cmd heading: 337.870144 deg. 2jk<HeadingCmd: 5.896946 target range: 441.500000 and range: 441.50 m. jɳ@jjjihhhhBfffrfbf @ɛ]tBe%< 隅ӄ>I eɚiII =IžiiU0p)ɳ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443180 )I-Oi*F92F9:F9BF=4JF9Ge GNG9 BA O] >@dw,CrIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694047:@Y:@:9:,6>y:H? z?笹b0ۿ?`ÿ`{?n?z?ɨ:@:_q;8yFBFi(I)H HIRIR"4٢V Za=9^`` bG٣`yfh= f> jNusing accuracyPremultiplier from confighn59j?]5Yj) ij=BY]ea@jEjFI *ɚiI{ =I ^Y¾i iM/Q)ME@)Q*F2F:FBF_0JFGhH I  I (II VBI &I .I 6I <:I  FGBOg>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946724 0$?IzKU KU +9KQ KU f KU 0 odw,bcA.&@Y.6@.~aؼ9.L8>y.H ?"?@Bڿ?gÿa ? ?x?ɨ.&@.;,J>J>J<J<J>:J>:J<J<J>3<J>4<J>Br;J>Cr;RKJ?JKJ>yNBNt(IMb@Mb@Mb@ )YK7A?MbI +y "?9E A @)I`@y@I5I54٢E)= EA=9MY;Q M> G٣ya< > Nusing accuracyPremultiplier from config59 ?5Y) i=B #?:Va@E06;gP;L?5UB ]@])EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 441.50 m.Bj];Jj];  ProNav: ac range: 441.500000 m, nav range: 97.815063 m, bearing: 74.409957 deg, approach rate: 0.191221 m/s, LOS rate: 0.364335 deg/s, cmd heading: 338.251212 deg, new cmd heading: 338.727979 deg. 2j  z<HeadingCmd: 5.911919 target range: 441.500000 and range: 441.50 m. jp.@jjji!-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199681hahahihmBfqfqfyrfybf}@B @ɛ-wB=(; AEz>IA EɚAiAIE=IMiIiM|{])Up.@)Q*F?2F:FBFJFG mG G G  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:03:52.7846  TRx dataTimestamp_ set to:1736373833.909358 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451805 I B O >mdw,&}A2qI@Y2X@2zҼ92i8>y2H?;?ଖڿpp rG٣pyv=< v> zNusing accuracyPremultiplier from configx59z?5Yzt) iz =B @ a@zEzO;z[O;zB5B @&EZj9EFNOT Ignoring new targets: 441.50 m.BjEP;JjEP;U ProNav: ac range: 441.500000 m, nav range: 97.883926 m, bearing: 74.541957 deg, approach rate: 0.192894 m/s, LOS rate: 0.369491 deg/s, cmd heading: 338.727987 deg, new cmd heading: 339.123704 deg. 2je}<HeadingCmd: 5.918825 target range: 441.500000 and range: 441.50 m. jg@jjjihhhhfffrfbf @ɛxBV< p>I  ɚiI}=Irii:g)g@)*FQ2FQ:FQBFUn0JFQG-^GBO*>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.702182jH bH <H I  I (II QBI &I .I 6I [<:I 1 FT|dw,.Ay~B~q(Ii=Ia= = =I5I54٢Mo; MC=9MQ M>QQ UG٣UHGyU ]> uNusing accuracyPremultiplier from configi59m0?5YmA)  1$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.956128im=Ba@mEm(I  ɚiI$=I\i:iJ)U@)zKKK9KKg K  BK:KJJJJJJ:JJJJJn;Jn;*F=?2FA:FABFE_0JFAm Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:03:52.7846 LVL= 16816, 32753, 21618, 30323, AGC= 64, IDX= 428, 0.10, 1.973, 0.311, 0.251, 0.861, PHS= 1.200,-0.503,-0.613, RAW= 86.9, -1.0, CAL= 94.3, -5.9, ROT= 55.7, 5.9  Ygot valid direction response: 22:03:52.7846 LVL= 16816, 32753, 21618, 30323, AGC= 64, IDX= 428, 0.10, 1.973, 0.311, 0.251, 0.861, PHS= 1.200,-0.503,-0.613, RAW= 86.9, -1.0, CAL= 94.3, -5.9, ROT= 55.7, 5.9  PDAT read: Bearing 55.7, 5.9 (Local)  ~Local bearing/azimuth received: Bearing 55.7, 5.9 (Local)  DAT read: Range 10 to 50 : 440.6 m (Round-trip 587.5 ms) speed 0.0 m/s  ,DAT read: user:2266>  BDAT read: Tx time:22:03:53.8930  $Ping request sent. 3dw,侰AĴ@YUԻ@w9<>yH`oK??@rNĵٿ?MĿ@O.? }w?r?ɨĴ@7;騭CyB}(IMb@Mb@Mb@ )Yp= ף?EԸ~jty%?ƽ @)Iv@y@IIn4٢E-= E#=9E9;Q E>II MG٣IyU< U> eNusing accuracyPremultiplier from configam59e0H?m5Ye) ieLQ@!LV!{@yQU<lv?`c~؆?Jk)?RkA*+4CC#hd@G?Zn{@Ю.c婿? ?"k @*kk1;F?kNI) 2kCkv^?k % kkh\BkT @ addTargetRange:: Added new target pos. range: 440.600006 m, deltaT: 4.284544 s, deltaX: -0.899994 m, approachRate: -0.210056 m/s, rangeRepo size: 4  Added new target pos. range: 440.600006 m, bearing: 171.733891 deg, lat: 36.900845 deg, lon: -122.121281 deg, deltaT: 4.284544 s, deltaX: -0.899994 m, approachRate: -0.210056 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 440.60 m.BjJj ProNav: ac range: 440.600006 m, nav range: 55.102310 m, bearing: 123.129020 deg, approach rate: 0.000000 m/s, LOS rate: 0.351347 deg/s, cmd heading: 339.573537 deg, new cmd heading: 340.117168 deg. 2jMHeadingCmd: 5.936164 target range: 440.600006 and range: 440.60 m. jM@jIjIjIiIhQhQhQhU{BfYfYfYrf]{@bf] L?ɛ|B? < ~>I UoɚiIV=Iii;}k)@) e~G5tAA YY5tAylB*F?2F:FBF JF G 1|G B O >~dw,vʒA"Will construct direction to contact in vehicle frame from tetrahedron phase data.yBt(II-I-4٢E- E=9MQ M?II MG٣IyU U? ]Nusing accuracyPremultiplier from configYe59]XV?e5Y]) i]I /WɚiI,H=IZi-i )%.@)!*F?2F:FBF_5JFHI I(IILBI&I.I6I1<:I F IWill construct direction to contact in vehicle frame from tetrahedron phase data.G- G1 BY O >/dw,S䒽AV!@YV@V˼9VYB>yVH`^??ḿ`I[ٿZ? Ŀ&x? $?gj?ɨV!@VY;VCzK^KK^]9K\K^h K^RKf?JKf?yjBjv(I!%AMb@Mb@Mb@ )YE?I +~jty&?9D A @)@I3@y@IIi4٢5; =<=9=[=Q =>AI MG٣UHGy]a< ]> 5Nusing accuracyPremultiplier from configiE59m?k?UWill construct direction to contact in vehicle frame from tetrahedron phase data.]5Ymf) imIq u|ɚqiqIuS=Iݫii) R@)*Fu?2Fq:FqBFua2JFq 3$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.G wG G G B O >1dw,| Ar$@YrC4@rzƼ9rA>yrH@Vq?O?wٿY?Ŀ ܘ??k?ɨr$@rɐ;rCyB%(IIUIUHo4٢efi= eQ=9eG:Q e> G٣yn< > Nusing accuracyPremultiplier from config59}?5Y) iI %ɚ!i)I-W=I-di5Ii5ހ)5@)1*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491241G |G B O >ZHQ RHQ HY IY  I] (II] QBIY &IY .IY 6I] K<:I] $ FBIJIRIZI( =bI( =jIJ4dw,AVP@YVq`@V9VB>yVH`??`#[ؿ 4 ?@ſ`T??$k?ɨVP@Vt; b4$?I`VCyrBr(IIzIz4٢%2 %O=9-9;Q ->)) 5G٣1]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742373y5'b< e> mNusing accuracyPremultiplier from configiu59m?5YmA) im<HeadingCmd: 5.959786 target range: 440.600006 and range: 440.60 m. j@jjjihhhhfffrfbf!?ɛB*< 隥,|>I ɚiIh=Iii@<)@)zKUBoHKUh9KQKUi KU BK]pA:K]pA*F?2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994375G G B O >+fdw,m4A6@Y6h@696rC>y6HX? e?$V>ؿ\ ?@oſ۞?`J?@i?ɨ6@6:;6CyRBR(I-Mb@Mb@Mb@))) )))Y-Zd;O?{Gz{Gzy-~*?-ף-#-/ A -@)-@I-@)y-G@IMIM4٢]a= ]==9e!;Q e>aa mG٣mHGym&< m> }Nusing accuracyPremultiplier from configq}59u?5Yu) iuI ɚiIz=IhiiC)$@) 6$?IPiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247797*F?2F:FBF_0JFGJJJ1JJ:JJ3JG?G>Gy B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498713Idw,MAyrBr(IIzIzפ4٢ <  P=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!559%j?55Y%:) i%Iy }'gɚyiyI}=Iriil)$@)*F?2F:FBFJFHyIy I}(II}[BIy&Iy.Iy6I}ٯ<:I} F IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750443GwG B O- >udw,ŭgA:@Y:=@: 9:mE>y:H`?`?嶿@m׿F?ſ/?;?kf?ɨ:@::;:CyJ BJ(IzKN&`KKN9KLKNj KNRKR ?JKR?Mb@Mb@Mb@ )Yx&?X9vMby7)?} A @)@II@y@IIb4٢1d= ?=9,;Q > G٣yr= > Nusing accuracyPremultiplier from config59?5Y) iI ڻɚiI~=I 难i1|i)Ja@)*F=?2F9:FABFE`0JFA 7$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254932G GI Ba O >[dw,|A>6@Y>@F@>{ߪ9>LF>y>H? E`?ʜ\ ׿W?Iƿ[?? fe?ɨ>6@>;>CyF*BF(IIZIZƕ4٢b[= b\=9f;:Q f>dh jG٣jHGyj7< j> rNusing accuracyPremultiplier from configpv59rx?v5Yrs) irI  ԻɚiIu=IfiiՁ)ԕ@)JJJ0JJ|:Jq:Jـ3J*F5?2F1:F1BF51JF1G GGGBO)>EWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:22:03:56.8836 UTRx dataTimestamp_ set to:1736373838.196982Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.507748jHe <bHe <Hi Ii  Im )IIm jBIi &Ii .Ii 6Im ;<:Im  F I dw,W\A:(m@Y:|@:ub9:nG>y:H 4?`?aiҤֿVi?1ƿ@k? F?d?ɨ:(m@:Y;:CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.758162yV&BV(II^I^4٢jʝ nI=9E/Q M>yy }G٣yy< > Nusing accuracyPremultiplier from config59?5Y) iI1 5Rɻɚ1i9I=~=Iדiݷi@̂)cҿ@)zKBoHK]9KKk K@Tdx&)r(T"lH( BK5rA:K5rA*F?2F:FBFo0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:03:56.8836 LVL= 13872, 32753, 28322, 32755, AGC= 67, IDX= 434, 0.29, 2.919, 1.378, 1.477, 1.991, PHS= 1.017,-0.566,-0.516, RAW= 91.6, 0.8, CAL= 99.4, -2.7, ROT= 50.6, 2.7 Ygot valid direction response: 22:03:56.8836 LVL= 13872, 32753, 28322, 32755, AGC= 67, IDX= 434, 0.29, 2.919, 1.378, 1.477, 1.991, PHS= 1.017,-0.566,-0.516, RAW= 91.6, 0.8, CAL= 99.4, -2.7, ROT= 50.6, 2.7 8DAT read: $Error in header *Received a bad header X#Rx 1: Read direction message, but no range.% ^direction in FSK: [-0.103737,0.080900,0.991309]Q9U*1xܵ?Q͸?QU06Q Un)UIUCiU-?U`UU?Ud< U?)UAIU=b?iUA=QUaU$?q޿y1?)U6IUqiU#@U,] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseG (~Gi By O >>Tdw,緓A2@Y2@2A92WH>y2Hw??! 3ֿ z? ƿ@?G?`a?ɨ2@2;0y>1BB(I 58$?I1UMb@Mb@Mb@QQQ Q)QYUsh|??&1{GztyU)?UPUףU\ A U@)U@IU@QyU@I}I}̍4٢E= .=9ѐ:Q > G٣y< > Nusing accuracyPremultiplier from config59 ?5Y) iI EɚiI =I=궏iAiE)El@)A*F?2F:FBF4JFJJJJJ:Jh:JJG  G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseO- >g3dw,ѓA:@Y:H@:)9:WI>y:H@?!?Z浿`տ@9?ƿc??r`?ɨ:@:c͇;8yR6BR(IiVhh jG٣jHGyj1< n> vNusing accuracyPremultiplier from configpv59r+!?z5Yr* ipxz׾za@rEr ;r7:rp5B ,@EZj)-FNOT Ignoring new targets: 440.60 m.Bj5v;Jj5v; ProNav: ac range: 440.600006 m, nav range: 57.668102 m, bearing: 124.531522 deg, approach rate: 0.567454 m/s, LOS rate: 0.343518 deg/s, cmd heading: 343.917510 deg, new cmd heading: 344.307134 deg. 2jk<HeadingCmd: 6.009293 target range: 440.600006 and range: 440.60 m. j!L@jjjihhhhfffrfbf @ɛBם< v>I cɚiI=I;ii)!L@)qEHI I)IIyBI&I.I6I<:I F 59$?I1*F=?2F9:F9BF=4JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGuNGq By O >adw,D듽AzKcOK 9KKl Km6]TPOIFC?:99741./,+)&#!   RK"?JK"?nWill construct direction to contact in vehicle frame from tetrahedron phase data.nT****** received valid address query ******nR****** received valid ping request ******nreceived new query, but waiting for acoustic response period to elapsey8B(IMb@Mb@Mb@ )YE?{Gzy&1|y&?#`A )I3@y@IIƕ4٢0-< *=9Q > G٣y% %> uNusing accuracyPremultiplier from configi59m9?5Ym* imI! %H⮻ɚ)i)I-Y=Imimgiu|)u͓@) :$?I*F5?2F1:F1BF5P5JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse) G .~G- vAE A 6Y vAy AG B O >XFew,XA>kS@Y>b@>r9>.-I>y>H:?>O?H Կ@K?Wƿ`=?@?``?ɨ>kS@>Z;>CyJ@BJ(IIvIvh4٢z?= ~u=9~Q ~? G٣y )=  ? Nusing accuracyPremultiplier from config59^J?5Y* i!%Ⱦ-a@EH;H;x51 5s@1ZjFNOT Ignoring new targets: 440.60 m.Bj;Jj; ProNav: ac range: 440.600006 m, nav range: 58.116264 m, bearing: 124.813097 deg, approach rate: 0.547567 m/s, LOS rate: 0.347376 deg/s, cmd heading: 344.808413 deg, new cmd heading: 345.148450 deg. 2jfn<HeadingCmd: 6.023977 target range: 440.600006 and range: 440.60 m. jk@jjjihhhhfffrfbf@ɛBs< >I $ɚiI=IiiA[)k@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBF_0JFGeڋG!B)OMR>ZHRH?AH.>I I*)IIBI&I.I6I<:I F I  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseqew,T:AyCB(IMb@Mb@Mb@ )Y"~j?{Gz{GzyS#?# A @)@Iy=@II]4٢M< $=9Q > G٣HGy > Nusing accuracyPremultiplier from config59c?5YQ * iI 蛻ɚiI=I"8iiM)Y @)ErAEsAzKu4NKu+9KqKum KuWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*Fu?2Fy:FyBF}^0JFy"G=G=G ŒG rAG Gq B O >տ ew,?9A .;$?I,Jŷ@YJSվ@J`9J8J>yJH`]_?x?`Iȴ7Կ?ǿR?*?E^?ɨJŷ@Jt;JCyVFBV(II^I^Q4٢fs< j=9jCQ j ?ll nG٣lyn[5= r ? vNusing accuracyPremultiplier from configp~59rr?5YrG * ir Will construct direction to contact in vehicle frame from tetrahedron phase data. i AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI MEɚIiIIMy=IUxziQiU惽)U:@)Y*F?2F:FBF_0JFGм Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O >ew,"mSAy15(IIEIEW4٢UGs: UC=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59m?u5Ym * utIimI! %;ɚ!i!I%=I- ri)i-@)-x@H=->I9 I==)II=BI=) =&I9.I96I=<:I= FBIJIRIZIbIjIΊ4 U<$?IQ)Y*F?2F:FBFo0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseGGBOg>J J J J J :J q:J J J '<J '<J k;J k;ew,KmAzK.KK,K,K.n K.RK6?JK6?:D@Y:S@: 9:rL>BWill construct direction to contact in vehicle frame from tetrahedron phase data.BT****** received valid address query ******BR****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapsey:H?`Q?@++ӿ0?yǿ@ ?i?%[?ɨ:D@:U0;:CyJPBJ(I-Mb@Mb@Mb@))) )))Y-"~j?l񢿸Qy)--u-\ A ))-@I-@)y-@IEIE4٢U== =J=9E9Q E>II UG٣UHGyU= ]> eNusing accuracyPremultiplier from configYe59]?m5Y]q* i]I жɚiI5O=Ijii)+@)*F?2F:FBF0JFGrA G E=$?IA5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseGE GE ?GE ?G B! OE >!ew,AJ@YJ@JC9J aM>yJH?`v?_糿]ҿ ?oǿH?~? Z?ɨJ@J ;JCyVNBV(II^I^4٢j jS=9j+۹Q j>ll rG٣pyr< r> zNusing accuracyPremultiplier from configtz59v?z5Yv~* ivIA E`qɚAiAIE=IM$diIiMi=)M@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F ?2F :F BFU5JFH9I9 I=I)II=BI9&I9.I96I=4<:I= FGU+ 9 I= QiGA Ba O} >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse6'ew,A (*@鼸@Y]̿@٩9M>yHq? ?(Dҿ? ǿ`:?@? Y?ɨ鼸@x;CyMSBM(III4٢< .=98Q > G٣yE~<  > Nusing accuracyPremultiplier from config59?5Y,* iIa e-YɚaiiIm%=Imh5[iuƻiuJ,)u/6@)qzK]BoHK]h9KYK]o K] !+S4LA4 BKuqA:KuqAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBFv2JFG= b 5 ?$?I1 G9 BY O >*.ew,DkA6n@Y6@6Y96P#M>y6H`?AF?`cV@ѿ%?@ǿ?"w?^Z?ɨ6n@6 ;6CyBPBB(I)D DWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse-Mb@Mb@Mb@))) )))Y-ףp= ?~jt~jty-?-D-D- A -@))I))y-G@IeIe44٢J G=9Q > G٣HGyy< > Nusing accuracyPremultiplier from config59 ?5Y* iI EɚiI =IU|Si];˻i])]op@)a*F-?2F):F)BF-4JF)e Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseG ˛G G G B O >mv5ew,l֔A6/@Y6>@6O96/L>y6H=?|?ಿ hѿ7?ǿ D_?@\m?Z?ɨ6/@6g‡;6Cy>MB>(IHj+>IjC IjO)IIjBIj( =&Ih.Ih6IjG<:Ij FIzIz4٢l [=9I:Q  >    G٣ y'< > Nusing accuracyPremultiplier from config%59E?-5Y* iI vL8ɚiI=ILMii^Ç)s@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGu񒉽GQBiO<>Je Je Je 0Ja Je <:Je U:Je ـ3Ja Je 5;Je 6;Je e;Je e; Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezK KNK +9K K p K pF" RK ?JK >8;ew,9A2Xb@Y2q@29239M>y2H`?xm? ҧѿ@C?ǿΔ?y??Z?ɨ2Xb@2;0yFOBF(I=Mb@Mb@Mb@999 9)9Y=Cl?S㥫 rhy=d?=/]=C9 =@)=~@I=@9y=Q@IMIM4٢: < 4=9qQ > G٣ymb< > Nusing accuracyPremultiplier from config59?5Y* iI #ɚiIW=IqEiϻi)M@) I*Fe?2Fa:FaBFaJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseG- G B O- > Bew,`x A>#@Y>@>b9>wN>y>H??:<`п&R?ȿ*??WX?ɨ>#@>0;>CyRMBR(IIZIZ4٢f] fl=9j|:Q j?hl nG٣nHGyv< v? zNusing accuracyPremultiplier from configx~59z?~5Yz* izI ɚiI=Ia?ii|)@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F5?2F1:F1BF5`0JF1ZHRHH*>I III) =&I.I6I7<:I FGU A$?IGIByO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseHew,Q$AEԹ@YE@ERè9EM>yEH?-?o豿v*п J_?ȿ? j?}Y?ɨEԹ@E:;ECyޭRBޭ(IIIQ4٢-0< -6=9E,Q M> G٣y%M< -> eNusing accuracyPremultiplier from configYm59][,?5Y] * i]I ɚiIZ=I ,6i ջi 6q) YX@)Will construct direction to contact in vehicle frame from tetrahedron phase data.New,3>A2!@Y2"@2X92 M>y2H@I?>?c`Ͽ.n?@&ȿ?`?UY?ɨ2!@2~;2Cy:VBJ(InWill construct direction to contact in vehicle frame from tetrahedron phase data.r G٣yE< > Nusing accuracyPremultiplier from config59+=?5Ye"* iII MTۺɚIiIIM=IU0iU4ػiU)U@)Y*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data."Uew,hXAHR)>IP IRV)IIRBIR* =&IP.IP6IRP<:IR" FnH@Yn&X@n'9n^M>ynHF?`(u?ӐοZ{?'ȿ?~?'Z?ɨnH@nD;nCyzPBz(III4٢t߼ S=9U9Q >!! %G٣%HGy-_< -> 5Nusing accuracyPremultiplier from config1=595O?=5Y5v$* i5I  ɚiIQ=I[*ii @)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.iABDAT read: Response Not Received *response not received ,DAT read: user:2268> BDAT read: Tx time:22:04:04.8447 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:04:04.8439  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247776zK= 2QKK= +9K9 K= r K= [ew,qAM@YM@M㥼9M@N>yMH`? {?`&ҰͿ%?Qȿ?:?X?ɨM@M;MCy}QB}(I}Mb@Mb@Mb@yyy y)yY}Q?Mb G٣yH~< > Nusing accuracyPremultiplier from config59/e?5Y&* iI ӘɚiI=IH"iݻi)p@) III*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498836G jG B O >JU JU JU 0JQ JU <:JU 9:JU ـ3JQ ae @ae @ae @ae @ubew,-닕A^'@Y^@^Ӧ9^3O>y^H ,? ?䎰̿`e?`}ȿڔ??3W?ɨ^'@^:;^CyjPBj(IIrIr_v4٢zÒ zi=9~Q ~>|| ~G٣|y,< > Nusing accuracyPremultiplier from config59u?%5Y(* iI 1rɚiI 9=I\i i?)`(@)*Fq2Fq:FqBFu3JFqjHabHe<Hm(>Ii ImO)IImBIm+ =&Ii.Im5D6Ims<:Im; FBI5ƜCJI5ƜCRI1ZI5) =bI5) =jI5ld5 -D$?I1GYG1 BA Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002779hew,%A:!@Y:@:i&9:мQ>y:H6?E?`Ȱ/̿ ޘ? ȿ Xd?-?R?ɨ:!@:;:CyJB%(IiU=IU]>=PExceeded connect timeout, disconnecting.II4٢ 4=9VQ > G٣HGyG< > Nusing accuracyPremultiplier from config59?%5Y** iI9 =u*ɚ9iAIE=IE iM"iM )Mf@)IeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256175zK5KK5h9K1K5s K5 #19?DKQXcnvBKEpA:KEmA*FQ2FQ:FQBFU2JFQ ! I) G 憽Gq B O > oew,XtAbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506727y=NB=(IMb@Mb@Mb@ )Yn?i|?5Qy?quE A @)I@yQ@IqIJH4٢}< K=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y,* i{IA M (ݹɚIiIIM@=IUiU"iU)U@)Y*F?2F:FBF_0JFJ%J!J!J!J%:J!J!J!uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.758795GGqAGqAG B O >n vew,RٕAH'>I IV)IIBI* =&I.I6Ir<:INL@YN\@N#9NP>yNHJ? ~?AI`_ʿ@ί?ޮȿ#??TU?ɨNL@N;LyTV(I rE$?IpI=I=̍4٢UH  ]_=9]Q ]>aa eG٣aymD= m> uNusing accuracyPremultiplier from configq}59uU?}5Yub.* iuvI! -KMPɚ)i)I-׉=I5mi5i5)5n@)9*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012738GGABQOm5> =nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2630843|ew,$+AynQBn(I)p ptvAzK~ݤNK~9K|K~t K~xpnnmmlhfdcbaa\YWTRURPOMLKIGECA@===;;9;95452101/011,++Mb@Mb@Mb@ )YzG?x& rhy ?7C A @)I@y\@II4٢]:M< ];=9eQ m>qy }G٣}HGy > Nusing accuracyPremultiplier from config59S?5Y0* inIQ ]j8ɚYiYI] =Ieie"ieJm)e\@)i F$?I*F?2F:FBFk0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515176GмG B O >J= J= J9 J9 J= ̶:J= #:J9 J9 ew, Af0 @Yf@f9fO>yfHp?`y?m[ǿ? ȿE??U?ɨf0 @f ;fCyrPBr(IIzIz4٢  O=9;Q > G٣y%q= %> -Nusing accuracyPremultiplier from config)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766924E59-?E5Y-E2* i-gI 9ɚiI` =Iiip)<@)*F?2F:FBF0JFZH!RH%AAH-&>I) I-O)II-BI)&I).I)6I-H<:I- F IGTG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018793Iew,s&AVO@YVz^@V9VOP>yVH}??@0@ƿQ?ɿ?? ? xU?ɨVO@VN݈;VCy~FB(IIEIEy4٢>N S=9:Q > G٣y[< > Nusing accuracyPremultiplier from config!59%t?5Y%4* i%_I  #:ɚ i I  =Iiiss)t@=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271121)YzKmNK9KKu K)$&)'(""##"#"""!! ! ""!##')*($$&%#" !*F 2F :F BF0JFG~GBO> G$?I O0ew,@AF@YFi@F즼9FP>yFH:?@?0"ſ?ɿ:ݔ?@?U?ɨF@Fbň;NWill construct direction to contact in vehicle frame from tetrahedron phase data.RBDAT read: Rx Time:22:04:07.8300 RTRx dataTimestamp_ set to:1736373849.032705Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523920FCyZRBZ(Ii^)>I^4< f=f=Mb@Mb@Mb@ )Y`"?Q G٣HGyz< > Nusing accuracyPremultiplier from config59?5Y5* iXI9 =Q:ɚ9iAIE? =IEؽiIiUx)Uϯ@)*JC="Jp=J J J J J :J B:J J *F2F:FBFR2JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.774791G !rG rAG rAG B O >H %>I C I I I + =&I .I 6I <:I f FVew,hZA $I&Rifiȼ@Yf@f9fUP>yfH॑?@?Dɪ7Ŀ ]?ɿ?? U?ɨfiȼ@f6;dynJBr(IIzIzE4٢T9 a=99Q  >    G٣ yi< > Nusing accuracyPremultiplier from config%59 ?%5Y(7* iQI :ɚ!i!I% =IE|s˽iE#1iMn)] @)qWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:04:07.8300 LVL= 24944, 32753, 31026, 32755, AGC= 70, IDX= 412, 0.23,-0.964,-2.570,-2.123,-1.727, PHS= 0.851,-0.796,-0.399, RAW= 103.4, 4.7, CAL= 113.8, 2.5, ROT= 36.2, -2.5 Ygot valid direction response: 22:04:07.8300 LVL= 24944, 32753, 31026, 32755, AGC= 70, IDX= 412, 0.23,-0.964,-2.570,-2.123,-1.727, PHS= 0.851,-0.796,-0.399, RAW= 103.4, 4.7, CAL= 113.8, 2.5, ROT= 36.2, -2.5 PDAT read: Bearing 36.2, -2.5 (Local) ~Local bearing/azimuth received: Bearing 36.2, -2.5 (Local) %DAT read: Range 10 to 50 : 435.9 m (Round-trip 581.2 ms) speed 0.3 m/s %,DAT read: user:2269> -BDAT read: Tx time:22:04:08.9431 -$Ping request sent.5u Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:04:08.9423 ew,`vtA6a@Y6 @68996O>y6H?`r?|YĿ ?`; ɿ`&?@?`V?ɨ6a@6F;6CyJGBJ(IzK^MK^ 9K\K^v K^     RKb?JKb>Mb@Mb@Mb@ )Y333333?Zd;~jty?y/ A x@)IyAAIIW4٢[ ;=9Q >    G٣ y d<  > =Nusing accuracyPremultiplier from config1=595% ?E5Y58* i5I\4Lv;^yS14y@{S ċп-fPѿTӠ?"k*kk֊?kϵ6 2kCk?k( kk&BkN5@ addTargetRange:: Added new target pos. range: 435.899994 m, deltaT: 14.869952 s, deltaX: -4.700012 m, approachRate: -0.316074 m/s, rangeRepo size: 4  Added new target pos. range: 435.899994 m, bearing: 226.946305 deg, lat: 36.900838 deg, lon: -122.121700 deg, deltaT: 14.869952 s, deltaX: -4.700012 m, approachRate: -0.316074 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 435.90 m.BjJj ProNav: ac range: 435.899994 m, nav range: 41.522953 m, bearing: 162.547763 deg, approach rate: 0.000000 m/s, LOS rate: 0.338602 deg/s, cmd heading: 354.308167 deg, new cmd heading: 354.795129 deg. 2j=HeadingCmd: 6.192343 target range: 435.899994 and range: 435.90 m. jE'@jAjajaiahihihihmBfqfqfqrfu`f>{@bf}`BZ?ɛB< >I :ɚiIy% =I-d i)i5y)5'@)1) Will construct direction to contact in vehicle frame from tetrahedron phase data.c~G-|uA*F12F1:F1BF=4JF9i  Y|uAyB@BG] {LoG B) OM >dew,;A2[$@Y23@2'F92(G>y2HŸ?u?#奔[ÿ ?ȿM? ?b?ɨ2[$@2/;2CyBDBB(IIvIv_v4٢ȁ  ]=9  G٣y %Nusing accuracyPremultiplier from config-597 ?-5YM:* iBI  Ⱥ:ɚ-Will construct direction to contact in vehicle frame from tetrahedron phase data.iI =I{i}iFa)a/@)*Fu?2Fq:FqBFu_0JFqGM|GU ?GU?jHbHp<H#>I II)IIBI, =&I.I6I<:IL FG B! )I)OMR> Will construct direction to contact in vehicle frame from tetrahedron phase data.9ew,B꧖A:f@Y:Ev@:)9:G>y:Hr?@o?mT¿?U)ȿ?`?ob?ɨ:f@:T;:CyNB(II%I%Ho4٢MG= MG=9m[Q u> G٣HGy< > Nusing accuracyPremultiplier from config59L ?5Y;* i;I t:ɚiI =Ii iJ"R)p9@)E)E-qAUWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJFG GqAzKkew,ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.496359Z0@YZ@ZTH9ZG>yZHڲ?a?1樿 F?3ȿ? ?`db?ɨZ0@ZeD;ZCyލOBލ(IMb@Mb@Mb@ )Yx&1?Q뱿MbyA ?\ A @)Q@Iy@I-oI-D4٢E0; E;=9EQ M>II MG٣IyU< ]> eNusing accuracyPremultiplier from configam59e}b ?m5Ye=* ie5C@jAjAjAiIhIhIhqhuBfqfqfqrfybf}?ɛB< Ñ>I U:ɚiIt =I 'iz=i"::)>C@)*F?2F:FBF`0JFG}P4`GQBaO}{>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748311H I  I I I &I .I 6I <:I N FBI˛CJI˛CRIZI+ =bI+ =jIeB5 I IQ 4ew,ۖAFݽ@YFg@F9FYG>yFHڹ?7O?o@}&?c5ȿ(?`?hc?ɨFݽ@FN;FCyNMBR(I V=Vp=IbIb4٢j@ Md=9U;Q U>QQ ]G٣Yy] < ]> eNusing accuracyPremultiplier from configam59eu ?m5Ye>* ie.I V{ ;ɚiI=I%6̰i%^5i%*)%L@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000382Ey=*F5?2F1:F9BF9JF9JsK{ـ3 K{ .KsKs"KsJ- J- J) J) J- <:J- ,:J) J) J- 4;J- 6;J- ;J- ;] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252668G lSG% qAG% pAzK QkOK h9K K x K G BO->魽ew,`A ~L$?I|y-QB5(I Mb@Mb@Mb@    ) Y NbX9?l/$y %?    x@) $@I @ y @I%I%K4٢5< 5 =9=Q =>99 EG٣EHGyE E> UNusing accuracyPremultiplier from configIU59M ?]5YM@* iM$I 1;ɚ i I ;=I_iȾiM3)5Y@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506744E=U<*F?2F:FBFo0JF"GG=GP<3GaBqO>ew,F'A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756321:S=@Y:L@:C9:{jD>y:H`?`$?#`[@5?ǿ`]?e?+h?ɨ:S=@:?;:CyFYBF(IININ4٢Z#= Zg=9^l;Q ^>\` bG٣`yb= b> jNusing accuracyPremultiplier from configdj59f ?j5YfJB* ifIa e+;ɚaiaIe=Imim*iu{ )uc@)EE*E"EH">I III&I.I6IN<:I F M$?I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009337GU GU"GUGUG ?G ?G B) Jm Jm Jm 1Ji Jm ̶:Jm B:Jm 3Ji Jm ;Jm ;Jm #b;Jm #b;O >Lew,0AZzd@YZs@Z,9ZA>yZHo?_?r|@\μ`>?ǿ@Kœ? ?`El?ɨZzd@ZL;ZCybdBb(I]Mb@Mb@Mb@YYY Y)YY]? rh G٣HGy< > Nusing accuracyPremultiplier from config59l ?5Y D* iIy A;ɚiI=I립iƏi),t@)zKMnLK+9KKy K %N$?I!*F?2F:FBF1JFGBOa>E Will construct direction to contact in vehicle frame from tetrahedron phase data.A iA U BDAT read: Rx Time:22:04:11.9266 ] TRx dataTimestamp_ set to:1736373853.067115m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516783I~ew,)uJA6@Y62@696V?>y6H@? {b?DK.@E?`Zǿ`s? ? p?ɨ6@6;6CyBkBB)IIJIJ 4٢f6= fX=9j^;Q j>hh nG٣ly%6< %> -Nusing accuracyPremultiplier from config)559-: ?55Y-hE* i- I kmP;ɚiI}=Ii3i)@)*F?2F:FBFP4JFGiBqO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764559HI IV)IIBI&I.I6Iv<:I9 F I] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016101&ew,ldAE@YE@E%9E<>yEH@V? [?bSJ?M ǿD?z? s?ɨE@EӨ;ECyexBm)III4٢C_= /=9";Q > G٣y^; > Nusing accuracyPremultiplier from config59 ?5YG* iI  0j;ɚ i I =ICsi=i)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:04:11.9266 LVL= 21408, 32753, 32754, 32755, AGC= 70, IDX= 426,-0.18,-1.190,-2.792,-2.263,-1.917, PHS= 0.815,-0.828,-0.349, RAW= 106.5, 5.0, CAL= 117.2, 2.6, ROT= 32.8, -2.6 Ygot valid direction response: 22:04:11.9266 LVL= 21408, 32753, 32754, 32755, AGC= 70, IDX= 426,-0.18,-1.190,-2.792,-2.263,-1.917, PHS= 0.815,-0.828,-0.349, RAW= 106.5, 5.0, CAL= 117.2, 2.6, ROT= 32.8, -2.6 *F?2F:FBF*2JFGrAGqA PDAT read: Bearing 32.8, -2.6 (Local) % ~Local bearing/azimuth received: Bearing 32.8, -2.6 (Local) - DAT read: Range 10 to 50 : 434.4 m (Round-trip 579.3 ms) speed 0.5 m/s G B O > ,DAT read: user:2270>  BDAT read: Tx time:22:04:13.0431  $Ping request sent. R}]Ϳ-eM?)ۭkqIۭ'iۭۭPE۩۩ :publishing transmit ping time  Fpublishing direction and range infoة9حUXʿ"걑fƿ$}@?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭći;?>R}]Ϳ-eM?)۩I۩i۩۩۩۩ O$?I aew,]7~Ayu|Bu)IMb@Mb@Mb@ )YuV?QMbyr(?uvA b@)I@ Will construct direction to contact in vehicle frame from tetrahedron phase data.y(@II٢-< -B=9-Q 5>11 5G٣5HGy= => ENusing accuracyPremultiplier from configA59E ?5YEeH* iE;B()?::Eb@EEEI) -25};ɚ)i)I5"#=I좛ii)O@)*F?2F:FBF@5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ,$=GQ BY Ou >hNew,PsA >P$?I<H@I@ IBb)IIBBI@&I@.I@6IB<:IB? Fn@Yn]@nq9nz9>ynH?`?TFɸ+V?Tƿ9?~? y?ɨn@n;nCy-B54)IImImd4٢}A= }T=9;Q > G٣yf< > Nusing accuracyPremultiplier from config59< ?5YI* i;B<b@E%;>;{5 ?@EZjimFNOT Ignoring new targets: 434.40 m.Bjm8Jju8} ProNav: ac range: 434.399994 m, nav range: 51.037762 m, bearing: 169.009417 deg, approach rate: 0.704433 m/s, LOS rate: 0.005997 deg/s, cmd heading: 355.645846 deg, new cmd heading: 355.652445 deg. 2j9HeadingCmd: 6.207306 target range: 434.399994 and range: 434.40 m. jA@jjjihhhhfffrfbf@?ɛ)- = )-?>I) -܇;ɚ1i1I5=I=Ufi=fp i=TMƼ)=A@)EqAErAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG'GBO>sew,*;A.Will construct direction to contact in vehicle frame from tetrahedron phase data.b` @Yb@b[9b6>ybHP?`?@5<`]?i~ƿ` p? ?|?ɨb` @b ;bCynBlmMb@Mb@Mb@iii i)iYm!rh?J +yml'?mHmm A mx@)m;@Im@iym@IIk4٢w C=9T;Q >    G٣ y4< > Nusing accuracyPremultiplier from config%59- ?%5YJ* i-'?-:-)5b@E^;\;59 EE@A]B*** querying acoustic contact ***jYjYZjiuFNOT Ignoring new targets: 434.40 m.BjuI9JjuI9 ProNav: ac range: 434.399994 m, nav range: 51.309963 m, bearing: 169.017267 deg, approach rate: 0.675430 m/s, LOS rate: 0.019375 deg/s, cmd heading: 355.652458 deg, new cmd heading: 355.675882 deg. 2jT:HeadingCmd: 6.207715 target range: 434.399994 and range: 434.40 m. j@jjjihhhhBfffrfbf N?ɛ^$= >I j;ɚiI=I>i iݯ)@) mQ$?IqzK-OKKK{ KEDH?,dA(tf\RMJJNY`ejmkgcbcb_^[XWVXXVPJC?9652/,+*Fe?2Fa:FaBFaJFiGurA GurA-~GEtAeA YtAy? BWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G-G5?G5>Ga Bq O >\ew,ΗA66@Y6`F@6xY96 7>y6H:?oO?@-D`{`?@wƿz4?M?|?ɨ66@6X;6CyZB^O)I)` `IfsIfK4٢n = n_=9n9Q r>pp rG٣pyvm< v> zNusing accuracyPremultiplier from configx~59zA ?~5YzK* ix$b@zEzL:zg;zN5JJJJJ̶:JB:JJa-@a-@a-@a-@-B 5׍@5EZjY]FNOT Ignoring new targets: 434.40 m.Bje9Jje9u ProNav: ac range: 434.399994 m, nav range: 51.549999 m, bearing: 169.025540 deg, approach rate: 0.649116 m/s, LOS rate: 0.022269 deg/s, cmd heading: 355.675872 deg, new cmd heading: 355.700576 deg. 2jut:}HeadingCmd: 6.208146 target range: 434.399994 and range: 434.40 m. j}"@jyjjihhhhfff!rf!bf%@?ɛ = 隭>I P;ɚiI.U=I'i0 i9)"@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438955*F-?2F):F)BF5k0JF1G~ʼGBOE> ]S$?IYHyIy I})II}ЉBI}+ =&Iy.Iy6I}k<:I}1 F Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.689351ew,痽A:i@Y:y@:#[19:K 8>y:H@?=ݳ?Eरb?@#ƿH+?*?{?ɨ:i@:]։;:Cy^B^R)IInInn4٢~6<< ~H=9;Q >    G٣ HGyw< > -Nusing accuracyPremultiplier from config!559%=X ?=5Y%L* i%;B9E2Eb@%E%<;%f;%5UB U@UEZjFNOT Ignoring new targets: 434.40 m.Bj@9Jj@9 ProNav: ac range: 434.399994 m, nav range: 51.818798 m, bearing: 169.036556 deg, approach rate: 0.654708 m/s, LOS rate: 0.026693 deg/s, cmd heading: 355.700570 deg, new cmd heading: 355.733447 deg. 2j:HeadingCmd: 6.208720 target range: 434.399994 and range: 434.40 m. jխ@jjjihhhhfffrfbf^?ɛ˩= b>I };ɚiIS=IPi` iS)=խ@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.941416*F?2F:FBFc0JF Y IY zK OK h9K K | K *'(&$"G-i^7Y{qeYOHC=1   RK ?JK ?G} VGY Ba O} >gkfw,zA26@Y2@2{925>y2H?@?@t h?`uƿq/???ɨ26@2;2Cy:B:e)IEMb@Mb@Mb@AAA A)AYEy&1?V-Mb?yE`%?EEqy }G٣yy}/< }> Nusing accuracyPremultiplier from config59n ?5YM* i;B%?:tb@El;;5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194601ZjFNOT Ignoring new targets: 434.40 m.Bj \:Jj \:% ProNav: ac range: 434.399994 m, nav range: 52.087177 m, bearing: 169.056830 deg, approach rate: 0.642126 m/s, LOS rate: 0.048257 deg/s, cmd heading: 355.733437 deg, new cmd heading: 355.793944 deg. 2j%x;-HeadingCmd: 6.209776 target range: 434.399994 and range: 434.40 m. j-|@j)j)j)i)h)h1h1h5͈Bf9f9f9rf9bf= I>@ɛ4$= 隕>I DѶ;ɚiI=IWir i+)-|@)1*F?2F:FBFo1JFGmGyBO]>J=J=J9J9J=:J=/:J9J9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445474 = T$?IA Dfw,}AZH RH@AHI I)IIBI, =&I.I6I<:IX FBIqJIqRIqZIu, =bIu, =jIuB4J@YJ5@J/c9Jq;2>yJH`:? ?`9{瘲zo?ƿ ^v?*?`?ɨJ@J;JCyj‰Bjq)Iin0>IlIvIv4٢~@= ~Q=9~0;Q ~> G٣y <  > Nusing accuracyPremultiplier from config59ڃ ?5YN* in fw,w5A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949458:NͿ@Y:@:<9:y/>y:H?,3?``ɍ4@:u? 7ſg???ɨ:NͿ@:D;8yFȉBFy)IMb@Mb@Mb@ )Y?MbPI +?y ?94<A @)~@Iy@II4٢< @=9;Q > G٣HGy|< > Nusing accuracyPremultiplier from config59 ?5YO* i=?A@8/BK:KqAIKig i-ܻ)@)E*FA2FA:FABFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.201399G% G B O% >Cfw,)[OA2<@Y2@2U92+>y2H ?*?P@,{?$Uſ}J?b?׌?ɨ2<@2v;2Cy>͉B>~)IIFIF44٢N< N]=9R;Q R>PT VG٣TyV; V> ZNusing accuracyPremultiplier from configX^59Z ?b5YZO* iZ uGA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.705353fw,n0iAR?@YR @R+;9R$(>yRH?`Sد?B? ſb``??ɨR?@R3;RCybΉBb)II-I-4٢u; u>=98;Q > G٣y< > Nusing accuracyPremultiplier from config59 ? 5YP* i BDAT read: Tx time:22:04:17.1432 $Ping request sent.qquȴHhP?A;,zȿ|Ihʐ)uEIup=iumB׿u8qq-:publishing transmit ping time5Fpublishing direction and range infoq9u(/McͿc"?i#. iu,8)u@)yEEyqqqq q)qIqiqqqqq q)qIqiqqquȴHhP?A;,zȿ|Ihʐ)qIqiqqqq I*F- ?2F) :F) BF- 05JF) zK% ʡMK! K! K% ~ K% GU 4λWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:04:17.1424 G)B1OU>!fw,@4AJ@YJ-.@J;9J[ >yJH? J?G a6  G٣HGy< > Nusing accuracyPremultiplier from config59 ?5Y?P* iI)  I- )II- BI- + =&I) .I) 6I- <:I- M FG QpG B O >F1(fw,\A2'@Y2{6@2 <92>y2H?7?B!z?Gÿ?? ?ɨ2'@2";2Cy>̉B>})IININ4٢ROS V`=9Vv;Q V>TX ZG٣XyZ7; ^> bNusing accuracyPremultiplier from config\b59^s ?f5Y^iP* i^@nEZjYeFNOT Ignoring new targets: 441.90 m.Bje둻Jjm둻 ProNav: ac range: 441.899994 m, nav range: 131.087387 m, bearing: 246.305636 deg, approach rate: 0.236429 m/s, LOS rate: -0.255147 deg/s, cmd heading: 356.259389 deg, new cmd heading: 355.994456 deg. 2j/HeadingCmd: 6.213275 target range: 441.899994 and range: 441.90 m. j'@jjjihhhhfffrfbf`?-Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛuˆBu?C= qu"?Iq }E<ɚyiyI}6a Will construct direction to contact in vehicle frame from tetrahedron phase data. I uV.fw,#A2C@Y2 S@2+<922>y2Hy?`F??b?&ɫ ?`o8ÿ|,??ɨ2C@2vۈ;2CyNʉBN{)I]Mb@Mb@Mb@YYY Y)YY]n?~jt?Mb?y]?]<]<]A ]@)]h@IYYy]@I}I}d4٢ ==9;Q > G٣y7< > Nusing accuracyPremultiplier from config59 ?5YP* iS=5fw,՘ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495691s\@Yk@kS<9&>yH??t?;@? !ÿEm`6?ߣ?ɨs\@;騍CyޝBޝm)IIIt4٢f G=9;Q > G٣HGy; > Nusing accuracyPremultiplier from config5 X$?I9@ ?5YP* iI9 I=)II=BI=, =&I9.I96I=<:I=f FɛmÈBu; .= quk>Iq u<ɚqiyI}ȤUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747686*h;fw,A6 h@Y6w@6j<96 >y6H?{?豂?@?@¿`! u?@?ɨ6 h@6;6CyBBBb)IIJIJ4٢R6 R^=9R'TT VG٣TyZ~; Z> bNusing accuracyPremultiplier from config`f59bJ, ?f5YbP* i`df:fb@bEb':b:b#5l n@lJeJeJaJaJe̶:Je9:JaJaJe;amJe;amJaauJaauZjFNOT Ignoring new targets: 441.90 m.BjJj ProNav: ac range: 441.899994 m, nav range: 131.365616 m, bearing: 246.020341 deg, approach rate: 0.231327 m/s, LOS rate: -0.234363 deg/s, cmd heading: 355.396463 deg, new cmd heading: 355.139210 deg. 2j HeadingCmd: 6.198349 target range: 441.899994 and range: 441.90 m. jX@jjjih!h)hYhafiffrfbf@?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003690ɛmĈBm))= im@>Iq uXg<ɚqiqIuY|Bfw, m AyBJ)IMb@Mb@Mb@ )YʡE?~jt?y?A @)@I;@y@II4٢Ԭ 4=9Q > G٣y > Nusing accuracyPremultiplier from config59A ?5YP* iI <ɚiIZeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503754 Z$?IZHRHAAH#>I I)IIBI+ =&I.I6I<:IF F;Hfw,$A2cv@Y2؅@2h<92>y2HV?`@ ?`? @p?`c¿`D??ɨ2cv@2;2CyBBB;)IIJIJb4٢~ ~[=9~͍ G٣HGy ;  > Nusing accuracyPremultiplier from config59bS ?5YP* iI ʚ$<ɚiI<Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756113IiIiR<) @)*F2F:FBFf3JFJMJMJIJIJM|:JM^:JIJIJM<JM<JMg;JMg;G7ͤ<GB  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010885O > ! I! Nfw,F=AyrBr()IMb@Mb@Mb@ )YGz?MbP?~jty?:DA @)@Iy=@IIh4٢ ?=9Q > G٣y > Nusing accuracyPremultiplier from config59g ?5YQ* i I F)<ɚiIΖiUfw,WA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:22:04:20.1344 &TRx dataTimestamp_ set to:1736373861.380713*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512859>me@Y>t@>Q<9>>y>HB?`z?me@>=i;>Cy pB  )III.4٢ef eO=9m2sii uG٣qyu4 > Nusing accuracyPremultiplier from config \$?I59z ?5YJQ* i25}B А@EZjFNOT Ignoring new targets: 441.90 m.Bj%总Jj%总U ProNav: ac range: 441.899994 m, nav range: 131.724548 m, bearing: 245.646614 deg, approach rate: 0.206308 m/s, LOS rate: -0.225384 deg/s, cmd heading: 354.291283 deg, new cmd heading: 354.018787 deg. 2jU}HeadingCmd: 6.178793 target range: 441.899994 and range: 441.90 m. j}@jyjyjyiyhhhhfHI I)IIBI, =&I.I6I<:IP FBIYJIYRIYZIYbIYjI]3ffrfbf @ɛ5ƈB5K= 15ǩ>I1 =k.<ɚ9i9I=dx[fw,qAfT@Yfid@fH=9fCK >yfH ?e?&? m?Ë ^fY?,?ɨfT@fy;fCJJJJJ\:Jz:JJJ<J<Jl;Jl;yu`B(II]I]4٢ 5=9;Q >!eWill construct direction to contact in vehicle frame from tetrahedron phase data.) G٣HGyA > =Nusing accuracyPremultiplier from config9UDAT read: 22:04:20.1344 LVL= 25072, 32753, 31634, 32755, AGC= 70, IDX= 286, 0.20,-2.685, 1.958, 2.620, 2.980, PHS= 0.706,-0.975,-0.363, RAW= 111.1, 8.6, CAL= 120.8, 5.9, ROT= 29.2, -5.9 ]Ygot valid direction response: 22:04:20.1344 LVL= 25072, 32753, 31634, 32755, AGC= 70, IDX= 286, 0.20,-2.685, 1.958, 2.620, 2.980, PHS= 0.706,-0.975,-0.363, RAW= 111.1, 8.6, CAL= 120.8, 5.9, ROT= 29.2, -5.9 ePDAT read: Bearing 29.2, -5.9 (Local) 59= ?5Y=Q* i=;BBc@=E=i(<=(<=65|B @E ]$?I~Local bearing/azimuth received: Bearing 29.2, -5.9 (Local) DAT read: Range 10 to 50 : 440.3 m (Round-trip 587.1 ms) speed 0.0 m/s ,DAT read: user:2272>  BDAT read: Tx time:22:04:21.2432  $Ping request sent.  eV@)eB=Iew?ieBҽaae/\tA?=qkÿ$aQ0?)emIeieX9eQaa}:publishing transmit ping time Fpublishing direction and range infoa9e(ѿYϿr-?ya ProNav: ac range: 441.899994 m, nav range: 131.826660 m, bearing: 245.534958 deg, approach rate: 0.201052 m/s, LOS rate: -0.219672 deg/s, cmd heading: 354.018786 deg, new cmd heading: 353.684084 deg. 2jHeadingCmd: 6.172952 target range: 441.899994 and range: 441.90 m. j҈@jjjihhhhfffrf̄{@aaa a)aIaiaaaaa a)aIaiaaae/\tA?=qkÿ$aQ0?)aIaiaaaabfk?ɛ,;< ?=4>I p3<ɚiI%ycfw,FAV;@YVK@V/=9VV>yVH_? j?d?C ?`@?@y?ɨV;@V ;VCynLBn(IMb@Mb@Mb@ )Y&1?I +{Gzy?94ףzA @)@I$@y@II4٢ 齽  @=9 ` G٣y > %Nusing accuracyPremultiplier from config!-59% ?-5Y%]R* i%;B-l?5:55c@%E%%;%;%959 =@9kG?ktE: k kwxA:k&CBkCZkA@"Ńo^P=V[(y@(ѿYϿr-?JkX9RkQ*œe")]Zc8eᆭx@GDdпAֿ.?K?"k*kIk>?kva: 2kCkJL?kzl8 kCk5Ck>@ addTargetRange:: Added new target pos. range: 440.299988 m, deltaT: 4.031913 s, deltaX: -1.600006 m, approachRate: -0.396835 m/s, rangeRepo size: 4  Added new target pos. range: 440.299988 m, bearing: 233.225261 deg, lat: 36.900223 deg, lon: -122.123428 deg, deltaT: 4.031913 s, deltaX: -1.600006 m, approachRate: -0.396835 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 440.30 m.BjJj ProNav: ac range: 440.299988 m, nav range: 181.701187 m, bearing: 230.527675 deg, approach rate: 0.000000 m/s, LOS rate: -0.219672 deg/s, cmd heading: 353.684079 deg, new cmd heading: 353.444918 deg. 2jHeadingCmd: 6.168777 target range: 440.299988 and range: 440.30 m. jf@jjjihhhhLBfffrfbf W?ɛ< υ>I =6<ɚiI@jH<bH<H!I! I%{)II%ˉBI%+ =&I!.I!6I%p<:I%5 F֣ifw,nA"Will construct direction to contact in vehicle frame from tetrahedron phase data.B@YB!$@Bl=9B)=yBH@?F\?Su?`x ?v \?@$?ɨB@B;BCyb0Bb(IIrIr4٢| ]=9 ;Q  > G٣y%Q %> =Nusing accuracyPremultiplier from config1E595 ?E5Y5S* i5;BIMTMc@5E5I;5x5;5!=5{B @EZjYmFNOT Ignoring new targets: 440.30 m.Bj"Jj" ProNav: ac range: 440.299988 m, nav range: 181.812683 m, bearing: 230.471144 deg, approach rate: 0.280460 m/s, LOS rate: -0.142112 deg/s, cmd heading: 353.444914 deg, new cmd heading: 353.275426 deg. 2jûHeadingCmd: 6.165819 target range: 440.299988 and range: 440.30 m. jdN@jjjihhhhfffrfbfl?ɛeLjBeT< ae"R>Ia eK9<ɚiiI:pfw,G™A:1@Y:@:!=9:=y:H ?t? @?@m{Y?@A@5&??ɨ:1@:Q܍;:CyBBF(IzKrBHKr9KpKr KrUMb@Mb@Mb@QQQ Q)QYU G٣HGy. > Nusing accuracyPremultiplier from config59 ?5Y^T* i;B ?:>Mc@E;:@5 ٕ@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 440.30 m.Bj FJj F ProNav: ac range: 440.299988 m, nav range: 181.926468 m, bearing: 230.403952 deg, approach rate: 0.293512 m/s, LOS rate: -0.173216 deg/s, cmd heading: 353.275416 deg, new cmd heading: 353.073967 deg. 2jHeadingCmd: 6.162303 target range: 440.299988 and range: 440.30 m. j1@jjjihhh h -Bf f f rfbfvw?ɛ9=;< AE->IA EU;<ɚAiAIEwXxwfw,SߙA6ҿ@Y6@6x)=96p.=y6H?i?|?g?E⺿7<4??ɨ6ҿ@6oH;4yB BB(IIJIJ<4٢R R@=9V;Q V>XX ZG٣XyZ ^> bNusing accuracyPremultiplier from config\b59^ ?f5Y^U* i^;BdfQfc@^E^T ;^ ;^D5nzB n@nEZj FNOT Ignoring new targets: 440.30 m.Bj7Jj7% ProNav: ac range: 440.299988 m, nav range: 182.042084 m, bearing: 230.335292 deg, approach rate: 0.270959 m/s, LOS rate: -0.160811 deg/s, cmd heading: 353.073980 deg, new cmd heading: 352.868130 deg. 2j%ܻHeadingCmd: 6.158710 target range: 440.299988 and range: 440.30 m. j(@jjjihhhhfffrfbf )?ɛ15< 15>I1 =H=<ɚ9i9I=JU JU JQ JQ JU \:JU h:JQ JQ JU <JU <JU Mi;JU Ni;}fw,7A&Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962314 5_$?I9¿@Y@8=9=yH`?.?@N? 屿0?` ?{?ɨ¿@;Cy-B-w(Ii5=I5> =a===Mb@Mb@Mb@ )Y5^I ?`"S㥛y?/ݼhA @)@I@y@IIļ4٢ *=9;Q >  G٣ y 脻 > Nusing accuracyPremultiplier from config59 ?%5YW* iy;B%W?%:%[%c@E;;H55yB =&@EEZjFNOT Ignoring new targets: 440.30 m.Bj?CJj?C ProNav: ac range: 440.299988 m, nav range: 182.161804 m, bearing: 230.252436 deg, approach rate: 0.246808 m/s, LOS rate: -0.170698 deg/s, cmd heading: 352.868118 deg, new cmd heading: 352.619715 deg. 2j%L껝-HeadingCmd: 6.154375 target range: 440.299988 and range: 440.30 m. j-@j)j)j)i)h)h1h1h5Bf1f9f9rf9bf=X'@ɛmƈBm < qu\=Iq ul><ɚyiyI}?fw,O!AR4@YR@RS=9RŮ=yRH ?S?D?ԭ`F?@c n??ɨR4@RZ;Py^B^a(InWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.464178IfIf4٢zA zC=9z}|| ~G٣~HGy~ >  Nusing accuracyPremultiplier from config 59  ?5Y |Y* i [;B c@ E  ;  ; UL5! %F@! `$?ISiZjFNOT Ignoring new targets: 440.30 m.Bj&=Jj&=M ProNav: ac range: 440.299988 m, nav range: 182.264603 m, bearing: 230.180211 deg, approach rate: 0.235502 m/s, LOS rate: -0.165368 deg/s, cmd heading: 352.619717 deg, new cmd heading: 352.403165 deg. 2jM⻝UHeadingCmd: 6.150596 target range: 440.299988 and range: 440.30 m. jU@jQjQjQiQhYhahahafffrfbf@@HI I(II`BI&I.I6I<:IF Fɛ  J< !f&=v=I ʤ?<ɚiIIfw,1ARX@YR:h@Rli^=9R=yRH?`a?kF?.?ۺ@ɫfù?`F?ɨRX@RN;RCybوBbR(IIjIj4٢r|o rL=9v;Q v>tx zG٣xyzq z> Nusing accuracyPremultiplier from config| 59~ ? 5Y~>[* i~>;B   c@~E~;~;~O5 @EZjIMFNOT Ignoring new targets: 440.30 m.BjURJjURe ProNav: ac range: 440.299988 m, nav range: 182.362335 m, bearing: 230.110707 deg, approach rate: 0.259379 m/s, LOS rate: -0.184361 deg/s, cmd heading: 352.403173 deg, new cmd heading: 352.194776 deg. 2je mHeadingCmd: 6.146958 target range: 440.299988 and range: 440.30 m. jm@jijijiiihqhqhqhyfyfyfyrfbf`/@ɛKm< 隵=I1 =@<ɚ9i9I=zK KLK K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.221665גfw,KAFf@YF&@F)g=9F =yFH?@j? ?A6 2?`!º߃?@ ?ɨFf@F?#;DyVՈBZM(I)d dhjA}Mb@Mb@Mb@yyy y)yY}+?㥛 ¿~jty}?}}ļ}A }C@)}@I}@yy}@II4٢› >=9;Q > G٣y > Nusing accuracyPremultiplier from config593 ?5Y]* i;B,$?:`c@E;d;S5xB 0@E B*** querying acoustic contact ***j j Zj!-FNOT Ignoring new targets: 440.30 m.Bj-KRJj-KRE ProNav: ac range: 440.299988 m, nav range: 182.464050 m, bearing: 230.030665 deg, approach rate: 0.233763 m/s, LOS rate: -0.183852 deg/s, cmd heading: 352.194770 deg, new cmd heading: 351.954779 deg. 2jEZMHeadingCmd: 6.142770 target range: 440.299988 and range: 440.30 m. jM@jIjIjIiIhIhQhQhUՇBfQfYfYrfYbf] @ɛZfa< 隍Lfw,^eABsھ@YB@BUoo=9B=yBH@v?~?@?1?@/魿`1>?@?ɨBsھ@BK\;BCyJЈBJH(IIVIV94٢^+Ƽ ^\=9b.;Q b>`` fG٣fHGyf֣ f> jNusing accuracyPremultiplier from confighn59jmF ?n5Yj}_* ij;Bpr=rc@jEji ;ji ;jV5t vy@tZj!%FNOT Ignoring new targets: 440.30 m.Bj-VJj-V= ProNav: ac range: 440.299988 m, nav range: 182.550507 m, bearing: 229.961408 deg, approach rate: 0.234759 m/s, LOS rate: -0.187966 deg/s, cmd heading: 351.954785 deg, new cmd heading: 351.747115 deg. 2j=EHeadingCmd: 6.139145 target range: 440.299988 and range: 440.30 m. jEs@jAjAjAiAhIhIhIhIfQfQfQrfYbf] @ɛňBZ< 隍$'fw,LAy5ˈB5B(I-only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-2768,V  @ @ @  @ II4٢  :=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59\ ?5Ya* i:B+::c@E_;>Y5wB @EZj)-FNOT Ignoring new targets: 440.30 m.Bj5TJj5TE ProNav: ac range: 440.299988 m, nav range: 182.652817 m, bearing: 229.879804 deg, approach rate: 0.233312 m/s, LOS rate: -0.185990 deg/s, cmd heading: 351.747120 deg, new cmd heading: 351.502445 deg. 2jEIMHeadingCmd: 6.134875 target range: 440.299988 and range: 440.30 m. jMP@jIjIjIiIhQhQhQhQfYfYfYrfabfe@@ɛNO< ] BDAT read: Tx time:22:04:25.3432 $Ping request sent.aaeǜ*?D1PZ̿JHD!)ebIeg.i=ie=忉e?aae:publishing transmit ping timeeFpublishing direction and range infoa9eH2 nQǑ&ɿQ?yaaaa a)aIaiaaGBO>aaa a)aIaiaaaeǜ*?D1PZ̿JHD!)aIaiaaaaJ J BAJ J J 0J J ̶:J J ـ3J { fw,7RAFc@YFr@Fcy=9FR=yFH¼?=?@j?ɼ?@F ' k?A?ɨFc@F1p;D^Will construct direction to contact in vehicle frame from tetrahedron phase data.yf͈BfC(I j=j=IrIrE4٢M; MS=9Uu;Q U>Q ec$?Iaq }G٣yy} }> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59p ?5Yd* i:B :Y:c@E];ZV?4\5vB @EkuW ?k 7 k kw׊A:kCBk&CZkބ@"k*4Q+vVwI}{@H2 nQǑ&ɿQ?Jk=Rk?*/D":`H  z@,=dҿ'y?"k*kk%9Q ?k.8 2kCkkkk6Ck&Y@HyIy I}(II} BIy&Iy.Iy6I}f<:I}/ FBI9JI9RI9ZI=+ =bI=+ =jI=f4 addTargetRange:: Added new target pos. range: 449.399994 m, deltaT: 4.282837 s, deltaX: 9.100006 m, approachRate: 2.124761 m/s, rangeRepo size: 4  Added new target pos. range: 449.399994 m, bearing: 265.922271 deg, lat: 36.900223 deg, lon: -122.123428 deg, deltaT: 4.282837 s, deltaX: 9.100006 m, approachRate: 2.124761 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 449.40 m.BjJj ProNav: ac range: 449.399994 m, nav range: 182.741074 m, bearing: 229.806631 deg, approach rate: 0.000000 m/s, LOS rate: -0.185990 deg/s, cmd heading: 351.502435 deg, new cmd heading: 351.268998 deg. 2jHeadingCmd: 6.130801 target range: 449.399994 and range: 449.40 m. j/@jjjihh h)hQfQfQfYrf]`f|@bf]~?ɛĈB%T< 隕0<G BO5>("fw,ABC@YBR@Bv!z=9BeN=yBH? ??ʽޣ? `5?@W?`i?ɨBC@B ;@yJ̈BHIRIRפ4٢^o ^7=9^<9Q ^>`d fG٣jHGyr r> ~bBottom track data is 1.3 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx59z% ?5Yzf* iz:B9 /:   c@zEz&;zѣ?zG^5 @Zj9EFNOT Ignoring new targets: 449.40 m.BjEcJjEcm ProNav: ac range: 449.399994 m, nav range: 182.840897 m, bearing: 229.723104 deg, approach rate: 0.237988 m/s, LOS rate: -0.199027 deg/s, cmd heading: 351.269007 deg, new cmd heading: 351.018565 deg. 2j}HeadingCmd: 6.126430 target range: 449.399994 and range: 449.40 m. j @jjjihhhWill construct direction to contact in vehicle frame from tetrahedron phase data. d$?Ihfffrfbf)?ɛÈB2U< 隵zKk3IK9KK K Will construct direction to contact in vehicle frame from tetrahedron phase data.8fw,КA65@Y63E@6u=96==y6H?`?@ͨ?`'5?P 5d??ɨ65@6֍;6CyRԈBRM(I = = == ==  = = =Mb@Mb@Mb@999 9)9Y=MbX?/$ÿ:vy=*?==T9 =Z@)=3@I=$@9y=@IUIUy4٢e= eA=9e)Q m>ii mG٣iyu} u> }Nusing accuracyPremultiplier from configy59}ٝ ?5Y}i* i}:BT:7/?:>c@} E};};}a5 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 449.40 m.BjnU*JC="Ja=JJJJJ\:J^:JJJjnU ProNav: ac range: 449.399994 m, nav range: 182.942032 m, bearing: 229.639290 deg, approach rate: 0.225280 m/s, LOS rate: -0.186594 deg/s, cmd heading: 351.018557 deg, new cmd heading: 350.767255 deg. 2jHeadingCmd: 6.122044 target range: 449.399994 and range: 449.40 m. j@jj j i h h)h1h5Bf1f1f9rf9bf=)1?ɛˆB2`j< =I A<ɚiIf=Ia%i6ܻi[4<)@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. I*F2F:FBFJFG G"GGHI I{(IIBI&I.I6Iq<:I8 FGm ?Gm >GA BQ Om >n/fw,ZꚽABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.467622J)@YJ-9@Jw=9JĘ=yJH`E?u?g?A`[?d﮿ ??ɨJ)@Jƍ;JCyVۈBZU(I)\ \IbIb4٢j[= jT=9j$:Q n>ll rG٣pyr9y r> vNusing accuracyPremultiplier from configtz59v ?z5Yvik* ivg:Bq}⯾}c@vEvEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.722880 f$?ITi8fw,!Ay~Bb(IMb@Mb@Mb@ )YZd;O?1ZdMbP?y~*?"۽:A @)AI@y@II4٢ ?= <=9Q > G٣HGy > Nusing accuracyPremultiplier from config59p ?5Ym* iP:B,?:Ꮎc@E ;;i5 @Zj15FNOT Ignoring new targets: 449.40 m.Bj=dJj=dM ProNav: ac range: 449.399994 m, nav range: 183.156464 m, bearing: 229.478883 deg, approach rate: 0.291498 m/s, LOS rate: -0.200109 deg/s, cmd heading: 350.536592 deg, new cmd heading: 350.286326 deg. 2jMU UHeadingCmd: 6.113650 target range: 449.399994 and range: 449.40 m. jU@jQjQjYiYhYhYhaheGBfafafarfibfm?ɛBHx< 隥=I C<ɚiI=I-i׻iݴ =)@)zKBHKh9KK K Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972707*Fm?2Fi:FiBFm2JFiGABIOm5>JE JE JA JA JE :JE K:JA JA E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223904 g$?I Afw,zpAZH RH"@AH&%>I$ I&(II&BI$&I$.I$6I&<:I&o FF:@YF@F0|=9F ,=yFH@??@lZ? !`z?)??ɨF:@FS;FCy^B^x(IIfIf4٢r= vZ=9v_;Q v>xx zG٣xyzp ~> Nusing accuracyPremultiplier from config 59 ? 5Yho* i=:B  > c@Ej:j:fl5tB —@EZjFNOT Ignoring new targets: 449.40 m.BjWJjW ProNav: ac range: 449.399994 m, nav range: 183.259796 m, bearing: 229.406944 deg, approach rate: 0.270790 m/s, LOS rate: -0.188415 deg/s, cmd heading: 350.286334 deg, new cmd heading: 350.070640 deg. 2jNHeadingCmd: 6.109885 target range: 449.399994 and range: 449.40 m. j.@jjjihhhhfffrfbf@ɛEBUn< QU =IQ ]D<ɚYiYI]d=Ieu1imUuջimH<)m.@)q*F2F:FBFJ5JFGGGBO >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475650kfw,I8A6ս@Y6-@6|=96=y6H/?]? ?@L?@?cÇ??ɨ6ս@6⤋;6CyRBR(IiVN>IV4<IZIZ4٢f#= fL=9j`Q j>hh nG٣lynF n> vNusing accuracyPremultiplier from configpv59r ?z5Yroq* ir(:Bxzzc@rEr3:r:ro5uB J@ZjQUFNOT Ignoring new targets: 449.40 m.Bj]\Jj]\m ProNav: ac range: 449.399994 m, nav range: 183.369629 m, bearing: 229.330069 deg, approach rate: 0.275981 m/s, LOS rate: -0.193053 deg/s, cmd heading: 350.070636 deg, new cmd heading: 349.840149 deg. 2jm}uHeadingCmd: 6.105863 target range: 449.399994 and range: 449.40 m. ju:c@jyjyjyiyhyhyhhfffrfbf@ɛBf< > Will construct direction to contact in vehicle frame from tetrahedron phase data. =h$?I9echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.740175I sF<ɚiIw=I5iһi%+=):c@)EYE]qA*F?2F:F BF  5JF G- ><zKM cKKM ػ9KI KM KM  #&,,/20/,*,)&$"   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980455G! B) OM >Sfw,}#RAB@YBi@B7z=9Bmg=yBH}? { ? ^?G`}?1@X? w?ɨB@BΊ;BCyJ BJ(IEMb@Mb@Mb@AAA A)AYEuV? rhMb?yEr(?ECEq G٣HGyzK > Nusing accuracyPremultiplier from config %59 t ?%5Y As* i :B-[)?-:5Ju5c@ "E ; ; s5I M@QB*** querying acoustic contact ***jjZj*J"J=FNOT Ignoring new targets: 449.40 m.BjPJjP ProNav: ac range: 449.399994 m, nav range: 183.501938 m, bearing: 229.248907 deg, approach rate: 0.297849 m/s, LOS rate: -0.182576 deg/s, cmd heading: 349.840158 deg, new cmd heading: 349.596851 deg. 2jHeadingCmd: 6.101616 target range: 449.399994 and range: 449.40 m. jp@@jjjihhhhqBfffrfbfe @ɛBa<  >I  H<ɚiIy=IE9iBлi<)p@@) Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:04:28.3173 TRx dataTimestamp_ set to:1736373869.450107 5i$?I1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.237783*FU?2FQ:FQBF]^0JFYHU'>IUC IU(IIUBIU* =&IQ.IQ6IUI<:IU FG $3=G B O >Afw,[ lA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483512V@YV@Vx=9V=yVHɠ?@K?#?^w? e罿5 ?ɿ?ɨV@Vd;Ty^Bb(IIjIj"4٢ t=  P=9NƺQ >19 =G٣9y= MNusing accuracyPremultiplier from configAM59E ?M5YEt* iE:Bquyuc@E&EE5;E;Ew5tB ە@EZjFNOT Ignoring new targets: 449.40 m.BjNJjN ProNav: ac range: 449.399994 m, nav range: 183.614899 m, bearing: 229.179126 deg, approach rate: 0.292928 m/s, LOS rate: -0.180844 deg/s, cmd heading: 349.596840 deg, new cmd heading: 349.387626 deg. 2j9%HeadingCmd: 6.097964 target range: 449.399994 and range: 449.40 m. j%"@j!j!j!i!h)h)h1h1f9f9f9rf9bf=`< @ɛeBm$< imH5>Ii u K<ɚqiqIu=I}=i}λi}Md<)}"@)*F-?2F):F)BF-_0JF)JJJJJ\:J:JJJaJaJ t;aJ t;a I%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739153Gm<G ?G>G B1 O >) u -G Y y CBefw,܅A6e@Y6t@6nv=96#=y6H?`?1?`PT¿ q?1=fԮlH? ?ɨ6e@6i;6CyNBN(I]Mb@Mb@Mb@YYY Y)YY]Zd;O?{Gz~jt?y]~*?]ף]D<]A ]@)YI]h@Yy]=@I}I}4٢' = C=9ӂQ > G٣y > Nusing accuracyPremultiplier from config597 ?5Y v* i9B*?:4c@*E ;;z5sB I@EZjFNOT Ignoring new targets: 449.40 m.BjuRJjuR  ProNav: ac range: 449.399994 m, nav range: 183.756577 m, bearing: 229.104941 deg, approach rate: 0.351665 m/s, LOS rate: -0.183995 deg/s, cmd heading: 349.387617 deg, new cmd heading: 349.165236 deg. 2j HeadingCmd: 6.094083 target range: 449.399994 and range: 449.40 m. j@jjjihhh!h%Bf!f!f)rf)bf-{@ɛ]B]h< YeH>Ia e]M<ɚaiaIeB_=Iu Ai}$˻i}<)}@)yzKwMKh9KK K]zsjc[TPNIHJKKA:0,-*('"#Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:04:28.3173 LVL= 23200, 32753, 27378, 32755, AGC= 73, IDX= 136, 0.02,-3.069, 1.502, 2.134, 2.537, PHS= 0.765,-0.988,-0.406, RAW= 109.0, 8.2, CAL= 119.0, 5.8, ROT= 31.0, -5.8 Ygot valid direction response: 22:04:28.3173 LVL= 23200, 32753, 27378, 32755, AGC= 73, IDX= 136, 0.02,-3.069, 1.502, 2.134, 2.537, PHS= 0.765,-0.988,-0.406, RAW= 109.0, 8.2, CAL= 119.0, 5.8, ROT= 31.0, -5.8 PDAT read: Bearing 31.0, -5.8 (Local) ~Local bearing/azimuth received: Bearing 31.0, -5.8 (Local) *F 2F :F BF JF GrA GrAeDAT read: Range 10 to 50 : 427.4 m (Round-trip 569.9 ms) speed 0.4 m/s m,DAT read: user:2274> uBDAT read: Tx time:22:04:29.3933 u$Ping request sent.u ڕ@)ڕ4Q=Iڕc ?iڕ4QϽڑڑەh2?$ ȿR28?)ە4DIە@iە6ەjtۑۑ%:publishing transmit ping timeq%Fpublishing direction and range infoؑ9ؕLPaѿ}'[d˿x\?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەh2?$ ȿR28?)ۑIۑiۑۑۑۑG5F<G B O5 >  j$?I = Will construct direction to contact in vehicle frame from tetrahedron phase data.jH9 bH9 HE *>IA  IE (IIE -BIE ) =&IA .IE 6D6IE ]<:IE / Fِfw,A2rE@Y2T@2s=92=y2H`K?7?@?¿l?wy@?@w?ɨ2rE@2Gq;2Cy>*BB(IIJ}IJ]4٢R1s= VZ=9VuQ V>XX ZG٣ZHGyZ) n> rNusing accuracyPremultiplier from configpv59rL ?v5YrPw* ir9Btv8zc@r.Er:r:r~59 =@9k8?k:6 k kUA:kCBk;CZk~@"9 o\xV7Ty@LPaѿ}'[d˿x\?Jk6Rkjt*ےV@X[t=,9^eHQx@| `п#ҿu!֐?"k*kkK?kb6 2kCkK?kkMCk0Ck@r@UaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 427.399994 m, deltaT: 4.038965 s, deltaX: -22.000000 m, approachRate: -5.446940 m/s, rangeRepo size: 4ZjQ]FNOT Ignoring new targets: 449.40 m.Bj];Jj];m ProNav: ac range: 449.399994 m, nav range: 183.885147 m, bearing: 229.037272 deg, approach rate: 0.312501 m/s, LOS rate: -0.164361 deg/s, cmd heading: 349.165226 deg, new cmd heading: 348.962360 deg. 2jờHeadingCmd: 6.090542 target range: 449.399994 and range: 449.40 m. j@jjjihhhhfffrf`fz@bfuR?ɛB.f<  c>I P<ɚiI=I%ADEi-ɻi-4n<)-@))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G <G B O% >J J J J J <:J U:J J J 5;J 6;J e;J e;fw,*AB'@YB(7@BXl=9B:S=yBH??ׇ?Gÿoi?@D@ㆭ??ɨB'@B;BCyN3BN(IIZIZƕ4٢b0= bI=9fWQ f>dd fG٣dyj* j> rNusing accuracyPremultiplier from configlr59nc ?v5Ynx* in9Btv;vc@n3En;n:n5zrB z@~EZj%FNOT Ignoring new targets: 449.40 m.Bj%^Jj%^E ProNav: ac range: 449.399994 m, nav range: 184.021179 m, bearing: 228.965332 deg, approach rate: 0.368584 m/s, LOS rate: -0.194779 deg/s, cmd heading: 348.962370 deg, new cmd heading: 348.746711 deg. 2jEMHeadingCmd: 6.086778 target range: 449.399994 and range: 449.40 m. jM@jIjIjIiIhIhQhQhQfQfQfYrfYbf]ઇ? k$?IɛBw= w>IWill construct direction to contact in vehicle frame from tetrahedron phase data. %S<ɚ!i!I-%=IeIim5ǻiu`<)@)*Fi2Fi:FiBFm0JFiG<GrAGpAGi Bq zK NK 9K K K  O > Will construct direction to contact in vehicle frame from tetrahedron phase data.4fw,kӛA6@Y63)@6Xh=96=y6H@?`2??@~ÿ g?@ ``8#?@?ɨ6@6;6CyR:BR(Iib=Ib;?Mb@Mb@Mb@ )YPn?~jt? G٣y > Nusing accuracyPremultiplier from config59wz ?5Yzy* i9BF$?:c@7E;;X5 @E B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 449.40 m.Bj%<Jj%<= ProNav: ac range: 449.399994 m, nav range: 184.178787 m, bearing: 228.893290 deg, approach rate: 0.360886 m/s, LOS rate: -0.164817 deg/s, cmd heading: 348.746700 deg, new cmd heading: 348.530761 deg. 2j=9⻝EHeadingCmd: 6.083009 target range: 449.399994 and range: 449.40 m. jE@jAjAjAiAhIhIhIhMBfQfQfQrfYbf]`b?ɛ=BEH< AE>IA EdW<ɚIiIIM=IULiUPĻiU=)]@)Y l$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.*F!2F!:F!BF%1JF!"G-=G-=H,>I I(IILBI&I.I6I)<:I FBIŜCJIŜCRIZI* =bI* =jID5Gm +V<GA BQ Ou >fw,,I훽A6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484512n@Yn&@n#d=9n[=ynHȐ?@7v?@??@ÿ*d? `1? c?ɨn@nJK;nCyޥ@Bޥ(III4٢.< J=9A&Q > G٣HGyd > Nusing accuracyPremultiplier from config599 ?5YNz* i9BYc@;EkS;S;5qB @EZj)-FNOT Ignoring new targets: 449.40 m.Bj5Z<Jj5ZI Z<ɚiI!=I5Pi5i5=)=V@)I*F?2F:FBFR5JFJJJJJ|:J^:JJJ<J<Jg;Jg; yIyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735127Ge[=G B1 Oy Lgw,!A6@Y6@69h=96=y6H`?i?u? Ŀa?5;@??ɨ6@6%;6CyR?BV(I=Mb@Mb@Mb@999 9)9Y=K?i|?5?{Gz?y=^?=q==ף<=vA =$@)=AI=@9y=f@IUIU4٢m, mP=9m&;Q m>qq uG٣qy} }> Nusing accuracyPremultiplier from config59. ?5Yz* i9B0?:c@?E;;O5 &@ZjFNOT Ignoring new targets: 449.40 m.Bj+Jj+ ProNav: ac range: 449.399994 m, nav range: 184.469528 m, bearing: 228.767894 deg, approach rate: 0.370064 m/s, LOS rate: -0.149608 deg/s, cmd heading: 348.330195 deg, new cmd heading: 348.154867 deg. 2jYͻHeadingCmd: 6.076449 target range: 449.399994 and range: 449.40 m. jEr@jjjihhhh BfffrfbfK~?ɛmBu= 隕>I ^^<ɚiI"=ISiKi =)Er@)zKu LKu9KqKu KuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991764*F?2F:FBFV0JFG5=G5 ?G5>G B! O= > m m$?Ii M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244322ZH RH H ->I C I (II `BI ( =&I .I 6I Z<:I / F\gw, A6;@Y6@6j=96=y6HC??ã?+>Ŀ ]?y{Z z??ɨ6;@6\;6Cy>9Bb(IIjIjE4٢% -O=9-:Q 5>1Y ]G٣Yy]„ e> mNusing accuracyPremultiplier from configau59e ?u5Ye!{* ie9Bqu񆽑uc@eCEe;eb;eϏ5pB z@}EZjFNOT Ignoring new targets: 449.40 m.Bj8'Jj8'% ProNav: ac range: 449.399994 m, nav range: 184.617310 m, bearing: 228.708072 deg, approach rate: 0.361447 m/s, LOS rate: -0.146197 deg/s, cmd heading: 348.154877 deg, new cmd heading: 347.975556 deg. 2j%Ȼ-HeadingCmd: 6.073319 target range: 449.399994 and range: 449.40 m. j-X@j)j)j)i)hqhqhyhyfyfyfyrfbf "@ɛmB= 隵>I #b<ɚiIU=I%Vi\i=)X@)EErA*F2F:FBF^0JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.495337G z =G B O >J J J J J J h:J J J J J Mi;J Ni;gw,:A6ʼ@Y6-@6%j=964q=y6H`j?@k?.? wĿsY?[`PHS?-?ɨ6ʼ@6с;6CyR4BR(IIZIZ4 I٢5Fż 5J=9=DQ =>9A EG٣EHGyEP E> UNusing accuracyPremultiplier from configIU59M ?U5YM{* iM9BY]]c@MGEM;MA;MO5i mʓ@iZjFNOT Ignoring new targets: 449.40 m.Bjv.Jjv. ProNav: ac range: 449.399994 m, nav range: 184.764557 m, bearing: 228.648178 deg, approach rate: 0.375277 m/s, LOS rate: -0.152525 deg/s, cmd heading: 347.975544 deg, new cmd heading: 347.796006 deg. 2jZѻHeadingCmd: 6.070186 target range: 449.399994 and range: 449.40 m. j>@jjjihhhhfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747263bf q6@ɛ5B54= 9=>I9 =0e<ɚ9i9I=5=IEZiEoiM\" =)M>@)Q*F?2F:FBF_0JFG = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999961G B O >zK% BoHK% 9K! K% K% BK5 qA:K1 gw,TA6@Y6.@6U^k=96=y6H? ? ? `ĿV?2TgD?L?ɨ6@61;6CyZ$B^(IMb@Mb@Mb@ )Y ףp= ?ˡE? rh?yQ?=C< A )AIy @IIy4٢ A=99Q > G٣yҟ > Nusing accuracyPremultiplier from config59 ?5Y{* i9B?:c@KE B;.;5 @zE5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 449.40 m.BjM:#JjM:#] ProNav: ac range: 449.399994 m, nav range: 184.927307 m, bearing: 228.587096 deg, approach rate: 0.380564 m/s, LOS rate: -0.142704 deg/s, cmd heading: 347.796019 deg, new cmd heading: 347.612936 deg. 2jeûeHeadingCmd: 6.066990 target range: 449.399994 and range: 449.40 m. je$@jijijiiihihqhqhuBfqfyfyrfybf}Z @ɛBV< 隭h>I Ph<ɚiI- =I-b]iC3ir=)$@) o$?IWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:04:32.3642  TRx dataTimestamp_ set to:1736373873.489375checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252883*F?2F:FBFJFH/>I I )IIoBI&I.I6I<:IL FGe H=Gm qAGm qAGA BQ Ou >gw,*nA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503240B@YB@B:i=9B=yBH ~??@C?:nſ S?:??ɨB@B4;BCyRBR(IIZIZ4٢bB b\=9bvQ f>dd fG٣dyj n> rNusing accuracyPremultiplier from configpv59r4 ?v5Yr{* ir9Btvzc@rOEr:r:r@5~oB ~@@~wEZj!-FNOT Ignoring new targets: 449.40 m.Bj-)%Jj5)%E ProNav: ac range: 449.399994 m, nav range: 185.067993 m, bearing: 228.534053 deg, approach rate: 0.383279 m/s, LOS rate: -0.144397 deg/s, cmd heading: 347.612943 deg, new cmd heading: 347.453937 deg. 2jE2ƻMHeadingCmd: 6.064215 target range: 449.399994 and range: 449.40 m. jM @jIjIjIiIhIhQhYhYfafafarfabfe) @ɛB!< 隝fX>I Dj<ɚiIm =I9`iôiT=) @)*F?2F:FBF0JF"G%=G%= p$?IG5=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756613G)ByO>"gw,jA2L@Y2@2j=92=y2H{? e?\G?@)ſ P?ܽP`"?8?ɨ2L@2ˇ;2CyBBB(I Mb@Mb@Mb@    ) Y gfffff?T㥛 ?:v?y 3? = T< A h@) AI @ y QAI%I%4٢E|p EC=9E9Q M>II MG٣MHGyUW U> Nusing accuracyPremultiplier from config59s ?5Ym|* i9B?:`c@SE;;5  @Zj!-FNOT Ignoring new targets: 449.40 m.Bj-!Jj-!E ProNav: ac range: 449.399994 m, nav range: 185.222824 m, bearing: 228.472268 deg, approach rate: 0.354758 m/s, LOS rate: -0.141449 deg/s, cmd heading: 347.453936 deg, new cmd heading: 347.268734 deg. 2jE&»MHeadingCmd: 6.060983 target range: 449.399994 and range: 449.40 m. jM@jIjIjIiQhQhQhYh]BfYfafarfabfe@ɛB`< 隕A>I ӎm<ɚiI =Iciѱi[=)@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuADAT read: 22:04:32.3642 LVL= 13456, 32753, 26242, 32755, AGC= 67, IDX= 408, 0.15,-1.261,-3.030,-2.497,-2.101, PHS= 0.928,-0.882,-0.399, RAW= 104.9, 4.4, CAL= 115.7, 2.1, ROT= 34.3, -2.1 Ygot valid direction response: 22:04:32.3642 LVL= 13456, 32753, 26242, 32755, AGC= 67, IDX= 408, 0.15,-1.261,-3.030,-2.497,-2.101, PHS= 0.928,-0.882,-0.399, RAW= 104.9, 4.4, CAL= 115.7, 2.1, ROT= 34.3, -2.1 PDAT read: Bearing 34.3, -2.1 (Local) ~Local bearing/azimuth received: Bearing 34.3, -2.1 (Local) DAT read: Range 10 to 50 : 425.0 m (Round-trip 566.7 ms) speed 0.6 m/s ,DAT read: user:2275> %BDAT read: Tx time:22:04:33.4433 -$Ping request sent.- q$?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.H 0>I  I (II `BI ' =&I .I 6I $<:I F+(gw,xEA:p@Y:z@:hk=9: =y:H@1w??/?@ƿeL? )ɽk_ൡ??ɨ:p@:;:CynBnn(IIvIv:4٢~E N=99Q >    G٣ y  > eNusing accuracyPremultiplier from configYm59]J?m5Y]|* i]9Bim銽mc@]VE]:]X:]s5nB @tEky?keܜK4 k kzA:kCBk CZk}@")aP9TŭO(kPy@@\ȿ%ÿx" ?JkыRk*ϩ*mTRLWJqy@R ƿi̿y?"k*kkN?k\4 2kCkN?k.8 kCkCk1@u addTargetRange:: Added new target pos. range: 425.000000 m, deltaT: 8.075379 s, deltaX: -24.399994 m, approachRate: -3.021529 m/s, rangeRepo size: 4  Added new target pos. range: 425.000000 m, bearing: 231.853813 deg, lat: 36.900652 deg, lon: -122.123353 deg, deltaT: 8.075379 s, deltaX: -24.399994 m, approachRate: -3.021529 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 425.00 m.BjJj5 ProNav: ac range: 425.000000 m, nav range: 151.998520 m, bearing: 240.273902 deg, approach rate: 0.000000 m/s, LOS rate: -0.141449 deg/s, cmd heading: 347.268729 deg, new cmd heading: 347.093409 deg. 2j1EHeadingCmd: 6.057923 target range: 425.000000 and range: 425.00 m. jE@jAjAjAihhhhfffrfz@bf@?ɛ B ͻ< >I o<ɚiI.} =I)fiUiE2=)E@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG V=G% ?G% >G B O >?V.gw,!"A 0I4:P@Y:V`@:c=9:)=y:Hr?D???ƿ`8G?``y?`?ɨ:P@:ڇ;:CyFوBFR(IInIn4٢v= vL=9vQ z>|| ~G٣|y >  Nusing accuracyPremultiplier from config 59 h0?5Y A}* i 9Bc@ ZE  ; {!; 5%mB %F@-qEZjIUFNOT Ignoring new targets: 425.00 m.BjUVpJjUVpe ProNav: ac range: 425.000000 m, nav range: 152.097000 m, bearing: 240.196654 deg, approach rate: 0.268046 m/s, LOS rate: -0.210119 deg/s, cmd heading: 347.093411 deg, new cmd heading: 346.861819 deg. 2jm3mHeadingCmd: 6.053881 target range: 425.000000 and range: 425.00 m. jmd@jijqjqiqhyhhhfffrfbf{?ɛBò< 隽T=I {p<ɚiI =Ijii{=)d@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2Fa:FiBF45H~GJFA]tA 6 YtAy%BG rA G qAG- = Will construct direction to contact in vehicle frame from tetrahedron phase data.G B zKM [ NKM 9KI KM KM 6>p+mXH6* Oe >#@5gw,֜AyB3(I-only read 0 of 1 data item for water mass range. Device response is::WD, . +0.00, 2.3 +52, +55, +1,A  @ @ @  @ II4٢ ==9Q > G٣HGy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59UE?5Y}* i9B+::c@^E&;>5 ܚ@B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 425.00 m.*J1"J5%=JMJMJIJIJM :JMB:JIJIBj]_Jj]_u ProNav: ac range: 425.000000 m, nav range: 152.205139 m, bearing: 240.112192 deg, approach rate: 0.250843 m/s, LOS rate: -0.195782 deg/s, cmd heading: 346.861813 deg, new cmd heading: 346.608609 deg. 2ju]}HeadingCmd: 6.049461 target range: 425.000000 and range: 425.00 m. j}0@jyjyjyiyhhhhfff1rf9bf=`H? er$?IaɛBN< `!=I eq<ɚiIIi =I QUoi  i  l$=) 0@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H)I) I-(II-GBI)&I).I)6I-V<:I-. F*F?2F:FBF4JFG V=G B O >g;gw,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489171y}Bޅ(III-4٢ L=9Q > G٣y > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59X?%5Y)~* i9B% :!%p:!%c@bEqE<X?<5) 5@5nEZjYeFNOT Ignoring new targets: 425.00 m.BjeZJjmZ} ProNav: ac range: 425.000000 m, nav range: 152.306381 m, bearing: 240.033469 deg, approach rate: 0.245852 m/s, LOS rate: -0.191041 deg/s, cmd heading: 346.608605 deg, new cmd heading: 346.372593 deg. 2j}HeadingCmd: 6.045342 target range: 425.000000 and range: 425.00 m. jqs@jjjihhhhfffrfbf>e?ɛ\< I p<ɚiI =I%si i2=)qs@)*F?2F:FBF_0JFGn"=GABI es$?IaOuW>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741083OBgw,: A6@Y6@6_=96R=y6H0e?[a?m?vǿ G٣yھ > Nusing accuracyPremultiplier from config59bn?5Yb* i9BT:n&?:7c@fE1;/;5 k@ZjFNOT Ignoring new targets: 425.00 m.BjJj  ProNav: ac range: 425.000000 m, nav range: 152.393951 m, bearing: 239.941611 deg, approach rate: 0.224602 m/s, LOS rate: -0.235463 deg/s, cmd heading: 346.372581 deg, new cmd heading: 346.097168 deg. 2j !HeadingCmd: 6.040535 target range: 425.000000 and range: 425.00 m. jL@jjjihh!h!h%>Bf)f)f)rf)bf-٤?ɛB <  I o<ɚiI =I-YyxUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993304i]l$i](=)]L@)azKmKOKm9KiKm Km*F?2F:FBFJF"G=G=JeJeJaJaJe|:Je^:JaJaG- ?"= Y IY G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245021ZH! RH! H- 1>I)  I- (II- BI- ( =&I) .I) 6I- w<:I- G FBIʝCJIʝCRIZI( =bI' =jIʗ 5yHgw,3#Af@Yf@fb=9f=yfH^?@E??=ȿ7?w@-W0;?A?ɨf@f);fCyrjBr'IIzIz4٢    R=9:Q > G٣HGy! > -Nusing accuracyPremultiplier from config!-59%B?55Y%* i%9B15;5c@%jE%:%v:%5=lB E @EkEZjamFNOT Ignoring new targets: 425.00 m.BjmJjm ProNav: ac range: 425.000000 m, nav range: 152.478455 m, bearing: 239.852393 deg, approach rate: 0.218748 m/s, LOS rate: -0.230826 deg/s, cmd heading: 346.097160 deg, new cmd heading: 345.829655 deg. 2jiHeadingCmd: 6.035866 target range: 425.000000 and range: 425.00 m. j%@jjjihhhhfffrfbf@ɛiu⣺; 隕`I \n<ɚiIw' =I-A}iFi%=)%@)*F}?2Fy:FyBF}`0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.497328GM=G B O5 > = t$?IA Ngw,0h=A>˻@Y>@>hd=9>=y>HY?@B?`+?ȿ4?^-A?3?ɨ>˻@>C;>CyJCBJ'IIRIR-4٢ZF ZP=9Z:Q Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59f]?j5Yfց* if9Blr?rc@fnEfQ;fQ;f5vkB v@vhEZjFNOT Ignoring new targets: 425.00 m.BjJj- ProNav: ac range: 425.000000 m, nav range: 152.563553 m, bearing: 239.762146 deg, approach rate: 0.216271 m/s, LOS rate: -0.229228 deg/s, cmd heading: 345.829662 deg, new cmd heading: 345.559075 deg. 2j-Q5HeadingCmd: 6.031144 target range: 425.000000 and range: 425.00 m. j5!@j1j1j1i9h9h9hAhAfAfAfIrfIbfM @ɛ}B} 隅KI k<ɚiI =I ixis+=)!@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750777*F?2F!:F!BF%0JF)Gk%=GBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001013zK K 9K K K  ?Ugw,#IWAf@Yf@f=d=9fB]=yfHR?`??0ɿ-?` ؃`A??ɨf@fMއ;fCyz'Bzx'I)| |Mb@Mb@Mb@ )Y99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59M?U5YM* iMq9B] ?]:]Y]c@MrEM;M;M5a e?@aB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 425.00 m.BjnJjn ProNav: ac range: 425.000000 m, nav range: 152.628723 m, bearing: 239.667291 deg, approach rate: 0.143603 m/s, LOS rate: -0.208924 deg/s, cmd heading: 345.559078 deg, new cmd heading: 345.274637 deg. 2ja u$?IHeadingCmd: 6.026179 target range: 425.000000 and range: 425.00 m. jv@jjjihhhh [gw,qAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:04:36.4115 TRx dataTimestamp_ set to:1736373877.772738checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506203bPExceeded connect timeout, disconnecting.\@Yk@ѹa=9=yH`D??t$?KVʿ@ ?e@3V?T?ɨ\@;騡y޽B޽C'III=4٢ wX  M=9 ɺQ > G٣HGy > -Nusing accuracyPremultiplier from config)559-?55Y-k* i-Z9B9==c@-vE-;-;-5A E@EeEZjquFNOT Ignoring new targets: 425.00 m.Bj}pJj}p ProNav: ac range: 425.000000 m, nav range: 152.684448 m, bearing: 239.583565 deg, approach rate: 0.139762 m/s, LOS rate: -0.209915 deg/s, cmd heading: 345.274641 deg, new cmd heading: 345.023555 deg. 2jHeadingCmd: 6.021797 target range: 425.000000 and range: 425.00 m. j@jjjihhhhfffrfbf@ @ɛBX5 R=I c<ɚiIx=Iԅip!i =)@)*Fi2Fi:FiBFm_5JFi v$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756965Gs*=G B O > bgw,+AyrއBr'IMb@Mb@Mb@ )Y`"?A`"Qy?ٽ A )AI3@yII[4٢ N=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y* i<9Bg?:g¾c@yE;,;t5jB @bEZj9=FNOT Ignoring new targets: 425.00 m.BjE}JjE}U ProNav: ac range: 425.000000 m, nav range: 152.720367 m, bearing: 239.495552 deg, approach rate: 0.090489 m/s, LOS rate: -0.221673 deg/s, cmd heading: 345.023564 deg, new cmd heading: 344.759590 deg. 2jU!]HeadingCmd: 6.017190 target range: 425.000000 and range: 425.00 m. j]Ҍ@jYjYjYiahahahahmBfififirfibfu@ɛB@Ma 隭yǾI v^<ɚi5Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 22:04:36.4116 LVL= 18672, 28705, 23538, 32755, AGC= 67, IDX= 412,-0.01,-0.726,-2.487,-2.025,-1.518, PHS= 0.880,-0.922,-0.510, RAW= 102.6, 6.8, CAL= 112.6, 5.1, ROT= 37.4, -5.1 }Ygot valid direction response: 22:04:36.4116 LVL= 18672, 28705, 23538, 32755, AGC= 67, IDX= 412,-0.01,-0.726,-2.487,-2.025,-1.518, PHS= 0.880,-0.922,-0.510, RAW= 102.6, 6.8, CAL= 112.6, 5.1, ROT= 37.4, -5.1 PDAT read: Bearing 37.4, -5.1 (Local) ~Local bearing/azimuth received: Bearing 37.4, -5.1 (Local) DAT read: Range 10 to 50 : 423.0 m (Round-trip 564.0 ms) speed 0.0 m/s ,DAT read: user:2276> BDAT read: Tx time:22:04:37.4934 $Ping request sent.)) -G٣)y-^ 5> mNusing accuracyPremultiplier from config1}595{?}5Y5* i5 9Bžc@5}E5Zr;5q;55 p@ke?ke=<1 ka keA:keCBke CZkep@"el狕X1 K2Fi#y@e%xͿ}5jݺP' ?Jke;-Rke{ *e VWoAaPi!zy@e$JE JE JA JA JE :JE q:JA JA JE '| G٣y, >  Nusing accuracyPremultiplier from config 59 ?5Y j* i 9Bʾc@ E  ; j!; C5-iB -@-_EZjQ]FNOT Ignoring new targets: 423.00 m.Bje Jje u ProNav: ac range: 423.000000 m, nav range: 151.446167 m, bearing: 232.469231 deg, approach rate: 0.161117 m/s, LOS rate: -0.230884 deg/s, cmd heading: 344.492912 deg, new cmd heading: 344.231111 deg. 2jutWill construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 6.007966 target range: 423.000000 and range: 423.00 m. jBA@jjjihhhhfff rf bf a?ɛB I  R<ɚiI W=I 錾i 60i p=) BA@)yEK'=U Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe ?2Fa :Fa BFm B5JFi zK [LK 9K K K BK1 :K1 G)*JQ"JUC= IGBO5>4Gwgw,׆ޝAF@YFp@FdQ=9F=yFH@K ?{?`.E?`̿@?@)`?7?ɨF@Fo;FCyNBN&IHI I'II4BI&I.I6I<:I_ FMb@Mb@Mb@ )YMb?㥛 ¿ rhWill construct direction to contact in vehicle frame from tetrahedron phase data.y ?C vA @)II@yAII4٢4U -=9-0Q ->11 5G٣5HGy5 => ENusing accuracyPremultiplier from config9m59=?m5Y=`* i=8Bu %?u:u羑uc@=E=;=;=5}jB }@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 423.00 m.Bj|Jj|  ProNav: ac range: 423.000000 m, nav range: 151.515503 m, bearing: 232.341994 deg, approach rate: 0.127248 m/s, LOS rate: -0.233402 deg/s, cmd heading: 344.231098 deg, new cmd heading: 343.849568 deg. 2j . HeadingCmd: 6.001307 target range: 423.000000 and range: 423.00 m. j @jjjihhhhBfffArfAbfE?ɛB"H 隕I  J<ɚiI =I]Rii3=) @)EQ=*F92F9:F9BF=l4JF9G k[=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Lk}gw,HA6%}@Y6@6GR=96ӽ=y6H`?-=?֜?}Ϳ?VF ̩??ɨ6%}@6Ç;6CyfBf&IInIn4٢v8' v_=9v:Q v>xx zG٣xy~ɉ ~> Nusing accuracyPremultiplier from config 59"? 5Y* i8B 꾑c@Ea::5 @!ZjIMFNOT Ignoring new targets: 423.00 m.BjUˊJjUˊe ProNav: ac range: 423.000000 m, nav range: 151.561295 m, bearing: 232.256176 deg, approach rate: 0.129534 m/s, LOS rate: -0.242686 deg/s, cmd heading: 343.849563 deg, new cmd heading: 343.592189 deg. 2je&mHeadingCmd: 5.996815 target range: 423.000000 and range: 423.00 m. jm@jijijiiqhqhqhqhyfyfyfrfbf`rq?ɛBA 隵I  C<ɚiI)y=IiGiK=)@)EE*E"E ]y$?I]UiJJJJJ|:JK:JJJ<J<Jc;Jc;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748159) ~GvA1 YvAyO B*F=?2FA:FABFE^0JFIGi GmpAG] =G1 BA Oe >Ygw,S<AWill construct direction to contact in vehicle frame from tetrahedron phase data.i"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000485yMsBM&IMb@Mb@Mb@ )YS㥛?K7ɿV-y$?I A )I@ypAII4٢   9=9Q > G٣HGy% %> 5Nusing accuracyPremultiplier from config)559--8?=5Y-* i-8B=,?=:=,=d@-E-;-:-5zKMm$JKM+9KIKM KMY ]o@]\EZjyFNOT Ignoring new targets: 423.00 m.BjJj ProNav: ac range: 423.000000 m, nav range: 151.600311 m, bearing: 232.144845 deg, approach rate: 0.087670 m/s, LOS rate: -0.250095 deg/s, cmd heading: 343.592202 deg, new cmd heading: 343.258300 deg. 2j+HeadingCmd: 5.990987 target range: 423.000000 and range: 423.00 m. j+@jj!j!iAhAhAhIhMBfIfIfQrfQbfU@ɛBy5ټ "I  :<ɚiIk=Iifid.=)+@) Mz$?II*F?2F:FBF_0JFH2>I I0'IIBI&I.I6I/<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252974G {=G B O >~gw,y,A6@Y6Q&@6K=96=y6H?@i??@IϿ@S?׹j` n??ɨ6@6;6CyBiBB&IIJ IJe4٢fS jb=9jQ j>ll nG٣lyrD r> vNusing accuracyPremultiplier from configtz59vI?z5YvL* ivy8Bxz^ zd@vEvu ;v ;v%5   @ Zj)5FNOT Ignoring new targets: 423.00 m.Bj=Jj=M ProNav: ac range: 423.000000 m, nav range: 151.629486 m, bearing: 232.054151 deg, approach rate: 0.081055 m/s, LOS rate: -0.251923 deg/s, cmd heading: 343.258287 deg, new cmd heading: 342.986261 deg. 2jM,MHeadingCmd: 5.986239 target range: 423.000000 and range: 423.00 m. jUF@jQjQjQiQhYhYhYhYfafafarfabfeѨ@ɛB) EI  4<ɚiIr=IK iWiK=)F@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505069*Fu?2Fq:FqBFup0JFyGEk%=GBO5-> 5{$?I1JJJJJJh:JJJJJMi;JNi; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756108fgw,EAJ@YJy@JrzC=9J=yJH ?VD??@ пi?;¹l2n???ɨJ@J[;JCyfaBj&II%I%4٢eO eB=9uÏQ }> G٣yv > Nusing accuracyPremultiplier from config59r^?5YB* iV8B d@Eb==5iB @YEZj!-FNOT Ignoring new targets: 423.00 m.BjM}JjM}] ProNav: ac range: 423.000000 m, nav range: 151.663040 m, bearing: 231.945683 deg, approach rate: 0.071680 m/s, LOS rate: -0.231666 deg/s, cmd heading: 342.986255 deg, new cmd heading: 342.660925 deg. 2j]eHeadingCmd: 5.980561 target range: 423.000000 and range: 423.00 m. je`@jajijihhhhfffrfbf@w@ɛB d  ~I  t*<ɚiI=Ii~iK=)`@)*F2F:FBFo0JF"G=G=eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009004zKjIKKK K  G eS/=G ?G >?G B O > 1 I1 gw,7_A2@Y2 @22';=92R=y2H`n? ?न?hoп`?@๿bI?^?ɨ2@27;2Cy:[B:}&IH53>I5C I5&II5BI5& =&I1.I16I5q<:I5H FBIJIRIZI' =bIjIA4UMb@Mb@Mb@QQQ Q)QYUDl?|?5^ʿ~jtyUO-?URUļU A U@)UIAIUv@QyUAImIm4٢}Ҽ }G=9}NWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260989Q %>!! %G٣%HGy-r -> 5Nusing accuracyPremultiplier from config1e595s?e5Y5Z* i578BeC5?e:m` md@5E5y;5;55uhB uѰ@uVEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 423.00 m.Bj Jj - ProNav: ac range: 423.000000 m, nav range: 151.696411 m, bearing: 231.834461 deg, approach rate: 0.083459 m/s, LOS rate: -0.278097 deg/s, cmd heading: 342.660919 deg, new cmd heading: 342.327331 deg. 2j->5HeadingCmd: 5.974739 target range: 423.000000 and range: 423.00 m. j51@j1j1j1i9hYhYhaheBfafafarfibfm @ɛBd TI 6M"<ɚiI=I읾iEyi=)1@)!*F?2F:FBF0JFG{=GaBqO}>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:04:40.4873 m TRx dataTimestamp_ set to:1736373881.805403m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513959gw,KyA2q@Y2O@2/=92=y2H`??xc?`п?@@&s?`?ɨ2q@2;0yf_Bf&IInIn4٢v< vU=9zhQ z>x| ~G٣|y >  Nusing accuracyPremultiplier from config 59 ?5Y * i 8BDd@ E ; 5; 5! %@)ZjQUFNOT Ignoring new targets: 423.00 m.Bj]坻Jj]坻m ProNav: ac range: 423.000000 m, nav range: 151.723831 m, bearing: 231.738331 deg, approach rate: 0.078764 m/s, LOS rate: -0.276085 deg/s, cmd heading: 342.327333 deg, new cmd heading: 342.038997 deg. 2jmy=uHeadingCmd: 5.969707 target range: 423.000000 and range: 423.00 m. ju@jqjyjyiyhhhhfffrfbf@d @ |$?IɛBs I x<ɚiI=IIi%uiΕ=)@)JJJJJ:J:JJJ<J<JBr;JCr;*Fu?2Fq:FqBFu5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764473G=GB O >gw,hAWill construct direction to contact in vehicle frame from tetrahedron phase data..DAT read: 22:04:40.4873 LVL= 20816, 32753, 23634, 32083, AGC= 70, IDX= 195,-0.09,-0.272,-1.598,-1.355,-1.019, PHS= 0.835,-0.532,-0.339, RAW= 97.5, 0.6, CAL= 106.7, -3.2, ROT= 43.3, 3.2 2Ygot valid direction response: 22:04:40.4873 LVL= 20816, 32753, 23634, 32083, AGC= 70, IDX= 195,-0.09,-0.272,-1.598,-1.355,-1.019, PHS= 0.835,-0.532,-0.339, RAW= 97.5, 0.6, CAL= 106.7, -3.2, ROT= 43.3, 3.2 6PDAT read: Bearing 43.3, 3.2 (Local) 6~Local bearing/azimuth received: Bearing 43.3, 3.2 (Local) :DAT read: Range 10 to 50 : 442.2 m (Round-trip 589.7 ms) speed 0.0 m/s >,DAT read: user:2277> BBDAT read: Tx time:22:04:41.5934 B$Ping request sent.BAA EG٣iym m> uNusing accuracyPremultiplier from configq}59u^?}5Yu* iu7B7?:- d@uE }$?Iu;uV8.gw,wABN@YB@Bdc=9B=yBH?x??ѿ)? DAK/ɷ? ?ɨBN@Ḃ;BCyJpBJ&IIVIV"4٢n= nn=9nyQ n?pp rG٣pyv!  ? Nusing accuracyPremultiplier from config59ɱ?5Yt* i7B!%%d@E@::G5MgB Mi@UPEZjFNOT Ignoring new targets: 442.20 m.BjǻJjǻWill construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 442.200012 m, nav range: 123.605637 m, bearing: 229.564390 deg, approach rate: 0.105867 m/s, LOS rate: -0.348015 deg/s, cmd heading: 341.588771 deg, new cmd heading: 341.251850 deg. 2jnHeadingCmd: 5.955968 target range: 442.200012 and range: 442.20 m. jK@jjjihhhhfff rf bf `?ɛB} 隕I u <ɚiI=IiiG =)K@)*F?2F:FBFU0JFGU=GB 1I1OER>] Will construct direction to contact in vehicle frame from tetrahedron phase data.\sgw,VGʞAٸ@Yw@ =9<=yH q?+?=?@` ҿ?\4 P?@?ɨٸ@;騭CyB&I}Mb@Mb@Mb@yyy y)yY}> ףp=?oʡſy}1?}-}} A y)yI}Ayy}AII4٢}= 1=9Q > G٣HGyt; > Nusing accuracyPremultiplier from config59?5Yò* i7B7?:1d@E;k;E5iB @REZj FNOT Ignoring new targets: 442.20 m.Bj Jj  ProNav: ac range: 442.200012 m, nav range: 123.665031 m, bearing: 229.415533 deg, approach rate: 0.131936 m/s, LOS rate: -0.330502 deg/s, cmd heading: 341.251851 deg, new cmd heading: 340.805506 deg. 2jb%HeadingCmd: 5.948178 target range: 442.200012 and range: 442.20 m. j%zW@j)j)j)i)h)h)h1h5ۇBf1f1f1rf9bf= =?ɛmBml iuh Iq u<ɚqiqIu =I}iyi}5=)}zW@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF=^0JF9zKJ3KKh9KK KG %= 5 ~$?I5 ViG B O >JE JE JA JA JE :JE ^:JA JA aM @aM @aM @aM @H 4>I  I &II BI &I .I 6I g<:I A Fᘸgw,(䞽AWill construct direction to contact in vehicle frame from tetrahedron phase data.~9@Y~п@~=9~֤=y~H;?V??@F:ҿ ی?Lܚ`I?/?ɨ~9@~;~CyB&I ==!%AAI-I-4٢5= =e=9E฻Q E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configQe59U6?e5YU%* iU7Baemd@UEUL:Ua:Ue5uhB us@uOEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 442.20 m.BjJj ProNav: ac range: 442.200012 m, nav range: 123.711319 m, bearing: 229.299227 deg, approach rate: 0.129483 m/s, LOS rate: -0.325228 deg/s, cmd heading: 340.805512 deg, new cmd heading: 340.456728 deg. 2j3_%HeadingCmd: 5.942091 target range: 442.200012 and range: 442.20 m. j%%@j!j!j!i!h!h)h)h)f)f)f1rfQbfU`N?ɛB$ I o;ɚiIm=I񣮾ihi=)%@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G=G B O >  $?I! þgw,}A6q@Y6羿@6ހ<96ƭ=y6H֣?Au?p?@\ҿ`%? =N?`?ɨ6q@6.;4yBBB&IIJIJ4٢VS= VT=9Z>Q Z>XX ZG٣Xy^  > Nusing accuracyPremultiplier from config%59?-5Y* i7B)-q-d@E>;>;55gB 5&@=LEZjaeFNOT Ignoring new targets: 442.20 m.Bjm⹻Jjm⹻} ProNav: ac range: 442.200012 m, nav range: 123.762604 m, bearing: 229.170487 deg, approach rate: 0.129530 m/s, LOS rate: -0.325023 deg/s, cmd heading: 340.456735 deg, new cmd heading: 340.070681 deg. 2j}_HeadingCmd: 5.935353 target range: 442.200012 and range: 442.20 m. jj@jjjihhhhfffrfbf`?ɛBaѼ I @;ɚiI=I iiX-=)j@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753377*FM?2FI:FIBFUm0JFQGs=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0045347gw,@QAyB&IzKuBoIKu]9KqKu KuRK?JK?Mb@Mb@Mb@ )Y rh?S㥻 rh?y,?/ݽC< A I@)`AIAyAII4٢= 3=9Q > G٣HGy   > Nusing accuracyPremultiplier from config59?5Ye* i7B%.?%:%2羑%d@E;;5) -@1ZjQ]FNOT Ignoring new targets: 442.20 m.Bj]殻Jj]殻 }$?Iy} ProNav: ac range: 442.200012 m, nav range: 123.841354 m, bearing: 229.034710 deg, approach rate: 0.177486 m/s, LOS rate: -0.305816 deg/s, cmd heading: 340.070693 deg, new cmd heading: 339.663629 deg. 2j}QHeadingCmd: 5.928249 target range: 442.200012 and range: 442.20 m. j7@jjjihhhhFBfffrfbf@jA@ɛB٣ ϾI sq;ɚiIy=I5iaiGF=)7@)JJJJJJq:JJ*Fi2Fq:FyBF}p0JFZH!RH!H55>I1 I5&II5BI1&I1.I57D6I5[<:I59 FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256622GMeS/=GUqAGQG) B1 OM >gw,f1A:@Y:-@:l<9:0=y:H??Y` ҿw?@(oٌ`\??ɨ:@: ;:CyR͇BV 'IIZIZJ4٢b= fe=9f(Q f>hh jG٣hyj& n> vNusing accuracyPremultiplier from configpv59rA?z5Yr8* ir7Bxz龑zd@rEr:r:r5 @IEZj)-FNOT Ignoring new targets: 442.20 m.Bj5gJj5gE ProNav: ac range: 442.200012 m, nav range: 123.904160 m, bearing: 228.925804 deg, approach rate: 0.175953 m/s, LOS rate: -0.304953 deg/s, cmd heading: 339.663641 deg, new cmd heading: 339.337092 deg. 2jEIQMHeadingCmd: 5.922550 target range: 442.200012 and range: 442.20 m. jM@jIjIjIiIhQhQhQhQfYfafirfibfmJ@ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508499l+ 隭ƻI Q;ɚiI_=I?iZiXK=)@)*F12F1:F9BF=2JF9GEqA GAG-@=GBO)> I ~G1 U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760897Y Y y Bbgw,ɒKAyUBU!'IMMb@Mb@Mb@III I)IYMMbX?Q롿:v?yM*?M\Myy }G٣yy > Nusing accuracyPremultiplier from config59H4?5Y2* i7B+?:ud@Ew;;(5fB \@FEZjFNOT Ignoring new targets: 442.20 m.BjmJjm ProNav: ac range: 442.200012 m, nav range: 124.022339 m, bearing: 228.783968 deg, approach rate: 0.239783 m/s, LOS rate: -0.287508 deg/s, cmd heading: 339.337103 deg, new cmd heading: 338.912009 deg. 2jPEHeadingCmd: 5.915131 target range: 442.200012 and range: 442.20 m. jH@jjjih hh)h-Bf)f)f1rf1bf5@ɛeBeKe imIi mP;ɚiiiIm =Iuqiu$dQiuP&f=)}H@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012456)9*F?2F:FBF0JFzKK9KK KBKpA:K $?IJKـ3 KKK"KJ- J- J) J) J- :J- h:J) J) G `C=G ?G ?H] 6>IY  I] 'II] އBI] % =&IY .IY 6I] M<:I] / FG B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2657808gw,eAf8@YfnH@f<9f0=yfH?L?{@ӿ^?6@`??ɨf8@f;fCyzB~N'II-I-E4٢M[> Mt=9M;Q U?QQ UG٣UHGy]x ]? eNusing accuracyPremultiplier from configam59eE?m5YeH* ie7Bquud@eEe:e:e5y }@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 442.20 m.Bj Jj u ProNav: ac range: 442.200012 m, nav range: 124.101028 m, bearing: 228.687085 deg, approach rate: 0.234534 m/s, LOS rate: -0.288577 deg/s, cmd heading: 338.912020 deg, new cmd heading: 338.621556 deg. 2ju FHeadingCmd: 5.910061 target range: 442.200012 and range: 442.20 m. j8@jjjihhhhfffrfbfG @ɛ-B5^D 15}Iq u^;ɚyiyI}n =I}# i`JiL=)8@)*FM?2FI:FIBFMP5JFIG%)e]=GB O%o>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:04:44.5591 TRx dataTimestamp_ set to:1736373885.836923checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518296 m $?Ii gw,9A6 @Y6|@6y<96=y6Ht? ?ǁ`ɗӿP?D@@x??ɨ6 @6 ;6Cy^ BbS'Iif!>If= fp=fp=IjIj4٢v3< vR=9vQ v>xx zG٣xyUe U> ]Nusing accuracyPremultiplier from configYe59]Z?e5Y]* i]7Bim໾md@]E]a:]:]5q }ȥ@}CEZjFNOT Ignoring new targets: 442.20 m.Bj\Jj\ ProNav: ac range: 442.200012 m, nav range: 124.194061 m, bearing: 228.571296 deg, approach rate: 0.232490 m/s, LOS rate: -0.289141 deg/s, cmd heading: 338.621545 deg, new cmd heading: 338.274444 deg. 2joFHeadingCmd: 5.904003 target range: 442.200012 and range: 442.20 m. j@jjjihhhhfffrfbf 4 @ɛ B : PrI B;ɚiI =I%=$¾i%iDi%S=)%@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769020*F2F:FBF_0JFGU Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:04:44.5591 LVL= 17552, 26465, 18578, 29091, AGC= 68, IDX= 147,-0.14, 0.229,-1.593,-1.293,-0.769, PHS= 1.086,-0.776,-0.526, RAW= 97.1, 2.5, CAL= 106.7, 0.3, ROT= 43.3, -0.3 E Ygot valid direction response: 22:04:44.5591 LVL= 17552, 26465, 18578, 29091, AGC= 68, IDX= 147,-0.14, 0.229,-1.593,-1.293,-0.769, PHS= 1.086,-0.776,-0.526, RAW= 97.1, 2.5, CAL= 106.7, 0.3, ROT= 43.3, -0.3 M PDAT read: Bearing 43.3, -0.3 (Local) M ~Local bearing/azimuth received: Bearing 43.3, -0.3 (Local) e DAT read: Range 10 to 50 : 421.2 m (Round-trip 561.6 ms) speed 0.6 m/s e ,DAT read: user:2278> m BDAT read: Tx time:22:04:45.6434 m $Ping request sent.m ]Mb@Mb@Mb@YYY Y)YY]}?5^I?:v?~jt?y]M"?]<]=]rA Y)]AI]AYy]AII94٢H= &=9dQ > G٣yC > Nusing accuracyPremultiplier from config5JJJJJl:Jq:JJ9s?-5Y* i7B5"?5:=2=d@EJ<O<5UeB ]d@]@Ek"?k X- k kQA:kCBk(CZka@" #>Nqpda-e z@0 b¿uvw,U1K?Jk?BRk*x)'Os8oy@]rYÿUQ*bI/??"k*k~k#[~?k*\- 2kCkH I  I b'II BI &I .I 6I <:I V FBIĞCJIĞCRIZI& =bI& =jIĂ4kH1 kkBkr@=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 421.200012 m, deltaT: 4.032164 s, deltaX: -21.000000 m, approachRate: -5.208121 m/s, rangeRepo size: 4ZjyFNOT Ignoring new targets: 442.20 m.BjJj ProNav: ac range: 442.200012 m, nav range: 124.326149 m, bearing: 228.442781 deg, approach rate: 0.253832 m/s, LOS rate: -0.246703 deg/s, cmd heading: 338.274435 deg, new cmd heading: 337.889306 deg. 2jO)HeadingCmd: 5.897281 target range: 442.200012 and range: 442.20 m. j@jjjihhhhȈBfffrf@3Sz@bf Z?Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:22:04:45.6426 ɛ}B}} 隅AI ;ɚiI?!=IGžiz:im;V=)@)*Fm?2Fq:FqBFu05JFqG JR=G rAG qAGi By O >gw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.> @Y>@>F<9>=y>H`Y? LE?t/AԿ 7?&ȑ??ɨ> @>0;>CyJ,BJ~'IIRIR:4٢Zř= Zj=9^Q ^?\\ bG٣bHGybdq b? fNusing accuracyPremultiplier from configdv59f?v5Yf* if7Btv’zd@fEfsgw,VdϟA-l@Y- |@-Aq<9-)3=y-HC?? `Կ`C?`3a'|?`?ɨ-l@-;-CyE7BE'I-Mb@Mb@Mb@))) )))Y-/$?Zd;O?+?y-?-j=-=) -@)-vAI-3A)y- AI=I=4٢U@= U3=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configi}59m ?}5Ym* im7B}?}:}@d@mEm6;m94;m5dB Ԣ@=EZjFNOT Ignoring new targets: 442.20 m.BjTJjT ProNav: ac range: 442.200012 m, nav range: 124.564476 m, bearing: 228.239989 deg, approach rate: 0.342560 m/s, LOS rate: -0.262857 deg/s, cmd heading: 337.615896 deg, new cmd heading: 337.281520 deg. 2je4HeadingCmd: 5.886673 target range: 442.200012 and range: 442.20 m. j_@jjjihhhhBfMWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbf B?ɛ|BY v I o;ɚiI!=I ˾i \-i 0L=) _@)ErAEqA*F?2F:FBFJFGrA GqA $?IzKMKM9KIKM KM*JR="Jp=JE JE JA JA JE :JE :JA JA H 7>I  I 'II SBI &I .I 6I D<:I ) FG 8U=G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >gw,0韽Ab#@Ybl3@bY<9b2`=ybH+?@J?@:Nտ ?@8g#?`?ɨb#@bb;bCyE?BM'IIeIe{4٢m3= uZ=9u{Q u>yy }G٣yy > Nusing accuracyPremultiplier from config590?5YH* i7BIId@E ; ;5 D@:EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 442.20 m.BjdJjd ProNav: ac range: 442.200012 m, nav range: 124.682243 m, bearing: 228.148229 deg, approach rate: 0.315351 m/s, LOS rate: -0.245478 deg/s, cmd heading: 337.281517 deg, new cmd heading: 337.006500 deg. 2jx(HeadingCmd: 5.881873 target range: 442.200012 and range: 442.20 m. jN8@jjjihhhhfff rf bf  ?ɛ5zB5IM 9= I9 =;ɚ9i9I=!=IEx;iEm'iEa>=)MN8@)I*F 2F :F BF o0JF GM=GBOD>]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode. $?I Ehw, AyEii uG٣uHGyu u> Nusing accuracyPremultiplier from configy59}?5Y}* i}8Bd@}E}:}:}5 ~@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743209ZjFNOT Ignoring new targets: 442.20 m.BjJj ProNav: ac range: 442.200012 m, nav range: 124.809181 m, bearing: 228.049795 deg, approach rate: 0.313594 m/s, LOS rate: -0.242930 deg/s, cmd heading: 337.006506 deg, new cmd heading: 336.711506 deg. 2j&HeadingCmd: 5.876724 target range: 442.200012 and range: 442.20 m. j @jjjihhhhfffrfbf?ɛ]xB]p' Y]IY e,;ɚaiaIe."=Imоimqi-7!T=)- @)1*F?2F:FBFJF} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997244G hw,A $I$>Ŷ@Y>Խ@>MG<9>=y>H` ?@? $ֿ@ ? si鈿@?@?ɨ>Ŷ@>(a;>Cy^8Bb'IzK}BoHK}9KyK} K}Mb@Mb@Mb@ )YB`"?q= ףp?y&1?y?=`< ) AIAyII4٢ E=92Q > G٣y > Nusing accuracyPremultiplier from config59q?5Y* i8B?:Wd@E/;t.;<5eB Ӣ@ZjFNOT Ignoring new targets: 442.20 m.BjzJj%z- ProNav: ac range: 442.200012 m, nav range: 124.938660 m, bearing: 227.959175 deg, approach rate: 0.313777 m/s, LOS rate: -0.219380 deg/s, cmd heading: 336.711496 deg, new cmd heading: 336.439921 deg. 2j5=HeadingCmd: 5.871984 target range: 442.200012 and range: 442.20 m. j=L@j9j9j9i9h9hAhAhAfAfIfIrfIbfM~@ɛuwB}yk y}Iy }D;ɚyiI6`"=IҾiiv8=)L@)HI I'II{BI&I.I6Ii<:ID F*F ?2F :F BF 4JF "G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248501G-R`U=G B O- > hw,]6AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498339ZN@YZĎ@Z=<9Zt=yZH?Y?%` ֿ?@]? ?ɨZN@ZC;ZCyE/BE'IIUIUg4٢e. mP=9mKQ m>qq uG٣qyuO > Nusing accuracyPremultiplier from config59A?5Yw* i8B$d@EY;Y;5 ]@Zj9EFNOT Ignoring new targets: 442.20 m.BjEAsJjEAsu ProNav: ac range: 442.200012 m, nav range: 125.061386 m, bearing: 227.872088 deg, approach rate: 0.299996 m/s, LOS rate: -0.212668 deg/s, cmd heading: 336.439928 deg, new cmd heading: 336.178926 deg. 2j}HeadingCmd: 5.867429 target range: 442.200012 and range: 442.20 m. j@jjjihhhhfffrfbf`@ɛ%uB%\ )-6 5$?I9I) Mwʨ;ɚQiQIUp"=I]Ծi]ei]},=)]@)Y*F2F:FBF Z5JF JJJJJ:JJJJ4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750202<hw,ɮPAy %B u'IMb@Mb@Mb@ )Ysh|??X9v?~jt?y ?=D<A A)vAI3Ay\AIIm4٢O. 6=9Q > G٣HGy > Nusing accuracyPremultiplier from config59?5Yg* i"8BW ?:6d@E;<; 5dB @7E-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002315Zj FNOT Ignoring new targets: 442.20 m.Bj gJjgE ProNav: ac range: 442.200012 m, nav range: 125.199150 m, bearing: 227.778149 deg, approach rate: 0.297155 m/s, LOS rate: -0.202403 deg/s, cmd heading: 336.178933 deg, new cmd heading: 335.897427 deg. 2jE MHeadingCmd: 5.862516 target range: 442.200012 and range: 442.20 m. jM@jIjIjIiIhIhQhQhUBfQfYfYrfbf@ɛesBm66 im\Ii u;ɚqiqIu"=Ia׾i% iA=)@) $?I*F2F:FBF35JFzKKF9KK KH I  I 'II BI & =&I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254210G ;X7=G B O >mhw,YkANn@@YNO@N/.<9N!=yNH?U?֓@Rֿ`?bs`Ņݴ?F?ɨNn@@NƇ;NCyZ BZR'I)\ \IbIb4٢j" jc=9n-Q n>pp rG٣pyr v> zNusing accuracyPremultiplier from configtz59vU?~5Yv2* iv(8B|~~d@vEve ;v ;v#5  @ 4E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 442.20 m.BjE3JjE3U ProNav: ac range: 442.200012 m, nav range: 125.308365 m, bearing: 227.702750 deg, approach rate: 0.330051 m/s, LOS rate: -0.227660 deg/s, cmd heading: 335.897420 deg, new cmd heading: 335.671421 deg. 2jU=]HeadingCmd: 5.858572 target range: 442.200012 and range: 442.20 m. j]ky@jYjYjaiahahahihifififirfqbfu ` @ɛ=rB=F; 9=dSI9 E`;ɚAiAIEJ#=IMfپiMiMQ2=)Mky@)a*F-?2F):F)BF-_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:04:48.6065 TRx dataTimestamp_ set to:1736373889.868638checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507309GM]?= IG) B1 OU >JU JU JQ JQ JU :JU z:JQ JQ JU <JU <JU l;JU l;) ſ=  .~G) 9 NO!hw,_~A "Y$y&Bj@Yjt/@j^U#<9j3=yjH ?/?hq5׿`? Y%j t??ɨj@j3;jCyvBv5'II~I~ 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759075٢% %F=9-ҺQ ->)) 5G٣1y5c 5> =Nusing accuracyPremultiplier from config9E59=D#?M5Y=!* i=/8BIM Md@=E=;=;=Y'5Q ].@YZjyFNOT Ignoring new targets: 442.20 m.Bj6qJj6q ProNav: ac range: 442.200012 m, nav range: 125.433533 m, bearing: 227.615942 deg, approach rate: 0.304374 m/s, LOS rate: -0.210883 deg/s, cmd heading: 335.671423 deg, new cmd heading: 335.411260 deg. 2jHeadingCmd: 5.854031 target range: 442.200012 and range: 442.20 m. j8T@jjjihhhhfffrfbfk@ɛqB?S 6I =;ɚiIm`#=I1۾iigo6=)8T@)*F?2F:FBF^0JF!G'2=G ?G >GBIOn>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:04:48.6065 LVL= 14832, 29681, 20434, 30995, AGC= 67, IDX= 407, 0.19,-2.491, 1.966, 2.122, 2.703, PHS= 1.177,-0.690,-0.584, RAW= 92.9, 1.1, CAL= 101.1, -2.3, ROT= 48.9, 2.3 Ygot valid direction response: 22:04:48.6065 LVL= 14832, 29681, 20434, 30995, AGC= 67, IDX= 407, 0.19,-2.491, 1.966, 2.122, 2.703, PHS= 1.177,-0.690,-0.584, RAW= 92.9, 1.1, CAL= 101.1, -2.3, ROT= 48.9, 2.3  PDAT read: Bearing 48.9, 2.3 (Local)  ~Local bearing/azimuth received: Bearing 48.9, 2.3 (Local)  DAT read: Range 10 to 50 : 419.1 m (Round-trip 558.8 ms) speed 0.4 m/s  ,DAT read: user:2279>  BDAT read: Tx time:22:04:49.6935 % $Ping request sent.% yy }G٣}HGy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config5976?5Y* i68B+::#d@E1<>E*5cB @1EkwjE?k!* k k[ӗA:kCBkCZk>@"׼GcN ~8@{<'y@18<?[dr?Jk/)@Rk * VI I'IIBI% =&I.I6I<:Ig F addTargetRange:: Added new target pos. range: 419.100006 m, deltaT: 8.064515 s, deltaX: -23.100006 m, approachRate: -2.864401 m/s, rangeRepo size: 4  Added new target pos. range: 419.100006 m, bearing: 170.835042 deg, lat: 36.900821 deg, lon: -122.122348 deg, deltaT: 8.064515 s, deltaX: -23.100006 m, approachRate: -2.864401 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 419.10 m.BjJj- ProNav: ac range: 419.100006 m, nav range: 76.799583 m, bearing: 210.784680 deg, approach rate: 0.000000 m/s, LOS rate: -0.210883 deg/s, cmd heading: 335.411247 deg, new cmd heading: 335.131452 deg. 2j1eHeadingCmd: 5.849147 target range: 419.100006 and range: 419.10 m. j7,@jjjihhhhfffrf1z@bfL?ɛpBdz  eI  WΏ;ɚ i I *#=I;:޾ieiRx:=)7,@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:22:04:49.6927 *F?2F:FBF_0JF!G 1=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.-hw,}%Aqϵ@Y޼@w;9*=yHn??@׿+?`2@.?4?ɨqϵ@O;CymBލ&I ==II44٢[: F=9%Q > G٣yq > I -bBottom track data is 0.8 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config559I?55Y* i=8B= :9=|:=-*=d@Erv<W?,5A me@iZjFNOT Ignoring new targets: 419.10 m.BjJj ProNav: ac range: 419.100006 m, nav range: 76.973145 m, bearing: 210.675180 deg, approach rate: 0.429828 m/s, LOS rate: -0.270567 deg/s, cmd heading: 335.131455 deg, new cmd heading: 334.803700 deg. 2j9HeadingCmd: 5.843427 target range: 419.100006 and range: 419.10 m. jZ@jjjihhhhfff!rf!bf-@?ɛuoBu! y}Iy }w8;ɚyiyI}%$=I(i[i+]9=)Z@)EqAErAJJJJJ:Jq:JJJ4<J4<Jk;Jk;*FE?2FA:FABFE^0JFA"GM=GI-Will construct direction to contact in vehicle frame from tetrahedron phase data.G 9=G B O- >܊4hw,c ӠAEg@YEݴ@E;9E=yEH?1?/@ؿ? mX{2? ?ɨEg@EZ;ECyUB]&I        Mb@Mb@Mb@ )Y(\?y&1?~jty?`e<ļ A QA)AIAy AI-I-4٢E, EA=9MQ M>II MG٣IyUpF U> ]Nusing accuracyPremultiplier from configYm59][?m5Y]?* i]28BmT:mB?m:m%ud@]E];;]@:;]V05y }@}.EWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 419.10 m.Bj&Jj& ProNav: ac range: 419.100006 m, nav range: 77.120811 m, bearing: 210.539076 deg, approach rate: 0.365224 m/s, LOS rate: -0.335980 deg/s, cmd heading: 334.803688 deg, new cmd heading: 334.396166 deg. 2jfHeadingCmd: 5.836314 target range: 419.100006 and range: 419.10 m. jú@jjjihhhhPBfffrfbfR?ɛmB "I Mru;ɚiI$=IOiiA=)ú@) $?IWi*F%?2F!:F!BF%p0JF!zKLK9KK K BK qA:K pAHI I'IISBI&I.I6IZ<:I9 FBIaJIaRIaZIe% =bIe% =jIe8A4G ‹9=G rAG pA= Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ Bi O >`:hw,젽A "@B@YB@B`;9B{=yBH` ?`=?ژIؿ~?ul??ɨB@Bq;BCyJbBJ&IIRIR4٢ZW ^h=9^Q ^>`` bG٣bHGyb b> jNusing accuracyPremultiplier from configdn59fk?n5Yf* if(8Blnnd@fEf;f5;fh35t v@xMB*** querying acoustic contact ***jIjIZjYeFNOT Ignoring new targets: 419.10 m.BjeJje} ProNav: ac range: 419.100006 m, nav range: 77.243301 m, bearing: 210.426162 deg, approach rate: 0.340305 m/s, LOS rate: -0.313202 deg/s, cmd heading: 334.396172 deg, new cmd heading: 334.057972 deg. 2j}V}HeadingCmd: 5.830411 target range: 419.100006 and range: 419.10 m. j@jjjihhhhfffrfbf $?ɛlB. I ?\;ɚiIM5%=IUiU]ۺiUJ=)]@)Y*F?2F:FBF Z5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. $?IGR>=GBO>J! J% J! J! J! J% :J! J! J! J! J% u;J% u;Ahw,kA>u@Y>B@>ے;9>&Ƞ=y>H ?e?v7`qؿ z?@gRw@??ɨ>u@>;>CyJ9BJS&I)P PIVIV4٢^)L ^J=9b~:Q b>`` bG٣dyf׻ f> jNusing accuracyPremultiplier from confighn59j|?n5Yj)* ij8Bpr rd@jEjq ;j ;j65vbB v@v+EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752024Zj)-FNOT Ignoring new targets: 419.10 m.Bj5aJj5aE ProNav: ac range: 419.100006 m, nav range: 77.383766 m, bearing: 210.296781 deg, approach rate: 0.354452 m/s, LOS rate: -0.325890 deg/s, cmd heading: 334.057968 deg, new cmd heading: 333.670536 deg. 2jM_MHeadingCmd: 5.823649 target range: 419.100006 and range: 419.10 m. jMV[@jQjQjQiQhQhQhYhYfYfafarfabfel?ɛ-kB-z )5I1 5X<;ɚiIv%=ICHi̺i,Y=)V[@)*F)2F):F)BF-K5JF1G5qA G5pAGm'K=Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiձchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004559GI BQ Ou > I cGhw,z A2wL@Y2[@2=;92Q=y2Hۂ?հ?`qGؿ i?P ?w@?R?ɨ2wL@2W;2CyBBB,&I=Mb@Mb@Mb@999 9)9Y=l?+kty=?== 0=E A =hA)=AI99y=AIU IU<4٢ez e@=9mQ m>qq }G٣yy}|A > Nusing accuracyPremultiplier from config59V?5Y* i8BA?:d@ E;};:5 @ZjFNOT Ignoring new targets: 419.10 m.BjۻJjۻJJ ProNav: ac range: 419.100006 m, nav range: 77.510719 m, bearing: 210.133344 deg, approach rate: 0.299068 m/s, LOS rate: -0.384384 deg/s, cmd heading: 333.670532 deg, new cmd heading: 333.181035 deg. 2j惼HeadingCmd: 5.815106 target range: 419.100006 and range: 419.10 m. jY@jjjihh h h ҇Bf ffrfbfO@zK5$)LK59K1K5 K5HIII IMO'IIMBII&II.II6IM~<:IMT FɛmiBmj/ qu'Iq uV;ɚyiyI}R&=I}iid=)Y@)Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258904*F2F:FBFn4JFG YW=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507905AMhw,T:A6@Y6U-@6g;96GЧ=y6Hp??ྜྷ`ٿV?ճv?@c?ɨ6@6Q;4y>BB%IIFIF4٢~Q ~Q=9-Q >   G٣ HGy ]o  > Nusing accuracyPremultiplier from config=59>?E5Y* i7BAEEd@Eh;q;>5Q U @U(E $?IZjFNOT Ignoring new targets: 419.10 m.Bj|ջJj|ջ ProNav: ac range: 419.100006 m, nav range: 77.625816 m, bearing: 209.984421 deg, approach rate: 0.288926 m/s, LOS rate: -0.373284 deg/s, cmd heading: 333.181026 deg, new cmd heading: 332.734930 deg. 2jHeadingCmd: 5.807320 target range: 419.100006 and range: 419.10 m. jչ@jjjihhhhfffrfbf @ɛuhBuvK y}|;Iy }؍:ɚyiyI} '=Iiippj=)չ@)*F?2F:FBF^0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763318G- Thw,JTA}״@Y}G@}Z{;9}R=y}H`U?t?`qДٿ~;?&`@fsD?@U?ɨ}״@}!;}CyޝԆBޝ%Iil>I=-Mb@Mb@Mb@))) )))Y-y&1?gfffffƿ:vy-`%?-33-T) -QA))I))y-=AIE&IEF5٢U U6=9]ݺQ ]>YY ]G٣Yye曼 e>mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012004 }Nusing accuracyPremultiplier from configy59})?5Y}* i}7B+?:D+d@}E}3";}n ;}B5aB ָ@%EZjFNOT Ignoring new targets: 419.10 m.BjJj ProNav: ac range: 419.100006 m, nav range: 77.737663 m, bearing: 209.778040 deg, approach rate: 0.239195 m/s, LOS rate: -0.440729 deg/s, cmd heading: 332.734933 deg, new cmd heading: 332.116706 deg. 2j<HeadingCmd: 5.796530 target range: 419.100006 and range: 419.10 m. j-}@jjjihhhhBfffrfbfҏ@ɛEfBELL AE"IIA M-:ɚIiIIM*'=IU*iQiUq=)U-}@ e$?IeXi)y*F?2F:FBF_0JF"G=G=JJJ1JJ:J:J3Ja@a@a@a@H)I) I-&II-BI)&I).I)6I-<:I-V FzKBoHK 9KK KG f=- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265548G B O] >Zhw,wnAF~@YF@F,;9Fݣ=yFH@ڿ#?`A qv??ɨF~@F\;FCyVBV%II^ I^<4٢fK fh=9fQ j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r?v5Yr_* ir7Bxz)-zd@rEr:rv:rE5| ~@B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 419.10 m.Bj- Jj5 E ProNav: ac range: 419.100006 m, nav range: 77.823730 m, bearing: 209.617475 deg, approach rate: 0.264122 m/s, LOS rate: -0.492192 deg/s, cmd heading: 332.116719 deg, new cmd heading: 331.635570 deg. 2jE䨼MHeadingCmd: 5.788133 target range: 419.100006 and range: 419.10 m. jMb8@jIjIjIiIhIhQhQhYfYfYfarfibfmh& @ɛdBUC QUXZIQ U9ɚYiYI]}(=Iewiaieu=)eb8@)a*FE?2FA:FIBFM`0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:04:52.6545 TRx dataTimestamp_ set to:1736373893.900704checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517000 YIYGu q=GA BQ Om >^ahw,2燡A6N@Y6 ^@6JG;96:=y6H6? ~?y ^ڿ?h {??ɨ6N@6;6CyRBR%IIZIZ4٢b bK=9b94Q b>dd fG٣fHGyj j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768026 vNusing accuracyPremultiplier from configlv59n?z5Yn* in7B|~/d@nEn;n;nH5 `B @ "EZj)5FNOT Ignoring new targets: 419.10 m.Bj5Jj=M ProNav: ac range: 419.100006 m, nav range: 77.920738 m, bearing: 209.433224 deg, approach rate: 0.239711 m/s, LOS rate: -0.454727 deg/s, cmd heading: 331.635573 deg, new cmd heading: 331.083525 deg. 2jM UHeadingCmd: 5.778498 target range: 419.100006 and range: 419.10 m. jUt@jQjQjQiQhQhYhYhYfafafarfabfm _@ɛ5cB51{ 15eI1 =ɚ9i9I=)=IE33iAiE  BDAT read: Tx time:22:04:53.7435  $Ping request sent. ۙۙ :publishing transmit ping time  Fpublishing direction and range infoؙ9؝,T滿!L}?FR`}m?yؙؙ M $?II ؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝MD?[;+]?)ۙIۙiۙۙۙۙc hhw,AB@YBG@B2:9BnƝ=yBH??Lۿ`Z?`q@\F_@ͳ??ɨB@BZ;@y^B^q%IJJJ0JJ :Jq:Jـ3JjH<bHHI Ih&IIJBI&I.I6I<:I FMMb@Mb@Mb@III I)M)EDYMzG?PnпJ +yM 7?MMHM A Mv@)MAIM3AIyMGAzKqKuh9KqKu KuI%I5٢ -=9Q > G٣yS > Nusing accuracyPremultiplier from config59?5Y* i{7B%B?%:%G%d@!Ef;;L5-bB M@U$Ek~D& ?kMM+& k k噡A:kCBk^CZk@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:04:53.7427 "g8}vFySEWP@AHy@,T滿!L}?FR`}m?Jk @RkBѰ*;:0N]H@Qy@(6Rp1ѓ?/?"k@B*kk ?kTw% 2kCkJ#?k*\- kk5UBk|f@ addTargetRange:: Added new target pos. range: 417.600006 m, deltaT: 4.032361 s, deltaX: -1.500000 m, approachRate: -0.371991 m/s, rangeRepo size: 4  Added new target pos. range: 417.600006 m, bearing: 119.068013 deg, lat: 36.901002 deg, lon: -122.122183 deg, deltaT: 4.032361 s, deltaX: -1.500000 m, approachRate: -0.371991 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 417.60 m.Bj=Jj9m ProNav: ac range: 417.600006 m, nav range: 53.302193 m, bearing: 205.929377 deg, approach rate: 0.000000 m/s, LOS rate: -0.454727 deg/s, cmd heading: 331.083530 deg, new cmd heading: 330.384186 deg. 2jiuHeadingCmd: 5.766292 target range: 417.600006 and range: 417.60 m. juv@jqjqjqiqhqhyhyh}Bfffrfz@bf ?ɛ`B=p {oI Mɚ i I *=I-(Si)i-=)-v@)1E]rAEY*F?2F:FBF_0JFGrA GrA Will construct direction to contact in vehicle frame from tetrahedron phase data.G s=G B O >nhw,wA I :˴@Y:Aĺ@:99:Û=y:H?ߑ?r`,ۿ?t" s?Q?ɨ:˴@:s;:CyFkBFU%IIRIR4٢Z ^g=9^Q ^>`` bG٣`ybx޼ f> jNusing accuracyPremultiplier from configdn59f?n5Yf* ifb7BlnIrd@f%Ef;f;fO5t vo@v!EZjFNOT Ignoring new targets: 417.60 m.BjxgJjxg ProNav: ac range: 417.600006 m, nav range: 53.389229 m, bearing: 205.659209 deg, approach rate: 0.261200 m/s, LOS rate: -0.809463 deg/s, cmd heading: 330.384173 deg, new cmd heading: 329.575046 deg. 2j HeadingCmd: 5.752170 target range: 417.600006 and range: 417.60 m. j@jjjihhhhfffrfbfX?ɛ_B. {=隝yI cɚiI\+=IiiĈ=)@)-~GM5tA*F]?eA2FY:FBF1 Y5tAy BJFG}Š}=G ?G>G1BAUWill construct direction to contact in vehicle frame from tetrahedron phase data.OeV>0uuhw,;֡A=']@Y=l@=m9=`=y=Hɵ?/?|ݠCܿ`? !T\?[2?@D?ɨ=']@=I;=CyuiB}S%IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )AYˡE?QѿQ롿yG?\\ QA)3AIAypAII_4٢ *=9 Q >  G٣ HGy Ҷ  > Nusing accuracyPremultiplier from config %$?I!]59?]5Y+ iH7BeT?e:eILed@+E)<(<T5maB m@uEZjFNOT Ignoring new targets: 417.60 m.BjtJjt ProNav: ac range: 417.600006 m, nav range: 53.517380 m, bearing: 205.256172 deg, approach rate: 0.271997 m/s, LOS rate: -0.853379 deg/s, cmd heading: 329.575042 deg, new cmd heading: 328.369013 deg. 2jjHeadingCmd: 5.731121 target range: 417.600006 and range: 417.60 m. jWe@jj!j!i!h!h!h)h-Bf)f)f)rf1bf5`p?ɛ\BLn 隽yI ݁7ɚiIY,=IT ii^=)We@)*F2F:FBF0JFJ-J-J)J)J-,:J- :J)J)HIII IM&IIMBII&II.II6IMy<:IMS FzKBoIK9KK K] Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >.{hw,sA:=@Y:@:/9:h=y:H?`ܸ? Ȣ` ܿP?r)@q? ? "?ɨ:=@:ȉ;8yFgBFQ%I Jp=Ja=IRIRP4٢f fw=9jaQ j?hh nG٣lyr v? zNusing accuracyPremultiplier from configt~59v"?~5Yv>+ iv77B|~Nd@v0Ev;v;vV5  @ %B*** querying acoustic contact ***j!j!Zj1=FNOT Ignoring new targets: 417.60 m.Bj= yJj= yM ProNav: ac range: 417.600006 m, nav range: 53.605232 m, bearing: 204.977233 deg, approach rate: 0.274758 m/s, LOS rate: -0.870946 deg/s, cmd heading: 328.369021 deg, new cmd heading: 327.533639 deg. 2jMnUHeadingCmd: 5.716540 target range: 417.600006 and range: 417.60 m. jU@jQjQjYiYhYhYhYhafafafarfabfm@Dj?ɛUZBUK QUyIQ ]KaɚYiYI]g&-=Ieiiim=)m@)*F2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gt=GB  %$?I!O-O>hw,x AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748213N@YNǹ@NEή9Nܕ=yNHk?O?F@iݿY? u?*?@?ɨN@NI;NCy~tB~`%II I 4٢%nk= %E=9%UQ %>)) -G٣)y5Iϼ 5> ENusing accuracyPremultiplier from config9M59=5?M5Y=+ i=!7BIMaQMd@=5E=;=:=Z5Y ]Ҿ@]EZjFNOT Ignoring new targets: 417.60 m.Bj]oJj]o ProNav: ac range: 417.600006 m, nav range: 53.712997 m, bearing: 204.630001 deg, approach rate: 0.260314 m/s, LOS rate: -0.837073 deg/s, cmd heading: 327.533635 deg, new cmd heading: 326.494149 deg. 2jHeadingCmd: 5.698398 target range: 417.600006 and range: 417.60 m. jGY@jjjihhhhfffrfbf ?ɛXB' _rI U,(ɚQiQIU-=I]iYi]8=)]GY@)aEXR=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003883*Fi2Fq:FqBFu_5JFq  I YiG :=G qAG ZH1 RH5 AAJK m3 K S}-KK"KJ] J] JY JY J] :J] :JY JY Gq B HA IA  IE %IIE ƆBIA &IA .IA 6IE <:IE \ FBIJIRIZIbIjI͚4O>=hw,'AyM{BMi%IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252667zKBoHK]9KK K   Mb@Mb@Mb@ )YMbX?5^I ӿMbyJ? A @)AIIAyAI- I-<4٢EY< E%=9EQ E>II MG٣MHGyM U> ]Nusing accuracyPremultiplier from configYe59]M?e5Y]+ i]7BeX?ez:eUmd@]<E]+;]{;]^5ucB u|@uEZjFNOT Ignoring new targets: 417.60 m.Bj*uJj*u ProNav: ac range: 417.600006 m, nav range: 53.841148 m, bearing: 204.204624 deg, approach rate: 0.258910 m/s, LOS rate: -0.857359 deg/s, cmd heading: 326.494162 deg, new cmd heading: 325.221289 deg. 2jHeadingCmd: 5.676182 target range: 417.600006 and range: 417.60 m. jI@jjjihhhhBfffrfbf`z@ɛUBH} EmI ڨɚiIp.=I di i \=)-I@)AEMQ|=*F2F:FBF5JFG=GQBaO}>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504484 M $?IQ [hw,AA2U@Y2@2*޻92Ļ=y2H#?z?@p5`~޿`u ?᭿ 7{???ɨ2U@2;2CyNBR%I)T TTVAIZIZ4٢ >  b=9cQ > G٣yj > -Nusing accuracyPremultiplier from config!-59%e^?-5Y%+ i%7B15Z5d@%AE%;:%:%b5EbB E@EEZjimFNOT Ignoring new targets: 417.60 m.Bju&uJju&u ProNav: ac range: 417.600006 m, nav range: 53.930290 m, bearing: 203.894114 deg, approach rate: 0.246525 m/s, LOS rate: -0.857303 deg/s, cmd heading: 325.221288 deg, new cmd heading: 324.291385 deg. 2jHeadingCmd: 5.659953 target range: 417.600006 and range: 417.60 m. jU@jjjihhhhfffrfbf`@ɛSBP ^I ɚiI/=I.ii[=)U@)E E *E "E Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756458*F?2F:FBF_0JFGa GY e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009057Bq O >Yhw,[A j$?IhyB%IMb@Mb@Mb@ )Y(\?MbпI +?yN?94</ A )3AI3AyGAII4٢= <=9Q > G٣y > Nusing accuracyPremultiplier from config59s?5Y$+ iW?{:Ld@GE2 ;;e5 @EZjFNOT Ignoring new targets: 417.60 m.BjhJjh ProNav: ac range: 417.600006 m, nav range: 54.058243 m, bearing: 203.529368 deg, approach rate: 0.286495 m/s, LOS rate: -0.814757 deg/s, cmd heading: 324.291399 deg, new cmd heading: 323.199888 deg. 2j HeadingCmd: 5.640902 target range: 417.600006 and range: 417.60 m. jE@jjjihhhh@Bff f rf bf ` @ɛPB|'q PI 2ջɚiI~0=Il$ii =)E@)H!I! I%%II%BI!&I!.I!6I%<:I%e F*F?2F:FBFJFG =GaByWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261098zK LK9KK K O>`Ühw,]uA6:R@Y6a@6}96ǂ=y6H ?d?yi߿?[ߩσ?U??ɨ6:R@6;6CyNۆBN%IIVIVx4٢^e> ^^=9^Q ^>`` bG٣bHGyf f> nNusing accuracyPremultiplier from confighr59j?v5Yj*+ ij7BRd@jLEjG;j;ji5! -p@)}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 417.60 m.Bj*nJj*n ProNav: ac range: 417.600006 m, nav range: 54.161270 m, bearing: 203.220086 deg, approach rate: 0.277979 m/s, LOS rate: -0.832883 deg/s, cmd heading: 323.199880 deg, new cmd heading: 322.273886 deg. 2jHeadingCmd: 5.624741 target range: 417.600006 and range: 417.60 m. j@jjjihhhhfffrfbf @ɛNBc} 9I ɚiIT1=I؏(ii =) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:04:56.7045 TRx dataTimestamp_ set to:1736373897.932803checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513435 $?I*FE?2FA:FABFEo0JFAJuJqJu1JqJu:JqJu3JqGt=Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764106hw,SA2@Y2 @2:92/y=y2H@?2?Ӥ 6?F?ۧ[? ? P?ɨ2@2 ;2CyRBR&I V=V=IZIZ4٢bT> fJ=9fAQ f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlv59n?v5Yn0+ in7BtvUvd@nQEn;n;nl5cB @EZj)-FNOT Ignoring new targets: 417.60 m.Bj5%yJj5%yE ProNav: ac range: 417.600006 m, nav range: 54.273037 m, bearing: 202.879105 deg, approach rate: 0.286178 m/s, LOS rate: -0.871277 deg/s, cmd heading: 322.273897 deg, new cmd heading: 321.253174 deg. 2jE|MHeadingCmd: 5.606925 target range: 417.600006 and range: 417.60 m. jMk@jIjQjQiQhQhQhYhYfYfafarfabfe` @ɛLBX_ 隝)I ɚiI1=I]-ii=)k@)*F12F1:F1BF5L1JF1G7E=GBAOF>%Will construct direction to contact in vehicle frame from tetrahedron phase data. IZiDAT read: 22:04:56.7045 LVL= 16576, 28625, 17906, 24979, AGC= 64, IDX= 435,-0.20,-1.277,-2.783,-3.126,-2.221, PHS= 1.032,-0.516,-0.908, RAW= 79.0, 4.5, CAL= 83.4, 3.2, ROT= 66.6, -3.2 Ygot valid direction response: 22:04:56.7045 LVL= 16576, 28625, 17906, 24979, AGC= 64, IDX= 435,-0.20,-1.277,-2.783,-3.126,-2.221, PHS= 1.032,-0.516,-0.908, RAW= 79.0, 4.5, CAL= 83.4, 3.2, ROT= 66.6, -3.2 PDAT read: Bearing 66.6, -3.2 (Local) 5~Local bearing/azimuth received: Bearing 66.6, -3.2 (Local) EDAT read: Range 10 to 50 : 417.6 m (Round-trip 556.9 ms) speed 0.3 m/s M,DAT read: user:2281> MBDAT read: Tx time:22:04:57.7935 U$Ping request sent.U;JCy~#B~7&I}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:04:57.7927 Mb@Mb@Mb@ )Y{Gz?oʡſ~jt?yC?-=E A QA)IAIAyAII34٢A> :=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y6+ i7B H? : D d@WEj;s;ip5zKKK9KK K"&'&$  ! %@)k]Xv?k]?P kY k];A:kYBkYZk]?"]eCOZ^@鴄ǟx@]f:e*ÿ?jt0?Jk]@Rk]ϝ*].JTC/d^@x@]^v|S3iv?E֖s?"k]!B*k]Pk]^?k]` 2k]Ck]m,?k]6* kYk]ABk]:@5 addTargetRange:: Added new target pos. range: 417.600006 m, deltaT: 4.036513 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 417.600006 m, bearing: 92.624469 deg, lat: 36.901031 deg, lon: -122.121829 deg, deltaT: 4.036513 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjAFNOT Ignoring new targets: 417.60 m.BjJj ProNav: ac range: 417.600006 m, nav range: 48.278046 m, bearing: 167.322280 deg, approach rate: 0.000000 m/s, LOS rate: -0.871277 deg/s, cmd heading: 321.253166 deg, new cmd heading: 320.024300 deg. 2jHeadingCmd: 5.585478 target range: 417.600006 and range: 417.60 m. j<@jjjihhh1h5̇Bf9f9firfibfm *8?ɛ%HB-1 -P=-I1 5ɚ9i9I=$2=Ie2iaie=)m<@)i*F?2F:FBF0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G] L=G1 BA O] >hw,âA>.#@Y>2@>SPx9>UX=y>H@#?@?㤿?<Ң ?? ?ɨ>.#@>Cy; ^^=9^Q ^>`` bG٣bHGyf f> jNusing accuracyPremultiplier from confighn59j)?n5YjG<+ ij'7Blr,Grd@j[Ej ;j:js5t v;@vEZjFNOT Ignoring new targets: 417.60 m.BjJj- ProNav: ac range: 417.600006 m, nav range: 48.521999 m, bearing: 167.143148 deg, approach rate: 0.726734 m/s, LOS rate: -0.530948 deg/s, cmd heading: 320.024306 deg, new cmd heading: 319.489628 deg. 2j-1=HeadingCmd: 5.576146 target range: 417.600006 and range: 417.60 m. j=o@j9j9j9i9hAhAhAhAfIfIfIrfIbfU`?ɛ}FB}.'E 隅[I # ɚiI%t2=I5ii6=)o@)J9J=J=0J9J9J=!:J=ـ3J9*F ?2F :F BF 4JF G=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO >E Will construct direction to contact in vehicle frame from tetrahedron phase data.lhw,ܢA I B@YB~@BH9B}=yBH?@H?^X`r?ݥ@/?? ?ɨB@Bf;@yNrBN&I)P PMb@Mb@Mb@ )Y|?5^?x&A`"?y2?7Y= A A)I`AyAII4٢u > ;=9Q > G٣y > Nusing accuracyPremultiplier from config59T?5YNA+ iC7BF4?:O,d@`E#;;lw5bB @EZjFNOT Ignoring new targets: 417.60 m.Bj=ʻJjEʻU ProNav: ac range: 417.600006 m, nav range: 48.797935 m, bearing: 166.987266 deg, approach rate: 0.631793 m/s, LOS rate: -0.354894 deg/s, cmd heading: 319.489639 deg, new cmd heading: 319.024648 deg. 2jUs]HeadingCmd: 5.568030 target range: 417.600006 and range: 417.60 m. j]N-@jYjYjYiYhahahahe4BfiffrfbfZ?ɛ=CB= 9=CѾI9 =ɚAiAIEH2=I]d7iYi]0=)]N-@)YHI IO&II6BI&I.I6I+<:I F*F?2F:FBF4JFG GoAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKVLKh9KK KG=G B O >i hw,ABP9@YBH@B$9B\=yBHb?Y? X`Q?` Sd?E?@?ɨBP9@B<1;BCyNBN&IIVIV4٢bv> b\=9bQ b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59nR?r5YnE+ inZ7Bpv/ve@ndEn ;n" ;nz5x z'@xB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 417.60 m.Bj%ŻJj%ŻM ProNav: ac range: 417.600006 m, nav range: 49.031776 m, bearing: 166.852197 deg, approach rate: 0.599654 m/s, LOS rate: -0.344715 deg/s, cmd heading: 319.024640 deg, new cmd heading: 318.621371 deg. 2jMl}HeadingCmd: 5.560992 target range: 417.600006 and range: 417.60 m. j}@jjjihhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. =$?I9ɛ@Bp 隝РI ɚiI2=I8i[ki=)@))F= .~G%tA=A u-YutAy}BE5|=JeJeJaJaJe,:Je:JaJa*F ?2F :F BF }3JF G = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727207G B O >fhw,A6@Y6͵@6z96Ug6=y6H<_?U?@k ^? 䮔?ɦ?`5?ɨ6@6A;6CyRBR&IIZIZ\4٢b-> bJ=9bLQ f>dd fG٣dyjr j> rNusing accuracyPremultiplier from configlr59n?v5Yn{J+ inu7Btvh3ve@niEn:n:n5~5x ~3@~EZj!-FNOT Ignoring new targets: 417.60 m.Bj-lܻJj-lܻ= ProNav: ac range: 417.600006 m, nav range: 49.284874 m, bearing: 166.702337 deg, approach rate: 0.654288 m/s, LOS rate: -0.385414 deg/s, cmd heading: 318.621358 deg, new cmd heading: 318.174099 deg. 2jE@EHeadingCmd: 5.553185 target range: 417.600006 and range: 417.60 m. jE@jAjIjIiIhIhIhQhQfQfQfQrfabfe?ɛ>B$N 隽I ɚiIv2=IF:iiJ=)@)EQf=*FQ2FY:FYBF]_0JFY Will construct direction to contact in vehicle frame from tetrahedron phase data. E$?IAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.980307G5Ù=G B O5 >ZH RH @AH 9>I  I &II BI &I .I 6I =<:I & F"hw,R*ANL@YN\@N9N=yNH@l?r?D`'z?@mA? ??ɨNL@Nzˌ;NCyZBZ$'Iib0>Ib>mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.232193}Mb@Mb@Mb@yyy y)yY}Zd;?Mb?S㥫?y}?}=}/]=y }A)}`AIyyy}AII"4٢*> <=9|:Q > G٣HGy > Nusing accuracyPremultiplier from config59 ?5YLN+ i7B?:?e@mE&;$;5 @zKMKM 9KIKM KMZj FNOT Ignoring new targets: 417.60 m.BjSJjS ProNav: ac range: 417.600006 m, nav range: 49.539421 m, bearing: 166.599784 deg, approach rate: 0.585978 m/s, LOS rate: -0.234870 deg/s, cmd heading: 318.174090 deg, new cmd heading: 317.868013 deg. 2j0! HeadingCmd: 5.547843 target range: 417.600006 and range: 417.60 m. j @j j j i hhhhBfffrfbf@ɛ;Bl 隝/I  aɚiI 2=I[?khw,(JA:@Y:@:9:pp rG٣tyv6H v> zNusing accuracyPremultiplier from configx~59z?~5YzR+ iz7Be@zrEz`;z;z5 cB N@ EZj1=FNOT Ignoring new targets: 417.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733817Bj=Jj ProNav: ac range: 417.600006 m, nav range: 49.811565 m, bearing: 166.483524 deg, approach rate: 0.582649 m/s, LOS rate: -0.247548 deg/s, cmd heading: 317.868015 deg, new cmd heading: 317.521145 deg. 2j)%HeadingCmd: 5.541790 target range: 417.600006 and range: 417.60 m. j%WV@j!j!j!i!h)h)h)h)f1f1f1rf1bf=`PQ@ɛ9B{0 I ɚiI2=I =iĺqiMۢ=)WV@)EE*E"E*F?2F:FBF3JF u $?Iu [i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994494G A=G B O >>hw,cA6&;@Y6J@6P96 G٣HGHI IH'IIBI&I.I6I<:I] FBIJIRIZIbIjI{Y4y,Ƽ > Nusing accuracyPremultiplier from config59W0?5YCU+ i7B|?:`㾑e@vEr;;5  W@ EZj9=FNOT Ignoring new targets: 417.60 m.BjE JjE M ProNav: ac range: 417.600006 m, nav range: 50.046364 m, bearing: 166.426743 deg, approach rate: 0.541368 m/s, LOS rate: -0.130303 deg/s, cmd heading: 317.521151 deg, new cmd heading: 317.351610 deg. 2jUٲHeadingCmd: 5.538830 target range: 417.600006 and range: 417.60 m. j>@jjj!i!h!h!hIhUBfQfYfYrfYbfe` @ɛ6Bs ģI EɚiI)2=I  >i5Ei5]Ř=)5>@)1 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247067*F?2F:FBF_0JFzKm$JK]9KK K 6 G 9=G B O% >ղhw,v}A I2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:22:05:00.7540 6TRx dataTimestamp_ set to:1736373901.976682:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498766yBl'I) AIIs4٢= D=9Q > %G٣!y% %> -Nusing accuracyPremultiplier from config)559-A?55Y-W+ i-7B99=e@-yE- ;- ;-w5I MJ@ImB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 417.60 m.Bj}Jj ProNav: ac range: 417.600006 m, nav range: 50.269157 m, bearing: 166.373367 deg, approach rate: 0.540789 m/s, LOS rate: -0.128986 deg/s, cmd heading: 317.351599 deg, new cmd heading: 317.192180 deg. 2j HeadingCmd: 5.536048 target range: 417.600006 and range: 417.60 m. jN'@jjjihhhhfffrfbf` @ɛ]4BeN aeP0Ia eɚaiaIm2=IbD?i|i*=)N'@)*FE?2FA:FABFEo0JFIGb=GBOEs>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749652.hw,A6'@Y6@6%96=y6H`?? *Ӡ``?@D?9?@?ɨ6'@6lj;4yB%BBu'IIJIJ4٢MD= uG=9;Q > G٣y3 > 5$?I9}Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configa%59e0T?u5YeZ+ ie7Bye@DAT read: 22:05:00.7540 LVL= 15008, 27873, 21554, 27427, AGC= 67, IDX= 428,-0.44, 0.307,-0.907,-1.822,-0.587, PHS= 0.982,-0.273,-1.237, RAW= 64.3, 5.5, CAL= 65.1, 6.5, ROT= 84.9, -6.5 Ygot valid direction response: 22:05:00.7540 LVL= 15008, 27873, 21554, 27427, AGC= 67, IDX= 428,-0.44, 0.307,-0.907,-1.822,-0.587, PHS= 0.982,-0.273,-1.237, RAW= 64.3, 5.5, CAL= 65.1, 6.5, ROT= 84.9, -6.5 PDAT read: Bearing 84.9, -6.5 (Local) ~Local bearing/azimuth received: Bearing 84.9, -6.5 (Local) e}Ee+=e*=eX5bB ֣@EDAT read: Range 10 to 50 : 417.1 m (Round-trip 556.2 ms) speed 0.3 m/s ,DAT read: user:2282> BDAT read: Tx time:22:05:01.8436 $Ping request sent.G5 &=G BO5>ihw,MA5b@Y5Kr@5N95 =y5HJ?@? E@ ?z ?@&?$?ɨ5b@5ӈ;1yM BMo'I=Mb@Mb@Mb@999 9)9Y=\(\?L7A`?I +?y=>=+>=9<= A 9)=AI= A9y=AIUIU4٢e⪼ e.=9e*;Q > G٣HGy > Nusing accuracyPremultiplier from config59e?5Y"]+ i8B ? : Ӿ e@E4;s;B5 &@k>lu,?k.G k kӞA:kCBkCZk󝟙?"}\WM(vk@Eu@@/¿4?au?Jk`?RkV]*$QeS@Qh@`|2b^v@@Q$?$+?Eu?"kGC*k(Bk,,?kzM 2kCk ?kTw% kCkKsBk%@ E$?IAWill construct direction to contact in vehicle frame from tetrahedron phase data. addTargetRange:: Added new target pos. range: 417.100006 m, deltaT: 4.040521 s, deltaX: -0.500000 m, approachRate: -0.123746 m/s, rangeRepo size: 4 } Added new target pos. range: 417.100006 m, bearing: 68.765452 deg, lat: 36.901192 deg, lon: -122.121378 deg, deltaT: 4.040521 s, deltaX: -0.500000 m, approachRate: -0.123746 m/s, posRepo size: 4 ZjyFNOT Ignoring new targets: 417.10 m.BjJju ProNav: ac range: 417.100006 m, nav range: 60.823570 m, bearing: 120.988011 deg, approach rate: 0.000000 m/s, LOS rate: -0.124515 deg/s, cmd heading: 317.006319 deg, new cmd heading: 316.840664 deg. 2jq}HeadingCmd: 5.529913 target range: 417.100006 and range: 417.10 m. j} @jyjyjyiyhhhh Bfffrfbf?ɛ/B-; 隽0I (ɚiI2=It@iꇒi.{=) @)*Fe ?2Fa :Fa BFa JFa G= .=G B O] >M Will construct direction to contact in vehicle frame from tetrahedron phase data.}hw,%ϣA6@Y6l@6L96=y6H y?@G?y {M?Q6@￑?`?d?ɨ6@6;4y~B~a'III4٢%f{ %a=9%Q %>)) -G٣)y5u 5> =Nusing accuracyPremultiplier from config9E59=Zs?E5Y=_+ i=8BIMپMe@=E=X:=X:=S5Q Uդ@]EZjy}FNOT Ignoring new targets: 417.10 m.Bj~;Jj~; ProNav: ac range: 417.100006 m, nav range: 60.969982 m, bearing: 121.082984 deg, approach rate: 0.487705 m/s, LOS rate: 0.315599 deg/s, cmd heading: 316.840673 deg, new cmd heading: 317.124905 deg. 2jX<HeadingCmd: 5.534874 target range: 417.100006 and range: 417.10 m. j@jjjihhhhfffrfbfu?ɛ%.B%&Uk )-KI) 5kɚ1i1I=|2=IEY?ii:=)@)*F?2F:FBFQ5JF"G=G QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.G=G B O >H I  I 'II BI &I .I 6I Q<:I ~hw,p製AJDJFJDJDJDJF:JDJDJDJDJFxp;JFxp;y޵B޽F'IUMb@Mb@Mb@QQQ Q)QYUʡE?q= ףp?MbpyU>U=UQ UIA)UvAIQQyUAImIm44٢\Ľ 6=9Q > G٣y > Nusing accuracyPremultiplier from config59ƃ?5Ya+ i8B>:侑e@E;;=5 6@ZjFNOT Ignoring new targets: 417.10 m.Bjv;Jjv; ProNav: ac range: 417.100006 m, nav range: 61.150578 m, bearing: 121.194255 deg, approach rate: 0.402646 m/s, LOS rate: 0.247351 deg/s, cmd heading: 317.124918 deg, new cmd heading: 317.457741 deg. 2j)<Will construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 5.540683 target range: 417.100006 and range: 417.10 m. jFM@jjjihh!h!h%Bf!f)f)rf)bf-`.0?ɛ],B] Y]صIY e]ɚaiaIe2=Im>i`W?i 1=) FM@)zKBHKKK K*F?2F:FBFA5JFG}'\=G9BAO]v> U $?IY  Will construct direction to contact in vehicle frame from tetrahedron phase data.թiw,TA6䳫@Y6[ò@6)k96f2=y6Hh?@'?* ?4?@DJ?@%?ɨ6䳫@6D̈;6CyrBr!'IIzIz4٢% g=9A;Q >    G٣ HGyټ > Nusing accuracyPremultiplier from config%59?%5Yc+ i!8B!-S龑-e@EX:n:U55aB 5@5EMB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 417.10 m.BjmO;JjmO; ProNav: ac range: 417.100006 m, nav range: 61.294174 m, bearing: 121.280373 deg, approach rate: 0.404199 m/s, LOS rate: 0.241838 deg/s, cmd heading: 317.457740 deg, new cmd heading: 317.715485 deg. 2j%<HeadingCmd: 5.545181 target range: 417.100006 and range: 417.10 m. j r@jjjih h h h fff1rf9bf=@%?ɛ*BJ 隥dI %!ɚiI@2=ILiw,AVc@YVګ@VVg9VgE=yVHz?.?@o nw?@w|?ֲ??ɨVc@VO;VC xI|Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969181yޥLJBޭ'IIUIU4٢M߽ /=9 ;Q  >  G٣yǻ > %Nusing accuracyPremultiplier from confige59֡?m5Y'f+ i%8Bim꾑me@E&<&<s5q u@yZjFNOT Ignoring new targets: 417.10 m.BjՄ;JjՄ; ProNav: ac range: 417.100006 m, nav range: 61.485935 m, bearing: 121.393894 deg, approach rate: 0.393564 m/s, LOS rate: 0.232261 deg/s, cmd heading: 317.715484 deg, new cmd heading: 318.054981 deg. 2jf<%HeadingCmd: 5.551106 target range: 417.100006 and range: 417.10 m. j%@j)j)j)i)h)h)h1h1f1f1f1rf9bfe@ɛ(BI 隵~BI /$ɚiIj2=Ii;iEvie <)@)ZHRHHI I'IIBI&I.I6I<:I F*F}?2Fy:FyBFyJFJJJJJ :J:JJJ<J<Jn;Jn;GqA GqAG=G?G>GIBaO}>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217877zKU JKU h9KQ KU KU  v %b,c)aGQ)jR:*+ iw,~6A2.@Y2@2I92QZ=y2Hl?@3?hg@h?Ġ"?eF? ?ɨ2.@2`;2CyBBB&IMb@Mb@Mb@ )YK?A`"?:vy^>Y=ԼE A 3A)`AIvAyQAII4٢ _=9ͨ;Q > G٣y > Nusing accuracyPremultiplier from config59B?5Yh+ i8B/>:|e@E;;5 @ZjFNOT Ignoring new targets: 417.10 m.Bj%d;Jj%d;= ProNav: ac range: 417.100006 m, nav range: 61.647335 m, bearing: 121.462875 deg, approach rate: 0.469504 m/s, LOS rate: 0.200135 deg/s, cmd heading: 318.054971 deg, new cmd heading: 318.261370 deg. 2j=Y ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725777eiw,tPA23i@Y2x@2%=92Ip=y2H Y?K? L R??5?]?ɨ23i@2=̈;2CyBpBB&IIJIJH4٢R[ R]=9V;Q V>TX ZG٣XyZ" Z> bNusing accuracyPremultiplier from config\b59^?b5Y^sk+ i^8Bdf[fe@^E^:^2 ;^֩5h n@nEZj FNOT Ignoring new targets: 417.10 m.Bj W;JjW; ProNav: ac range: 417.100006 m, nav range: 61.813179 m, bearing: 121.532709 deg, approach rate: 0.447656 m/s, LOS rate: 0.187996 deg/s, cmd heading: 318.261380 deg, new cmd heading: 318.470321 deg. 2j%<%HeadingCmd: 5.558356 target range: 417.100006 and range: 417.10 m. j% ޱ@j)j)j)i)h)h)h1h1f1f1f9rf9bf=@ɛm&BEJ7 IMII Mj+ɚIiIIMI3=IUj9iUD6i]g<)] ޱ@)Y*F2F:FBFo0JF G<GBOD> )I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980841Hy Iy  I} 'II} XBIy &Iy .Iy 6I} <:I} l Fiw,;jAJ6J6J4J4J6:J6:J4J4J64<J64<J6 t;J6t;^R@Y^Jb@^/9^gQ=y^H%K??@ZA?西X?ư??ɨ^R@^ m;^Cy~DB~`&Ii=I4<Mb@Mb@Mb@ )YQ?Mby\?̼@/ A )AI Ay(AII4٢lB 5=9`:Q >!! %G٣%HGy-ƻ -> 5Nusing accuracyPremultiplier from config1=595?=5Y5o+ i58B=?E:Eg?Ee@5E5;5;5ŭ5I Mұ@IZjyFNOT Ignoring new targets: 417.10 m.Bj;Jj; ProNav: ac range: 417.100006 m, nav range: 62.056591 m, bearing: 121.595567 deg, approach rate: 0.539567 m/s, LOS rate: 0.138788 deg/s, cmd heading: 318.470329 deg, new cmd heading: 318.658161 deg. 2j;HeadingCmd: 5.561634 target range: 417.100006 and range: 417.10 m. j@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229862hhM/BfIfQfQrfQbfUK @ɛ$B I =2ɚiI͹3=I8i#7i/<)@)EMqAEIzKEm)PKE9KAKE KE{wsokie`ZVUQMOKEC@<988654110/-&')('"*F2F:FBFJF"G=G= - $?I) GE Fթ< Will construct direction to contact in vehicle frame from tetrahedron phase data. i A BDAT read: Rx Time:22:05:04.8022  TRx dataTimestamp_ set to:1736373906.016370 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486779G B O5 > iw,A61@Y6#A@6796=y6H}5??bt`)? q???ɨ61@6/;6Cy>BB)&IIJ,IJ5٢Ry Rf=9R_Q R>TT VG٣TyZ: Z> ~Nusing accuracyPremultiplier from config\59^?5Y^s+ i^7B H@ e@^E^K)<^C:^5cB @E5B*** querying acoustic contact ***j1j1ZjYeFNOT Ignoring new targets: 417.10 m.Bje6;Jje6;u ProNav: ac range: 417.100006 m, nav range: 62.248699 m, bearing: 121.644164 deg, approach rate: 0.524217 m/s, LOS rate: 0.132200 deg/s, cmd heading: 318.658159 deg, new cmd heading: 318.803500 deg. 2jut;HeadingCmd: 5.564171 target range: 417.100006 and range: 417.10 m. j @jjjihhhhfffrfbf$ @ɛ=#B=lQN IMII M58ɚQiQIU,4=I}T8i}=!8i};)} @)y*F?2F:FBF3JFGhm<GBOI>%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733846&'iw,A hIlWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 22:05:04.8022 LVL= 19248, 29217, 22258, 30707, AGC= 67, IDX= 426,-0.00, 0.051,-0.939,-2.200,-1.014, PHS= 1.153, 0.121,-1.189, RAW= 56.1, -0.9, CAL= 58.3, -4.0, ROT= 91.7, 4.0 UYgot valid direction response: 22:05:04.8022 LVL= 19248, 29217, 22258, 30707, AGC= 67, IDX= 426,-0.00, 0.051,-0.939,-2.200,-1.014, PHS= 1.153, 0.121,-1.189, RAW= 56.1, -0.9, CAL= 58.3, -4.0, ROT= 91.7, 4.0 PDAT read: Bearing 91.7, 4.0 (Local) ~Local bearing/azimuth received: Bearing 91.7, 4.0 (Local) 5DAT read: Range 10 to 50 : 415.8 m (Round-trip 554.4 ms) speed -0.4 m/s =,DAT read: user:2283> Uu@YU'@U%A9U=yUH`$?`?c2 w?`#?aO??BDAT read: Tx time:22:05:05.8936 $Ping request sent.I! I%H'II%BI!&I!.I!6I%c<:I%A FBIJIRIZIbIjIďh4ɨUu@U;UCإ0Kإ!r ٥V)٥wI١i٥?٥=٥'1٥>z?٥ ڥS>?)ڥ5Iڥ?iڥ5=ڡڡۥ$w!?/Y JGE)ۥ̎Iۥ,r  G٣ HGy E } z>  Nusing accuracyPremultiplier from config  59 ? 5Y S}+ i 7B (? : d e@ E ; I; 75 bB U@ EkGD?ku k knjA:kCBkzCZka?".': Op@I;t@ԗZv``5??Jk,?Rkpd*}ȶqb@(WBf@~uu@{9#?GM?qRpl?"k 5C*kCk/xE?k8 2khCk^?k` kCk.Bk?}  addTargetRange:: Added new target pos. range: 415.799988 m, deltaT: 4.040451 s, deltaX: -1.300018 m, approachRate: -0.321751 m/s, rangeRepo size: 4  Added new target pos. range: 415.799988 m, bearing: 50.530342 deg, lat: 36.901404 deg, lon: -122.120581 deg, deltaT: 4.040451 s, deltaX: -1.300018 m, approachRate: -0.321751 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 415.80 m.zK NK 9K K K     Bj Jj  ProNav: ac range: 415.799988 m, nav range: 124.590675 m, bearing: 94.324462 deg, approach rate: 0.000000 m/s, LOS rate: 0.132200 deg/s, cmd heading: 318.803505 deg, new cmd heading: 319.091898 deg. 2j HeadingCmd: 5.569204 target range: 415.799988 and range: 415.80 m. j 6@j j j i h h h h Bf f! f! rf% y@bf% O?ɛ B / 隕 I Fɚ i I [4=I y6i 8i P) 6@) *FE?2FA:FABFE_0JFAGMrA GMrA %$?I%\iWill construct direction to contact in vehicle frame from tetrahedron phase data.G-(<G5 ?G5 ?GBO?k1iw,8ŤAJ$٪@YJ@Jxrv9J0!=yJH??ɕ .?@Ύ???ɨJ$٪@Jc;JCyRBV%IIrIr4٢z; ~q=9~?Q ~? G٣y  ? Nusing accuracyPremultiplier from config59?5Y+ i7Bee@EX::5) -@)ZjQUFNOT Ignoring new targets: 415.80 m.Bj]2K;Jj]2K;u ProNav: ac range: 415.799988 m, nav range: 124.761719 m, bearing: 94.377983 deg, approach rate: 0.568507 m/s, LOS rate: 0.177647 deg/s, cmd heading: 319.091903 deg, new cmd heading: 319.252246 deg. 2ju;}HeadingCmd: 5.572003 target range: 415.799988 and range: 415.80 m. j}M@jyjyjyiyhyhhhfffrfbf@?ɛBO 隽;I {MɚiI6x5=I6iz7i=)M@)*Fe?2Fa:FiBFm0JFiG=2<GB O%,>Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IQ E7iw,xߤAj@Yj@j!e9j=yjH ?`)?`L@N?@a?RO??ɨj@j;jCWill construct direction to contact in vehicle frame from tetrahedron phase data.!i%AyMBUt%II=I=B4٢m u5=9u޻Q u>yy }G٣yy}F> > Nusing accuracyPremultiplier from config59 ?5Y+ i7Bfe@EC::5 ߽@Zj FNOT Ignoring new targets: 415.80 m.BjN<;JjN<;M ProNav: ac range: 415.799988 m, nav range: 125.008255 m, bearing: 94.454054 deg, approach rate: 0.534598 m/s, LOS rate: 0.164630 deg/s, cmd heading: 319.252249 deg, new cmd heading: 319.480011 deg. 2jM;UHeadingCmd: 5.575978 target range: 415.799988 and range: 415.80 m. jUjn@jQjQjYiYhYhYhhfffrfbf@vs?ɛBJ [LI ;Yɚ i I I16=IE 5iEHͷiM)Mjn@)QH9>I I<&II'BI&I.I6IO<:I5 F*F?2F:FBFb0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G ˴zK5 LK5 +9K1 K5 K5 G B O >?=iw,A2G@Y2@2w}92=y2Ho? 7?ȵ`a?!Bϕ??@?ɨ2G@2I;2Cy>iB>S%I B=Bp=Mb@Mb@Mb@ )YQ?J +ɿ)\(y( G٣HGy > Nusing accuracyPremultiplier from config59?5Y+ i7B>C?:{e@E;;=5 @EZj%FNOT Ignoring new targets: 415.80 m.Bj%8F;Jj%8F;5 ProNav: ac range: 415.799988 m, nav range: 125.260490 m, bearing: 94.518505 deg, approach rate: 0.679578 m/s, LOS rate: 0.173296 deg/s, cmd heading: 319.480022 deg, new cmd heading: 319.672986 deg. 2j5;=HeadingCmd: 5.579346 target range: 415.799988 and range: 415.80 m. jE@jAjAjAiIhIhQhhBfffrfbf@2? $?I]iɛ=BEt' AE"YIA M|dɚIiIIM66=Iu.4iuiu)u@)y=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JFGM.GBOa>JCKK3 KK.KCKC"KCJJJ1JJ :J:J3Ja @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data.[Diw,!tA2V}@Y2͌@2&92=y2H׼?D? sr9?`Q?=һ?H?ɨ2V}@2J$;2CyBRBB6%IIN*IN 5٢r rY=9vțQ v>tx zG٣xyz ~> Nusing accuracyPremultiplier from config| 59~U%? 5Y~X+ i~r7BZ|e@~E~!<~<~5dB #@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 415.80 m.Bj7;Jj7; ProNav: ac range: 415.799988 m, nav range: 125.510933 m, bearing: 94.581863 deg, approach rate: 0.636140 m/s, LOS rate: 0.160612 deg/s, cmd heading: 319.672989 deg, new cmd heading: 319.862682 deg. 2jt;HeadingCmd: 5.582657 target range: 415.799988 and range: 415.80 m. j @jjjihhhhfffrfbf`?ɛ5B=D 9=dI9 =Moɚ9iAIE17=IUU3iUGi]y)] @))*F2F:FBFO5JF IEWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.G- D&G= ?G= ?G! B) OM >ZHa RHe ?AH I  I %II цBI &I .I 6I <:I v FJiw,xG-AyBB#%IMb@Mb@Mb@ )YS? rп ףp= yO?Q8 I@)AIIAyGAI'I5٢̑ <=9Q > G٣y > Nusing accuracyPremultiplier from config59*5?5Y+ iZ7BY?y:ne@E#X;U;Q5 cB @ EZj15FNOT Ignoring new targets: 415.80 m.Bj=I;Jj=I;M ProNav: ac range: 415.799988 m, nav range: 125.841164 m, bearing: 94.655623 deg, approach rate: 0.791611 m/s, LOS rate: 0.176350 deg/s, cmd heading: 319.862677 deg, new cmd heading: 320.083375 deg. 2jM ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.159804HeadingCmd: 5.586509 target range: 415.799988 and range: 415.80 m. jIJ@jjjihhhhцBfff rf bf F@ɛBҜ 隝jI Տ|ɚiIQ8=IbY2i>i)IJ@)yEEzKEJKE59KAKE KE*F2F:FBF%05JF!G-qA G)PExceeded connect timeout, disconnecting.GN޼GBO> $?IE Will construct direction to contact in vehicle frame from tetrahedron phase data.A iA M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.412022=Qiw,!GA6f@Y60v@6296==y6H@?H?-๿@ K?`+%`!?Ѿ?U?ɨ6f@6|E;6CyN6BR%I)T TIZ$IZd5٢b.{ b]=9bhh jG٣jHGynh n> rNusing accuracyPremultiplier from configpv59rB?v5Yṛ+ irF7Bxzze@rEr:rz:r5| ~@|Zj!%FNOT Ignoring new targets: 415.80 m.Bj-"A;Jj-"A;E ProNav: ac range: 415.799988 m, nav range: 126.123726 m, bearing: 94.718128 deg, approach rate: 0.765026 m/s, LOS rate: 0.168849 deg/s, cmd heading: 320.083374 deg, new cmd heading: 320.270466 deg. 2jE;MHeadingCmd: 5.589774 target range: 415.799988 and range: 415.80 m. jMn߲@jIjIjIiQhQhQhYhYfYfafarfabfe@ɛ B %  oI Ճɚ1i1I5#9=I=g1i={i=)En߲@)AJJJ/JJ,:Jz:J(N3J*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.663838G+GBO> I Wiw,aA>g@Y>Sw@>p9>Lz>y>HM? $??`W@W?F!̞?a?@?ɨ>g@>xЈ; G٣y5¡9 => Nusing accuracyPremultiplier from configq59uSS?5Yu+ iu-7Be@uEu )Q@)HI I%IIBI&I.I6Iа<:I F*FU?2FQ:FQBFQJFQG- G1G1GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.167787zK K 9K K K ^iw,zA "nManaging dock network, ignoring radio surface power off6l@Y6$|@696 >y6H?2?]g`F}`G?` @,?/C??ɨ6l@6ꦈ;6CyN?BR%IMb@Mb@Mb@ )YOn?|?5^ѿV-yX?ҍA @)AI`AyAIIr4٢t< C=9Q > G٣yp: > Nusing accuracyPremultiplier from config%59a?%5Yn+ i7B-d?-n:-څ-e@E;6;55eB =f@=E }$?I}^iZjFNOT Ignoring new targets: 415.80 m.Bjm=;Jjm=;5 ProNav: ac range: 415.799988 m, nav range: 126.783897 m, bearing: 94.861489 deg, approach rate: 0.777758 m/s, LOS rate: 0.165610 deg/s, cmd heading: 320.500480 deg, new cmd heading: 320.699416 deg. 2j5P;=HeadingCmd: 5.597261 target range: 415.799988 and range: 415.80 m. j=@j9j9j9iAhAhAhAhE؆BfIfIfQrfQbfU@k @ɛB( 4iI GՐɚiI^Y:=I/i]ٹi))@) Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:05:08.8522 TRx dataTimestamp_ set to:1736373910.052750checking for new query: numPingsReceived=0, elapsed TxPingTime=3.420964)ſ= Cc~G 7YyLB]Q@]5B*F}?2Fy:FyBFyJFy"GG=JJJ1JJ:Jq:J3JG _Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.672491diw,A2Uu@Y2̄@292)B>y2H`'?"?8Ivq? 㴿8q?X5?Q?ɨ2Uu@2ֈ;2CyvKBz.%Ii~=I~<BAI I 4٢Ҁ= X=9Q %>!! %G٣%HGy-6; -> 5Nusing accuracyPremultiplier from config1=595#p?=5Y5+ i57BAEEe@5E5 ;5 ;5<5I M@MEmB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 415.80 m.Bj;P;Jj;P; ProNav: ac range: 415.799988 m, nav range: 127.088478 m, bearing: 94.926432 deg, approach rate: 0.855852 m/s, LOS rate: 0.182049 deg/s, cmd heading: 320.699429 deg, new cmd heading: 320.893792 deg. 2j;HeadingCmd: 5.600653 target range: 415.799988 and range: 415.80 m. j8@jjjihhhhfffrfbfY@ɛBQ (bI @ʕɚiIe:=In.i8i01)8@)*Fm?2Fi:FiBFm0JFiGE GBO%,> aIi%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:05:08.8522 LVL= 23216, 28945, 28962, 32723, AGC= 70, IDX= 442,-0.38, 1.494, 0.804,-0.545, 0.561, PHS= 1.020, 0.290,-1.110, RAW= 49.7, -2.2, CAL= 51.5, -5.5, ROT= 98.5, 5.5 Ygot valid direction response: 22:05:08.8522 LVL= 23216, 28945, 28962, 32723, AGC= 70, IDX= 442,-0.38, 1.494, 0.804,-0.545, 0.561, PHS= 1.020, 0.290,-1.110, RAW= 49.7, -2.2, CAL= 51.5, -5.5, ROT= 98.5, 5.5  PDAT read: Bearing 98.5, 5.5 (Local)  ~Local bearing/azimuth received: Bearing 98.5, 5.5 (Local)  DAT read: Range 10 to 50 : 415.8 m (Round-trip 554.4 ms) speed -0.2 m/s  ,DAT read: user:2284>  BDAT read: Tx time:22:05:09.9436  $Ping request sent. -{-^?-nF -f?)- ĽI- ?i- =))-0'?RkF3L)-V I-i=i-I C I %II BI &I GD.I 6I <:I FJ J $kiw,Ay~kBV%IMb@Mb@Mb@ )YS?p= ףпMbyZ?AA @)IvAy=AI%I%4uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:05:09.9428 ٢> 3=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YH+ i 7Bd?m:oe@E;7;85 @k] K?k]# kY k]A:kYBk]yCZk]*rT?"]K*@1crHr@Y2sr@];nhMg?߀)R?Ϗٷ?Jk]riw,&pȥA6p@Y6礱@6,96i>y6H /?`?@&]ͩ?q??˗?ɨ6p@6e.;6Cy^B^v%IIfIfK4٢n> nn=9rQ r?pp rG٣pyv:< v? zNusing accuracyPremultiplier from configx~59z`?~5Yz-+ iz7Bۂe@zEz ;z ;z85  @ ZjFNOT Ignoring new targets: 415.80 m.Bjm;Jjm;  ProNav: ac range: 415.799988 m, nav range: 197.321548 m, bearing: 67.958920 deg, approach rate: 0.529546 m/s, LOS rate: 0.207723 deg/s, cmd heading: 321.151752 deg, new cmd heading: 321.366493 deg. 2j<HeadingCmd: 5.608903 target range: 415.799988 and range: 415.80 m. j#|@j!j!j!i)h)h)h1h9f9fAfIrfIbfM?ɛ B@ 隽9BI 9JJJ0JJ:J!:Jـ3JɚiI;=I ,i 4i?)#|@)*F?2F:FBFa1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GrA GGlL=GqBO> A IA :0xiw,6X⥽ANB@YNñ@N^89Nx+>yNH?y?w¿@E0? ] ?z\? ?ɨNB@NÉ;NCyVBV%I)\ \\^AIbIb4٢jO> nJ=9rbQ v>|| G٣IG%Will construct direction to contact in vehicle frame from tetrahedron phase data.y=< => mNusing accuracyPremultiplier from configY59]?5Y]+ i]6BEe@]E]<]I<]5EgB mj@uEZj15FNOT Ignoring new targets: 415.80 m.Bj=\;Jj=\;} ProNav: ac range: 415.799988 m, nav range: 197.542770 m, bearing: 68.046262 deg, approach rate: 0.489898 m/s, LOS rate: 0.193203 deg/s, cmd heading: 321.366493 deg, new cmd heading: 321.628223 deg. 2j}<HeadingCmd: 5.613472 target range: 415.799988 and range: 415.80 m. j@jjjihhhhf)f)f)rf1bf5?HyIy I}%II}ۆBI}$ =&I}HD.Iy6I}j<:I}J FBIyJI}ğCRIyZIybIyjI}ķ4ɛBjr +I ҥɚiI!<=I%]r+i-Oi-B)-@))*F2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G ;,BG B zK K K K K BK pA:K mAO >U~iw,AFЪ@YF@FB9Fq+>yFH ? ]?Ρ¿//?@@}X?`lN?P?ɨFЪ@F=;FCyRԆBR%I-Mb@Mb@Mb@))) )))Y-V-?Q˿y&1?y-M?-(\-`e<-XA ))-AI-A)y-AIEIE4٢U*> UC=9]KȻQ ]>Ya eG٣aye< e> mNusing accuracyPremultiplier from configiu59m?}5Ym+ im7B}T?:A|e@mEmC{;m';mj5 -@ $?I_iZjFNOT Ignoring new targets: 415.80 m.Bjo;Jjo; ProNav: ac range: 415.799988 m, nav range: 197.733551 m, bearing: 68.126600 deg, approach rate: 0.498065 m/s, LOS rate: 0.209534 deg/s, cmd heading: 321.628226 deg, new cmd heading: 321.869007 deg. 2j<HeadingCmd: 5.617674 target range: 415.799988 and range: 415.80 m. jó@jjjihhhhBfffrf bf r?ɛmBmل 隍I OɚiIdU<=I^*ieiE)ó@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF5JFG {TBG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.X@iw,AB@YB@B-M9B1)>yBH ?Ӧ?&¿c??B??K?ɨB@B 3;BCyNBN&IIVIVЬ4٢K> N=9bлQ >!! %G٣!y%; %> 5Nusing accuracyPremultiplier from config)=59-?=5Y-*+ i- 7B9=~{=e@-E-J;-;-5MfB M@MEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 415.80 m.Bjt;Jjt; ProNav: ac range: 415.799988 m, nav range: 197.920090 m, bearing: 68.205345 deg, approach rate: 0.507254 m/s, LOS rate: 0.213930 deg/s, cmd heading: 321.869004 deg, new cmd heading: 322.105015 deg. 2j<HeadingCmd: 5.621793 target range: 415.799988 and range: 415.80 m. j@jjjihhhhfffrfbfr?ɛB r UI GɚiIp<=IP)i{i5I)@)*Fm?2Fi:FiBFm`0JFi"Gu=Gu= $?IEWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.G|BGBOM >ZH RH AAHy Iy  I} O&II} 6BI} % =&Iy .Iy 6I} <:I}  FJ J J J J :J :J J J I>Mb@Mb@Mb@ )Y\(\? rhQ?y:?C \=A )AI AyAII٢6> >=9Q > G٣IGy > Nusing accuracyPremultiplier from config 59{? 5Y+ i#7B N>? : Ii e@E;<;5 -@ZjIMFNOT Ignoring new targets: 415.80 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.186579BjMS;JjS; ProNav: ac range: 415.799988 m, nav range: 198.081924 m, bearing: 68.284983 deg, approach rate: 0.376341 m/s, LOS rate: 0.185042 deg/s, cmd heading: 322.105028 deg, new cmd heading: 322.343743 deg. 2j;HeadingCmd: 5.625960 target range: 415.799988 and range: 415.80 m. j@jjjihhhh BfffrfbfhM@ɛBK 隝ܾI xɚiI[o<=I?(iQiY)@)*Fe?2Fa:FaBFe_0JFazKRIKKK K IG IU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440376Ga Bq O >vOiw,İIA2>@Y2M@2_92B*>y2H@4?a?ÿ o`? | `ޫ?<'? ?ɨ2>@2u;2CyRPBRo&IIZIZ4٢bu> b_=9bMCQ f>dd fG٣dyj"< j> nNusing accuracyPremultiplier from configlr59n?r5Ynk+ in67Btvfve@nEnK ;n:n5x zW@zEZj!%FNOT Ignoring new targets: 415.80 m.Bj-;T;Jj-;T;= ProNav: ac range: 415.799988 m, nav range: 198.217407 m, bearing: 68.352989 deg, approach rate: 0.369901 m/s, LOS rate: 0.185546 deg/s, cmd heading: 322.343756 deg, new cmd heading: 322.547635 deg. 2j=;EHeadingCmd: 5.629518 target range: 415.799988 and range: 415.80 m. jE%@jAjAjAiIhIhIhIhIfQfQfQrfQbf@ɛ-B-c> 15ZI1 U ɚQiQI]V<=I]V'ie>ie=)e%@)a*FM?2FI:FIBFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694972G5tVG B1 O] > I yiw,~cA2|@Y28@2Ie92i+>y2H\?/?5ÿt@?tM?=V?`^?ɨ2|@2Ḋ;2CyrBv&IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.943338I~I~4٢c> %D=9%nQ %>)) -G٣)y5c< => eNusing accuracyPremultiplier from configQu59U?5YU+ iUM7Bde@UEU1zKU KU ]9KQ KU KU  #.8DGGHJLI@0 ëiw,Έ}A2@Y2'Dz@2Yl92/>y2H7?`\?pÿ}d?@ ?@?{?ɨ2@2Ks;2CyZBZ&I)\ \\^A 5$?I5`iMMb@Mb@Mb@III I)IYMS㥛?Q ףp= ?yM$?MuMQ8=MA I)IIM AIyMAIeIe4٢uI!> uD=9uQ }>yy }G٣yy< > Nusing accuracyPremultiplier from config59?5Y+ ik7B%?:Le@E{;;5 f@EZjFNOT Ignoring new targets: 415.80 m.Bj+j;Jj+j; ProNav: ac range: 415.799988 m, nav range: 198.480667 m, bearing: 68.501262 deg, approach rate: 0.320523 m/s, LOS rate: 0.204727 deg/s, cmd heading: 322.781872 deg, new cmd heading: 322.992156 deg. 2j <HeadingCmd: 5.637277 target range: 415.799988 and range: 415.80 m. jd@jjjihhhhBfffrfbf @ɛB]Q .I EhɚIiIIM;=IUCZ%iu|ciug))ud@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:05:12.9036  TRx dataTimestamp_ set to:1736373914.092835 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447978*F?2F:FBF0JFG 3G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.698685/iw,}@Af@Yfl@fxp9f2>yfH`?x?ÿF? ۸*??v?ɨf@fo;fCynŇBr&IIzIz4٢6> S=9gQ  >    G٣ IGy< > Nusing accuracyPremultiplier from config%59 ?%5Y+ i7B)-J-e@Ez::51 5/@1]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 415.80 m.Bju[A;Jju[A; ProNav: ac range: 415.799988 m, nav range: 198.581696 m, bearing: 68.567107 deg, approach rate: 0.259501 m/s, LOS rate: 0.169044 deg/s, cmd heading: 322.992160 deg, new cmd heading: 323.189595 deg. 2j;HeadingCmd: 5.640723 target range: 415.799988 and range: 415.80 m. j̀@jjjihhhhfffrfbf~@ɛBp U0ȽIQ ]ɚYiYI]:m;=Iepx$ie*ie|)è@)i*F ?2F :F BFR5JF E$?IA-Will construct direction to contact in vehicle frame from tetrahedron phase data.G}|)E DAT read: 22:05:12.9036 LVL= 21184, 29121, 22770, 32675, AGC= 69, IDX= 438, 0.45, 0.541,-0.255,-1.502,-0.461, PHS= 1.090, 0.253,-1.043, RAW= 52.9, -3.3, CAL= 56.1, -7.3, ROT= 93.9, 7.3 jHY bH] <G H I  I O'II BI % =&I .I 6I <:I u FB  Ygot valid direction response: 22:05:12.9036 LVL= 21184, 29121, 22770, 32675, AGC= 69, IDX= 438, 0.45, 0.541,-0.255,-1.502,-0.461, PHS= 1.090, 0.253,-1.043, RAW= 52.9, -3.3, CAL= 56.1, -7.3, ROT= 93.9, 7.3  PDAT read: Bearing 93.9, 7.3 (Local)  ~Local bearing/azimuth received: Bearing 93.9, 7.3 (Local) O  DAT read: Range 10 to 50 : 416.7 m (Round-trip 555.7 ms) speed 0.1 m/s  ,DAT read: user:2285>  BDAT read: Tx time:22:05:13.9937  $Ping request sent. 55\l?5k 5>z?)5wI5M?i5w>115{p?!'#mL=~ )5ܕI5+$i=i59?5W11 :publishing transmit ping time  Fpublishing direction and range info195|'}?;?\)g$?y1111 1)1I1i11111 1)1I1i1115{p?!'#mL=~ )1I1i1111J J J 1J J :J ^:J 3J J 4<J 4<J g;J g;>iw,AnL=@YnL@nt9n#4>ynH.?`k?ÿJ?`E_?\?-s?ɨnL=@nq;nCy=B=%'I]Mb@Mb@Mb@YYY Y)YY]bX9?~jt? ףp= ?y]E?] .=9Q >  G٣ y-ɂ< -> =Nusing accuracyPremultiplier from config1=595?E5Y5, i57BE?E:E.'Ee@5E5;5I;55UgB U=@UEke\A?ke`ϒ ka keTA:keYCBkeCZke}f?"eOG3@͵-Hq@^Ujrs@e|'}?;?\)g$?Jke9?RkeW*ej(]e`@zm Te@ A4v@eR?k.5?] G?"ke*C*keSCker*A?kext 2keCker*A?kakeCke9eCketp?M addTargetRange:: Added new target pos. range: 416.700012 m, deltaT: 4.040718 s, deltaX: 0.900024 m, approachRate: 0.222739 m/s, rangeRepo size: 4 ] Added new target pos. range: 416.700012 m, bearing: 51.586685 deg, lat: 36.902738 deg, lon: -122.119955 deg, deltaT: 4.040718 s, deltaX: 0.900024 m, approachRate: 0.222739 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 416.70 m.BjeJja ProNav: ac range: 416.700012 m, nav range: 229.224945 m, bearing: 53.816929 deg, approach rate: 0.000000 m/s, LOS rate: 0.169044 deg/s, cmd heading: 323.189607 deg, new cmd heading: 323.439474 deg. 2jHeadingCmd: 5.645084 target range: 416.700012 and range: 416.70 m. j@jjjihhhhBfffrf@3 z@bfE`h?ɛBUż 隕I BɚiI:=IZ#i~húi)@)zK=OMK=9K9K= K= IE QO=5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 Ai1 NG tA A  &Y tAy zB*F ?2F! :F! BF% d0JF! "G- =G- =GEGB)OE?ᕴiw,;ӦAZ@YZ@ZB#9Z=2>yZH f?@7?@*Ŀ 8?A?@?s?ɨZ@ZL;ZCybBbE'Iifxx ~G٣~IGy~< ~> Nusing accuracyPremultiplier from config 59-1? 5Y), i7B#e@ E. ; ;5 %@%EZjIMFNOT Ignoring new targets: 416.70 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.Bj.;Jj.; ProNav: ac range: 416.700012 m, nav range: 229.227280 m, bearing: 53.884092 deg, approach rate: 0.005305 m/s, LOS rate: 0.152609 deg/s, cmd heading: 323.439483 deg, new cmd heading: 323.640968 deg. 2jw;HeadingCmd: 5.648601 target range: 416.700012 and range: 416.70 m. jV@jjjih)h1h1h1f1f9f9rf9bf= q?ɛB 隥I  I 'II XBI &I .I 6I <:I e FO5 >Piw,;A*Ji"JmR=J}J}J}0JyJ}:J}z:J}ـ3JyJ}'<J}(<J}l;J}l;yޝBޝa'I-Mb@Mb@Mb@))) )))Y- rh?㥛 ?l?y- ?-=-=-A -@))I- A)y-p AIEIEkf4٢U= U5=9UQ ]>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59mB?u5Ym , im7B}?}:} }e@mEm;m;m5 !@ZjFNOT Ignoring new targets: 416.70 m.BjC;JjC; ProNav: ac range: 416.700012 m, nav range: 229.206863 m, bearing: 53.945657 deg, approach rate: -0.045300 m/s, LOS rate: 0.136616 deg/s, cmd heading: 323.640973 deg, new cmd heading: 323.825686 deg. 2j;HeadingCmd: 5.651824 target range: 416.700012 and range: 416.70 m. j۴@jjjihhhh*Bffafarfabfmx?ɛB) 隝=I *ɚiI9=Iߠ!ibҺie)۴@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.  I *F ?2F :F BF 0JF zK k3IK K K K BK% qA:K! ] Will construct direction to contact in vehicle frame from tetrahedron phase data.G- ټG5 pAG5 pAGB!OU>Hiw,F AF)@YF[9@F[߄9F1>yFHe??ÿ ZtI?9? ? #t?ɨF)@F4;FCyN"BNq'IIVIVt4٢^x= ^C=9bPQ b>`` fG٣dyfc= f> nNusing accuracyPremultiplier from confighr59jS?r5Yj, ij#8Btvve@jEj]?;j/;jB 5x zL@~EZj%FNOT Ignoring new targets: 416.70 m.Bj%;Jj%;5 ProNav: ac range: 416.700012 m, nav range: 229.184540 m, bearing: 54.002853 deg, approach rate: -0.053245 m/s, LOS rate: 0.136435 deg/s, cmd heading: 323.825689 deg, new cmd heading: 323.997293 deg. 2j=D;=HeadingCmd: 5.654819 target range: 416.700012 and range: 416.70 m. j=H@jAjAjAiAhAhAhIhIfIfIfIrfQbfU?ɛBhs 隅`=I 糼ɚiIn8=I iĴ׺iۖ)H@)*F ?2F :F BF3JFGGBO#>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I niw,%A6f@Y6u@6|96-/>y6H`??:ÿ@o+4m?P L? ?@[w?ɨ6f@6,O;6CyN%BRu'I)T TTVAIZIZ4٢fU< fJ=9ji<;Q j>hh nG٣nIGynb< n> vNusing accuracyPremultiplier from configpv59rc?z5Yr, irF8Bxz#ze@rEr:ra:r 5Will construct direction to contact in vehicle frame from tetrahedron phase data.Ai iB :@ EB*** querying acoustic contact ***jjZjI}FNOT Ignoring new targets: 416.70 m.Bj3;Jj3;m ProNav: ac range: 416.700012 m, nav range: 229.161484 m, bearing: 54.058193 deg, approach rate: -0.052155 m/s, LOS rate: 0.125195 deg/s, cmd heading: 323.997291 deg, new cmd heading: 324.163325 deg. HqIq Iu'IIuBIq&Iq.Iq6Iu8<:Iu" FBI5ßCJI1RI1ZI1bI1jI5u42j׫;HeadingCmd: 5.657717 target range: 416.700012 and range: 416.70 m. j- @j1j1j1i9hAhhhfffrfbf` @ɛBS+t =I  ɚiI 8=I iܺi) @)*F2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G dG B I O >iw,!@AzKKKK KRK?JK?>ᚭ@Y>Y@>/9>R,>y>H?`?ÿ@X??e?|?ɨ>ᚭ@>Uz; G٣yh< > Nusing accuracyPremultiplier from config59u?5Yz, if8B?:d e@E;;5 /@EZjFNOT Ignoring new targets: 416.70 m.Bj;Jj; ProNav: ac range: 416.700012 m, nav range: 229.127258 m, bearing: 54.117351 deg, approach rate: -0.079238 m/s, LOS rate: 0.136982 deg/s, cmd heading: 324.163319 deg, new cmd heading: 324.340820 deg. 2j;HeadingCmd: 5.660815 target range: 416.700012 and range: 416.70 m. jf%@jjjihhh h 0Bf f frfbf@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.398995ɛBNY 隕=I >ɚiIs7=ISiߺi(;\)f%@)*F?2F:FBF_0JFGϼGABQOmx>JJJJJ :Jh:JJa @a @a @a @- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.650938'iw,YA>Xí@Y>Ҵ@>=|9>(>y>H`?@hf?@r¿N ?l@?`??ɨ>Xí@>i;>CyJBJl'IIRIRļ4٢Z3/ ZU=9^:Q ^>|| ~G٣|yW< > Nusing accuracyPremultiplier from config59?5Y, i8B!%%e@E#;; 5) -@)ZjQUFNOT Ignoring new targets: 416.70 m.Bj];Jj];m ProNav: ac range: 416.700012 m, nav range: 229.098099 m, bearing: 54.166333 deg, approach rate: -0.080950 m/s, LOS rate: 0.135996 deg/s, cmd heading: 324.340822 deg, new cmd heading: 324.487785 deg. 2jm;uHeadingCmd: 5.663380 target range: 416.700012 and range: 416.70 m. jui:@jqjqjqiyhyhyhhfffrfbf@ɛBHd 隽=I ɚiI6=Iiai=)i:@) $?I*Fu?2Fq:FqBFqJFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.904303G'HI I(IIBI&I.I6I<:I FG! B O >Siw,sA2@Y2E@2v92&>y2H?H?G¿vB?`Ϯ?`? ?ɨ2@2V;0y>BBd'I F=Fp=Mb@Mb@Mb@ )Yq= ףp?MbX9?Mb`y ?ʡ=A @)AI AyQAI%I%94٢5 =B=9=XT;Q =>AA EG٣EIGyEM< E> UNusing accuracyPremultiplier from configI]59Mp?]5YM, iM8B] ?]:]ee@M!EM$;MN;M5i u@uEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.155250Zj1=FNOT Ignoring new targets: 416.70 m.Bj=;Jj=;M ProNav: ac range: 416.700012 m, nav range: 229.066345 m, bearing: 54.222391 deg, approach rate: -0.073237 m/s, LOS rate: 0.129312 deg/s, cmd heading: 324.487780 deg, new cmd heading: 324.655978 deg. 2ju};}HeadingCmd: 5.666316 target range: 416.700012 and range: 416.70 m. j}uR@jyjyjyiyhyhhhBfffrfbf@_ @ɛBU}{  T=I  -ɚ)i)I-@6=I50i5li=P)=uR@)9*F)2F):F)BF)JF) $?IaizK:IK 9KK KBK:KqAGe K Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:05:16.9531  TRx dataTimestamp_ set to:1736373918.124671 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.408066G B O- >9iw,ƇA6 @Y6|@6:r96J!>y6H?W7? {?귿B??#?ɨ6 @6D߈;6CyNBRE'IIZIZ4٢~^ ~N=9~2;Q > G٣y <  > Nusing accuracyPremultiplier from config59?5YM, i8B!% %e@$Ei ; ;5) -@)ZjY]FNOT Ignoring new targets: 416.70 m.Bje$;Jje$;u ProNav: ac range: 416.700012 m, nav range: 229.035278 m, bearing: 54.276196 deg, approach rate: -0.082816 m/s, LOS rate: 0.143449 deg/s, cmd heading: 324.655967 deg, new cmd heading: 324.817403 deg. 2ju;}HeadingCmd: 5.669133 target range: 416.700012 and range: 416.70 m. j}i@jyjyjyiyhhhhfffrfbfN @ɛBi$ 隽A=I !ɚiIg5=I2i:i(Z)i@)JJJJJJ:JJ*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.659033G.-GqBO> Igiw,rA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.913683jH9bH=4<HiIi Im'IImBIi&Ii.Ii6Im<:Im] Fs(@Y7@m90>yH ?%? ] @?`>u ?N?}?ɨs(@;Cy B6'IMb@Mb@Mb@ )YFx?kt?/$y ? 0=A @)hAI/ Ay AIIʴ4٢ 98  =9 *;Q > G٣y; > -Nusing accuracyPremultiplier from config!-59% ?55Y%F , i%8B5O ?5:5\ 5e@%)E%;%0;%5EhB Ei@EEeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 416.70 m.Bju;Jj}; ProNav: ac range: 416.700012 m, nav range: 229.009842 m, bearing: 54.349733 deg, approach rate: -0.047202 m/s, LOS rate: 0.136475 deg/s, cmd heading: 324.817405 deg, new cmd heading: 325.038039 deg. 2jR;HeadingCmd: 5.672984 target range: 416.700012 and range: 416.70 m. j@jjjihhhhBfffrfbf@ɛB[Z p BDAT read: Tx time:22:05:18.0437 $Ping request sent.Xys? A S>?)I?i>Ou?FNbuX)4aI5=iB̾?w^:publishing transmit ping timeءFpublishing direction and range info9y?1\DZ??+/p?y )Ii )IiOu?FNbuX)Ii $?I G {#G B O >uiw,§AzK*BoHK*9K(K* K* 88z4@Yz@D@z[Fi9z-k>yzH@?` ?`ӆ?`\ƶ$???ɨz4@z;zCy=ԇB='IIuIu4٢M2 Uz=9Uz6;Q ]? G٣IGy\; ? Nusing accuracyPremultiplier from config59?5Y", tIi8B f@,E3;D;"5 Will construct direction to contact in vehicle frame from tetrahedron phase data.) -<@)k*^??kS k k;TA:k3CBkCZk/4r?"FWk5@ DGp@`Ȋ s@y?1\DZ??+/p?JkB̾?Rkw^*3n_@9[X f@e)c1v@%،?zWq?j3I?"kj0C*keBkK n??k!) 2kCkkkCkdCk s?] addTargetRange:: Added new target pos. range: 416.399994 m, deltaT: 4.281213 s, deltaX: -0.300018 m, approachRate: -0.070078 m/s, rangeRepo size: 4 m Added new target pos. range: 416.399994 m, bearing: 54.208038 deg, lat: 36.902738 deg, lon: -122.119955 deg, deltaT: 4.281213 s, deltaX: -0.300018 m, approachRate: -0.070078 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 416.40 m.BjuJjq ProNav: ac range: 416.399994 m, nav range: 228.993561 m, bearing: 54.396635 deg, approach rate: 0.000000 m/s, LOS rate: 0.136475 deg/s, cmd heading: 325.038048 deg, new cmd heading: 325.190462 deg. 2jHeadingCmd: 5.675644 target range: 416.399994 and range: 416.40 m. j឵@jjjih!h!h!h!f)f)f)rf-`fz@bf-?ɛBӿ 隭 I  ŧɚiI4=Iχii/)឵@)!JsK{m3 K{L.KsKs"KsJJJJJ:J:JJ*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G 9"G B O >`wiw,PߧA ,I,V:@YVoJ@V5j9V '>yVH ?` ?`@?m`B?`?`?ɨV:@Vˈ;VCyjBj&IIrIr4٢~- ~F=9Q >  G٣ y 3: > Nusing accuracyPremultiplier from config59p?%5Y%, i8B!%%f@/EU::G&51 5@5EZjY]FNOT Ignoring new targets: 416.40 m.Bje(;Jje(;u ProNav: ac range: 416.399994 m, nav range: 228.974731 m, bearing: 54.450765 deg, approach rate: -0.051345 m/s, LOS rate: 0.147619 deg/s, cmd heading: 325.190470 deg, new cmd heading: 325.352874 deg. 2ju;}HeadingCmd: 5.678479 target range: 416.399994 and range: 416.40 m. j@jjjihhhhfffrfbf@*?ɛB I ɚiIIR4=I iciP)@)*FA2FI:FIBFMP5JFI}Will construct direction to contact in vehicle frame from tetrahedron phase data.HYIY I]'II]XBIY&IY.IY6I]<:I] FG{#GBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.iw,F AJK=@YJL@JCh9JcM">yJH ?`c?` ?g?`+?P?ɨJK=@JY&;JCyVBV&IiZ=IZ>? ^p=^=EMb@Mb@Mb@AAA A)AYEn?:vMbyE?EԼEEAA E@)EAIE AAyEAQU@AI]I]4٢uh uD=9u:Q }>yy G٣y2: > Nusing accuracyPremultiplier from config59?5Y), i8Bc?:'f@3E{8;6;)5 m@ZjFNOT Ignoring new targets: 416.40 m.Bj;Jj; ProNav: ac range: 416.399994 m, nav range: 228.982758 m, bearing: 54.512036 deg, approach rate: 0.018108 m/s, LOS rate: 0.138232 deg/s, cmd heading: 325.352865 deg, new cmd heading: 325.536669 deg. 2j;HeadingCmd: 5.681687 target range: 416.399994 and range: 416.40 m. jaе@jjjihhhh;Bfffrfbf@v? ]$?I]biɛmBm 隕TI ɚiI3=Iiiu)aе@)zKK9KK K*F?2F:FBF`5JF) c~G  YyBWill construct direction to contact in vehicle frame from tetrahedron phase data.G *UG B O >J% J% J! J! J% |:J% ":J! J! Cjw,A6k3@Y6B@6?f96Q>y6H`?L?& "@e?۪Ĭ???ɨ6k3@6+1;4y>BB&IIJIJ4٢R RW=9V:Q V>XX ZG٣ZIGy^ O ^> fNusing accuracyPremultiplier from configdj59f?j5Yf<-, if8Bhjx'jf@f7Ef*:f*:fD-5p r"@rEZj  FNOT Ignoring new targets: 416.40 m.Bjs4;Jjs4;% ProNav: ac range: 416.399994 m, nav range: 228.990677 m, bearing: 54.568210 deg, approach rate: 0.022242 m/s, LOS rate: 0.157763 deg/s, cmd heading: 325.536679 deg, new cmd heading: 325.705194 deg. 2j%;-HeadingCmd: 5.684628 target range: 416.399994 and range: 416.40 m. j-y@j)j)j1i1h1h1h9h9f9fAfArfAbfE[?ɛmBu  qu4Iq uɚqiqI}53=I;ii3)%y@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF^0JFGuGaBqO:> )I) Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH! RH% ?AH9 I9  I= h'II= BI9 &I9 .I9 jw,-A6Im<:Im F1@YfA@&D_9Gd>yH]? `%?ʉ@3? ?`? ;?ɨ1@t;CyMjBU&I5Mb@Mb@Mb@111 1)1Y5)\(?sh|?aa eG٣ayed m> uNusing accuracyPremultiplier from configq}59uX ?}5Yu2, iu8B}"?}:}b=}f@u<Eu;u<;u15jB @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 416.40 m.Bj3;Jj3; ProNav: ac range: 416.399994 m, nav range: 229.028793 m, bearing: 54.645937 deg, approach rate: 0.077150 m/s, LOS rate: 0.157299 deg/s, cmd heading: 325.705193 deg, new cmd heading: 325.938335 deg. 2j;HeadingCmd: 5.688697 target range: 416.399994 and range: 416.40 m. j @jjjihhhhՇBfffrfbf@?ɛއB niI شɚiI#`3=I[0ii$t) @)Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*Fe?2Fa:FaBFeT4JFa  $?I G% yG B O% >zK BoJK K K K jw,FA2)@Y2 9@2fZ92Ĉ>y2H?60?]d`?C@zQ?`?@?ɨ2)@2ϊ;2Cy:QB:p&I)< >A@BAIFIF4٢N N=9Rk;Q R?PP RG٣TyVT V? ZNusing accuracyPremultiplier from configX^59Z?^5YZY6, iZ8B`b=bf@Z?EZC ;Z ;ZN45d f@fE]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253189ZjFNOT Ignoring new targets: 416.40 m.Bj);Jj); ProNav: ac range: 416.399994 m, nav range: 229.053574 m, bearing: 54.695524 deg, approach rate: 0.074143 m/s, LOS rate: 0.148349 deg/s, cmd heading: 325.938348 deg, new cmd heading: 326.087093 deg. 2j;HeadingCmd: 5.691293 target range: 416.399994 and range: 416.40 m. j@jjjihhhhfffrfbf ]@ɛ]݇Be?2 ae^Ia e_OɚiiiIm-E3=Im@i)=i̼)@)E*F?2F:FBF_0JFGG9BIOeV> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505906  I jw,`A6x.@Y6=@6U96K>y6H,? .?-/?? ? ?ɨ6x.@6pS;6CyfCBf_&IIrIra4٢zڄ zE=9z6;Q ~>| G٣y: > Nusing accuracyPremultiplier from config 59 7(?5Y  ;, i 8B=f@ CE K ;  ; 75! -f@)ZjaeFNOT Ignoring new targets: 416.40 m.Bje=;Jjm=;} ProNav: ac range: 416.399994 m, nav range: 229.086533 m, bearing: 54.761165 deg, approach rate: 0.083326 m/s, LOS rate: 0.165927 deg/s, cmd heading: 326.087083 deg, new cmd heading: 326.283976 deg. 2j};HeadingCmd: 5.694730 target range: 416.399994 and range: 416.40 m. j:;@jjjihhhhfffrfbfv@ɛ܇B:3 I 0ɚiIT*3=Ii\i޼):;@)*Fe?2Fa:FaBFed0JFauWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758023HI I'IIهBI&I.I6I{<:IT FBIJIRIZIbIjI% 4G}^GaBqO>JJJJJ :J^:JJJy6H?N-?'?otz?,? ?ɨ61@6B;6Cyv,BvB&IuMb@Mb@Mb@qqq q)qYukt?7A`¿{Gzyu 0?uu#uA uh@)uI@IuAqyuAII4٢+ݽ ?=9:Q > G٣IGyE: > Nusing accuracyPremultiplier from config599?5Y@, i8Bd4?:Qf@HEC;PB;;5iB ۳@EZj $?IFNOT Ignoring new targets: 416.40 m.BjE;JjE; ProNav: ac range: 416.399994 m, nav range: 229.147675 m, bearing: 54.834963 deg, approach rate: 0.143274 m/s, LOS rate: 0.172885 deg/s, cmd heading: 326.283983 deg, new cmd heading: 326.505318 deg. 2jL;HeadingCmd: 5.698593 target range: 416.399994 and range: 416.40 m. jZ@jjjihhhhBfffrfbfg @ɛۇB8 隅YI ǺɚiI3=Iڧiif)Z@)zKK9KK K*F?2F:FBF_0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:05:21.0015 TRx dataTimestamp_ set to:1736373922.162631checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265587G% )ۼG- qAG- rAG B! O= >$jw,pA:>@Y:>N@:nR9:>y:H`?!? k% ? @?>? ?ɨ:>@:[;:Cy^Bb-&I f=dIjIja4٢re rX=9r:Q v>tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config|59~H?5Y~E, i~8B  "Q f@~LE~:~*:~>5 @ZjAEFNOT Ignoring new targets: 416.40 m.BjM!E;JjM!E;] ProNav: ac range: 416.399994 m, nav range: 229.201462 m, bearing: 54.900048 deg, approach rate: 0.142463 m/s, LOS rate: 0.172344 deg/s, cmd heading: 326.505309 deg, new cmd heading: 326.700515 deg. 2j];eHeadingCmd: 5.702000 target range: 416.399994 and range: 416.40 m. jev@jajajiiihihihihqfqfqfqrfqbf} @ɛڇBQ 隵EI u⼼ɚiI3=Ii i|)v@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513261*F ?2F :F BF0JF $?IGm fGI Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768527O >jH bH <H I  I &II BI &I .I 6I <:I x F +jw,sKAND@YNS@NPR9NCb>yNH ?`?@{"{u? "G??@#?ɨND@N;Ly5B5&&III4٢߼ 8=9-Q ->9A EG٣IJJJJJ:JK:JJJ4<J4<Jc;Jc;yg: > Nusing accuracyPremultiplier from config 59\? 5YNL, i8B -P5f@REN;;C59 =J@=E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 416.40 m.BjA;JjA; ProNav: ac range: 416.399994 m, nav range: 229.268616 m, bearing: 54.981053 deg, approach rate: 0.140318 m/s, LOS rate: 0.169211 deg/s, cmd heading: 326.700516 deg, new cmd heading: 326.943459 deg. 2jA;HeadingCmd: 5.706240 target range: 416.399994 and range: 416.40 m. j@jjjihhhhfffrfbf-5@ɛU؇BU2B QUþIQ ]yɚYiYI]3=IeieieV )e@)Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 22:05:21.0015 LVL= 20896, 28817, 24962, 27555, AGC= 65, IDX= 417, 0.26,-2.006,-2.936, 2.197,-3.066, PHS= 1.147, 0.176,-1.023, RAW= 56.5, -3.2, CAL= 60.4, -7.5, ROT= 89.6, 7.5 =Ygot valid direction response: 22:05:21.0015 LVL= 20896, 28817, 24962, 27555, AGC= 65, IDX= 417, 0.26,-2.006,-2.936, 2.197,-3.066, PHS= 1.147, 0.176,-1.023, RAW= 56.5, -3.2, CAL= 60.4, -7.5, ROT= 89.6, 7.5 EPDAT read: Bearing 89.6, 7.5 (Local) E~Local bearing/azimuth received: Bearing 89.6, 7.5 (Local) UDAT read: Range 10 to 50 : 415.2 m (Round-trip 553.7 ms) speed 0.2 m/s ],DAT read: user:2287> ]BDAT read: Tx time:22:05:22.0937 e$Ping request sent.eq|?d V?) I+?i > zK BHK +9K K K 1jw,(ȨA2U@Y2Ne@2}P92>y2HX?K ?-km#?w`*???ɨ2U@2;0y^ B^&IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YA`"?NbX9ȿly9?EA ;@)`@IIAyAIIE4٢6 K=9i:Q > %G٣% IGy%; %> -Nusing accuracyPremultiplier from config)559-rk?=5Y-Q, i-{8B=??=:=d]=f@-VE-;-O;-`F5EkB E@MEkRmԀWill construct direction to contact in vehicle frame from tetrahedron phase data. e $?Ie ci8jw,⨽A6hY@Y6h@6%T96>y6H??_Pj{?1@?? 6?ɨ6hY@65;6CyB BB&IIJIJ94٢zQ; z_=9zQ ~>|| G٣y: >  Nusing accuracyPremultiplier from config 59 ~z?5Y zW, i q8B>]f@ [E ~$; $; I5) -@-EZjQ]FNOT Ignoring new targets: 415.20 m.Bj]\;Jje\;m ProNav: ac range: 415.200012 m, nav range: 221.462708 m, bearing: 53.669702 deg, approach rate: 0.174469 m/s, LOS rate: 0.193145 deg/s, cmd heading: 327.135025 deg, new cmd heading: 327.342849 deg. 2ju<}HeadingCmd: 5.713211 target range: 415.200012 and range: 415.20 m. j}Ҷ@jyjyjyiyhyhhhfffrfbfK?ɛևB` ɾI ļɚiI 3=IiiE)Ҷ@)*F?2F:FBF_0JF"G=G=UWill construct direction to contact in vehicle frame from tetrahedron phase data.HiIi Im&IImBIi&Ii.Ii6Im<:Imr FGJJJJJJ:JJJJJxp;Jxp;GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.E>jw,A6r@Y6#@6W96E>y6Ha,?@?a~U@?ߪ?` ?j?ɨ6r@6 ;6Cy>Bj%&IeMb@Mb@Mb@aaa a)aYe`"?Q˿X9vye7?e(\eerA a)eI@IeAaye=AII4٢= A=9O޺Q > G٣y; > Nusing accuracyPremultiplier from config59S?5Y^, if8B @?:cdf@`E<<KM5 $?I s@ZjFNOT Ignoring new targets: 415.20 m.BjI;JjI; ProNav: ac range: 415.200012 m, nav range: 221.544128 m, bearing: 53.749265 deg, approach rate: 0.180529 m/s, LOS rate: 0.176345 deg/s, cmd heading: 327.342854 deg, new cmd heading: 327.581454 deg. 2j ;HeadingCmd: 5.717375 target range: 415.200012 and range: 415.20 m. j @j j j i hIhQhQhUBBfQfYfYrfYbf]`3?ɛԇBF I vǼɚiI2=Iiid)@)*F2F:FBFJFzKBoHK9KK K BKpA:KpA]Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >1.Ejw,sA:m@Y:厵@:O\9:>y:H`*3?`?͟@Jy?Rȷ?=?@?ɨ:m@:9;8yDDININ̍4٢Vʊ VZ=9Vx{Q Z>XX ZG٣Z IGy^x; ^> bNusing accuracyPremultiplier from config`f59b3?f5Ybc, ib]8Bhjcjf@bdEb:b:bP5l rr@rEZj FNOT Ignoring new targets: 415.20 m.Bjf;Jjf;% ProNav: ac range: 415.200012 m, nav range: 221.615814 m, bearing: 53.819420 deg, approach rate: 0.206264 m/s, LOS rate: 0.201792 deg/s, cmd heading: 327.581446 deg, new cmd heading: 327.791840 deg. 2j-| <-HeadingCmd: 5.721047 target range: 415.200012 and range: 415.20 m. j-@j)j1j1i1h1h1h9h9fAfAfArfAbfMm?ɛu҇BuZ y隅}I .ɼɚiI2=IPi!iY&)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF5`0JF1 IG]MGaGepAG1BIOe>m Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHa RHe AAHi Ii  Im &IIm }BIi &Ii .Ii 6Im հ<:Im F\Kjw,r/Ab⚮@YbZ@bZ9b>ybHC??P4$?_V Z? v??ɨb⚮@b"0;bCyn!Br5&Iiv=Iv>II4٢`o= 9=91:Q >19 =G٣AyU; U>JJJJJ|:J:JJJ<J<JBr;JCr; Nusing accuracyPremultiplier from config-593?-5Y k, iP8B)-c5f@jEP;;T59 =@9}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 415.20 m.Bj9P;Jj9P; ProNav: ac range: 415.200012 m, nav range: 221.706284 m, bearing: 53.908655 deg, approach rate: 0.184637 m/s, LOS rate: 0.182044 deg/s, cmd heading: 327.791843 deg, new cmd heading: 328.059439 deg. 2j;HeadingCmd: 5.725718 target range: 415.200012 and range: 415.20 m. j9@jjjihhhhfffrfbfS?ɛmЇBm > imIi u4S̼ɚqiqIu2=I}5i}&'ih*)9@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FU?2FQ:FQBF]_0JFYGeqA GeqA IG %$$ ~G= vAM A Y vAy sBG B O >zK- KK- 9K) K- K- RK= ?JK= >@Rjw,oIAy7B P&IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252337Mb@Mb@Mb@ )Y +?|?5^ʿ  G٣y > %Nusing accuracyPremultiplier from config!-59%=?-5Y%p, i%L8B5K>?5:59af@%nE%<%<%X5mB b@EZj9EFNOT Ignoring new targets: 415.20 m.BjEM;JjEM; ProNav: ac range: 415.200012 m, nav range: 221.775696 m, bearing: 53.978763 deg, approach rate: 0.178070 m/s, LOS rate: 0.179798 deg/s, cmd heading: 328.059450 deg, new cmd heading: 328.269707 deg. 2j;HeadingCmd: 5.729387 target range: 415.200012 and range: 415.20 m. j$W@jjjihhhhVBfffrfbf @ɛ}·BԺ: ,I xOμɚi I 2=I  i-ie(8)$W@)1*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504172 $?I diG= l&G B! OU >iXjw,0IcA6׮@Y6@6ωX96 >y6He??@yzB?uf ? ??ɨ6׮@6;6Cy>EB>a&IIFIF4٢^:= f`=9f:Q j>hh jG٣j IGynx< n> rNusing accuracyPremultiplier from configpv59r?v5Yr*v, irH8BxzC_zf@rsEr:r:r0[5| ~@Zj)-FNOT Ignoring new targets: 415.20 m.Bj5!f;Jj5!f; ProNav: ac range: 415.200012 m, nav range: 221.840881 m, bearing: 54.046385 deg, approach rate: 0.194005 m/s, LOS rate: 0.201197 deg/s, cmd heading: 328.269711 deg, new cmd heading: 328.472516 deg. 2j <HeadingCmd: 5.732927 target range: 415.200012 and range: 415.20 m. j#t@jjjihhhhfffrfbf1@ɛM͇BUT; QmŇIi uϼɚqi9I=!2=IE iM(2iM')U#t@)Q5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757319HI I&IIBI&I.I6Iz<:IT F*F%?2F):F)BF-0JF)GW5G ?G>GB O}> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008302]^jw,/}AN@YN)@N|Z9N>$>yNHI?]?@`c?sN?i?V?ɨN@N:;NCynZBn{&I)p rArArA YIYMb@Mb@Mb@ )Y G٣y< %> -Nusing accuracyPremultiplier from config!559%?55Y%{|, i!5I9?5:5MV=f@%xE%W;%;%_5A E*@EEZjimFNOT Ignoring new targets: 415.20 m.BjuqQ;JjuqQ; ProNav: ac range: 415.200012 m, nav range: 221.908279 m, bearing: 54.127903 deg, approach rate: 0.151438 m/s, LOS rate: 0.183110 deg/s, cmd heading: 328.472513 deg, new cmd heading: 328.716991 deg. 2jU;HeadingCmd: 5.737194 target range: 415.200012 and range: 415.20 m. j@jjjihhhh~BfffIrfIbfU- @ɛʇBD# :`I a\ѼɚiI {2=I i7i?)@)EE*Fe?2Fa:FaBFe1JFazK=yJK=9K9K= K= XS  e 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:05:25.0516 =TRx dataTimestamp_ set to:1736373926.192667Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261344GE 8G B O- >J J J J J :J q:J J a @a @a @a @-ejw,AN@@YN"P@N[9N@'>yNH֟?9?t(@A`v?/@|??P?ɨN@@N;NCyV|BV&IIbIbJ4٢jy:> j`=95qQ 5>99 =G٣9yE=P< E> MNusing accuracyPremultiplier from configIU59M?u5YMǁ, iMI8Bqu U}f@M|EM);Md;M^b5  @ZjFNOT Ignoring new targets: 415.20 m.BjlL;JjlL; ProNav: ac range: 415.200012 m, nav range: 221.964096 m, bearing: 54.196618 deg, approach rate: 0.145210 m/s, LOS rate: 0.178719 deg/s, cmd heading: 328.716979 deg, new cmd heading: 328.923070 deg. 2jN; HeadingCmd: 5.740790 target range: 415.200012 and range: 415.20 m. j-@j)j1j1i1h1h1h9h9f9f9f9rfAbfE@" @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512325ɛȇB BI 8HҼɚi I  D2=Ia ir;i`)@) U$?IQ*F?2F:F!BF%O5JF!Gc#GBOk>M Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766608jH <bH H! I!  I% 'II% ɇBI% $ =&I! .I! 6I% <:I% _ FBIJIRIZIbIjI74skjw,LݰAF l@YF{@F\9F#*>yFH?? G@(?`? #??ɨF l@Fe;FCyrBr&IIzIz"4٢K= G=9uQ  >    G٣  IGyUZ< > mNusing accuracyPremultiplier from configa59eI?5Yez, ia S f@eEe BDAT read: Tx time:22:05:26.1438 $Ping request sent.٭~٭"?٭Q ڭ}?)ڭ"Iڭ"?iڭ">ککۭ6+$?hq!Aܟɲ)ۭIۭo=iۭ?ۭ&&n۩۩:publishing transmit ping timeFpublishing direction and range infoة9حwz ?7 ?0N0?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭ6+$?hq!Aܟɲ)۩I۩i۩۩۩۩G- G) G- qAG B O% >rjw,ʩA:燯@Y:_@:_9:u+>y:H??t o ?@U@?]??ɨ:燯@:;:CyBBB&IzKNOKNh9KLKN KN  ) = P;LW;pCpR3yfUK?9)~Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y?@5^I ¿~jtx?y,?b;+A )3@IAyfAII.4٢#>  ;=9  Q  >Q ]G٣Yye ; m> Nusing accuracyPremultiplier from configy59}r?5Y}, i}R8B0?:!Hf@}E};};}i5 @kk9?k k k A:kBkZk5 |?"QQ5@11{n@Ri{fdt@wz ?7 ?0N0?Jk?Rk&&n*PZ@,Xic@Έb"w@$6Q ?`%?=N?"kC*kBknN\N9?k$Vn 2kCkK n??kxt kCkVCku?} addTargetRange:: Added new target pos. range: 415.200012 m, deltaT: 4.031821 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 415.200012 m, bearing: 56.408582 deg, lat: 36.902683 deg, lon: -122.120116 deg, deltaT: 4.031821 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 415.20 m.BjJj5 ProNav: ac range: 415.200012 m, nav range: 214.791351 m, bearing: 54.959838 deg, approach rate: 0.000000 m/s, LOS rate: 0.161773 deg/s, cmd heading: 329.145996 deg, new cmd heading: 329.341365 deg. 2j1=HeadingCmd: 5.748091 target range: 415.200012 and range: 415.20 m. j=]@j9j9j9iAhAhAhahmBfififirfqbfu`N?ɛćB 0I GӼɚiI"1=Ii% Ei%k)%]@)!JJJJJ:J^:JJ*F?2F:FBF0JFGrA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data. ) I) G G B O >xjw,䩽A>@Y>f@>Te9> 5>y>H ?3?/#¿CU`&?,@ɦ?@z?s?ɨ>@>j#;>CyJӇBJ'IIbIb4٢j-> n`=9n~kQ n>pp rG٣pyr.< v> zNusing accuracyPremultiplier from configt~59v?~5Yv, ivY8BG f@vEvU;vV;vl5oB @EZj9=FNOT Ignoring new targets: 415.20 m.BjEH];JjEH];U ProNav: ac range: 415.200012 m, nav range: 214.831787 m, bearing: 55.023931 deg, approach rate: 0.122077 m/s, LOS rate: 0.193462 deg/s, cmd heading: 329.341367 deg, new cmd heading: 329.533609 deg. 2j] Will construct direction to contact in vehicle frame from tetrahedron phase data.t~jw,A6!@Y6ƶ@6ۚk962>y6H@?@9?"¿@GGɭ?Ϛ@3o?@8?u?ɨ6!@6r;6CyBBB,'I V$?IT-Mb@Mb@Mb@))) )))Y-"~j?&1:v?y-S#?-н-T<-A -@)-`@I-3A)y-AIEIE]4٢Us= ]A=9]lQ ]>aa eG٣e IGym; m> uNusing accuracyPremultiplier from configq}59u;/?5Yun, iug8Bo%?:2;f@uEuJ J J J J |:J h:J J ͅjw,TWANP@YN@Nh9N1>yNH`? ?@`g ?@ ??w?ɨNP@N;NCyV BZS'IIfIf%x4٢n"> nT=9r:Q r>pp vG٣tyvՄ< v> ~Nusing accuracyPremultiplier from configx~59z>?5Yzǚ, izs8B9f@zEz:z7:zs5  W@EZj1=FNOT Ignoring new targets: 415.20 m.BjEQ;JjEQ;] ProNav: ac range: 415.200012 m, nav range: 214.893814 m, bearing: 55.162233 deg, approach rate: 0.080335 m/s, LOS rate: 0.183170 deg/s, cmd heading: 329.750769 deg, new cmd heading: 329.948452 deg. 2j]j;eHeadingCmd: 5.758687 target range: 415.200012 and range: 415.20 m. je*G@jajajaiahahihihifififqrfqbfu`?ɛBo 隥>I ѼɚiI80=IEi ?Qim.)*G@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm0JFi"Gu=Gu= $?IeiGGBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.A iA ZH RH @AH I  I 'II SBI $ =&I .I 6I <:I Fjw,&2A:e@Y:$@:d9:/>y:H<?}? HU??@=?{?ɨ:e@:]Ո;:CyBBBj'IININ"4٢Z= ZM=9Z1;Q ^>`` bG٣`yb@X< b> jNusing accuracyPremultiplier from configdj59f8O?n5Yf>, if8BlnA8nf@fEf ;f ;fgw5p v*@tZj15FNOT Ignoring new targets: 415.20 m.Bj=QA;Jj=QA;M ProNav: ac range: 415.200012 m, nav range: 214.922623 m, bearing: 55.230332 deg, approach rate: 0.071508 m/s, LOS rate: 0.169011 deg/s, cmd heading: 329.948462 deg, new cmd heading: 330.152730 deg. 2jM;UHeadingCmd: 5.762252 target range: 415.200012 and range: 415.20 m. jU_d@jQjYjYiYhYhYhahafafafarfibfmu?ɛBa]KJYJ]?A }=}$?>I oмɚiIŦ/=I[iUi< )_d@)*F%?2F!:F!BF%0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data. IG Gi B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.*jw, OARK-?JK-?yޝ6Bޝ'IJJJJJ:JJJuMb@Mb@Mb@qqq q)qYu\(\?~jt?yu?uLu G٣IGy > Nusing accuracyPremultiplier from config59i?5Yr, i8B{?:%f@E;; }5nB @EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 415.20 m.Bj9;Jj9;- ProNav: ac range: 415.200012 m, nav range: 214.938568 m, bearing: 55.334431 deg, approach rate: 0.024787 m/s, LOS rate: 0.161812 deg/s, cmd heading: 330.152739 deg, new cmd heading: 330.465010 deg. 2j-;-HeadingCmd: 5.767703 target range: 415.200012 and range: 415.20 m. j5@=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.j1jIjQiYhYhYhaheoBfafafirfibfm;@ $?Iɛ B J 隵 ty>I ɒͼɚ i I .=I i ^i !) @) E qAE *FU?2FQ:FQBFUQ0JFYGeqA GaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736123H5:>I1 I5'II5BI5% =&I1.I16I5<:I5X FG!f GGrA*JUR="JUR=GBOU,?Ýjw,yAj@Yj/@j]]9j (/>yjH T`?J?sz&+?@I??|?ɨj@j;hyr^Bv'IuMb@Mb@Mb@qqq q)qYux?Mb rh?yuK?uuC "=9IC;Q > G٣y= > Nusing accuracyPremultiplier from config59~?5Y, i8Bi?:f@E;;p5 @EZjFNOT Ignoring new targets: 415.20 m.Bj 4;Jj 4; ProNav: ac range: 415.200012 m, nav range: 214.929398 m, bearing: 55.413573 deg, approach rate: -0.018295 m/s, LOS rate: 0.157892 deg/s, cmd heading: 330.465015 deg, new cmd heading: 330.702448 deg. 2j%;-HeadingCmd: 5.771847 target range: 415.200012 and range: 415.20 m. j-@j)j)j)i)h)h1h1h5Bf1f9f9rf9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.987341bf=@5@ IɛB`+^ >I =.˼ɚ9i9I=`-=IEiE_kaiE"Vټ)M@)I*F?2F:FBF_0JFG)F= }~GGBO`> YyB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239116zK MK 9K K K ӡjw,mAJ ڰ@YJ@J`y\9JЁ.>yJH   G٣IGy}< > -Nusing accuracyPremultiplier from config!=59%?=5Y%, i%8BAEKEf@%E%;%Ρ;%Ƅ5Q U@ZjimFNOT Ignoring new targets: 415.20 m.Bj}C%;Jj}C%; ProNav: ac range: 415.200012 m, nav range: 214.921402 m, bearing: 55.473527 deg, approach rate: -0.019268 m/s, LOS rate: 0.144483 deg/s, cmd heading: 330.702460 deg, new cmd heading: 330.882330 deg. 2jP;HeadingCmd: 5.774986 target range: 415.200012 and range: 415.20 m. j̸@jjjihhhhfffJ1K5ـ3 K5K1K1"K1JJJJJ\:Jz:JJrfbf @ɛB`~ >I 'ȼɚiII#-=I Vi Sdiμ)̸@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:05:29.1024 mTRx dataTimestamp_ set to:1736373930.480728uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.492343 $?I E1*F ?2F :F BF \0JF "G =G = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743337jH= <bH= <HI IM C IM <(IIM ȈBII &II .II 6IM b<:IM ? FG-O!GM ?GM>GIBqO?fjw,AF@YFt@F\9F/,>yFH?az?X`Y1X?@ `?d??ɨF@F;FCy^yB^'I)d dI~I~4٢z=  =9%gQ ->99 =G٣9yEu< E> }Nusing accuracyPremultiplier from configq}59u]?}5Yu0, iu8B f@uEu7:u:uQ5qB z@Zj)5FNOT Ignoring new targets: 415.20 m.Bjm0;Jjm0; ProNav: ac range: 415.200012 m, nav range: 214.909485 m, bearing: 55.555196 deg, approach rate: -0.022544 m/s, LOS rate: 0.154506 deg/s, cmd heading: 330.882340 deg, new cmd heading: 331.127358 deg. 2j;HeadingCmd: 5.779263 target range: 415.200012 and range: 415.20 m. j@jjjihhhhfffrf!bf%@ɛuBuH* quo>Iq }kżɚyiyI9,=Ii\hiм)@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:05:29.1024 LVL= 17504, 27633, 25554, 29683, AGC= 67, IDX= 442,-0.11,-0.098,-1.304,-2.261,-1.381, PHS= 1.372, 0.125,-0.883, RAW= 63.5, -6.3, CAL= 71.3, -12.6, ROT= 78.7, 12.6 Ygot valid direction response: 22:05:29.1024 LVL= 17504, 27633, 25554, 29683, AGC= 67, IDX= 442,-0.11,-0.098,-1.304,-2.261,-1.381, PHS= 1.372, 0.125,-0.883, RAW= 63.5, -6.3, CAL= 71.3, -12.6, ROT= 78.7, 12.6 PDAT read: Bearing 78.7, 12.6 (Local) ~Local bearing/azimuth received: Bearing 78.7, 12.6 (Local) IDAT read: Range 10 to 50 : 415.8 m (Round-trip 554.4 ms) speed 0.0 m/s ,DAT read: user:2289> BDAT read: Tx time:22:05:30.1938 $Ping request sent.=J b=A܍?=z0 =&I?)=z0aI=Fѯ?i=z0a>99=T6?if :)=o|I=M=i= ?=@99:publishing transmit ping timeFpublishing direction and range info99=5l?)?ܱ,:?y9999 9)9I9i99999 9)9I9i999=T6?if :)9I9i9999E r=*F ?2F :F BF [5JF Gm ϼ Will construct direction to contact in vehicle frame from tetrahedron phase data.zK- JK- 9K) K- K-      #D[kBK= pA:K= rAGa Bq O >Gjw,gЪAB2@YBKB@BLZ9B+>yBH N?`#? @Bq?D@@?'Z?p?ɨB2@B;BCy^B^'I]Mb@Mb@Mb@YYY Y)YY]|?5^?y&1|?I +?y]?]`;]94<]+A Y)]@I]AYy]AImIm4٢< 2=9e:Q > G٣ya< > Nusing accuracyPremultiplier from config59?5Y, i8B?:(f@E ;;M5pB @Ek=Wg84?k=! k9 k=PA:k=CBk=zCZk=Cu?"=A@H|j@n#'Av@=5l?)?ܱ,:?Jk= ?Rk=@*=3-V@ ^_@0U "x@=y;^O?Ƚvl?^צf?"k=bB*k=nBk=t&T4?k=7 2k=0Ck=cI ¼ɚiIr+=I ikiH) @) EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I*Fe ?2Fa :Fa BFe 1JFi GM ԼG!BAO]>jw,AH69>I4 I6h(II6BI4&I4.I46I6<:I6c FBI)JI)RI)ZI)bI)jI-4FWill construct direction to contact in vehicle frame from tetrahedron phase data.N{K@YNZ@N^9Ng">yNH+?@n?@a߿`\?Em٫???ɨN{K@N3;LyZBZ'IIbIb4٢j< n7=9r+Q r>pp rG٣rIGyv; v> zNusing accuracyPremultiplier from configx~59z?5Yzܷ, iz9BQf@zEz;z;z*5  Ǟ@-B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 415.80 m.BjE\8;JjE\8; ProNav: ac range: 415.799988 m, nav range: 206.731827 m, bearing: 57.086416 deg, approach rate: -0.036181 m/s, LOS rate: 0.161181 deg/s, cmd heading: 331.323324 deg, new cmd heading: 331.533369 deg. 2j;;HeadingCmd: 5.786349 target range: 415.799988 and range: 415.80 m. j)@jjj i h h h hfffrfbf~?ɛmBm8H; 隕 >I ̿ɚiI*=IZaimi!ü))@)*FU?2FQ:FYBF]_0JFYJJJJJ|:J:JJJ:jw,lAyB'Ii R=I a> =a=Mb@Mb@Mb@ )YA`"?Q?Mbp?y?u<;A )@I3AyAAAIIv}4٢i; ;=9Q > G٣y > Nusing accuracyPremultiplier from config59W?5Y", i9B#?:f@EN;;5 @EZj)-FNOT Ignoring new targets: 415.80 m.Bj5G=;Jj=G=;M ProNav: ac range: 415.799988 m, nav range: 206.712204 m, bearing: 57.158300 deg, approach rate: -0.045168 m/s, LOS rate: 0.165481 deg/s, cmd heading: 331.533366 deg, new cmd heading: 331.749038 deg. 2jM";]HeadingCmd: 5.790113 target range: 415.799988 and range: 415.80 m. j]H@jYjYjYiYhYhahaheBfafifirfibfmן?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239171ɛBג; 隥>I ɼɚiI)=Isi`Bqi߼)H@)zKMKKK K-/(" wojmf_XRNMHB>9320-+(&%'$! *F?2F:FBFJFG nG B O > E $?IA M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492609+jw,E"A6@Y6$@6X96>y6H@_?@?྿kP߿5? ?d??ɨ6@6Ό;6CybBb'IIjIj4٢rͻ r[=9v?;Q v>tt vG٣xyz"< z> Nusing accuracyPremultiplier from config|59~? 5Y~, i~&9B   f@~E~U;~;~<5! %ʞ@!ZjIMFNOT Ignoring new targets: 415.80 m.BjM;;JjU;;e ProNav: ac range: 415.799988 m, nav range: 206.693405 m, bearing: 57.219900 deg, approach rate: -0.050144 m/s, LOS rate: 0.164328 deg/s, cmd heading: 331.749036 deg, new cmd heading: 331.933854 deg. 2je;mHeadingCmd: 5.793339 target range: 415.799988 and range: 415.80 m. jmc@jijqjqiqhqhqhyhyfyfyfrfbf?ɛB < 隵>I M|ɚiI)=I.i6siר)c@)*FU?2FQ:FQBF]0JFYG-!ּGBO )>ZHYRHYHe8>Ia Ieu(IIeBIa&Ia.Ia6Ie<:Iek FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743116J J J J J ̶:J B:J J J ;J ;J #b;J $b;nYjw,{/yH?:,?.޿`v?VjM?W??ɨձ@ƌ;Cy=wB='IMb@Mb@Mb@ I )YA`"?y&1|?y&1|y`;` A @)IAyzAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995854IIb4٢SX 8=9;Q > G٣%IGy%|< %> 5Nusing accuracyPremultiplier from config)559-?55Y-0, i-19B=?=:==f@-E-;-;-5A E@MEZjiuFNOT Ignoring new targets: 415.80 m.Bj}P=;Jj}P=; ProNav: ac range: 415.799988 m, nav range: 206.672318 m, bearing: 57.293143 deg, approach rate: -0.047648 m/s, LOS rate: 0.165510 deg/s, cmd heading: 331.933861 deg, new cmd heading: 332.153610 deg. 2j-;HeadingCmd: 5.797174 target range: 415.799988 and range: 415.80 m. js@jjjihhhhmBfffrfbf@ɛB<; >I sɚiI B(=Ixi-uiՁ)s@)E)E-qA*F?2F:FBF0JF"G=G Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248273G N޼zK] NK] +9KY K] K]   G B OE >e?jw,VAR@YR@RA9RM>yRH??7l ڗ޿`q?4`9?m?ൔ?ɨR@R{;RCy^zB^'I)` `IfIf4٢r< r`=9rN;Q r>tt vG٣tyzw< z> ~Nusing accuracyPremultiplier from config|59~?5Y~, i~99B   f@~E~:~:~L5 S@EZj9=FNOT Ignoring new targets: 415.80 m.BjE:=;JjE:=;U ProNav: ac range: 415.799988 m, nav range: 206.653870 m, bearing: 57.353362 deg, approach rate: -0.050677 m/s, LOS rate: 0.165437 deg/s, cmd heading: 332.153602 deg, new cmd heading: 332.334275 deg. 2jU;]HeadingCmd: 5.800327 target range: 415.799988 and range: 415.80 m. j]H@jYjYjYiYhYhahahifqfqfyrfbfE@ɛB9< >I ;ɚiI'=IU"9iU^wiUgo)UH@)Y*F2F:FBF@5JF $?IGE Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500255GBOD>HY IY  I] h(II] BI] & =&IY .IY 6I] ><:I] # Fjw,@jpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752556ypB'II I 4٢%,7 -4=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from config9E59=&?M5Y=4, i=D9BIIMf@=E= ;= ;=C5Y ]@Y}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 415.80 m.Bj<;Jj<; ProNav: ac range: 415.799988 m, nav range: 206.631241 m, bearing: 57.428332 deg, approach rate: -0.049622 m/s, LOS rate: 0.164417 deg/s, cmd heading: 332.334274 deg, new cmd heading: 332.559208 deg. 2j;HeadingCmd: 5.804253 target range: 415.799988 and range: 415.80 m. jq@jjjihhhhfffrfbf @ɛB#[; >I kɚiIx&=I6i Jbyi njw,"4A6"F@Y6U@6.96Ff>y6H@/?(w? >(-޿@?@潿@oإ?@?`?ɨ6"F@6p;4yRbBR'I5Mb@Mb@Mb@111 1)1Y5V-?y&1ii mG٣mIGyu-< u> }Nusing accuracyPremultiplier from configy59}87?5Y}Z, i}E9B?:f@}E};};}5oB Ԡ@EZjFNOT Ignoring new targets: 415.80 m.Bj>F;Jj>F; ProNav: ac range: 415.799988 m, nav range: 206.622620 m, bearing: 57.493664 deg, approach rate: -0.022870 m/s, LOS rate: 0.173316 deg/s, cmd heading: 332.559206 deg, new cmd heading: 332.755210 deg. 2j;HeadingCmd: 5.807674 target range: 415.799988 and range: 415.80 m. jwع@jjjihhhhDBfffrfbf @ɛB`; >I ɚiIJ&=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255289IU6viU{iUa)Uwع@)YzK g3LK K K  K *F?2F:FBF_0JF G GGM lG! B1 OM > i Im gi Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:05:33.1513  TRx dataTimestamp_ set to:1736373934.516555 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508035jw,4A:[U@Y:d@:`l)9:i>y:HS7?3a?Ȼ޿?N使@,?౴???ɨ:[U@:^;:Cyb^Bb'Iif=If=IjIj4٢r rR=9va^;Q v>tx zG٣xyz; z> Nusing accuracyPremultiplier from config| 59~H? 5Y~, i~G9B   f@~E~;~/;~5 @ZjAMFNOT Ignoring new targets: 415.80 m.BjME;JjME;e ProNav: ac range: 415.799988 m, nav range: 206.613617 m, bearing: 57.560734 deg, approach rate: -0.023193 m/s, LOS rate: 0.172796 deg/s, cmd heading: 332.755205 deg, new cmd heading: 332.956423 deg. 2je-;mHeadingCmd: 5.811186 target range: 415.799988 and range: 415.80 m. jm<@jijijiiihihqhqhqfqfyfyrfybf} @ɛ; 隭 >I GɚiIH%=Ii˽|i%)<@)*F?2F:FBFJFG'GBO=>HI IU(II܈BI&I.I6I~<:IR F=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.759279J J J J J J J \:J K:J J J <J <J c;J c;jw,cFA n$?Ilh@Y_x@Q!9n>yH A? D?`0ݿ@k?8? ? ?ɨh@;Cy5QB5'IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:05:33.1513 LVL= 15776, 27425, 18898, 27635, AGC= 67, IDX= 430, 0.12,-2.706, 2.304, 1.604, 2.495, PHS= 1.170,-0.144,-0.894, RAW= 69.0, -1.5, CAL= 74.4, -6.0, ROT= 75.6, 6.0 Ygot valid direction response: 22:05:33.1513 LVL= 15776, 27425, 18898, 27635, AGC= 67, IDX= 430, 0.12,-2.706, 2.304, 1.604, 2.495, PHS= 1.170,-0.144,-0.894, RAW= 69.0, -1.5, CAL= 74.4, -6.0, ROT= 75.6, 6.0 PDAT read: Bearing 75.6, 6.0 (Local) ~Local bearing/azimuth received: Bearing 75.6, 6.0 (Local) DAT read: Range 10 to 50 : 415.0 m (Round-trip 553.4 ms) speed 0.3 m/s 5,DAT read: user:2290> BDAT read: Tx time:22:05:34.2438 $Ping request sent.ii mG٣iyup; > Nusing accuracyPremultiplier from config59vb?5Y, iE9B&?:f@E; ;ۮ5rB @Ekv$?k> k kaA:kCBkCZkR?" 7% .9g@B80/w@PJ듿,~?nS?Jk?Rk蔍*tZ+8C@R9Y^@Cx@/?xS ?Qmj?"k2B*kBk^ %?kR' 2kNCknN\N9?k$Vn kCkI) -ɚ1i1I5$=ImZim@ im)mU @)qE Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF% 5JF! zKu yJKu 9Kq Ku Ku ! BK qA:K pAG G ?G >GBO >jw,ݫAzo@Yz~@z&9zMg>yzHD?R? ;@ݿ!?@zYC?Y??ɨzo@z;zC $?IyCB'II5I54٢E땽 Ee=9e;Q m>ii mG٣mIGyu; u> }Nusing accuracyPremultiplier from configy59}r?5Y}+, i}C9Bwf@}E}$;}m;}5 @EWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj9eFNOT Ignoring new targets: 415.00 m.Bjed;Jjed;u ProNav: ac range: 415.000000 m, nav range: 188.083588 m, bearing: 57.945498 deg, approach rate: 0.013071 m/s, LOS rate: 0.200187 deg/s, cmd heading: 333.257852 deg, new cmd heading: 333.469573 deg. 2juc <}HeadingCmd: 5.820142 target range: 415.000000 and range: 415.00 m. j>@jjjihhhhfffrfbf?ɛ!%@ ; )->I) -ɚ)i)I-$=I]i] i]G)]>@)a*F?2F:FBF_0JFGGBOe>H7>I I6(IIˆBI&I.I6I<:Iq F Will construct direction to contact in vehicle frame from tetrahedron phase data.ny6HOS??+nݿ!?+?`eE?`?ɨ6b@6l;6CyBABB'I)D DIJIJ4٢VH VV=9V=;Q V>XX ZG٣Xy^#< ^> bNusing accuracyPremultiplier from config`f59b?f5Yb, ibA9Bdjzjf@bEb:b*:bG5l e@aB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 415.00 m.Bj^;Jj^; ProNav: ac range: 415.000000 m, nav range: 188.087830 m, bearing: 58.020151 deg, approach rate: 0.011071 m/s, LOS rate: 0.194828 deg/s, cmd heading: 333.469561 deg, new cmd heading: 333.693514 deg. 2jI Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. =ɚ9i9I=^ $=Iii)^@) *F?2F:FBFJFG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228364G B O >!{kw,hA6㭲@Y6\@696AD>y6H@a??@D\wݿ ,?`{?`+? ?ɨ6㭲@6;6Cy>=B>'IzK-;LK-9K)K- K- RK=?JK=?Mb@Mb@Mb@ )Y!rh?sh|?~jtyl'? A p@)@Iyz@II4٢rx 0=9l:Q > G٣y< > Nusing accuracyPremultiplier from config59f?5Y<, i=9B(?:rf@E;;U5 E@EZj)-FNOT Ignoring new targets: 415.00 m.Bj5p;Jj5p;E ProNav: ac range: 415.000000 m, nav range: 188.100693 m, bearing: 58.113244 deg, approach rate: 0.029092 m/s, LOS rate: 0.210532 deg/s, cmd heading: 333.693509 deg, new cmd heading: 333.972765 deg. 2jE|I1 53ɚYiYI]#=Ieim8imVļ)u@)JJJJJ<:JU:JJa@a@a@a@*F5?2F1:F9BF9JF9 aIieWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.480293GU fG9 BI Om > kw,,A6vв@Y6߹@6: 96!>y6Hyr??@:ݿ8? S3? P ?%?ɨ6vв@6G;6Cy>5B>'IIJIJs4٢R4 Ra=9RF;Q R>TT VG٣VIGyZk>< Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^, i^:9BdfUff@^E^B;^C;^5l nȣ@lZjFNOT Ignoring new targets: 415.00 m.Bj d;Jj d; ProNav: ac range: 415.000000 m, nav range: 188.110062 m, bearing: 58.186077 deg, approach rate: 0.025754 m/s, LOS rate: 0.200199 deg/s, cmd heading: 333.972755 deg, new cmd heading: 334.191241 deg. 2je <%HeadingCmd: 5.832737 target range: 415.000000 and range: 415.00 m. j%ɥ@j!j!j!i!h)h)h)h)f)f1f1rf1bf5 ]?ZHRHAAH8>I I(IIBI&I.I6Iz<:IP FBICJICRIZI& =bI& =jI4ɛau y}>Iy }}ɚyiyI}n,#=Iiلi뾼)ɥ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732932*F-?2F):F)BF-0JF)GUJ¼G1 $?I B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984221`kw,\FAy!%'Ii=>I=> M=M=UMb@Mb@Mb@QQQ Q)QYUx&?v/MbyU7)?Ux齹UU A U@)U@IQQyU@ImIm4٢}q[ }0=9Q > G٣y > Nusing accuracyPremultiplier from config593?5Y, i59B+?:#f@E;M;5qB ɣ@EZjFNOT Ignoring new targets: 415.00 m.Bji;Jji; ProNav: ac range: 415.000000 m, nav range: 188.136688 m, bearing: 58.280806 deg, approach rate: 0.057286 m/s, LOS rate: 0.203775 deg/s, cmd heading: 334.191239 deg, new cmd heading: 334.475383 deg. 2j <HeadingCmd: 5.837697 target range: 415.000000 and range: 415.00 m. jiκ@jjjihhh h Bf ffrfbf3h@ɛAEϽ IM>II UɚQiQIUϷ"=I]i]~i]X)]iκ@)Y*Fe?2Fa:FaBFm 1JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237406zKuKKu9KqKu KuG EJ J J J J \:J J J G B O >ckw,7`A IJ@YJ@J9J#>yJHƒ?`f?WpܿC?&`g?`d?๝?ɨJ@J;JCyb4Bb'IInInʴ4٢vٻ vh=9v'xx zG٣xy~XM< ~> Nusing accuracyPremultiplier from config 597?5Y_, i09B"f@E>/;/;5! %ܣ@!=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.488351ZjFNOT Ignoring new targets: 415.00 m.Bj^;Jj^; ProNav: ac range: 415.000000 m, nav range: 188.156097 m, bearing: 58.352476 deg, approach rate: 0.052700 m/s, LOS rate: 0.194580 deg/s, cmd heading: 334.475375 deg, new cmd heading: 334.690361 deg. 2j<HeadingCmd: 5.841449 target range: 415.000000 and range: 415.00 m. j&@j j j i h hhhf!f!f!rf!bf- e@ɛm  quʼn>Iq ut՟ɚqiqIuV"=I}F+i}i}ۼ)&@)*F%?2F!:F!BF-W5JF)GGBOj>H7>I I(IIBI&I.I6IP<:I1 FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740254kw,#zA2@Y2?@2P92W>y2Hl?@O?@ܿH?@+u i? hu?@^?ɨ2@2I;0yb.Bb'IIjIj4٢vl zJ=9K;Q  > G٣IGyC; %> -Nusing accuracyPremultiplier from config!-59%?55Y%, i%*9B150"5f@%E%:%2 ;%75A E6@EEmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 415.00 m.Bjm;Jjm; ProNav: ac range: 415.000000 m, nav range: 188.178543 m, bearing: 58.435714 deg, approach rate: 0.056105 m/s, LOS rate: 0.208037 deg/s, cmd heading: 334.690362 deg, new cmd heading: 334.940046 deg. 2j<HeadingCmd: 5.845807 target range: 415.000000 and range: 415.00 m. j@jjjih 5$?I=hihAhqhqfyffrfbf@ɛ9=8 AE݃>IA EMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.992413ɚAiiImK!=Im ߾iuʉiu)u@)q*F2F:FBF @5JF GE VG! B9 Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244222$kw,AV@YVm@Vw߼9V!>yVH5?`:?ܷ`ܿK?@?C?ƛ?ɨV@VW;VCy6B'I)! !-A-AzKK9KK K EpkFMb@Mb@Mb@ )YMb?!rhMby#?l罹 A p@)@I`@y=@II4٢=  .=9H;Q > G٣yO; > -Nusing accuracyPremultiplier from config!M59%j?U5Y%g, i%#9BU%?U:U"Ug@%E%;%Y;%Q5JJJJJ̶:JJJ tB @ ZjquFNOT Ignoring new targets: 415.00 m.Bj}T;Jj}T; ProNav: ac range: 415.000000 m, nav range: 188.204773 m, bearing: 58.527786 deg, approach rate: 0.052935 m/s, LOS rate: 0.185784 deg/s, cmd heading: 334.940046 deg, new cmd heading: 335.216220 deg. 2j;HeadingCmd: 5.850627 target range: 415.000000 and range: 415.00 m. jV8@jjjihhhhBff!f!rf!bf- S @ɛp 隕u>I ɚiI!=IJxݾiɋiD)V8@) %$?I!]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:22:05:37.1997 mTRx dataTimestamp_ set to:1736373938.553724uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.499131*F2F:FBFJFG GG B O >,=+kw,#A>&@Y>&@>ټ9>>y>H?,? ȷ`ܿ@M? +`2?(? ?ɨ>&@>s;>CyN9BN'IIVIV.4٢bM< ff=9f;Q f>hh jG٣hyn:; n> rNusing accuracyPremultiplier from configpv59r?v5Yr, ir9Btv"zg@jH bH <H6>I I'IIBI&I.I6I<:Ii FrErr I ɚiID!=I۾i@i )U@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749099E*F-?2F1:F1BF5_0JF9GQ GQG5rGB!J5@AJ5@AOEQ> I Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:05:37.1997 LVL= 14064, 30785, 19698, 26467, AGC= 66, IDX= 429, 0.19,-1.884, 3.089, 2.563,-2.891, PHS= 1.094,-0.257,-0.833, RAW= 73.1, -0.1, CAL= 78.3, -4.2, ROT= 71.7, 4.2  Ygot valid direction response: 22:05:37.1997 LVL= 14064, 30785, 19698, 26467, AGC= 66, IDX= 429, 0.19,-1.884, 3.089, 2.563,-2.891, PHS= 1.094,-0.257,-0.833, RAW= 73.1, -0.1, CAL= 78.3, -4.2, ROT= 71.7, 4.2  PDAT read: Bearing 71.7, 4.2 (Local)  ~Local bearing/azimuth received: Bearing 71.7, 4.2 (Local)  DAT read: Range 10 to 50 : 413.7 m (Round-trip 551.6 ms) speed 0.0 m/s  ,DAT read: user:2291> % BDAT read: Tx time:22:05:38.2939 % $Ping request sent.% Bv'IMb@Mb@Mb@ )YQ?V-:vy(?T A )@Iyz@I%I%"4٢uɣ< u6=9uQ }> G٣IGy > Nusing accuracyPremultiplier from config59H?5Y, i9B?:%g@E ;;v5  ^@Ekt?kpIi" k kìA:kCBkoCZk]?"oeAj6:c@]_w@r4'?SSG8u?Jk?Rk*W4.@x|eY@yy@,+S㔢?]RY?{(/@?"kB*k9pAk} ?k!IV" 2k3Ckt&T4?k7 k0Ck Ck}? addTargetRange:: Added new target pos. range: 413.700012 m, deltaT: 4.031722 s, deltaX: -1.299988 m, approachRate: -0.322440 m/s, rangeRepo size: 4  Added new target pos. range: 413.700012 m, bearing: 81.740843 deg, lat: 36.902390 deg, lon: -122.120692 deg, deltaT: 4.031722 s, deltaX: -1.299988 m, approachRate: -0.322440 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 413.70 m.BjJj- ProNav: ac range: 413.700012 m, nav range: 154.126114 m, bearing: 56.744951 deg, approach rate: 0.000000 m/s, LOS rate: 0.212165 deg/s, cmd heading: 335.422667 deg, new cmd heading: 335.725895 deg. 2j15HeadingCmd: 5.859522 target range: 413.700012 and range: 413.70 m. j55@j9j9j9i9h9h9hAhEBfafafirfm@3y@bfm7?ɛB# 隽֒>I :ɚiI =I^ؾi i)5@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:22:05:38.2931 *FY2FY:FaBFaJFazK=ջLK=9K9K= K=JY J] JY JY JY J] :JY JY G G ?G ?GY Bi $?I O >J8kw,\⬽AFWill construct direction to contact in vehicle frame from tetrahedron phase data.Z6@YZE@Zͼ9Z7!>yZH)??Aܿ'X???`#?ɨZ6@ZR;ZCybABb'IInIn4٢Uߐ< ]Z=9e>;Q e>aa eG٣iym(< m> uNusing accuracyPremultiplier from configq}59uH(?5Yu, iu9B$g@uEu;u ;u5 (@ZjFNOT Ignoring new targets: 413.70 m.BjQ;JjQ; ProNav: ac range: 413.700012 m, nav range: 154.140533 m, bearing: 56.827545 deg, approach rate: 0.042228 m/s, LOS rate: 0.241852 deg/s, cmd heading: 335.725900 deg, new cmd heading: 335.973655 deg. 2j%<HeadingCmd: 5.863846 target range: 413.700012 and range: 413.70 m. j@jjjihhhhfffrfbf@?ɛp; >I! %Jɚ!i!I% =I-־i-tΑi-\)-@)1*F?2F:FBFo0JFGGBO>>H5>I I(IIBI&I.I6I<:Ik F5Will construct direction to contact in vehicle frame from tetrahedron phase data.*JU C="JQ px>kw,A6^B@Y6Q@6˼96D(>y6H ??=?qܿ`U?[ {?@?$?ɨ6^B@6ى;4yzBBz'IIId4٢H; N=9%:Q ->99 EG٣Ay]ft; ]> Nusing accuracyPremultiplier from configy59}E9?5Y}- i} 9B$g@}E}<}<}#5sB @E U$?IQ=PExceeded connect timeout, disconnecting.EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 413.70 m.Bj]7i;Jj]7i;Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 413.700012 m, nav range: 154.156738 m, bearing: 56.920949 deg, approach rate: 0.035377 m/s, LOS rate: 0.203893 deg/s, cmd heading: 335.973645 deg, new cmd heading: 336.253827 deg. 2j <HeadingCmd: 5.868736 target range: 413.700012 and range: 413.70 m. j̻@jjjihhhhfffrfbfV?ɛ=B=E: 9=N>I9 e0lɚaiaIe" =Im2Ծimimt+)u̻@)qErAE) MGetA YtAyOB*FU?2FQ:FYBF]m0JFYG} o= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248087GQ Bi O >\Ekw,A}AV F@YVU@V7̼9V &>yVH@R??`jܿiY?`E,@G?ø?@\?ɨV F@V;VCy!zK]JK]h9KYK] K]RKe?JKe? Mb@Mb@Mb@    ) Y  ףp= ?1Zd{Gzy Q? "۽ #  A Z@) @I I@ y 3@I%I%i4٢5Xh: 5:=95Z̸Q 5>99 =G٣=IGyE: E> MNusing accuracyPremultiplier from configIU59MJ?U5YM- iM9B]?]:]"]g@M EM;MR;M5a e@aZjFNOT Ignoring new targets: 413.70 m.Bj;Jj; ProNav: ac range: 413.700012 m, nav range: 154.171432 m, bearing: 57.017340 deg, approach rate: 0.038936 m/s, LOS rate: 0.255384 deg/s, cmd heading: 336.253819 deg, new cmd heading: 336.542961 deg. 2jD/<HeadingCmd: 5.873783 target range: 413.700012 and range: 413.70 m. j@jjjihhhh܇Bfffrfbf*?ɛ2r; >I mɚiI =I<Ѿii$<)@)*F?2F:FBF1JF YIYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502035Gr(G B O >!Kkw,Y0A6f@Y6*v@6[396M%>y6H@ ??k 0ܿBg?=ᥗ??౒?ɨ6f@6;6CyFMBF'IZHPRHR@AHTIT IV (IIVBIT&IT.IT6IV<:IVV FININפ4٢f|u= fd=9j;Q j>hh jG٣hyv5< v> zNusing accuracyPremultiplier from configx59zY?5Yz} - iz8B! g@z Ez+;z+;z 5 `@EZj9EFNOT Ignoring new targets: 413.70 m.BjE;JjE;U ProNav: ac range: 413.700012 m, nav range: 154.183243 m, bearing: 57.098201 deg, approach rate: 0.032673 m/s, LOS rate: 0.223681 deg/s, cmd heading: 336.542955 deg, new cmd heading: 336.785518 deg. 2jUI ѐɚiI/u=IVrϾiEi4:)@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753482*F?2F:FBF5JFGm%:G!B1OM1>J-J-J)J)J-\:J-U:J)J)J)a5J)a5J-e;a=J-e;a= U$?IY = nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006484 oRkw,5JA6@Y6@6$J96&>y6Hf? \?l䶿`=ۿ v? {ڨ?`??ɨ6@6;6CyPR'IEMb@Mb@Mb@AAA A)AYE-?I +{GzyE??E9AE A EC@)E@IE`@AyAIUIUʴ4٢mt: m@=9uڕ;Q u>qy }G٣yy6< > Nusing accuracyPremultiplier from config59)k?5Y/- i8B?:g@E;;5 ]@ZjFNOT Ignoring new targets: 413.70 m.Bj {;Jj {; ProNav: ac range: 413.700012 m, nav range: 154.189011 m, bearing: 57.190897 deg, approach rate: 0.013657 m/s, LOS rate: 0.219480 deg/s, cmd heading: 336.785508 deg, new cmd heading: 337.063584 deg. 2j<HeadingCmd: 5.882869 target range: 413.700012 and range: 413.70 m. jw@@jjjihhhhBfff rf bf _\@ɛB `; >I [ɚiI=I@̾i-ziN;)-w@@)1*F?2F:FBF4JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255966zKJK9KK KBKpA:KqAGG?G>G B O > I IQ Xkw,@dA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507731>c@Y>ú@>9>'A(>y>H t??N`}ۿ?@T??@?ɨ>c@>i;>CyZGBZ'II~I~s4٢ ~  Q=9 ;Y;Q  > G٣IGyF< > %Nusing accuracyPremultiplier from config!-59%H{?-5Y%- i%8B)5}5g@%E%;%;%(5EvB E@EEZjimFNOT Ignoring new targets: 413.70 m.Bjuz;Jjuz; ProNav: ac range: 413.700012 m, nav range: 154.193604 m, bearing: 57.276538 deg, approach rate: 0.011727 m/s, LOS rate: 0.218665 deg/s, cmd heading: 337.063579 deg, new cmd heading: 337.320492 deg. 2j<HeadingCmd: 5.887353 target range: 413.700012 and range: 413.70 m. j3e@jjjihhhhfffrfbf l|@ɛB(i; >I ԖɚiI=I%zʾi]Z;i]7:)e3e@)a*F?2F:FBF_0JFHI I(IIBI&I.I6Ib<:I< FBIaJIaRIaZIabIajIe)4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759853Gw:G B O >JK KKK"KJ= J= J9 J9 J= :J= ^:J9 J9 J= ;J= ;.^kw,}AJmg;Jmg;:@Y:@:99:%+>y:HM?^? BQyFۿ?F¿ ?` I? ?ɨ:@:;:CyFKBF'IiJa>IJ4< J=Ja=PPIRIRЬ4٢Z֚< ZP=9^g;Q ^>\` bG٣`yb9< b> jNusing accuracyPremultiplier from configdj59f?j5Yf- if8Bl]]g@fEfIQ U^ɚQiQIUVz=I]\Ⱦi]i]3)]@)a*F?2F:FBFJFG% d':G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263936O5 >ekw,ЗA6@Y6M"@6 %96->y6H? n?e ڿ b?¿`h? G٣y A< > Nusing accuracyPremultiplier from config59>?5Y- i8B?:!g@E;);]5 q@EzKBHKKK K*F\djjaQF?4,% RK?JK>B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 413.70 m.Bj ;Jj ; ProNav: ac range: 413.700012 m, nav range: 154.199493 m, bearing: 57.455752 deg, approach rate: 0.006502 m/s, LOS rate: 0.246611 deg/s, cmd heading: 337.578603 deg, new cmd heading: 337.858142 deg. 2j?)<HeadingCmd: 5.896737 target range: 413.700012 and range: 413.70 m. j@jjjihhhhBfffrfbfD @ɛ.; !%&>I! %~ɚ!i!I%2=ImžimCyimc4)u@)q I*F%?2F):F)BF)JF1}Will construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:05:41.2496 TRx dataTimestamp_ set to:1736373942.584653checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516951G%  .G1 G1 G B O- >kkw,AjH"<bH"p<H&4>I$ I&(II&BI$&I$.I$6I&<:I&R F~fE@Y~T@~9~/>y~Hg? ?M쵿 Rڿ?@¿"?@W?@Ն?ɨ~fE@~U;|y JB 'II}I}4٢ؽ J=9 ;Q > G٣IGy4z< > Nusing accuracyPremultiplier from config59ۭ?5Y- i8Bg@ Eq ; ;5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767931ZjFNOT Ignoring new targets: 413.70 m.Bju;Jju;- ProNav: ac range: 413.700012 m, nav range: 154.200699 m, bearing: 57.542908 deg, approach rate: 0.002963 m/s, LOS rate: 0.214211 deg/s, cmd heading: 337.858149 deg, new cmd heading: 338.119610 deg. 2j-<5HeadingCmd: 5.901300 target range: 413.700012 and range: 413.70 m. j5t׼@j1j1j1i1h1h9h9h9f9fAfArfAbfE[@ɛ}B}$; y}Q>Iy aɚiI=Ihþi2˦iw.)t׼@)*F 2F:FBFo0JFJJJJJ\:J9:JJJ<J<JX`;JY`; $?IGU7GI  Will construct direction to contact in vehicle frame from tetrahedron phase data.B O > DAT read: 22:05:41.2496 LVL= 17904, 31633, 24562, 31795, AGC= 65, IDX= 443, 0.21,-0.557,-2.031,-2.412,-1.656, PHS= 1.186,-0.328,-0.760, RAW= 77.8, -1.1, CAL= 84.3, -6.0, ROT= 65.7, 6.0  Ygot valid direction response: 22:05:41.2496 LVL= 17904, 31633, 24562, 31795, AGC= 65, IDX= 443, 0.21,-0.557,-2.031,-2.412,-1.656, PHS= 1.186,-0.328,-0.760, RAW= 77.8, -1.1, CAL= 84.3, -6.0, ROT= 65.7, 6.0  PDAT read: Bearing 65.7, 6.0 (Local)  ~Local bearing/azimuth received: Bearing 65.7, 6.0 (Local)  DAT read: Range 10 to 50 : 413.6 m (Round-trip 551.5 ms) speed 0.3 m/s  ,DAT read: user:2292>  BDAT read: Tx time:22:05:42.3439  $Ping request sent. y6H )? ? @)Tڿ`? 6ÿ@?? o?ɨ6n@6ˆ;6CyBPBB'I)D DHHMb@Mb@Mb@ )Yn?(\µQy?uE A -@)I@y@IyIy٢< ;=9:Q > G٣y;< > Nusing accuracyPremultiplier from config59t?5Y- i8B?:g@$EL;;5 R@ Ekr&?ksw& k kŭA:kCBkbCZk6?"A1+#`@'tkx@cb西%B?ZOb?Jk?Rk5*``@5)-O@xshy@LU,w?RK*?uuy?"kB*k@k⋌?k*7& 2kdCk^ %?kR' kNCkCk? addTargetRange:: Added new target pos. range: 413.600006 m, deltaT: 4.034784 s, deltaX: -0.100006 m, approachRate: -0.024786 m/s, rangeRepo size: 4  Added new target pos. range: 413.600006 m, bearing: 87.829682 deg, lat: 36.901956 deg, lon: -122.120739 deg, deltaT: 4.034784 s, deltaX: -0.100006 m, approachRate: -0.024786 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 413.60 m.BjJjM ProNav: ac range: 413.600006 m, nav range: 130.592575 m, bearing: 74.778873 deg, approach rate: 0.000000 m/s, LOS rate: 0.214211 deg/s, cmd heading: 338.119608 deg, new cmd heading: 338.413217 deg. 2jIUHeadingCmd: 5.906425 target range: 413.600006 and range: 413.60 m. jUo@jYjYjYiYhYhYhahBfffrfy@bfm?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:05:42.3431 ɛ B \;  {>I 1+ɚiI=IiЩi=|/)Eo@)A*F?2F:FBFk0JFzK-jMK- 9K)K- K-BK=qA:K9 I G B4.G B O >xkw,{f孽AWill construct direction to contact in vehicle frame from tetrahedron phase data.y=KB='IImIm4٢}/ ]=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y"- i8Bg@(E0;}<51 =@9ZjFNOT Ignoring new targets: 413.60 m.Bj;Jj; ProNav: ac range: 413.600006 m, nav range: 130.655914 m, bearing: 74.869739 deg, approach rate: 0.170176 m/s, LOS rate: 0.244016 deg/s, cmd heading: 338.413224 deg, new cmd heading: 338.685689 deg. 2jw'<HeadingCmd: 5.911180 target range: 413.600006 and range: 413.60 m. jd(@jjjihh)h1h1f1f1f9rf9bf=Q,?ɛB-; 隕Ė>I sɚiI`=Ilwi@>iB)d(@)*F?2F:FBF0JFHAIA IAIAIA&IA.IA6IE<:IEv FWill construct direction to contact in vehicle frame from tetrahedron phase data.G% g0G- ?G- (?G B O >J J J /J J ̶:J K:J (N3J J ;J ;J c;J c;kw,>A2ɵ@Y2BŻ@2咂926>y2H F??? Y`\ٿ ? ÿ`/R?"?|?ɨ2ɵ@2".;0yfMBf'IIrIry4٢zW< zT=9zUQ ~>|| G٣y <  > Nusing accuracyPremultiplier from config59R?5Y%- i8B!%w %g@+E;9;Q5=uB =@EE e$?IaZjFNOT Ignoring new targets: 413.60 m.Bj;Jj; ProNav: ac range: 413.600006 m, nav range: 130.721207 m, bearing: 74.965895 deg, approach rate: 0.177734 m/s, LOS rate: 0.261619 deg/s, cmd heading: 338.685694 deg, new cmd heading: 338.974017 deg. 2j3<HeadingCmd: 5.916213 target range: 413.600006 and range: 413.60 m. jQ@jjjihhhh fffrfbfJ?]Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛBE0; IM>II M|gɚIiQIU=IU㻾i]i]n;2)]Q@)Y*F?2F:F!BF%_5JF!G,$=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.> kw,7QA:ʹ@Y:Bݻ@:1΁9:k4>y:H*P? ?nٿ ? ÿ9?n?)?ɨ:ʹ@:u;:CyFIBF'IiJ=IJ= N=N=-Mb@Mb@Mb@))) )))Y-l?/$Mby-?--- A ))-@I-3@)y-(@IUIUv}4٢ef eB=9mh9Q m>ii mG٣mIGyu; u> Nusing accuracyPremultiplier from config59?5YO)- zKRIK9KK Ki8B?:  g@0E;;5 Ȣ@E-B*** querying acoustic contact ***j)j)ZjYeFNOT Ignoring new targets: 413.60 m.Bje;Jje; ProNav: ac range: 413.600006 m, nav range: 130.794067 m, bearing: 75.074863 deg, approach rate: 0.168518 m/s, LOS rate: 0.251888 deg/s, cmd heading: 338.974010 deg, new cmd heading: 339.300728 deg. 2j,<HeadingCmd: 5.921915 target range: 413.600006 and range: 413.60 m. jT@jjjihhhhBfffrfbf`Y?ɛBJݨ; >I %3M}ɚ!i!I%=I-piM#miM?)MT@)Q =$?IA*F2F:FBF$4JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.G4?Ga By O >ZH RH AAH% 3>I!  I% (II% BI! &I! .I! 6I% <:I% _ F'#kw,W2A6@Y6@6}z964>y6Hx`? v? U`[ٿf?ÿ`cO?'t??ɨ6@6Z ;6Cy>OBB'IIJIJ4٢Rd< RZ=9R:Q R>TT VG٣TyZcY< Z> ^Nusing accuracyPremultiplier from configXb59Z?b5YZ@,- iZ8Bdf fg@Z3EZ?;Z@;ZE5l nk@lZjFNOT Ignoring new targets: 413.60 m.Bj ;Jj ; ProNav: ac range: 413.600006 m, nav range: 130.854309 m, bearing: 75.165973 deg, approach rate: 0.169513 m/s, LOS rate: 0.256254 deg/s, cmd heading: 339.300739 deg, new cmd heading: 339.573941 deg. 2j/<%HeadingCmd: 5.926683 target range: 413.600006 and range: 413.60 m. j%d@j!j)j)i)h)h)h1h1f1f1f1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720731rf9bfGIY eyɚaiaIej=ImjimimRT=)md@)q*Fm?2Fi:FiBFm_0JFi QIYGM?GQGUpAGI } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978241- ~G vA B Y vAy ) BO > kw,iLA2:@Y2-@2!g923>y2H=p?ϋ? ȴ`ٿ?}ÿ?X?`]?ɨ2:@2 ;2CyPR'I-only read 1 of 4 data items for bottom velocity. Device response is::BS, -16,A  @ @ @  @ IIʴ4٢i; 9=9/;Q > G٣y4< > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y/- i8B+::e g@7EC&;%>d5 \@EZj!-FNOT Ignoring new targets: 413.60 m.Bj-;Jj5;E ProNav: ac range: 413.600006 m, nav range: 130.926865 m, bearing: 75.276939 deg, approach rate: 0.164392 m/s, LOS rate: 0.251279 deg/s, cmd heading: 339.573947 deg, new cmd heading: 339.906655 deg. 2jEs,~@ɛB>`; 隕>I ?uɚiIP=IDiiAA)ֽ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.226459*Fa2Fa:FaBFiJFizKk3IK+9KK KJ J J 0J J |:J &:J ـ3J a @a @a @a @G lL= M $?II GQ By O >5kw,ZfAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476664yލMBލ'I) II4٢-cG -D=95Q 5>99 EG٣EIGyE M> ebBottom track data is 0.9 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYe59]'?m5Y]03- i]8Bm :imh:img@];E]';]7]?]5}xB }@}EZjFNOT Ignoring new targets: 413.60 m.Bj;Jj; ProNav: ac range: 413.600006 m, nav range: 130.996490 m, bearing: 75.382604 deg, approach rate: 0.165667 m/s, LOS rate: 0.251285 deg/s, cmd heading: 339.906659 deg, new cmd heading: 340.223482 deg. 2jt,<HeadingCmd: 5.938020 target range: 413.600006 and range: 413.60 m. jB@jjjihhhhfffrfbf@@ɛ-B-; 15F>I1 5qɚ1i1I5=I=i=빻iE!V)EB@)AHIC I (IIBI' =&I.I6I<:Ig F*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728751G {TBG B O >*J "J a=kw,|A2w@Y28@2u R92.4>y2H??`mؿ@%?@Ŀ@?g?`؀?ɨ2w@2;2Cy>OB>'IIJIJh4٢jN< nb= pIp9zh;Q z>xx ~G٣|y~< >  bBottom track data is 1.2 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config597?5Y 6- i8B9<:g@?E=;Ӝ?z 5! -@-EZjIUFNOT Ignoring new targets: 413.60 m.Bj;Jj; ProNav: ac range: 413.600006 m, nav range: 131.054276 m, bearing: 75.473417 deg, approach rate: 0.160273 m/s, LOS rate: 0.251770 deg/s, cmd heading: 340.223470 deg, new cmd heading: 340.495790 deg. 2j,<HeadingCmd: 5.942772 target range: 413.600006 and range: 413.60 m. j1+@jjjihhhhfffrfbfo@ɛB  ;  t>I) -enɚiI=IJii;)%1+@MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984863)i*Fe?2Fa:FiBFmm0JFiG=SGB!O=r> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232624Gkw,LTAyQB'IzKuBHKuh9KqKu Ku        Mb@Mb@Mb@JJJJJ :J:JJ )YK7A?1Zd~jty "?"۽/ A @)@I`@y3@IIE4٢"< -=9Q > G٣y > Nusing accuracyPremultiplier from config 597M? 5Y1:- i8BT:k$?:& g@DE;;9;5! %m@!=B*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 413.60 m.BjU ;JjU ;e ProNav: ac range: 413.600006 m, nav range: 131.142868 m, bearing: 75.599046 deg, approach rate: 0.188941 m/s, LOS rate: 0.267747 deg/s, cmd heading: 340.495776 deg, new cmd heading: 340.872402 deg. 2je7II M!jɚQiQIUܑ=I]i]i]ՂX)] a@)iEWill construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:22:05:45.2992 MTRx dataTimestamp_ set to:1736373946.616867Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.485934*FU?2FQ:FQBFUo0JFQG lSGY Bi O >jH <bH <H I C I (II BI &I .I 6I <:I V FBIJIRIZIbI' =jI4pkw,.AN͵@YNwݼ@NL9Nv5>yNH ?M? 1׿C? 5]Ŀs?`]??ɨN͵@N߇;LyVSBZ'Ii^=I^< b=b=IfIf\4٢n< ns=9nx:Q r?pp rG٣rIGyv>= v? zNusing accuracyPremultiplier from configx~59z\?~5Yz=- iz8Bo g@zGEz ;z ;z5  R@ EZj9=FNOT Ignoring new targets: 413.60 m.BjE;JjE;U ProNav: ac range: 413.600006 m, nav range: 131.204590 m, bearing: 75.689335 deg, approach rate: 0.183675 m/s, LOS rate: 0.268559 deg/s, cmd heading: 340.872393 deg, new cmd heading: 341.143129 deg. 2jUO8Ia eyfɚaiaIeW=ImimN»im:?)m@)*F?2F:FBF_5JF $?IGS] Will construct direction to contact in vehicle frame from tetrahedron phase data.G B1 m DAT read: 22:05:45.2992 LVL= 16704, 27281, 22514, 27027, AGC= 66, IDX= 440,-0.04,-0.675,-2.217,-2.385,-1.754, PHS= 1.167,-0.416,-0.634, RAW= 83.6, -1.4, CAL= 90.8, -6.6, ROT= 59.2, 6.6 O >} Ygot valid direction response: 22:05:45.2992 LVL= 16704, 27281, 22514, 27027, AGC= 66, IDX= 440,-0.04,-0.675,-2.217,-2.385,-1.754, PHS= 1.167,-0.416,-0.634, RAW= 83.6, -1.4, CAL= 90.8, -6.6, ROT= 59.2, 6.6  PDAT read: Bearing 59.2, 6.6 (Local)  ~Local bearing/azimuth received: Bearing 59.2, 6.6 (Local)  DAT read: Range 10 to 50 : 413.3 m (Round-trip 551.1 ms) speed 0.0 m/s Ykw,A ήAB,DAT read: user:2293> FBDAT read: Tx time:22:05:46.3939 F$Ping request sent.F?ۍ{ۉۉ:publishing transmit ping timeDFpublishing direction and range info؉9؍s 1x?Wv7?y؉؉؉؉ ى)ىIىiىىىىى ډ%t@Y%@%L9%5>y%H?l ?~ s׿sQ?[Ŀ 霉? ?@?ɨ%t@%"V;%C)ډIډiډډډۍ?Lav%rߘ)ۉIۉiۉۉۉۉyM^BM'IuMb@Mb@Mb@qqq q)qYuv/?`" %G٣)y-< -> 5Nusing accuracyPremultiplier from config1=595~u?=5Y5A- i5s8BEW,?E:E Eg@5ME5;5;55Will construct direction to contact in vehicle frame from tetrahedron phase data. @EkL?kl* k kǮA:kCBk;CZkz @"N3tXm,V@JZ2y@s 1x?Wv7?Jk>?Rk{*\91Sbp8@"xy@RqW<xF?ň?"kA*kωkh?k* 2k3Ck} ?k!IV" k3CkPBk?m addTargetRange:: Added new target pos. range: 413.299988 m, deltaT: 4.031317 s, deltaX: -0.300018 m, approachRate: -0.074422 m/s, rangeRepo size: 4 } Added new target pos. range: 413.299988 m, bearing: 125.178810 deg, lat: 36.901765 deg, lon: -122.120978 deg, deltaT: 4.031317 s, deltaX: -0.300018 m, approachRate: -0.074422 m/s, posRepo size: 4 ZjyFNOT Ignoring new targets: 413.30 m.BjJj ProNav: ac range: 413.299988 m, nav range: 106.658195 m, bearing: 84.143801 deg, approach rate: 0.000000 m/s, LOS rate: 0.268559 deg/s, cmd heading: 341.143142 deg, new cmd heading: 341.578782 deg. 2jHeadingCmd: 5.961674 target range: 413.299988 and range: 413.30 m. j ƾ@jjjihhhhBfffrfy@bfSs?ɛEćBE; AE0>IA M\aɚIiIIM =IUiU'ƻiUN)U ƾ@)Q*F?2F:FBF0JFJJJJJ<:J/:JJzK BoHK S9K K K BK :K $?I G f:e Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >kw,U讽A>@YM@b9>0>yH^?P? Q `oֿ`r?ÿ\??`?ɨ>@d;騍CycB'III4٢T< j=9'|Q %?!) -G٣)y5< 5> =Nusing accuracyPremultiplier from config9E59=?E5Y=E- i=i8BAE} Eg@=PE=:= ;= 5Q UM@QZjy}FNOT Ignoring new targets: 413.30 m.Bjp;Jjp; ProNav: ac range: 413.299988 m, nav range: 106.758987 m, bearing: 84.258829 deg, approach rate: 0.313523 m/s, LOS rate: 0.357470 deg/s, cmd heading: 341.578771 deg, new cmd heading: 341.923528 deg. 2jTu<HeadingCmd: 5.967691 target range: 413.299988 and range: 413.30 m. jT@jjjihhhhfffrfbf lM?ɛŇBv 2< >I l^ɚiI(=IpiiA)T@)*F?2F:FBFU0JFH)I-C I-(II-BI)&I).I)6I-İ<:I- FGPIGqBO\>MWill construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 okw,Ay%nB%'I)) )11IeIev}4٢e= Q=9Q > G٣IGy > Nusing accuracyPremultiplier from config59U?5YH- i]8Bg@TE;2;l5 @~EZjFNOT Ignoring new targets: 413.30 m.Bj;Jj;e ProNav: ac range: 413.299988 m, nav range: 106.869919 m, bearing: 84.384609 deg, approach rate: 0.287006 m/s, LOS rate: 0.325083 deg/s, cmd heading: 341.923532 deg, new cmd heading: 342.300473 deg. 2jm_<HeadingCmd: 5.974270 target range: 413.299988 and range: 413.30 m. j9-@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.hQhYfafafqrfybf}7?ɛEȇBE/j< AeY>Ii mYɚiiiImEx=Iu*iuɻiu \)u9-@)y*F%?2F!:F!BF%]0JF!e Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm _NGA Ba O >%kw,VeABx@YB@B1i9BC3>yBH?`?@j`Tֿ`?RĿE ?a??ɨBx@B;BCyJkBN'IeMb@Mb@Mb@aaa a)aYeL7A`?Cl绿Qye+'?e;߽eue\ A a)e@Ie@aye@I}I}d4٢Q J=9rQ > G٣y< > Nusing accuracyPremultiplier from config59լ?5YL- iS8B)?:g@YE;;5 Ϡ@ZjJ9J=J9J9J9J=K:J9J9FNOT Ignoring new targets: 413.30 m.Bj;Jj; ProNav: ac range: 413.299988 m, nav range: 106.978867 m, bearing: 84.514857 deg, approach rate: 0.270477 m/s, LOS rate: 0.323028 deg/s, cmd heading: 342.300476 deg, new cmd heading: 342.690815 deg. 2j]<HeadingCmd: 5.981083 target range: 413.299988 and range: 413.30 m. je@zKK 9KK KRK ?JK?jjjihhh $?IhBfffrfbf A?ɛ=ʇBEK < AEޠ>IA EUɚAiAIM-=IM$iQiUT)Ue@)Q*F!2F!:F!BF%_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge tVGA BI Oe >ZH! RH% @AH% 2>I!  I% *(II% BI! &I! .I! 6I% i<:I% ? F1kw,;6AJ׶@YJo@JTh9J7>yJH@? ]?U벿 7տ`c?@Ŀ@??|?ɨJ׶@JgЈ;JCyVvBV'IIbIbK4٢jk= jW=9j7Q n>ll rG٣pyr;< r> vNusing accuracyPremultiplier from configtz59vZ?z5YvFO- ivI8B|-Will construct direction to contact in vehicle frame from tetrahedron phase data.~}g@v]EvJI "QɚiIo=I_i-V̻iD)@)*F?2F:FBF`0JF $?IGSWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G B O >kw,<PAFR@YF@Fפa9F@8>yFH?@?`괲Tտ?@Ŀ`4??z?ɨFR@FRi;FCyfBf'Iij%>Ij> n=na=Mb@Mb@Mb@ )YˡE?"~j{Gzy'?S㽹#E A )@I3@yII٢T= <=9:Q > G٣IGy}9< > Nusing accuracyPremultiplier from config59?5YR- i@8BW*?:g@aE;:'5zB @zEZj)FNOT Ignoring new targets: 413.30 m.Bj;Jj; ProNav: ac range: 413.299988 m, nav range: 107.196091 m, bearing: 84.779913 deg, approach rate: 0.279954 m/s, LOS rate: 0.340689 deg/s, cmd heading: 343.060403 deg, new cmd heading: 343.485164 deg. 2ji<HeadingCmd: 5.994947 target range: 413.299988 and range: 413.30 m. jֿ@jjjihhhhBfffrfbfD@ɛuχB}QI< y}>Iy }ѐLɚyiI=IiimP)ֿ@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.153053*Fe?2Fa:FaBFel0JFa IzK- k3IK- 9K) K- K-  (i O AF}& BKE pA:KA G BG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.403391kw,jA=i,@Y=;@=le`9=9>y=H.??p=>տ@yy }G٣yy_< > Nusing accuracyPremultiplier from config59 ?5YHV- i88B$g@fEt;;*5 ֞@ZjFNOT Ignoring new targets: 413.30 m.Bj;Jj;% ProNav: ac range: 413.299988 m, nav range: 107.300598 m, bearing: 84.908167 deg, approach rate: 0.264846 m/s, LOS rate: 0.324709 deg/s, cmd heading: 343.485159 deg, new cmd heading: 343.869540 deg. 2j%^<5HeadingCmd: 6.001656 target range: 413.299988 and range: 413.30 m. j5 @j1j1j1i9h9h9h9h9fAfAfArfAbfM >@ɛuчBuDj< qu>Iq } HɚyiIa'=I$iiѴT) @)*F%?2F!:F)BF-1JF)"G5=G5=HI IC(II͈BI&I.I6D6I<:Ik F5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.655312G]_NGa Bi O >J] J] JY JY J] \:J] 9:JY JY J] y6H:?z?`_BԿ?JſI?? rx?ɨ6|Q@6|;4y>B> (IIFIF4٢N= RY=9R9Q R>PT VG٣TyVE< V> ^Nusing accuracyPremultiplier from configX) 59Z?~G)A }YyyK BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.910549e5YZkY- iZ08Bg@ZjEZڙ=ZJ=Z-5A M@uwEZjy}FNOT Ignoring new targets: 413.30 m.BjX;JjX; ProNav: ac range: 413.299988 m, nav range: 107.399948 m, bearing: 85.030777 deg, approach rate: 0.203284 m/s, LOS rate: 0.250647 deg/s, cmd heading: 343.869535 deg, new cmd heading: 344.237021 deg. 2j,<HeadingCmd: 6.008070 target range: 413.299988 and range: 413.30 m. jB@jjjihhhhfffrfbfI@ɛeԇBe>X< ae>Ia mAɚiiiIm,=Iuیiu-лiujZ)}B@)y*F5?2F1:F9BF=0JF9E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.159318G} SGQ Ba O} >'kw,A6Dw@Y6@6ib966[:>y6HBG?` 3?`ḚԿ?`\ſ@L?)? w?ɨ6Dw@6 ;6CyBBB(I)L LTT-fonly read 0 of 1 data item for BIT error. Device response is::TS4065548,35.0, +10.9, 0.0,1493.1, 0  f@f j@m u@u  u@u IuIu4٢Ni< :=9*/Q > G٣IGyy*< > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y]- i&8B+::g@nE;>05 m@tE $?IkiZjaeFNOT Ignoring new targets: 413.30 m.Bj[;Jj[; ProNav: ac range: 413.299988 m, nav range: 107.516357 m, bearing: 85.175197 deg, approach rate: 0.341950 m/s, LOS rate: 0.423770 deg/s, cmd heading: 344.237026 deg, new cmd heading: 344.669807 deg. 2jj<zK OPK9KK KRK?JK ?HeadingCmd: 6.015623 target range: 413.299988 and range: 413.30 m. j@jjjihhhhfffrfbf @ɛmևBm< iu>Iq u`=ɚqiqIuZ=I}iyi}t{f)}@)*F?2F!:F!BF%O5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:05:49.3477 TRx dataTimestamp_ set to:1736373950.649786checking for new query: numPingsReceived=0, elapsed TxPingTime=3.414114G tLVG B O% >jH bH H 1>I  I h(II BI &I .I 6I <:I o FLkw,~ȷA6@Y6q@6{`96-B:>y6HT?i? eԿ!?`ceſ?&?@x?ɨ6@6g;6Cy^B^)(IIfIf(4nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.663448٢-= -Q=9-9Q ->11 5G٣1y=NM< => MbBottom track data is 0.8 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAM59E#?U5YE@`- iE8BU :QUQ:U]g@ErEE6;E7U?E$35a e*@aB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 413.30 m.BjF;JjF; ProNav: ac range: 413.299988 m, nav range: 107.617340 m, bearing: 85.301213 deg, approach rate: 0.268264 m/s, LOS rate: 0.334453 deg/s, cmd heading: 344.669814 deg, new cmd heading: 345.047503 deg. 2je<HeadingCmd: 6.022215 target range: 413.299988 and range: 413.30 m. j@jjjihhhhfffrfbf`v@ɛهBX< p>I e7ɚiI=I𝅾idӻi~*k)@)*F?2F:FBFZ0JFGrA G )I)JUJUJQJQJU:JU/:JQJQJU;JU;JU^;JU^;Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:05:49.3477 LVL= 16848, 32753, 22658, 30691, AGC= 68, IDX= 424,-0.01, 2.482, 0.872, 0.775, 1.371, PHS= 1.199,-0.452,-0.599, RAW= 85.8, -1.7, CAL= 93.3, -7.2, ROT= 56.7, 7.2 Ygot valid direction response: 22:05:49.3477 LVL= 16848, 32753, 22658, 30691, AGC= 68, IDX= 424,-0.01, 2.482, 0.872, 0.775, 1.371, PHS= 1.199,-0.452,-0.599, RAW= 85.8, -1.7, CAL= 93.3, -7.2, ROT= 56.7, 7.2 PDAT read: Bearing 56.7, 7.2 (Local) ~Local bearing/azimuth received: Bearing 56.7, 7.2 (Local) DAT read: Range 10 to 50 : 412.2 m (Round-trip 549.6 ms) speed 0.2 m/s ,DAT read: user:2294>  BDAT read: Tx time:22:05:50.4440  $Ping request sent. yؕCؑؕAؕ ٕX)ٕwIٕDiٕx?ٕl義ٕXٕ֭?ٕ ڕ(o?)ڕIڕV}?iڕ>ڑڑەp!r? 60n)ەIە G٣y > Nusing accuracyPremultiplier from config59:?5YYc- iT:!?:fվg@wE ;;'75  F@MqEkR?k, k kɯA:kCBkCZk1*7@"腟26m[ZR@FORy@Ae!MIyj?N7t?Jk?Rk1h*Y7p@"y@0qPI? 5?"k@*kϺkC?k{, 2kCk⋌?k*7& kdCkBk#? addTargetRange:: Added new target pos. range: 412.200012 m, deltaT: 4.030386 s, deltaX: -1.099976 m, approachRate: -0.272921 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.AiJDAT read: TxSync time:22:05:50.4432  Added new target pos. range: 412.200012 m, bearing: 163.977665 deg, lat: 36.901669 deg, lon: -122.121438 deg, deltaT: 4.030386 s, deltaX: -1.099976 m, approachRate: -0.272921 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 412.20 m.BjJj!U ProNav: ac range: 412.200012 m, nav range: 66.512650 m, bearing: 91.773501 deg, approach rate: 0.000000 m/s, LOS rate: 0.334453 deg/s, cmd heading: 345.047496 deg, new cmd heading: 345.527349 deg. 2jQ]HeadingCmd: 6.030590 target range: 412.200012 and range: 412.20 m. j]@jYjYjYiYhYhahhoBfffrf@3y@bf =?ɛ܇Bp< />I Ec0ɚAiAIEl=IM*TiIiM)M@)Q*F?2F:FBFX4JF $?IzKm Km S9Ki Km Km #*((''$%&$!!! G% g Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >o_kw,믽A>i@Y>@>0w9>8>y>H@j?Sd? ձ ӿ`?@/(ſx??%{?ɨ>i@>D;>CyJՈBJN(IiN G٣ IGy< > Nusing accuracyPremultiplier from config59K?5Ye- iѾg@{EW;;Q:5 P@ZjFNOT Ignoring new targets: 412.20 m.Bj}<Jj}< ProNav: ac range: 412.200012 m, nav range: 66.610413 m, bearing: 91.951913 deg, approach rate: 0.286883 m/s, LOS rate: 0.522777 deg/s, cmd heading: 345.527358 deg, new cmd heading: 346.061794 deg. 2jc< HeadingCmd: 6.039918 target range: 412.200012 and range: 412.20 m. j G@j j j i hhh!h)f)f1f9rf9bfE9?ɛ߇B< 1>I 0+ɚiIW=Iyi i c) G@)1HYIY I](II] BIY&IY.IY6I]<:I] FBIĝCJIĝCRIZI' =bIjIО4*F?2F:FBF_0JFG}xG9BIOmV>Will construct direction to contact in vehicle frame from tetrahedron phase data.  $?I *JE %="JE p=JM JM JM 1JI JM :JM :JM 3JI JM '<JM '<JM Z;JM Z;Elw,VAyvވBvY(III4٢ -= E=9Q > G٣y% %> 5Nusing accuracyPremultiplier from config)559-^?=5Y-Ph- i)99=g@-E-;-;-=5I M@MnEZjquFNOT Ignoring new targets: 412.20 m.Bj}- <Jj}- < ProNav: ac range: 412.200012 m, nav range: 66.715950 m, bearing: 92.142621 deg, approach rate: 0.271714 m/s, LOS rate: 0.490213 deg/s, cmd heading: 346.061807 deg, new cmd heading: 346.633004 deg. 2j6<HeadingCmd: 6.049887 target range: 412.200012 and range: 412.20 m. j@jjjihhhhfffrfbf e?ɛB< l>I <.%ɚiIy=Inii #) @UWill construct direction to contact in vehicle frame from tetrahedron phase data.)*F?2F:FBFJFGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.rlw,`=Ay B c(I IzK-gMK- 9K)K- K- Mb@Mb@Mb@    ) Y Gz?Zd;OI +?y p? j 94<  @) I  y I]sI]K4٢u= u)=9yQ }> G٣y > Nusing accuracyPremultiplier from config59>v?5Y k- i&8B?:(g@E'<&<A5 1@lEZjIMFNOT Ignoring new targets: 412.20 m.BjU<JjU< ProNav: ac range: 412.200012 m, nav range: 66.830414 m, bearing: 92.378055 deg, approach rate: 0.229865 m/s, LOS rate: 0.471985 deg/s, cmd heading: 346.633002 deg, new cmd heading: 347.338058 deg. 2j<HeadingCmd: 6.062193 target range: 412.200012 and range: 412.20 m. j|@jjjihhhhBmWill construct direction to contact in vehicle frame from tetrahedron phase data.fffrfbfZ?ɛ%B%揨< !-?I) -8ɚ)i)I-=I5Kbiyi}}٪)}|@)*F ?2F :FBFJFG2G B O >ZHA RHE AAHI II  IM (IIM (BIM ( =&II .II 6IM <:IM Fb lw,,9A>T@Y>Ϊ@>(~9>@>y>H?`?@􋱿 ҿ?@iHƿ1??@Yo?ɨ>T@>b;>CyFBFh(I)H HNALIRIRƕ4٢Z< Z=9ZQ Z?bWill construct direction to contact in vehicle frame from tetrahedron phase data.\` fG٣f!IGyf= f? jNusing accuracyPremultiplier from configh~59j?~5Yjl- ij,8BԪ g@jEj0;j;jD5! %@)eB*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 412.20 m.Bjk <Jjk < ProNav: ac range: 412.200012 m, nav range: 66.901291 m, bearing: 92.531671 deg, approach rate: 0.226808 m/s, LOS rate: 0.491052 deg/s, cmd heading: 347.338069 deg, new cmd heading: 347.798417 deg. 2j<HeadingCmd: 6.070228 target range: 412.200012 and range: 412.20 m. jN?@jjjihhyhhfffrfbfj'?ɛBf= >?I Wɚ i I {a=IZiiuˌ)N?@) $?Ili*F?2F:FBF0JFJ AAJ AAJ#K# K+ .K#K#"K#JJJ0JJ\:J&:Jـ3JJ<J<J\;J\;uWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.GмG?G?G B Om >plw,sRAy=B=o(IMb@Mb@Mb@ )Y`"?{Gz?:v?y?ף<T< )IyIIW4٢ <  6=9Q > G٣y > %Nusing accuracyPremultiplier from config!-59%,?-5Y%n- i%78B5?5:5p5g@%E%;%l;%H59 =@EiEZjquFNOT Ignoring new targets: 412.20 m.Bj} <Jj} < ProNav: ac range: 412.200012 m, nav range: 66.982391 m, bearing: 92.747923 deg, approach rate: 0.186329 m/s, LOS rate: 0.496240 deg/s, cmd heading: 347.798423 deg, new cmd heading: 348.446366 deg. 2jH<HeadingCmd: 6.081536 target range: 412.200012 and range: 412.20 m. j@jjjihhhhBfffrfbf@ɛB< g?I pɚiIG=I}Nii )@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252652*F?2F:FBF`5JFG}rG9BAOmV> u$?IyzK .KK K K K +L %f4"%!D H1F) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505379lw,lA2 %@Y24@2̛u92H>y2H@X? ?Cz|ѿ`|7?1ǿ .?@O?a?ɨ2 %@2Lj;2CyRBRl(IIZIZ4٢jv z`=9~:Q ~> G٣y%;=  > Nusing accuracyPremultiplier from config 59 ?5Y o- i A8B}%g@ E l; ; K5) -ǘ@)ZjFNOT Ignoring new targets: 412.20 m.Bj<Jj< ProNav: ac range: 412.200012 m, nav range: 67.046349 m, bearing: 92.926273 deg, approach rate: 0.167772 m/s, LOS rate: 0.467396 deg/s, cmd heading: 348.446363 deg, new cmd heading: 348.980884 deg. 2jb<HeadingCmd: 6.090866 target range: 412.200012 and range: 412.20 m. j_@jj j i h h hhfQfQfYrfYbf]`@ɛeBe< im>I  ɚiI=C=IlDiie%)_@)HI I(IIABI&I.I6I<:IT F*FE?2FA:FABFEP5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755232Ge GA BQ i Ii O} >J5 J5 J1 J1 J5 <:J5 :J1 J1 J5 5;J5 6;J5 Z;J5 Z;!lw,ܞA6Lq@Y6ƀ@6JLu969M>y6H?c?@5 пD?@ ȿ >??Z?ɨ6Lq@6;6CyBn(Ii8>I%= =p=II٢; :==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0076999U[68Q ]>ii mG٣m"IGyu+< u> }Nusing accuracyPremultiplier from configy59}?5Y}q- i}M8Btg@}E}:}:}O5}B ٘@hEZj!uFNOT Ignoring new targets: 412.20 m.Bj<Jj<- ProNav: ac range: 412.200012 m, nav range: 67.123222 m, bearing: 93.144895 deg, approach rate: 0.159703 m/s, LOS rate: 0.453661 deg/s, cmd heading: 348.980893 deg, new cmd heading: 349.635980 deg. 2j-<5HeadingCmd: 6.102299 target range: 412.200012 and range: 412.20 m. j5 F@j1j1j1i9h9h9h9hfffrfbfX @ɛBF< >I sɚiIަ=IE@:9iAiEU)E F@)I*F2F:FBF[5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259134G G B O >O'lw,\A2@Y2(@2My920=P>y2H^?`9? G찿_пR?\ȿ6? ?@CV?ɨ2@2i;2C R$?IPyZBZo(IMb@Mb@Mb@ )Y7A`?{Gz?~jt?y?#=< A )Iyz@II@4٢P; G=9+Q > G٣yڴ< > Nusing accuracyPremultiplier from config59?5Yr- i[8B?:qKg@E;o;.S5 Ř@eEZjFNOT Ignoring new targets: 412.20 m.Bj<Jj<- ProNav: ac range: 412.200012 m, nav range: 67.181938 m, bearing: 93.336879 deg, approach rate: 0.167784 m/s, LOS rate: 0.548124 deg/s, cmd heading: 349.635990 deg, new cmd heading: 350.211417 deg. 2j-<5HeadingCmd: 6.112342 target range: 412.200012 and range: 412.20 m. j5O@j1j1j1i1h9h9h9h=BfAfAfArfIbfM  @ɛB1j< [>I zɚiI+=It.i i cI)O@)zKeBPKaKaKe KeRKu?JKu?*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:05:53.3963 TRx dataTimestamp_ set to:1736373954.683414checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515043GޚGiByO[>jHy bHy H 0>I  I (II GBI ' =&I .I 6I ư<:I F.lw,mA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763232:@Y:;@:,9:Q>y:H6?@n?ة]Ͽ@a?ȿ=?`? S?ɨ:@:";:CyNBRb(IIZIZ:4٢va vY=9vthQ v>|| ~G٣|y< >  Nusing accuracyPremultiplier from config 59 y?5Y s- i i8BBg@ E p3; 3; {V5! -o@)B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 412.20 m.Bj<Jj<- ProNav: ac range: 412.200012 m, nav range: 67.236877 m, bearing: 93.520379 deg, approach rate: 0.138076 m/s, LOS rate: 0.460804 deg/s, cmd heading: 350.211420 deg, new cmd heading: 350.761452 deg. 2j-<-HeadingCmd: 6.121942 target range: 412.200012 and range: 412.20 m. j5@j1jQjQiQhQhYhYhYfYfafarfabfe@ɛB < +>I TɚiI =I%i!i%?Ӟ)%@)! $?I*F?2F:FBFJFYy YYyBWill construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 22:05:53.3963 LVL= 15344, 32753, 29042, 32755, AGC= 67, IDX= 426,-0.19, 2.724, 1.116, 1.129, 1.704, PHS= 1.108,-0.541,-0.578, RAW= 88.9, 0.1, CAL= 96.3, -4.1, ROT= 53.7, 4.1 uYgot valid direction response: 22:05:53.3963 LVL= 15344, 32753, 29042, 32755, AGC= 67, IDX= 426,-0.19, 2.724, 1.116, 1.129, 1.704, PHS= 1.108,-0.541,-0.578, RAW= 88.9, 0.1, CAL= 96.3, -4.1, ROT= 53.7, 4.1 PDAT read: Bearing 53.7, 4.1 (Local) ~Local bearing/azimuth received: Bearing 53.7, 4.1 (Local) G ęG B  DAT read: Range 10 to 50 : 411.1 m (Round-trip 548.2 ms) speed 0.3 m/s M ,DAT read: user:2295> Oe > BDAT read: Tx time:22:05:54.4940  $Ping request sent. c?) Ii @dM :publishing transmit ping timeع M Fpublishing direction and range info9`f0PmWt8?z~s?y 4lw, ԰A)1I1i11111 1)1I1i1115`tf?{(2࿡u>c?)1RG@YR?W@RyRH??ZOο Bq?ȿ`<?.$? OR?ɨRG@R;RCI1i1111yB](I)  AMb@Mb@Mb@ )Y> ףp=?Zd;O?~jtx?y?j<=;A )I`@y@II4UWill construct direction to contact in vehicle frame from tetrahedron phase data.٢]J e)=9ecQ e> G٣#IGy< > Nusing accuracyPremultiplier from config59?5Y!u- iu8Bg?:~(g@E;;Z5 @bEk57C ?k5`/ k1 k5H˰A:k5CBk5$CZk5O~c@"5g@VA` J@Tdy@5`f0PmWt8?z~s?Jk5 @Rk5d*5qHhB51{y@5 %ahsDj"˼?"k5*k5@k5&' ?k5a.à/ 2k5Ck5h?k5* k1k5+ Bk5@ addTargetRange:: Added new target pos. range: 411.100006 m, deltaT: 4.033040 s, deltaX: -1.100006 m, approachRate: -0.272749 m/s, rangeRepo size: 4  Added new target pos. range: 411.100006 m, bearing: 203.662682 deg, lat: 36.901512 deg, lon: -122.121896 deg, deltaT: 4.033040 s, deltaX: -1.100006 m, approachRate: -0.272749 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 411.10 m.BjJj ProNav: ac range: 411.100006 m, nav range: 34.292500 m, bearing: 129.697536 deg, approach rate: 0.000000 m/s, LOS rate: 0.460804 deg/s, cmd heading: 350.761442 deg, new cmd heading: 351.438920 deg. 2j HeadingCmd: 6.133766 target range: 411.100006 and range: 411.10 m. j G@j j j ihhhhBfffrfEy@bfE?ɛB8< 隕F>I ߻ɚiID =I\ii_)G@) $?I*F?2F:FBFJFJJJJJ:J9:JJa@a@a@a@zK BoHK h9K K K BK rA:K  Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >'t;lw,W AV!@YV@V_[9VdS>yVH@?@?MKͿ ~? ɿ4k?;?`P?ɨV!@V&;Ty^ֈB^O(IIjIjm4٢r ro=9rQ v?xx ~G٣|y< ? Nusing accuracyPremultiplier from config59?%5Yu- i~8B)- -g@E<Jjmm><} ProNav: ac range: 411.100006 m, nav range: 34.438976 m, bearing: 129.911302 deg, approach rate: 0.458264 m/s, LOS rate: 0.665940 deg/s, cmd heading: 351.438914 deg, new cmd heading: 352.077459 deg. 2j<HeadingCmd: 6.144911 target range: 411.100006 and range: 411.10 m. j@jjjihhhhfffrfbf?ɛBD< >I ֻɚiI=IЗ iimD)@)HI I(IIWill construct direction to contact in vehicle frame from tetrahedron phase data. IWOBlw,B ABJ@YB@B 9B6BW>yBH+??@G̿Ӄ? ɿ@G??uJ?ɨBJ@B;@yNÈBR7(IIVnIVB4٢b bN=9bYQ f>dd fG٣dyjՁ< j> nNusing accuracyPremultiplier from configlr59n"?r5Ynv- in8Bpvvg@nEnL ;n] ;n'a5x z@z_EZj%FNOT Ignoring new targets: 411.10 m.Bj%3<Jj%3<5 ProNav: ac range: 411.100006 m, nav range: 34.607540 m, bearing: 130.157229 deg, approach rate: 0.431327 m/s, LOS rate: 0.626218 deg/s, cmd heading: 352.077455 deg, new cmd heading: 352.811599 deg. 2j=<EWill construct direction to contact in vehicle frame from tetrahedron phase data.MHeadingCmd: 6.157724 target range: 411.100006 and range: 411.10 m. jM @jIjIjIiIhQhQhQhQfYfYfYrfYbfe+?ɛBZ< 隍!>I XͻɚiIt!=Ixii/) @)*F=?2FA:FABFE1JFIGuԣGQBYOu>Will construct direction to contact in vehicle frame from tetrahedron phase data.  $?I yHlw,z#A:@Y:%@:9:V>y:H6??Sn̿?@ɿ W?@?J?ɨ:@:aN;8yJBJ%(I LN=JrJpJpJpJr:JpJpJp5Mb@Mb@Mb@111 1)1Y5M?S㥛?Mbpy5n?5/<55rA 5@)1I5I@1y5z@IM~IMT_4٢] ]A=9e;oQ e>ai mG٣m$IGymm< m> Nusing accuracyPremultiplier from configq59u6?5Yuw- iu8B ? : 1 g@uEu:JKE>ɛ} B}w0< 隅Ī>I !ûɚiI=Iii)ty@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFG1JFG}&G9BAO]v>ZHRHHI I(II(BI' =&I.I6I<:I_ FBIyJIyRIyZI}( =bI}( =jI};4 Will construct direction to contact in vehicle frame from tetrahedron phase data.Nlw,h=A:;@Y:K@:s9:%X>y:H`H?t?@ʿ@H?ټɿ1Β?;?H?ɨ:;@:y;:Cy^B^(IIjIj4٢r! rR=9v):Q v>tt zG٣xyzf< z> Nusing accuracyPremultiplier from config|59~8I? 5Y~x- i~8B  ' g@~E~:~:~Ah5 @yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 411.10 m.Bj -<Jj -< ProNav: ac range: 411.100006 m, nav range: 34.964527 m, bearing: 130.649026 deg, approach rate: 0.439986 m/s, LOS rate: 0.605149 deg/s, cmd heading: 353.576600 deg, new cmd heading: 354.279340 deg. 2j<HeadingCmd: 6.183341 target range: 411.100006 and range: 411.10 m. j@jjjih h h h f ff1rf1bf=*? $?Iɛ BԨ{< >I |ỻɚiI8/=I{̽ii0Ľ)@)*F?2F:FBF=5JF"G=G=]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.GG B O >Ulw,?WAB@YB@B9BX>yBHX?@? a ɿ ?Mɿ@r?H?G?ɨB@Bៈ;BCyNBN'I-Mb@Mb@Mb@))) )))Y-X9v?MbPQy-?--u-A -@))I-v@)y-p@I=I=4٢U  UD=9]YZ:Q ]>Ya eG٣aye}< e> uNusing accuracyPremultiplier from configiu59m&]?u5Ym"z- im8B}?}:}J}g@mEm;m;mk5 @YEZjFNOT Ignoring new targets: 411.10 m.Bj=p+<Jj=p+< ProNav: ac range: 411.100006 m, nav range: 35.154892 m, bearing: 130.891149 deg, approach rate: 0.473945 m/s, LOS rate: 0.599540 deg/s, cmd heading: 354.279344 deg, new cmd heading: 355.001739 deg. 2j<Will construct direction to contact in vehicle frame from tetrahedron phase data.սAiսAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.145477HeadingCmd: 6.195949 target range: 411.100006 and range: 411.10 m. j7E@jjjihhh h PBf1f9f9rf9bfEBE@ɛBu<< 隵>I ~ɚiI=Iii6ɽ)7E@) I*F%?2F!:F!BF%05JF!G.JJJJJ:Jq:JJGBO>zK ĂKK 9K K K e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.396377[lw,$qA6ݻ@Y6@6wߗ96Y>y6H ch?\?eȿ௺?ʿ?? F?ɨ6ݻ@6k;6CyrBr'IvAvAI~I~ݜ4٢+  O=9 #Q  > G٣y< > %Nusing accuracyPremultiplier from config!-59%p?-5Y%A{- i%8B)-@-g@%E%<:%:%[o59 =@=VEZjaeFNOT Ignoring new targets: 411.10 m.BjmP%<JjmP%< ProNav: ac range: 411.100006 m, nav range: 35.333916 m, bearing: 131.120347 deg, approach rate: 0.453853 m/s, LOS rate: 0.578108 deg/s, cmd heading: 355.001732 deg, new cmd heading: 355.685809 deg. 2j`<HeadingCmd: 6.207889 target range: 411.100006 and range: 411.10 m. j@jjjihhhhfffrfbf@ɛB/< *\>I ]¯ɚiIm=I)5ii2ͽ)@)HYIY I](II]BI]( =&IY.IY6I]<:I]c F*Fm?2Fi:FiBFm_0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.648939GNGiBq $?IO> blw,AF1@YFcA@F9F1\>yFHx? ? , 6ǿ?nʿ ?N?A?ɨF1@FŇ;FCyRpBR'II^I^:4٢f fN=9fºQ f>hh jG٣j%IGyn< n> rNusing accuracyPremultiplier from configpv59r?v5YrR|- ir8Bxz5zg@rEr':rX ;rr5 Š@ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.900467ZjAEFNOT Ignoring new targets: 411.10 m.BjM$<JjM$<] ProNav: ac range: 411.100006 m, nav range: 35.512825 m, bearing: 131.351257 deg, approach rate: 0.446939 m/s, LOS rate: 0.573937 deg/s, cmd heading: 355.685817 deg, new cmd heading: 356.375023 deg. 2j]I A?ɚiI =IiiFϽ) @)EQEUrA*F?2F:FBFJFG-qA G)G%JʽGBO%N>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.152379 y Iy hlw,礱Av酼@Yvc@v9v_>yvH?޾? w cſ ?`bʿ?`?` G٣y< > Nusing accuracyPremultiplier from config59I?5Y~- i8B? : p} h@EK;AQ;v5 ;@%SEZjaFNOT Ignoring new targets: 411.10 m.Bj,<Jj,<% ProNav: ac range: 411.100006 m, nav range: 35.727943 m, bearing: 131.587740 deg, approach rate: 0.487014 m/s, LOS rate: 0.532155 deg/s, cmd heading: 356.375010 deg, new cmd heading: 357.080147 deg. 2j%7nlw,OA>i@Y>@>9>$b>y>H ?`0V?ndĿ?SF˿?r?`7?ɨ>i@>Q;>CyFJBF'I J=Ja=IRIR4٢V  Z_=9ZsQ Z>\\ ^G٣\yb< f> jNusing accuracyPremultiplier from confighn59j?n5YjU- ijy8Bprqrh@jEj ;j;jy5t v+@t B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 411.10 m.Bj%<Jj%<5 ProNav: ac range: 411.100006 m, nav range: 35.905590 m, bearing: 131.785128 deg, approach rate: 0.493466 m/s, LOS rate: 0.545589 deg/s, cmd heading: 357.080159 deg, new cmd heading: 357.669371 deg. 2j57<HeadingCmd: 6.242508 target range: 411.100006 and range: 411.10 m. j@jjjihhhhfffrfbf@ $?Iɛ%B%: !%=I) -ɚ)i)I-~=I]F&iYi]vѽ)]@)aJJ@A*F5?2F9:F9BF=0JFAGrWͽGBO l>=Will construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 22:05:57.4449 LVL= 19296, 32753, 23314, 32755, AGC= 70, IDX= 427,-0.42, 1.590, 0.114, 0.305, 0.800, PHS= 0.878,-0.638,-0.498, RAW= 94.8, 3.6, CAL= 103.6, 1.8, ROT= 46.4, -1.8 Ygot valid direction response: 22:05:57.4449 LVL= 19296, 32753, 23314, 32755, AGC= 70, IDX= 427,-0.42, 1.590, 0.114, 0.305, 0.800, PHS= 0.878,-0.638,-0.498, RAW= 94.8, 3.6, CAL= 103.6, 1.8, ROT= 46.4, -1.8 PDAT read: Bearing 46.4, -1.8 (Local) ~Local bearing/azimuth received: Bearing 46.4, -1.8 (Local) DAT read: Range 10 to 50 : 409.9 m (Round-trip 546.6 ms) speed 0.3 m/s ,DAT read: user:2296> BDAT read: Tx time:22:05:58.5441 $Ping request sent.@=99:publishing transmit ping timeءFpublishing direction and range info99=8j7Ŀ }??y9999 9)9I9i99999 9)9I9i999=7OO?bF4ۿ!O?)9I9i9999Bulw,XرAy~6B~'I Mb@Mb@Mb@    ) Y Cl?|?5^+y d? ҽ  A ) I I@ y @IMIM\4٢] ]2=9]Q e>aa eG٣e&IGym m>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:05:58.5433 Nusing accuracyPremultiplier from config59?5Y- ib8B?:ƞh@E2<1<}5 b@PEkm3}?kmzn4 ki kmͱA:kmCBkmCZkm,r@"m~s}P~W&@0K+ZFy@m8j7Ŀ }??Jkm>@Rkm*mq \U'X*P MdW\x@m `(ʿ=$1Ŀ%L(?"kmR*kmkmJ?km)4 2kmCkmC?km{, kikmAkm7@ addTargetRange:: Added new target pos. range: 409.899994 m, deltaT: 4.030444 s, deltaX: -1.200012 m, approachRate: -0.297737 m/s, rangeRepo size: 4  Added new target pos. range: 409.899994 m, bearing: 217.118867 deg, lat: 36.901478 deg, lon: -122.122110 deg, deltaT: 4.030444 s, deltaX: -1.200012 m, approachRate: -0.297737 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 409.90 m.BjJj= ProNav: ac range: 409.899994 m, nav range: 29.071085 m, bearing: 164.323634 deg, approach rate: 0.000000 m/s, LOS rate: 0.545589 deg/s, cmd heading: 357.669358 deg, new cmd heading: 358.465453 deg. 2j9EHeadingCmd: 6.256402 target range: 409.899994 and range: 409.90 m. jes4@jajajaiahihihihmՇBfqfqfqrfu`fy@bf}`? $?I ɛ#Bb* =I ^ɚiI;4=IE.gۼiIiMaW)Ms4@)I*F2F:FBFo0JF"G>G=zK% OK! M Will construct direction to contact in vehicle frame from tetrahedron phase data.K! K% K% }xqmib][VQQKGFB@?>=;7543/0/,*)%#"#  G RCͽGy B O >|lw,dAR@YR @Ra9Re>yRH`3?`?*4`@?@t˿K?0}?W0?ɨR@R;RCyZ(BZy'IIbIb4٢j袽 jg=9nlڻQ n>lp rG٣pyrHb= r> zNusing accuracyPremultiplier from configtz59v)?z5Yv=- ivQ8B|~~h@vEvK ;v ;v5 H@ MEZjIUFNOT Ignoring new targets: 409.90 m.BjUpJjUpm ProNav: ac range: 409.899994 m, nav range: 29.284811 m, bearing: 164.316705 deg, approach rate: 0.650113 m/s, LOS rate: -0.020921 deg/s, cmd heading: 358.465458 deg, new cmd heading: 358.444824 deg. 2jmemHeadingCmd: 6.256042 target range: 409.899994 and range: 409.90 m. ju1@jqjqjqiqhqhqhyhyfyffrfbfV?ɛ%Bo 隵;I BH/>I I(IIBI&I.I6I<:Iq FɚqiqIu=I}Z޼i}ػi}j)}1@)*F?2F:FBFP5JFG`KҽGBWill construct direction to contact in vehicle frame from tetrahedron phase data.O?> I*J% 4="J% =J5 J5 J1 J1 J5 :J5 :J1 J1 J5 ;a= J5 ;aE J1 aE J1 aE )Y Y .~G5 tAM A u Y} tAy} .Blw,FD AB|ý@YB@BGǼ9Bf>yBHڵ?ϑ?U'0?`˿F??.?ɨB|ý@B Շ;BCyR BRo'ITTIZIZ4٢v@ vI=9zセQ z>xx~Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣y,< > -Nusing accuracyPremultiplier from config!-59%?55Y%- i%>8B15g5h@%E%:%;%5a e¥@aZjFNOT Ignoring new targets: 409.90 m.Bj2Jj2 ProNav: ac range: 409.899994 m, nav range: 29.538006 m, bearing: 164.312620 deg, approach rate: 0.608336 m/s, LOS rate: -0.009731 deg/s, cmd heading: 358.444831 deg, new cmd heading: 358.432681 deg. 2jչHeadingCmd: 6.255830 target range: 409.899994 and range: 409.90 m. j/@jjjihhhh!f!f!f!rf!bf-@?ɛ)B$ǻ @I TɚiQIU =Iri޻i)/@)i*F?2F:F!BF%[5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.GE $?I G B) OE >lw,T&A:@Y:p+@:1ݼ9:G~i>y:H@?#?n` `?@O̿H?~?` )?ɨ:@:K;:CyFBFb'IUMb@Mb@Mb@QQQ Q)QYUrh|?/$ÿA`"yU?UUYQ U@)U@IU`@QyU@IuIu@4٢O A=9λQ > G٣'IGy&< > Nusing accuracyPremultiplier from config59?5Yn- i 8BR!?:<h@EM;;95 r@JEZj)5FNOT Ignoring new targets: 409.90 m.Bj=uJj=u] ProNav: ac range: 409.899994 m, nav range: 29.801548 m, bearing: 164.277876 deg, approach rate: 0.627114 m/s, LOS rate: -0.081944 deg/s, cmd heading: 358.432673 deg, new cmd heading: 358.329363 deg. 2j]`eHeadingCmd: 6.254027 target range: 409.899994 and range: 409.90 m. je @jajijiiihihqhhBfffrfbfϱ?ɛu,B} y}4Iy }ɚyiyI" =Iii) @)zK!NKh9KK K  Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FABFEg3JFAGI GMnAG% GBOEs>ZHRH@AHI I'IIBI&I.I6I<:In F Will construct direction to contact in vehicle frame from tetrahedron phase data.@lw,?A:o@Y:~@:9: ql>y:H? ?ߪ,x?b̿c?&H?z#?ɨ:o@:l;:Cy^B^]'IIfIf.4٢n nV=9rQ r>pt vG٣tyvr< v> ~Nusing accuracyPremultiplier from configx~59z?5Yzy- iz8Bԩh@zEz ;z ;z5  @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 409.90 m.BjMJjM $?I ProNav: ac range: 409.899994 m, nav range: 30.039030 m, bearing: 164.251895 deg, approach rate: 0.634980 m/s, LOS rate: -0.068920 deg/s, cmd heading: 358.329373 deg, new cmd heading: 358.252045 deg. 2j2=HeadingCmd: 6.252678 target range: 409.899994 and range: 409.90 m. j@jjjihhhhfffrfbf`?ɛ/B 隥iI \ɚiIC =Iii)@)JJJJJ:J/:JJJ;J;J^;J^;*FE?2FA:FABFM_0JFIG-Will construct direction to contact in vehicle frame from tetrahedron phase data.N?<T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.(lw,oYABǾ@YBD@B0-9B6In>yBHB?`]?F驿;?yͿ`?`|? ?ɨBǾ@B;BCynBni'Iir=Irp> v=v=mMb@Mb@Mb@iii i)iYm+?J +ɿy&1ymv?mHm`emA mx@)m@ImI@iym3@II 4٢:= >=9~uQ > G٣y< > Nusing accuracyPremultiplier from config59L$?5Y.- i7B&?:/¾h@EY;;K5uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254632 @GEZjFNOT Ignoring new targets: 409.90 m.Bj FJj F] ProNav: ac range: 409.899994 m, nav range: 30.315031 m, bearing: 164.197231 deg, approach rate: 0.598176 m/s, LOS rate: -0.117394 deg/s, cmd heading: 358.252055 deg, new cmd heading: 358.089558 deg. 2j]!eHeadingCmd: 6.249842 target range: 409.899994 and range: 409.90 m. je@jajajaiahahihhBfffrfbf`q@ɛ 2B D 3I ɚiI =I%,i-pi-5}s)-@)) $?I*F?2F:FBFJFG 87% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506353zKe KKe 9Ka Ke Ke BK} pA:K} pAG B O >Slw,дsAj@Yj},@jv9jn>yjH7? ?h?$&Ϳ?@8? ?ɨj@jNJ;jCyrBr`'II~I~4٢ S&  T=9 Q  > G٣(IGy[< > %Nusing accuracyPremultiplier from config!-59%7?-5Y%- i%7B)-̼5h@%E%n:%:%59 =@=DEZjaeFNOT Ignoring new targets: 409.90 m.Bjm Jjm  ProNav: ac range: 409.899994 m, nav range: 30.562742 m, bearing: 164.153948 deg, approach rate: 0.705497 m/s, LOS rate: -0.122273 deg/s, cmd heading: 358.089551 deg, new cmd heading: 357.960756 deg. 2jԧH.>I I'IIlBI&I.I6I<:Iv FBIaJIaRIaZIabIajIeW 4HeadingCmd: 6.247594 target range: 409.899994 and range: 409.90 m. jJ@jjjihhhhfffrfbf 9@ɛ 4B #k$  HI  ɚiIR =I}iZi9I)J@)!*F?2F:FBFo0JFGGYBiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758889O:> yI}miJ% J% J% 1J! J% \:J% :J% 3J! J% <J% <J% .Y;J% .Y;:lw,vAbj@Yb'z@bt9bo>ybH?rN?`r@{ ?EͿd??@3?ɨbj@bz;`nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010478y~!Bp'II I ƕ4٢%= %I=9%;Q %>)) -G٣)y5< 5> =Nusing accuracyPremultiplier from config9E59=L?E5Y=- i=7BAE෾Mh@=E=:=:=65B @GEZjaeFNOT Ignoring new targets: 409.90 m.BjmѺJjmѺ ProNav: ac range: 409.899994 m, nav range: 30.825033 m, bearing: 164.113603 deg, approach rate: 0.600706 m/s, LOS rate: -0.091613 deg/s, cmd heading: 357.960761 deg, new cmd heading: 357.840756 deg. 2j~{HeadingCmd: 6.245500 target range: 409.899994 and range: 409.90 m. j"@jjjihhhhff frfbf@ɛ8B o H5I rsɚiIi =IN\iaQi%)"@)*Fu?2Fq:FqBFu_0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262353 m $?Ii G wGq B O >Wlw,N AN@YN4@N9Nyn>yNH?@w?.`'@?z7Ϳ`S? 3? ?ɨN@N;NCy^7B^'I)d dhh Mb@Mb@Mb@    ) Y rh|?Fxɿ ףp= y ? K Q8  @) @I  y I%I%4٢5= 56=95\dQ 5>99 =G٣9yEc< E> MNusing accuracyPremultiplier from configIU59M0c?U5YM- iM~7BUk$?U:]j]h@MEM;MA;M"5i m@mDEZjFNOT Ignoring new targets: 409.90 m.BjZJjZ躝M ProNav: ac range: 409.899994 m, nav range: 31.110476 m, bearing: 164.068879 deg, approach rate: 0.654242 m/s, LOS rate: -0.101569 deg/s, cmd heading: 357.840769 deg, new cmd heading: 357.707827 deg. 2jMiUHeadingCmd: 6.243179 target range: 409.899994 and range: 409.90 m. jU @jQjQjQiQhQhYWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:06:01.4933 TRx dataTimestamp_ set to:1736373962.744759checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515501hhЇBfffrfbfR @zK5BoHK59K1K5 K5RKE ?JKE?ɛ;B 隭I ɚiI =I#ii5) @)*F?2F:FBFp0JFGmT[HU+>IUC IU'IIUvBIQ&IQ.IQ6IU<:IU_ FG9BIO}>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766375klw,7A:@Y:Z@: b$?I`9:-vj>y:H@?@b?@@ o z?̿?@ ?E&?ɨ:@:l<;:CyJB%'II5I54٢M = U[=9m; Q u>qq uG٣u)IGy-< > Nusing accuracyPremultiplier from config59^v?5Y- ic7B>h@E;;t5 ]@AEuB*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 409.90 m.Bj̺Jj̺ ProNav: ac range: 409.899994 m, nav range: 31.352575 m, bearing: 164.034347 deg, approach rate: 0.630345 m/s, LOS rate: -0.089216 deg/s, cmd heading: 357.707826 deg, new cmd heading: 357.605030 deg. 2jtHeadingCmd: 6.241385 target range: 409.899994 and range: 409.90 m. jm@jjjihhhhfffrfbfGE@JJJ0JJ:JB:Jـ3JJ;J;J#b;J#b;ɛ=B$:c IU mBDAT read: Tx time:22:06:02.5941 m$Ping request sent.mulw,j۲AJ7)@YJ8@J9Je>yJH\?W?@ Rjn(?w:̿3?@|?`R.?ɨJ7)@J؈;JCyf]Bf'I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:06:02.5933 MMb@Mb@Mb@III I)IYM333333?(\ſV-yM?M.MMA Mx@)Mh@IM`@IyM@IeIeW4٢ =  2=9LQ > G٣ys< > MNusing accuracyPremultiplier from config!M59%Ҍ?U5Y%-- i%M7BU?U:]롾]h@%E%:;%8;%d5 )@ $?Ik F?k <8 k  k $ϲA:k fCBk CZk {@" ЏV Cݦ=K9x@ s#Z̿zRz Z?Jk M4Rk * ;8>I[`H[#fw@ ͺRѿ*Onѿ ʔ?"k *k Ik 3s?k ^ze 9 2k Ck &' ?k a.à/ k Ck aBk _@U addTargetRange:: Added new target pos. range: 408.799988 m, deltaT: 4.033024 s, deltaX: -1.100006 m, approachRate: -0.272750 m/s, rangeRepo size: 4  Added new target pos. range: 408.799988 m, bearing: 225.570500 deg, lat: 36.901276 deg, lon: -122.122430 deg, deltaT: 4.033024 s, deltaX: -1.100006 m, approachRate: -0.272750 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 408.80 m.BjJj ProNav: ac range: 408.799988 m, nav range: 56.418308 m, bearing: 200.502670 deg, approach rate: 0.000000 m/s, LOS rate: -0.089216 deg/s, cmd heading: 357.605018 deg, new cmd heading: 357.482227 deg. 2jHeadingCmd: 6.239242 target range: 408.799988 and range: 408.80 m. jߧ@jjjihhhhBfffrf̌y@bf y?ɛ@B 隝Ph=I :eɚiID =I3ipi)ߧ@)*Fu?2Fq:FqBFu&2JFqGM~G! B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BIK 9K K K lw,6AbL@Yb(\@bHy9bк^>ybH@D?@"?@ťX46? _˿@tN??:?ɨbL@b@;bCH%)>I! I%(II%BI%) =&I!.I%5D6I%<:I%g Fy=sB='IiE=IE< AEa=IMIM4٢e> ek=9eQ e?ii mG٣iymK< u? }Nusing accuracyPremultiplier from configy59}8?5Y}- i}<7Bh@}E}:}:}o5 Ġ@>EZjFNOT Ignoring new targets: 408.80 m.BjJj󻝊 ProNav: ac range: 408.799988 m, nav range: 56.588467 m, bearing: 200.366166 deg, approach rate: 0.533146 m/s, LOS rate: -0.426412 deg/s, cmd heading: 357.482238 deg, new cmd heading: 357.073965 deg. 2jRHeadingCmd: 6.232116 target range: 408.799988 and range: 408.80 m. jm@jjjihhh h f f f rfbf?ɛBBQ"; =I p`ɚiI$ =I-QiiK)m@)*F?2F:FBF_0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data. IG vżG *J C="J %=B O >Xlw,AZWill construct direction to contact in vehicle frame from tetrahedron phase data.-=@Y-@-v9-^>y-H?C?rl@p9?[d˿Π?? :?ɨ-=@-p5;-CyEBE'IIUyIUxV4٢e= mJ=9mQ m>iq uG٣u*IGyu< u> Nusing accuracyPremultiplier from configy59}v?5Y}- i}*7BIh@}E}:}:}5B q@;EZjFNOT Ignoring new targets: 408.80 m.BjgۻJjgۻ ProNav: ac range: 408.799988 m, nav range: 56.787540 m, bearing: 200.210218 deg, approach rate: 0.491449 m/s, LOS rate: -0.383635 deg/s, cmd heading: 357.073957 deg, new cmd heading: 356.607765 deg. 2jHeadingCmd: 6.223979 target range: 408.799988 and range: 408.80 m. j*@jjjihhhhfffrfbf%?ɛ-DB-; )->I1 5! ɚ1iIq =Irii;)*@)*F2F:FBFJFGvG rAG qAGBOj>UWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I Ilw,`(AJcKkm3 KkS}-KcKc"KcJVJVJTJTJV:JV :JTJTaf@af@af@af@u@Yu@u9uXQ>yuH? Ѣ?&BO? bɿ̾? ?`pP?ɨu@u;uCyލBޕ(IMb@Mb@Mb@ )YOn?Pn{Gzty?ףrA @)~@II@y@I5sI5K4٢Ec> E==9Mi9Q M>II UG٣QyU[; ]> eNusing accuracyPremultiplier from configYm59]?m5Y]- i]%7Bm?m:mmh@]E]I;];]5y }@yZjFNOT Ignoring new targets: 408.80 m.BjUŻJjUŻe ProNav: ac range: 408.799988 m, nav range: 57.004864 m, bearing: 200.059620 deg, approach rate: 0.501364 m/s, LOS rate: -0.346106 deg/s, cmd heading: 356.607756 deg, new cmd heading: 356.157692 deg. 2jemHeadingCmd: 6.216125 target range: 408.799988 and range: 408.80 m. j~@jjjihhhh%Bfffrfbf I%?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ5GB5; 15<>I1 5xɚ9i9I=W =IEWiEx|iEoA<)E~@)'TFailed to parse incomplete device message.*F?2F:FBFJFH-(>I) I-I(II-҈BI-* =&I).I)6I-<:I-q FG gG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia lw,YBA I Z@YZ@Z`J9ZC>yZH@|??@%`gd?]ȿǟ?K?`g?ɨZ@Z1;ZCyfBf3(I) II4٢-> -]=95;Q 5>99 =G٣9y=y E> MNusing accuracyPremultiplier from configAU59E_?]5YE%- iE 7BY]]h@EEEaB;EB;E5a m@m8EZjFNOT Ignoring new targets: 408.80 m.BjŻJjŻ ProNav: ac range: 408.799988 m, nav range: 57.190479 m, bearing: 199.931538 deg, approach rate: 0.502332 m/s, LOS rate: -0.345503 deg/s, cmd heading: 356.157701 deg, new cmd heading: 355.774708 deg. 2jmHeadingCmd: 6.209440 target range: 408.799988 and range: 408.80 m. j@jjjihhhhfffrfbf ?ɛHB2`S< <m>I EɚiIaY =I i i<)@)NG5vAUA HYvAy\BJJ*F?2F:FBFo0JFGRGyBO<>Will construct direction to contact in vehicle frame from tetrahedron phase data.lw,{\AyوB%S(IMb@Mb@Mb@ )YQ?V-~jt?y?hD< A @)h@I@y@II 4٢= ?=9Q > G٣+IGy >  Nusing accuracyPremultiplier from config 5Will construct direction to contact in vehicle frame from tetrahedron phase data.9 P?5Y B- i (7B%?%:%F,%h@ E ^; e\; 5) -b@1UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 408.80 m.BjmJjm} ProNav: ac range: 408.799988 m, nav range: 57.409855 m, bearing: 199.807386 deg, approach rate: 0.510954 m/s, LOS rate: -0.288060 deg/s, cmd heading: 355.774718 deg, new cmd heading: 355.403692 deg. 2j}EHeadingCmd: 6.202965 target range: 408.799988 and range: 408.80 m. j~@jjjihhhh@BfffrfbfD@ɛKBol< Ύ>I rɚiI=IJii$<)~@) 5$?I9*F ?2F :F BF JF JJJJJJJJG- I3<G5 ?G5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G B O- >zK] {kLK] 9KY K] K] 789:75411.*&#" Clw,vAHj'>Ih Ij(IIjBIh&Ih.Ih6Ijɰ<:Ij| FudO@Yu^@u|ܼ9u&>yuH?]v? ?`lĿV?@? ?ɨudO@u;uCyBw(III4٢7> J=9) G٣y䏼 >  Nusing accuracyPremultiplier from config 59 ?5Y Z- i .7B3h@ E  ;  ; ?5! %@-5EZjiuFNOT Ignoring new targets: 408.80 m.Bj}Jj} ProNav: ac range: 408.799988 m, nav range: 57.616634 m, bearing: 199.689427 deg, approach rate: 0.509460 m/s, LOS rate: -0.289582 deg/s, cmd heading: 355.403703 deg, new cmd heading: 355.051100 deg. 2jFHeadingCmd: 6.196811 target range: 408.799988 and range: 408.80 m. jFL@jjjihhhhfffrfbf@@ɛMBH< ^>I nɚiI =I尽imi<)FL@)*F?2F:FBFJ1JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752194Ge< %$?I!G)B9OUS>lw,YABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.002062V9@YV7I@V˼9V>yVH@?(?=ܠ=d?@ÿ&~? TG?`?ɨV9@V:G;TyB(Ii >I = a=BAII_v4٢-= -X=9-{;Q 5>11 5G٣1yvٻ > Nusing accuracyPremultiplier from config59?5Ys- i57BE6h@E::5 @2EZjIMFNOT Ignoring new targets: 408.80 m.BjuyJjuy ProNav: ac range: 408.799988 m, nav range: 57.820274 m, bearing: 199.573514 deg, approach rate: 0.510118 m/s, LOS rate: -0.289339 deg/s, cmd heading: 355.051101 deg, new cmd heading: 354.704591 deg. 2jFHeadingCmd: 6.190763 target range: 408.799988 and range: 408.80 m. j@jjjihhhhfffrfbfN@ɛ=OBE*< 隕>I W|ɚi!I-ot=I=GimOqiu0Q<)u@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254365  $?I E% @o=*F ?2F :F BF _0JF J J J /J J \:J &:J (N3J Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:06:05.5416 TRx dataTimestamp_ set to:1736373966.776818checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507398GFթ<G qAG rAGBzK}RMK}9KyK} K}  BK:KO?lw,0FAF4@YFsD@F1S9FB>yFH??A` s?`i? ? ?ɨF4@Fi;FCyR%BR(IMMb@Mb@Mb@III I)IYM5^I ?~jth~jt?yM?MDMIy I}(II}VBIy&Iy.Iy6I}<:I}] FBIMCJIMCRIIZIM* =bIM* =jIM}`5٢=  =9a;Q > G٣,IGy > Nusing accuracyPremultiplier from config593?5Y - iJ7B0?:Јh@ E;;5 @/EZjAFNOT Ignoring new targets: 408.80 m.BjoJjo ProNav: ac range: 408.799988 m, nav range: 58.132065 m, bearing: 199.440590 deg, approach rate: 0.541974 m/s, LOS rate: -0.229816 deg/s, cmd heading: 354.704592 deg, new cmd heading: 354.307967 deg. 2jHeadingCmd: 6.183841 target range: 408.799988 and range: 408.80 m. j@j j j i h hhhwBfffrfbf2{ @ɛRB< 隥>I 7\ɚiI=I'u˽ini<)@)E]<Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759690*F5?2F9:F9BF=a0JF9 IG} 5<J @AJ GY B O >^lw,ϳAUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:06:05.5416 LVL= 17424, 32753, 21490, 32755, AGC= 69, IDX= 425,-0.00, 0.645,-1.056,-0.601,-0.161, PHS= 0.895,-0.848,-0.443, RAW= 102.8, 5.1, CAL= 113.2, 3.1, ROT= 36.8, -3.1 Ygot valid direction response: 22:06:05.5416 LVL= 17424, 32753, 21490, 32755, AGC= 69, IDX= 425,-0.00, 0.645,-1.056,-0.601,-0.161, PHS= 0.895,-0.848,-0.443, RAW= 102.8, 5.1, CAL= 113.2, 3.1, ROT= 36.8, -3.1 PDAT read: Bearing 36.8, -3.1 (Local) ~Local bearing/azimuth received: Bearing 36.8, -3.1 (Local) DAT read: Range 10 to 50 : 407.5 m (Round-trip 543.4 ms) speed 0.4 m/s ,DAT read: user:2298> BDAT read: Tx time:22:06:06.6441 $Ping request sent.11 5G٣1y5 => ENusing accuracyPremultiplier from config9E59=H?M5Y=|- i=Z7BIIMh@=E= ;=;=f5Y ]@Yk]?k]^k7 kY k]ѳA:k]CBk]YCZk]OD{@"]aeT mF0x@]ǂ\ɿcQ(y:G&?Jk]@(Rk]B|*]Bq%WpU`Wj:Ήx@]*cw οPoο]@T-?"k]s*k]Ͽk]7C?k]TS}7 2k]wCk]J?k])4 k]Ck]HBk]Mp@ addTargetRange:: Added new target pos. range: 407.500000 m, deltaT: 4.030814 s, deltaX: -1.299988 m, approachRate: -0.322512 m/s, rangeRepo size: 4  Added new target pos. range: 407.500000 m, bearing: 224.945758 deg, lat: 36.900961 deg, lon: -122.122926 deg, deltaT: 4.030814 s, deltaX: -1.299988 m, approachRate: -0.322512 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 407.50 m.BjJj ProNav: ac range: 407.500000 m, nav range: 110.142120 m, bearing: 215.128521 deg, approach rate: 0.000000 m/s, LOS rate: -0.229816 deg/s, cmd heading: 354.307976 deg, new cmd heading: 354.020016 deg. 2jHeadingCmd: 6.178815 target range: 407.500000 and range: 407.50 m. jڸ@jjjihhhhfff!rf-xy@bf-`¡?ɛTB< 隕r>I lBɚiI=Iսii=)ڸ@)EE*E"EE Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:06:06.6433 $?I *F} ?2F :F BF _0JF G rA G qAJ J J J J ̶:J :J J G<GBO?Elw,~oA jWill construct direction to contact in vehicle frame from tetrahedron phase data.yUQB](I)a aMb@Mb@Mb@ )Y ףp= ?V-?Zd;O?yQ?m=j<A @)h@I@y@I%I%4٢5= 5=99Q =>9A EG٣E-IGyA E> UNusing accuracyPremultiplier from configQ]59UWb?]5YU2- iUr7B]'?]:]=]h@UEU;U&:U5i m@m,EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 407.50 m.BjBJjB ProNav: ac range: 407.500000 m, nav range: 110.403503 m, bearing: 215.040027 deg, approach rate: 0.503525 m/s, LOS rate: -0.170070 deg/s, cmd heading: 354.020015 deg, new cmd heading: 353.755165 deg. 2jo黝HeadingCmd: 6.174192 target range: 407.500000 and range: 407.50 m. j@jjjzKLK+9KK K ihAhAhIhMBfIfIfQrfQbfU`?ɛWBw< R>I 6#ɚiI =I7߽i}FHI I0)IIBI+ =&I.I6Iǰ<:Ix Fi=)@)*F?2F:FBFo0JFGue[=G)B9OUu>Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. $?I nmw,3 A:@Y:'@:9:b>y:H@?`얭?22 ?`??@B?ɨ:@:;:CyR[BR(IIZIZt4٢bX= bf=9fdh jG٣hyjQ j>*JrR="JrC= vNusing accuracyPremultiplier from configtz59vDt?z5Yv- iv7Bxzf<zh@vEvs:v:v5 U@)EZj)-FNOT Ignoring new targets: 407.50 m.Bj5BJj5Be ProNav: ac range: 407.500000 m, nav range: 110.581474 m, bearing: 214.979519 deg, approach rate: 0.501668 m/s, LOS rate: -0.170288 deg/s, cmd heading: 353.755168 deg, new cmd heading: 353.573936 deg. 2jm黝uHeadingCmd: 6.171030 target range: 407.500000 and range: 407.50 m. juy@jqjqjqiqhqhyhyhyfffrfbf@?ɛYBc= 隵?I  ɚiIz|=Ii^iy =)y@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996686*F?2F:FBF&5JFG1G) BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248056  I ™mw,$A6<@Y6@6e96%>y6H?&"?2@Ͱ ?`乌??@?ɨ6<@6$`;6Cy>cBB(ImMb@Mb@Mb@iii i)iYm^I +?/$?~jt?ymX?m=m=9);Q > G٣y@ > Nusing accuracyPremultiplier from config59 ?5Y- i7B?:>=h@EP;bY;5 ё@ZjFNOT Ignoring new targets: 407.50 m.Bj67Jj67 ProNav: ac range: 407.500000 m, nav range: 110.803383 m, bearing: 214.910367 deg, approach rate: 0.515035 m/s, LOS rate: -0.160175 deg/s, cmd heading: 353.573949 deg, new cmd heading: 353.366911 deg. 2jۻHeadingCmd: 6.167416 target range: 407.500000 and range: 407.50 m. jy[@jjjih!h!h!h%Bf)f)f)rf)bf-?ɛe[Be= am?Ii mߺɚiiiIu]=I}Ji 6޻i=)y[@)*FI2FI:FIBFME5JFQ"G]=G]=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499834G-=G1G5oAG B O- >zKE LKA KA KE KE ZH RH ?AH %>I C I \)II BI * =&I .I 6I <:I i Fmw,=ABl@YB@B/>9B& >yBH`?-? *\@zX?"҇??,?ɨBl@BM`;@yJeBN(IiR>IR>IbIb4٢r'< rV=9r;Q v>xx ~G٣|yT > Nusing accuracyPremultiplier from config%59?%5Y,- i7B!-ց=-h@!EX;rY;15 @&EZjFNOT Ignoring new targets: 407.50 m.Bj1Jj1% ProNav: ac range: 407.500000 m, nav range: 111.002159 m, bearing: 214.848061 deg, approach rate: 0.494661 m/s, LOS rate: -0.154774 deg/s, cmd heading: 353.366913 deg, new cmd heading: 353.180329 deg. 2j%pԻ5HeadingCmd: 6.164160 target range: 407.500000 and range: 407.50 m. j=@@j9jAjAiAhIhIeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753169hihififqfqrfqbf}I? $?Iɛ^B( = 隽?I FɚiI4=Iiۻi=)@@)*FA2FA:FABFE5JFAJAAJAAJJJ0JJ:JB:Jـ3JJ'mw,WAy=dB=(IIMIM]4٢e eB=9uQ }> G٣.IGy > Nusing accuracyPremultiplier from config59?5Y- i7Bh@&E::5 Ǒ@#EZjFNOT Ignoring new targets: 407.50 m.Bj3Jj3 ProNav: ac range: 407.500000 m, nav range: 111.220055 m, bearing: 214.780061 deg, approach rate: 0.504776 m/s, LOS rate: -0.157220 deg/s, cmd heading: 353.180339 deg, new cmd heading: 352.976740 deg. 2j׻HeadingCmd: 6.160606 target range: 407.500000 and range: 407.50 m. j#@j j jihhhhfff!rf!bfE@O@ɛaB= 隵t?I &VɚiI`=I i8gػi=eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256050 $?I)#@)*F12F1:F1BF5&5JF9G] $3=G1 BA O] >mw,UqAFR@YFlb@F-:9F=yFHS?O?` e໭?`0^`@? V?ɨFR@FB;FCyRcBR(IZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508036Mb@Mb@Mb@ )YK??~jt?y^?=D< )h@I@yz@II4٢r A=9%=Q > G٣y_ > Nusing accuracyPremultiplier from config59y?5Y:- i7B%?-:-}=5h@*EP;;5Q Uԑ@QB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 407.50 m.Bj-4Jj-4zKEBIKE9KAKE KE= ProNav: ac range: 407.500000 m, nav range: 111.440552 m, bearing: 214.713716 deg, approach rate: 0.526716 m/s, LOS rate: -0.158169 deg/s, cmd heading: 352.976745 deg, new cmd heading: 352.778105 deg. 2jmٻmHeadingCmd: 6.157139 target range: 407.500000 and range: 407.50 m. juI@jqjqjqiqhqhqhyh}BH#>I Ih)IIBI+ =&I.I6IV<:I# Ffffrfbf@ɛcB/ = 隍f>I 4ֹɚiI=IBiv!ֻi,<)I@)*F2F:FBF_0JFGqA GrA }$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769063G =) C] ~G G B O > Y y B"mw,{AZ@ZBJfJfJf1JdJf:Jf/:Jf3JdJf;Jf;Jf^;Jf^;r?F@YrU@rC;9r=yrH?@yԵ?5qk0ʵ R?t!! %G٣!y-1 -> 5Nusing accuracyPremultiplier from config1=595?=5Y5Š- i57B9E=Eh@5-E5>;5p;55Q U/@U EZjy}FNOT Ignoring new targets: 407.50 m.BjCJjC ProNav: ac range: 407.500000 m, nav range: 111.638718 m, bearing: 214.654154 deg, approach rate: 0.570912 m/s, LOS rate: -0.171293 deg/s, cmd heading: 352.778096 deg, new cmd heading: 352.599727 deg. 2j뻝HeadingCmd: 6.154026 target range: 407.500000 and range: 407.50 m. j@jjjihhhhfffrfbfN@ɛ]fB]= ae>Ia eɚaiaIe=ImVBimEԻim}%<)u@)q Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020139*F?2F:FBFJFG=GBOA> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271941(mw,>ZAZ4@YZMD@Z%<9ZyF=yZHY? {?D?T g???ɨZ4@Z;ZCy~IB~(IMb@Mb@Mb@ )YV-?sh|??Mbpy?=A Z@)@I~@y@IIݜ4٢ @=9l G٣/IGyڣ > Nusing accuracyPremultiplier from config59?5Yq- iU\?U:]A=]h@2E*<mz<5i mt@mEZjFNOT Ignoring new targets: 407.50 m.Bj6Jj6 ProNav: ac range: 407.500000 m, nav range: 111.862724 m, bearing: 214.582618 deg, approach rate: 0.500772 m/s, LOS rate: -0.159599 deg/s, cmd heading: 352.599719 deg, new cmd heading: 352.385542 deg. 2j ۻ5HeadingCmd: 6.150288 target range: 407.500000 and range: 407.50 m. j5)@j1j1j1i1h9h9h9h=hBfAfAfArfAbfEmI @ɛiB\< 隽t>I m9ɚiI=I *i җѻi z<) )@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:06:09.5895 %TRx dataTimestamp_ set to:1736373970.816614%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524936zK BoHK 9K K K jH <bH H ">I  I \)II BI &I .I 6I A<:I  FG <G G rAG B O >/mw,8Ab6%@Yb4@b4Xa<9b=ybH??Np?@Ѷ@!?g@*`+3??ɨb6%@b;`yn9Bn(IIvIv4٢- -T=9-11 5G٣1y= => ENusing accuracyPremultiplier from configAM59E?M5YE)- iE7BQ][9=]h@E5EE ;E҇;E5y }t@yZjFNOT Ignoring new targets: 407.50 m.BjGJjG ProNav: ac range: 407.500000 m, nav range: 112.064331 m, bearing: 214.518256 deg, approach rate: 0.548351 m/s, LOS rate: -0.174743 deg/s, cmd heading: 352.385551 deg, new cmd heading: 352.192813 deg. 2jﻝHeadingCmd: 6.146924 target range: 407.500000 and range: 407.50 m. j@jjjihhhhfffrfbf'@ɛ kB <<  2>I  $?I %D:ɚ!i!I%T=I- i-%nϻi-m=)-@)1uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777063*F?2F:FBF0JF"G=G=GF<GBO=>%PExceeded connect timeout, disconnecting.JJJ/JJ<:J:J(N3JJ4;J6;J.Y;J.Y;% Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 22:06:09.5895 LVL= 23792, 31089, 21746, 32179, AGC= 69, IDX= 419,-0.06,-2.436, 2.167, 2.570, 3.046, PHS= 0.889,-0.832,-0.479, RAW= 101.2, 5.4, CAL= 111.3, 3.7, ROT= 38.7, -3.7 e Ygot valid direction response: 22:06:09.5895 LVL= 23792, 31089, 21746, 32179, AGC= 69, IDX= 419,-0.06,-2.436, 2.167, 2.570, 3.046, PHS= 0.889,-0.832,-0.479, RAW= 101.2, 5.4, CAL= 111.3, 3.7, ROT= 38.7, -3.7 m PDAT read: Bearing 38.7, -3.7 (Local) m ~Local bearing/azimuth received: Bearing 38.7, -3.7 (Local) } DAT read: Range 10 to 50 : 405.9 m (Round-trip 541.3 ms) speed 0.3 m/s  ,DAT read: user:2299>  BDAT read: Tx time:22:06:10.6941  $Ping request sent. II MG٣IyU-m U> Nusing accuracyPremultiplier from config59?5Yݟ- i7BY3=h@9EU::5 @EkU1?kU|4 kQ kUwԴA:kUCBkUCZkUu@"UÂr4T g*@9Fx@Uc .ʿ J~6?JkUF0RkU*UO)LTHK P sbxx@UA| hʿ|pſ~j?"kU*kUmkU?kUsG4 2kU CkQkUsG4 kU CkUBkUɘq@ addTargetRange:: Added new target pos. range: 405.899994 m, deltaT: 4.040087 s, deltaX: -1.600006 m, approachRate: -0.396033 m/s, rangeRepo size: 4 e Added new target pos. range: 405.899994 m, bearing: 219.418463 deg, lat: 36.900961 deg, lon: -122.122976 deg, deltaT: 4.040087 s, deltaX: -1.600006 m, approachRate: -0.396033 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 405.90 m.BjJj ProNav: ac range: 405.899994 m, nav range: 114.871323 m, bearing: 216.288719 deg, approach rate: 0.000000 m/s, LOS rate: -0.174743 deg/s, cmd heading: 352.192803 deg, new cmd heading: 351.952695 deg. 2j $?I %HeadingCmd: 6.142733 target range: 405.899994 and range: 405.90 m. j%E@j!j!j)i)h)h)h)h1f1f1f1rf5`f^y@bf= ?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:06:10.6933 ɛnB9v< 隭h>I w:ɚiI$;=Ii ̻ifY =)E@)*Fu?2Fq:FqBFup0JFyG <GY Ba O >:iq uG٣u0IGyu? }> Nusing accuracyPremultiplier from configy59}>3?5Y}- i}7B#?:柼h@}>E};};}[5B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 405.90 m.BjvJjv ProNav: ac range: 405.899994 m, nav range: 115.094345 m, bearing: 216.203860 deg, approach rate: 0.568448 m/s, LOS rate: -0.215871 deg/s, cmd heading: 351.952681 deg, new cmd heading: 351.698601 deg. 2j&HeadingCmd: 6.138299 target range: 405.899994 and range: 405.90 m. jl@jjjihhhh#BfH !>I  I 0)II BI , =&I .I 6I =<:I  FBI›CJI›CRIZI+ =bI+ =jI¼ 5ff1rf1bf5 ?zK9K=+9K9K= K=RKM?JKM!?ɛupBu*< qu>Iq }2@:ɚyiyI}m-=I&]iɻiH=)l@)*F=?2F9:FABFEZ5JFAG-sc=GBOm> $?IeWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.  nManaging dock network, ignoring radio surface power offqCmw,! A2zܾ@Y2@2<92=y2H@? ? I?@ է?ӻ uc??ɨ2zܾ@2҈;0J@JBJB0J@J@JBz:JBـ3J@J@J@JBl;JBl;ynBr|(IIzIz"4٢Mҽ MY=9M[;Q U>QQ UG٣Qy]3 ]> eNusing accuracyPremultiplier from configam59eF?m5Ye'- ie7Bquuh@eBEe:e:e5 [@ZjFNOT Ignoring new targets: 405.90 m.Bj1YJj1Y% ProNav: ac range: 405.899994 m, nav range: 115.279839 m, bearing: 216.133022 deg, approach rate: 0.498025 m/s, LOS rate: -0.189885 deg/s, cmd heading: 351.698598 deg, new cmd heading: 351.486427 deg. 2j%P%HeadingCmd: 6.134595 target range: 405.899994 and range: 405.90 m. j-N@j)j)j)i)h)h)h1hQfQfYfYrfYbf] :?ɛrBݨ< ƫ=隭>I s:ɚiI3=I'iEǻi , =)N@)E1E5qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997126*F?2F:FBF_4JFGrA GG : =G B O= > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՅ A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248069GEImw,?&A6@Y6{@6<96Cq=y6He?x?p??Rۻ^?@?ɨ6@6l;6CyBBBn(I)D D%Mb@Mb@Mb@!!! !)!Y%Zd;?MbI +y%?%%9%QA !)%@I%$@!y%=@IIv}4٢U ?=9\;Q >    G٣y > -Nusing accuracyPremultiplier from config!U59%<]?U5Y%- i%7B]?]:]⽑]h@%FE%;%;%M5a e@eEZjFNOT Ignoring new targets: 405.90 m.BjlJjl ProNav: ac range: 405.899994 m, nav range: 115.476295 m, bearing: 216.043853 deg, approach rate: 0.457061 m/s, LOS rate: -0.207102 deg/s, cmd heading: 351.486425 deg, new cmd heading: 351.219373 deg. 2j!HeadingCmd: 6.129934 target range: 405.899994 and range: 405.90 m. jl(@jjjihhhhBfff!rf!bf%=?ɛUuB].< Y]lu>IY ]km:ɚYiaIeM=Imim2Ļim"=)ml(@)q*F?2F!:F!BF%N2JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500509H I  I (II [BI &I .I 6I k<:I 1 FzK K h9K K K BK qA:K G- z =G B O- >,Pmw,Ի@A:Y@Y:@:ps<9:T=y:H@??@{=?~iu?@Gջu͜ :?@E?ɨ:Y@:;:CyFՈBFM(IININʴ4٢V Vc=9V:XX ZG٣Z1IGy^B ^> bNusing accuracyPremultiplier from config`f59bo?f5Yb- ib7BhjK潑jh@bIEb<:b<:bo5l r@pZj)-FNOT Ignoring new targets: 405.90 m.Bj5oJj5oE ProNav: ac range: 405.899994 m, nav range: 115.640305 m, bearing: 215.969471 deg, approach rate: 0.462419 m/s, LOS rate: -0.209421 deg/s, cmd heading: 351.219365 deg, new cmd heading: 350.996536 deg. 2jEMHeadingCmd: 6.126045 target range: 405.899994 and range: 405.90 m. jM@jIjIjQiQhQhQ e$?IahQhafififirfibfm`?ɛvB{< 隭x<>I :=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751659ɚAiAIEm=IMb iM[iMu<=)M@)I*F?2F:FBF_0JFG=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005010XVmw,ZA6@Y6@6m=96k=y6Hg?@? H?`"-`o??`8?ɨ6@6T;6Cy^ˈB^A(IIfIf 4٢n: nG=9ru'pp rG٣tyv v> zNusing accuracyPremultiplier from configx~59z(?5Yz[- izv7B콑h@zNEz ;z;z5  [@EZjAEFNOT Ignoring new targets: 405.90 m.BjMnJjMn] ProNav: ac range: 405.899994 m, nav range: 115.827873 m, bearing: 215.884245 deg, approach rate: 0.460466 m/s, LOS rate: -0.208883 deg/s, cmd heading: 350.996537 deg, new cmd heading: 350.741276 deg. 2j]ZeHeadingCmd: 6.121590 target range: 405.899994 and range: 405.90 m. je@jajajaiahihihihifqfqfqrfybf}@&'@ɛ%yB%MQ< !%$>I! %c:ɚ)i)I-<=IU6y%iU3i]͸=)]@)Y e$?IqEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256492E*F?2F:FBFJF"G=G=J J J J J :J B:J J a @a @a @a @G5 '= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507824G B O5 >n\mw,MvAf~@Yf@ft=9f/=yfH8??`2Ę?a̻ :?@wm@Ժ?@?ɨf~@f6U;fCyrBr)(Iiv)>IvC=uMb@Mb@Mb@qqq q)qYuCl?X9vyu;?u}u̼uA uC@)u@Iu@qyu@II4٢ 3=9 G٣yR > Nusing accuracyPremultiplier from config59?5Y- i]7B& ?:Ph@H">I I(II#BI&I.I6I<:I_ FRE~<X<5q u@uEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 405.90 m.zKBoHK+9KK KBjyJjy ProNav: ac range: 405.899994 m, nav range: 116.020821 m, bearing: 215.780155 deg, approach rate: 0.404347 m/s, LOS rate: -0.217771 deg/s, cmd heading: 350.741279 deg, new cmd heading: 350.429531 deg. 2jtHeadingCmd: 6.116149 target range: 405.899994 and range: 405.90 m. j~@jjjihh!h)h-Bf)f)f1rf1bf5`@ɛ}{B< 隍(=I ?-:ɚiI6=I +i9Ki*h(=)~@)Eey=*F?2F:FBFJF IuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759736G =G B O >*J C="J a=Xcmw,=A6-`@Y6o@6Ht =96M=y6H:? ҽ?? 켿?U8 @-?[?ɨ6-`@6;6CyBBB(IININ4٢V  VZ=9Z X\ ^G٣^2IGy^A ^> fNusing accuracyPremultiplier from config`j59b?j5Yb%- ibG7Bhj%jmw,kجAyB 'IJMJMJIJIJM<:JM:JIJIMb@Mb@Mb@ )Y333333?zGế~jty? ׽ļQA p@)@I@y@II 4٢) '=9Q >    G٣ y > Nusing accuracyPremultiplier from config%59?%5YT- i*7B-?-:-n-h@[EA6;3;59 =@= EZjaeFNOT Ignoring new targets: 405.90 m.BjmJjm} ProNav: ac range: 405.899994 m, nav range: 116.361664 m, bearing: 215.579949 deg, approach rate: 0.374632 m/s, LOS rate: -0.234235 deg/s, cmd heading: 350.175029 deg, new cmd heading: 349.829803 deg. 2j} HeadingCmd: 6.105682 target range: 405.899994 and range: 405.90 m. ja@jjjih!hAhIhMBfIfIfQrfQbfU@C @ɛ}B}^܏; y@=I y;ɚiI=Ir5iSi.>=)a@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:06:13.6369 TRx dataTimestamp_ set to:1736373974.854207checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523104*F?2F:FBFo0JFGqA GH#>I In(IIBI&I.I6I<:IZ FzKK9KK KG} %=G G GY By O >  $?I U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771735Zqmw,ƵA.@Y..@.7=9.=y.H@?IQ UG٣QyUB U> Nusing accuracyPremultiplier from config59?5Y?- i7Bh@_En: :<5 +@ EZjFNOT Ignoring new targets: 405.90 m.Bj=Jj=M ProNav: ac range: 405.899994 m, nav range: 116.517570 m, bearing: 215.481206 deg, approach rate: 0.363922 m/s, LOS rate: -0.230181 deg/s, cmd heading: 349.829804 deg, new cmd heading: 349.533973 deg. 2jMUHeadingCmd: 6.100519 target range: 405.899994 and range: 405.90 m. jUs7@jQjYjYiYhYhYhahafafafirfibfm8/@ɛB^: >T2=隥@I 5A;ɚiI=I ;iit1=)s7@)*FU?2FQ:FYBF]0JFaGM 8<=G!BAO]v>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:06:13.6369 LVL= 17312, 32753, 22146, 32755, AGC= 68, IDX= 407,-0.08,-1.868, 2.682, 3.040,-2.729, PHS= 0.949,-0.825,-0.517, RAW= 99.4, 4.8, CAL= 109.3, 3.2, ROT= 40.7, -3.2 Ygot valid direction response: 22:06:13.6369 LVL= 17312, 32753, 22146, 32755, AGC= 68, IDX= 407,-0.08,-1.868, 2.682, 3.040,-2.729, PHS= 0.949,-0.825,-0.517, RAW= 99.4, 4.8, CAL= 109.3, 3.2, ROT= 40.7, -3.2 PDAT read: Bearing 40.7, -3.2 (Local) ~Local bearing/azimuth received: Bearing 40.7, -3.2 (Local) DAT read: Range 10 to 50 : 403.8 m (Round-trip 538.5 ms) speed 0.3 m/s  ,DAT read: user:2300> BDAT read: Tx time:22:06:14.7442 $Ping request sent.% G٣3IGWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:06:14.7434 y% %> -Nusing accuracyPremultiplier from config)559-T?55Y-/- i-6B99=h@-cE-:-:- 5i uǠ@uEkn. ?kMb$3 k kiֵA:kCBkCZknmt@"8JS{Dj4qOEOx@O7vȿ |㩿q)Y^?Jk8Rkj*6P]J2Jt)x@td(ſP''ӝF?"kAV*k!k` ?kXQ.3 2kqCkkkkZBkUp@5 addTargetRange:: Added new target pos. range: 403.799988 m, deltaT: 4.036110 s, deltaX: -2.100006 m, approachRate: -0.520305 m/s, rangeRepo size: 4 u Added new target pos. range: 403.799988 m, bearing: 218.822846 deg, lat: 36.900961 deg, lon: -122.122976 deg, deltaT: 4.036110 s, deltaX: -2.100006 m, approachRate: -0.520305 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 403.80 m.BjJj ProNav: ac range: 403.799988 m, nav range: 116.675926 m, bearing: 215.381400 deg, approach rate: 0.000000 m/s, LOS rate: -0.230181 deg/s, cmd heading: 349.533975 deg, new cmd heading: 349.231402 deg. 2jUHeadingCmd: 6.095238 target range: 403.799988 and range: 403.80 m. j]0 @jYjYjYiYhYhYhahafafafirfm=G H $>I  I 6(II ˆBI + =&I .I 6I <:I e FB O >;~mw,A6Rӽ@Y6@6'I=96-6=y6H?2??? %$`a"`?`?ɨ6Rӽ@6;6Cy>gB>'IuMb@Mb@Mb@qqq q)qYu$C?S㥛/$yu?u$uq q)qIqqyqzKJQJKKK KII 4٢w V=9> G٣yȼ > Nusing accuracyPremultiplier from config59 ?5Y9- i6B?:h@fE%;;>5 @B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 403.80 m.BjؕJjؕ% ProNav: ac range: 403.799988 m, nav range: 116.808952 m, bearing: 215.288560 deg, approach rate: 0.375853 m/s, LOS rate: -0.262012 deg/s, cmd heading: 349.231397 deg, new cmd heading: 348.953196 deg. 2j%3HeadingCmd: 6.090382 target range: 403.799988 and range: 403.80 m. ji@jjjihhhh|Bfffrfbfs?ɛMBUц Q]bIY (;ɚiI=I.nEii4=)i@)EqAE %$?I)}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF@5JFG 'HF=G B O >Mmw,wA6@Y60@6*K=960'=y6H@?@?d"?` ?{b`?}?ɨ6@6E;4y>fB>'I F=F=IJIJ4٢R% V]=9V:Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b59^ ?f5Y^C- i^6Bdfjfh@^jE^:^:^x5h n@nErWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.992294Zj!%FNOT Ignoring new targets: 403.80 m.Bj-Jj-= ProNav: ac range: 403.799988 m, nav range: 116.938255 m, bearing: 215.197326 deg, approach rate: 0.346396 m/s, LOS rate: -0.244139 deg/s, cmd heading: 348.953190 deg, new cmd heading: 348.679794 deg. 2j='EHeadingCmd: 6.085610 target range: 403.799988 and range: 403.80 m. jER@jAjAjAiAhAhIhIhIfIfQfQrfQbfU]?ɛ%B%+ !-hwI) -:ɚ)i)I-:|=IU"QJiU*Ii]4.=)]R@)YE}= =$?I9*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248834G 4=J J J /J J <:J /:J (N3J G B O >omw,0A>l@Y>|@>N=9>P=y>H@??l?o9¿?@ 5&ԩI?`?ɨ>l@>W;>CyF_BF'IuMb@Mb@Mb@qqq q)qYu^I +?+ÿ~jtyuX?uuuA q)uI@Iqqyu(@II4٢ 2=94:Q > G٣4IGy@ > Nusing accuracyPremultiplier from config59+ ?5Y#- i6B?:&ʾh@oE:;k8;~5B N@EZjFNOT Ignoring new targets: 403.80 m.BjJj ProNav: ac range: 403.799988 m, nav range: 117.089500 m, bearing: 215.079904 deg, approach rate: 0.330873 m/s, LOS rate: -0.256549 deg/s, cmd heading: 348.679791 deg, new cmd heading: 348.327983 deg. 2j0%HeadingCmd: 6.079470 target range: 403.799988 and range: 403.80 m. j%@j!j!j!i!h)h)h)h5Bf1f1f1rf1bf=`?ɛeBeDO im,Ii u):ɚqiqIuJ=I}Pi}ͣi}E2=)}@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497139EMx/=*F?2F:FBF_0JFZHRH@AH &>I C I  (II BI * =&I .I 6I <:I _ FBIJIRIZI, =bIjI?5zK-&~JK)K)K- K-G-=GGpA q I} niG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748198 mw,JAbUE@YbT@bT=9b=ybH?d? ? ¿|?`q@`F? ?ɨbUE@b;bCyn]Bn'IIvIv 4٢~-Y ~U=9~2;Q ~> G٣yL  > Nusing accuracyPremultiplier from config 59 = ?5Y - i 6B!%̾%h@ rE z%; %; 5) -z@-EZjFNOT Ignoring new targets: 403.80 m.BjJj ProNav: ac range: 403.799988 m, nav range: 117.214638 m, bearing: 214.982218 deg, approach rate: 0.320509 m/s, LOS rate: -0.249931 deg/s, cmd heading: 348.327982 deg, new cmd heading: 348.035240 deg. 2j+HeadingCmd: 6.074361 target range: 403.799988 and range: 403.80 m. j*a@jjjihhhhfffrfbf?ɛ=B=# 9=IA E5:ɚAiAIE=IM UiuȟiuM3=)u*a@)qEyEy*E"EEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001504*F?2F:FBFJFG GqAG5 {/= $?I GA By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253777]mw,hA6R@Y6-@6Fa=96|=y6H?@?u?Pmÿ@Yw? %ŷ? )?ɨ6R@6߇;6CyBYBB'I)H H%Mb@Mb@Mb@!!! !)!Y%A`"?ʡEÿMby%?%%%A %@)%`@I%@!y%@I5I5b4٢{  =9d;Q > G٣yR > Nusing accuracyPremultiplier from config59@V ?5YǷ- il6B"?:;i@wE3;<;I5 @EZjFNOT Ignoring new targets: 403.80 m.BjJj ProNav: ac range: 403.799988 m, nav range: 117.380585 m, bearing: 214.852658 deg, approach rate: 0.331370 m/s, LOS rate: -0.258345 deg/s, cmd heading: 348.035240 deg, new cmd heading: 347.647116 deg. 2jL1 HeadingCmd: 6.067587 target range: 403.799988 and range: 403.80 m. j )@j j j i hhhhBfff!rf!bf% @ɛMBU QU|½IQ ]{:ɚYiYI]=Ie\ie狜ie;=)e)@)iJJJ0JJJ&:Jـ3J*F-?2F):F1BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504195G 4=He '>Ia  Ie 'IIe BIa &Ia .Ia 6Ie o<:Ie ; FG B O >zK BoHK +9K K K RK ?JK ?h[mw,cABC@YB@BBh=9B}=yBH`_?@?2?BĿ3p?gG@=??ɨBC@B W;BCy^]Bb'IIjIjK4٢rg< rn=9rī;Q r?tt vG٣v5IGyzo z? ~Nusing accuracyPremultiplier from config|59~f ?5Y~- i~V6BkѾ i@~{E~ ;~ ;~H 5 |@-B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 403.80 m.BjEJjEU ProNav: ac range: 403.799988 m, nav range: 117.491524 m, bearing: 214.765213 deg, approach rate: 0.323115 m/s, LOS rate: -0.254447 deg/s, cmd heading: 347.647121 deg, new cmd heading: 347.385036 deg. 2jU.}HeadingCmd: 6.063013 target range: 403.799988 and range: 403.80 m. j3@jjjihhhhfff $?Irfbf@ɛBN 隍I :ɚiI=Itai=in/3=)3@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757893*Fm?2Fi:FiBFmf0JFiG;=G?G>Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008181mw,-[A6佼@Y6_@62n=96~=y6H؃?@߆? ? Ŀ`i?e0٭r=?/?ɨ6佼@6d;6CyBZBB'IIJIJ4٢fKO fL=9fwz;Q f>ll nG٣lyrR r> vNusing accuracyPremultiplier from configtz59vy ?z5Yv- iv;6Bx~Ծ~i@vEvBpmw,8A6̌@Y6G@6RIr=961=y6HK{?I?vӥ?ſ`?@uD3? ?ɨ6̌@6t4;6Cy>[BB'IiF4>IF; F=F=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:06:17.6852 TRx dataTimestamp_ set to:1736373978.886188checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514852MMb@Mb@Mb@III I)IYM`"?㥛 ¿{GzyM?MM#MhA M@)IIM$@IyMp@II 4H5(>I1 I5'II5BI5) =&I1.I16I5u<:I5@ F٢ubP; }&=9}:Q }> G٣y'H > Nusing accuracyPremultiplier from config59 ?5Y- i6B\?:Ҿi@E3;^;(5 @EZjFNOT Ignoring new targets: 403.80 m.Bj璻Jj璻U ProNav: ac range: 403.799988 m, nav range: 117.778526 m, bearing: 214.539201 deg, approach rate: 0.328764 m/s, LOS rate: -0.256866 deg/s, cmd heading: 347.077374 deg, new cmd heading: 346.707851 deg. 2jUH0]HeadingCmd: 6.051194 target range: 403.799988 and range: 403.80 m. j]a@jYjYjYiYhYhahhBfffrfbf< @ɛB XƽI rQ:ɚi!I%N =I-:mi-di-7=)-a@)1zKk3IKh9KK K*Fu?2Fq:FqBFuo0JFq IM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764116G Gy B O >mw,ٴ϶AJxJzBAJ|J~J|J|J|J~ :J|J|J~5;aJ|aJ~R;a J~R;a yMgBM'IIeIeE4٢ Ӏ=  _=9 Q > G٣6IGy > %Nusing accuracyPremultiplier from config!-59% ?-5Y%- i%6B)15i@%E% ;% ;%J+59 =@9ZjimFNOT Ignoring new targets: 403.80 m.Bju^Jju^ ProNav: ac range: 403.799988 m, nav range: 117.896713 m, bearing: 214.447234 deg, approach rate: 0.329229 m/s, LOS rate: -0.255933 deg/s, cmd heading: 346.707861 deg, new cmd heading: 346.432238 deg. 2j/HeadingCmd: 6.046383 target range: 403.799988 and range: 403.80 m. j{@jjjihhhhfffrfbf@mWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:06:17.6852 LVL= 18592, 32753, 24402, 32755, AGC= 66, IDX= 422,-0.10,-0.044,-1.878,-1.560,-1.010, PHS= 1.054,-0.821,-0.553, RAW= 97.6, 3.7, CAL= 107.2, 1.8, ROT= 42.8, -1.8 Ygot valid direction response: 22:06:17.6852 LVL= 18592, 32753, 24402, 32755, AGC= 66, IDX= 422,-0.10,-0.044,-1.878,-1.560,-1.010, PHS= 1.054,-0.821,-0.553, RAW= 97.6, 3.7, CAL= 107.2, 1.8, ROT= 42.8, -1.8 PDAT read: Bearing 42.8, -1.8 (Local) ~Local bearing/azimuth received: Bearing 42.8, -1.8 (Local) ɛBK hI :ɚiI}c =I.|riێinJJ=){@)DAT read: Range 10 to 50 : 402.6 m (Round-trip 536.9 ms) speed 0.2 m/s 5,DAT read: user:2301> =BDAT read: Tx time:22:06:18.7942 =$Ping request sent.EE mw,x궽AyiB'IMb@Mb@Mb@ )YA`"?rh|{Gzty?ףzA @)@I@y@I=I=4٢UwB< U1=9YQ ]>YY eG٣aya e> Nusing accuracyPremultiplier from config59% ?5Y- i5BL?:i@En;{;\/5 @Ek-J'*?k-}1 k) k-ضA:k-LCBk-CZk-;p@"-P Ox@-@eZſɨ`%\Z?Jk-ARk-o*-J^QIngPi5B4x@- I?(kG?"k-*k-Jk-T. ?k-}q51 2k-Ck-?k)k)k-Bk-r@m addTargetRange:: Added new target pos. range: 402.600006 m, deltaT: 4.034215 s, deltaX: -1.199982 m, approachRate: -0.297451 m/s, rangeRepo size: 4 } Added new target pos. range: 402.600006 m, bearing: 215.723750 deg, lat: 36.901050 deg, lon: -122.122976 deg, deltaT: 4.034215 s, deltaX: -1.199982 m, approachRate: -0.297451 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 402.60 m.BjJj ProNav: ac range: 402.600006 m, nav range: 110.040291 m, bearing: 217.235663 deg, approach rate: 0.000000 m/s, LOS rate: -0.255933 deg/s, cmd heading: 346.432249 deg, new cmd heading: 346.065324 deg. 2jHeadingCmd: 6.039979 target range: 402.600006 and range: 402.60 m. jG@jjjihhhhBfffrf)y@bf@?ɛ=B=h] 9eIa e(:ɚaiaIe)Q =Im yimimb`=)uG@)qEErAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JFG%rA G!H})>Iy I}'II}BIy&Iy.Iy6I}_<:I}1 FG} H=zK BoHK K K K ,QrGQ Ba O} >ymw,A LILy5lB='I)Q UAIeIe4٢uɀ< uk=9qQ u?yy }G٣yy ? Nusing accuracyPremultiplier from config59 ?5Y- i5Bi@EU;U;^25 @) C5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9iGtAA YtAyB5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 402.60 m.BjmJjm ProNav: ac range: 402.600006 m, nav range: 110.149666 m, bearing: 217.142695 deg, approach rate: 0.290580 m/s, LOS rate: -0.246746 deg/s, cmd heading: 346.065331 deg, new cmd heading: 345.786706 deg. 2jV)HeadingCmd: 6.035117 target range: 402.600006 and range: 402.60 m. j@jjjihhhhfffrf!bf% (?ɛBg I R:ɚiI =I~iūiQp=)@)JJJ1JJ:J :J3JJh;Jj;JU;JU;*F?2F:FBFP5JFG`=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Dmw,{A6r@Y6@6X8h=96=y6HR?@!?J?*ɿ>?鶿`n??ɨ6r@6K;4yBtBB'IIJ}IJ]4٢r?&= rT=9vлQ v>tt zG٣z7IGyz. ~> Nusing accuracyPremultiplier from config| 59~ ? 5Y~6- i~5B  ; i@~E~:~H:~55  @EZjAEFNOT Ignoring new targets: 402.60 m.BjEJjM] ProNav: ac range: 402.600006 m, nav range: 110.266388 m, bearing: 217.037450 deg, approach rate: 0.344890 m/s, LOS rate: -0.310648 deg/s, cmd heading: 345.786714 deg, new cmd heading: 345.471316 deg. 2j]2UmHeadingCmd: 6.029612 target range: 402.600006 and range: 402.60 m. jm@jijijiiihqhqhyhyfyfyfyrfbf ))?ɛ)-S; 15WI1 5jԡ:ɚ1i1I5 =I=Uԁi9i=L=)E@)A*F?2F:FBF_0JF $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.235556Ga=G ?G1?G B O >7kmw,VH8A6@Y6{@60b=966=y6HN??@F6?Gɿ8?6d`qB`??ɨ6@6;4yByBB'IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.483493%Mb@Mb@Mb@!!! !)!Y%On?ʡEMbP?y%?%-%:%A %@)%QAI%;@!y%Q@I5I5]4٢Ш< ;=9]Q > G٣y6λ >ZHRHH+>I I'IIBI&I.I6D6I<:I\ F Nusing accuracyPremultiplier from config%59 ?%5Y- i5B-1?-:--i@E;3;951 =à@9ZjimFNOT Ignoring new targets: 402.60 m.BjuJju ProNav: ac range: 402.600006 m, nav range: 110.411034 m, bearing: 216.922680 deg, approach rate: 0.327770 m/s, LOS rate: -0.259730 deg/s, cmd heading: 345.471323 deg, new cmd heading: 345.127470 deg. 2j@2HeadingCmd: 6.023611 target range: 402.600006 and range: 402.60 m. jk@jjjihhhhBfffrfbf`h5?ɛ]B]* Y]7IY e<؜:ɚaiaIeK=Im愾imGiG1=)k@)*F%?2F!:F!BF!JF)"G1G5=zK1VNK]9KK KxobYQF<52,+)'&#   !G7= $?IGBO l>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740148Smw,#RAJ$J&J&0J$J$J&/:J&ـ3J$J$J$J&^;J&^;Bo@YB@B?.?4ɿ3?@7#wj? ?ɨBo@Bs;BCyNBN'IiV=IV)>IZIZK4٢ET= EU=9E:Q M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]!?e5Y]- i]5Bimݱmi@]E]:]:]<5q u"@uEZjFNOT Ignoring new targets: 402.60 m.BjJj ProNav: ac range: 402.600006 m, nav range: 110.535957 m, bearing: 216.823759 deg, approach rate: 0.330900 m/s, LOS rate: -0.261729 deg/s, cmd heading: 345.127464 deg, new cmd heading: 344.831038 deg. 2j3HeadingCmd: 6.018437 target range: 402.600006 and range: 402.60 m. j @jjjihhhhfffrfbfB?ɛJ.0  `ҼI  L:ɚ i I ==IiVi >=) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991678*F?2F:FBFo0JFGn=GBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց iՕ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248327Emw,k lAzt@Yz>@ze=9zl=yzHH???`hɿ@-?` }?z?ɨzt@zv;xyB'IMb@Mb@Mb@ )YZd;?&1Mbp?y?P;A @)zAIy=@II4٢< ?=9+8Q > G٣8IGy+ > Nusing accuracyPremultiplier from config59!?5Y- i5B%i?%:%E%i@Er;Y;@5) 5Ÿ@5EZjQ]FNOT Ignoring new targets: 402.60 m.Bj]юJj]юu ProNav: ac range: 402.600006 m, nav range: 110.689896 m, bearing: 216.716541 deg, approach rate: 0.359036 m/s, LOS rate: -0.249721 deg/s, cmd heading: 344.831034 deg, new cmd heading: 344.509831 deg. 2jua+}HeadingCmd: 6.012831 target range: 402.600006 and range: 402.60 m. j}i@jyjyjyiyhyhhhBfffrfbfi@ɛBe9 隕jI :ɚiI=IkixipI=)i@)*F5?2F9:F9BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496322GL==GqAGH,>IC I(IIBI( =&I.I6Ia<:I5 FBIǜCJIǜCRIZI) =bI) =jI;5GB!OE>zK MK 9K K K ,47762/+)&%%" pmw, A * $?I(6vV@Y6e@6De=96D=y6HwB?U?:c?kʿ%?{??ɨ6vV@6;6CyRBV'IIZIZy4٢bR f^=9f-9Q f>hh jG٣hyj$ n> rNusing accuracyPremultiplier from configlv59n_(!?v5Yn=- in5Btv)vi@nEn;n ;nC5zB ~V@~EZj%FNOT Ignoring new targets: 402.60 m.Bj--Jj--5 ProNav: ac range: 402.600006 m, nav range: 110.821320 m, bearing: 216.624742 deg, approach rate: 0.358842 m/s, LOS rate: -0.250350 deg/s, cmd heading: 344.509824 deg, new cmd heading: 344.234758 deg. 2j=+=HeadingCmd: 6.008030 target range: 402.600006 and range: 402.60 m. j=A@jAjAjAiAhAhIhIhIfIfQfQrfYbf] $@%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747504ɛAENh AEIA M:ɚIiIIM=IU-ጾiUrriUeL=)UA@)Q*F?2F:FBF1JFGqA GJUJUJQJQJU:JU:JQJQJU;JU;JU.Y;JU.Y;G>=GB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9994442mw,̴A:4/@Y:>@:b=9:d=y:H :?Q??`c˿G?T"q? ?ɨ:4/@:;:CyFBF'I)H HJAHIRIR?4٢V< ZM=9Z3˺Q Z>\\ ^G٣\yb#E b> jNusing accuracyPremultiplier from configdj59f;!?j5Yf- if5Blnri@fEf/;fb;fNG5t v&@vEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 402.60 m.Bj⎻Jj⎻- ProNav: ac range: 402.600006 m, nav range: 110.963661 m, bearing: 216.524796 deg, approach rate: 0.356270 m/s, LOS rate: -0.249836 deg/s, cmd heading: 344.234759 deg, new cmd heading: 343.935308 deg. 2j-u+5HeadingCmd: 6.002803 target range: 402.600006 and range: 402.60 m. j5@j1j1j1i1h9h9hAhAfAfAfArfIbfM`. @ɛy}dN y}I ʓ:ɚiIyo=I7ikiUUN=)@)*F?2F:FBF45JF e $?Ii]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255261GU5PK=GB!O=>mw,&A>I@Y>@>x`=9>=y>H E2?@d/??`X˿@A?@@~ ??ɨ>I@>Ȉ;>CyFBF'IRWill construct direction to contact in vehicle frame from tetrahedron phase data.VBDAT read: Rx Time:22:06:21.7340 ZTRx dataTimestamp_ set to:1736373982.921453Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.505296=Mb@Mb@Mb@999 9)9Y=S?Zd;Oy&1|?y=/?=j=`;9 =$@)=AI=h@9y=@IUIU4٢e7= e@=9e:Q e>ii mG٣m9IGyuL; u> }Nusing accuracyPremultiplier from configy59}Q!?5Y}- i}s5BM?:7i@}E}D;}^;}K5 @EjH<bH<H/>I I#(IIBI&I.I6I:<:I FZjFNOT Ignoring new targets: 402.60 m.Bj7Jj7 ProNav: ac range: 402.600006 m, nav range: 111.127548 m, bearing: 216.419787 deg, approach rate: 0.380473 m/s, LOS rate: -0.243426 deg/s, cmd heading: 343.935296 deg, new cmd heading: 343.620735 deg. 2j'HeadingCmd: 5.997313 target range: 402.600006 and range: 402.60 m. j@jjjih h h h5Bf1f9f9rf9bfE@ @ɛDu: 隭>I ,o:ɚiItD=I]iTciɅP=)@)*F?2F:FBFP5JFzKcMK9KK KBK:KqA e $?IaeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.757623G @O=G ?G ?G B O >+mw,jӷA6P׺@Y6@6&b\=96=y6H5(?`q?H?\̿?݈ԃ?@v?ɨ6P׺@65҈;6CyBBB'IININʴ4٢VR VW=9V+Q Z>XX ZG٣Xy^{ ^> bNusing accuracyPremultiplier from config`f59bd!?f5Ybp- ibh5Bhj6ji@bEbL:bn:b[N5l n,@pZjFNOT Ignoring new targets: 402.60 m.BjMJjM ProNav: ac range: 402.600006 m, nav range: 111.273499 m, bearing: 216.325613 deg, approach rate: 0.388838 m/s, LOS rate: -0.250567 deg/s, cmd heading: 343.620725 deg, new cmd heading: 343.338576 deg. 2j+HeadingCmd: 5.992389 target range: 402.600006 and range: 402.60 m. j@jjjihhhhfffrfbf@ɛ)- )- I) 5OQ:ɚ1iIB=IK㔾i\iAkM=)@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 22:06:21.7340 LVL= 17024, 29617, 18242, 29491, AGC= 69, IDX= 426, 0.33, 2.852, 0.976, 1.160, 1.728, PHS= 1.213,-0.705,-0.571, RAW= 93.6, 0.7, CAL= 101.9, -3.0, ROT= 48.1, 3.0 ]Ygot valid direction response: 22:06:21.7340 LVL= 17024, 29617, 18242, 29491, AGC= 69, IDX= 426, 0.33, 2.852, 0.976, 1.160, 1.728, PHS= 1.213,-0.705,-0.571, RAW= 93.6, 0.7, CAL= 101.9, -3.0, ROT= 48.1, 3.0 ePDAT read: Bearing 48.1, 3.0 (Local) e~Local bearing/azimuth received: Bearing 48.1, 3.0 (Local) uDAT read: Range 10 to 50 : 401.7 m (Round-trip 535.7 ms) speed 0.4 m/s u,DAT read: user:2302> }BDAT read: Tx time:22:06:22.8442 }$Ping request sent.}mw,\A=@Y=@=WMY=9==y=He??`1]? ̿?ﹿh& s??ɨ=@=M;=Cyiu'Ii}=I}p<}Mb@Mb@Mb@yyy y)yY}Zd;O?~jt?AA EG٣AyM& M> UNusing accuracyPremultiplier from configQ]59U|!?]5YU- iU]5B]?e:eKmi@UEU1;U/;UR5B %@EkM?kA./ k ku?۷A:kCBkxCZkh@"RDQ{2@ dx@Zr߈zu?1?Jk`.@Rk}*vp8!)*1.5 y@hyt]?V@V?"kMQ*kkh*?k0/ 2kCk` ?kXQ.3 kqCkDBkSq@E addTargetRange:: Added new target pos. range: 401.700012 m, deltaT: 4.035612 s, deltaX: -0.899994 m, approachRate: -0.223013 m/s, rangeRepo size: 4 U Added new target pos. range: 401.700012 m, bearing: 208.494740 deg, lat: 36.901218 deg, lon: -122.122819 deg, deltaT: 4.035612 s, deltaX: -0.899994 m, approachRate: -0.223013 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 401.70 m.Bj}Jjy ProNav: ac range: 401.700012 m, nav range: 88.133667 m, bearing: 216.048157 deg, approach rate: 0.000000 m/s, LOS rate: -0.250567 deg/s, cmd heading: 343.338583 deg, new cmd heading: 342.961007 deg. 2jHeadingCmd: 5.985799 target range: 401.700012 and range: 401.70 m. j@jjjihhhh9Bfffrf@3y@bfR#?ɛ9=@s 9=I9 E-:ɚAiAIEP=IMCiMTiM^T=)M@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F1:F1BF5~3JF1H0>I I0(IIBI' =&I.I6I<:Ia FG 'K= = $?I9 zKM &~JKM 9KI KM KM gJI{vS7' Gi Bq O >nw,A2r@Y2@2#Q=92bչ=y2Hj?`c?`?Ϳ +?ߘ !*??ɨ2r@2v2;2Cy:B:'IIFIF4٢N/ Ns=9NȻQ N ?PP RG٣R:IGyR V ? ZNusing accuracyPremultiplier from configT^59V#!?^5YV- iVV5B\^bS^i@VEV ;V ;VxU5d f@dZjFNOT Ignoring new targets: 401.70 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.Bj죻Jj죻U ProNav: ac range: 401.700012 m, nav range: 88.267097 m, bearing: 215.952474 deg, approach rate: 0.400307 m/s, LOS rate: -0.286627 deg/s, cmd heading: 342.961010 deg, new cmd heading: 342.674397 deg. 2jUD]HeadingCmd: 5.980796 target range: 401.700012 and range: 401.70 m. j]b@jYjYjaiahahahahifffrfbf`P?ɛy}ʺ y}I 8:ɚiIf=IҚiMiJ=)b@)*F?2F:FBF_0JF*Ja="J Will construct direction to contact in vehicle frame from tetrahedron phase data.G U=G B O >nw,ˀ!AR0@YR?@R>H=9R=yRH ?]?`5?`οg? 㹿 4?@r?ɨR0@RÇ;RCy^B^'IIfIfb4٢nsz; nG=9n5Q r>pp rG٣pyvh v> ~Nusing accuracyPremultiplier from configx59z١!?5Yzz- izN5B[ i@zEz";z;zY5 @E-B*** querying acoustic contact ***j1j1ZjFNOT Ignoring new targets: 401.70 m.BjJj ProNav: ac range: 401.700012 m, nav range: 88.434822 m, bearing: 215.830895 deg, approach rate: 0.410790 m/s, LOS rate: -0.297205 deg/s, cmd heading: 342.674388 deg, new cmd heading: 342.310349 deg. 2jKHeadingCmd: 5.974442 target range: 401.700012 and range: 401.70 m. j.@jj j i h h hhf1f9f9rf9bf=ú?  $?Iɛjβ 隕xI :ɚiI=IiHFiF=).@)Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJFG rA G J J J J J J &:J J G% .H=G9 BI Oe >&nw,Z;A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486281: @Y:3@:B=9:;=y:H??o? }Ͽ?\ ZX?`?ɨ: @:GF;:CyFoBF'IZHRH?AH%1>I! I%*(II%BI!&I!.I!6I%C<:I%" FMb@Mb@Mb@ )Y^I +?{Gz?Mbp?yX?ף<;`A h@)I@y @II{4٢_ 9=98Q >    G٣ y / > Nusing accuracyPremultiplier from config%59!?%5Y- iD5B%n?%:%e]-i@Ej;;\51 5@5EZjimFNOT Ignoring new targets: 401.70 m.BjuڪJjuڪ ProNav: ac range: 401.700012 m, nav range: 88.611221 m, bearing: 215.703402 deg, approach rate: 0.414160 m/s, LOS rate: -0.298739 deg/s, cmd heading: 342.310339 deg, new cmd heading: 341.928628 deg. 2jMHeadingCmd: 5.967781 target range: 401.700012 and range: 401.70 m. j@jjjihhhhFBfffrfbf%`k?ɛBL` 隕HI :ɚiIټ=I|i?iY=O=)@)*FE?2FA:FABFEo0JFI $?IzK=MK=]9K9K= K= !"!  -78620-*$  ~G|uA-A ]Y]|uAy] BWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739850Gm H=GA BY O} >J @AJ ?Anw,5UA68@Y6@6UD=96=y6H?A??5 п? ္@@&? ?ɨ68@6;6Cy>fB>'IIbIb4٢jM j`=9j:Q j>ll nG٣n;IGyrR r> vNusing accuracyPremultiplier from configtz59v!?z5Yv<- iv;5Bx~3b~i@vEva;v ;v`5 5@Zj)-FNOT Ignoring new targets: 401.70 m.Bj5Jj5M ProNav: ac range: 401.700012 m, nav range: 88.756767 m, bearing: 215.597836 deg, approach rate: 0.400794 m/s, LOS rate: -0.290224 deg/s, cmd heading: 341.928641 deg, new cmd heading: 341.612465 deg. 2jM-GUHeadingCmd: 5.962262 target range: 401.700012 and range: 401.70 m. jUʾ@jQjQjQiQhQhYhahafafafarfibfm=9?ɛή 隕I V[r:ɚiI qIy5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249720Anw,6oAyMWBM'IMb@Mb@Mb@ )Y1Zd?Mb?Mb`y"?<A )I@yf@II\4٢ᆽ 8=9Q  > G٣y > %Nusing accuracyPremultiplier from config!-59%!?-5Y%- i%.5B50?5:5ch5i@%E%~ ;%;%d59 =(@E޿EZjimFNOT Ignoring new targets: 401.70 m.BjuJjuJJJJJl:J:JJ ProNav: ac range: 401.700012 m, nav range: 88.935760 m, bearing: 215.467201 deg, approach rate: 0.400102 m/s, LOS rate: -0.291418 deg/s, cmd heading: 341.612458 deg, new cmd heading: 341.221349 deg. 2jGHeadingCmd: 5.955436 target range: 401.700012 and range: 401.70 m. j@jjj9iYhYhYhahe#Bfafafirfibfm@c@ɛBqϻ LI yV:ɚiIW-=IΧi#0i;j=)@)*F2F:FBF2JF"G=GuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498588H 2>I  I (II BI & =&I .I 6I <<:I  FG 8U=G B O > U $?IQ "nw,툸AzK MK9KK K  ###"   :@Y:@:E=9:մ=y:HE?`?p? п? @w??ɨ:@:';:CyFHBF'IiJ?>IJ=ININJ4٢V Vd=9Z|:Q Z>XX ^G٣\y^qּ ^> fNusing accuracyPremultiplier from config`f59b!?j5Yb,- ib#5Bhjqji@bEbj;bY;b#g5p r@rۿEZj FNOT Ignoring new targets: 401.70 m.Bj =Jj =% ProNav: ac range: 401.700012 m, nav range: 89.077682 m, bearing: 215.362276 deg, approach rate: 0.398529 m/s, LOS rate: -0.294171 deg/s, cmd heading: 341.221361 deg, new cmd heading: 340.907089 deg. 2j%I-HeadingCmd: 5.949951 target range: 401.700012 and range: 401.70 m. j-f@j)j)j)i)h)h)h1h1f1f1f9rf9bf=@ɛae" im Ii m>:ɚiiiIm=IuWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750453iB*iY=)f@))*F2F:FBF`5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002130G Ij=Gy B O >J(nw,!ȢA:w@Y:#@:,F=9: =y:H'?`d?͗?`п q?@Wè`??ɨ:w@:;:CyV0BV'IIrIr4٢z$ zF=99Q >! %G٣% 5Nusing accuracyPremultiplier from config)559-/"?=5Y-- i-5BYeuei@-E-;-M;-j5i m@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 401.70 m.BjJj ProNav: ac range: 401.700012 m, nav range: 89.243240 m, bearing: 215.239645 deg, approach rate: 0.387839 m/s, LOS rate: -0.286744 deg/s, cmd heading: 340.907090 deg, new cmd heading: 340.539886 deg. 2jDHeadingCmd: 5.943542 target range: 401.700012 and range: 401.70 m. j1@jjjihhhhfff $?Irfbf w @ɛBj? JCKK|3 KKL.KCKC"KCJJJ/JJ:J :J(N3Jv.nw,몼A"Will construct direction to contact in vehicle frame from tetrahedron phase data."BDAT read: Rx Time:22:06:25.7824 &TRx dataTimestamp_ set to:1736373986.956767&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507345B.A@YBP@BC=9Bݱ=yBH?{w? ?`Aѿ ?誸q .??ɨB.A@BG\;BCjH\bH^<H`IbC Ib'IIbBI`&I`.Ib7D6Ib<:Ibi FBICJICRIZI' =bI' =jIF5yޕBޕm'IMb@Mb@Mb@ )YS?y&1|Qy?`廹uA @)AIyAII4٢ 1=9Q > G٣ym > Nusing accuracyPremultiplier from config59"?5Y- i5B?:Đi@E8;b;n5B @ؿEZjFNOT Ignoring new targets: 401.70 m.Bj Jj 5 ProNav: ac range: 401.700012 m, nav range: 89.415733 m, bearing: 215.101196 deg, approach rate: 0.384232 m/s, LOS rate: -0.307803 deg/s, cmd heading: 340.539899 deg, new cmd heading: 340.125361 deg. 2j5>S5HeadingCmd: 5.936307 target range: 401.700012 and range: 401.70 m. j=;@j9j9j9i9h9hAhIhMBfIfQfQrfQbfU@ @ɛ}B}di 隅"^I Zd9ɚiI=Iiieg=);@) I*F%?2F!:F!BF!JF!G-qA G-rA'TFailed to parse incomplete device message.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758177Ge `hZ=GA BI Oe >\5nw,}ָA6=@Y6"@6$B=96=y6H ??Q? *ѿ`??Vh`>B/??ɨ6=@6;6CyBBBZ'I)D FAIJIJ4٢ri rn=9rFQ v?tt vG٣tyzڅ z? ~Nusing accuracyPremultiplier from config|59~:-"?5Y~U- i~4B   i@~E~z:~*:~q5 @ZjAEFNOT Ignoring new targets: 401.70 m.BjM?JjM?] ProNav: ac range: 401.700012 m, nav range: 89.544090 m, bearing: 214.997601 deg, approach rate: 0.373710 m/s, LOS rate: -0.301182 deg/s, cmd heading: 340.125362 deg, new cmd heading: 339.815026 deg. 2j]NeHeadingCmd: 5.930891 target range: 401.700012 and range: 401.70 m. jeɽ@jajijiiihihihqhqfqfqfqrfybf}Q@ɛ 隭zI rZ9ɚiIL=I_i:ig=)ɽ@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.013710*F?2F:FBF`0JFGCf=GaBiO8> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  DAT read: 22:06:25.7824 LVL= 14512, 26993, 18594, 26291, AGC= 70, IDX= 424,-0.14,-0.268,-2.066,-2.033,-1.378, PHS= 1.198,-0.641,-0.657, RAW= 89.5, 1.1, CAL= 96.9, -2.4, ROT= 53.1, 2.4  Ygot valid direction response: 22:06:25.7824 LVL= 14512, 26993, 18594, 26291, AGC= 70, IDX= 424,-0.14,-0.268,-2.066,-2.033,-1.378, PHS= 1.198,-0.641,-0.657, RAW= 89.5, 1.1, CAL= 96.9, -2.4, ROT= 53.1, 2.4 ;nw,nA~PDAT read: Bearing 53.1, 2.4 (Local) ~~Local bearing/azimuth received: Bearing 53.1, 2.4 (Local)  DAT read: Range 10 to 50 : 400.4 m (Round-trip 533.9 ms) speed 0.2 m/s Sڸ@Y@?=9E=yHڪ?@:?`u?yҿ9? ?@?ɨSڸ@p;C5,DAT read: user:2303> =BDAT read: Tx time:22:06:26.8958 =$Ping request sent.= G٣=IGyf > Nusing accuracyPremultiplier from config59FE"?5Y*- i4B?:i@E;;v5 @տEkEFY?kE K+ kA kEA:kE3CBkECZkE5@"E}DEWq=G@d@x@E8J?iʚ?JkEa@RkE봿*E ?A2n2ݲ2@ʪtx@EcEǡH??̋y?"kEA*kEkE'?kE3+ 2kECkET. ?kE}q51 kECkE BkE?6m@E addTargetRange:: Added new target pos. range: 400.399994 m, deltaT: 4.289089 s, deltaX: -1.300018 m, approachRate: -0.303099 m/s, rangeRepo size: 4 U Added new target pos. range: 400.399994 m, bearing: 134.808763 deg, lat: 36.901382 deg, lon: -122.122637 deg, deltaT: 4.289089 s, deltaX: -1.300018 m, approachRate: -0.303099 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 400.40 m.BjJj ProNav: ac range: 400.399994 m, nav range: 65.526375 m, bearing: 212.363138 deg, approach rate: 0.000000 m/s, LOS rate: -0.301182 deg/s, cmd heading: 339.815025 deg, new cmd heading: 339.330879 deg. 2j5HeadingCmd: 5.922441 target range: 400.399994 and range: 400.40 m. j5@j1j1j9i9h9h9hAhEBfAfAfArfM`fy@bfM?UWill construct direction to contact in vehicle frame from tetrahedron phase data.H3>I I'II]BI&I.I6D6IT<:I1 FɛB쇼 !%I! %ɚ!i!I%ڃ=I5yi5i5l=)5@)9 I piE [1=zK JK +9K K K RK ?JK ?*F ?2F :F BF R5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GMEug=JJJ0JJ:J :Jـ3JJi;aEJj;aMJU;aMJU;aUGYBqO?gEnw,^A>Zl@Y>{@>5=9>*ؓ=y>H?`? v?`fҿw? U`Er??ɨ>Zl@>X;AI MG٣IyUμ U> ]Nusing accuracyPremultiplier from configYe59]_"?e5Y]V- i]4Baeei@]E]U:]:]z5q u@uҿEZjFNOT Ignoring new targets: 400.40 m.BjJj ProNav: ac range: 400.399994 m, nav range: 65.721123 m, bearing: 212.131666 deg, approach rate: 0.398138 m/s, LOS rate: -0.471813 deg/s, cmd heading: 339.330874 deg, new cmd heading: 338.638550 deg. 2j桼HeadingCmd: 5.910357 target range: 400.399994 and range: 400.40 m. j!@jjjihh h h f ffrfbf?ɛmBml imLIi uq߹ɚqiqIu=I}C㾾iyi}h=)}!@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.E&V=*F?2F:FBF_0JF m$?IqGl=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.VKnw,41Ay5ˇB5'IMb@Mb@Mb@ )YV-?/$V-y|? @)AI@yAII4٢ @=9Q > G٣y > Nusing accuracyPremultiplier from config 59}s"?5YC- i4B!?:<ܾi@ER;;v~5! %@-ϿEEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 400.40 m.Bj]qJj]qm ProNav: ac range: 400.399994 m, nav range: 65.867538 m, bearing: 211.937708 deg, approach rate: 0.342477 m/s, LOS rate: -0.452673 deg/s, cmd heading: 338.638539 deg, new cmd heading: 338.057978 deg. 2jmUuHeadingCmd: 5.900225 target range: 400.399994 and range: 400.40 m. juμ@jqjyjyiyhyhyhhBfffrfbf`5?ɛeBeHռ aeIi mwAɚiiiImlx=Iumľiqiu-=)uμ@)yEE*E"E=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.ZHqRHu@AHyIy I}'II}/BIy&Iy.I}7D6I}f<:I}? F*F ?2F! :F! BF% 5JF! ] $?Ia zKE KE 9KA KE KE GU f=BKU pA:KU pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.428016G!B)Oe>Snw,eOAj$@Yj84@j-=9jҜ=yjH`bw?ో?@cU?bcӿr_?`?`?ɨj$@j;jCy]B]&IImIm?4٢ 2=9eQ > G٣>IGy蛼 > Nusing accuracyPremultiplier from config59o"?5Y{- i4Bྑi@EP ; ;z5B @ҿEZjFNOT Ignoring new targets: 400.40 m.BjJj% ProNav: ac range: 400.399994 m, nav range: 66.024368 m, bearing: 211.728176 deg, approach rate: 0.341347 m/s, LOS rate: -0.454969 deg/s, cmd heading: 338.057973 deg, new cmd heading: 337.430899 deg. 2j%5HeadingCmd: 5.889280 target range: 400.399994 and range: 400.40 m. j5t@j1j1j9i9h9h9hAhAfAfAfArfIbfM?ɛuBu޼ qu,̾Iy }ɚyiyI}=Iɾii=)t@)JJJJJ:J :JJJ;J;JcW;JdW;*F-?2F1:F1BF5_0JF1Gghs=GBOH>5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679368 9 I9 LYnw,1iAN.@YN@N+)=9N=yNH@j?v?@?`Pӿ`|Q? = ??ɨN.@Nh{;NCy^B^&IjAjAIrIrm4٢z3 ~U=9Q >    G٣ yf > mNusing accuracyPremultiplier from configau59eI"?u5YeI- iei4BqV㾑i@eEe);ec;e5 }@ϿEZjFNOT Ignoring new targets: 400.40 m.Bj%Jj%5 ProNav: ac range: 400.399994 m, nav range: 66.158997 m, bearing: 211.547918 deg, approach rate: 0.329747 m/s, LOS rate: -0.440611 deg/s, cmd heading: 337.430907 deg, new cmd heading: 336.891248 deg. 2j51EHeadingCmd: 5.879861 target range: 400.399994 and range: 400.40 m. jE'@jIjIjQiQhYhahihifififqrfqbf}@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931440ɛBuQ y}DI MIɚQiQIUT=Iξii{=)'@)!*F?2F:FBFJFE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183317H 4>I  I O'II BI &I .I 6D6I <:I | FG% =G B O% >)`nw,A6@Y6;@64`%=96֡=y6HhX?K?xE? &Կ`B>?l81??ɨ6@6߳;4yRBR&I5Mb@Mb@Mb@111 1)1Y5MbX9?ʡES㥛y5!?5ケ5/ݼ5A 5@)1I5@1y5A $?III4٢0 :=9 D(Q  >    G٣y$ > %Nusing accuracyPremultiplier from config-59"?-5Y- iN4B-$?-:--i@E;';59 =î@=̿EZjamFNOT Ignoring new targets: 400.40 m.Bjm Jju  ProNav: ac range: 400.399994 m, nav range: 66.295334 m, bearing: 211.342703 deg, approach rate: 0.329721 m/s, LOS rate: -0.495274 deg/s, cmd heading: 336.891240 deg, new cmd heading: 336.276886 deg. 2j󩼝HeadingCmd: 5.869139 target range: 400.399994 and range: 400.40 m. jϻ@jjjihhhhBfffrfbfHX@)! -C~GɛBvA  I ɚiI { =I%Ӿ EYEvAyEBiIiMH=)Mϻ@)QEYEYzKK 9KK KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436479*F?2F:FBFJF"G=G=G$=GBO>J J J J J L:J /:J J J @ <J A <J ^;J ^;fnw,2圹A~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687172y B &III4٢-9? -Y=95Q 5>11 =G٣=?IGy= => MNusing accuracyPremultiplier from configAM59EU"?U5YE- iE64BQQUi@EEE:E:E5Y eS@aZjFNOT Ignoring new targets: 400.40 m.BjJj ProNav: ac range: 400.399994 m, nav range: 66.416107 m, bearing: 211.162658 deg, approach rate: 0.321856 m/s, LOS rate: -0.478941 deg/s, cmd heading: 336.276878 deg, new cmd heading: 335.737740 deg. 2jXHeadingCmd: 5.859729 target range: 400.399994 and range: 400.40 m. j悻@jjjihhhhfffrfbf =Z@ɛB I  ɚiIj!=I Eؾi i %>=) 悻@)*FM?2FI:FIBFM0JFI $?IGq=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.944561Gq B O > mnw,YA:)@Y:9@:M=9:>=y:H ])?`_?@ъ?@տ?`ԵyEٳ?`?ɨ:)@:;:Cy^Bb&Iif=If= fa=fa=MMb@Mb@Mb@III I)IYMPn?x& G٣y3 > Nusing accuracyPremultiplier from config59"?5Yx- i 4B'?: i@E;;5 @ɿEmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 400.40 m.BjJj ProNav: ac range: 400.399994 m, nav range: 66.542572 m, bearing: 210.956403 deg, approach rate: 0.283239 m/s, LOS rate: -0.461062 deg/s, cmd heading: 335.737730 deg, new cmd heading: 335.120168 deg. 2j6HeadingCmd: 5.848950 target range: 400.399994 and range: 400.40 m. j*@jjjihhhh%Bf!f!f!rf!bf- @ɛBp 隝I F*ɚiIu"=IT޾ii)=)*@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:06:29.8323 -TRx dataTimestamp_ set to:1736373990.991259-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195073H=5>I9 I=#'II=BI9&I9.I=7D6I=<:I=k F*F?2F:FBF1JFGe=G9BaO{> $?IzKy K} +9Ky K}  K}  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443280`snw,gйA2Զ@Y2@2 =92=y2HR ??z?տ@? /??ɨ2Զ@2;2CybBb&IIvIv4٢ G=9WQ > G٣yϼ > Nusing accuracyPremultiplier from config59"?5Y*. i 4B i@E:C:$5 F@Zj  FNOT Ignoring new targets: 400.40 m.BjJj% ProNav: ac range: 400.399994 m, nav range: 66.665627 m, bearing: 210.752705 deg, approach rate: 0.325242 m/s, LOS rate: -0.537393 deg/s, cmd heading: 335.120172 deg, new cmd heading: 334.510230 deg. 2j%g-HeadingCmd: 5.838305 target range: 400.399994 and range: 400.40 m. j-eӺ@j)j)j)i)h1h1h1h9f9f9f9rf9bfEw @ɛmBmC imIi u=G B O > I !znw,깽Ay99IMIM4٢]ʀ eN=9eQ e>ii mG٣m@IGym u> }Nusing accuracyPremultiplier from configy59}"?5Y}. i}3Bi@}E}:}:}5B M@ƿEZjFNOT Ignoring new targets: 400.40 m.Bj\Jj\ ProNav: ac range: 400.399994 m, nav range: 66.785698 m, bearing: 210.555993 deg, approach rate: 0.304431 m/s, LOS rate: -0.497851 deg/s, cmd heading: 334.510236 deg, new cmd heading: 333.921181 deg. 2jժHeadingCmd: 5.828024 target range: 400.399994 and range: 400.40 m. j,@jjjihhhhfffrfbf `@uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:06:29.8323 LVL= 15840, 26433, 19266, 30035, AGC= 67, IDX= 423,-0.14, 1.528,-0.106,-0.220, 0.521, PHS= 1.094,-0.581,-0.745, RAW= 85.4, 2.7, CAL= 91.2, -0.2, ROT= 58.8, 0.2 Ygot valid direction response: 22:06:29.8323 LVL= 15840, 26433, 19266, 30035, AGC= 67, IDX= 423,-0.14, 1.528,-0.106,-0.220, 0.521, PHS= 1.094,-0.581,-0.745, RAW= 85.4, 2.7, CAL= 91.2, -0.2, ROT= 58.8, 0.2 PDAT read: Bearing 58.8, 0.2 (Local) ~Local bearing/azimuth received: Bearing 58.8, 0.2 (Local) DAT read: Range 10 to 50 : 399.2 m (Round-trip 532.3 ms) speed 0.3 m/s ,DAT read: user:2304> BDAT read: Tx time:22:06:30.9458 $Ping request sent.uɾ?ɛBuA= u%?)udIuG\?iud;qq )-I1 =_ɚ9uJN?k*F)}܅̧?)uIuu>iu @ui9IE_g$=qqe:publishing transmit ping timeeFpublishing direction and range infoq9uP+kZ..?J7Y"(?yqqqq q)qIqiqqqqq q)qIqiqqquJN?k*F)}܅̧?)qIqiqqqqI} iiE=),@)*F?2F:FBFO5JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.H1 I1  I5 'II5 χBI5 % =&I1 .I1 6I5 Z<:I5 9 FBIɞCJIɞCRIZI& =bI& =jIɩ5G /=G B O >=nw,LTA67-@Y6<@6Ft<96=y6H?.?A^c?׿?k_??ɨ67-@6܈;6CyBBB&I)D DDD E$?IAMb@Mb@Mb@ )YMb?Mb    G٣ y5 C 5> ENusing accuracyPremultiplier from config9E59=S#?E5Y= . i=3BMX&?M:MMi@=E=;=;=Y5y }@yk9?k ( k kﹽA:kCBk;CZk ?"W2ItFR@nJx@P+kZ..?J7Y"(?Jk @Rk*#fM37}2%lM@Jߥx@GtpZ;?+SeҜ?"kakB*kkkn?k$l' 2kCkh*?k0/ kkAk`@  addTargetRange:: Added new target pos. range: 399.200012 m, deltaT: 4.029554 s, deltaX: -1.199982 m, approachRate: -0.297795 m/s, rangeRepo size: 4 = Added new target pos. range: 399.200012 m, bearing: 108.160561 deg, lat: 36.901642 deg, lon: -122.122382 deg, deltaT: 4.029554 s, deltaX: -1.199982 m, approachRate: -0.297795 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 399.20 m.BjMJjI} ProNav: ac range: 399.200012 m, nav range: 30.969791 m, bearing: 201.192239 deg, approach rate: 0.000000 m/s, LOS rate: -0.497851 deg/s, cmd heading: 333.921173 deg, new cmd heading: 333.255741 deg. 2jyHeadingCmd: 5.816410 target range: 399.200012 and range: 399.20 m. j @jjjihhhhBfffrf@3x@bf}?ɛ}B- )5I1 5`xɚ1i1I5yE%=I=-i9iE~=)E @)azKe&~JKe 9KaKe KeWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGף=GBO>*J C="J I3nw,L3A2е@Y2߼@2U<92}=y2H`Y?@*?,o ׿V?ʴ R`??ɨ2е@2؈;2CyBBB&InWill construct direction to contact in vehicle frame from tetrahedron phase data.IJIJ4٢-X= -Y=9-g Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM59E] #?M5YE& . iE3BIMUi@E EE@:E:E5Y ]@]ÿEZjFNOT Ignoring new targets: 399.20 m.BjaJja ProNav: ac range: 399.200012 m, nav range: 31.111284 m, bearing: 200.831252 deg, approach rate: 0.397618 m/s, LOS rate: -1.009814 deg/s, cmd heading: 333.255749 deg, new cmd heading: 332.177846 deg. 2jA-HeadingCmd: 5.797597 target range: 399.200012 and range: 399.20 m. jꅹ@jjjihhhhfffrfbfk?ɛ{Bh! I >ɚiI!&=I i i =) ꅹ@)*F2F:FBFJF -$?I5qiG =Will construct direction to contact in vehicle frame from tetrahedron phase data.G B9 O} >[nw,F8AJ"J"J J J":J" :J J a*@a*@a*@a*@Bm@YB.}@B c<9BS=yBHw??7sؿv?l_KY?`k?ɨBm@B;BCyJBJ&I%Mb@Mb@Mb@!!! !)!Y%jt?"~j~jtx?y% ?%S㽹%;%`A %@)!I!!y%AII]4٢| ?=9@Q > G٣AIGy1 >  Nusing accuracyPremultiplier from config 59 3#?5Y . i 3BD#?:qi@ E ; [; Y5%B %H@%¿EEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 399.20 m.Bj]jJj]jm ProNav: ac range: 399.200012 m, nav range: 31.275265 m, bearing: 200.428895 deg, approach rate: 0.382307 m/s, LOS rate: -0.933136 deg/s, cmd heading: 332.177835 deg, new cmd heading: 330.977278 deg. 2jm }HeadingCmd: 5.776643 target range: 399.200012 and range: 399.20 m. j}Cڸ@jyjyjyiyhhhhBfffrfbfn?ɛyB I ɚiI&=Iii=)uCڸ@)yZHRHAAH6>I I'IIɇBI&I.IWill construct direction to contact in vehicle frame from tetrahedron phase data.Y?M?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.6I<:Ik F*F%?2F!:F)BF)JF) IGe ª=GA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494634zK JK 9K K  K BEnw,uQA2@Y2@2-F<92=y2Hd?NL?yCٿP?&`N`W-??ɨ2@2*;2CyNBN&IiR;>IR> V=V=IZIZE4٢bR= b_=9bQ b>dd fG٣dyjS j> nNusing accuracyPremultiplier from configlr59n7D#?r5Ynf. in3Bprvi@nEn:n:n5x z@xZjFNOT Ignoring new targets: 399.20 m.BjwJjw5 ProNav: ac range: 399.200012 m, nav range: 31.413736 m, bearing: 200.086177 deg, approach rate: 0.351757 m/s, LOS rate: -0.866757 deg/s, cmd heading: 330.977279 deg, new cmd heading: 329.953773 deg. 2j5=HeadingCmd: 5.758780 target range: 399.200012 and range: 399.20 m. j=G@j9j9j9i9hAhAhAhAfAfIfIrfIbfM@?ɛwB 隥I OɚiII'=I5v?i1i5Ǿ=)5G@)A*F%?2F!:F!BF%n0JF!G)=GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746343O l> $?I mnw,kA6B@Y6@6<96ρ=y6H C?`-?x`ٿG1? 46??ɨ6B@6;4yBBB&IIJIJ4٢Vao< VL=9ZQ Z>XX ^G٣\y^Ѽ b> fNusing accuracyPremultiplier from config`f59bV#?j5Yb'. ib3Bhjdji@bEbU:b:b 5p r@rEZj  FNOT Ignoring new targets: 399.20 m.BjRJjR% ProNav: ac range: 399.200012 m, nav range: 31.564854 m, bearing: 199.710731 deg, approach rate: 0.405415 m/s, LOS rate: -1.002411 deg/s, cmd heading: 329.953762 deg, new cmd heading: 328.832968 deg. 2j%+5HeadingCmd: 5.739218 target range: 399.200012 and range: 399.20 m. j5@j1j1j1i1h1h9h9h9fAfAfArfAbfE3?ɛuuBuz qu߾I ɚiIP(=I%sA i!i%=)-@))]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998451*F?2F:FBF/1JFJmJmJiJiJml:Jm :JiJiGB=GBO>H 7>I  I 'II ԇBI &I .I 6I {<:I R F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250274*Ynw,A PIPyB&IMb@Mb@Mb@ )YV-?#~j G٣BIGy > Nusing accuracyPremultiplier from config 59 i#?5Y . i 3BO?:V i@ E ; ; 5! %y@)ZjQUFNOT Ignoring new targets: 399.20 m.Bj]vJj]ve ProNav: ac range: 399.200012 m, nav range: 31.738869 m, bearing: 199.322767 deg, approach rate: 0.389496 m/s, LOS rate: -0.863608 deg/s, cmd heading: 328.832955 deg, new cmd heading: 327.675610 deg. 2jm+HeadingCmd: 5.719018 target range: 399.200012 and range: 399.20 m. j3@jjjihhhh%Bf!f!firfibfm @ɛrB 隍پI %ɚiI1)=I@miiL=)3@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503060zKK9KK K*Fu?2Fq:FyBF}0JFyGM!=G)BAOe>nw,XtA6~ @Y6@6ʟ<96(pn=y6H?` ?Q|kۿx?:6Bȭ?`?ɨ6~ @6>u;6CbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754124yfBf&I)h hlnAIrIr(4٢z:= zY=9~DQ ~> G٣yY  > Nusing accuracyPremultiplier from config 59 @z#?5Y 2. i 3Ba%i@ E P ;  ; 05) -@-EZjIUFNOT Ignoring new targets: 399.20 m.Bj],yJj],ym ProNav: ac range: 399.200012 m, nav range: 31.880978 m, bearing: 198.998668 deg, approach rate: 0.383789 m/s, LOS rate: -0.871378 deg/s, cmd heading: 327.675621 deg, new cmd heading: 326.707754 deg. 2juuHeadingCmd: 5.702126 target range: 399.200012 and range: 399.20 m. juw@jqjyjyiyhyhyhhfffrfbff@ɛpB^V ˾I ɚiI4)=IMi i =) w@)1 $?I*F?2F:FBF@5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006447GM %=G B O >ɩnw,NAJJJ/JJ:JJ(N3JBﻳ@YBj˺@BB<9B`=yBH@??%} ۿ?_"ђ@? M?ɨBﻳ@B?e;BCyNBN&I}Mb@Mb@Mb@yyy y)yY}333333?I +~jt?y}?}94}D G٣y > Nusing accuracyPremultiplier from config59#?5Y". i3B ?: i@"E; ;5 _@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 399.20 m.BjdJjd- ProNav: ac range: 399.200012 m, nav range: 32.050358 m, bearing: 198.654043 deg, approach rate: 0.394877 m/s, LOS rate: -0.799176 deg/s, cmd heading: 326.707756 deg, new cmd heading: 325.679461 deg. 2j- 5HeadingCmd: 5.684179 target range: 399.200012 and range: 399.20 m. j=@j9j9j9i9h9h9hAhE·BfAfAfIrfIbfM@q @jHqbHu4<H}8>Iy I}#'II}BI}$ =&Iy.Iy6I}<:I}v FɛnBqM 隕ҾI F ̻ɚiI*=IzXii=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:06:33.8815 TRx dataTimestamp_ set to:1736373995.022520checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261288*Fe?2Fi:FiBFm3JFi"GqGu>G=TU= $?IGB O%o>=.~GIa YyB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510582dd fG٣fCIGyjݼ j> rNusing accuracyPremultiplier from configlr59ni#?v5Yn%. iltvvi@n&En7:n:n05x z@~EZj%FNOT Ignoring new targets: 399.20 m.Bj%gJj%g5 ProNav: ac range: 399.200012 m, nav range: 32.198891 m, bearing: 198.350601 deg, approach rate: 0.398332 m/s, LOS rate: -0.810006 deg/s, cmd heading: 325.679457 deg, new cmd heading: 324.773410 deg. 2j5 HeadingCmd: 5.668365 target range: 399.200012 and range: 399.20 m. j@c@jjjihhhhfff!rf!bf%` @ɛlB*= 隭8¾I (ջɚiI1+=Idii>)@c@)*FM?2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766825Gum#=GI BY q Iq O >nw,AF@YF (@F.<9FoF=yFHG??BS|xܿ?@ ʨ?B?ɨF@F؈;DyRBR&IiV=IV; Z=Z=I^I^Ь4٢f) fJ=9fݺQ j>hh jG٣hynż r> vNusing accuracyPremultiplier from configtz59v#?z5Yv(. itxz4 zi@v)Ev:vU:v5  @Zj)5FNOT Ignoring new targets: 399.20 m.Bj5eJj=eM ProNav: ac range: 399.200012 m, nav range: 32.358700 m, bearing: 198.022916 deg, approach rate: 0.393657 m/s, LOS rate: -0.803193 deg/s, cmd heading: 324.773419 deg, new cmd heading: 323.795321 deg. 2jM UHeadingCmd: 5.651294 target range: 399.200012 and range: 399.20 m. jUg״@jQjYjYiYhYhYhahafafafirfibfm#@ɛiB 隥ȾI \߻ɚiIF+=I!ii>)g״@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:06:33.8815 LVL= 14400, 31665, 25218, 31651, AGC= 66, IDX= 431, 0.23,-2.318, 2.602, 2.027, 3.080, PHS= 0.973,-0.432,-1.056, RAW= 72.5, 5.8, CAL= 75.3, 6.4, ROT= 74.7, -6.4 Ygot valid direction response: 22:06:33.8815 LVL= 14400, 31665, 25218, 31651, AGC= 66, IDX= 431, 0.23,-2.318, 2.602, 2.027, 3.080, PHS= 0.973,-0.432,-1.056, RAW= 72.5, 5.8, CAL= 75.3, 6.4, ROT= 74.7, -6.4 PDAT read: Bearing 74.7, -6.4 (Local) ~Local bearing/azimuth received: Bearing 74.7, -6.4 (Local) *F?2F:F!BF!JF)DAT read: Range 10 to 50 : 398.6 m (Round-trip 531.5 ms) speed 0.2 m/s ,DAT read: user:2305> BDAT read: Tx time:22:06:34.9943 %$Ping request sent.%99=<:vj?+[8Iv翺jù?)=TI=uνi=q?=999:publishing transmit ping timeFpublishing direction and range info99=JĿUx?{g^?y9999 9)9JEJEJE1JAJE:JE:JE3JAI9i99999 9)9I9i999=<:vj?+[8Iv翺jù?)9I9i9999Hq Iq  Iu 6'IIu BIq &Iq .Iq 6Iu q<:Iu L F Will construct direction to contact in vehicle frame from tetrahedron phase data. ] $?Ia nw,AyzBz&IMb@Mb@Mb@ )YQ?~jt{Gz?y?ļ#< `@)AIhAyAIIk4٢ ;=9Q > G٣y > Nusing accuracyPremultiplier from config59#?5Y%,. i3B?:i@.EF;~C;5B W@Ek]6m'?k]m kY k]A:k]LCBk]CZk]/?"]tPc@_'v@]JĿUx?{g^?Jk]q?Rk]9*]7Pv&@BWQc@!Iew@]b)Aڜ?{o?aLˏ?"k]2C*k]3Ak]Wt'?k] 2k]Ck]'?k]3+ kYk]~Ak]a_@U addTargetRange:: Added new target pos. range: 398.600006 m, deltaT: 4.031837 s, deltaX: -0.600006 m, approachRate: -0.148817 m/s, rangeRepo size: 4 m Added new target pos. range: 398.600006 m, bearing: 85.779629 deg, lat: 36.901711 deg, lon: -122.122029 deg, deltaT: 4.031837 s, deltaX: -0.600006 m, approachRate: -0.148817 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 398.60 m.BjuJjq ProNav: ac range: 398.600006 m, nav range: 31.811863 m, bearing: 137.306274 deg, approach rate: 0.000000 m/s, LOS rate: -0.803193 deg/s, cmd heading: 323.795308 deg, new cmd heading: 322.729525 deg. 2jHeadingCmd: 5.632693 target range: 398.600006 and range: 398.60 m. j?@jjjihhhhڇBfffrfx@bf4?ɛfB 5ʾI ~ɚiI6,=I&iiT>)]?@)a5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:FABFAJFAGMrA GIzK-jIK-9K)K- K-*J= R="J9 G} =GY By O >nw, A6w?@Y6N@6V<96_ =y6H2? A?@ߔq F?޿@m-?M`_ߊ*?@?ɨ6w?@6;4y>B>&IIFIF 4RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢N V`=9VQ V>XX ZG٣XyZ ^> bNusing accuracyPremultiplier from config`f59br#?f5Yb/. ib3Bhjji@b1Eb12;bR2;b5p rq@rEZjFNOT Ignoring new targets: 398.60 m.Bjo;Jjo; ProNav: ac range: 398.600006 m, nav range: 32.021122 m, bearing: 137.386578 deg, approach rate: 0.549854 m/s, LOS rate: 0.209630 deg/s, cmd heading: 322.729526 deg, new cmd heading: 322.968862 deg. 2j<HeadingCmd: 5.636870 target range: 398.600006 and range: 398.60 m. j=a@jjjihhhhfffrfbf{e? $?Iɛ5dB=8 9=ȾI9 =-=ɚ9iAIE1-=Iut%i}i}m)=)}=a@)y*F?2F :F BF p0JF G>GBOj>UWill construct direction to contact in vehicle frame from tetrahedron phase data.'nw,j:AymBu&IMb@Mb@Mb@ )Y-?/$Mbpy??IA @)AIQAyAII@4٢-N+ -2=9-Q 5>11 5G٣5DIGy= => MNusing accuracyPremultiplier from configIU59M#?U5YM2. UtIiM3BUY?U:].]j@M5EMG ;M;M5eB e8@eEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 398.60 m.Bj;Jj; ProNav: ac range: 398.600006 m, nav range: 32.281540 m, bearing: 137.487824 deg, approach rate: 0.596487 m/s, LOS rate: 0.230033 deg/s, cmd heading: 322.968855 deg, new cmd heading: 323.270141 deg. 2j<HeadingCmd: 5.642128 target range: 398.600006 and range: 398.60 m. jQ@jjjihhhhɇBfffrfbf ?ZHRH@AH-9>I-C I)I)I)&I).I)6I-m<:I-J FBIJIRIZI$ =bI$ =jI5Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛEaBER AEϾIA MɚIiIIM{-=IuK$iuT˺iuR=)uQ@)y Iri*F 2F :F BF 0JF GM >G) B1 U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450964Oe >Mnw,sTAzK.BHK.9K,K. K.V0@YV@V7<9V4;ii mG٣iym[y u> }Nusing accuracyPremultiplier from configy59}#?5Y}5. i}3B j@}9E}:}a:}5 u@EZjFNOT Ignoring new targets: 398.60 m.Bj ^;Jj ^; ProNav: ac range: 398.600006 m, nav range: 32.496223 m, bearing: 137.561004 deg, approach rate: 0.573306 m/s, LOS rate: 0.194132 deg/s, cmd heading: 323.270149 deg, new cmd heading: 323.488235 deg. 2j;<HeadingCmd: 5.645935 target range: 398.600006 and range: 398.60 m. j@jjjihhhhfffrfbfg?ɛ^B\( I GɚiI|.=I"#JJJ0JJ:J :Jـ3JJi;a%Jj;a%JS;a%JS;a%i-Cʹi-t=)E@)QEqEupA*F%?2F!:F!BF%`5JF!"G->G-!>G !>Will construct direction to contact in vehicle frame from tetrahedron phase data.չս?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702824GBOh>  $?I* nw,MnA2@Y2'@20rM<92X tt vG٣tyz ~> Nusing accuracyPremultiplier from config 59$? 5Y8. i3B tj@<E::i5 @ZjAEFNOT Ignoring new targets: 398.60 m.BjMK;JjMK;] ProNav: ac range: 398.600006 m, nav range: 32.719509 m, bearing: 137.630703 deg, approach rate: 0.574486 m/s, LOS rate: 0.178104 deg/s, cmd heading: 323.488223 deg, new cmd heading: 323.695893 deg. 2j]v;eHeadingCmd: 5.649559 target range: 398.600006 and range: 398.60 m. je0ɴ@jajijiiihihihqhqfyffrfbf?ɛ[BIP% 隵YI } ɚiI"/=IU5"i+i=\=)0ɴ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954403*FU?2FQ:FQBFU\0JFQGU5=GIBqO>>H5 :>I1  I5 #'II5 BI1 &I1 .I1 6I5 Y<:I5 < F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208275 I 'nw,g)A6@Y6@6aG^<96qz G٣EIGy > Nusing accuracyPremultiplier from config59$?5Y<. i3B?: j@AE%;#;55  @ EZjaeFNOT Ignoring new targets: 398.60 m.Bjm;Jjm;} ProNav: ac range: 398.600006 m, nav range: 32.979885 m, bearing: 137.691608 deg, approach rate: 0.590560 m/s, LOS rate: 0.137048 deg/s, cmd heading: 323.695888 deg, new cmd heading: 323.877159 deg. 2j};HeadingCmd: 5.652723 target range: 398.600006 and range: 398.60 m. j@jjjihhhhBfffrfbfY}@ɛXBP$ I tɚiI/=Ie!ii8=)@)*F?2F:FBFJF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458449zKBoHKh9KK K2?EGC9/% RK ?JK>G =JKـ3 K .KK"KJE JE JA JA JE ܫ:JE :JA JA JE ;JE ;JE .Y;JE /Y;GA BI Om >Xnw,A6@Y6%@6vj<963`` bG٣`yf9 f> jNusing accuracyPremultiplier from confighn59j&$?n5Yj@. ij3BprWrj@jDEjp;j(;jk5vB v@tZjFNOT Ignoring new targets: 398.60 m.Bjc;Jjc;% ProNav: ac range: 398.600006 m, nav range: 33.200699 m, bearing: 137.736006 deg, approach rate: 0.579486 m/s, LOS rate: 0.115741 deg/s, cmd heading: 323.877161 deg, new cmd heading: 324.009471 deg. 2j%ݞ;%HeadingCmd: 5.655032 target range: 398.600006 and range: 398.60 m. j-@j)j)j)i)h)h) ]!$?IYhahafafafarfibfm @ɛUB3  I %ɚiIc0=I i{igQ=)@)*F?2F:FBF_0JFGqA GGe9$=GB)OER>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9623283Hnw,6绻A2!@Y2@2An<92$OB>n&I Mb@Mb@Mb@    ) Y Mb?Q뱿~jty  ? \ ļ A hA) I  y =AI-I-4٢=r& EA=9E:Q E>II MG٣IyM~ U> ]Nusing accuracyPremultiplier from configYe59]o7$?e5Y]D. i]3Be!?e:e/mj@]HE];];]5q uM@uE5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 398.60 m.BjE.x:JjM.x:] ProNav: ac range: 398.600006 m, nav range: 33.466217 m, bearing: 137.759126 deg, approach rate: 0.627955 m/s, LOS rate: 0.054244 deg/s, cmd heading: 324.009476 deg, new cmd heading: 324.078283 deg. 2j];eHeadingCmd: 5.656233 target range: 398.600006 and range: 398.60 m. je@jajajaiahihihh}Bfffrfbf`Y @jHbH<HI I'IIɇBI&I.I6Iy<:IS FɛRB )5 15OI9 EɚAiAIEy1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս=Ս<BDAT read: Rx Time:22:06:37.9295 TRx dataTimestamp_ set to:1736373999.053047checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215670I i di =) @)  III*F?2F:FBF3JFG}ܒ=GQByO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4666362.nw,wջA2@Y2@2@r<92v2pp rG٣rFIGyv& v> zNusing accuracyPremultiplier from configt~59v?G$?}5YvH. iv3By3j@vLEvWnw,>﻽A6@Y6x@6q<96gK~-B>D&IIHIH٢RP RN=9RgøQ R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\n59^%W$?r5Y^M. i^q3Bprg7rj@^PE^;^;^5t vj@zEZjAEFNOT Ignoring new targets: 398.60 m.BjM9JjM9U ProNav: ac range: 398.600006 m, nav range: 33.962063 m, bearing: 137.782250 deg, approach rate: 0.648969 m/s, LOS rate: 0.022357 deg/s, cmd heading: 324.121327 deg, new cmd heading: 324.147173 deg. 2j]}u:eHeadingCmd: 5.657435 target range: 398.600006 and range: 398.60 m. je @jijijiiihihihqhqfqfqWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 398.2 m (Round-trip 531.0 ms) speed -0.1 m/s  ,DAT read: user:2306> BDAT read: Tx time:22:06:39.0444 $Ping request sent.Gmvr=GqBO]>HI I&IIBI&I.I6In<:IK F Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:06:39.0436 ! I! A@ow,p A)( (V~Gr|uAA 5X Y5|uAy5Be߭@Ye@eB_<9e=yeH`?@?ܪ-Q?졿@苿??ɨe߭@e;ayu"B}7&IMb@Mb@Mb@ )YQ?1ZdS㥛y(?"۽/ݼ )AIQAyAII4٢-A -4=9-!Q 5>9A EG٣AyMP M> Nusing accuracyPremultiplier from config59Bi$?5YR. i^3BN+?:Ij@UE#;<;5B C@E addTargetRange:: Added new target pos. range: 398.200012 m, deltaT: 4.031787 s, deltaX: -0.399994 m, approachRate: -0.099210 m/s, rangeRepo size: 4 Zj%FNOT Ignoring new targets: 398.60 m.Bj%zJj%z] ProNav: ac range: 398.600006 m, nav range: 34.266579 m, bearing: 137.755965 deg, approach rate: 0.656481 m/s, LOS rate: -0.056162 deg/s, cmd heading: 324.147172 deg, new cmd heading: 324.069019 deg. 2j],]HeadingCmd: 5.656071 target range: 398.600006 and range: 398.20 m. je@jajajaiahahahhFBfffrfbf5?ɛGB/-H kI ~5ɚiI 4=I  iOijə)@) Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFGg<zK^KK59KK K  GqBO~>J J J 0J J L:J :J ـ3J J P;J Q;J nN;J oN;`low,~T#A2Will construct direction to contact in vehicle frame from tetrahedron phase data.^@Y^w@^<<9^''=y^HN?`b?@@?L`'??ɨ^@^F;\y~ B~3&Ii)) -G٣-GIGy5+ 5> =Nusing accuracyPremultiplier from config9E59=w$?E5Y=hW. i=P3BIMKMj@=YE=U:=:=05 #$?Isi t@EZj9=FNOT Ignoring new targets: 398.60 m.BjEďJjEďu ProNav: ac range: 398.600006 m, nav range: 34.512711 m, bearing: 137.732122 deg, approach rate: 0.653386 m/s, LOS rate: -0.062845 deg/s, cmd heading: 324.069008 deg, new cmd heading: 323.997986 deg. 2ju,}HeadingCmd: 5.654831 target range: 398.600006 and range: 398.20 m. j}a@jyjyjyiyhhhhfffrfbf?ɛmDBmdW qu&Iq }p<ɚyiyI}.4=I iSiW) a@) *F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G <G B O- >ٔow,(=ANp@YNe@Ns<9N23\=yNH`-?(?Bg,`?ۨ i??ɨNp@N[y;NCyZBZ(&IEMb@Mb@Mb@AAA A)AYEʡE?ʡEÿyE-2?EE̼EA Ev@)EAIEAAyEAI]I]E4٢m(: mF=9mqQ m>qq uG٣qy}m > Nusing accuracyPremultiplier from config59$?5YG]. i?3B6?:[j@^Ew;,;5  @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 398.60 m.Bj)Jj) ProNav: ac range: 398.600006 m, nav range: 34.805119 m, bearing: 137.673832 deg, approach rate: 0.749814 m/s, LOS rate: -0.148214 deg/s, cmd heading: 323.997974 deg, new cmd heading: 323.824576 deg. 2jo˻HeadingCmd: 5.651805 target range: 398.600006 and range: 398.20 m.ZHqRHqHyIy I}&II}BIy&Iy.Iy6I}<:I}v F j۴@jjjihhhh5Bfffrfbf?ɛe@BeU iuWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.mI (zDɚiI5=I%!ixWi+%)۴@) %$?I*FE?2FA:FABFEn0JFIGMrA GMnAGp<GBO-p>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508721ow,WAJD]@YJl@Jq<9J"=yJHi?5?y=<?e@?`    G٣ yȻ > Nusing accuracyPremultiplier from config%59T$?%5Yb. i.3B!%.\-j@bE::75zK5;LK5+9K1K5 K5P3@3tE-A E8@EEZjFNOT Ignoring new targets: 398.60 m.BjJj ProNav: ac range: 398.600006 m, nav range: 35.081429 m, bearing: 137.618801 deg, approach rate: 0.690271 m/s, LOS rate: -0.136396 deg/s, cmd heading: 323.824569 deg, new cmd heading: 323.660775 deg. 2j6HeadingCmd: 5.648946 target range: 398.600006 and range: 398.20 m. j+Ĵ@jjjihhhhfffrfbf?ɛ=Bγ\ I KJEJAJE1JAJE:JAJE3JAJEi;JEj;JAJAɚiQIUs6=I]z]"i]D\im)+Ĵ@)*F92F9:F9BFE0JFAGUWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763992GBOj> I ow,pA6$H@Y6W@6O;96=y6Hą?`B?@q~(M.p?i~e~? ?ɨ6$H@6;6Cyf Bf&I)h hhhInIn4٢vW vL=9zcQ z>xx ~G٣~HIGyһ >  Nusing accuracyPremultiplier from config 59 $?5Y h. i 3B\j@ gE N; ; 5! %@!ZjimFNOT Ignoring new targets: 398.60 m.BjuL"JjuL" ProNav: ac range: 398.600006 m, nav range: 35.364483 m, bearing: 137.562381 deg, approach rate: 0.717607 m/s, LOS rate: -0.141891 deg/s, cmd heading: 323.660781 deg, new cmd heading: 323.492878 deg. 2j»HeadingCmd: 5.646016 target range: 398.600006 and range: 398.20 m. j)@jjjihhhhfffrfbf@ɛ9B|eWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012881 0I SSɚiIW97=I#i `i ))@)*Fq2Fq:FqBFu@5JFqGu>uGIBYH};>Iy I}&II}iBI}# =&I}GD.Iy6I}X<:I}= FBI=ȟCJI=ȟCRI9ZI9bI9jI=4O> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264690 &$?I "ow,,A6I@Y6AY@6A;96m=y6HІ?;?@Kmj?@,(xŶ? a?ɨ6I@6Ո;4yRBR&IeMb@Mb@Mb@aaa a)aYeI +? rhQye94?eC eueA eI@)aIaayefAI}I}4٢< A=9kQ > G٣y9 > Nusing accuracyPremultiplier from config59+$?5Y|n. i3B7?:Uj@lE;$;m5 @EZjFNOT Ignoring new targets: 398.60 m.BjJj  ProNav: ac range: 398.600006 m, nav range: 35.667427 m, bearing: 137.516048 deg, approach rate: 0.719714 m/s, LOS rate: -0.109140 deg/s, cmd heading: 323.492867 deg, new cmd heading: 323.355050 deg. 2j ͕ HeadingCmd: 5.643610 target range: 398.600006 and range: 398.20 m. ju@jjjihhhhBBf!f!f!rf)bf- p@ɛ]5B](W Y]IY eZɚaiaIe8=Im,#imcimܻ)mu@)iPExceeded connect timeout, disconnecting.*F2F:FBFK4JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516881zKNK9KK K GZG B O ><(ow,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770646jAM@Yj\@jl;9j=yjH?<2? ŭ/I@e? =mi?`?ɨjAM@jG-;jCyrBv&&I !I!I]I]4٢m< mL=9uQ u>yy }G٣yyي: > Nusing accuracyPremultiplier from config59m$?5Yt. i3BUj@pEY; :5B T@EZjIMFNOT Ignoring new targets: 398.60 m.BjuJju躝 ProNav: ac range: 398.600006 m, nav range: 35.953552 m, bearing: 137.473428 deg, approach rate: 0.688135 m/s, LOS rate: -0.101687 deg/s, cmd heading: 323.355062 deg, new cmd heading: 323.228218 deg. 2jHeadingCmd: 5.641397 target range: 398.600006 and range: 398.20 m. jR@jjjihhhhfffrf)bf5b@ɛm1BmL im Iq u[acɚqiqIu]8=I}AL$i}fi}h)}R@)*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021029G G B9 O >J J J 0J J l:J :.ow,tAJEـ3JAa@a@a@a@y} B}4&IiN>I< ==H<>I I&IIdBI&I.I6IQ<:I9 F Mb@Mb@Mb@    ) Y (\?(\¿Mby z4? z   A @) I hA y AIMIM4٢]eY= ]<=9]Q ]>aa mG٣mIIGyu u> }Nusing accuracyPremultiplier from configy59}$?5Y}Bz. i}2BD8?:Xj@}uE};}';}5 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 398.60 m.Bj2 Jj2  ProNav: ac range: 398.600006 m, nav range: 36.263840 m, bearing: 137.421571 deg, approach rate: 0.739720 m/s, LOS rate: -0.122569 deg/s, cmd heading: 323.228211 deg, new cmd heading: 323.073971 deg. 2j<HeadingCmd: 5.638704 target range: 398.600006 and range: 398.20 m. jDp@jjjihhhh^Bfffrfbf @MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272880ɛ-B00Q I 4jɚiI9= '$?ItiI-$i-gi-N )-Dp@)1*F?2F:FBF^0JFG ԑ  nManaging dock network, ignoring radio surface power offG  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:06:41.9794  TRx dataTimestamp_ set to:1736374003.336647 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526593B O5 >(5ow,HؼA6a@Y6Gq@6/º96=y6Ha?@v?ࡨ 8kg?5EX?`?@h?ɨ6a@6;6Cy>/B>F&IIJIJy4٢n= ng=9rkQ r>pp rG٣pyvR; v> zNusing accuracyPremultiplier from configx~59z$?~5YzD. iz2B/Xj@zyEz ;z& ;z5  @ Zj1=FNOT Ignoring new targets: 398.60 m.Bj=Jj=U ProNav: ac range: 398.600006 m, nav range: 36.516907 m, bearing: 137.381192 deg, approach rate: 0.716719 m/s, LOS rate: -0.113567 deg/s, cmd heading: 323.073958 deg, new cmd heading: 322.953660 deg. 2j]᛻eHeadingCmd: 5.636605 target range: 398.600006 and range: 398.20 m. je_@jajajaiahahihihififqfqrfqbfu @zK}JK}9KyK} K}BKqA:KqAɛ)BfIV 隽hI z}oɚiIi:=IK%i@fi`:)_@)JAAJ?A*F5?2F1:F9BF=_0JF9]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776692 I GOPGBOE >!;ow,#Ay~8B~R&II I 4٢=6= F=9%Q %>)) -G٣1y5 5> =Nusing accuracyPremultiplier from config9E59=$?E5Y= . i=2BIIMj@=~E=:=:=l5Q U"@UEZjFNOT Ignoring new targets: 398.60 m.BjJj ProNav: ac range: 398.600006 m, nav range: 36.812862 m, bearing: 137.334676 deg, approach rate: 0.711435 m/s, LOS rate: -0.110917 deg/s, cmd heading: 322.953665 deg, new cmd heading: 322.815242 deg. 2j>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:06:41.9794 LVL= 16480, 30529, 24450, 29299, AGC= 64, IDX= 425,-0.19,-1.991,-2.742, 2.153,-2.962, PHS= 1.060, 0.267,-1.171, RAW= 50.5, -1.6, CAL= 52.1, -4.7, ROT= 97.9, 4.7 Ygot valid direction response: 22:06:41.9794 LVL= 16480, 30529, 24450, 29299, AGC= 64, IDX= 425,-0.19,-1.991,-2.742, 2.153,-2.962, PHS= 1.060, 0.267,-1.171, RAW= 50.5, -1.6, CAL= 52.1, -4.7, ROT= 97.9, 4.7 PDAT read: Bearing 97.9, 4.7 (Local) ~Local bearing/azimuth received: Bearing 97.9, 4.7 (Local) DAT read: Range 10 to 50 : 398.1 m (Round-trip 530.9 ms) speed 0.0 m/s 5,DAT read: user:2307> =BDAT read: Tx time:22:06:43.0944 =$Ping request sent.EٽT㕿ٽܢa?ٽ ڽh?)ڽIڽ?iڽ=ڹڹ۽6em?)Rej1Ҝ)۽!6I۽WBow,N* A t@Y:@cuۻ9>yH@?? )@k? n{?{?!?ɨt@;Cy-CB5^&I)9 99=AMb@Mb@Mb@ )YQ?X9vMb`?y(?; A @)IAyAIIt4٢>@= ==9jEQ > G٣JIGy; >  Nusing accuracyPremultiplier from config 59 L %?5Y Š. i 2B+?:Sj@ E ; +; 45! %{@!kqT?kf k kA:k CBkCZk`g?"U @ VIq@ թ+q@\q?  ;?xO?JkW?Rk(_M*9Ac8Ib@9g@xct@ݭ;?B??0?"k9C*kICka0U?kA>k 2kCkn?k$l' kCk+Bk[o?} addTargetRange:: Added new target pos. range: 398.100006 m, deltaT: 4.032044 s, deltaX: -0.100006 m, approachRate: -0.024803 m/s, rangeRepo size: 4  Added new target pos. range: 398.100006 m, bearing: 51.784892 deg, lat: 36.901728 deg, lon: -122.121595 deg, deltaT: 8.063831 s, deltaX: -0.500000 m, approachRate: -0.062005 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 398.10 m.BjJj% ProNav: ac range: 398.100006 m, nav range: 68.584381 m, bearing: 111.652905 deg, approach rate: 0.000000 m/s, LOS rate: -0.110917 deg/s, cmd heading: 322.815231 deg, new cmd heading: 322.670521 deg. 2j)-HeadingCmd: 5.631663 target range: 398.100006 and range: 398.10 m. j-6@j1j1j1i1h1h1hYh]BfYfafarfabfe |?ɛ B^2: KݾI n|ɚiIK;=I-&i_i۫;)6@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFo0JFzKBoHKh9KK K*J"Jp=G ']?;G B O >{Iow,%AWill construct direction to contact in vehicle frame from tetrahedron phase data.6}@Y6V@6C`96i=y6H? j?CQ` "@X|?-?`ӹ?g?ɨ6}@6(;6C @IFuiyJYBJz&IIRIRƕ4٢Uh= ]V=9]Q ]>aa eG٣aye>; m> }Nusing accuracyPremultiplier from configq59u%?5Yu. iu2B^Sj@uEu;u;u5B @EZjFNOT Ignoring new targets: 398.10 m.Bj@e;Jj@e; ProNav: ac range: 398.100006 m, nav range: 68.824150 m, bearing: 111.729667 deg, approach rate: 0.628227 m/s, LOS rate: 0.200426 deg/s, cmd heading: 322.670513 deg, new cmd heading: 322.899996 deg. 2j < HeadingCmd: 5.635668 target range: 398.100006 and range: 398.10 m. j eW@jjjihhh!h!f!f)f)rf)bf5W?ɛBm1 ¾I TɚiI;=I%i^_]i$;)eW@)!*F?2F:FBF1JFGo;G9BIOmV>Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J :J J 3Oow,L?A~7@Y~@~;9~ =y~H$?@?[@6?@䷿.b? ? ?ɨ~7@~;~CydB&IMb@Mb@Mb@ )Yx&1?+ηQ?yA ?vu<A @)AZHRHH;>I I&IIBI&I.I6I<:I~ FIAyAII{4٢G= A=9Q > G٣y; >  Nusing accuracyPremultiplier from config59'%?5Y. i2B"?:Ij@E<P<> 5B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 398.10 m.BjO_;JjO_;-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.M ProNav: ac range: 398.100006 m, nav range: 69.070694 m, bearing: 111.816933 deg, approach rate: 0.553547 m/s, LOS rate: 0.195234 deg/s, cmd heading: 322.900007 deg, new cmd heading: 323.160870 deg. 2jU<]HeadingCmd: 5.640221 target range: 398.100006 and range: 398.10 m. j]|@jYjYjYiYhYha m)$?Iqhah߇Bfffrfbf[?ɛ%B%! !-pI) -ɚ)i)I-_<=I5O$i5s[i5wW;)5|@)9GtAA*F?2F:FBF4JF Y%tAy% BG9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496570G B! O= >JVow,TYAyxB&Ii%=I%> -=-a=I=I=4٢M/= MV=9UQ U>QQ ]G٣]KIGy] e> mNusing accuracyPremultiplier from configam59eK6%?u5YeC. ie2Bqquj@eEez:ee";e5 U@EZjFNOT Ignoring new targets: 398.10 m.Bj,z;Jj,z; ProNav: ac range: 398.100006 m, nav range: 69.293671 m, bearing: 111.895277 deg, approach rate: 0.624513 m/s, LOS rate: 0.218719 deg/s, cmd heading: 323.160866 deg, new cmd heading: 323.395139 deg. 2j<HeadingCmd: 5.644310 target range: 398.100006 and range: 398.10 m.zKJK9KK K j0@jQjQjQiQhYhYhYhYfafafarfabfe&3?ɛB7, fI ڄɚiIn<=IT#i%m[i%W)%0@)!*F?2F:FBF4JFG;=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748196 m*$?IiGBOf>JB\ow,jsA6\ɭ@Y6ش@69=]96->y6Hx?@?ζ-?`=p??`?ɨ6\ɭ@6ܴ;4yNBR&IIZIZ4٢b_= bT=9bQ f>dd fG٣dyj< j> nNusing accuracyPremultiplier from configlr59nD%?r5Yn˝. in2BpvGvj@nEnP ;nu:n5x z@xZj!-FNOT Ignoring new targets: 398.10 m.Bj-j;Jj5j;E ProNav: ac range: 398.100006 m, nav range: 69.517952 m, bearing: 111.975067 deg, approach rate: 0.579028 m/s, LOS rate: 0.205329 deg/s, cmd heading: 323.395141 deg, new cmd heading: 323.633737 deg. 2jE *cow,GA2V@Y2@2W92@ >y2H ?`,?@Ӷ୭?@}??`ѵ?ɨ2V@2;0yBBB&IMb@Mb@Mb@ )Y9v?)\(Mb?y?Ga<A )AIAypAI5I54٢E2= EB=9EN:Q M>II MG٣IyU; U> eNusing accuracyPremultiplier from configYe59]kT%?e5Y]. i]2Bm?m:m9mj@]E]$;]R6;]5B @EZjIMFNOT Ignoring new targets: 398.10 m.Bj}vh;Jj}vh; ProNav: ac range: 398.100006 m, nav range: 69.738441 m, bearing: 112.065076 deg, approach rate: 0.499426 m/s, LOS rate: 0.203233 deg/s, cmd heading: 323.633733 deg, new cmd heading: 323.902905 deg. 2jz <HeadingCmd: 5.653172 target range: 398.100006 and range: 398.10 m. j@jjjihhhh!Bfffrfbf@ɛU BU Y]}IY ]\ɚYiYIe==IeH!ieѷYim&)m@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504535*F12F1:F1BF5^0JF1zKmBoHKm+9KiKm Km -p8]gdYTQNF=2& hZTPOLHFD>51.)$Ge :GA Bi O > 9 IA ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755675Ziow,11 =G٣=LIGy= => MNusing accuracyPremultiplier from configAU59Esd%?U5YE. iE2BYY]j@EEE:E:Ep5a e@iZjFNOT Ignoring new targets: 398.10 m.Bj~;Jj~; ProNav: ac range: 398.100006 m, nav range: 69.966499 m, bearing: 112.157503 deg, approach rate: 0.550895 m/s, LOS rate: 0.222537 deg/s, cmd heading: 323.902897 deg, new cmd heading: 324.179271 deg. 2j<HeadingCmd: 5.657996 target range: 398.100006 and range: 398.10 m. jM@jjjihhhhfffrfbf@ɛUB] Y]OIY ɚiI===Ik itQ[i_;)M@)*FY2Fa:FaBFe_0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007832G >Gq B O >JBpow, A @Y X@ ҙk9 >y H??&Ѷ<]?w>r??`O?ɨ @ G; Cy%B%&IjHU<bHQH]:>IY I]'II]އBIY&IY.IY6I]<:I] FBIJIRIZI# =bI# =jI 4 +$?IMb@Mb@Mb@ )YZd;O?I +:v?y~ ?9T<+A @)AI3AyAII4Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259751٢ <=96Q > %G٣!y%T; %> 5Nusing accuracyPremultiplier from config1=595s%?=5Y5f. i53BE ?E:E+Mj@5E5&%;5r#;5<5Q U @UEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 398.10 m.Bjw;Jjw; ProNav: ac range: 398.100006 m, nav range: 70.171539 m, bearing: 112.251788 deg, approach rate: 0.472158 m/s, LOS rate: 0.216483 deg/s, cmd heading: 324.179274 deg, new cmd heading: 324.461303 deg. 2j<HeadingCmd: 5.662918 target range: 398.100006 and range: 398.10 m. j6@jjjihhh!h%'Bf!f!f)rf)bf- @ɛBlf BKI )ɚiI:x==Ii^iM)6@)*F2F:FBFJF"G=Gp=GmXGqGqG)B1OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:06:46.0295  TRx dataTimestamp_ set to:1736374007.368765 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512899fvow,ڽA^ @Y^@^o9^>y^H1?`b?b߶?3`5??H?ɨ^ @^;^CyfBf&IIrIr4٢v-< zv=9zNQ z?|| ~G٣|y ?  Nusing accuracyPremultiplier from config 59 %?5Y W. i 3B+%j@ E @; @; "!5) -@)ZjFNOT Ignoring new targets: 398.10 m.Bj j;Jj j;% ProNav: ac range: 398.100006 m, nav range: 70.328140 m, bearing: 112.323351 deg, approach rate: 0.450153 m/s, LOS rate: 0.205251 deg/s, cmd heading: 324.461306 deg, new cmd heading: 324.675516 deg. 2j% <-HeadingCmd: 5.666657 target range: 398.100006 and range: 398.10 m. j-AU@j)j)j1i1h1h1h9h9f9f9fArfAbfE@9 @ɛmBm6E izKuZNKu9KqKu Ku JJJ0JJܫ:J:Jـ3JJ;aJ;aJaJa隝XAI +2ɚiI==IiЎbiI()AU@)*F=?2F9:FABFE0JFA ,$?Ivi5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767580GGy B O >|ow,AyB&Ii%=I%p; -p=)I5I5b4٢E< EE=9EQ E>II MG٣MMIGyU U> ]Nusing accuracyPremultiplier from configYe59]%?e5Y]. i]3Biimj@]E];:];:]$5}B }@EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:06:46.0295 LVL= 21440, 28961, 32498, 31859, AGC= 65, IDX= 442,-0.02, 0.952, 0.222,-1.098, 0.032, PHS= 1.007, 0.236,-1.133, RAW= 50.8, -1.2, CAL= 52.3, -4.1, ROT= 97.7, 4.1 =Ygot valid direction response: 22:06:46.0295 LVL= 21440, 28961, 32498, 31859, AGC= 65, IDX= 442,-0.02, 0.952, 0.222,-1.098, 0.032, PHS= 1.007, 0.236,-1.133, RAW= 50.8, -1.2, CAL= 52.3, -4.1, ROT= 97.7, 4.1 EPDAT read: Bearing 97.7, 4.1 (Local) E~Local bearing/azimuth received: Bearing 97.7, 4.1 (Local) MDAT read: Range 10 to 50 : 398.2 m (Round-trip 531.0 ms) speed 0.0 m/s U,DAT read: user:2308> ]BDAT read: Tx time:22:06:47.1444 ]$Ping request sent.] k ksA:kCBkCZkwq?"ݽ@Zq 7q@7 q@2t<؇?@5C"?CA?JkO?RkwN*i<>a@(Dg@iH t@4z ,?f6Ob&?v?"kG>C*k Ck2R?k 2kCkWt'?k kCkXCk^? addTargetRange:: Added new target pos. range: 398.200012 m, deltaT: 4.035945 s, deltaX: 0.100006 m, approachRate: 0.024779 m/s, rangeRepo size: 4 ؝!q ٝ~)ٝs|IٝAiٝ`?ٝq>ٝ%ٝb?ٝ ڝi?)ڝCIڝC?iڝC=ڙڙ۝%:?"O;L^5)۝I۝&yow,Ay}B}&IMb@Mb@Mb@ )Yw/?~jtxy?ĻA @)AIypAII4٢)I (=9Q > G٣y > Nusing accuracyPremultiplier from config59%?5Y. i3B?:#j@E;;)5MB M@MEkتR?klB k kWill construct direction to contact in vehicle frame from tetrahedron phase data.:kBkZk"ݽ@Zq 7q@7 q@2t<؇?@5C"?CA?JkRk*i<>a@(Dg@iH t@4z ,?f6Ob&?v?"k*kk7' S?k#&  2kCk2R?kA>k kCkhCko?ZjFNOT Ignoring new targets: 398.20 m.Bj{;;Jj{;;- ProNav: ac range: 398.200012 m, nav range: 157.492691 m, bearing: 87.977464 deg, approach rate: 0.310296 m/s, LOS rate: 0.163909 deg/s, cmd heading: 324.946004 deg, new cmd heading: 325.177726 deg. 2j-;5HeadingCmd: 5.675422 target range: 398.200012 and range: 398.20 m. j5@j1j1j1i1h1h9h9h=-Bfafafirfibfm0?ɛB ~=I \ێɚiI>=I _i Nsi Z) @)EYE]qA*F?2F:FBF0JFG GrAJJJJJJ :JJJJJR;JR;zKLK]9KK K  ""&)+*)%##!"##"  G :_G ?G > .$?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq B O >Ɖow,m(A%@Y% @%!9%#=y%H@?@!?@u@C? ൿ Đ? ?N?ɨ%@%?;%CyEBM&II}I}4٢ m=9XQ ? G٣y: ? Nusing accuracyPremultiplier from config59:%?5Y. i3B#j@E ; ;,5 @ZjaeFNOT Ignoring new targets: 398.20 m.Bj:;Jj:; ProNav: ac range: 398.200012 m, nav range: 157.594666 m, bearing: 88.031221 deg, approach rate: 0.309787 m/s, LOS rate: 0.163204 deg/s, cmd heading: 325.177739 deg, new cmd heading: 325.338906 deg. 2j;HeadingCmd: 5.678235 target range: 398.200012 and range: 398.20 m. j@jjjihhhhfffrfbfm?ɛ5B50  15DI1 =Y⏼ɚ9i9I=A>=IEiEf){iU`)U@)a*FY2FY:FYBF]4JFYG5'GB!O=r>mWill construct direction to contact in vehicle frame from tetrahedron phase data.uAiqow,MBAHdId IfB'IIfBIf$ =&Id.Id6If6<:If" F-@Y-@-!9-ʢ=y-H`j??Nĵ?`[đ??z?ɨ-@-l;-Cy=B=&I)I IQUA I =Mb@Mb@Mb@999 9)9Y= rh?{GzQy= ?=#=u=A =@)=AI99y=AIUIUkf4٢e m>=9mQ m>iq uG٣uNIGyu9 u> Nusing accuracyPremultiplier from config59,%?5Y. i3B ?:]$j@E;;/5 w@EWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 398.20 m.Bjl?;Jjl?; ProNav: ac range: 398.200012 m, nav range: 157.729706 m, bearing: 88.101688 deg, approach rate: 0.320988 m/s, LOS rate: 0.167354 deg/s, cmd heading: 325.338904 deg, new cmd heading: 325.550121 deg. 2j;HeadingCmd: 5.681921 target range: 398.200012 and range: 398.20 m. jMҵ@jjjihhhh Bf f f rf bf @'R?ɛB 隽NI HɚiIs>=Iii#[iu<)Mҵ@)*F?2F:FBF^0JFG ňu Will construct direction to contact in vehicle frame from tetrahedron phase data.} T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.G B O >Ӗow,\A6@Y6@6ێ96!>y6H W? Z~? `T?@? :ۑ?N8?഼?ɨ6@6;6CyRwBR&IIZIZy4٢vw̽ vh=9vԃQ v>xx zG٣xy~< ~> Nusing accuracyPremultiplier from config 59C%? 5Y. i3B#j@E::25 @!ZjIMFNOT Ignoring new targets: 398.20 m.BjUT<;JjUT<;e ProNav: ac range: 398.200012 m, nav range: 157.839920 m, bearing: 88.159421 deg, approach rate: 0.314542 m/s, LOS rate: 0.164650 deg/s, cmd heading: 325.550120 deg, new cmd heading: 325.723198 deg. 2je;mHeadingCmd: 5.684942 target range: 398.200012 and range: 398.20 m. jm @jijijqiqhqhqhyhyfffrfbf?ɛB 隵RmI FɚiI>=Iv&ir뇺i) @)JKm3 KL.KK"KJJJJJ:J :JJJ;J;J9P;J:P;zKX[MK9KK KBK:KpA*FU?2FQ:FQBFU_0JFQG-GB /$?I O-,>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741891ow,~vA6&@Y6 6@696c>y6H@?```? fR[?@븿\^? ??ɨ6&@6;6CyVmBV&II^I^4٢vF vJ=9vPQ v>xx zG٣xyz< ~> Nusing accuracyPremultiplier from config 59O%? 5Y. i 3B  "j@Ev::_65 %:@%E=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.992044ZjQ]FNOT Ignoring new targets: 398.20 m.Bj]:;Jj]:;m ProNav: ac range: 398.200012 m, nav range: 157.965744 m, bearing: 88.225693 deg, approach rate: 0.310267 m/s, LOS rate: 0.163291 deg/s, cmd heading: 325.723197 deg, new cmd heading: 325.921856 deg. 2jm!;uHeadingCmd: 5.688409 target range: 398.200012 and range: 398.20 m. jus@jyjyjyiyhyhhhfffrfbf4@ɛBW zI .ɚiI]>=I;CiqWi)s@)*FU?2FQ:FQBFU`0JFQHI I0'IIBI&I.I6I:<:I$ F IG ^GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243883O >) C H~G vA9 m Ym vAym @ Bow,%ZA2:@Y2QJ@2E92 >y2H`2?J?] ?@йГ?B?ܰ?ɨ2:@2;2CyRPBRo&IiV8>IV; V=V=mMb@Mb@Mb@iii i)iYm +?L7A`堿S㥛ym?m+m/ݼmA m~@)mAImAiymAIIЬ4٢  @=9YQ > G٣y ; > Nusing accuracyPremultiplier from config59%?5Y8. i3B-?:*j@EQ;;:5 @ZjFNOT Ignoring new targets: 398.20 m.BjE;JjE; ProNav: ac range: 398.200012 m, nav range: 158.115311 m, bearing: 88.299037 deg, approach rate: 0.352711 m/s, LOS rate: 0.172796 deg/s, cmd heading: 325.921847 deg, new cmd heading: 326.141667 deg. 2j-;HeadingCmd: 5.692246 target range: 398.200012 and range: 398.20 m. j&@jj!j!i!h!h!h)h-ՇBf)f)f)rf1bf5@b@ɛ]Be,v aeIa e`>ɚaiiImn%?=ImGiuZViu?)u&@)y*F?2F:FBFp0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.496038GVGJJJJJ:J :JJJ;J;JS;JS;BzKBoHK 9KK KRK ?JK >O > 0$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748488eow,BAzVL@Yz[@z'K9z9>yzH1?`,8?-Tz?@Ϯ`ɔ? (?`q?ɨzVL@z;xy FB b&III4٢-P -Q=95Q 5>19 =G٣=OIGy=; => MNusing accuracyPremultiplier from configAM59EI%?M5YE. iE2B#*j@EEE"&3ow,0*ľAjH2<bH24=H@I@ IB&IIBćBIB# =&I@.I@6IB<:IBe F IM@Yu]@9j>yH?k4?@x`?׺`?[? c?ɨM@_Q;騥Cy޽1B޽I&IMMb@Mb@Mb@III I)IYMjt?Q뱿Q롿yM ?M\M\I M@)MAIM3AIyMQAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251906IeIeʴ4٢- -.=95?&Q 5>11 5G٣1y=9 m> }Nusing accuracyPremultiplier from configq59ui &?5Yu0. iu2B"?:7j@uEu;u;uA5 @B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 398.20 m.Bj-.L;Jj5.L;e ProNav: ac range: 398.200012 m, nav range: 158.444000 m, bearing: 88.450423 deg, approach rate: 0.407337 m/s, LOS rate: 0.178509 deg/s, cmd heading: 326.343433 deg, new cmd heading: 326.595355 deg. 2je;mHeadingCmd: 5.700164 target range: 398.200012 and range: 398.20 m. jmg@jijijiiihihqhqhuBfffrfbf ̸ @ɛ-B->( )-I) 5Uɚ1i1Iu?=I}@i}#ݡi}>)}g@)*Fi2Fi:FiBFm|0JFi] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:06:50.0797 e TRx dataTimestamp_ set to:1736374011.405100m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505348G ,G G Gi By O >Mow,޾A6T@Y6d@6wI96>y6H "?,? ks@??? S?ɨ6T@6Y;6Cy>"B>6&I)D DDFAIHIH٢Rc Rw=9V.Q V?TX ZG٣XyZ; Z? bNusing accuracyPremultiplier from config\b59^q&?f5Y^. i^2Bhjh7jj@^E^?;^@;^D5nB n$@rEZj  FNOT Ignoring new targets: 398.20 m.Bj Q;JjQ; ProNav: ac range: 398.200012 m, nav range: 158.574524 m, bearing: 88.507602 deg, approach rate: 0.419320 m/s, LOS rate: 0.183540 deg/s, cmd heading: 326.595358 deg, new cmd heading: 326.766751 deg. 2j%;-HeadingCmd: 5.703156 target range: 398.200012 and range: 398.20 m. j-@@j)j)j)i)h1h1h1h1f1f9f9rf9bf=$ @ɛuއBu5I quIq }МɚyiyI}~?=I|iRi) @@) zKyK}9KyK} K} *F?2F:FBF 5JF E1$?IMwiG ټuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757161GBOF>5kow,MHA6L@Y6[@6 ¼96^4>y6H?@n1?`(z?  ]???ɨ6L@6;6CyNBR!&IIXIX٢b  bJ=9feQ f>hh jG٣jPIGyj& n>rWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:06:50.0797 LVL= 20080, 27073, 28626, 30291, AGC= 69, IDX= 443,-0.30,-2.993, 2.623, 1.242, 2.382, PHS= 0.996, 0.288,-1.143, RAW= 49.0, -1.5, CAL= 50.3, -4.5, ROT= 99.7, 4.5 ]Ygot valid direction response: 22:06:50.0797 LVL= 20080, 27073, 28626, 30291, AGC= 69, IDX= 443,-0.30,-2.993, 2.623, 1.242, 2.382, PHS= 0.996, 0.288,-1.143, RAW= 49.0, -1.5, CAL= 50.3, -4.5, ROT= 99.7, 4.5 ePDAT read: Bearing 99.7, 4.5 (Local) m~Local bearing/azimuth received: Bearing 99.7, 4.5 (Local) uDAT read: Range 10 to 50 : 398.3 m (Round-trip 531.1 ms) speed -0.1 m/s 5,DAT read: user:2309> =BDAT read: Tx time:22:06:51.1945 E$Ping request sent.E959=+&?5Y=. i=2B7j@=E=<=<=H5J-J-J)J)J-L:J- :J)J)a5@a5@a5@a5@rMr!Z?rPwּ r`?)r|٠Ir`?ir|٠=ppr&`?b@و )rٵIrS II I&IIBI$ =&I.I6IkrOS?kr@G| kp krPA:kr&CBkrCZkrcs?"rwx0!@-{q@qq@rY?mOdy?~M Ul?Jkr0?RkrF*rzJra@13!9oh@45s@rx@m?D h?,sކ?"kryCC*kr CkrY<T?krgA 2krCkr7' S?kr#&  krCkr#kCkrs? addTargetRange:: Added new target pos. range: 398.299988 m, deltaT: 4.031974 s, deltaX: 0.099976 m, approachRate: 0.024796 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 7 8unknown deviceResponse_: 7 :IBI JI RI ZI $ =bI $ =jI Ư4 Added new target pos. range: 398.299988 m, bearing: 54.472790 deg, lat: 36.903213 deg, lon: -122.120190 deg, deltaT: 4.031974 s, deltaX: 0.099976 m, approachRate: 0.024796 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 398.30 m.Bj Jj U  ProNav: ac range: 398.299988 m, nav range: 235.137131 m, bearing: 54.573989 deg, approach rate: 0.000000 m/s, LOS rate: 0.183540 deg/s, cmd heading: 326.766741 deg, new cmd heading: 327.122203 deg. 2jQ ] HeadingCmd: 5.709360 target range: 398.299988 and range: 398.30 m. j] @jY jY jY iY ha ha ha h f f f rf x@bf &6?ɛ هB 2& ǾI `#ɚA iA IE 4Y@=IM <iM [iM .)M @)Q EY E] rA*F} ?2Fy :Fy BF} _0JFy MWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBO?2ow,_zA6U@Y6d@6ܼ96>y6H`1"?)?찺`sr?5?`M?@Ϩ?ɨ6U@6%ӈ;6CyF BF&IiJ4=IJ%=I^I^44٢fм f =9fXQ j>xx ~G٣|y~:: ~> Nusing accuracyPremultiplier from config 59>@&? 5Y. i2B15l75j@E;;+M5A E@EEZjFNOT Ignoring new targets: 398.30 m.Bj|;Jj|; ProNav: ac range: 398.299988 m, nav range: 235.168839 m, bearing: 54.651883 deg, approach rate: 0.089922 m/s, LOS rate: 0.220874 deg/s, cmd heading: 327.122211 deg, new cmd heading: 327.355861 deg. 2j<HeadingCmd: 5.713438 target range: 398.299988 and range: 398.30 m. j{Զ@jjj i h hhhfffrfbf`?ɛEևBE_O im̾Ii mFQɚqiqIuY@=Iui}`i}H)}{Զ@)y'mTFailed to parse incomplete device message.*FA2FA:FABFE_5JFAG U2$?IQGB=Will construct direction to contact in vehicle frame from tetrahedron phase data.OMR>,ow,?7A6Z@Y6j@6F96&b>y6H$?`!?\|m?'?L? ?ɨ6Z@6;6CyFBF%IININ]4٢Vн VM=9VѻQ Z>XX ZG٣ZQIGy^J: ^> fNusing accuracyPremultiplier from configdj59f!P&?j5Yf. if2Bhj47nj@fEf:f:fP5rB r@rEZj  FNOT Ignoring new targets: 398.30 m.Bj3;Jj3;% ProNav: ac range: 398.299988 m, nav range: 235.193588 m, bearing: 54.712442 deg, approach rate: 0.063997 m/s, LOS rate: 0.156573 deg/s, cmd heading: 327.355859 deg, new cmd heading: 327.537515 deg. 2j%;-HeadingCmd: 5.716608 target range: 398.299988 and range: 398.30 m. j-t@j)j)j)i)h1h1h1h1f9f9f9rfAbfE`?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛӇBpQ ޾I ɚiI @=I%6 i%zǺi%")%t@))*F?2F:FBF5JFJJJJJl:J/:JJZHRH?AHIC I&IIsBI&I.I6I<:IX FG+, QIQGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.Tow,m QA6Y@Y61i@696>y6H#? ?@@m?Jb?@D?N?ɨ6Y@6%;6CyVBV%I v@v v@z z@z  z@z IzIz҅4٢b)  D=9 uܻQ  > G٣y > -bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!559%`&?55Y%s. i%2B=+:9=:9=j@%E%D;%>%S5A M"@IeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 398.30 m.Bj}.;Jj}.; ProNav: ac range: 398.299988 m, nav range: 235.219971 m, bearing: 54.776262 deg, approach rate: 0.063180 m/s, LOS rate: 0.152819 deg/s, cmd heading: 327.537514 deg, new cmd heading: 327.728954 deg. 2j;HeadingCmd: 5.719949 target range: 398.299988 and range: 398.30 m. j @jjjihhhhfffrfbf?ɛЇB`P ݾI 5ɚiI"A=I;0i>Һib.) @)*F]?2FY:FYBF]_0JFYGa GepAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GuO!GyG}nAGIBYO>zK K 9K K  K  E 3$?IA ] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721276Oow,?kA:s`@Y:o@: 9:b>y:HR'? ?ķ`*h?`c湿ZX? ??ɨ:s`@:,;8yBBF%I)H HININy4٢VQ VN=9Z㚻Q Z>XX 5G٣9y]d; ]> mbBottom track data is 0.8 s old, using for 20.0 s. mNusing accuracyPremultiplier from configam59eq&?u5Ye. ie2Bu :qu\:u6uj@eEeJ0;eU?eU5 R@EZjFNOT Ignoring new targets: 398.30 m.Bj/;Jj/; ProNav: ac range: 398.299988 m, nav range: 235.246353 m, bearing: 54.839976 deg, approach rate: 0.063539 m/s, LOS rate: 0.153432 deg/s, cmd heading: 327.728951 deg, new cmd heading: 327.920071 deg. 2j;HeadingCmd: 5.723285 target range: 398.299988 and range: 398.30 m. j&%@jjjihhh!h!f!f!f)rf)bf-uj?ɛ͇BM 隝ݾI 3ɚiI]A=IUi2(޺i=7)&%@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971642G;+G B O >J J BAJ J J J J ܫ:J :J J 9&ow,҄AH68>I4 I6z&II6ZBI4&I4.I46I6+<:I6 F I$i@Yx@L9l^>yH+? ?@L`?(?f?`1?ɨ$i@e;騅CyB%IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223746 e e ee mm  m m mMb@Mb@Mb@iii i)iYmX9v?SſZd;Oym=?m/mjmA m$@)m@IiiymAII4٢< %=9RQ > G٣RIGyM$ ; M> ]Nusing accuracyPremultiplier from configQ]59U&?e5YUX. iU2BeT:eC?e:eTej@UEU;U ;UIZ5B Z@EZjFNOT Ignoring new targets: 398.30 m.BjK;JjK; ProNav: ac range: 398.299988 m, nav range: 235.328308 m, bearing: 54.929789 deg, approach rate: 0.162686 m/s, LOS rate: 0.178222 deg/s, cmd heading: 327.920059 deg, new cmd heading: 328.189402 deg. 2j;HeadingCmd: 5.727986 target range: 398.299988 and range: 398.30 m. jK@jjjihh!hAhE/BfIfIfIrfIbfM`@ɛʇB̙C 隝׾I wɚiIWA=I!iQiC)K@)*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475666G 3G ?G >G B! O= >Eow,AB-z@YB@B=9BG>yBH`E5?@?@R9?@ȏ@? i}??ɨB-z@Br;BCyJBJ&IIRIRЬ4٢ZT= Zq=9^Q ^?\` bG٣`yb; b ? jNusing accuracyPremultiplier from configdj59fݔ&?n5Yf. if2BlnGTrj@fEfR2;fB2;f]5zB zͺ@zEZjFNOT Ignoring new targets: 398.30 m.Bj%S;Jj%S;5 ProNav: ac range: 398.299988 m, nav range: 235.380661 m, bearing: 54.987430 deg, approach rate: 0.168196 m/s, LOS rate: 0.185144 deg/s, cmd heading: 328.189415 deg, new cmd heading: 328.362298 deg. 2j5 ;=HeadingCmd: 5.731003 target range: 398.299988 and range: 398.30 m. j=ad@j9j9j9i9h9hAhAhAfAfIfIrfIbfU&@ɛLJB] 隅̾I mɚiIEA=I[ i_)iL]F)ad@)zKJK9KK KBKpA:KqA*Fe?2Fa:FaBFe`0JFi 4$?I xiGE=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.729209BQOm5>ow,UA6@Y6@62 96>y6H-@?@?@v A?Tº?@?ח?ɨ6@6܈;6CRWill construct direction to contact in vehicle frame from tetrahedron phase data.RAiPVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.979774yZBZ&Ii^>I^<`bAAIfIf 4٢n^D= rI=9r퐻Q r>pt vG٣tyvK; v> ~Nusing accuracyPremultiplier from configx~59z&?5Yz. iz2BSj@zEz;z; ;z`5  -@Zj9EFNOT Ignoring new targets: 398.30 m.BjE?;JjM?; ProNav: ac range: 398.299988 m, nav range: 235.447189 m, bearing: 55.061135 deg, approach rate: 0.151330 m/s, LOS rate: 0.167607 deg/s, cmd heading: 328.362301 deg, new cmd heading: 328.583352 deg. 2j ;HeadingCmd: 5.734861 target range: 398.299988 and range: 398.30 m. j@jjjihhhhfffrfbf@ɛ5ćB5f> 9=7I9 =4ɚ9i9I=A=IE^ iE25iE6K)M@)JJJJJ:J&:JJ*F=?2F9:F9BFE_0JFAHI It&IIUBI&I.I6I<:I F %5$?I!UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231885M~Gy 7Yy8BGM {TBG! B) OM > ow,/ԿAyrBr#&IuMb@Mb@Mb@qqq q)qYu$C?Gzǿ G٣SIGy > Nusing accuracyPremultiplier from config59z&?5Yq/ i2B@?:Yj@E; ;ad5 T@EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 398.30 m.Bj a[;Jj a[; ProNav: ac range: 398.299988 m, nav range: 235.524048 m, bearing: 55.137262 deg, approach rate: 0.193704 m/s, LOS rate: 0.191798 deg/s, cmd heading: 328.583353 deg, new cmd heading: 328.811658 deg. 2j<HeadingCmd: 5.738846 target range: 398.299988 and range: 398.30 m. j@jjjihhhhZBfffrfbf @ɛ%B%\< !-=I) -wɚ)iIIMA=IUY iUi]2Z)]@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:06:54.1298 TRx dataTimestamp_ set to:1736374015.436934checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485333*F?2F:FBF 0JF G- IzK k3IK 9K K  K , RK ?JK >  I GI Ba O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.737249Vow,g A2!@Y2̵@2H092D%>y2H Y?@R?)x(?qԻ?&?@|?ɨ2!@2";2Cy:$B:9&IIBIB4٢JA= J]=9Nv0Q N>PT VG٣Ty^|< b> jNusing accuracyPremultiplier from confighr59j1&?r5Yj/ ij~2BprXrj@jEjB.;j1.;jg5x z>@xZj FNOT Ignoring new targets: 398.30 m.Bj=<;Jj=<; ProNav: ac range: 398.299988 m, nav range: 235.589630 m, bearing: 55.203619 deg, approach rate: 0.162583 m/s, LOS rate: 0.164458 deg/s, cmd heading: 328.811645 deg, new cmd heading: 329.010660 deg. 2j;HeadingCmd: 5.742319 target range: 398.299988 and range: 398.30 m. j@jjj i h1h9hAhAfffrfbfl@ɛB8/ 隭`I ɚiIA=I9v iX&iO)@)*F]?2FY:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:06:54.1298 LVL= 21344, 29105, 29298, 32755, AGC= 65, IDX= 428, 0.17,-1.111,-1.776,-3.121,-2.075, PHS= 1.052, 0.347,-1.049, RAW= 49.3, -3.8, CAL= 51.9, -7.9, ROT= 98.1, 7.9 Ygot valid direction response: 22:06:54.1298 LVL= 21344, 29105, 29298, 32755, AGC= 65, IDX= 428, 0.17,-1.111,-1.776,-3.121,-2.075, PHS= 1.052, 0.347,-1.049, RAW= 49.3, -3.8, CAL= 51.9, -7.9, ROT= 98.1, 7.9 %PDAT read: Bearing 98.1, 7.9 (Local) -~Local bearing/azimuth received: Bearing 98.1, 7.9 (Local) =DAT read: Range 10 to 50 : 398.4 m (Round-trip 531.2 ms) speed -0.1 m/s =,DAT read: user:2310> EBDAT read: Tx time:22:06:55.2445 E$Ping request sent.MٽEٽFF\?ٽԇ ڽ5g?)ڽ0 IڽR(?iڽ0 >ڹڹ۽Hj2 ?k$?q )۽I۽_=i۽!?۽AuH۹۹:publishing transmit ping timeAFpublishing direction and range infoع9ؽ^_U?*@̱?T?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽Hj2 ?k$?q )۹I۹i۹۹۹۹G% >YG B O >H 7>I  I &II nBI % =&I .I 6I <:I  Fpw,A ^6$?I`%Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:22:06:55.2437 y5BN&I) A5Mb@Mb@Mb@111 1)1Y5d;O?w/ĿMb`y54?5&55A 5@)5v@I11y5AIMIMy4٢U= ]=9]Q ]>aa eG٣ay > Nusing accuracyPremultiplier from config591&?5Yj/ i2B}9?:LSj@EE;;Il5B Z@Ek%T?k) k k'A:k3CBkCZkv]k?")hCk9@N7q@vdq@^_U?*@̱?T?Jk!?RkAuH*?a@g@T%7t@I=? x?k?"k8C*k CkJ/HU?k'- 2kCkY<T?kkkmCk](t? addTargetRange:: Added new target pos. range: 398.399994 m, deltaT: 4.031962 s, deltaX: 0.100006 m, approachRate: 0.024803 m/s, rangeRepo size: 4  Added new target pos. range: 398.399994 m, bearing: 52.677446 deg, lat: 36.903242 deg, lon: -122.120190 deg, deltaT: 4.031962 s, deltaX: 0.100006 m, approachRate: 0.024803 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 398.40 m.BjJj ProNav: ac range: 398.399994 m, nav range: 237.553741 m, bearing: 54.645327 deg, approach rate: 0.000000 m/s, LOS rate: 0.164458 deg/s, cmd heading: 329.010649 deg, new cmd heading: 329.266102 deg. 2jHeadingCmd: 5.746778 target range: 398.399994 and range: 398.40 m. j@jjjihhh!h%xBf!f!f)rf-`fx@bf-?ɛuBuj 隝SI ܣɚiIA=IR i.i Bb)@)*Fm?2Fq:FqBFu0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu GNGQ BY O} >dpw,x*$A6@Y6 @6)A96dH,>y6H {?t?@@G?ռ7?`h?J?ɨ6@6;6Cy>RB>q&IJNJNJLJLJN:JN :JLJLJLaRJLaRJNR;aVJNR;aVI^I^ 4٢f71> f|=9fTQ j ?hh jG٣jTIGyne< n ? rNusing accuracyPremultiplier from configpv59ri&?v5Yr/ ir2BxzGQzk@rEr ;r ;r o5| ~@|Zj!-FNOT Ignoring new targets: 398.40 m.BjN;JjN; ProNav: ac range: 398.399994 m, nav range: 237.599518 m, bearing: 54.699516 deg, approach rate: 0.152657 m/s, LOS rate: 0.180676 deg/s, cmd heading: 329.266099 deg, new cmd heading: 329.428633 deg. 2j;HeadingCmd: 5.749614 target range: 398.399994 and range: 398.40 m. j@jjjihhhhfffrfbf?ɛB 8$?IzK}KK9KK KBKqA:K= II ZɚiIA=IiO<ixM) @) Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF@5JFGT[GBOg> Will construct direction to contact in vehicle frame from tetrahedron phase data.pw,=AJ*@YJ9@JsH9J[5>yJH?B?;@Y? `{?@??`*v?ɨJ*@J;JCyVlBV&II^~I^T_4٢f> fK=9jQ j>hh nG٣lynf< n> vNusing accuracyPremultiplier from configpv59rY&?z5Yrg/ ir2BxzOzk@r Er:r@:rr5| @|EZj15FNOT Ignoring new targets: 398.40 m.Bj=tC;Jj=tC;M ProNav: ac range: 398.399994 m, nav range: 237.656357 m, bearing: 54.768565 deg, approach rate: 0.140696 m/s, LOS rate: 0.170880 deg/s, cmd heading: 329.428630 deg, new cmd heading: 329.635727 deg. 2jM;UHeadingCmd: 5.753229 target range: 398.399994 and range: 398.40 m. jUs@jQjQjQiQhYhYhYhYfafafarfabfm+?ɛB$, 0=隕rI ɚiI^A=I@iX"iI)s@)*F5?2F1:F1BF5_0JF1ZH RH HI I&IIBI&I.I6IL<:I/ FBIÞCJIÞCRIZIbI% =jI5 IyiWill construct direction to contact in vehicle frame from tetrahedron phase data.G5ф`GB!O>1pw, WAyUBU&Ii]=I]R= e=e= Mb@Mb@Mb@    ) Y E?S㥛~jth?y &? $ D; A @) I A y 3AI%sI%K4٢5= 55=9=Q =>9A EG٣AyE E> UNusing accuracyPremultiplier from configI]59M,'?]5YM/ iM2B])?]:]H]k@M EM ;M;Mv5i m@iuWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 398.40 m.Bj3;Jj3; ProNav: ac range: 398.399994 m, nav range: 237.707138 m, bearing: 54.839602 deg, approach rate: 0.112292 m/s, LOS rate: 0.157049 deg/s, cmd heading: 329.635721 deg, new cmd heading: 329.848786 deg. 2j;HeadingCmd: 5.756948 target range: 398.399994 and range: 398.40 m. j8@jjjihhhh·Bfffrfbf5h?ɛ B T PI !1ɚiIJA=Ii^9*i%X)%8@)!*F?2F:FBFJFJJJJJJ :JJJJJ9P;J9P; 9$?IzKK9KK KRK?JK?G ʄGG B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.pw,qA:o@Y:i@: Z9:8>y:H ??*¿>?@q徿KY?@?p?ɨ:o@:Z.;:Cy^Bb&IInInt4٢~= ~a=9~FQ ~> G٣y0<  > Nusing accuracyPremultiplier from config 59 '?5Y l$/ i 2BFk@  E   ; y5) -:@-yEZjIUFNOT Ignoring new targets: 398.40 m.Bj]#6;Jj]#6;m ProNav: ac range: 398.399994 m, nav range: 237.746338 m, bearing: 54.896994 deg, approach rate: 0.108782 m/s, LOS rate: 0.159238 deg/s, cmd heading: 329.848796 deg, new cmd heading: 330.020941 deg. 2jm;uHeadingCmd: 5.759952 target range: 398.399994 and range: 398.40 m. juQ@jqjqjqiqhyhyhyhyfyffrfbf+?ɛB׼ 1I rɚiI$@=IiW/iMB)Q@)E*FE?2FA:FABFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999224GA,[G B O >H 6>I  I 'II χBI &I .I 6I ]<:I < F y Iy _"pw,ArWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253829}@Y}@} `9}69>y}H@~?@?H¿ZR?M1? ?On?ɨ}@}~;}CyޕBޕ&IMb@Mb@Mb@ )Y/$?I +~jtx?y?9;AA @)`@IIAyII]4٢L= 1=92Q > G٣UIGy@V< > Nusing accuracyPremultiplier from config59.'?5Y`)/ i2BJ?:f7k@ Ec;;}5 ׯ@ZjFNOT Ignoring new targets: 398.40 m.Bj%J);Jj%J);5 ProNav: ac range: 398.399994 m, nav range: 237.776154 m, bearing: 54.965593 deg, approach rate: 0.064336 m/s, LOS rate: 0.148004 deg/s, cmd heading: 330.020944 deg, new cmd heading: 330.226713 deg. 2j5%;=HeadingCmd: 5.763544 target range: 398.399994 and range: 398.40 m. j=n@j9jAjihhhhBfffrfbf 8@ɛEBE̹ AM;II UdɚQiQIUu@=I]?iH6in<)n@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502703E gW=*F} ?2Fy :Fy BF} /4JFy J J J J J l:J /:J J J ;J ;J ^;J ^; m:$?IuziGBzK]BoHK]9KYK] K] BKupA:KupAGBO?*pw,լA .Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754737:T֯@Y:@:d9:9>y:H?@?@8W¿p-o?\@? ?@m?ɨ:T֯@:va;:CyBɇBB'IHHININQ4٢Vt= Z5=9bE,Q f>YY eG٣aym^< > Nusing accuracyPremultiplier from config59A'?5Yt./ i2B5k@ E;;5 (@vEZj9=FNOT Ignoring new targets: 398.40 m.BjE!%;JjE!%; ProNav: ac range: 398.399994 m, nav range: 237.805420 m, bearing: 55.036506 deg, approach rate: 0.059589 m/s, LOS rate: 0.144369 deg/s, cmd heading: 330.226724 deg, new cmd heading: 330.439436 deg. 2j(;HeadingCmd: 5.767256 target range: 398.399994 and range: 398.40 m. j]@jjjihhhhfffrfbf@ɛUBU[ QUԈ=IY ]NڼɚYiYI]?=Imim1=im4)m]@)AE.=*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006814G} f:GQ Ba O} >z1pw,NAjHbHp<H5>I IU'II BI&I.I6IG<:I* FbVE@YbT@bFl9bW9>ybH *?G?J¿`(@A?썿??@l?ɨbVE@bv;bCyjڇBj'IIvIv4٢~Т= ~F=9~ҋQ >  G٣ VIGy = %> =Nusing accuracyPremultiplier from config1E595ZQ'?E5Y52/ i52BAEH2Ek@5 E5y;5h;5R5MB UG@Q ;$?IZjFNOT Ignoring new targets: 398.40 m.Bj=;Jj=;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262234 ProNav: ac range: 398.399994 m, nav range: 237.826279 m, bearing: 55.094337 deg, approach rate: 0.049455 m/s, LOS rate: 0.137103 deg/s, cmd heading: 330.439443 deg, new cmd heading: 330.612921 deg. 2j/;HeadingCmd: 5.770284 target range: 398.399994 and range: 398.40 m. j+@jjjihhhhfffrfbfY @ɛEBm im=Ii uwɚqiqIuD?=I}Mi}Ai}d )}+@)EE*E"E*F ?2F :F BF JF "G G =% Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:22:06:58.1804 - TRx dataTimestamp_ set to:1736374019.4686465 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511860G53GBO->)9pw,nA6r@Y6Y@6@o96 8>y6HEB?!?4¿A+ ?Mb? ?In?ɨ6r@J>J>J>1J<J>:J>:J>3J G٣y&< > Nusing accuracyPremultiplier from config59f'?5Yc7/ i2B?: k@ EZ;bY;5 @zKLK9KK KB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 398.40 m.Bj ,;Jj ,; ProNav: ac range: 398.399994 m, nav range: 237.831604 m, bearing: 55.170258 deg, approach rate: 0.010580 m/s, LOS rate: 0.150834 deg/s, cmd heading: 330.612930 deg, new cmd heading: 330.840686 deg. 2j;%HeadingCmd: 5.774259 target range: 398.399994 and range: 398.40 m. j%Ƹ@j!j!j!i!h)h)h)h-VBf1f1f1rf1bf5@ɛeBeeTQ im>Ii m麼ɚiiiImR>=IuHiu&Fiu} )}Ƹ@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763941*F?2F:FBFJFG%$$GBOa>] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:06:58.1804 LVL= 16096, 28209, 20242, 30707, AGC= 69, IDX= 432, 0.22, 2.428, 1.628, 0.414, 1.380, PHS= 1.136, 0.295,-0.969, RAW= 53.4, -5.1, CAL= 57.8, -10.1, ROT= 92.2, 10.1  Ygot valid direction response: 22:06:58.1804 LVL= 16096, 28209, 20242, 30707, AGC= 69, IDX= 432, 0.22, 2.428, 1.628, 0.414, 1.380, PHS= 1.136, 0.295,-0.969, RAW= 53.4, -5.1, CAL= 57.8, -10.1, ROT= 92.2, 10.1  PDAT read: Bearing 92.2, 10.1 (Local)  ~Local bearing/azimuth received: Bearing 92.2, 10.1 (Local)  DAT read: Range 10 to 50 : 398.7 m (Round-trip 531.7 ms) speed 0.0 m/s  ,DAT read: user:2311>  BDAT read: Tx time:22:06:59.2946  $Ping request sent. ] 1n ] O)] wI] Ei] sh?] = >] bx] n?] K ] ^ ?)] J4I] ?i] J4>Y Y ] zEL?(6 AIS)] YӔI] =͵=i] l?] YY Y  :publishing transmit ping timeع  Fpublishing direction and range infoY 9] If)?fv?0_?yY Y Y Y Y )Y IY iY Y Y Y Y Y )Y IY iY Y Y ] zEL?(6 AIS)Y IY iY Y Y Y :@pw,;A6X@Y6տ@6n967>y6H 'b??¿s@(?䨿̭? '?n?ɨ6X@6xx zG٣xyzƯ< > Nusing accuracyPremultiplier from config59u'?5Y:/ i2B/k@" E::N5  @sEknL?k  k k%IY I]'II]CBI]& =&IY.IY6I]3<:I] FJJ@ABj-Jj ProNav: ac range: 398.700012 m, nav range: 235.980484 m, bearing: 55.875390 deg, approach rate: 0.000000 m/s, LOS rate: 0.150834 deg/s, cmd heading: 330.840676 deg, new cmd heading: 331.019918 deg. 2jHeadingCmd: 5.777388 target range: 398.700012 and range: 398.70 m. j\@jjjihhhhfffrf@3x@bf? <$?IɛB$( 隕<>I ɚiI==I{iJiG)\@))9 =C~G eYiymB*F?2F:FBFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:06:59.2938 JFG G ?G >GY Ba O >NFpw,sA^nٰ@Y^@^jp9^O7>y^Hv??`zPF>? ɤ ?@?5o?ɨ^nٰ@^4;^CyQQ-only read 0 of 1 data item for BIT error. Device response is::TS4080553,35.0, +10.9, 01, 0  @ @ @  @ IpIF49Q > G٣WIGy:<Will construct direction to contact in vehicle frame from tetrahedron phase data. %> 5bBottom track data is 0.4 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=59-'?=5Y-l>/ i-2B=+:9=:EEk@-& E-%;-k>-U5 ZjFNOT Ignoring new targets: 398.70 m.Bjg';Jjg'; ProNav: ac range: 398.700012 m, nav range: 235.984909 m, bearing: 55.935588 deg, approach rate: 0.010759 m/s, LOS rate: 0.146356 deg/s, cmd heading: 331.019927 deg, new cmd heading: 331.200517 deg. 2j;HeadingCmd: 5.780540 target range: 398.700012 and range: 398.70 m. j.@jjjihAhAhAhAfIfIfQrfQbfU ?ɛB e* =A>I gɚiIA==Ihi,Ni).@)*F?2F:FBFo0JFG GrAGذJ9K9 K=S}-K9K9"K9JJJ0JJܫ:J&:Jـ3J YIYGiByO~>zK= BHK= ]9K9 K=  K=   Will construct direction to contact in vehicle frame from tetrahedron phase data.qLpw,#14A>b@Y>@> s9>I9>y>H@?[K?`!¿ -O?@,]? ?vk?ɨ>b@>};>CyNBRN'IIZIZ4٢=8< E<9ECܺQ E>II MG٣IyMP< U> ]bBottom track data is 0.8 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configYe59]•'?m5Y]A/ i]2Bm :imo:mmk@]* E] /;],N?]{5y }@}pEZjFNOT Ignoring new targets: 398.70 m.Bjs&;Jjs&; ProNav: ac range: 398.700012 m, nav range: 235.987946 m, bearing: 55.988334 deg, approach rate: 0.008378 m/s, LOS rate: 0.145521 deg/s, cmd heading: 331.200517 deg, new cmd heading: 331.358751 deg. 2j;HeadingCmd: 5.783301 target range: 398.700012 and range: 398.70 m. j@jjjihhhhfffrfbf?ɛ-B-ڻ 15W>I9 E:0ɚAiAIE<=IUi]Qi]m)]@)a Will construct direction to contact in vehicle frame from tetrahedron phase data.i*Fe?2Fa:FaBFe0JFaH5 3>I1  I5 'II5 gBI1 &I1 .I1 6I5 5<:I1 G d M =$?IQ Ga Bi O >\Spw,NA6Will construct direction to contact in vehicle frame from tetrahedron phase data.-(@Y-*@--w9-5>y-H@?&?@`_a?\`?Ê?p?ɨ-(@-n;)yEBMI'I)Q Q = = == ==  = = =Mb@Mb@Mb@999 9)9Y=(\?:v?~jtxy=?=T<=Ļ=+A =@)=@I99y=AIUuIUaO4٢e聼 e8=9m6Q m>qq uG٣qyu; }> Nusing accuracyPremultiplier from configy59}'?5Y}D/ i}2BT: ?:k@}. E}cQ;}5P;}Z5 Ϊ@ZjFNOT Ignoring new targets: 398.70 m.BjU;JjU; ProNav: ac range: 398.700012 m, nav range: 235.965866 m, bearing: 56.047690 deg, approach rate: -0.049861 m/s, LOS rate: 0.134053 deg/s, cmd heading: 331.358759 deg, new cmd heading: 331.536845 deg. 2j;mHeadingCmd: 5.786409 target range: 398.700012 and range: 398.70 m. jmD*@jijijiiihihqhqhu:Bfqfyfyrfybf}3?ɛB U>I ɚiI';=IdYiUTi)D*@)!*F?2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ^G G qAG B O >Ypw,gA6|F@Y6U@6s96@1>y6H? :? ߿1y?@徿_?` ?@Zv?ɨ6|F@6x;6CyBBBN'IININ4٢Zj< ^k=9bk:;Q b>dd fG٣fXIGyjw< j> tIt Nusing accuracyPremultiplier from config| 59~k'? 5Y~HG/ i~3Bk@~1 E~`;~a|;~r5-B -@-mEZj FNOT Ignoring new targets: 398.70 m.Bj [;Jj [;E ProNav: ac range: 398.700012 m, nav range: 235.947342 m, bearing: 56.095149 deg, approach rate: -0.048916 m/s, LOS rate: 0.125332 deg/s, cmd heading: 331.536836 deg, new cmd heading: 331.679223 deg. 2jE;MHeadingCmd: 5.788895 target range: 398.700012 and range: 398.70 m. jM>@jIjIjIiIhIhqhqhyfyfyfyrfbf?ɛB Ż .a>I 0GɚiI8;=Ii WzK LK  9K K  K   RKe?uWill construct direction to contact in vehicle frame from tetrahedron phase data.JKe?i Ѽ)>@)E31=*F ?2F :F BF 0JF "G =G =% Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm 8GIBQOm>yapw,D1A6w@Y6@6l96H'0>y6H ?@™?' ߿i?羿?@?y?ɨ6w@6;4yBBBG'IIJIJ4٢R R.=9R:\;Q R>TT VG٣TyZ/Q<Hb4>I` Ib'IIb{BIb' =&I`.I`6Ib2<:Ib FBIJIRIZI& =bI& =jIJ55 r> vNusing accuracyPremultiplier from configpz59r'?z5YrJ/ ir3Bxz~k@r5 Ere ;r ;r5 @B*** querying acoustic contact ***jjZj)JuJuJqJqJuL:Ju :JqJqJuO;aJuP;aJuS;aJuS;aFNOT Ignoring new targets: 398.70 m.Bj!;Jj!; ProNav: ac range: 398.700012 m, nav range: 235.921463 m, bearing: 56.158136 deg, approach rate: -0.058176 m/s, LOS rate: 0.141609 deg/s, cmd heading: 331.679232 deg, new cmd heading: 331.868212 deg. 2j^;HeadingCmd: 5.792193 target range: 398.700012 and range: 398.70 m. jY@ >$?Ijjjihhhhfffrfbf *{@ɛ5B5z 9=Z>I9 =ɚ9i9I=y:=IEXcimEZiu)uY@)qEMNw =uWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF4JFGϼG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507753ğgpw,LAyBB'Ii%V>I%< -p=)Mb@Mb@Mb@ )Ygfffff?Mb?:vy3?<TA @)@I3AyGAII4٢ 8=9Q > G٣y > Nusing accuracyPremultiplier from config59_'?5YM/ i3B@?:k@9 E;;_5  8@ jEZj9=FNOT Ignoring new targets: 398.70 m.BjE;JjE; ProNav: ac range: 398.700012 m, nav range: 235.898621 m, bearing: 56.218920 deg, approach rate: -0.052202 m/s, LOS rate: 0.138926 deg/s, cmd heading: 331.868209 deg, new cmd heading: 332.050580 deg. 2j;HeadingCmd: 5.795376 target range: 398.700012 and range: 398.70 m. js@jjjihhhh Bfffrf bfm@ɛ]B] Y]V>IY e-ɚaiaIe9=Im"im:]iuܼ)us@)EE*E"E ?$?I{izKuLKu9KqKu KuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761331BK:KqA*F2F:FBF_5JFG vżG ?G >G B O%>^npw,QA2۾@Y2Xθ@2d92+>y2Hb?-? b=߿@Զ?`X@K???`f?ɨ2۾@2چ;2Cy>B>4'IIFIFQ4٢N[ NA=9RK;Q V>TT VG٣VYIGyZ< Z> ^Nusing accuracyPremultiplier from config\f59^s'?f5Y^P/ i^ 3Bdf$jk@^= E^<;^3=;^5nB n@nlEWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012003Zj FNOT Ignoring new targets: 398.70 m.Bj-;Jj-;- ProNav: ac range: 398.700012 m, nav range: 235.874695 m, bearing: 56.277695 deg, approach rate: -0.056289 m/s, LOS rate: 0.138290 deg/s, cmd heading: 332.050575 deg, new cmd heading: 332.226916 deg. 2j-н;5HeadingCmd: 5.798453 target range: 398.700012 and range: 398.70 m. j5@j1j1j1i1h1h1h9h9f9fAfArfIbfM B@ɛuBu! y}C>Iy 민ɚiI 9=I .i i`i ) @)*F2F:FBF_0JFGN޼jHbH<H3>I I'IIvBI& =&I.I6II<:I) FGIBYO}7> IJJJJJl:J:JJJ;J;JZ;JZ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266942upw,CA6Uܱ@Y6@6_96")>y6H`?~? 5>޿ ?,?? y?ɨ6Uܱ@6;6CyBBB)'IMMb@Mb@Mb@III I)IYM~jt?y G٣y < > Nusing accuracyPremultiplier from config59j(?5Y(T/ i"3B?:k@A Ey;;Ψ5B @iEZjFNOT Ignoring new targets: 398.70 m.Bjj);Jjj); ProNav: ac range: 398.700012 m, nav range: 235.858704 m, bearing: 56.340814 deg, approach rate: -0.037522 m/s, LOS rate: 0.148113 deg/s, cmd heading: 332.226904 deg, new cmd heading: 332.416272 deg. 2jL;HeadingCmd: 5.801758 target range: 398.700012 and range: 398.70 m. j@jjjihhhhBff f rf bf  @ɛ=B=- 9=5>I9 EbɚAiAIE~8=IM}iMbiMȲ)U@)Q*F?2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:07:02.2300 ETRx dataTimestamp_ set to:1736374023.502064Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518813GFټ A$?IGB O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767751ʵ{pw,AzKVBJK 9KK! KRK?JK>:@Y:> @:^Z9:W&>y:H6?`?@޿ ?ؽU? ??ɨ:@:;;:CyF߇BF'IHJAI~I~:4٢U# ]L=9]N;Q ]>aa eG٣aym< m> uNusing accuracyPremultiplier from configi}59m4(?}5Ym]W/ im$3By}k@mE Em ;m ;mM5 1@fEZjFNOT Ignoring new targets: 398.70 m.BjM(;JjM(; ProNav: ac range: 398.700012 m, nav range: 235.843124 m, bearing: 56.399882 deg, approach rate: -0.038805 m/s, LOS rate: 0.147140 deg/s, cmd heading: 332.416264 deg, new cmd heading: 332.593481 deg. 2j; HeadingCmd: 5.804852 target range: 398.700012 and range: 398.70 m. j X@j j jihhhhfff!rf!bf%@ɛBB# h)>I DŽɚiI7=I 0i nxei TR)%X@)9*F)2F):F1BF1JF1EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:07:02.2300 LVL= 10480, 22833, 16594, 28819, AGC= 67, IDX= 445,-0.00, 2.180, 1.308, 0.109, 1.128, PHS= 1.140, 0.227,-1.022, RAW= 54.9, -3.7, CAL= 58.7, -8.1, ROT= 91.3, 8.1 Ygot valid direction response: 22:07:02.2300 LVL= 10480, 22833, 16594, 28819, AGC= 67, IDX= 445,-0.00, 2.180, 1.308, 0.109, 1.128, PHS= 1.140, 0.227,-1.022, RAW= 54.9, -3.7, CAL= 58.7, -8.1, ROT= 91.3, 8.1 PDAT read: Bearing 91.3, 8.1 (Local) ~Local bearing/azimuth received: Bearing 91.3, 8.1 (Local) DAT read: Range 10 to 50 : 398.4 m (Round-trip 531.3 ms) speed 0.1 m/s ,DAT read: user:2312> BDAT read: Tx time:22:07:03.3446 $Ping request sent.EЂEKu?E A E#?)EIEW?iE>AAE:?ȀM쿓Ψf)E~IE=iE?E$"`AA%:publishing transmit ping time%Fpublishing direction and range infoA9EEiҴ? bKo?+}s?yAAAA A)AIAiAAAAA A)AIAiAAAE:?ȀM쿓Ψf)AIAiAAAAGm VGY Ba O} >H 2>I C I 'II gBI ' =&I .I 6D6I ]<:I 7 F I J J J J J :J :J J J ;J ;J .Y;J .Y;Þpw,a ½A>@Y>g @>>U9>4$>y>HK??`5޿M??h?`?ɨ>@>;;>CyNׇBN'IIZIZ4٢=# =L=9EO;Q E>AA EG٣EZIGyMD; M> uNusing accuracyPremultiplier from configQ}59U %(?}5YUZ/ iU%3B5k@UI EU;UC;Uͯ5 @kuG@ZH?kuJ kq kuS½A:ku3CBkuCZku?"ur%a{4@#o@s@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:07:03.3438 uEiҴ? bKo?+}s?Jku?Rku$"`*uz! TX@xf@.Dc3su@u|;?pc?rxN?"ku0C*ku Bku,H?ku* 2kuCkqku'- kuCkudCku]v?- addTargetRange:: Added new target pos. range: 398.399994 m, deltaT: 4.032687 s, deltaX: -0.300018 m, approachRate: -0.074397 m/s, rangeRepo size: 4 m Added new target pos. range: 398.399994 m, bearing: 60.860453 deg, lat: 36.903213 deg, lon: -122.120289 deg, deltaT: 4.032687 s, deltaX: -0.300018 m, approachRate: -0.074397 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 398.40 m.Bj}Jjy ProNav: ac range: 398.399994 m, nav range: 228.538086 m, bearing: 55.238952 deg, approach rate: 0.000000 m/s, LOS rate: 0.147140 deg/s, cmd heading: 332.593493 deg, new cmd heading: 332.800682 deg. 2jHeadingCmd: 5.808468 target range: 398.399994 and range: 398.40 m. j޹@jjjihhhhfffrf`fx@bf`?ɛ5B5Η7 15>I1 =Rɚ9i9I=>7=IE*iE4ahiEֵ)E޹@)I*F?2F:FBF`0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.GE G B! OE >xpw,$½Ayn͇Bn 'ImMb@Mb@Mb@iii i)iYmMbX9?i|?5Qym!?mqmm\ A mp@)m@ImzAiym@IId4٢1 F=9Q > G٣y > Nusing accuracyPremultiplier from config597(?5Y^^/ i#3B"?: k@M E/;;k5 J@cEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 398.40 m. uB$?IqBj<[;Jj<[; ProNav: ac range: 398.399994 m, nav range: 228.531799 m, bearing: 55.304891 deg, approach rate: -0.018273 m/s, LOS rate: 0.191670 deg/s, cmd heading: 332.800694 deg, new cmd heading: 332.998515 deg. 2j<HeadingCmd: 5.811921 target range: 398.399994 and range: 398.40 m. jA@jjji!h!h)h)h5Bf1f1f9rf9bfe?ɛB. x >I OɚiI|6=IIijimм)A@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFo0JFzK-BoHK-9K)K-" K-BK=qA:K=pAG (G B O >pw,~n>½A2G@Y2V@2]K92l>y2H-?r?`)޿ W?@ji??n?ɨ2G@2<;2Cy>ɇB>'IIFcIFy/4٢Nϼ N]=9R;Q R>PT VG٣TyV^< V> ^Nusing accuracyPremultiplier from configX^59Z%H(?b5YZa/ iZ 3B`bbk@ZQ EZz ;Z ;Z5d f@hZjFNOT Ignoring new targets: 398.40 m.Bj 6;Jj 6;Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984018- ProNav: ac range: 398.399994 m, nav range: 228.525055 m, bearing: 55.363738 deg, approach rate: -0.018236 m/s, LOS rate: 0.159116 deg/s, cmd heading: 332.998524 deg, new cmd heading: 333.175068 deg. 2j-f;5HeadingCmd: 5.815002 target range: 398.399994 and range: 398.40 m. j5@j1j1j1ihhhhfffrfbf>s?ɛmBu5 隕>I @ɚiIN6=Iimiʱ)@)*FU?2FY:FYBF]^5JFYZHRHAAH0>I I'IISBI&I.I6Im<:IA F mC$?IiJJJ/JJܫ:J :J(N3JJ;J;JU;JU;tA XY tAy  BGp6ϼWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238531G B O >ʕpw,LX½A:^@Y:un@: I9:>y:HR9?@GF?ݿ + ?`(`?`&8? '?ɨ:^@:/u;:CyFÇBF&I%Mb@Mb@Mb@!!! !)!Y%J +?+:vy%(?%%Լ%/ A %Z@)%~@I%A!y%(@I=I=1h4٢M¼ U?=9U:Q U>YY ]G٣][IGyef; e> mNusing accuracyPremultiplier from configiu59m[(?u5Yme/ im3Bu*?}:}R}k@mU EmH@;m>;m`5 @`EZjFNOT Ignoring new targets: 398.40 m.Bj0<;Jj0<;u ProNav: ac range: 398.399994 m, nav range: 228.523636 m, bearing: 55.434840 deg, approach rate: -0.003284 m/s, LOS rate: 0.164526 deg/s, cmd heading: 333.175070 deg, new cmd heading: 333.388378 deg. 2ju;}HeadingCmd: 5.818725 target range: 398.399994 and range: 398.40 m. j}2@jyjyjyihhhhlBfffrfbf Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740052Qpw,#r½AzK>>`JK>9K<K># K>RKF>JKF>J녲@YJh@JD9JK>yJH K?(?!`ݿ? ;? ӏ?`3?ɨJ녲@J;JCyPV&II^I^4٢f fS=9fU-;Q f>hh jG٣hyjI< n> vNusing accuracyPremultiplier from configpv59rm(?z5Yri/ ir3Bxzzk@rY Er:r:r½5| @Zj!-FNOT Ignoring new targets: 398.40 m.Bj-A;Jj-A;E ProNav: ac range: 398.399994 m, nav range: 228.521393 m, bearing: 55.499291 deg, approach rate: -0.005897 m/s, LOS rate: 0.169441 deg/s, cmd heading: 333.388391 deg, new cmd heading: 333.581743 deg. 2jE;EHeadingCmd: 5.822100 target range: 398.399994 and range: 398.40 m. jMN@jIjIjIiIhIhIhQhfffrfbfo?ɛ-BU!< Ye >Ia m;ɚiiiIuX5=I}biqi)N@)*F2F:FBFa0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991880G6G B O >H .>I  I 'II >BI ( =&I .I 6I <:I n F E D$?IA ݢpw,)½A:v@Y:@:X@9:Z.>y:HS?`? +ż˝ݿ` ?g?!? ?ɨ:v@:;8yRLJBR'IIZIZ4٢bf< fJ=9f 1;Q f>dh jG٣hyj; j> rNusing accuracyPremultiplier from configpv59r(?v5Yrm/ ir3Bxzzk@r^ Erv:rU:rJ5~B ~@]EZjIUFNOT Ignoring new targets: 398.40 m.Bj];;Jj];;m ProNav: ac range: 398.399994 m, nav range: 228.518814 m, bearing: 55.566570 deg, approach rate: -0.006298 m/s, LOS rate: 0.164324 deg/s, cmd heading: 333.581740 deg, new cmd heading: 333.783579 deg. 2jm;uHeadingCmd: 5.825623 target range: 398.399994 and range: 398.40 m. juk@jqjqjqiqhyhyhyhyfffrfbf@ɛB&0Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245084  >I 4ɚ iI'4=IMEiUti]))]k@)a*Fe?2Fa:FaBFm_0JFi"Gu=Gua=G VE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496107Ga By O >pw,/ۥ½A:9@Y:@:599: >y:HW`?ڵ?@pݿ)?@>0??“?ɨ:9@:;:CyFÇBF&IEMb@Mb@Mb@AAA A)AYE rh?ʡE:vyE,?EケAE A Ep@)E@IEAAyE@I]I]4٢u u@=9u~;Q }>yy }G٣}\IGy; > Nusing accuracyPremultiplier from config59;(?5YGr/ i3B@/?:g$k@b Eb;`;5B @ E$?I|ieB*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 398.40 m.JJJ0JJ:J :Jـ3Ja@a@a@a@Bj:;Jj:; ProNav: ac range: 398.399994 m, nav range: 228.530991 m, bearing: 55.639444 deg, approach rate: 0.027191 m/s, LOS rate: 0.162722 deg/s, cmd heading: 333.783586 deg, new cmd heading: 334.002194 deg. 2jY; HeadingCmd: 5.829438 target range: 398.399994 and range: 398.40 m. j Š@jjjihhhhgBfff!rf!bf%@ɛ~B< 隕 >I 1ɚiI_4=IQiJfwi¼)Š@)*Fe?2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748039zKBHK]9KK$ KG S&żG B O >0pw,_½A6>@Y6ɹ@6j496-'!>y6HZe?@9?R^_ݿv,?~? ?@?ɨ6>@6Xr;6CyF͇BJ'IIZIZn4٢b@= bV=9fW;Q j>hh jG٣hynQ; r> vNusing accuracyPremultiplier from configtz59v(?z5Yviv/ iv 3Bxz$zk@vg Ev:~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999918v:vZ5  @Zj1=FNOT Ignoring new targets: 398.40 m.Bj=R;Jj=R;U ProNav: ac range: 398.399994 m, nav range: 228.541946 m, bearing: 55.705154 deg, approach rate: 0.030711 m/s, LOS rate: 0.184185 deg/s, cmd heading: 334.002206 deg, new cmd heading: 334.199327 deg. 2jU;]HeadingCmd: 5.832879 target range: 398.399994 and range: 398.40 m. j]@jajajaiahahahihifififqrfqbfuL@ɛ]|Be= ae >Ia eAɚaiaIm.3=ImiyiҼ)@)*F)2F):F)BF-`0JF)Hu,>Iq Iu'IIu4BIq&Iq.Iq6IuY<:Iu/ FBIEĝCJIEĝCRIAZIE' =bIE' =jIEĹL5 IGMEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255133Gi B O >pw,C½Abڲ@Yb%@bn)9b'!>ybH u?5r?ʘ&ݿW9?F,?@N ?֓?ɨbڲ@b;bCyjчBn 'ImMb@Mb@Mb@iii i)iYmoʡ?K7ym-?mI m̼m A mC@)mQ@Im@iym@II4٢Q< >=9y;Q > G٣y< > Nusing accuracyPremultiplier from config=59(?=5Y8{/ i3B=0?=:=:*Ek@k E<b<5I MI@MZEZjFNOT Ignoring new targets: 398.40 m.Bj<;Jj<; ProNav: ac range: 398.399994 m, nav range: 228.561768 m, bearing: 55.779155 deg, approach rate: 0.044166 m/s, LOS rate: 0.164877 deg/s, cmd heading: 334.199326 deg, new cmd heading: 334.421310 deg. 2jN;HeadingCmd: 5.836753 target range: 398.399994 and range: 398.40 m. jƺ@jjjihhhhVBfffrfbf @ɛ}zB} 隅->I 5ɚiIz3= Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:07:06.2796 TRx dataTimestamp_ set to:1736374027.532733checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505009I-ʒi-<}i5uϼ)5ƺ@)1*F?2F:FBF_0JFG  G  F$?IJJJJJl:J:JJG% ԼG B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755784Fpw,z½Ab@YbF@by$9b5!>ybH@~?SS?=`ݿA?@J+`g?: ?3?ɨb@bc;bCzKnBoHKnh9KlKn% KnyvهBv'II~I~4٢ %=  S=90[;Q > G٣]IGyO; > -Nusing accuracyPremultiplier from config!-59%Y(?-5Y%/ i%2B15)5k@%p E%* ;%~ ;%}59 Eɭ@AZjamFNOT Ignoring new targets: 398.40 m.BjmP;JjmP; ProNav: ac range: 398.399994 m, nav range: 228.579407 m, bearing: 55.846077 deg, approach rate: 0.048163 m/s, LOS rate: 0.182713 deg/s, cmd heading: 334.421307 deg, new cmd heading: 334.622055 deg. 2j;HeadingCmd: 5.840257 target range: 398.399994 and range: 398.40 m. jb@jjjihhhhfffrfbfp@ɛExBENʻ IMdA>Ii m,䣼ɚiiqIu3=Iui}Xi}ټ)}b@)y*F-?2F1:F9BF=0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:07:06.2796 LVL= 13760, 25809, 18162, 25043, AGC= 66, IDX= 440, 0.35, 2.245, 1.324, 0.233, 1.205, PHS= 1.128, 0.166,-0.975, RAW= 57.2, -3.5, CAL= 61.5, -8.0, ROT= 88.5, 8.0 UYgot valid direction response: 22:07:06.2796 LVL= 13760, 25809, 18162, 25043, AGC= 66, IDX= 440, 0.35, 2.245, 1.324, 0.233, 1.205, PHS= 1.128, 0.166,-0.975, RAW= 57.2, -3.5, CAL= 61.5, -8.0, ROT= 88.5, 8.0 ]PDAT read: Bearing 88.5, 8.0 (Local) ]~Local bearing/azimuth received: Bearing 88.5, 8.0 (Local) mDAT read: Range 10 to 50 : 398.1 m (Round-trip 530.9 ms) speed 0.1 m/s u,DAT read: user:2313> uBDAT read: Tx time:22:07:07.3946 u$Ping request sent.}yr?5z od?)5I?i5>vj/?ii쿰)SI}=i,??i:publishing transmit ping timeqFpublishing direction and range info9+P?oz?eJU?y )Ii )Iivj/?ii쿰)IiGvżG B O >He +>Ie C Ia Ia Ie ) =&Ia .Ia 6Ie b<:Ie 5 F I !+pw,J ýA2@Y2 @2Q928!>y2H`q? =?@ܿ`E?q?L??ɨ2@2w^;2Cy>BB 'IIJIJ4٢V= VQ=9VD;Q V>XX ZG٣Xy^3; ~> Nusing accuracyPremultiplier from config 59(? 5Y/ i2B5)k@t Ea::5=B =W@=WEkM /E?kMX kI kMJýA:kM CBkMCZkMƊ?"MU0@QJSn@nֲs@M+P?oz?eJU?JkM,?RkM?i*M8V@Je@ˉ(գu@Mh>g?uF L?E%:?"kM(C*kMƱBkM F?kM:b9 2kMCkM@t M?kM* kMqCkMQCkM7? addTargetRange:: Added new target pos. range: 398.100006 m, deltaT: 4.030716 s, deltaX: -0.299988 m, approachRate: -0.074425 m/s, rangeRepo size: 4  Added new target pos. range: 398.100006 m, bearing: 62.119429 deg, lat: 36.903051 deg, lon: -122.120413 deg, deltaT: 4.030716 s, deltaX: -0.299988 m, approachRate: -0.074425 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 398.10 m.Bj Jj = ProNav: ac range: 398.100006 m, nav range: 209.579178 m, bearing: 58.288773 deg, approach rate: 0.000000 m/s, LOS rate: 0.182713 deg/s, cmd heading: 334.622060 deg, new cmd heading: 334.849928 deg. 2jAEHeadingCmd: 5.844234 target range: 398.100006 and range: 398.10 m. jE@jAjIjIiIhIhIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:07:07.3938 hhfffrfx@bf?ɛUvB]* aeT>Ii pɚiI2=INiTi)@)*F?2F:FBF!1JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu ټGy B O > Vpw,('ýAyB4'I EG$?II-Mb@Mb@Mb@))) )))Y-x&?M¿:vy-7)?-n-T) -@)-h@I-I@)y-@IEIEr4٢]= ]2=9]Q e>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59u(?}5Yu / iu2B)-?:9-k@uy EuL;u;u5JJJJJ:J:JJ a@TEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 398.10 m.Bj#X;Jj#X; ProNav: ac range: 398.100006 m, nav range: 209.616913 m, bearing: 58.371579 deg, approach rate: 0.086125 m/s, LOS rate: 0.188962 deg/s, cmd heading: 334.849915 deg, new cmd heading: 335.098288 deg. 2j<HeadingCmd: 5.848568 target range: 398.100006 and range: 398.10 m. jy'@jjjihhhh`Bfffrfbf d?ɛsB` x>I %鮠ɚ!i!IE42=IM޾iMiM3)My'@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFP5JF"G!G%p=zKK9KK& KG] 8G9 BI O >?pw,>AýAZ4@YZ(D@Z6=9Zp!>yZH`? ?`od=ܿ@^^?.&? ??ɨZ4@Z;ZCyfBfB'InWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995626IvIv_v4٢~ = ~c=9B;Q >   G٣ y %<  > Nusing accuracyPremultiplier from config59)?%5Y/ i2B!%m+%k@} E::51 5@1ZjY]FNOT Ignoring new targets: 398.10 m.BjeS;JjeS;u ProNav: ac range: 398.100006 m, nav range: 209.645584 m, bearing: 58.437587 deg, approach rate: 0.080388 m/s, LOS rate: 0.185047 deg/s, cmd heading: 335.098288 deg, new cmd heading: 335.296283 deg. 2ju;}HeadingCmd: 5.852024 target range: 398.100006 and range: 398.10 m. j}C@jyjyjihhhhfffrfbf5?ɛ]rBe@K: ae>Ia e&ɚaiaIm1=Iu"ܾiuViu.)uC@)qH ,>I  I 'II CBI &I .I 6I <:I P F -H$?I)*F5?2F1:F1BF5_0JF1GLGBOI>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247742_fpw,ZýA>S@Y>Kc@>9>h,$>y>H`¬?ġ?&a Oܿh?F`^?k?`?ɨ>S@>4U;>Cy^B^I'IUMb@Mb@Mb@QQQ Q)QYUp= ף?MbQyU%?UUuUA Q)U~@IU`@QyUQ@ImuImaO4٢}< }C=9};Q }> G٣^IGy< > Nusing accuracyPremultiplier from config59I)?5Yf/ i2Bb(?:%k@ E8;=7;5B t@SEZjFNOT Ignoring new targets: 398.10 m.Bj4A;Jj4A; ProNav: ac range: 398.100006 m, nav range: 209.672531 m, bearing: 58.512494 deg, approach rate: 0.060773 m/s, LOS rate: 0.168914 deg/s, cmd heading: 335.296281 deg, new cmd heading: 335.520971 deg. 2j;HeadingCmd: 5.855946 target range: 398.100006 and range: 398.10 m. jc@jjjihhhhmBfff rf bf ?ɛ=pBEğ AE>IA EU#ɚAiAIM^%1=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499961I ,ھi XȆi ) c@)*F?2F:FBFJF )I)JJJJJl:J :JJG G ?G >G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751692ϐpw,FtýA2z{@Y2@2vd 92a%>y2H`þ?&^?ṿ  ܿAw?ٖ? ?`?ɨ2z{@2;2Cy B g'II%I%4٢5#= 5O=95;Q 5>99 =G٣9yEH< E> MNusing accuracyPremultiplier from configIU59M%)?U5YM/ iM2BQzKYK]+9KYK]' K]U$mk@M EM?;MH;M+5q u@qZjFNOT Ignoring new targets: 398.10 m.Bj5Y;Jj5Y; ProNav: ac range: 398.100006 m, nav range: 209.697006 m, bearing: 58.583156 deg, approach rate: 0.065782 m/s, LOS rate: 0.189897 deg/s, cmd heading: 335.520967 deg, new cmd heading: 335.732927 deg. 2jS<HeadingCmd: 5.859645 target range: 398.100006 and range: 398.10 m. j6@jjjihhhhfffrfbf4?ɛnBĻ; ë>I Q%ɚiI0=I Fؾi 7i Y) 6@)EEpA*F?2F:FBFJFGqA GqAG$GABQO}7>Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003927 I$?I }iH +>I  I 'II ]BI &I .I 6I <:I ] F) Cm .~G vA  Y vAy B= @E Bxpw,ýA:@Y:<@:9:p:&>y:H@"? 3? ۿ`^?`%F?@? ڏ?ɨ:@: ;:CyR"BRq'IIZIZ4٢b$= bR=9b:b;Q f>dd fG٣dyj< j> vNusing accuracyPremultiplier from configpv59r17)?z5Yr/ ir2Bxz#zk@r Er:r@:r5 |@PEZj!-FNOT Ignoring new targets: 398.10 m.Bj-M;Jj-M;E ProNav: ac range: 398.100006 m, nav range: 209.720764 m, bearing: 58.653171 deg, approach rate: 0.061052 m/s, LOS rate: 0.179902 deg/s, cmd heading: 335.732922 deg, new cmd heading: 335.942943 deg. 2jE;EHeadingCmd: 5.863310 target range: 398.100006 and range: 398.10 m. jM=@jIjIjIiIhIhIhQhQfqfqfqrfybf}@ɛlB( ; 隥>I ܘɚiI(0=I־i ͉i)=@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256754*F5?2F1:F1BF5p0JF1GGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507711pw,iýA:Ͷ@Y:Jƺ@:i.9:h'>y:H@:?`9? Cۿ`a? *E?`?B?ɨ:Ͷ@:,:;8yJ.BJ'I TIXMb@Mb@Mb@ )Y?X9vy&1y ?`e A @);@Iv@yII4٢g= 9=9DN;Q > G٣_IGy < > Nusing accuracyPremultiplier from config 599J)? 5Y/ i2B(#?:"k@ E ;;p5 %@!EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 398.10 m.Bj]E;Jj]E;m ProNav: ac range: 398.100006 m, nav range: 209.745880 m, bearing: 58.729541 deg, approach rate: 0.056826 m/s, LOS rate: 0.172771 deg/s, cmd heading: 335.942936 deg, new cmd heading: 336.172018 deg. 2jm$;uHeadingCmd: 5.867309 target range: 398.100006 and range: 398.10 m. j}@jyjyjyiyhyhyhhBfffrfbf@m@ɛUjB]Ht; Y]4>IY ]ɚYiYIe/=IeԾimim/)m@)*F%?2F!:F!BF-o0JF)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759869zKK]9KK( K .79840.,G] fGy G} rAGA BI Om >Ypw,FDýAF3ѳ@YF@F2)9F'>yFH? #?$޸oۿȖ?@2C? ??ɨF3ѳ@F;FCfWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013520y^@Bz'II I 4٢%.= %X=9%W;Q %>)) -G٣)y5 < 5> =Nusing accuracyPremultiplier from config9E59=Z)?E5Y=/ i=2BAM"Mk@= E=*:=:=5UB U@UMEZjy}FNOT Ignoring new targets: 398.10 m.BjF;JjF; ProNav: ac range: 398.100006 m, nav range: 209.766953 m, bearing: 58.795058 deg, approach rate: 0.055948 m/s, LOS rate: 0.173932 deg/s, cmd heading: 336.172021 deg, new cmd heading: 336.368549 deg. 2j;HeadingCmd: 5.870739 target range: 398.100006 and range: 398.10 m. jݻ@jjjihhhhfffrf1bf=`@ɛ}iB.=< 隅k>I ^ɚiI~ /=I4,Ӿi<*it)ݻ@) K$?IjH<bHp<H*>I I'II{BI&I.I5D6Ig<:I7 F*FM?2FI:FIBFMm1JFI"GU=GQJJJJJ:J/:JJJ;aJ;aJ^;aJ^;auWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263703G8Gq B OE >:pw,"ýAyrIBr'IuMb@Mb@Mb@qqq q)qYu\(\?S㥻 rhyu?u/ݽuCuA q)u~@Iu3@qyu\@IIƕ4٢/= B=9Q > G٣y > Nusing accuracyPremultiplier from config59hl)?5Y/ i2Bc?:k@ E;;j5 @Zj FNOT Ignoring new targets: 398.10 m.Bj ?;Jj ?; ProNav: ac range: 398.100006 m, nav range: 209.784760 m, bearing: 58.865523 deg, approach rate: 0.042214 m/s, LOS rate: 0.167033 deg/s, cmd heading: 336.368539 deg, new cmd heading: 336.579916 deg. 2j%D;%HeadingCmd: 5.874428 target range: 398.100006 and range: 398.10 m. j%P@j)j)j)i)h)h)h1hBfffrfbf` @ɛ%gB%K< !%B>I! -Jɚ)i)IEns.=IUHѾiU iU)UP@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.iBDAT read: Rx Time:22:07:10.3296 TRx dataTimestamp_ set to:1736374031.564967checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517544*F?2F:FBF^5JF L$?I*J"JC=GGG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767747pw,ýA6 @Y66@6Κ96$(>y6H?c? HA Tۿ?Y?`?~?ɨ6 @6B;6Cy>UBr'IIzIz4٢q= U=9 ;Q  >    G٣`IGy< > %Nusing accuracyPremultiplier from config!559%|)?=5Y%*/ i%2BAE Mk@% E%+;%;%5a eN@mJEZjzKLK9KK) K.+($ RK?JK?FNOT Ignoring new targets: 398.10 m.Bjz;;Jjz;; ProNav: ac range: 398.100006 m, nav range: 209.799591 m, bearing: 58.929943 deg, approach rate: 0.037739 m/s, LOS rate: 0.163907 deg/s, cmd heading: 336.579920 deg, new cmd heading: 336.773166 deg. 2j;HeadingCmd: 5.877800 target range: 398.100006 and range: 398.10 m. j@jjjihhhhfffrfbfK(@ɛfB8~< O>I >ɚiI-=I%Ͼi%䳐i--y)-@)I*F2F:FBF#5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:07:10.3296 LVL= 15216, 25457, 22994, 24947, AGC= 67, IDX= 440,-0.29,-0.327,-1.301,-2.309,-1.363, PHS= 1.125, 0.109,-0.949, RAW= 59.3, -3.2, CAL= 63.9, -7.7, ROT= 86.1, 7.7 MYgot valid direction response: 22:07:10.3296 LVL= 15216, 25457, 22994, 24947, AGC= 67, IDX= 440,-0.29,-0.327,-1.301,-2.309,-1.363, PHS= 1.125, 0.109,-0.949, RAW= 59.3, -3.2, CAL= 63.9, -7.7, ROT= 86.1, 7.7 UPDAT read: Bearing 86.1, 7.7 (Local) U~Local bearing/azimuth received: Bearing 86.1, 7.7 (Local) eDAT read: Range 10 to 50 : 398.1 m (Round-trip 530.8 ms) speed 0.0 m/s m,DAT read: user:2314> mBDAT read: Tx time:22:07:11.4447 u$Ping request sent.}SL?ָɫHԴ%)I1e=i ?$r:publishing transmit ping timeqFpublishing direction and range info9`X\?8B'?=%?y )Ii )IiSL?ָɫHԴ%)Ii q Iq Gu H )>I  I (II BI &I .I 6I <:I _ FBIɜCJIɜCRIZI) =bI) =jI4GA BQ Om >JK|3 KKK"KJ J J J J \:J :J J J <J <J Z;J Z;qw,ĽA6'@Y66@6 96|(>y6H ?u6?鷿ڿ?˓ w@? ?`:?ɨ6'@6,;4y>[BB'IIJIJ4٢f= fN=9fR;Q j>hh jG٣hyn< ~> Nusing accuracyPremultiplier from config 59ڍ)? 5Yլ/ i2B4k@ EU::E5A E@Ik`ruB?kdo k ksĽA:kBkZk?",4q)@f&Ul@*~8t@`X\?8B'?=%?Jk ?Rk$r*zԙ3 S@:2c@ڈIUv@D[~?.j?bj?"kC*k]Bk yB?kg 2kCk,H?kHp kCkDCk?5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:07:11.4439 M addTargetRange:: Added new target pos. range: 398.100006 m, deltaT: 4.033744 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 398.100006 m, bearing: 64.271894 deg, lat: 36.902927 deg, lon: -122.120495 deg, deltaT: 4.033744 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 398.10 m.BjJj ProNav: ac range: 398.100006 m, nav range: 196.593079 m, bearing: 61.355767 deg, approach rate: 0.000000 m/s, LOS rate: 0.163907 deg/s, cmd heading: 336.773159 deg, new cmd heading: 336.977725 deg. 2jHeadingCmd: 5.881371 target range: 398.100006 and range: 398.10 m. j14@jjjihhhhfffrfbf`D?ɛudB}< y}&>Iy }ꉼɚyiIeF-=I;ici\J)14@)*F2F:FBF3JFGrA GG G Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > e M$?Ia qw,l)ĽAJ=@YJL@J_9J(>yJH "? ?@.ҷ٬ڿ!? ??્?ɨJ=@J;Hy^iB^'I]Mb@Mb@Mb@YYY Y)YY]On?Mb/$y]?]]]vA ]@)]h@I]@Yy]@IoID4٢;t= :=9J9Q > G٣y0; > Nusing accuracyPremultiplier from config59Z)?5Y/ i2B?:k@ E/;';5B 7@B*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 398.10 m.Bj5T;Jj5T;J9J9M ProNav: ac range: 398.100006 m, nav range: 196.613861 m, bearing: 61.431948 deg, approach rate: 0.050584 m/s, LOS rate: 0.185403 deg/s, cmd heading: 336.977737 deg, new cmd heading: 337.206254 deg. 2jM{;UHeadingCmd: 5.885359 target range: 398.100006 and range: 398.10 m. jUT@jQjQjQiQhYhYhYheBfafafarfabfmcqw,CĽA2^@Y2+n@2Zڼ92w0>y2H>!??Boڿ?H¿`J?@?@˃?ɨ2^@2?;0y:sB:'IIFvIF&Q4٢Jre= Ja=9N;Q N>PP RG٣RaIGyRh9< V> ZNusing accuracyPremultiplier from configTZ5^Will construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.9939049Vٯ)?j5YV/ iV2Bpvvk@V EV;IQ IU*(IIUBIU* =&IQ.IQ6IUK<:IU F*F?2F:FBFJFJmJmJiJiJm:Jm&:JiJiJm;Jm;Jm\;Jm\;uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246067GG B O > PExceeded connect timeout, disconnecting.qw,sg]ĽA6l@Y6X|@6ݼ96s.>y6H'?g?`lUڿ?7`¿??v?ɨ6l@6dq;6CyRuBR'IeMb@Mb@Mb@aaa a)aYeK?DlZd;Oye^?eOeja e@)eQ@Ie@aye@I}kI}=4٢l0< <=9KQ > G٣y1; > Nusing accuracyPremultiplier from config 59)? 5YD/ i2B|?:k@ E!; ;  5 m@GEZjFNOT Ignoring new targets: 398.10 m.BjjW;JjjW;  ProNav: ac range: 398.100006 m, nav range: 196.639267 m, bearing: 61.572575 deg, approach rate: 0.021497 m/s, LOS rate: 0.188331 deg/s, cmd heading: 337.397111 deg, new cmd heading: 337.628110 deg. 2j ?<HeadingCmd: 5.892722 target range: 398.100006 and range: 398.10 m. j.@jjjihh!h!h%Bf!f)f)rf)bf- _?ɛUaB] "< Y]t ?IY ]wɚaiaIeji+=ImǾimFfim)m.@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498463*F?2F:FBFJF"G=G= IG :PG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ >Յ ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749714-qw,CwĽA6|@Y6)@6Ѽ96+>y6H-?ࣝ?`xeR9ڿ?%¿9?`-W? ?ɨ6|@6*F;6CyBBB'IIJIJ4٢Ew= MO=9Md;Q M>QQ UG٣Qy}P; }> Nusing accuracyPremultiplier from config 59)? 5Y{/ i2B<k@ E:: 5 @DEzKk3IKh9KK+ KZA0' Zj%FNOT Ignoring new targets: 398.10 m.Bj%D;Jj-D; ProNav: ac range: 398.100006 m, nav range: 196.647186 m, bearing: 61.643092 deg, approach rate: 0.019326 m/s, LOS rate: 0.172085 deg/s, cmd heading: 337.628108 deg, new cmd heading: 337.839652 deg. 2j3;HeadingCmd: 5.896414 target range: 398.100006 and range: 398.10 m. jm@jjjihhhhfffrfbf 1:?ɛ_B < ?I %~wɚ!i!I%*=I-ƾi-Vei-q)-m@)1*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001380 O$?I~iG H] %>IY  I] C(II] ͈BI] + =&IY .IY 6I] {<:I] A FG B Ou >J J J J J :J J J J h;J i;J J \;$qw,ĽA6s@Y6@6HǼ96Q*>y6H9?@m?p綿ڿ w?`8-¿z? A?ʋ?ɨ6s@6 ;6CyRBR'IIZIZ4٢v6P= vQ=9v'W;Q v>xx zG٣zbIGyz< ~> ]Nusing accuracyPremultiplier from configYe 59]])?e 5Y]/ i]2BamYmk@] E]:]:] 5q u @qZjFNOT Ignoring new targets: 398.10 m.BjP;JjP; ProNav: ac range: 398.100006 m, nav range: 196.654572 m, bearing: 61.713642 deg, approach rate: 0.019085 m/s, LOS rate: 0.182305 deg/s, cmd heading: 337.839653 deg, new cmd heading: 338.051292 deg. 2j:;HeadingCmd: 5.900108 target range: 398.100006 and range: 398.10 m. jͼ@jjjihhhhfffrfbfp@ɛ < !%?I! %Upɚ)i)I-a*==Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253481IE"ľiE#iE1)Eͼ@)I*F?2F:FBF_5JF mnManaging dock network, ignoring radio surface power offGG?G?GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505466 I A*qw,ĽA>@@Y>ƻ@>9>])>y>HE?;?u`ٿ@@>;YY ]G٣Yye< e> mNusing accuracyPremultiplier from configi 59m,)? 5Ym/ im2B"?:Fk@m Emu&1qw,_ĽAF/Դ@YF@FH9F(>yFHQ? ? řٿ?¿u?@,??ɨF/Դ@Fb';FCRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009466yLTI\I\9f:Q f>hh jG٣hyn < n> Nusing accuracyPremultiplier from config 592 *? 5Y/ i2Bak@ E::' 5 ZjFNOT Ignoring new targets: 398.10 m.Bj]_;Jj]_;% ProNav: ac range: 398.100006 m, nav range: 196.672379 m, bearing: 61.864861 deg, approach rate: 0.022280 m/s, LOS rate: 0.195279 deg/s, cmd heading: 338.277030 deg, new cmd heading: 338.504922 deg. 2j-<-HeadingCmd: 5.908025 target range: 398.100006 and range: 398.10 m. j-@j)j1j1i1hQhQhYhYfYfYfarfabfe6@ }P$?Iyɛ]BeA< ?I J`ɚiI(=Ii1i* )@)HIC IU(II܈BI&I.I6Ip<:I9 FNG =iY9yE B*F?2F:FBF4JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263985G$ G B O >P7qw,ĽAB@YB) @B9BC)>yBHa??@cQٿ@?M@¿@`?@?h?ɨB@Bޔ;BCyJBJ'IeMb@Mb@Mb@aaa a)aYeS㥛?Zd;{Gzye$&?eyeףeA e@)e;@Ie@aye(@I}I}@4٢M= <9j!;Q > G٣cIGy7< > Nusing accuracyPremultiplier from config 59*? 5Y/ i2B&?:k@ E;9; 5 u@>EZjFNOT Ignoring new targets: 398.10 m.BjX;JjX;  ProNav: ac range: 398.100006 m, nav range: 196.673370 m, bearing: 61.941673 deg, approach rate: 0.002446 m/s, LOS rate: 0.189449 deg/s, cmd heading: 338.504913 deg, new cmd heading: 338.735347 deg. 2j < HeadingCmd: 5.912047 target range: 398.100006 and range: 398.10 m. j}/@jjjihhhhBf!f!f!rf!bf-  @ɛ]\B]Z< ae?Ia e߾XɚaiaIe0(=Imim砻im)m}/@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:07:14.3793 TRx dataTimestamp_ set to:1736374035.606631checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520996*F?2F:FBF_0JF mQ$?IqJmJmJiJiJm:Jm!:JiJia}@a}@a}@a}@G GGqAG B O  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769425{=qw,ĽA^@Y^&@^9^:(>y^H9l??c` ٿ@5?@¿7? ??ɨ^@^6‡;^Cy~B~'I) I I 4٢%1ռ %Q=9-A9Q ->11 5G٣1y5 < => MNusing accuracyPremultiplier from configAM 59E2*?M 5YE/ iEy2BQUWUl@E EE@:E:E 5Y eˢ@e;EZjFNOT Ignoring new targets: 398.10 m.BjY;JjY; ProNav: ac range: 398.100006 m, nav range: 196.673843 m, bearing: 62.016115 deg, approach rate: 0.001210 m/s, LOS rate: 0.190430 deg/s, cmd heading: 338.735336 deg, new cmd heading: 338.958659 deg. 2j<HeadingCmd: 5.915945 target range: 398.100006 and range: 398.10 m. jkO@jjjihhhhfffrfbf`J@ɛu[B}X< y}e?Iy }PɚyiyIul'=Iiآi )kO@)zKGMK9KK- K*FU?2FY:FYBFYJFa"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.iDAT read: 22:07:14.3793 LVL= 15216, 25457, 21346, 27699, AGC= 66, IDX= 436, 0.45,-1.750,-2.845, 2.587,-2.792, PHS= 1.130,-0.006,-0.908, RAW= 63.8, -2.5, CAL= 68.9, -7.0, ROT= 81.1, 7.0 Ygot valid direction response: 22:07:14.3793 LVL= 15216, 25457, 21346, 27699, AGC= 66, IDX= 436, 0.45,-1.750,-2.845, 2.587,-2.792, PHS= 1.130,-0.006,-0.908, RAW= 63.8, -2.5, CAL= 68.9, -7.0, ROT= 81.1, 7.0 %PDAT read: Bearing 81.1, 7.0 (Local) %~Local bearing/azimuth received: Bearing 81.1, 7.0 (Local) 5DAT read: Range 10 to 50 : 397.8 m (Round-trip 530.5 ms) speed 0.0 m/s 5,DAT read: user:2315> =BDAT read: Tx time:22:07:15.4947 =$Ping request sent.=I  I b(II BI &I .I 6I Q<:I " FG B O >>dDqw,jkŽA29@Y2 I@2192(>y2H y?U?K`ؿ> ? fT¿ ŕ???ɨ29@2;2Cy>B>(IIJIJ{4٢n5= rN=9r:Q r>tt vG٣tyv1< z> ~Nusing accuracyPremultiplier from config| 59~E*? 5Y~1/ i~s2B  ' l@~ E~$1;~F1;~ 59 =;@Ak 5;?k 3! k  k ŽA:k CBk CZk ?" ځKn @g+i@Kc6u@ 謒?W?L?Jk ?Rk ς* $bu K@=o`Za@mja w@ 8:;f? AU? 4gǫ?"k C*k KXBk rCk @2? addTargetRange:: Added new target pos. range: 397.799988 m, deltaT: 4.038680 s, deltaX: -0.300018 m, approachRate: -0.074286 m/s, rangeRepo size: 4  Added new target pos. range: 397.799988 m, bearing: 68.718423 deg, lat: 36.902860 deg, lon: -122.120528 deg, deltaT: 4.038680 s, deltaX: -0.300018 m, approachRate: -0.074286 m/s, posRepo size: 4 Zj5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:07:15.4939 EFNOT Ignoring new targets: 397.80 m.BjMJjI} ProNav: ac range: 397.799988 m, nav range: 190.637680 m, bearing: 63.650371 deg, approach rate: 0.000000 m/s, LOS rate: 0.190430 deg/s, cmd heading: 338.958656 deg, new cmd heading: 339.194584 deg. 2jyHeadingCmd: 5.920062 target range: 397.799988 and range: 397.80 m. j&q@jjjihhhhfffrfx@bf -?ɛ#z< 2?I B Hɚ i)I-+&=I5F빾i58ݤi=k )=&q@)A*Fu?2Fy:FyBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O > E R$?II Jqw,NA,ŽAyvBv(IMb@Mb@Mb@ )YHzG?)\(~jty=*?GaIA @)Q@I@y3@IoID4٢( = >=9Q > G٣dIGy > Nusing accuracyPremultiplier from config 59_[*? 5Y/ im2B*?:l@ E;A;O 5B ֡@:EB*** querying acoustic contact ***jjZjJJJJJ:J:JJ-FNOT Ignoring new targets: 397.80 m.Bj-n;Jj-n;E ProNav: ac range: 397.799988 m, nav range: 190.642502 m, bearing: 63.736502 deg, approach rate: 0.011693 m/s, LOS rate: 0.208874 deg/s, cmd heading: 339.194571 deg, new cmd heading: 339.452957 deg. 2jEYjwQqw,&FŽA2r@Y2E@292K/>y2H??@㘵`1vؿZ.?`D!ÿ@Ϣ?? u?ɨ2r@26T;2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.997413y^B^(Iibx| ~G٣|y~j< ~>  Nusing accuracyPremultiplier from config  59vn*?  5Y/ ig2Bムl@ Eu ; ; 5 %@! T$?IZj15FNOT Ignoring new targets: 397.80 m.Bj=U;Jj=U;M ProNav: ac range: 397.799988 m, nav range: 190.645294 m, bearing: 63.812810 deg, approach rate: 0.006831 m/s, LOS rate: 0.186662 deg/s, cmd heading: 339.452943 deg, new cmd heading: 339.681861 deg. 2jMI In(IIBI&I.I6I9<:I FBI]›CJI]›CRIYZI]+ =bI]+ =jI]35bfm ?ɛj* = !%$?I! %6ɚ!i!I%@%=IiNiY)Ҷ@)*F?2F:FBFo0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247647GE G9 Ba O >3Wqw,`ŽA6}@Y6+@6"峼96^G->y6H?`@?R@aؿ?5?`¿-|?`*? ?ɨ6}@6;6CyBBB(IMb@Mb@Mb@ )YˡE?Mby&1y'?@`e );@Iy@IiI:4٢٧< :=9Q > G٣yF; > Nusing accuracyPremultiplier from config  59 E*? 5Y  / i d2Bg(?:k꾑l@  E j; ; w$ 5) -s@57EZjQ]FNOT Ignoring new targets: 397.80 m.Bj] r;Jj] r;u ProNav: ac range: 397.799988 m, nav range: 190.645737 m, bearing: 63.899520 deg, approach rate: 0.001080 m/s, LOS rate: 0.211618 deg/s, cmd heading: 339.681864 deg, new cmd heading: 339.941991 deg. 2ju;J5J5J1J1J5:J5B:J1J1U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752381Z]qw,,yŽA2@Y2@292 R,>y2H?? ?wCؿ@ G٣eIGy; > Nusing accuracyPremultiplier from config 59*?% 5Y/ ib2B!%h龑%l@ E2;2;' 5-B -_@55EZjQ]FNOT Ignoring new targets: 397.80 m.Bjeb;Jjeb;m ProNav: ac range: 397.799988 m, nav range: 190.645981 m, bearing: 63.972792 deg, approach rate: 0.000660 m/s, LOS rate: 0.198162 deg/s, cmd heading: 339.941985 deg, new cmd heading: 340.161800 deg. 2ju<}HeadingCmd: 5.936944 target range: 397.799988 and range: 397.80 m. j}q@jyjjihhhhfffrfbfY?ɛYBd#= <0?I J9&ɚiIk#=IFi/i")q@)zKBoHKh9KK/ K*FU?2FQ:FQBFU4JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003641G IH">I I(IIBI&I.I6I{<:I? FGBO>dqw,5ŽA2@Y2@2t92*>y2H`?Ț?I:&ؿC?`¿"?@2A?`;?ɨ2@2;0yNBN((IIVIV4٢^a ^N=9b9Q b>`d fG٣dyfT; f> nNusing accuracyPremultiplier from confighr 59jt*?r 5Yj/ ij_2Bpvw辑vl@j Ejb;jc;j*+ 5| ~@|Zj!%FNOT Ignoring new targets: 397.80 m.Bj-Ua;Jj-Ua;= ProNav: ac range: 397.799988 m, nav range: 190.646103 m, bearing: 64.051119 deg, approach rate: 0.000307 m/s, LOS rate: 0.197002 deg/s, cmd heading: 340.161808 deg, new cmd heading: 340.396786 deg. 2j=3 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507791 V$?I jqw,ʊŽAy~ƈB~;(IMb@Mb@Mb@ )YHzG? G٣y > Nusing accuracyPremultiplier from config 59z*? 5YF/ i^2B*?:꾑l@ EQ;;. 5JJJJJ:J :JJ @ 2E-B*** querying acoustic contact ***j)j)ZjFNOT Ignoring new targets: 397.80 m.Bj;Z;Jj;Z; ProNav: ac range: 397.799988 m, nav range: 190.648041 m, bearing: 64.138715 deg, approach rate: 0.004221 m/s, LOS rate: 0.190791 deg/s, cmd heading: 340.396793 deg, new cmd heading: 340.659578 deg. 2j<HeadingCmd: 5.945631 target range: 397.799988 and range: 397.80 m. jB@jjj!i!h!h!h)h-ՇBf)fQfQrfQbf]2@ɛ= ,6?I OɚiI "=IӬimi :)B@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761276*Fe?2Fi:FiBFm]0JFizKM BHKM 9KI KM 0 KM &5\qS:%BK] pA:K] pAG Ga Bi O >qqw,jŽABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011921Fٵ@YF@F9F^)>yFHc?@/?Ѵ@׿Z?[¿q?@o$?{?ɨFٵ@F];FCyRЈBRG(IIZIZt4٢b[= b[=9f#:Q f>dd jG٣jfIGyj< j> rNusing accuracyPremultiplier from configlr 59nK*?r 5Yn / in]2Btv4羑vl@n En:n:n<2 5x ~@~/EZjAEFNOT Ignoring new targets: 397.80 m.BjMoq;JjMoq; eW$?Iam ProNav: ac range: 397.799988 m, nav range: 190.648254 m, bearing: 64.213298 deg, approach rate: 0.000605 m/s, LOS rate: 0.211077 deg/s, cmd heading: 340.659564 deg, new cmd heading: 340.883313 deg. 2jmIY I](II]BI], =&IY.I]4D6I]g<:I]/ Fɛ,5= B;?I F ɚiI hxqw,%"ŽA:@Y:)@:,9:/G+>y:H??`[ƴn׿`ng? ¿!?N??ɨ:@:;:CyFوBFS(IiJ>IJ=mMb@Mb@Mb@iii i)iYmS㥛?J + G٣y&< > Nusing accuracyPremultiplier from config 59*? 5Y/ i[2B[%?:徑l@ E;;c6 5 g@ZjFNOT Ignoring new targets: 397.80 m.Bj _;Jj _; ProNav: ac range: 397.799988 m, nav range: 190.647720 m, bearing: 64.305527 deg, approach rate: -0.001129 m/s, LOS rate: 0.194991 deg/s, cmd heading: 340.883321 deg, new cmd heading: 341.160005 deg. 2j<%HeadingCmd: 5.954365 target range: 397.799988 and range: 397.80 m. j%)@j!j!j!i!h)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:22:07:18.4287 =TRx dataTimestamp_ set to:1736374039.636728Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.517360hQhYh]Bfifqfy Irf)bf- z @ɛ%= 隵??I ɚiIjB =I[iоi,-.))@)Eu<*F]?2FY:FYBF]_0JFYJJJJJ:J:JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. <  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770872G} 3,)Gq By O >~qw,ŽA6*@Y6<:@6Ͽ96;,>y6H R? ? ׿t?( ÿW?pz?މ?ɨ6*@6;6CyB݈BBW(IIJIJq4٢V< V[=9V9Q V>XX ZG٣Xy^a< ^> fNusing accuracyPremultiplier from config`f 59b*?f 5YbX/ ibZ2Bhjy⾑jl@b Eb*:b:b9 5l n3@r,EZj FNOT Ignoring new targets: 397.80 m.Bj _;Jj _;- ProNav: ac range: 397.799988 m, nav range: 190.646393 m, bearing: 64.378017 deg, approach rate: -0.003581 m/s, LOS rate: 0.195573 deg/s, cmd heading: 341.159999 deg, new cmd heading: 341.377471 deg. 2j-8<-HeadingCmd: 5.958161 target range: 397.799988 and range: 397.80 m. j5A@j1j1j1i1h1zKBMK9KK1 K  .Sm=r`PB6,% hhhfffrfbf;j@ɛ}ZBF= 隅A?I /ɚiIk=Iii`⹻iZ))A@)EE*E "E EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:07:18.4287 LVL= 18544, 27825, 25826, 28659, AGC= 66, IDX= 430, 0.11, 2.034, 0.811, 0.170, 1.022, PHS= 1.099,-0.165,-0.855, RAW= 69.6, -0.9, CAL= 74.8, -5.2, ROT= 75.2, 5.2 Ygot valid direction response: 22:07:18.4287 LVL= 18544, 27825, 25826, 28659, AGC= 66, IDX= 430, 0.11, 2.034, 0.811, 0.170, 1.022, PHS= 1.099,-0.165,-0.855, RAW= 69.6, -0.9, CAL= 74.8, -5.2, ROT= 75.2, 5.2 PDAT read: Bearing 75.2, 5.2 (Local) ~Local bearing/azimuth received: Bearing 75.2, 5.2 (Local) DAT read: Range 10 to 50 : 397.3 m (Round-trip 529.8 ms) speed 0.0 m/s X$?I,DAT read: user:2316>  BDAT read: Tx time:22:07:19.5447  $Ping request sent.I I(II#BI- =&I.I6Ii<:Im}G YyHBIIiIIIM=g?ۤ迴[Q)IIIiIIII*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:07:19.5439 G5 -G BOu>xqw,]4ƽAF@YFz@F9F/>yFH@?`?Rzֿz?ÿ ? ?`…?ɨF@FB;FCyLRX(IIZIZ_v4٢b': b+=9bN:Q b>dd fG٣fgIGyv/< v> Nusing accuracyPremultiplier from config  59+?  5Y/ iX2B  ܾl@ E ; ;= 5 /@)Ek]e1?k]uװ$ kY k]ƽA:k]CBk]GCZk]W?"](Y qe@BjMv@],Od-l:??P?Jk]'?Rk]?Ў*]3@uC/Ү[@P~w@];? Wc? ?"k]vB*k]Ak]1?k]e珈$ 2k]Ck] yB?k]g k]Ck]/Ck]g? addTargetRange:: Added new target pos. range: 397.299988 m, deltaT: 4.032348 s, deltaX: -0.500000 m, approachRate: -0.123997 m/s, rangeRepo size: 4  Added new target pos. range: 397.299988 m, bearing: 79.830191 deg, lat: 36.902764 deg, lon: -122.120657 deg, deltaT: 4.032348 s, deltaX: -0.500000 m, approachRate: -0.123997 m/s, posRepo size: 4 Zj-FNOT Ignoring new targets: 397.30 m.Bj5Jj9 ProNav: ac range: 397.299988 m, nav range: 175.779419 m, bearing: 65.982375 deg, approach rate: 0.000000 m/s, LOS rate: 0.195573 deg/s, cmd heading: 341.377472 deg, new cmd heading: 341.666586 deg. 2jHeadingCmd: 5.963207 target range: 397.299988 and range: 397.30 m. jҾ@jjjihhhhfffrfx@bf]?ɛ15<"= 15A?I1 =>λɚ9i9I=^=Ie:ԣieie+)eҾ@)i*F?2F:FBF`0JF"G%=G%=EWill construct direction to contact in vehicle frame from tetrahedron phase data. Y$?IG] 3,)G1 BA O] >ތqw,5ƽAF@YFu@FШ9FtL1>yFH ?x?8%'ֿp?ÿ@? ?̓?ɨF@F;FCyNBN_(I)T T5Mb@Mb@Mb@111 1)1Y5MbX9? ףp= {Gzy5!?5Q85#5A 5@)5;@I5@1y5=@IMnIMB4٢e< mA=9mn:Q m>qq uG٣qy}P< }> Nusing accuracyPremultiplier from config 59/)+? 5Y/ iV2B8"?:y׾l@ E;;A 5Will construct direction to contact in vehicle frame from tetrahedron phase data.’B @+EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 397.30 m.Bj r;Jj r; ProNav: ac range: 397.299988 m, nav range: 175.780060 m, bearing: 66.068962 deg, approach rate: 0.001566 m/s, LOS rate: 0.211614 deg/s, cmd heading: 341.666580 deg, new cmd heading: 341.926340 deg. 2j:<HeadingCmd: 5.967741 target range: 397.299988 and range: 397.30 m. j@jjjihhhhBfffrfbf?ɛwK= 隕D?I  뻻ɚiI=I􁡾i}i)@)*Fe?2Fi:FiBFml0JFizKBNK9KK2 K*xNa-  i$G=GBO-p>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode. I iH I  I (II 7BI , =&I .I 6I <:I R F{Ɠqw,OƽAy~B~e(II CI 3٢_< %O=9%Q %>)) -G٣)y- -> =Nusing accuracyPremultiplier from config1E 595f<+?E 5Y5P/ i5T2BIIMl@5 E5#=;5=;5D 5Q U@JJJJJ :J :JJJG B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487524qw,iƽA Z$?I%@Y%@%a9%)1>y%H@ ?? ؀տO?ÿ? ? V?ɨ%@%^;%Cy=B=h(IMb@Mb@Mb@ )Y^I +?~jt~jtyX?ļDIA x@)$@I~@y@I=aI=+4٢M< M7=9MQ);Q U>QQ UG٣]hIGy]< ]> eNusing accuracyPremultiplier from configam 59eUQ+?m 5Ye/ ieR2Bu?u:u0¾ul@e Eeo;e:eH 5}ÒB @%EZjFNOT Ignoring new targets: 397.30 m.Bji;Jji; ProNav: ac range: 397.299988 m, nav range: 175.771347 m, bearing: 66.237514 deg, approach rate: -0.022736 m/s, LOS rate: 0.204432 deg/s, cmd heading: 342.170648 deg, new cmd heading: 342.432018 deg. 2jL <HeadingCmd: 5.976566 target range: 397.299988 and range: 397.30 m. j@@jjjihhhhBfffrfbf Q?ɛuG= dG?I ɚi!I%K=I%(i-»i- )-@@))*F?2F:FBF_5JFGrA GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739211G%$$G B O >٠qw,ёƽAzK>sNK>h9K<K>3 K>N%<@YNK@N79N72>yNH3?@8?%H տ??9Ŀ@?@N&?H?ɨN%<@N+!;NCyZBZn(Ii^=I^t>IbIbd4٢j< jh=9nlp rG٣pyrў< r> zNusing accuracyPremultiplier from configtz 59va+?~ 5Yv/ ivP2B|l@v Evu*;v*;vK 5  /@ Zj15FNOT Ignoring new targets: 397.30 m.Bj=_;Jj=_;M ProNav: ac range: 397.299988 m, nav range: 175.762527 m, bearing: 66.306455 deg, approach rate: -0.025035 m/s, LOS rate: 0.195700 deg/s, cmd heading: 342.432026 deg, new cmd heading: 342.638858 deg. 2jMNJJJJJ:J :JJJ;J;JS;JS; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244955qw,@hƽA2mr@Y2끾@2^92C1>y2H@E?`F? 솱Կ?`MĿ`I܋? ?Є?ɨ2mr@2.;2Cy^B^f(IIfIf4٢nR rJ=9vS;Q v>tt zG٣xyz܅< z> Nusing accuracyPremultiplier from config| 59~u+?  5Y~?/ i~M2B  L l@~ E~:~ :~|O 5 @"EZjiuFNOT Ignoring new targets: 397.30 m.Bj}I\;Jj}I\; ProNav: ac range: 397.299988 m, nav range: 175.751083 m, bearing: 66.385720 deg, approach rate: -0.027804 m/s, LOS rate: 0.192590 deg/s, cmd heading: 342.638871 deg, new cmd heading: 342.876680 deg. 2j,<HeadingCmd: 5.984327 target range: 397.299988 and range: 397.30 m. j@jjjihhhhfffrfbf @ɛ]BMcQ= $F?I  =KVɚ9i9IEL=I}ihƻi)@)*Fe?2Fa:FaBFe4JFa )I)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498593GM  GI GM rAG! B) OM >,qw,BƽA6㠷@Y6a@6;9651>y6HT??ư bԿ ?nĿr? ?`?ɨ6㠷@6T;6CyBBBg(IMb@Mb@Mb@ )Yx?Qy&1yK?`eA K@)@IyG@I%I%)4٢57; 5E=9=$;Q E>II MG٣MiIGyUq_< U>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750632 Nusing accuracyPremultiplier from config 59,+? 5Y/ iH2B?:tl@ E;;AS 5 @B*** querying acoustic contact ***jjZj9EFNOT Ignoring new targets: 397.30 m.BjM];JjM];} ProNav: ac range: 397.299988 m, nav range: 175.740509 m, bearing: 66.468921 deg, approach rate: -0.024568 m/s, LOS rate: 0.193316 deg/s, cmd heading: 342.876671 deg, new cmd heading: 343.126286 deg. 2j}<HeadingCmd: 5.988683 target range: 397.299988 and range: 397.30 m. jK@jjjihhhhBfffrfbf@~@ɛ ^B -J= )5F?I1 5 +ɚ1i1I5=I=Ȗi=ǻi=")=K@)A*F%?2F!:F!BF%_0JF)"G-=G-=zKRIK9KK4 K % \$?I! U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003983G jHm <bHm 4<Hu >Iq  Iq Iq Iq &Iq .Iq 6Iu E<:Iu  FG B O >qw,?ƽA27ַ@Y2@2=92!1>y2H@e??ӿ[?@JĿ? n?஄?ɨ27ַ@2c ;2Cy>B>d(I)@ @IFIF4٢n" rP=9r;Q r>tt vG٣tyz.< z> ~Nusing accuracyPremultiplier from config| 59~+? 5Y~/ i~B2B l@~ E~ ;~2 ;~V 5 @EZjAEFNOT Ignoring new targets: 397.30 m.BjM^;JjM^;JKـ3 KKK"KJeJeJaJaJe\:Je:JaJaJe<Je<JeZ;JeZ; ProNav: ac range: 397.299988 m, nav range: 175.730179 m, bearing: 66.541262 deg, approach rate: -0.027794 m/s, LOS rate: 0.194650 deg/s, cmd heading: 343.126274 deg, new cmd heading: 343.343308 deg. 2j<HeadingCmd: 5.992471 target range: 397.299988 and range: 397.30 m. jS¿@jjjihhhhfffrfbf`o @ɛ^= D?I hɚiI2[=IؔizȻi5)S¿@)*FU?2FQ:FQBFYJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254824GvGBOu > ! I) ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:07:22.4776 m TRx dataTimestamp_ set to:1736374043.673628u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509191,Pqw,AƽA@Y@9/>yH@p?@a?ӿ ?}Ŀ~?F? ?ɨ@Mш;CyB`(IMb@Mb@Mb@ )Yn?Zd;Oy?LjA b@)IQ@yQ@IIF4٢*e 7=9  i;Q  >   G٣y< > %Nusing accuracyPremultiplier from config% 59+?- 5Ye0 i62B-?-:-"Ⱦ-l@ E;R;oZ 59 =@9ZjamFNOT Ignoring new targets: 397.30 m.Bju[;Jju[; ProNav: ac range: 397.299988 m, nav range: 175.725510 m, bearing: 66.626780 deg, approach rate: -0.010481 m/s, LOS rate: 0.191977 deg/s, cmd heading: 343.343310 deg, new cmd heading: 343.599869 deg. 2j<HeadingCmd: 5.996949 target range: 397.299988 and range: 397.30 m. j@jjjihhhhЇBfffrfbfe @ɛ_BI= zB?I UɚiIa=IixnʻiY)@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758795G6G ?G>G B O >16qw, ǽA6*@Y6z:@6-96f/>y6H%?@? ά`[ӿ?ޚĿ t?b?@?ɨ6*@6;6CzK>BoHK>9K<K>5 K>yJЈBJH(IIRIRm4٢Zݽ Zc=9^;Q ^>`` bG٣bjIGybb< f> jNusing accuracyPremultiplier from configdj 59f+?n 5Yf}0 if,2Blnľnl@f Ef ;f ;f] 5t v*@vEZj FNOT Ignoring new targets: 397.30 m.Bj|[;Jj|[; ProNav: ac range: 397.299988 m, nav range: 175.720673 m, bearing: 66.695879 deg, approach rate: -0.013432 m/s, LOS rate: 0.191889 deg/s, cmd heading: 343.599879 deg, new cmd heading: 343.807182 deg. 2j bf?`@BDAT read: Tx time:22:07:23.5947 $Ping request sent.1s D)cI?iE?CG+?+ȼ c?)I #?i=|[}C?o m B8%)vFI.?o:publishing transmit ping timeFpublishing direction and range info9څfU+\;??y )Ii )IiJJJJJ<:J :JJJ4;J6;JR;JR;|[}C?o m B8%)IiɛuaB})= y}7?Iy }^BɚiI~=IDiV̻iм)@)EErA*F} ?2Fy :Fy BFy JFy  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:07:23.5939 G qA G rAGGBOM?_qw,Q'ǽAy޵шB޵I(Iip=Ia= =Will construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}Q?V-Q롿y}?}h}\}A }5@)yI};@yy} @II4٢: =9Q > G٣y > Nusing accuracyPremultiplier from config 59}+? 5Yy0 i2B?:վl@ E/;;"c 5 %@Ek5jiP.?k5ٯ~( k1 k5b ǽA:k5LCBk5CZk5 ?"5WtM*~W8a@:w@5څfU+\;??Jk5t>?Rk5o*5tMK]@LdR@Xit3λi)W:@)JaJeAA*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ԼG B O >qw,\ZBǽA6d@Y6t@6960>y6H@s? ?ҿ^?@Ŀa?`E??ɨ6d@6;6Cy>B>,(IINqINJH4٢R> V|=9V5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.163419 qw,\ǽA2y@Y2@2W`92%/>y2Hॗ??|? 0ҿ$?Ŀ R???ɨ2y@2;2CybBb%(IIjuIjaO4٢-mݼ -C=9-;Q ->11 5G٣5kIGy=; ]> eNusing accuracyPremultiplier from configam 59eV+?m 5Ye 0 ie1Bim0оul@e" EeL:en:ei 5ĒB @EZjFNOT Ignoring new targets: 396.60 m.Bj|;Jj|; ProNav: ac range: 396.600006 m, nav range: 149.383560 m, bearing: 70.913191 deg, approach rate: 0.041953 m/s, LOS rate: 0.221136 deg/s, cmd heading: 344.399120 deg, new cmd heading: 344.684805 deg. 2j<HeadingCmd: 6.015885 target range: 396.600006 and range: 396.60 m. j!@jj!j!i!h!h!h)h)f)f)f)rf1bf53S?ɛ5eB=nJ;= 9='?I9 M̉:ɚIiI=I=ۈiEnѻiEv)!@)*F?2F:FBFk0JF"G=G= IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.415234G oG B O >qw,uǽAyvBv(I)x x}Mb@Mb@Mb@yyy y)yY}v?Mb/$y}?}},}A }b@)yI}@yy}@I{IZ4٢sY C=9Q > G٣y > -Nusing accuracyPremultiplier from config!- 59%,?5 5Y%0 i%1B5?5:53ᾑ5l@%& E%;%;%am 5A E@EEZji}FNOT Ignoring new targets: 396.60 m.Bj};Jj; ProNav: ac range: 396.600006 m, nav range: 149.411362 m, bearing: 71.011909 deg, approach rate: 0.065865 m/s, LOS rate: 0.233829 deg/s, cmd heading: 344.684813 deg, new cmd heading: 344.980908 deg. 2jy <HeadingCmd: 6.021053 target range: 396.600006 and range: 396.60 m. jw@jjjihhhhzBfffrfbf ?ɛfBS7= !!?I T:ɚiI{=Will construct direction to contact in vehicle frame from tetrahedron phase data._?:?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.666945I<6iһi!)w@) *Fu?2Fq:FqBFu2JFqGvzK>KK9KK7 K lGi Bq O > - a$?I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.920728He >Ie C Ie (IIe BIe , =&Ia .Ia 6Ie $<:Ie Fqw,A׏ǽA2@Y2 @2:92p,>y2H ?:2? oҿ`5?Ŀz_@Kh?@?ɨ2@2C;2CyVBV (IIfIf4٢n2> nX=9rnpp rG٣pyvm< v> zNusing accuracyPremultiplier from configxU 59z",?U 5Yzc0 iz1BY]޾]l@z) Ez_GA B O >@qw,ǽAJoŸ@YJԿ@J;9J*>yJH? ? 4ҿ@*??Ŀ cq:?y?ɨJoŸ@Jv;JCyZB dId^(IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.428676Mb@Mb@Mb@ )Y+?QZd;Oy?\j<zA K@)@I@y@BAIIW4٢ؙ ;=9?;Q > G٣lIGy$ < > Nusing accuracyPremultiplier from config 597,? 5Y0 i1B#$?:;l@. E #;Y!;at 5  @ EZj9=FNOT Ignoring new targets: 396.60 m.BjE;JjE;U ProNav: ac range: 396.600006 m, nav range: 149.480042 m, bearing: 71.200942 deg, approach rate: 0.108177 m/s, LOS rate: 0.248103 deg/s, cmd heading: 345.232485 deg, new cmd heading: 345.547864 deg. 2jUE*<]HeadingCmd: 6.030948 target range: 396.600006 and range: 396.60 m. j]@jYjYjaiahahahihmNBfififrfbf~@ɛiBC\2= ?I 1';ɚiI=I@%iֻi)@)*F?2F:FBF5JFG GJJJJJ:J :JJa@a@a@a@M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682678G kTG B O >qw,"ǽA2c@Y2@2W;92d8*>y2Hn??`2ѿ G?`/Ŀ^z-??ɨ2c@2L;2CyRBR'IiV>IVp< TTIZIZt4٢b> f^=9f;Q f>hh jG٣hyj>-< j> rNusing accuracyPremultiplier from configpv 59rH,?v 5Yr0 ir1BtvHvl@r2 Er:r:rw 5x ~4@B*** querying acoustic contact ***j!j!Zj)-FNOT Ignoring new targets: 396.60 m.Bj5lj;Jj5lj;E ProNav: ac range: 396.600006 m, nav range: 149.518311 m, bearing: 71.289864 deg, approach rate: 0.103707 m/s, LOS rate: 0.240911 deg/s, cmd heading: 345.547876 deg, new cmd heading: 345.814571 deg. 2jEU%I I{(IIBI&I.I6In<:I2 FBIJIRIZIbIjIļ4G r7G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.186494qw,ԁǽA6@Y6. @6<96)>y6H?? RѿM?Ŀ`֙B!?V?ɨ6@6;6Cy>B<InIn4٢v: vG=9zU|;Q z>xx ~G٣|y~b; ~> Nusing accuracyPremultiplier from config  59o\,?- 5Y0 id1B155l@6 E;;0{ 59 =/@=EZjFNOT Ignoring new targets: 396.60 m.Bjx;Jjx; ProNav: ac range: 396.600006 m, nav range: 149.560562 m, bearing: 71.388629 deg, approach rate: 0.101362 m/s, LOS rate: 0.236871 deg/s, cmd heading: 345.814581 deg, new cmd heading: 346.110790 deg. 2j"<HeadingCmd: 6.040773 target range: 396.600006 and range: 396.60 m. jN@jjjihhhhfffrfbf @ɛlB2= 隵?I b;ɚiI=I:xiڻiҩ)N@)*F?2F:FBFJF c$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:07:26.5269 TRx dataTimestamp_ set to:1736374047.712844checking for new query: numPingsReceived=0, elapsed TxPingTime=3.439850G G% qAG! G B O% >J J J J J :J J J ,qw,1BǽAF@YF,@FK <9F@*>yFH?`h? cxѿU? Ŀ@`.?ऎ?ɨF@FT;FCyRBR(I5Mb@Mb@Mb@111 1)1Y5+?#~jĿJ +y15%5H1 55@)5@I11y5(@IMIM4٢]< eD=9e;Q e>ii mG٣mmIGym< u> }Nusing accuracyPremultiplier from configq 59u p,? 5Yu~0 iuA1B%?:9l@u: Eu;u;u~ 5 Ѣ@ EZjFNOT Ignoring new targets: 396.60 m.Bji;Jji; ProNav: ac range: 396.600006 m, nav range: 149.611755 m, bearing: 71.489197 deg, approach rate: 0.125020 m/s, LOS rate: 0.245514 deg/s, cmd heading: 346.110793 deg, new cmd heading: 346.412389 deg. 2j~(<HeadingCmd: 6.046037 target range: 396.600006 and range: 396.60 m. j"y@jjjihhhhBBfffrfbfi(@ɛmB`3= ?I ;ɚiI#=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.690890Iri%ܻi%y!)%"y@)!E1E1*F?2F:FBF`0JF"G=G=GzK +NK 9K K 9 K G I B! O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i H! I!  I% b(II% BI! &I! .I! 6I% P<:I%  F DAT read: 22:07:26.5269 LVL= 16512, 30817, 20626, 27731, AGC= 64, IDX= 426, 0.41, 1.130,-0.401,-0.623, 0.089, PHS= 1.129,-0.442,-0.715, RAW= 82.1, 0.3, CAL= 88.4, -3.9, ROT= 61.6, 3.9  Ygot valid direction response: 22:07:26.5269 LVL= 16512, 30817, 20626, 27731, AGC= 64, IDX= 426, 0.41, 1.130,-0.401,-0.623, 0.089, PHS= 1.129,-0.442,-0.715, RAW= 82.1, 0.3, CAL= 88.4, -3.9, ROT= 61.6, 3.9  PDAT read: Bearing 61.6, 3.9 (Local)  ~Local bearing/azimuth received: Bearing 61.6, 3.9 (Local) % DAT read: Range 10 to 50 : 396.0 m (Round-trip 528.0 ms) speed 0.0 m/s - ,DAT read: user:2318> 5 BDAT read: Tx time:22:07:27.6448 5 $Ping request sent.5 㿠7(w?) C)I .i ? .6 B:publishing transmit ping timeaBFpublishing direction and range info 9 \k?Z/?y  ) I i ) I i 韋A?XO>㿠7(w?) I i },0@Y}?@}D8<9})>y}H ?+H?xg`Dgѿ \?1Ŀ?%?ɨ},0@};}Cyޑޑ) II)49`;Q >!! %G٣)y]O; ]> eNusing accuracyPremultiplier from configam 59ez,?m 5Ye"0 ie1Bql@e? Ee"+3.W@@ {w@ \k?Z/?Jk ?Rk .6* 9Z0HB@.H՝x@ <ɪ٥npq2??"k B*k 2k b]&?k bH, 2k Ck 1?k e珈$ k Ck Bk ё? addTargetRange:: Added new target pos. range: 396.000000 m, deltaT: 4.040738 s, deltaX: -0.600006 m, approachRate: -0.148489 m/s, rangeRepo size: 4  Added new target pos. range: 396.000000 m, bearing: 114.299503 deg, lat: 36.902300 deg, lon: -122.121218 deg, deltaT: 4.040738 s, deltaX: -0.600006 m, approachRate: -0.148489 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 396.00 m.BjJj ProNav: ac range: 396.000000 m, nav range: 113.778709 m, bearing: 82.170026 deg, approach rate: 0.000000 m/s, LOS rate: 0.245514 deg/s, cmd heading: 346.412387 deg, new cmd heading: 346.750440 deg. 2j-HeadingCmd: 6.051937 target range: 396.000000 and range: 396.00 m. j5w@j1j1j1i9h9h9h9h9fAfAfArfx@bf ?ɛnBU,= ^?I œ;ɚiI%=I=pli=߻i= .)=w@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:22:07:27.6440 *FU?2FY:FYBF]_0JFYG  G B d$?I O > rw,y,ȽAJN@YJ_^@JwK<9J*>yJH? ?ˠ,ѿFa?Ŀ@ntE?@s?nWill construct direction to contact in vehicle frame from tetrahedron phase data.ɨJN@J[S;JCy~B~(IMb@Mb@Mb@ )YL7A`?w/Ŀ+y+'?&A @)@I@yII4٢)M; <9&;Q > G٣y < > Nusing accuracyPremultiplier from config 59E,? 5Y%0 i0B,?:l@C EL;JK;z 5 @ EZjFNOT Ignoring new targets: 396.00 m.Bj;Jj;= ProNav: ac range: 396.000000 m, nav range: 113.885101 m, bearing: 82.308718 deg, approach rate: 0.242508 m/s, LOS rate: 0.315835 deg/s, cmd heading: 346.750427 deg, new cmd heading: 347.166104 deg. 2j=X*trw,FȽA6i@Y6qy@6X Y<96z,>y6H??Oп,f? $"ſW!t?[?ɨ6i@6C{;4y>Bb(IlnAAIrqIrJH4٢%W= %j=9%;Q %?)) -G٣-nIGy-K< 5? =Nusing accuracyPremultiplier from config1E 595,?E 5Y5(0 i50BAE!Ml@5G E5 ;5X ;5 5Q U'@QuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 396.00 m.Bj;Jj; ProNav: ac range: 396.000000 m, nav range: 113.968964 m, bearing: 82.418361 deg, approach rate: 0.256516 m/s, LOS rate: 0.335127 deg/s, cmd heading: 347.166112 deg, new cmd heading: 347.494796 deg. 2je<HeadingCmd: 6.064929 target range: 396.000000 and range: 396.00 m. j@jjjihhhhfffrfbf`%?ɛpBY=  ?I  ;ɚ i I }7=I~_zKBoHK9KK: KBK:KiisB)@) e$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H!I! I%U(II%܈BI!&I!.I!6I%r<:I%5 F*F=?2F9:FABFE5JFAGU}y,G) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213551rw,_ȽAn@Yn@n[V<9n.>ynHG? ~u?F pпq?eſIˊ?@?ɨn@nv;nCyvBz#(Ii~=I~=?IrIJ4٢= K=9չQ > %G٣!y%;< %> 5Nusing accuracyPremultiplier from config1= 595,?= 5Y51,0 i50BAEEl@5K E5B;5S;5 5I M5@MEZjq}FNOT Ignoring new targets: 396.00 m.Bj};Jj}; ProNav: ac range: 396.000000 m, nav range: 114.064941 m, bearing: 82.545534 deg, approach rate: 0.238398 m/s, LOS rate: 0.315618 deg/s, cmd heading: 347.494808 deg, new cmd heading: 347.876000 deg. 2jX<HeadingCmd: 6.071581 target range: 396.000000 and range: 396.00 m. jeJ@jjjihhhhfffrfbf\?ɛqBFL= !?I ;ɚiiIu=IuXi}i}@)}eJ@)y*F2F):F1BF505JF1 g$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.465781G4?G B O >rw,yȽAF@YF6@F-b<9FTS/>yFHC?Q?@giп`Ku?ކſ`T?@r?ɨF@F܈;FCyRBR-(IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.717574uMb@Mb@Mb@qqq q)qYuMbX?jtĿV-yu*?u uuA u@)u$@Iu@qyu@IvI&Q4٢>= 2=9:Q > G٣y; > mNusing accuracyPremultiplier from configiu 59m,?u 5Ym*00 im0B}/?}:}}l@mQ Em;m;m9 5ȒB ߠ@EZj)-FNOT Ignoring new targets: 396.00 m.Bj5б;Jj5б; ProNav: ac range: 396.000000 m, nav range: 114.177261 m, bearing: 82.699193 deg, approach rate: 0.227493 m/s, LOS rate: 0.310916 deg/s, cmd heading: 347.875987 deg, new cmd heading: 348.336501 deg. 2j`U<HeadingCmd: 6.079619 target range: 396.000000 and range: 396.00 m. j=@jjjihhhh^Bfffrfbfۊ?ɛurBu;= S$?I ʍ;ɚiI/=IsPijiV)=@)*FI2FI:FIBFM2JFI I) |CzKE BoIKE 9KA KE ; KE     RKU ?JKU ?m ~G vA zY vAy B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969513H I  I b(II BI &I .I 6I <:I V FG lL=G B O > a%rw,ȽA6ٹ@JRJRJPJPJR:JR:JPJPJR;abJR;afJRZ;aJRZ;aY6@6Gu<96x0>y6H?P ?@E п|?`ſ@]U??ɨ6ٹ@6,W;6Cy-ЈB-H(IIEIE4٢M= UK=9U>;Q U>YY ]G٣]oIGy];< e> mNusing accuracyPremultiplier from configau 59e,?u 5YeO30 ie0Bqu}l@eU Ee\ ;e ;e 5 {@ZjFNOT Ignoring new targets: 396.00 m.Bjv;Jjv; ProNav: ac range: 396.000000 m, nav range: 114.266541 m, bearing: 82.822082 deg, approach rate: 0.243407 m/s, LOS rate: 0.334778 deg/s, cmd heading: 348.336506 deg, new cmd heading: 348.704879 deg. 2je<HeadingCmd: 6.086048 target range: 396.000000 and range: 396.00 m. j@jjjihhhhfffrfbf@W@ɛr= '/?I 4;ɚiI%=I%TIi)i-Z[)-@))*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223364GIGBO@> h$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473520+rw,YȽAy-B-`(IMb@Mb@Mb@ )YMbX?X9v{GzyףA @)I@y@IId4٢= B=9Q > G٣y > Nusing accuracyPremultiplier from config  59c-?  5Yt60 ir0B -?:ܾl@Y EQ;P;@ 5 @@%EZjAMFNOT Ignoring new targets: 396.00 m.BjM;JjM; ProNav: ac range: 396.000000 m, nav range: 114.352859 m, bearing: 82.958566 deg, approach rate: 0.204450 m/s, LOS rate: 0.323022 deg/s, cmd heading: 348.704872 deg, new cmd heading: 349.114005 deg. 2j]<HeadingCmd: 6.093189 target range: 396.000000 and range: 396.00 m. jg@jjjihhhhBfffrfbf@ɛesBe1b= im8?I ;ɚiI5=IhBiit)g@)*Fe?2Fa:FaBFe]0JFa%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726299G lSGa Bi O >lo2rw,6ȽA6-@Y6<@6P<964>y6H) ??4uο͊?TƿU|?o?ɨ6-@6p;4yZBZy(IIfIf4٢j= n]=9r;Q r>tt vG٣tyvY< z> ~Nusing accuracyPremultiplier from configx 59z-? 5Yz'90 iz_0B`׾l@z] Ez;zG;z} 5 @E %i$?I%i=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 396.00 m.BjU;JjU;m ProNav: ac range: 396.000000 m, nav range: 114.426682 m, bearing: 83.078598 deg, approach rate: 0.198595 m/s, LOS rate: 0.322700 deg/s, cmd heading: 349.114000 deg, new cmd heading: 349.473859 deg. 2jmw] =IIY I](II]BIY&IY.IY6I]<:I]Z FWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.980914*F?2F:FBF_0JFG GGgGABQOm5>JJJ/JJ:J:J(N3JJ;J;JnN;JoN;E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2335658rw,ȽA2rU@Y2d@2,<92"7>y2H@?JF? ]_ο ?}ƿ^J? $|?ɨ2rU@2t;2CyJ BJ(IIRIRr4٢v+= vI=9vI:Q v>xx zG٣zpIGyzcG< ~> Nusing accuracyPremultiplier from config  59)-?  5Y<0 iH0B Ծl@b E:: 5 қ@ZjFNOT Ignoring new targets: 396.00 m.Bj;Jj; ProNav: ac range: 396.000000 m, nav range: 114.506676 m, bearing: 83.209929 deg, approach rate: 0.187577 m/s, LOS rate: 0.307742 deg/s, cmd heading: 349.473869 deg, new cmd heading: 349.867582 deg. 2j3S<HeadingCmd: 6.106341 target range: 396.000000 and range: 396.00 m. j&g@j!j!j!i!h!h!h)h)f1fyfrfbfl @ 5j$?I9ɛuuBuq= y}7K?Iy }<ɚyiyI} =I5ii!l)&g@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:07:30.5762 TRx dataTimestamp_ set to:1736374051.748789checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486754*F?2F:FBF^0JFG qG G rAG B O >O>rw,ȽA>@Y>@>XO<9>}:>y>H!?t?UͿ?ǿ -?@Ew?ɨ>@>;>CyZBZ(Iib>Ibp<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.737600]Mb@Mb@Mb@YYY Y)YY]uV?ʡEy&1|y]r(?]-]`]A ]@)];@I]@Yy]p@IuIu4٢̫= A=9l:Q > G٣y< > Nusing accuracyPremultiplier from config 59?-? 5Y>0 i:0B)?:l@f E7;5; 5}ɒB }@}EZjFNOT Ignoring new targets: 396.00 m.Bj?;Jj?; ProNav: ac range: 396.000000 m, nav range: 114.574303 m, bearing: 83.346302 deg, approach rate: 0.158987 m/s, LOS rate: 0.320414 deg/s, cmd heading: 349.867588 deg, new cmd heading: 350.276457 deg. 2j[<HeadingCmd: 6.113477 target range: 396.000000 and range: 396.00 m. j@jj j1i1h1h1h9h=ۇBf9f9f9rfAbfE@ɛvB3= 隕S?I <ɚiI> =I-ii/m)@)*Fe?2Fa:FaBFen0JFa !I)zKMKK 9KK= KRK=?JK=?H>ICWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.991871 I(II-BI&I.I6I<:IA FBI!JI%ȚCRI!ZI!bI!jI%4G jG B O >ZErw,ɽAJ2J2J20J0J2l:J2 :J2ـ3J0J2;J2;J29P;J29P;J@YJ"@J䃑<9Jг=>yJH@,?j?`̿3?@yǿ=0`ܒ?r?ɨJ@J+M;JCyV.BV(II^I^4٢f= jV=9r9Q r>tx zG٣xy{< > %Nusing accuracyPremultiplier from config- 59HT-?5 5YA0 i,0Bvl@j EQ<s< 5 @EZjFNOT Ignoring new targets: 396.00 m.BjU;JjU;% ProNav: ac range: 396.000000 m, nav range: 114.635223 m, bearing: 83.471106 deg, approach rate: 0.159978 m/s, LOS rate: 0.327560 deg/s, cmd heading: 350.276443 deg, new cmd heading: 350.650650 deg. 2j%`<-HeadingCmd: 6.120008 target range: 396.000000 and range: 396.00 m. j-@j)j)j)i)hQhQhQhQfYfYfYrfYbf]@ɛwBW0= 隭t[?I 5'<ɚiIw =I'ii p)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 22:07:30.5762 LVL= 15536, 30033, 19410, 30707, AGC= 68, IDX= 436, 0.27,-2.338, 2.335, 2.198, 2.844, PHS= 1.189,-0.462,-0.649, RAW= 84.7, -0.9, CAL= 91.8, -5.8, ROT= 58.2, 5.8 Ygot valid direction response: 22:07:30.5762 LVL= 15536, 30033, 19410, 30707, AGC= 68, IDX= 436, 0.27,-2.338, 2.335, 2.198, 2.844, PHS= 1.189,-0.462,-0.649, RAW= 84.7, -0.9, CAL= 91.8, -5.8, ROT= 58.2, 5.8 PDAT read: Bearing 58.2, 5.8 (Local) ~Local bearing/azimuth received: Bearing 58.2, 5.8 (Local) *F?2F:FBF0JF"G=G=DAT read: Range 10 to 50 : 395.4 m (Rou 527.3 ms) speed 0.2 m/s ,DAT read: user:2319> BDAT read: Tx time:22:07:31.6948 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.OKrw,ס1ɽAy~>B~(IMb@Mb@Mb@ )YS㥛? rhy&1|?y$?C `;3A @)I@yf@IIb4٢= ==9Q > G٣qIGy > Nusing accuracyPremultiplier from config 59j-? 5Y C0 i'0B%?:͏l@o E;};ة 5 @kE5(?kE(FY/ kA kEDQ ɽA:kECBkEUCZkED1&@"Eutc7 +S@e.x@EưǫIW?? d"kP?JkE\[?RkEO*EEVC|-P!@͈%bx@E|k`c#?K[5?"kEA*kEkkEM#(?kEW/ 2kECkE!T.?kE'u( kECkEƗBkEA_? addTargetRange:: Added new target pos. range: 395.399994 m, deltaT: 4.286328 s, deltaX: -0.600006 m, approachRate: -0.139981 m/s, rangeRepo size: 4 5 Added new target pos. range: 395.399994 m, bearing: 148.783209 deg, lat: 36.902210 deg, lon: -122.121647 deg, deltaT: 4.286328 s, deltaX: -0.600006 m, approachRate: -0.139981 m/s, posRepo size: 4 Zj1=FNOT Ignoring new targets: 395.40 m.Bj=Jj9} ProNav: ac range: 395.399994 m, nav range: 75.888107 m, bearing: 87.900718 deg, approach rate: 0.000000 m/s, LOS rate: 0.327560 deg/s, cmd heading: 350.650656 deg, new cmd heading: 351.081698 deg. 2jyHeadingCmd: 6.127532 target range: 395.399994 and range: 395.40 m. j@jjjihhhh Bfffrf`fx@bf?ɛxBm'= imb?Ii m4<ɚiiqIuW =I}ci}i%)@)*F=?2F9:F9BFE+1JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.G% oG B O- >Rrw, |KɽA6<@Y6 L@6<96=>y6H\H?A? U@Wʿൺ?݊ǿ`P}?`Rr?ɨ6<@6;6CyFEBF(I)H HIRcIRy/4٢Z#= Z\=9Z9Q ^> dIddh jG٣hyja+= j> rNusing accuracyPremultiplier from configpv 59r&~-?v 5YrD0 ir#0Btv͇vl@rs Era:r :r 5| ~4@~EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 395.40 m.Bj-<Jj-<= ProNav: ac range: 395.399994 m, nav range: 75.943085 m, bearing: 88.077802 deg, approach rate: 0.159826 m/s, LOS rate: 0.514431 deg/s, cmd heading: 351.081695 deg, new cmd heading: 351.612546 deg. 2jEI I(IIVBI- =&I.I6I<:I= Fɛ-yB-s= 15-f?I1 =><ɚ9i9I= =IUiYi] q)]`@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKJK9KK> KBK:KrA*F?2F:FBFD4JFG|GBOE>JJJJJL:J :JJJO;JP;JR;JR;% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976385JXrw,XeɽA2Ƈ@Y2D@2&<92xLB>y2HW?౩? tCɿ?@ȿ @\#?`k?ɨ2Ƈ@2R\;2CyRSBR(II^EI^3٢<= E=98Q >    G٣ y< > %Nusing accuracyPremultiplier from config% 59Ó-?- 5YxF0 i0B155l@w E06;4; 59 =U@EEZjamFNOT Ignoring new targets: 395.40 m.Bjm*<Jjm*<} ProNav: ac range: 395.399994 m, nav range: 76.002045 m, bearing: 88.272772 deg, approach rate: 0.143055 m/s, LOS rate: 0.472688 deg/s, cmd heading: 351.612538 deg, new cmd heading: 352.196972 deg. 2j}3<HeadingCmd: 6.146997 target range: 395.399994 and range: 395.40 m. j3@jjjihhhhfffrfbf ?ɛzB;3= l?I %J<ɚiI$X =It ii.x)3@) l$?I*Fu?2Fy:FyBF_0JFGrA GnAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228610GNG B O >_rw,\8ɽA2%Ի@Y2@2',<92{D>y2H@f?`?u`ψȿ?`eiȿKMr? g?ɨ2%Ի@2;2CyJ^BJ(InWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.480440-Mb@Mb@Mb@))) )))Y-+? G٣yk< > Nusing accuracyPremultiplier from config  59 P-? 5Y G0 i 0B%?%:%*:%l@ { E ; ;  5) -@)ZjFNOT Ignoring new targets: 395.40 m.Bj<Jj< ProNav: ac range: 395.399994 m, nav range: 76.043617 m, bearing: 88.475402 deg, approach rate: 0.093793 m/s, LOS rate: 0.456906 deg/s, cmd heading: 352.196983 deg, new cmd heading: 352.804517 deg. 2jɜ<HeadingCmd: 6.157600 target range: 395.399994 and range: 395.40 m. j @jjjihhhhIBfffrfbfQ?ɛ}|B}= y}p?I X<ɚiIz=IHiiq{) @)*FE?2FA:FABFAJFA m$?IiH>I I$)IIBI&I.I6I<:Id FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735508zK}BoJKyKyK}? K}RK ?JK?G% VxG B O- >erw, ɽAR2@YR+@Re<9RF>yRHKt? 'l? z`mǿ?ȿ{,@3?d?ɨR2@RB;RCyn\Bn(IIvIvb4٢~o P=9:Q >    G٣ rIGy < > Nusing accuracyPremultiplier from config% 59-?% 5YH0 i!%31%l@ E;;· 51 5Ж@5EZjFNOT Ignoring new targets: 395.40 m.Bj<Jj< ProNav: ac range: 395.399994 m, nav range: 76.077827 m, bearing: 88.648313 deg, approach rate: 0.091998 m/s, LOS rate: 0.464784 deg/s, cmd heading: 352.804515 deg, new cmd heading: 353.323001 deg. 2j}<HeadingCmd: 6.166650 target range: 395.399994 and range: 395.40 m. j2U@jjjihqhhhfffrfbf ?ɛ}Bե= 9o?I pd<ɚiI=I8iia|)2U@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985857*F?2F:FBFJFG`Y| n$?I G B) Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237209\3lrw,R,ɽARi@YRy@R1#<9RPI>yRH?`EE?`c`<ƿ?ɿ?`?ɨRi@RCS;RCybcBb(IUMb@Mb@Mb@QQQ Q)QYU1Zd?? G٣yp< > Nusing accuracyPremultiplier from config 59-? 5YI0 i"0B?:Jƽl@ E;; 5  X@ EZj9=FNOT Ignoring new targets: 395.40 m.BjE<JjEw srw,ɽA DIDP`l - YyBUا@YUW@U <9U9%J>yUH?V?@OGſ`? ^&ɿ/a?`u_?ɨUا@Ui?;UCyeeBe(IIuqIuJH4٢; K=9do:Q > G٣y <H>I IC)IIBI&I.I6I<:I] F > Nusing accuracyPremultiplier from config 59-? 5YJ0 i%0Bɶm@ Ep;; 5 B@B*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 395.40 m.Bj<Jj<% ProNav: ac range: 395.399994 m, nav range: 76.114632 m, bearing: 89.027468 deg, approach rate: 0.043000 m/s, LOS rate: 0.456859 deg/s, cmd heading: 353.920814 deg, new cmd heading: 354.460171 deg. 2j%Ĝ<-HeadingCmd: 6.186497 target range: 395.399994 and range: 395.40 m. j-@j)j)j)i1h1h9h9hAfAfAfArfAbfM`P&@]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.740622zKBoHKػ9KK@ KɛB̢= !%r?I! %}<ɚ!i!I%G=I-ƽiIiU)U@)Q*F?2F:FBF~0JFGBOG> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9923215yrw,ɽA2Q@Y2@21<92EK>y2He? S? Z=Ŀ?@FɿU4? ^?ɨ2Q@2#5;2CyJ[BJ(I)P PRARAIVIVr4٢-C -P=9-"p:Q ->11 5G٣5sIGy=< E> UNusing accuracyPremultiplier from configI] 59M-?] 5YMJ0 iM(0Baeem@M EMb;M&_;Mi 5q uݖ@}EZjFNOT Ignoring new targets: 395.40 m.Bj<Jj< ProNav: ac range: 395.399994 m, nav range: 76.130127 m, bearing: 89.204954 deg, approach rate: 0.039412 m/s, LOS rate: 0.451339 deg/s, cmd heading: 354.460180 deg, new cmd heading: 354.992516 deg. 2j<HeadingCmd: 6.195788 target range: 395.399994 and range: 395.40 m. jC@jjjihhhhfff rf bf R @ɛmBmBS= imul?I <ɚiI ?=I=0iA o$?IiM0)C@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:22:07:34.6251 }TRx dataTimestamp_ set to:1736374055.782311checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247883*F?2F:FBF0JFGB!O=r>J3K;|3 K;S}-K3K3"K3Jm Jm Ji Ji Jm l:Jm :Ji Ji rw,|ʽA6+@Y6w;@6Y<96J>y6H K? f\?g =ÿ@? Jɿ<2?^?ɨ6+@6s{;4yRSBR(IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.496486=Mb@Mb@Mb@999 9)9Y=9v? rh?Mb`?y=?=C==;=`A =@)=Q@I=@9y=@IUIUt4٢m2 mF=9mU:Q m>yy }G٣yy< > Nusing accuracyPremultiplier from config 59.? 5YJ0 i)0B?:m@ E);; 5 b@EZjFNOT Ignoring new targets: 395.40 m.Bj;Jj; ProNav: ac range: 395.399994 m, nav range: 76.136223 m, bearing: 89.386436 deg, approach rate: 0.014978 m/s, LOS rate: 0.445887 deg/s, cmd heading: 354.992525 deg, new cmd heading: 355.536909 deg. 2j<HeadingCmd: 6.205290 target range: 395.399994 and range: 395.40 m. j@jjjihhhh4Bfffrfbf`g @ɛB = eg?I <ɚiIn=Iii%)%@)!*F?2F:FBF]5JFGGqAGBO=> q$?IH>I II)IIBI&I.I6I<:I F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750461zKK9KKA K6Irw,]ʽA6Ln@Y6}@6r<<962K>y6H?@\?}h7¿`1?bɿ 4`G?\?ɨ6Ln@64;6CyNCBN(I||I~I~4٢E/ EM=9E<:Q M>II MG٣IyUu< U> ]Nusing accuracyPremultiplier from configYe 59]#.?e 5Y]J0 i]+0Bimmm@] E]U:]U:]} 5q ub@qZjFNOT Ignoring new targets: 395.40 m.Bj;Jj; ProNav: ac range: 395.399994 m, nav range: 76.140968 m, bearing: 89.562202 deg, approach rate: 0.011902 m/s, LOS rate: 0.440816 deg/s, cmd heading: 355.536919 deg, new cmd heading: 356.064170 deg. 2jC<HeadingCmd: 6.214492 target range: 395.399994 and range: 395.40 m. j@jjjih h hhfffrfbf@ɛEBEr= AM}^?II MZ<ɚIiIIM=IiiF)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 22:07:34.6251 LVL= 16464, 29233, 17874, 28867, AGC= 66, IDX= 425, 0.08,-1.021,-2.651,-2.675,-2.106, PHS= 1.173,-0.499,-0.572, RAW= 87.9, -1.2, CAL= 95.5, -6.4, ROT= 54.5, 6.4 =Ygot valid direction response: 22:07:34.6251 LVL= 16464, 29233, 17874, 28867, AGC= 66, IDX= 425, 0.08,-1.021,-2.651,-2.675,-2.106, PHS= 1.173,-0.499,-0.572, RAW= 87.9, -1.2, CAL= 95.5, -6.4, ROT= 54.5, 6.4 MPDAT read: Bearing 54.5, 6.4 (Local) M~Local bearing/azimuth received: Bearing 54.5, 6.4 (Local) uDAT read: Range 10 to 50 : 394.6 m (Round-trip 526.2 ms) speed 0.3 m/s },DAT read: user:2320> }BDAT read: Tx time:22:07:35.7448 $Ping request sent. I  Will construct direction to contact in vehicle frame from tetrahedron phase data.#rrw,34ʽA6j@Y6@6<969K>y6H? b?ޱ{y5?`YɿєB;?]?ɨ6j@6NA;6Cy^.B^(IMb@Mb@Mb@ )Y|?5^?&1?~jty?P=D 5@)I@yQ@I{IZ4٢5~ =<=9=N+:Q E>AA EG٣EtIGyM< M> UNusing accuracyPremultiplier from configQ] 59U8.?] 5YUEK0 iU%0Be?e:e3em@U EUo;U:UK 5i m@mEk ^(?k gYF2 k  k m"ʽA:k LCBk CZk -}@" }nr %7R,$O/L@56r]x@ A%H?fd?Jk t?Rk P7* '.1*oB^3zyx@ >`X=,\"݂?"k *k Ik DS(?J5J5J1J1J5ܫ:J5:J1J1k I2 2k 'Ck M#(?k bH, k Ck u*Bk s7? addTargetRange:: Added new target pos. range: 394.600006 m, deltaT: 4.032994 s, deltaX: -0.799988 m, approachRate: -0.198361 m/s, rangeRepo size: 4  Added new target pos. range: 394.600006 m, bearing: 227.242871 deg, lat: 36.902052 deg, lon: -122.122065 deg, deltaT: 4.032994 s, deltaX: -0.799988 m, approachRate: -0.198361 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 394.60 m.BjJj  ProNav: ac range: 394.600006 m, nav range: 42.614468 m, bearing: 113.793270 deg, approach rate: 0.000000 m/s, LOS rate: 0.440816 deg/s, cmd heading: 356.064182 deg, new cmd heading: 356.683657 deg. 2j HeadingCmd: 6.225304 target range: 394.600006 and range: 394.60 m. j5@jjjihhh!h%Bf!f!fIrfMx@bfM@a?ɛB= 隝R?I <Ԗ<ɚiI=Imii.)5@)*F}?2Fy:FyBF}4JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.GU憽GBO5>#Zrw,INʽA "r$?I$:2@Y:@:ߢ<9:B>y:H`?N?'t 1l%?Vȿ[6?@pj?ɨ:2@:)a;8yNBR(IIXIX٢zG޽ ~a=9~բQ > G٣y ׋<  > Nusing accuracyPremultiplier from config% 59J.?% 5Y{K0 i 0B!%s-m@ E::y 51 5@1ZH9RH=@AHE>IEC IE6)IIEBIE. =&IA.IE3D6IE<:IEP FBICJIRIZI- =bI. =jI 5}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 394.60 m.BjV<JjV< ProNav: ac range: 394.600006 m, nav range: 42.706642 m, bearing: 114.046197 deg, approach rate: 0.274101 m/s, LOS rate: 0.750509 deg/s, cmd heading: 356.683653 deg, new cmd heading: 357.440750 deg. 2j=HeadingCmd: 6.238518 target range: 394.600006 and range: 394.60 m. j@jjjihhhhfffrfbf?ɛBl= G?I V<ɚiIA=I"6ii)@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9=T****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.zKk3IK9KKB K*Fu?2Fq:FqBFu_0JFqGVGiBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985125=rw,SgʽA28@Y2FH@2D<92LD>y2HK? J?nh)-?@ȿ~,m?`g?ɨ28@2ǎ;2Cyn Bn(II|I[4٢) I=9}9Q > G٣y< > Nusing accuracyPremultiplier from config 59_.? 5YK0 i0BE޼m@ E]Z;Z;' 5 @EZjFNOT Ignoring new targets: 394.60 m.BjH<JjH<  ProNav: ac range: 394.600006 m, nav range: 42.812092 m, bearing: 114.339165 deg, approach rate: 0.253040 m/s, LOS rate: 0.701280 deg/s, cmd heading: 357.440738 deg, new cmd heading: 358.317404 deg. 2j <HeadingCmd: 6.253819 target range: 394.600006 and range: 394.60 m. jH@jjjihhh!h!f!f!f)rf)bf-?ɛUBUʐ= Y]*??IY ]<ɚYiYIeV=Ieiaim*)mH@)i ]s$?IY*F?2F:FBFJFG-qA G-nAG-@MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.237639GB9OmW>JM JM JI JI JM :JM :JI JI jrw,{ʽA6x@Y69@6y<96F>y6H?3?c - ?2?~ȿ_s?d?ɨ6x@6;6CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.489160y]Bet(ImAi-Mb@Mb@Mb@))) )))Y-gfffff?Zd;O?y-3?-j<-̼-A -K@)-h@I))y-@IEeIE34٢Mɽ M8=9U޺Q U>YY eG٣euIGym9< m> }Nusing accuracyPremultiplier from configq} 59us.? 5YuL0 iu 0Bt?:Zm@u Eu ;u;u 5 S@EZj!%FNOT Ignoring new targets: 394.60 m.Bj-;<Jj-;<] ProNav: ac range: 394.600006 m, nav range: 42.928577 m, bearing: 114.631029 deg, approach rate: 0.262738 m/s, LOS rate: 0.656524 deg/s, cmd heading: 358.317407 deg, new cmd heading: 359.190552 deg. 2j]Hrw,ʽAJ̾@YJ@J <9J5I>yJH@M?g?@?㑹6?:ɿ ?`?ɨJ̾@Jm1;JCyV߈BVZ(IIbIb4٢f jf=9j]c;Q j>ll nG٣lyn(< r> vNusing accuracyPremultiplier from configpv 59r.?z 5YrWL0 ir0BxzfVzm@r Er/:r:r 5A M@IZjFNOT Ignoring new targets: 394.60 m.Bj8B<Jj8B< ProNav: ac range: 394.600006 m, nav range: 43.023262 m, bearing: 114.870961 deg, approach rate: 0.268625 m/s, LOS rate: 0.679198 deg/s, cmd heading: 359.190551 deg, new cmd heading: 359.908722 deg. 2j<HeadingCmd: 6.281592 target range: 394.600006 and range: 394.60 m. j@jjjihhhhfffrfbf @}Y?ɛB.= '?I (<ɚiIJ=I]кiYi] g)]@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993404*F?2F :F BF 0JF GuGBOg> 1 I1 u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2484479rw,vʽAV@YV@V6˧<9VK>yVH?Y?Z? Bȷ`8? Jlɿ`I?\?ɨV@V;VCyb͈BbD(IUMb@Mb@Mb@QQQ Q)QYU|?5^?Q롿lyU?U\UUIA U5@)UQ@IU@QyU\@ImImt4٢ :=9$Q > G٣y< > Nusing accuracyPremultiplier from config 59.? 5YEM0 i/B?:m@ E; ; 5 ʒB ǟ@ݾEZjaeFNOT Ignoring new targets: 394.60 m.Bjms9<Jjms9< ProNav: ac range: 394.600006 m, nav range: 43.160496 m, bearing: 115.151501 deg, approach rate: 0.318264 m/s, LOS rate: 0.648538 deg/s, cmd heading: 359.908731 deg, new cmd heading: 0.747610 deg. 2j<HeadingCmd: 0.013048 target range: 394.600006 and range: 394.60 m. jXU<jjjihhhhBfffrfbf@ɛ]B]@= ae?Ia e_<ɚaiaIeh % u$?I! rw, VʽA6G@Y6V@6=<966FN>y6H?b?j?µd:?`5ɿOG`Ϛ?X?ɨ6G@6ު;6CHpIp Ir(IIrI = ==II4٢-. -V=9-OM:Q 5>11 5G٣5vIGy=(< => ENusing accuracyPremultiplier from configAM 59E6.?M 5YEN0 iE/BQU0Um@E EE':EH:E+ 5a e^@aB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 394.60 m.Bj7<Jj7< ProNav: ac range: 394.600006 m, nav range: 43.279129 m, bearing: 115.395188 deg, approach rate: 0.313617 m/s, LOS rate: 0.642441 deg/s, cmd heading: 0.747610 deg, new cmd heading: 1.476626 deg. 2js<HeadingCmd: 0.025772 target range: 394.600006 and range: 394.60 m. j<jjjihhhhfffrfbf@ɛ B ʡ= Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749224.?I! %B<ɚ!i!I%Uj Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001123ҹrw,0ʽAb~@Ybu@bq<9b!Q>ybH(?x?&q?}:?Aʿ-`I? T?ɨb~@b;bCyvBv(II I ݜ4٢%V %K=9%|Q ->)) -G٣)y5< 5> =Nusing accuracyPremultiplier from config9E 59=.?E 5Y=N0 i=/BIMMm@= E=@:=:= 5Q U @UھEZjFNOT Ignoring new targets: 394.60 m.Bj6<Jj6< ProNav: ac range: 394.600006 m, nav range: 43.403912 m, bearing: 115.652283 deg, approach rate: 0.310772 m/s, LOS rate: 0.638456 deg/s, cmd heading: 1.476626 deg, new cmd heading: 2.245646 deg. 2j<HeadingCmd: 0.039194 target range: 394.600006 and range: 394.60 m. jΉ =jjjihhhhfffrfbf@tL @ɛBv%s= qu?Iq u.<ɚyiyI}rf-rw,˽ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.504968y~B (IuMb@Mb@Mb@qqq q)qYuv?~jtZd;Oyu?uuj G٣y > Nusing accuracyPremultiplier from config 59.? 5YP0 i/B?:?m@ E{8;5; 5˒B @ZjYeFNOT Ignoring new targets: 394.60 m.Bje 0<Jjm 0< ProNav: ac range: 394.600006 m, nav range: 43.565231 m, bearing: 115.939344 deg, approach rate: 0.347277 m/s, LOS rate: 0.615673 deg/s, cmd heading: 2.245646 deg, new cmd heading: 3.103574 deg. 2jC<HeadingCmd: 0.054168 target range: 394.600006 and range: 394.60 m. j]=jjjihhhhyBfffrfbf` @ɛuBu@a= qu?Iq }0&<ɚyiyI}SJK ?B O >Vrw,˽AJJJJJ:J:JJJ;J;JI;JI;V;@YV@V-<9V(CW>yVH?`Iw?I{?T{b:?@Sʿc f? J?ɨV;@Vy݉;VCyrBr'IIzIzt4٢ i=9 Q  >    G٣ wIGyMC= > Nusing accuracyPremultiplier from config% 59w.?% 5Y Q0 i/B)---m@ E:: 51 5ģ@1ZjFNOT Ignoring new targets: 394.60 m.Bj4<Jj4< ProNav: ac range: 394.600006 m, nav range: 43.688339 m, bearing: 116.163687 deg, approach rate: 0.347632 m/s, LOS rate: 0.631713 deg/s, cmd heading: 3.103573 deg, new cmd heading: 3.774674 deg. 2j<HeadingCmd: 0.065880 target range: 394.600006 and range: 394.60 m. jY=jjjihh!h!h!f!f)f)rf)bf-@@ɛBo= >I Uݺ<ɚiI s *F}?2Fy:FyBF}_0JF BDAT read: Tx time:22:07:39.7949  $Ping request sent.U Will construct direction to contact in vehicle frame from tetrahedron phase data.^rw,6˽A2V@Y25f@2'<92[>y2Hf?? ?? 8? rB˿䓿`6*?@C?ɨ2V@2rD;2CynBn'I Mb@Mb@Mb@    ) Y zG?Zd;Zd;Oy  ?    @) h@I @ y I%I%{4٢Ur U6=9]{Q ]>Ya eG٣aye7< e> uNusing accuracyPremultiplier from configq} 59uq.?} 5YuR0 iuZ/B}?}:}qm@u Eu:;u#9;u 5 @׾Ek5"?kۓ5 k k_$˽A:kCBk0CZk]@"do{E6 ϗ >@HfYx@I L<ɚiI r x$?I G B O >rw,P˽AHB>I@ IBU(IIB܈BIB. =&I@.I@6IBװ<:IBx FfA@Yf@f<9f*tb>yfH`H?e5?Wn? /? %̿`f? *7?ɨfA@f;dyvyBv'II~gI~64٢ 0  b=9 RQ > G٣y< %> -Nusing accuracyPremultiplier from config!- 59%</?5 5Y%S0 i%Iy }$<ɚyiyI}Gu)>G=GBJEJEJE1JAJE:JE:JE3JAJE;JE;JEyE;JEyE;OUS> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.959541 rw,[zj˽A-K@Y-@-,<9--l>y-H@J?`%r??@Ϡ!?_QͿ/A?%?ɨ-K@-c݉;-CymzBm'Iiu%=Iup> }=}a=IIb4٢6; B=9ϜQ > G٣xIGy< > Nusing accuracyPremultiplier from config 59#/? 5YdU0 i/B[m@ E ; ;v 5 @ԾEZjFNOT Ignoring new targets: 393.10 m.Bj;Jj;  ProNav: ac range: 393.100006 m, nav range: 22.831184 m, bearing: 155.047717 deg, approach rate: 0.585577 m/s, LOS rate: 0.329900 deg/s, cmd heading: 4.991332 deg, new cmd heading: 5.406130 deg. 2j hb< HeadingCmd: 0.094355 target range: 393.100006 and range: 393.10 m. j== y$?Ijj!j!i!h!h!h)h)f)f)f)rf1bf5?ɛeBe"Z= aen>Ii ms<ɚiiiImrw,CS˽A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463603> =@Y>L@>3<9>m>y>H?@#?9_?Yh@ ?@&Ϳ =@>n;>Cy%wB%'IMb@Mb@Mb@ )Y333333?L7A`/$y?+, );@I@y @IaI+4٢H E=9 Q > G٣y < > Nusing accuracyPremultiplier from config 598/? 5YV0 i.B ? : ` m@ E#;o; 5̒B A@ѾEZjFNOT Ignoring new targets: 393.10 m.BjE;JjE; ProNav: ac range: 393.100006 m, nav range: 23.078409 m, bearing: 155.182230 deg, approach rate: 0.569362 m/s, LOS rate: 0.306465 deg/s, cmd heading: 5.406130 deg, new cmd heading: 5.805337 deg. 2jRR<HeadingCmd: 0.101322 target range: 393.100006 and range: 393.10 m. j =jj!j!i!h!h!h)h-NBf1f1f9rf9bf= ?ɛBfT= 隥>I {<ɚiIg1JFH>I I0(IIBI/ =&I.I6Iϰ<:Iq FBIMƙCJIMƙCRIIZIM/ =bIM/ =jIM)4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715457G }[ܽzKM LKM 9KI KM G KM RKU ?JKU ?G B O >Jm Jm Jm 0Ji Jm L:Jm :Jm ـ3Ji Jm N;Jm P;Jm -Y;Jm .Y;Lrw,˽AN@YN1@N<9NEp>yNH?K?@*? 鏿 ?UͿ=l??ɨN@N;NCyVxBV'II^|I^[4٢f; jZ=9j>0Q j>ll nG٣lyr< E> MNusing accuracyPremultiplier from configIU 59MGL/?U 5YM'X0 iM.BQ]7X]m@M EM':M:My 5 ;@Zj  FNOT Ignoring new targets: 393.10 m.Bj3;Jj3;E ProNav: ac range: 393.100006 m, nav range: 23.309557 m, bearing: 155.310447 deg, approach rate: 0.602380 m/s, LOS rate: 0.330826 deg/s, cmd heading: 5.805337 deg, new cmd heading: 6.186169 deg. 2jE cI <ɚ!i!I%2 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222481rrw,e˽Ay5B5'IMb@Mb@Mb@ )Y^I +?333333ÿii mG٣myIGyu u> }Nusing accuracyPremultiplier from configy!59}mb/?!5Y}Y0 i}.BX?:|wm@} E}";};}T!5 ¤@ξEZjFNOT Ignoring new targets: 393.10 m.Bjy;Jjy; ProNav: ac range: 393.100006 m, nav range: 23.575478 m, bearing: 155.434194 deg, approach rate: 0.625056 m/s, LOS rate: 0.287589 deg/s, cmd heading: 6.186169 deg, new cmd heading: 6.553216 deg. 2j^E<HeadingCmd: 0.114375 target range: 393.100006 and range: 393.10 m. j==jjjihhhhzBfffrfbf@G@ɛ%B%^= )-8>I) -<ɚ)i)I-Gy B O > I Rrw,`!˽AjHbHHI I#(IIBI&I.I6I<:Ia Fj!@Yj;j.k<9jGr>yjH@?zhB ?p??`ο;??ɨj!@jF5;jCyrBr'IIzIz{4٢<  d=9 OQ  > G٣y`= > %Nusing accuracyPremultiplier from config!-!59%~t/?5!5Y%"[0 i%.B15 c5m@% E%0;%0;%u!5Q m@u˾EWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.723653 B*** querying acoustic contact ***j j Zj=FNOT Ignoring new targets: 393.10 m.Bj=;Jj=;M ProNav: ac range: 393.100006 m, nav range: 23.790590 m, bearing: 155.542984 deg, approach rate: 0.564799 m/s, LOS rate: 0.283057 deg/s, cmd heading: 6.553216 deg, new cmd heading: 6.876633 deg. 2jMBBI <ɚiIJJJJJ:J :JJJ;J;JR;JR;u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977744~rw,˽A:@Y:~<:\)Z<9:dt>y:HH?z@k?׏?6?KοDR??ɨ:@:5;8yNBN'IIVIVb4٢rk= rL=9v2Q v>tx ]|$?Ia mG٣iyuE< u> Nusing accuracyPremultiplier from configy!59}/?!5Y}\0 i}s.BWm@} E}u;}v;} !5 ɣ@ZjFNOT Ignoring new targets: 393.10 m.Bj;Jj; ProNav: ac range: 393.100006 m, nav range: 24.040203 m, bearing: 155.674037 deg, approach rate: 0.631514 m/s, LOS rate: 0.328116 deg/s, cmd heading: 6.876633 deg, new cmd heading: 7.265702 deg. 2j.a<HeadingCmd: 0.126810 target range: 393.100006 and range: 393.10 m. j>jjjihhhhfffrfbf \z @ɛ5B=m= 9=V>I9 =&<ɚAiAIEviIiMuƽ)M>)I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:07:42.7213 TRx dataTimestamp_ set to:1736374063.849239 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235344G-)G B O= >esw,U̽AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479479%a=@Y%=%f,.<9%p%v>y%Hg?@?Σ?O?@fοqŅx? ?ɨ%a=@%;%Cy5B=(IiE>IE<Mb@Mb@Mb@ )Y5^I ?rh|y&1y?`A )I@y3@IIk4٢+= :=9ȻQ >    G٣ zIGy _= > Nusing accuracyPremultiplier from config%!59ޞ/?%!5Y]0 iX.B%t?%:%-m@ E;T: !51 4@ȾEZjFNOT Ignoring new targets: 393.10 m.Bj% ;Jj% ;] ProNav: ac range: 393.100006 m, nav range: 24.286449 m, bearing: 155.838138 deg, approach rate: 0.551443 m/s, LOS rate: 0.363761 deg/s, cmd heading: 7.265702 deg, new cmd heading: 7.753002 deg. 2j]yjajjihhhhBfffrfbf8 @ M}$?IQɛBe= *>I 2<ɚiIij i ) >)H->I) I-*(II-BI-0 =&I).I)6I-ذ<:I-v F*F]?2FY:FYBFaJFaG5z|нG=rAG=qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.732265GBO>zKe BHKe 9Ka Ke I Ke ;e{n0 =l[+   RKu ?JKu ?sw,D̽Ab@YbL=b$<9b1u>ybH@v?t??W ? Rο @/k?`?ɨb@b;bCynBn(IIvIv<4٢~}= ~\=9~-BQ > G٣y h<  > Nusing accuracyPremultiplier from config!59/?!5YY^0 i@.B!%\ %m@ E':: !5) -[@-žEZjQ]FNOT Ignoring new targets: 393.10 m.Bjm;Jjm; ProNav: ac range: 393.100006 m, nav range: 24.501762 m, bearing: 155.984859 deg, approach rate: 0.621012 m/s, LOS rate: 0.419459 deg/s, cmd heading: 7.753002 deg, new cmd heading: 8.189288 deg. 2j<HeadingCmd: 0.142930 target range: 393.100006 and range: 393.10 m. jA\>jjjihhhhfffrfbf @ɛB(= ~<>I <ɚiIii")A\>)%PExceeded connect timeout, disconnecting.=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFDAT read: 22:07:42.7213 LVL= 17168, 32753, 26610, 32755, AGC= 66, IDX= 417, 0.16,-0.898,-2.424,-2.126,-1.703, PHS= 0.893,-0.674,-0.427, RAW= 98.4, 2.9, CAL= 108.4, 0.8, ROT= 41.6, -0.8 Ygot valid direction response: 22:07:42.7213 LVL= 17168, 32753, 26610, 32755, AGC= 66, IDX= 417, 0.16,-0.898,-2.424,-2.126,-1.703, PHS= 0.893,-0.674,-0.427, RAW= 98.4, 2.9, CAL= 108.4, 0.8, ROT= 41.6, -0.8 PDAT read: Bearing 41.6, -0.8 (Local) ~Local bearing/azimuth received: Bearing 41.6, -0.8 (Local) DAT read: Range 10 to 50 : 391.7 m (Round-trip 522.3 ms) speed 0.2 m/s ,DAT read: user:2322> BDAT read: Tx time:22:07:43.8449 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.о sw,9̽AyuBu(I5Mb@Mb@Mb@111 1)1Y5S?|?5^~jty5?5ҽ5ļ5 A 5@)5@I5$@1y5@IMsIMK4٢U< ]6=9]Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}!59u/?}!5Yu_0 iu'.B}?}:}׽m@u Eu;u0;u!5JJJJJL:J:JJa@a@a@a@ @km;?kmev; ki km&̽A:kmCBkm}CZkm@"mDa|M\#,ZD-x@mIblÿ۽˺!?Jkm:Rkmڴ*m y_$;I':1"[GNw@m, 4ݰûѿʆv?"km*kmKkm n?kmAo; 2kmCkmb]&?kmI2 kikmBkm^o@] addTargetRange:: Added new target pos. range: 391.700012 m, deltaT: 4.033659 s, deltaX: -1.399994 m, approachRate: -0.347078 m/s, rangeRepo size: 4  Added new target pos. range: 391.700012 m, bearing: 244.833882 deg, lat: 36.902008 deg, lon: -122.122721 deg, deltaT: 4.033659 s, deltaX: -1.399994 m, approachRate: -0.347078 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 391.70 m.BjJj ProNav: ac range: 391.700012 m, nav range: 32.650345 m, bearing: 214.766033 deg, approach rate: 0.000000 m/s, LOS rate: 0.419459 deg/s, cmd heading: 8.189288 deg, new cmd heading: 8.780152 deg. 2jHeadingCmd: 0.153243 target range: 391.700012 and range: 391.70 m. j>jjjihhhhˇBfffrf@3{x@bf ?ɛBo= 隅?I <ɚiIRii#)>)=Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFUp0JFQG]rA G]rAG5TG BO-> iG 5tA ! I) ) ] Ye 5tAye BZH RH AAH I  I C(II ͈Bsw,lS̽AIQ&IQ.IQ6IU<:IUS FFe@YFf=FV;9Fo>yFH@?9? (? ? Ϳ <<|? ?ɨFe@F;;Dy~B~,(I) IlIm?4٢%= %a=9-Q ->)) 5G٣5{IGy5d= 5> ENusing accuracyPremultiplier from configAM!59EE/?M!5YE_0 iE.BQUUm@E EEU;E;E%!5Y ]@e¾E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 391.70 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BjKJjK ProNav: ac range: 391.700012 m, nav range: 32.822582 m, bearing: 214.519655 deg, approach rate: 0.500524 m/s, LOS rate: -0.712219 deg/s, cmd heading: 8.780152 deg, new cmd heading: 8.044939 deg. 2jeHeadingCmd: 0.140411 target range: 391.700012 and range: 391.70 m. j>jjjihhhhfffrfbfm?ɛB:؊= 隽X?I (<ɚiIii޳u)>)zK-%NK-+9K)K-J K-BK=qA:K=pA*F?2F:FBFP5JF nManaging dock network, ignoring radio surface power offG G ?G '?M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.961357G B O- >sw,EGm̽A f$?IhE@YE@j=E;9EPo>yEH?,õv??u?Ϳr ? ?ɨE@E4 ;AyɈB>(IIMI{4٢= ==9Q >    G٣ y = > =Nusing accuracyPremultiplier from config1=!595/?E!5Y5 `0 i5-BAEEm@5 E5:5:5!5I U3@uEZj1=FNOT Ignoring new targets: 391.70 m.Bj= 1JjE 1m ProNav: ac range: 391.700012 m, nav range: 33.031593 m, bearing: 214.233362 deg, approach rate: 0.455098 m/s, LOS rate: -0.619424 deg/s, cmd heading: 8.044938 deg, new cmd heading: 7.191560 deg. 2juԼuHeadingCmd: 0.125516 target range: 391.700012 and range: 391.70 m. ju_>jyjyjyiyhhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216708ɛB /|= ae ?Ia ecI<ɚaiiImPiqiu)u_>)qJJJJJܫ:J:JJE 8<E qAE nA] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465872*FU ?2FQ :FQ BFU _0JFQ "G] =G] =G-g{GBOE>*#sw,xG̽A2;@Y2@=2h;92|n>y2H+? ݸ@.?Xй??VͿ|q ? "?ɨ2;@2B;2CyBوBBR(I `I`Mb@Mb@Mb@ )YX9v?㥛 ~jty?E A @)I;@y3@I5bI5-4٢Ek= E,=9MQ M>II MG٣QyU< U> eNusing accuracyPremultiplier from configam!59eX 0?m!5Ye`0 ie-Bm ?m:uػm@e Ee+-Jj}>- ProNav: ac range: 391.700012 m, nav range: 33.273331 m, bearing: 213.946561 deg, approach rate: 0.514391 m/s, LOS rate: -0.605844 deg/s, cmd heading: 7.191560 deg, new cmd heading: 6.337476 deg. 2jϼHeadingCmd: 0.110610 target range: 391.700012 and range: 391.70 m. jh=jjjihhhhBfffrfbf$?H>IC In(IIBI&I.I2D6Iư<:Ig Fɛ=B=F= 9=?IA E\L<ɚAiAIERST)sw,\!̽AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969440:@Y:h=:${;9:i>y:H@_?`+=?t?@I?ɷ̿po?+?ɨ:@:;:Cy}B}a(Ii!>I> ==II<4٢k= ?=9Q  >  G٣|IGy5y< 5> ENusing accuracyPremultiplier from config9E!59= 0?E!5Y=`0 i=-BIMh;Mm@= E=:=Q:="!5Y ]j@]EZjFNOT Ignoring new targets: 391.70 m.Bjl0Jjl0 ProNav: ac range: 391.700012 m, nav range: 33.496407 m, bearing: 213.691291 deg, approach rate: 0.542766 m/s, LOS rate: -0.616962 deg/s, cmd heading: 6.337476 deg, new cmd heading: 5.576811 deg. 2jӼHeadingCmd: 0.097334 target range: 391.700012 and range: 391.70 m. jV=jjjihhhhfffrfbfu@ɛB P= X?I L*<ɚiIߖJ AAJ @AJKـ3 K .KK"KJ% J% J% /J! J% ,:J% :J% (N3J! ^<0sw,3̽Ay=BEl(IMb@Mb@Mb@ )Y$C?Mb G٣y   > Nusing accuracyPremultiplier from config!59"50?!5Y_0 i-B%X?%:%|=%m@ Ec;;V&!5) -@-EZjY]FNOT Ignoring new targets: 391.70 m.Bje0Jje0u ProNav: ac range: 391.700012 m, nav range: 33.704262 m, bearing: 213.486212 deg, approach rate: 0.521377 m/s, LOS rate: -0.511239 deg/s, cmd heading: 5.576811 deg, new cmd heading: 4.965393 deg. 2jum}HeadingCmd: 0.086662 target range: 391.700012 and range: 391.70 m. j}|=jyjyjyiyhhhhBfffrfbf`h@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473387ɛB1 = 隭?I i<ɚiII I(IIBI&I.I6I<:Ia FBIJIRIZI0 =bI0 =jIr(5*F- ?2F) :F) BF- `5JF) G m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725761G B O- >Sf6sw,̽A >u@Y> >>ó;9>d\>y>H?r?r??˿Yxv-V?B?ɨ>u@>)Њ;>CyNBNy(IIVIVHo4٢^`e= ^a=9^;Q b>`` bG٣`yfM2= f> jNusing accuracyPremultiplier from confighn!59jG0?n!5Yj@_0 ij-Bpr=rm@j Ej|;j4;j)!5t v:@x B*** querying acoustic contact ***j j Zj!%FNOT Ignoring new targets: 391.70 m.Bj%n Jj-n 5 ProNav: ac range: 391.700012 m, nav range: 33.895649 m, bearing: 213.306560 deg, approach rate: 0.526153 m/s, LOS rate: -0.491102 deg/s, cmd heading: 4.965393 deg, new cmd heading: 4.429497 deg. 2j=EHeadingCmd: 0.077309 target range: 391.700012 and range: 391.70 m. jEXT=jAjAjAiAhIhIhIhIfQfQfQrfQbfU@ɛB՞= 隍!?I <ɚiI! $?I 6;96S>y6HA?`75@v? #? +?`Kɿ`~JF?RQ?ɨ64@6Ȋ;6CyFBF{(I)H HLLIRIR<4٢Zv; ZK=9^;Q ^>\` bG٣b}IGyb\< b> jNusing accuracyPremultiplier from configdj!59f[0?n!5Yf^0 if-Bln=nm@f Ef;fS;f-!5p v!@vEZj9EFNOT Ignoring new targets: 391.70 m.BjE*JjE*U ProNav: ac range: 391.700012 m, nav range: 34.109314 m, bearing: 213.111166 deg, approach rate: 0.523988 m/s, LOS rate: -0.476178 deg/s, cmd heading: 4.429497 deg, new cmd heading: 3.847008 deg. 2jUfeHeadingCmd: 0.067143 target range: 391.700012 and range: 391.70 m. je?=jajajiiihihihihqfqfqfqrfybf) @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233071ɛEBE= qu ?Iy <ɚiI:M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:22:07:46.7701 U TRx dataTimestamp_ set to:1736374068.128614] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482391mxCsw,TͽA I:N@Y: >:R)$<9:aG>y:H?`g@D?`&)?@?@_ȿ?d?ɨ:N@:8;8yfBf(IeMb@Mb@Mb@aaa a)aYejt?{GzI +ye ?e#e94e A e@)e;@Iaaye@I}I}t4٢&= ==97;Q > G٣y; > Nusing accuracyPremultiplier from config!59r0?!5Y]0 i-B ?:Z=m@ EI;%;0!5 @EZjFNOT Ignoring new targets: 391.70 m.BjKJjK  ProNav: ac range: 391.700012 m, nav range: 34.352802 m, bearing: 212.912322 deg, approach rate: 0.570554 m/s, LOS rate: -0.462636 deg/s, cmd heading: 3.847008 deg, new cmd heading: 3.254728 deg. 2j  HeadingCmd: 0.056806 target range: 391.700012 and range: 391.70 m. jh=jjH} >Iy I}(II}-BIy&Iy.Iy6I}ư<:I}e FjihhhhBfffrfbf @ɛuBuW= qu=$?Iq }<ɚyiyI}xzK)K-h9K)K-M K-   RK= ?JK=?e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:07:46.7701 LVL= 19232, 32753, 29426, 32755, AGC= 71, IDX= 435,-0.14,-2.699, 1.961, 2.465, 2.835, PHS= 0.837,-0.828,-0.373, RAW= 105.3, 4.9, CAL= 115.9, 2.6, ROT= 34.1, -2.6  Ygot valid direction response: 22:07:46.7701 LVL= 19232, 32753, 29426, 32755, AGC= 71, IDX= 435,-0.14,-2.699, 1.961, 2.465, 2.835, PHS= 0.837,-0.828,-0.373, RAW= 105.3, 4.9, CAL= 115.9, 2.6, ROT= 34.1, -2.6  PDAT read: Bearing 34.1, -2.6 (Local)  ~Local bearing/azimuth received: Bearing 34.1, -2.6 (Local)  DAT read: Range 10 to 50 : 390.6 m (Round-trip 520.9 ms) speed 0.2 m/s  ,DAT read: user:2323> Jsw,| *ͽABDAT read: Tx time:22:07:47.8950 "$Ping request sent."3 Wɿ\Eݔÿjj?yLC K r)IGiEV?S>?%= (v@)9=I:\?i9P ?3 &пz"u?)Iwcix1U:publishing transmit ping timeUFpublishing direction and range info9>3 Wɿ\Eݔÿjj?y )Ii )IiP ?3 &пz"u?)Ii U$?IQyB(IBAII<4٢mq; m&=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config!590?!5Y\0 i-Bm@ E::25!5 @!kLx?k_> k k(ͽA:kLCBkCZk}@"v{;S{vQN[Vfw@>3 Wɿ\Eݔÿjj?JkxRk1*:LVara`CQ{v@*8P¿Dw_,׿w?"kn *kak3Vr?k{> 2kCk~m"?k!J=5 k CkUBkPm@ addTargetRange:: Added new target pos. range: 390.600006 m, deltaT: 4.031066 s, deltaX: -1.100006 m, approachRate: -0.272882 m/s, rangeRepo size: 4  Added new target pos. range: 390.600006 m, bearing: 248.238497 deg, lat: 36.901885 deg, lon: -122.123085 deg, deltaT: 4.031066 s, deltaX: -1.100006 m, approachRate: -0.272882 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 390.60 m.BjJj% ProNav: ac range: 390.600006 m, nav range: 66.667389 m, bearing: 229.947669 deg, approach rate: 0.000000 m/s, LOS rate: -0.462636 deg/s, cmd heading: 3.254728 deg, new cmd heading: 2.538856 deg. 2j!-HeadingCmd: 0.044311 target range: 390.600006 and range: 390.60 m. j-5=j)j)j)i1h1h1hQhYfYfYfYrfeix@bfe@X?ɛB= 隭a#?I =ɚiIq-Qsw,DͽAF!K@YFX >Fц<9F(>yFHR?Ȋby?Q?JK? Ŀ@ ڐP?я?ɨF!K@Fk;FCyB%(IWill construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}V-? rh? G٣~IGyi > Nusing accuracyPremultiplier from config!590?!5Y[0 i-B?:'>m@ E;M;8!5 V@EZj  FNOT Ignoring new targets: 390.60 m.BjɻJjɻ% ProNav: ac range: 390.600006 m, nav range: 66.845901 m, bearing: 229.816852 deg, approach rate: 0.482446 m/s, LOS rate: -0.352601 deg/s, cmd heading: 2.538856 deg, new cmd heading: 2.147458 deg. 2j%q-HeadingCmd: 0.037480 target range: 390.600006 and range: 390.60 m. j-؄=j)j)j)i)h)h1h1h5Bf1f9f9rf9bf=֗?ɛuBu4֣= qu#?Iq }k=ɚyiyI} H9I9 I=(II=ABI=1 =&I9.I96I=<:I=Z F Will construct direction to contact in vehicle frame from tetrahedron phase data.PWsw,^ͽA>+*@Y>9>>=<9>e>y>H?@ ?T?0m?W甿@q??ɨ>+*@>>; ?  Nusing accuracyPremultiplier from config!59+0?!5YZ0 i-Bu#>m@ E;zKFLKs9KKN K;;!51 5F@5EMB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 390.60 m.BjeJjeu ProNav: ac range: 390.600006 m, nav range: 67.006859 m, bearing: 229.698699 deg, approach rate: 0.463099 m/s, LOS rate: -0.339127 deg/s, cmd heading: 2.147458 deg, new cmd heading: 1.793855 deg. 2juh}HeadingCmd: 0.031309 target range: 390.600006 and range: 390.60 m. j}==jyjjihhhhfffrfbf?JJJJJl:J:JJJ;aJ;aJyE;aJyE;aɛBf= Q#?I qA=ɚiI! $?Iz]sw,xͽA&Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229050 @YU>A<9?>yHu?@* G٣ybv >  Nusing accuracyPremultiplier from config !59 ^0?!5Y Y0 i -B?:>,>m@  E ; : ?!5! %&@!ZjQ]FNOT Ignoring new targets: 390.60 m.Bj]Jj]u ProNav: ac range: 390.600006 m, nav range: 67.239265 m, bearing: 229.532365 deg, approach rate: 0.463638 m/s, LOS rate: -0.330679 deg/s, cmd heading: 1.793855 deg, new cmd heading: 1.296593 deg. 2jub}HeadingCmd: 0.022630 target range: 390.600006 and range: 390.60 m. j}*b<jyjyjyiyhhhhBfffrfbf@d?*J4="JR=ɛćB= "?I  =ɚiIS &Y vAy 1Bddsw,mͽA6@Y6=6֫<96Ȋ=y6H?qھՖ?? ?@`ܽ??ɨ6@6_;6CyN BLIVIV%x4٢^w b=9bkIp Ir(IIrLBIr2 =&Ip.Ip6Ir<:IrN F ~Nusing accuracyPremultiplier from configh!59j_0?!5YjX0 ij-B  (>m@j EjJ;jI;jB!5 0@EZjAEFNOT Ignoring new targets: 390.60 m.BjMJjM ProNav: ac range: 390.600006 m, nav range: 67.377472 m, bearing: 229.433499 deg, approach rate: 0.454953 m/s, LOS rate: -0.324783 deg/s, cmd heading: 1.296593 deg, new cmd heading: 1.000606 deg. 2j^HeadingCmd: 0.017464 target range: 390.600006 and range: 390.60 m. jb<jjjihhhhfffrfbf ”?ɛeŇBe8*= im!?Ii =ɚiI zKKK9KKO K$4HZlxJJJ/JJL:J:J(N3JJN;JO;JC;JC;RK?JK> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984263jsw,l?ͽA^x@Y^=^=9^==y^H`? \:?`"??j3@??ɨ^x@^A;^Cy%B%(II5I54٢EH EB=9M2EII MG٣UIGyU3 U> aIa mNusing accuracyPremultiplier from configi}!59m0?!5YmW0 im-B!>m@m EmAp;m`;mCF!5 @ZjFNOT Ignoring new targets: 390.60 m.BjľJjľ ProNav: ac range: 390.600006 m, nav range: 67.571564 m, bearing: 229.293612 deg, approach rate: 0.464149 m/s, LOS rate: -0.333564 deg/s, cmd heading: 1.000606 deg, new cmd heading: 0.582157 deg. 2jdHeadingCmd: 0.010161 target range: 390.600006 and range: 390.60 m. jzx&<jjjihhhhfffrfbf&@ɛ%LJB%:s= )-F?I) - =ɚ)i)I-tqsw,TͽA:@Y: =:+=9:=y:H?b ? I ?@?ӷ1ģ ? ?ɨ:@:;:CyTTiZ=IZp< ^a=^a=MMb@Mb@Mb@III I)IYM +?:v?y&1yM?M G٣y > Nusing accuracyPremultiplier from config!591?!5YV0 iy-B?:>m@ E;;I!5 @EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487720ZjFNOT Ignoring new targets: 390.60 m.Bj޶Jj޶  ProNav: ac range: 390.600006 m, nav range: 67.755241 m, bearing: 229.161809 deg, approach rate: 0.446811 m/s, LOS rate: -0.319751 deg/s, cmd heading: 0.582157 deg, new cmd heading: 0.187828 deg. 2j q[ HeadingCmd: 0.003278 target range: 390.600006 and range: 390.60 m. jOV;jjjihhhhBfffrfbfb@ɛʇB)= ?I 3 =ɚ!i!I%#{wsw,ͽA:+@Y:=:4=9:p=y:H ? :`.?D?a? ~U%?Y?ɨ:+@:o;8yBBB}(IININ4٢Z91 ZX=9^]f`` bG٣`yb f> jNusing accuracyPremultiplier from configdj!59f:1?n!5YfU0 ifj-Bln>nm@f# Ef ;f2 ;f'M!5t v @vEzK]NK]h9KYK]P K]zwvwvrrspnkihgced\N@72.+),++,(%(%#$#$# BKepA:KaJJJ0JJ:J:Jـ3JJ;J;JZ;JZ;B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 390.60 m.BjlJjl ProNav: ac range: 390.600006 m, nav range: 67.924362 m, bearing: 229.038558 deg, approach rate: 0.426749 m/s, LOS rate: -0.310230 deg/s, cmd heading: 0.187828 deg, new cmd heading: 359.819000 deg. 2jTHeadingCmd: 6.280026 target range: 390.600006 and range: 390.60 m. j@jjjihhhhfffrfbfJu@ɛmˇBm<= 隕?I =ɚiI!}sw,ͽAWill construct direction to contact in vehicle frame from tetrahedron phase data.Y>4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243973=@Y=X==K=9=W=y=H@?@ج?U??Ҳz_?@?ɨ=@= ً;9yBr(II]I]4٢ 0=9cK  G٣5IGyE쯼 M> uNusing accuracyPremultiplier from configq}!59uR.1?}!5YuT0 iuU-B >m@u( Eu*:u:upQ!5 @ZjFNOT Ignoring new targets: 390.60 m.Bj쾻Jj쾻- ProNav: ac range: 390.600006 m, nav range: 68.141296 m, bearing: 228.878324 deg, approach rate: 0.453411 m/s, LOS rate: -0.333836 deg/s, cmd heading: 359.819010 deg, new cmd heading: 359.339851 deg. 2j5e5HeadingCmd: 6.271664 target range: 390.600006 and range: 390.60 m. j5x@j9j9j9i9h9h9hAhAfAfifirfibfmR @ɛ·B:m= 隽?I =ɚiIxsw,~νAH>>I< I>(II>ABI<&I<.I<6I>Ӱ<:I>i FBI=CJI=CRI9ZI=2 =bI=2 =jI=5NHp@YN=NOLb=9N-=yNH?qn@"?@r?,?E@??ɨNHp@N ;NCyZBZu(I\\EMb@Mb@Mb@AAA A)AYEn?/$?:vyE?Eyy }G٣yy ?  Nusing accuracyPremultiplier from config -!59 ?1?5!5Y IT0 i E-B5&?5:5=5m@ + E ^; A; T!59 Ej@EEZjiuFNOT Ignoring new targets: 390.60 m.Bju&Jju& ProNav: ac range: 390.600006 m, nav range: 68.296700 m, bearing: 228.759507 deg, approach rate: 0.438149 m/s, LOS rate: -0.334235 deg/s, cmd heading: 359.339859 deg, new cmd heading: 358.984223 deg. 2jaeHeadingCmd: 6.265457 target range: 390.600006 and range: 390.60 m. j~@jjjihhhhBfffrfbf`e-@%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747907ɛχB+|= .?I =ɚiI  BDAT read: Tx time:22:07:51.8950  $Ping request sent.  `direction in FSK: [-0.166607,-0.142708,0.975642] :publishing transmit ping timeع  Fpublishing direction and range info 9 ގrdSſD=D¿`Dt8?y C PP qw \) I Di ? oc ^ɾۊsw,P-νAt?d= .@)+H G٣yļ > Nusing accuracyPremultiplier from config!59T1?!5YS0 i0-BIU=Um@/ El<l<TX!5a e;@eEk̵j%?k8 k k*νA:kCBkKCZk@" ,7P,K}w@ގrdSſD=D¿`Dt8?JkSRk*9:Bt+7Tyw@Su2!c˿|m?"k*kkqT%?k8 2k~Ckk8 k~CkBk݆@ addTargetRange:: Added new target pos. range: 389.299988 m, deltaT: 4.032344 s, deltaX: -1.300018 m, approachRate: -0.322398 m/s, rangeRepo size: 4  Added new target pos. range: 389.299988 m, bearing: 246.361293 deg, lat: 36.901885 deg, lon: -122.123443 deg, deltaT: 4.032344 s, deltaX: -1.300018 m, approachRate: -0.322398 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 389.30 m.BjJj ProNav: ac range: 389.299988 m, nav range: 94.804108 m, bearing: 241.475493 deg, approach rate: 0.000000 m/s, LOS rate: -0.334235 deg/s, cmd heading: 358.984224 deg, new cmd heading: 358.516430 deg. 2jHeadingCmd: 6.257292 target range: 389.299988 and range: 389.30 m. j;@jjjihhhhfff!rf%Tx@bf%Pl?ɛ}чB}ʒ= y隅 ?I =ɚiIAÑsw,fGνA:@Y:1\=:P=9:Ђ=y:H"?I α?4s?`Y?Ϯ 7 N?E?ɨ:@:J;:CyB[(IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y㥛 ?Q?:vy?u<@ C@)~@IC@y@IMuIMaO4٢% I=9V G٣IGy > 5Nusing accuracyPremultiplier from config)5!59-sw,>aνAB]@YB.=BV=9Bu~=yBHW?ஏ?@qȥ?@ I] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231116sw,6{νA6@Y6=6.z=96 z=y6H$?C?M??` B? ?ɨ6@6Y;6Cy ЈBH(II%tI%M4٢= EB=9]"iq uG٣yycͼ > ]Nusing accuracyPremultiplier from config}!59`1?!5YZR0 i,Bq=m@: EV<R<b!5 %@AZjFNOT Ignoring new targets: 389.30 m.BjוJjו ProNav: ac range: 389.299988 m, nav range: 95.172958 m, bearing: 241.128875 deg, approach rate: 0.274159 m/s, LOS rate: -0.262003 deg/s, cmd heading: 357.860931 deg, new cmd heading: 357.477957 deg. 2j3HeadingCmd: 6.239167 target range: 389.299988 and range: 389.30 m. jB@jjjihhhhff!f!rf!bf%@fR?JaJeJe/JaJaJe :Je(N3Jaam@am@am@am@ɛՇBNJ= >I =ɚiI!vsw,ԔνAH>I I(IIBI&I.I2D6I<:Is Fy-ɈB-?(IMb@Mb@Mb@ )Y> ףp=?~jt?~jty?D<D@ )@I-@y@I5I5d4٢EZ E<=9MQ M>IQ UG٣UIGyU U> ]Nusing accuracyPremultiplier from configYe!59]1?m!5Y]R0 i],Bm?u:u^=um@]> E]3;]1;]If!5y }5@}EZjFNOT Ignoring new targets: 389.30 m.BjԾJjԾ ProNav: ac range: 389.299988 m, nav range: 95.300644 m, bearing: 241.006151 deg, approach rate: 0.347630 m/s, LOS rate: -0.333674 deg/s, cmd heading: 357.477949 deg, new cmd heading: 357.110276 deg. 2jdHeadingCmd: 6.232750 target range: 389.299988 and range: 389.30 m. jr@jjjihhhhmBfff%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735174rfbf]Q?ɛևBk= 隕r>I =ɚiI**F ?2F :F BF 3JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987717 $?I G @Z=GBO>}\sw,سνA:1:@Y:T;:]W=9:y=y:H ?jP`?|??x@㶿 /)??ɨ:1:@:C;:CyBˆBB6(IHJAININ4٢VN V==9Z=Q Z>XX ^G٣\y^k ^> fNusing accuracyPremultiplier from config`f!59bD1?f!5YbQ0 jtIib,Bhj<jn@bB Eb2;b{;bj!5p v@vEZj FNOT Ignoring new targets: 389.30 m.BjJj- ProNav: ac range: 389.299988 m, nav range: 95.425949 m, bearing: 240.879633 deg, approach rate: 0.289748 m/s, LOS rate: -0.292169 deg/s, cmd heading: 357.110266 deg, new cmd heading: 356.731214 deg. 2j-H5HeadingCmd: 6.226134 target range: 389.299988 and range: 389.30 m. j5~<@j1j1j1i1h1h1h9h9f9f9fArfAbfE@|@ɛ؇B X= >I ϛ=ɚiI;J%J%J%0J!J%,:J% :J%ـ3J!m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4912509sw,]νAZ.~Gd pIpx =YAyEl Be@Ye%9ep=9eQ=yeH? 7y? ?`$?@?@``? G?ɨe@e;eCyuB}-(I Mb@Mb@Mb@    ) Y B`"?{Gzt?99 =G٣9yEz E> MNusing accuracyPremultiplier from configIU!59MY1?U!5YMQ0 iM,B]?e:e:(<en@MF EM:b;M`;Mn!5i m@iZjFNOT Ignoring new targets: 389.30 m.Bj٤Jj٤ ProNav: ac range: 389.299988 m, nav range: 95.550194 m, bearing: 240.749318 deg, approach rate: 0.275174 m/s, LOS rate: -0.288242 deg/s, cmd heading: 356.731218 deg, new cmd heading: 356.340790 deg. 2j-E5HeadingCmd: 6.219320 target range: 389.299988 and range: 389.30 m. j5@j1j9j9i9h9h9hAhExBfAfAfArfIbfM:@ɛهB]x= 隽>I 6@=ɚiI؉IC I(IIBI2 =&I.I6I:Iu Fi,4=) @) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743179EM<*F ?2F :F BF JF "G =G >zK= MK9 K9 K= T K=  +.+)(%&$!" ! G-s=G=qAG9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995313GBO->Ϻsw,XXνAr@Yrz@r=9rmɐ=yrH`w?7?ܸ?a }?@B ?N?ɨr@r~؉;p ~$?I|yB(III҅4٢%K -0=9-11 =G٣=IGyEr M> eNusing accuracyPremultiplier from configam!59e/1?m!5YeQ0 ie,BiuE;un@eJ Ee,;eDA;er!5 ѡ@EB*** querying acoustic contact ***jjZj-FNOT Ignoring new targets: 389.30 m.Bj5NJj5N ProNav: ac range: 389.299988 m, nav range: 95.677757 m, bearing: 240.614160 deg, approach rate: 0.273166 m/s, LOS rate: -0.289043 deg/s, cmd heading: 356.340777 deg, new cmd heading: 355.935850 deg. 2j^FHeadingCmd: 6.212253 target range: 389.299988 and range: 389.30 m. j@jjjihh h h fffrfbf@& @ɛ]ڇBeʅ= e=隅>I =ɚiIז(sw,-!ϽAN@YN@Nl=9N=yNH?@?0?3?`-?տ?ɨN@N;NCynBr (Iiv4>IvR= v=v=uMb@Mb@Mb@qqq q)qYuʡE?Mbyu?uuu@ u@)u3@Iu-@qyu\@II4٢ D=9 G٣ya > Nusing accuracyPremultiplier from config!591?!5YQ0 ih,B?:An@N E ;y;u!5 آ@EuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499201ZjFNOT Ignoring new targets: 389.30 m.BjJj ProNav: ac range: 389.299988 m, nav range: 95.788666 m, bearing: 240.493269 deg, approach rate: 0.252954 m/s, LOS rate: -0.275403 deg/s, cmd heading: 355.935856 deg, new cmd heading: 355.573607 deg. 2j=HeadingCmd: 6.205930 target range: 389.299988 and range: 389.30 m. j@jjjih h h h{Bfffrfbf @ $?Iɛ]ۇB]= Y]w>Ia G!=ɚiI'I  I b(II BI &I .I 6I <:I  F- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751499G 4=G B O >sw, !ϽAj]@Yj*m@j/=9jCҙ=yjH`?J?G??S9 ?`?`R?ɨj]@j*;jCyvBv(II~I~{4٢   S=9M;Q > G٣y4 > -Nusing accuracyPremultiplier from config!=!59%2?=!5Y%Q0 i%N,B9=ܙ=n@%Q E%N;%N;%y!5I MB@IZjiuFNOT Ignoring new targets: 389.30 m.Bj}ݲJj}ݲ ProNav: ac range: 389.299988 m, nav range: 95.891479 m, bearing: 240.380002 deg, approach rate: 0.284193 m/s, LOS rate: -0.312751 deg/s, cmd heading: 355.573610 deg, new cmd heading: 355.234178 deg. 2jVHeadingCmd: 6.200006 target range: 389.299988 and range: 389.30 m. jsf@jjjihhhhfffrfbf<@ɛ܇Bʋ= .>I @"=ɚiI{gJKu>*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:07:54.8154 LVL= 14144, 28817, 19058, 27731, AGC= 66, IDX= 419, 0.02,-2.970, 1.251, 1.588, 2.055, PHS= 1.346,-0.757,-0.470, RAW= 97.2, -1.2, CAL= 105.8, -6.7, ROT= 44.2, 6.7 5Ygot valid direction response: 22:07:54.8154 LVL= 14144, 28817, 19058, 27731, AGC= 66, IDX= 419, 0.02,-2.970, 1.251, 1.588, 2.055, PHS= 1.346,-0.757,-0.470, RAW= 97.2, -1.2, CAL= 105.8, -6.7, ROT= 44.2, 6.7 =PDAT read: Bearing 44.2, 6.7 (Local) =~Local bearing/azimuth received: Bearing 44.2, 6.7 (Local) MDAT read: Range 10 to 50 : 387.2 m (Round-trip 516.3 ms) speed 0.3 m/s u,DAT read: user:2325> }BDAT read: Tx time:22:07:55.8950 }$Ping request sent.}Iځiځځځۅvb?vVؿLӸlΕ)ہIہiہہہہsw,#:ϽA @61@Y6@@6=96=x=y6H 1?(?qٺ?`%ę'?ypȬ? n?ɨ61@6 ;6CyNBN'IIVIV4nWill construct direction to contact in vehicle frame from tetrahedron phase data.٢v_ vM=9v.;Q v>xx zG٣zIGy] > %Nusing accuracyPremultiplier from config!-!59%2?-!5Y% R0 i%1,B)-?Ƽ5n@%U E%Q:%:%|!5y }@}Ek f6?k\/4 k k,ϽA:kCBkACZkѠ@"[8!'<}vaSh!x@~NS G?Jk8Rkg*)'(@FVaVBKPFqx@xc3?f1w{?"kR*k DAk##6?k/64 2kCkkkkBk0@  addTargetRange:: Added new target pos. range: 387.200012 m, deltaT: 4.031663 s, deltaX: -2.099976 m, approachRate: -0.520871 m/s, rangeRepo size: 4 e Added new target pos. range: 387.200012 m, bearing: 287.945588 deg, lat: 36.901885 deg, lon: -122.123443 deg, deltaT: 4.031663 s, deltaX: -2.099976 m, approachRate: -0.520871 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 387.20 m.BjmJji ProNav: ac range: 387.200012 m, nav range: 95.997841 m, bearing: 240.262005 deg, approach rate: 0.000000 m/s, LOS rate: -0.312751 deg/s, cmd heading: 355.234177 deg, new cmd heading: 354.837555 deg. 2jMHeadingCmd: 6.193084 target range: 387.200012 and range: 387.20 m. jM-@jIjQjQiYhYhhhfffrf@33x@bf .?ɛ݇BJJJJJL:J:JJCx= >I #=ɚiI$sw,UϽAZH8RH:@AH<I< I><(II>ȈBI<&I<.I<6I>˰<:I>g FBI9JI9RI9ZI9bI9jI= =56M@Y6@6b=96=y6H? Gk?@8 ? p?@λ ??ɨ6M@6z4;6CybBb'I)x xxzAMb@Mb@Mb@ )YGz?QMby?uI@ )v@IC@yG@I]I]4٢ 0=9HJ;Q > G٣yrK > Nusing accuracyPremultiplier from config!5902?!5YoR0 i,B?:agn@Y E9;I8;!5 d@ EWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj!%FNOT Ignoring new targets: 387.20 m.Bj-Jj-] ProNav: ac range: 387.200012 m, nav range: 96.114067 m, bearing: 240.123380 deg, approach rate: 0.242932 m/s, LOS rate: -0.289397 deg/s, cmd heading: 354.837562 deg, new cmd heading: 354.422200 deg. 2jeFeHeadingCmd: 6.185834 target range: 387.200012 and range: 387.20 m. je[@jijijiiihihihqhuBfqffrfbf ?ɛI= ]>I 6$=ɚiI)rB>'IIFIFa4٢RW R+=9Rwc;Q V>TT ZG٣ZIGyZc Z> ^Nusing accuracyPremultiplier from config\b!59^F2?b!5Y^R0 i^+Bdf7fn@^] E^v;^ ;^Ȅ!5h j@lzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 387.20 m.Bj 㸻Jj 㸻 ProNav: ac range: 387.200012 m, nav range: 96.231758 m, bearing: 239.981715 deg, approach rate: 0.268905 m/s, LOS rate: -0.323285 deg/s, cmd heading: 354.422204 deg, new cmd heading: 353.997737 deg. 2j]HeadingCmd: 6.178426 target range: 387.200012 and range: 387.20 m. j@jjjihhh)h)f)f)f)rf1bf5-?ɛ}އB}W4s= y}>IyWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. /%=ɚiI==] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480703G B O > Q IQ (&sw,gϽA2@Y2$@2=92`=y2H?`i?Is?`w(?@{*@3ٵ??ɨ2@2ۉ;0y>XB>'I=Mb@Mb@Mb@999 9)9Y=tV?~jty=?=̼=D9 =@)=AI=p@9y=@IUIU4٢eY e?=9m*;Q m>ii mG٣qyu. u> Nusing accuracyPremultiplier from configy!59}<[2?!5Y}jS0 i}+B?:}n@}a E}f<}<}!5 >@EZjFNOT Ignoring new targets: 387.20 m.BjJj  ProNav: ac range: 387.200012 m, nav range: 96.335396 m, bearing: 239.851001 deg, approach rate: 0.239517 m/s, LOS rate: -0.301767 deg/s, cmd heading: 353.997749 deg, new cmd heading: 353.606036 deg. 2j OHeadingCmd: 6.171589 target range: 387.200012 and range: 387.20 m. j}@jjjihhh!h%mBf!f!f)rf)bf- S?H] >IY I](II]BI]1 =&IY.IY6I]ְ<:I]q Fɛu߇Bus>Iy }S&=ɚyiyI,sw,ϽA n$?Ip=5a@Y=p@=O=9=t=y=Hh??\?é?3 Lb`?I?ɨ=5a@=;9ymFBm'I ua=ua=I}I}4٢蠽 7=9;Q > G٣y. > Nusing accuracyPremultiplier from config!59p2?!5Y T0 i+BȽn@e E::m!5 ^@EZjIUFNOT Ignoring new targets: 387.20 m.BjU$JjU$ ProNav: ac range: 387.200012 m, nav range: 96.442451 m, bearing: 239.713958 deg, approach rate: 0.235397 m/s, LOS rate: -0.300999 deg/s, cmd heading: 353.606024 deg, new cmd heading: 353.195359 deg. 2jNHeadingCmd: 6.164422 target range: 387.200012 and range: 387.20 m. jB@jjjihhhhfffrfbf@ɛ!%\= !-TN>I) -jf'=ɚ)i)I-1sw,hyϽAy5)B5y'IMb@Mb@Mb@ )YI +?l/$y9?A @)zAIC@y@IIݜ4٢ EE=9EQ U>YY ]G٣]IGy] e> mNusing accuracyPremultiplier from configiu!59m2?u!5YmT0 im+Bu?u:u佑un@mi EmD;ms;m)!5 7@ZjFNOT Ignoring new targets: 387.20 m.Bj Jj  ProNav: ac range: 387.200012 m, nav range: 96.541969 m, bearing: 239.580911 deg, approach rate: 0.239752 m/s, LOS rate: -0.320199 deg/s, cmd heading: 353.195366 deg, new cmd heading: 352.796640 deg. 2j[HeadingCmd: 6.157463 target range: 387.200012 and range: 387.20 m. j @jjjihhhhaBfffrfbf`@ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487880ɛ)-P= -#2=->I) 5f'=ɚ9i9I=z Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739987sw,\>ϽA>@Y>c@>6=9>ц=y>HD? ??pݮ {? &(`*C??ɨ>@>g;dd fG٣dyj j> nNusing accuracyPremultiplier from configlr!59n2?r!5YnfU0 in^+Bpvvn@nl EnX;nh;n;!5x z}@zEZj)-FNOT Ignoring new targets: 387.20 m.Bj5yJj5yE ProNav: ac range: 387.200012 m, nav range: 96.622299 m, bearing: 239.471286 deg, approach rate: 0.227582 m/s, LOS rate: -0.310318 deg/s, cmd heading: 352.796647 deg, new cmd heading: 352.468051 deg. 2jMTMHeadingCmd: 6.151728 target range: 387.200012 and range: 387.20 m. jM@jQjQjQiQhQhQhYhYfafafarfabfe4@ɛBG= 隕=I *(=ɚiI9%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991776 Isw,ϽAB߿@YB@Bf=9B]=yBHw? ?Ի? 갿?@@|`L?`̪?ɨB߿@B |;@y^B^I'I)` `ddIjIjt4٢r rH=9rQ v>tt vG٣tyz+j ~> ]Nusing accuracyPremultiplier from configYe!59]2?e!5Y]5V0 i]7+Bammn@]p E]*:]:]!5q u@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:07:58.8136 TRx dataTimestamp_ set to:1736374079.973778checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245974B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 387.20 m.BjtJjt ProNav: ac range: 387.200012 m, nav range: 96.717651 m, bearing: 239.339917 deg, approach rate: 0.225438 m/s, LOS rate: -0.310285 deg/s, cmd heading: 352.468060 deg, new cmd heading: 352.074347 deg. 2jTHeadingCmd: 6.144856 target range: 387.200012 and range: 387.20 m. j@jjjihhhhfffrfbfbS @ɛ15y:= 15 =I9 =d(=ɚ9i9I= ,- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495718)A A $?I ~G- |uAA Y |uAy ! Btw,нA>@Y>s@>=9>W=y>H???`X2?10`N@?`?ɨ>@>';It Iv'IIvHBIv1 =&It.It6Iv <:Iv FEMb@Mb@Mb@AAA A)AYE +?{GzQyE?EףEEhA E@)EAIE@AyE @ImIm4٢u³ }A=9}ںQ > G٣IGyY > Nusing accuracyPremultiplier from config!592?!5YW0 i +B\?: Qn@t E;;!5 @~EZjFNOT Ignoring new targets: 387.20 m.Bj#Jj# ProNav: ac range: 387.200012 m, nav range: 96.796173 m, bearing: 239.205110 deg, approach rate: 0.182598 m/s, LOS rate: -0.313232 deg/s, cmd heading: 352.074340 deg, new cmd heading: 351.670255 deg. 2jVHeadingCmd: 6.137804 target range: 387.200012 and range: 387.20 m. jh@jjjihhhhEBff f rf bf-H @ɛQ]0= Y]p  BDAT read: Tx time:22:07:59.8951  $Ping request sent. = = ?= = NY?)= ¸I= 9 tw,߇4нAZy@YZ@Z=9ZT=yZH`ѱ?`?wG?гu?\A1?K?ɨZy@Z?;ZCyfӇBf'Iij=Ij<IrIr.4٢ ,=9`Q >  G٣yj9 > %Nusing accuracyPremultiplier from config!M!59%2?U!5Y%%Y0 i%*BQUVUn@%y E%;%;%!5Y ]@e{Ekj?O5?k8=3 k k.нA:kCBkCZk@"/@noBx@XT|lI[n?JkGRkN὿*"zB@8AFx@x?P ڶt?"k *k@k>T5?kp3 2k CkqT%?kkkUBk@= addTargetRange:: Added new target pos. range: 385.799988 m, deltaT: 4.030712 s, deltaX: -1.400024 m, approachRate: -0.347339 m/s, rangeRepo size: 4 m Added new target pos. range: 385.799988 m, bearing: 282.388194 deg, lat: 36.901964 deg, lon: -122.123443 deg, deltaT: 4.030712 s, deltaX: -1.400024 m, approachRate: -0.347339 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 385.80 m.Bj}Jjy ProNav: ac range: 385.799988 m, nav range: 92.666870 m, bearing: 243.715645 deg, approach rate: 0.000000 m/s, LOS rate: -0.313232 deg/s, cmd heading: 351.670266 deg, new cmd heading: 351.186181 deg. 2jHeadingCmd: 6.129355 target range: 385.799988 and range: 385.80 m. j#@jjjihhh!h!f!f!f!rf-x@bf-R?ɛqu1"= qu˼Iq }b(=ɚiIIRC IRb'IIRBIR/ =&IP.IP6IR <:IR FybBb&I]Mb@Mb@Mb@YYY Y)YY]v?y&1 rhy]?]`役]C ]A ]@)]AI]@Yy]@ImIm҅4٢u =9Q > G٣y > Nusing accuracyPremultiplier from config!592?!5Y6[0 i*B?:vn@~ E;;l!5 @ZjQ]FNOT Ignoring new targets: 385.80 m.Bj]׻Jj]׻ ProNav: ac range: 385.799988 m, nav range: 92.727287 m, bearing: 243.531121 deg, approach rate: 0.123176 m/s, LOS rate: -0.375954 deg/s, cmd heading: 351.186170 deg, new cmd heading: 350.632977 deg. 2jHeadingCmd: 6.119700 target range: 385.799988 and range: 385.80 m. j@jjjihhhh+Bfffrfbf`?ɛQ8= I %u(=ɚ!i!I%ZCx tw,erнAJq@YJ,@J==9Jx4=yJH`?`I? !?궿 %?ӹx9?0?ɨJq@JN;JCyRBR&II^I^4٢b fC=9f޻Q f>hh jG٣jIGyn n> rNusing accuracyPremultiplier from configlv!59n3?v!5Yn\0 inl*Bxz|zn@n En*;n*;n!5| ~̲@~xEZjIMFNOT Ignoring new targets: 385.80 m.BjUлJjUлe ProNav: ac range: 385.799988 m, nav range: 92.774757 m, bearing: 243.379357 deg, approach rate: 0.114220 m/s, LOS rate: -0.364981 deg/s, cmd heading: 350.632979 deg, new cmd heading: 350.177929 deg. 2je{zHeadingCmd: 6.111758 target range: 385.799988 and range: 385.80 m. j@jjjihhhhf!f!f!rf!bf-`!?ɛu߇Bu= qu4Iq }'=ɚyiyI}-{o=)@)*F2F:FBF_0JFGn=GBO?>-Will construct direction to contact in vehicle frame from tetrahedron phase data."tw,JAнA:ݾ@Y:L@:J=9:3=y:H@?Ei?@gx?㸿ര? [b?ܮ?ɨ:ݾ@:TQ;:CyRBR&I)T TTVA5Mb@Mb@Mb@111 1)1Y5`"?nQ롿y5?5V5\5A 1)5AI5@1y5=@IMIM)4٢e eB=9eQ m>iq uG٣yy} }> Nusing accuracyPremultiplier from config!593?!5Y_0 i<*B.?:n@ E $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.;;Ū!5 @uEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 385.80 m.BjdһJjdһ ProNav: ac range: 385.799988 m, nav range: 92.810226 m, bearing: 243.224365 deg, approach rate: 0.084219 m/s, LOS rate: -0.367878 deg/s, cmd heading: 350.177925 deg, new cmd heading: 349.713138 deg. 2jx|HeadingCmd: 6.103646 target range: 385.799988 and range: 385.80 m. jQ@jjjihhhhBfffrfbf ?ɛIMm< 隅I "'=ɚiI)tw,XнA6@Y6 @6I=96_=y6H'?g?`۸?(?[{@??ɨ6@6Ľ;4yR}BR&IIZIZ4٢b]ҽ fU=9j~Q j>hl nG٣lynԾ r> vNusing accuracyPremultiplier from configpz!59ri*3?z!5Yra0 ir*BxzRzn@r Er:rv:r!5 @Zj)]FNOT Ignoring new targets: 385.80 m.Bje»Jje»J}J}J}0JyJ}ܫ:J}:J}ـ3JyJ};J};J}L;J}L; ProNav: ac range: 385.799988 m, nav range: 92.840988 m, bearing: 243.083469 deg, approach rate: 0.074438 m/s, LOS rate: -0.340830 deg/s, cmd heading: 349.713144 deg, new cmd heading: 349.290604 deg. 2jiHeadingCmd: 6.096271 target range: 385.799988 and range: 385.80 m. j@jjjihhhhfffrfbf m?ɛ9=O< AEBIA E!&=ɚAiAIE] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2591560tw,нA6oO@Y6^@6=96=y6HX?@0?!,?L ã? `?@?ɨ6oO@6@;6CyZhBZ&IIbIbh4٢j`ν jI=9j!Q n>ll nG٣nIGyrA r> vNusing accuracyPremultiplier from configtz!59v=3?z!5YvFc0 iv)B|~~n@v Evr;v?;v!5 ;@rEZj FNOT Ignoring new targets: 385.80 m.Bjv׻Jjv׻% ProNav: ac range: 385.799988 m, nav range: 92.872093 m, bearing: 242.934352 deg, approach rate: 0.078613 m/s, LOS rate: -0.376742 deg/s, cmd heading: 349.290601 deg, new cmd heading: 348.843410 deg. 2jMGMHeadingCmd: 6.088466 target range: 385.799988 and range: 385.80 m. jU@jQjQjQiQhQhQhYhYfYfYfarfabfe@ɛއBeQ< kI EL%=ɚAiIIM5h'6tw,нA>@Y>w'@>ܐ=9>}=y>H`?`? |?@|?Ėf n?@k?ɨ>@>A;IR<-Mb@Mb@Mb@))) )))Y-x?OnÿMby-K?---A -;@)-3AI))y-3@IEIE4٢MƼ UC=9U{Q U>QY ]G٣Yye e> mNusing accuracyPremultiplier from configiu!59mQ3?u!5Yme0 im)Bu>?u:u뻾n@m Emg m $?Ii zKm !IMKm 9Ki Km \ Km  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015215Sxx ~G٣|y~ ~> Nusing accuracyPremultiplier from config !59d3? !5Yg0 i)Bn@ E::!5 8@!ZjiuFNOT Ignoring new targets: 385.80 m.Bj}ۻJj}ۻ ProNav: ac range: 385.799988 m, nav range: 92.922722 m, bearing: 242.635464 deg, approach rate: 0.063318 m/s, LOS rate: -0.383892 deg/s, cmd heading: 348.380520 deg, new cmd heading: 347.947014 deg. 2jHeadingCmd: 6.072821 target range: 385.799988 and range: 385.80 m. jT@jjjihhhhfffrfbf @ɛy}ͭ< 隅I .$=ɚiI7J J J /J J :J :J (N3J a @a @a @a @u9Ctw,8 ѽAF'@YF@F=9F =yFH???| ?@[3S? s?ɨF'@FX;FC )I)y5RB5q&I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519263Mb@Mb@Mb@ )Y5^I ?MbX9Ŀ~jty?!ļ )I@y@IIפ4٢]ؼ -=9+Q > G٣IGy%؂ %> -Nusing accuracyPremultiplier from config)5!59-cz3?=!5Y-j0 i-^)B=x?=:=ʾ=n@- E-0;-_/;-!5A M@MmEuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 385.80 m.BjֻJjֻ ProNav: ac range: 385.799988 m, nav range: 92.946495 m, bearing: 242.458620 deg, approach rate: 0.050461 m/s, LOS rate: -0.375273 deg/s, cmd heading: 347.947021 deg, new cmd heading: 347.416643 deg. 2jŀHeadingCmd: 6.063564 target range: 385.799988 and range: 385.80 m. j@j!j!j!i!h!h!hIhMBfIfIfQrfQbfU @ɛ܇BH>I I&IIBI. =&I.I6Iİ<:Ik F;<  I  ?#=ɚ i Il  BDAT read: Tx time:22:08:03.8951  $Ping request sent. dItw,oe'ѽAyQB) IeIe4٢W g=9Q > G٣y > Nusing accuracyPremultiplier from config!5963?!5Ym0 i;)Bn@ E<W;!5) -@Qkm ?#4?kmbO1 ki km ѽA:kmsCBkmCZkmM@"m҅nAw;9@Zw@mFwv I?=d?Jkmn @Rkmt*m`g7w?\W x@m,p`Us? 8`0C?"km*km?kmN$4?kmܝe 1 2kmACkmN$4?km/64 km CkmfBkm_@ addTargetRange:: Added new target pos. range: 384.899994 m, deltaT: 3.785985 s, deltaX: -0.899994 m, approachRate: -0.237717 m/s, rangeRepo size: 4  Added new target pos. range: 384.899994 m, bearing: 287.021734 deg, lat: 36.902368 deg, lon: -122.122931 deg, deltaT: 3.785985 s, deltaX: -0.899994 m, approachRate: -0.237717 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 384.90 m.BjJj= ProNav: ac range: 384.899994 m, nav range: 36.850399 m, bearing: 272.826014 deg, approach rate: 0.000000 m/s, LOS rate: -0.375273 deg/s, cmd heading: 347.416643 deg, new cmd heading: 346.988825 deg. 2j9EHeadingCmd: 6.056098 target range: 384.899994 and range: 384.90 m. jE@jIjIjIiIhihihqhqfqfqfyrf}`fx@bf}$?ɛۇB=< ͉I A"=ɚiI\= Will construct direction to contact in vehicle frame from tetrahedron phase data.KPtw,=AѽAf@Yfb@f=9f!=yfHYv?N>?$v?`'FĿ`q?@@j;A??ɨf@f ;fCyrRBpIzxIzT4٢E;  S=9 Q  > G٣yh %> -Nusing accuracyPremultiplier from config!-!59%M3?5!5Y%o0 i%)B15־5n@% E%:%:%_!5A E@EjEZjamFNOT Ignoring new targets: 384.90 m.BjmgJjug ProNav: ac range: 384.899994 m, nav range: 36.745148 m, bearing: 272.499013 deg, approach rate: -0.292726 m/s, LOS rate: -0.912057 deg/s, cmd heading: 346.988827 deg, new cmd heading: 346.005118 deg. 2j{HeadingCmd: 6.038929 target range: 384.899994 and range: 384.90 m. j>@jjjihhhhfffrfbf ?ɛڇB|< vI ˇ!=ɚiI@)a*F?2F:FBFJFJJAAG),=JJJJJ,:J7/:JJGBO%M>NG5tA $?I A EYE5tAyE BWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH AAH >I  I &II nBI &I .I 3D6I <:I FvVtw,P[ѽAZ=ͼ@YZ@Z=9Z=yZHt?z?@#?eĿt?hu 4@?f?ɨZ=ͼ@Zu,;XyrYBrz&I}Mb@Mb@Mb@yyy y)yY}-?{Gzy}??}}#}A }h@)}IAI};@yy}@II4٢< A=9ĻQ > G٣IGyֻ > Nusing accuracyPremultiplier from config!593?!5Yq0 i(B?:!n@ E{; ;!5͒B E@iEZj FNOT Ignoring new targets: 384.90 m.Bj 9rJj 9r ProNav: ac range: 384.899994 m, nav range: 36.644325 m, bearing: 272.140528 deg, approach rate: -0.237585 m/s, LOS rate: -0.847078 deg/s, cmd heading: 346.005116 deg, new cmd heading: 344.926836 deg. 2jUHeadingCmd: 6.020109 target range: 384.899994 and range: 384.90 m. j@jjjihhhhBfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛهBW< !%€I! % =ɚ!i!I%0=IM鱆iIiU1=)U@)Q*F?2F:FBF`0JF GE [=GM ?GM > I G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK a3JK K K ^ K \tw,tѽA>-@Y>@>܎=9><{=y>Hq? ??`'ſqm?@6)?`,?ɨ>-@>;>CyZcB^&Iib=Ib99 =G٣9y=. => MNusing accuracyPremultiplier from configAM!59E 3?U!5YE7t0 iE(BQU,Un@E EEP ;E ;Ex!5a e@aZjFNOT Ignoring new targets: 384.90 m.Bj*tJj*t ProNav: ac range: 384.899994 m, nav range: 36.552063 m, bearing: 271.809806 deg, approach rate: -0.237606 m/s, LOS rate: -0.853865 deg/s, cmd heading: 344.926848 deg, new cmd heading: 343.932283 deg. 2jHeadingCmd: 6.002751 target range: 384.899994 and range: 384.90 m. j@jjjihhhhfffrfbf`?ɛ؇Bn< 0kI  =ɚiI=Ii!i%%=)%@)!*F2F:FBF0JFG=GaBqO9>Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J :J ـ3J Rctw,ЎѽA6y@Y6m@6h=962Ǡ=y6H 7j?`?w? ſ (d?mL? t?ɨ6y@6A;6C B$?I@yDF&I]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYeMb@Mb@Mb@aaa a)aYe-?{GzMb`?yaeףe;eIA e~@)aIe~@aye@I}I}W4٢Y9; E=9dQ > G٣yl > Nusing accuracyPremultiplier from config!593?!5Y+v0 i(B?:mn@ E ;;!5 @fEZjFNOT Ignoring new targets: 384.90 m.BjxJjx  ProNav: ac range: 384.899994 m, nav range: 36.471313 m, bearing: 271.449138 deg, approach rate: -0.193830 m/s, LOS rate: -0.867654 deg/s, cmd heading: 343.932291 deg, new cmd heading: 342.848026 deg. 2j HeadingCmd: 5.983827 target range: 384.899994 and range: 384.90 m. j{@jjjihhhhEBf!f!f!rf!bf%[?ɛ ׇB (< )5tgI1 5%=ɚ1i1I5=I=}Ei9i==)E{@)IHI III&I.I6I<:I; F*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G- =G5 qAG5 pAG B O- >2itw,ѽABB@@YBO@B=9Bs=yBH`?w? 8?`ƿY?@w``? )?ɨBB@@B;@yzoBz&III4٢-"q= -Q=95Q 5>9A EG٣EIGyM M> eNusing accuracyPremultiplier from configQm!59U3?m!5YUx0 iU(Bimun@U EU":UX:U!5y }۵@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 384.90 m.BjxJjx ProNav: ac range: 384.899994 m, nav range: 36.394577 m, bearing: 271.106635 deg, approach rate: -0.193992 m/s, LOS rate: -0.867680 deg/s, cmd heading: 342.848039 deg, new cmd heading: 341.818481 deg. 2jHeadingCmd: 5.965858 target range: 384.899994 and range: 384.90 m. jO@jjjihhhhfffrfbfw@ɛ ևB < MI ~=ɚiIE?=I%xi!i-=)-O@)) $?I*Fm?2Fi:FiBFm_5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKBoHKKK_ KGE-=GB O%M>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502793hptw,ѽAR@YR@R=9R6Ü=yRH T?ϻ?6?zǿQM?g?9?ɨR@RZ;RCyr~Br&I)t tII.4٢= L=9 cQ >! %G٣!y% %> 5Nusing accuracyPremultiplier from config)5!59-3?5!5Y-z0 i-(B9==n@- E- ;-? ;-!5A M@McEZjiuFNOT Ignoring new targets: 384.90 m.Bju{Jju{ ProNav: ac range: 384.899994 m, nav range: 36.316223 m, bearing: 270.759614 deg, approach rate: -0.197833 m/s, LOS rate: -0.878064 deg/s, cmd heading: 341.818484 deg, new cmd heading: 340.775298 deg. 2jHeadingCmd: 5.947651 target range: 384.899994 and range: 384.90 m. j(S@jjjihhhhfffrfbf @ɛՇBv< 0.I D=ɚiID=I1˫ii=)(S@)*F?2F:FBFm4JFJJJJJl:J :JJ aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755921G  -=G B O5 >H >I  I &II }BI &I .I 6I <:I = FBIUʙCJIUʙCRIQZIU. =bIU. =jIU4vtw,(dѽA6@Y6@6j=96&&=y6HCF??@"?`5"ɿ @?S^G`?Q?ɨ6@6{;6Cy^B^&IMb@Mb@Mb@ )YʡE?MbMb?y-?<`A @)AI@yAII44٢ = A=9SQ > G٣y > Nusing accuracyPremultiplier from config!59p4?!5Y{0 i(Bv?:/n@ E;;!5 @Zj  FNOT Ignoring new targets: 384.90 m.BjxJjx% ProNav: ac range: 384.899994 m, nav range: 36.252640 m, bearing: 270.391498 deg, approach rate: -0.149913 m/s, LOS rate: -0.869438 deg/s, cmd heading: 340.775295 deg, new cmd heading: 339.669155 deg. 2j%,-HeadingCmd: 5.928345 target range: 384.899994 and range: 384.90 m. j-@j)j)j)i)h1h1h9h=Bf9f9fArfAbfE@ɛuӇBu֮< q}p Iy }x=ɚyiyI}q=Iii=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006986*F?2F:FBF^0JFGe=G9BQO}Y> U $?IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258931zK= BHK= h9K9 K= ` K= BKM pA:KM pA6|tw,<ѽA2S@Y2jc@2=92vʌ=y2H@5??@?wkʿo2?Y ꇱ??ɨ2S@2Q3;0yBBB&IIJIJ4٢= %V=9%Q %>)) -G٣-IGy-ڼ 5> =Nusing accuracyPremultiplier from config1M!595_!4?U!5Y5-}0 i5(BQ]d]n@5 E5q;5<;5!5q u@u`EZjFNOT Ignoring new targets: 384.90 m.BjwJjw ProNav: ac range: 384.899994 m, nav range: 36.193741 m, bearing: 270.055247 deg, approach rate: -0.151395 m/s, LOS rate: -0.865710 deg/s, cmd heading: 339.669160 deg, new cmd heading: 338.658875 deg. 2jHeadingCmd: 5.910712 target range: 384.899994 and range: 384.90 m. j$@jjjihhhhfffrfbf# @ɛ҇Bh< ٽI "=ɚiInA=IŴi i @>) $@) *F?2F:FBF_0JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:08:06.8115  TRx dataTimestamp_ set to:1736374088.044622 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511927G7=GiByO> 9 IA Aփtw,ҽAy B&Ii-=I-p<eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.763676]Mb@Mb@Mb@YYY Y)YY] G٣y > Nusing accuracyPremultiplier from config!5964?!5Y7~0 i{(B?:n@ E M;J;!5 ʲ@]EZjFNOT Ignoring new targets: 384.90 m.BjJj  ProNav: ac range: 384.899994 m, nav range: 36.154881 m, bearing: 269.648763 deg, approach rate: -0.086607 m/s, LOS rate: -0.906886 deg/s, cmd heading: 338.658865 deg, new cmd heading: 337.438297 deg. 2j HeadingCmd: 5.889409 target range: 384.899994 and range: 384.90 m. j v@jjjihhh!h%Bf!f!f)rf1bf5 B@ɛ]ЇB]n= YeIa e=ɚaiaIep=IɾiiX*>) v@)H=>I=C I=&II=BI9&I9.I96I=<:I= F*F?2F:FBFJFGeC=G9ByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. %= C=M DAT read: 22:08:06.8115 LVL= 12912, 25841, 18498, 24947, AGC= 68, IDX= 410, 0.13,-0.833,-2.558,-2.675,-1.942, PHS= 1.197,-0.569,-0.736, RAW= 85.5, 1.2, CAL= 92.0, -2.5, ROT= 58.0, 2.5 U Ygot valid direction response: 22:08:06.8115 LVL= 12912, 25841, 18498, 24947, AGC= 68, IDX= 410, 0.13,-0.833,-2.558,-2.675,-1.942, PHS= 1.197,-0.569,-0.736, RAW= 85.5, 1.2, CAL= 92.0, -2.5, ROT= 58.0, 2.5 ] PDAT read: Bearing 58.0, 2.5 (Local) ] ~Local bearing/azimuth received: Bearing 58.0, 2.5 (Local) m DAT read: Range 10 to 50 : 384.2 m (Round-trip 512.3 ms) speed 0.4 m/s u ,DAT read: user:2328> u BDAT read: Tx time:22:08:07.8951 } $Ping request sent.}  G٣y*x > Nusing accuracyPremultiplier from config!59`I4? !5Y<0 iu(B  3 n@ Em;;a!51 =}@9k=d5?k=$T+ k9 k=#ҽA:k=CBk=ľCZk=q?"=$7wp6C5oQ@>F΋yw@=Lt@?H?Jk=Q:@Rk=B쭿*=pg>@:7@II@)Vw@=(ܛ^w?SA?#?"k=JJB*k=I @k=5?k=J+ 2k=VCk=5?k=p3 k9k=GBk=O@ $?I addTargetRange:: Added new target pos. range: 384.200012 m, deltaT: 4.034378 s, deltaX: -0.699982 m, approachRate: -0.173504 m/s, rangeRepo size: 4 % Added new target pos. range: 384.200012 m, bearing: 87.518115 deg, lat: 36.902392 deg, lon: -122.122896 deg, deltaT: 4.034378 s, deltaX: -0.699982 m, approachRate: -0.173504 m/s, posRepo size: 4 Zj!%FNOT Ignoring new targets: 384.20 m.BjMJjI] ProNav: ac range: 384.200012 m, nav range: 33.069752 m, bearing: 273.800725 deg, approach rate: 0.000000 m/s, LOS rate: -0.906886 deg/s, cmd heading: 337.438283 deg, new cmd heading: 336.363671 deg. 2jYeHeadingCmd: 5.870654 target range: 384.200012 and range: 384.20 m. jeeܻ@jajajaiahihihqhqfqfqfqrf}@3x@bf}@GV?ɛ·B )=  I N=ɚiIY=IY7ӾiiZf >)eܻ@)AuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:08:07.8943 zK=BoHK=9K9K=a K=  RKU?JKU>*F?2F:FBFJFG 9>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.,tw,CҽA2+@Y2T;@2׺=92M2O=y2H?p??ο@H?`"42@Щ?`{?ɨ2+@2=;0y<<IFrIFJ49NEQ N>PP RG٣RIGyV V> ZNusing accuracyPremultiplier from configX^!59ZZ4?^!5YZC0 iZo(B\b@bn@Z EZ* ;Z ;Z!5d f|@fZEvB*** querying acoustic contact ***jtjtZj|FNOT Ignoring new targets: 384.20 m.BjJj ProNav: ac range: 384.200012 m, nav range: 33.017826 m, bearing: 273.450156 deg, approach rate: -0.148874 m/s, LOS rate: -1.006678 deg/s, cmd heading: 336.363676 deg, new cmd heading: 335.310440 deg. 2j,HeadingCmd: 5.852271 target range: 384.200012 and range: 384.20 m. jE@jjjihhhhfffrfbf@B?ɛ=͇B=m+= AEIA EI=ɚAiAIE6=IMàܾiIiUs>)UE@)q*F?2F:FBF0JF"G-=G->G- > IGaBO`>}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZH) RH) H- >I)  I- &II- BI- - =&I) .I) 6I- <:I- J Ftw, ]ҽAyB&I)! !Mb@Mb@Mb@ )Yn?bX9ȶ?Zd;O?yV?E=j<A @)I@yAII4٢< <9Q > G٣y > mNusing accuracyPremultiplier from configiu!59mop4?u!5Ymހ0 imh(B}D?}:}}n@m Em;m;m!5  @WEZjFNOT Ignoring new targets: 384.20 m.BjJj ProNav: ac range: 384.200012 m, nav range: 32.980419 m, bearing: 273.004343 deg, approach rate: -0.081499 m/s, LOS rate: -0.972388 deg/s, cmd heading: 335.310433 deg, new cmd heading: 333.971737 deg. 2j&Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995176EHeadingCmd: 5.828907 target range: 384.200012 and range: 384.20 m. jEg@jAjAjAiAhAhIhQhUBfQfQfYrfYbf]`e?ɛˇB = )-PyI) -H=ɚ)i)I5 =I5=i9i=BB(>)=g@)9*F]?2Fa:FaBFe0JFaJK KA.KK"KJeJeJe/JaJel:Je9:Je(N3JaJe;Je;JeX`;JeY`; $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246847G # >GY Bi O >zK g%LK 9K K b K _PP RG٣PyVx V> ZNusing accuracyPremultiplier from configX^!59Zр4?^!5YZs0 iZc(B\^网bn@Z EZ ;Ze ;Z!5d f@dZjFNOT Ignoring new targets: 384.20 m.BjۂJjۂ ProNav: ac range: 384.200012 m, nav range: 32.948738 m, bearing: 272.668775 deg, approach rate: -0.086325 m/s, LOS rate: -0.915233 deg/s, cmd heading: 333.971744 deg, new cmd heading: 332.964179 deg. 2jHeadingCmd: 5.811321 target range: 384.200012 and range: 384.20 m. jX@jjjihh h h f ffrfbfÄ?ɛeɇBmۼ= 隕I =ɚiIU+=I'ii>)X@)*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498919G}>G9BIOew>)I I I M ~G'tw,;mҽA"tA>A Z?Y^tAy^ B=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751049EV@EY B5@Y5p@5=95q G٣IGyr߼ > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config!59Ж4?!5YP0 i[(B+::,n@ Ek8;>!5̒B @TEZjFNOT Ignoring new targets: 384.20 m.Bj-Jj-= ProNav: ac range: 384.200012 m, nav range: 32.904797 m, bearing: 272.217424 deg, approach rate: -0.097060 m/s, LOS rate: -0.998288 deg/s, cmd heading: 332.964182 deg, new cmd heading: 331.608587 deg. 2j=G+EHeadingCmd: 5.787662 target range: 384.200012 and range: 384.20 m. jE4@jAjajyiyhyhyhH>I I'IIԇBI, =&I.I4D6I<:IV Fhfff rfbf?ɛ}ȇB}= 隥਽I =ɚiI=IQiiX)>)4@)EEpA*Fu?2Fq:FqBFuU5JFyG GoAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004016G I$'>GY Bi O >IOtw,=ҽA>@Y>3@>m=9> ;H?@{?m?ňҿ?*M鲿`֖??ɨ>@>;>CyJBJ&IiNN>IN>IRIRפ4٢Zى Z`=9^)(:Q ^>`` bG٣`yb f> jbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdJ%J%J%0J!J%<:J%&:J%ـ3J!J%4;J%6;J%\;J%\;=!59f 4?=!5Yf0 ifU(BE :AEw:E: En@f Ef0s =ITii5->)?@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.IiIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255433*F]?2FY:FYBF]^0JFYzKN KKKKc KG^p(>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5069156tw,ҽA6\%@Y64@6=96BB&IIJIJ4٢RT RL=9R9Q V>TT VG٣TyZM Z> bbBottom track data is 1.2 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f!59^߹4?j!5Y^0 i^O(Bj9hjH:jjn@^ E^];^Û?^!5p r۴@rQE~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 384.20 m.BjJj% ProNav: ac range: 384.200012 m, nav range: 32.831001 m, bearing: 271.495978 deg, approach rate: -0.104489 m/s, LOS rate: -1.004623 deg/s, cmd heading: 330.606482 deg, new cmd heading: 329.442077 deg. 2j%],-HeadingCmd: 5.749849 target range: 384.200012 and range: 384.20 m. j-@j)j)j)i)h1h1h1h1fffrfbf(@ɛŇBM<  I ]=ɚiIR =Iii3>)@)*F2F:FBF_0JFJ1J5@AGZ,>GI $?IBO-N>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758975jH bH p<H >I C I I I &I .I 6I <:I A F`tw,ҽA:@Y:@:]=9:s G٣y > Nusing accuracyPremultiplier from config!594?!5Y0 i<(BT:o ?:.n@ E.';+;!5 @ZjFNOT Ignoring new targets: 384.20 m.BjJj ProNav: ac range: 384.200012 m, nav range: 32.798084 m, bearing: 271.087589 deg, approach rate: -0.076317 m/s, LOS rate: -0.947783 deg/s, cmd heading: 329.442072 deg, new cmd heading: 328.215873 deg. 2j"HeadingCmd: 5.728447 target range: 384.200012 and range: 384.20 m. jqO@jjjihhhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011349hهBfffrfbf`U=@ɛUćBUiy< QU"IQ ]W5=ɚYiYI] =IePiaie7>)eqO@)a*F%?2F):F)BF)JF)J=J=J9J9J=:J= :J9J9J=;J=;J=U;J=U; qIqGM y@,>GU ?GU ?G! B) e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263079Ou >tw,ҽAzKBoHKs9KKd K:@Y:&@:XX ZG٣ZIGy^< ^> bNusing accuracyPremultiplier from config`f!59b4?f!5Yb\0 ib+(Bdf jn@b Eb:b:b!5l nf@nNEZjFNOT Ignoring new targets: 384.20 m.Bj LJJj LJ ProNav: ac range: 384.200012 m, nav range: 32.767159 m, bearing: 270.731275 deg, approach rate: -0.082347 m/s, LOS rate: -0.949653 deg/s, cmd heading: 328.215861 deg, new cmd heading: 327.146042 deg. 2j"HeadingCmd: 5.709775 target range: 384.200012 and range: 384.20 m. j{@jjjihhhhff!f)rf)bfUH @ɛÇB5˵< JZI =ɚiI:. =Ii1i5{8>)5{@)A*Fa2Fa:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:08:10.8096 TRx dataTimestamp_ set to:1736374092.076656checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515995G=}3>GB)OEs> } $?I utw,еӽAbKy@Ybˈ@b?#=9b/;ybH{?@ϕ?~?~ֿ?UQ ?kw??ɨbKy@b;bCWill construct direction to contact in vehicle frame from tetrahedron phase data.i%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767407y}:B}T&I Mb@Mb@Mb@    ) Y Q?333333?{Gzy ? = ף 3A A)  AI  y QAI%I%.4٢5 53=9=gq:Q =>9A EG٣AyE, E> UNusing accuracyPremultiplier from configI]!59M4?]!5YMņ0 iM(B]d ?]:]Aa]n@M EM ;MP;M!5i m%@uLEZjFNOT Ignoring new targets: 384.20 m.Bj|Jj|M ProNav: ac range: 384.200012 m, nav range: 32.711555 m, bearing: 270.313972 deg, approach rate: -0.117677 m/s, LOS rate: -0.884664 deg/s, cmd heading: 327.146035 deg, new cmd heading: 325.892208 deg. 2jMUHeadingCmd: 5.687892 target range: 384.200012 and range: 384.20 m. jU6@jQjQjQiQhYhYhYh]BfafaHu>Iq Iu&IIuBIu+ =&Iq.Iq6Iuٰ<:Iu FBI5ÚCJI5ÚCRI1ZI5, =bI5, =jI5`5frfbf@ɛ ‡B Vˢ< I R=ɚiIU =I"eii5:>)56@)A*F?2F:FBF o0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:08:10.8096 LVL= 13296, 21841, 15682, 23523, AGC= 65, IDX= 422, 0.11, 0.204,-1.199,-1.825,-0.688, PHS= 0.979,-0.465,-1.140, RAW= 71.8, 6.7, CAL= 74.2, 8.5, ROT= 75.8, -8.5  Ygot valid direction response: 22:08:10.8096 LVL= 13296, 21841, 15682, 23523, AGC= 65, IDX= 422, 0.11, 0.204,-1.199,-1.825,-0.688, PHS= 0.979,-0.465,-1.140, RAW= 71.8, 6.7, CAL= 74.2, 8.5, ROT= 75.8, -8.5  PDAT read: Bearing 75.8, -8.5 (Local)  ~Local bearing/azimuth received: Bearing 75.8, -8.5 (Local) - DAT read: Range 10 to 50 : 382.7 m (Round-trip 510.3 ms) speed 0.0 m/s - ,DAT read: user:2329> 5 BDAT read: Tx time:22:08:11.8952 5 $Ping request sent.5 IV?iHY&2?[ک?)5WI+i?] :publishing transmit ping time1 e Fpublishing direction and range info9&ƿfn'?۽V?y )Ii )IiHY&2?[ک?)IiG= 6>GE rAGE rAG B O5 >vtw,ۅ,ӽAy%B%0&II5I5"4٢e eY=9mQ m>ii uG٣qyu > Nusing accuracyPremultiplier from config"595?"5Y0 i'Bn@ E;;'"5 @ $?Ike9?kC<? k k%ӽA:kYCBkCZk"?"mQa!Bc@Laiu@&ƿfn'?۽V?Jk?Rk*id(.@̄c@}u@&2i,?y?v4+?"kWC*kCqAk9?k!" 2kCk>T5?kܝe 1 kk&@k`@ addTargetRange:: Added new target pos. range: 382.700012 m, deltaT: 4.031737 s, deltaX: -1.500000 m, approachRate: -0.372048 m/s, rangeRepo size: 4  Added new target pos. range: 382.700012 m, bearing: 84.594034 deg, lat: 36.902401 deg, lon: -122.122584 deg, deltaT: 4.031737 s, deltaX: -1.500000 m, approachRate: -0.372048 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 382.70 m.Bj-Jj1u ProNav: ac range: 382.700012 m, nav range: 5.004690 m, bearing: 280.970160 deg, approach rate: 0.000000 m/s, LOS rate: -0.884664 deg/s, cmd heading: 325.892204 deg, new cmd heading: 324.868468 deg. 2jqHeadingCmd: 5.670024 target range: 382.700012 and range: 382.70 m. jp@jjjihhhhfffrf@3w@bf L?-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:22:08:11.8944 ɛ]Bev< 隅I y=ɚiI =IiibK>)p@)EzKK9KKe K*F=?2F9:F9BF=0JF9Ge p9>G9 BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data.[tw,\FӽAR-@YR=@RBL=9RZԺyRHa?~?E"?@ؿ@\w? >휿Z%?ɨR-@R+;PyZB^&Iib4=Iba=IfIf4٢nD3 nT=9r2;Q r>pp vG٣vIGyvֽ v> zNusing accuracyPremultiplier from configx~"59z5?~"5YzV0 iz'B}n@z Ez ;z ;zt"5  @ IE-B*** querying acoustic contact ***j)j)ZjAEFNOT Ignoring new targets: 382.70 m.BjMսJjMս] ProNav: ac range: 382.700012 m, nav range: 4.919375 m, bearing: 278.842761 deg, approach rate: -0.235879 m/s, LOS rate: -5.982462 deg/s, cmd heading: 324.868468 deg, new cmd heading: 318.404639 deg. 2j]MeHeadingCmd: 5.557209 target range: 382.700012 and range: 382.70 m. jeԱ@jajajaiahahihihififqfqrfqbfu`#?ɛBX; 隥ľI |=ɚiI- =Ib#i1iU;>)UԱ@)Y*F?2F:FBF05JFJJJJJܫ:J :JJa@a@a@a@Gs>> IGBO]>=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.Hu !>Iq  Iu &IIu BIu * =&Iq .Iq 6Iu <:Iu S F׮tw,9`ӽAy~ކB~%IMb@Mb@Mb@ )YB`"?y&1?~jty?`e< A) AIv@yAII34٢? ==9Q > G٣y > Nusing accuracyPremultiplier from config"59K'5?"5Y0 i'B9?:In@ E"; ;; "5 ݾ@ZjFNOT Ignoring new targets: 382.70 m.Bj% ѽJj% ѽWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995164  ProNav: ac range: 382.700012 m, nav range: 4.802783 m, bearing: 276.376963 deg, approach rate: -0.270064 m/s, LOS rate: -5.848389 deg/s, cmd heading: 318.404650 deg, new cmd heading: 310.873686 deg. 2j-z5HeadingCmd: 5.425769 target range: 382.700012 and range: 382.70 m. j5短@j1j9j9i9h9h9hAhE^BfAfAfArfIbfM`~?ɛB, < "߾I =ɚ i I s=I5ii[~>)短@)*F?2F:FBF/5JF $?IG \J>G ?G ?E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246781G B O >\tw,QzӽAzK2BHK2H9K0K2f K2    BKBqA:KBrAV@YVQ@V =9V!5yVH`?A9?@?@1ۿ@_? EfOݒ ?ɨV@Vm;TyfBj%IIzIzh4٢s V=9;Q >!) -G٣)y5ҽ 5> MNusing accuracyPremultiplier from configA"59E75?"5YE0 iE'BԾn@E EE?)uȩ@)y*FE?2FA:FABFE_0JFA"GU>GU=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499580GѰP>GBOk>J- J) J- /J) J- :J) J- (N3J) I ktw,ӽA~Will construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750450?@Y>O@"=9-4yH࣒?k?q ?bܿq?E3߳7t?ɨ?@;Cy-B-%I)1 1Mb@Mb@Mb@ )Yn?L7A`尿kty?+ 0A A)/ AI3@yQAII4٢ ==96:Q > G٣IGyE > Nusing accuracyPremultiplier from config "59|I5? "5Y0 iv'B ]?:.o@ EM;;Y"5͒B @HEZjAEFNOT Ignoring new targets: 382.70 m.H$>IC I[&II@BI&I.I5D6Iz<:ID FBjMJj%⽝] ProNav: ac range: 382.700012 m, nav range: 4.552331 m, bearing: 271.607227 deg, approach rate: -0.358221 m/s, LOS rate: -6.345793 deg/s, cmd heading: 303.998551 deg, new cmd heading: 296.256904 deg. 2j]eHeadingCmd: 5.170659 target range: 382.700012 and range: 382.70 m. j v@jjjihhhhBfffrfbf@-?ɛ5B5L 15I1 = =ɚ9i9I==Ie`iaia)m v@)i*F?2F:FBFJFG,cv>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.խK?խ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002864Ptw,ḓӽA6S@Y6Ӡ@6m=96%2y6H@C?@e? ?ݿX\?@s31?ɨ6S@65;6CyNdBNM%IIZIZ4٢b^g b_=9f);Q f>dh jG٣hyjn j> rNusing accuracyPremultiplier from configpv"59rtX5?v"5Yr0 irT'Bxzzo@r Er:r:r"5 @EEZj)-FNOT Ignoring new targets: 382.70 m.Bj5-Jj=-ὝM ProNav: ac range: 382.700012 m, nav range: 4.430264 m, bearing: 269.353727 deg, approach rate: -0.332174 m/s, LOS rate: -6.299646 deg/s, cmd heading: 296.256914 deg, new cmd heading: 289.345649 deg. 2jMUHeadingCmd: 5.050034 target range: 382.700012 and range: 382.70 m. jUᙡ@jQjQjQ $?IiiQhhhhfffrfbfb@ɛmBmw IM/*IQ U@(=ɚQiQIU=I]VtiYiY)]ᙡ@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255575*F2F:FBF `0JF zKLK39KKg KRK>JK?GE ?|>G) BI Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508061wtw,ӽA6Ʊ@Y6ָ@6`=96!y6H???޿ L?ZR`ʏ'?ɨ6Ʊ@6,;6Cy>NB>1%IIFIFg4٢RA RM=9V;Q V>TT ZG٣XyZ} Z> bNusing accuracyPremultiplier from config\b"59^nh5?f"5Y^C0 i^0'Bdffo@^ E^:^:^ "5h j@lB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 382.70 m.BjݽJjݽ ProNav: ac range: 382.700012 m, nav range: 4.300932 m, bearing: 266.807088 deg, approach rate: -0.305861 m/s, LOS rate: -6.201708 deg/s, cmd heading: 289.345637 deg, new cmd heading: 281.527459 deg. 2jHeadingCmd: 4.913581 target range: 382.700012 and range: 382.70 m. j<@jjjihhh h f f frfbf5 E@ɛ]Be @s ae{4Ia e =ɚaiaIm=Im iiiq)<@)JJJ0JJܫ:J :Jـ3JGG=|uAQ u$?Iq Y|uAygBEt(/=%Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762164*F ?2F :F BF _0JF jH bH <H (>I  I %II BI ( =&I .I 6I <:I a FG9  G= rAG .>G B O >)tw,ӽAy)B%IMb@Mb@Mb@ )YS?㥛 ¿ ףp= y/?Q8zA A) AI`@yII4٢ ' %8=9%Q %>)) -G٣-IGy- 5> =Nusing accuracyPremultiplier from config9E"59=z5?E"5Y=R0 i='BE!?M:MX>Mo@= E=;=;="5Q U?@UBEuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011016ZjFNOT Ignoring new targets: 382.70 m.BjJj ProNav: ac range: 382.700012 m, nav range: 4.126701 m, bearing: 263.763202 deg, approach rate: -0.404442 m/s, LOS rate: -7.360612 deg/s, cmd heading: 281.527448 deg, new cmd heading: 272.100714 deg. 2jܝHeadingCmd: 4.749053 target range: 382.700012 and range: 382.70 m. j?@jjjihhhhBfffrfbfF@ɛ-B5, 15EI1 5] =ɚ9i9I=[r=I=FiAiA)E?@)AEM`T=mPExceeded connect timeout, disconnecting.*F2F:FBFo0JF YIYG >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263632G B O >&tw,[ӽAB@YB@BM=9B,޾yBH ??`uƴ?@`? x̴`Ǘ?ɨB@B.K;BCyJBJ$IzKNm$JKN9KLKNh KNIZIZ4٢  Y=9 E;Q  >   G٣y% > %Nusing accuracyPremultiplier from config%"595?-"5Y0 i&B)-vL-o@ E@:a:6"51 =@9ZjaeFNOT Ignoring new targets: 382.70 m.BjmpJjmp} ProNav: ac range: 382.700012 m, nav range: 3.984217 m, bearing: 261.209936 deg, approach rate: -0.390336 m/s, LOS rate: -7.242423 deg/s, cmd heading: 272.100721 deg, new cmd heading: 264.219698 deg. 2j}SHeadingCmd: 4.611504 target range: 382.700012 and range: 382.70 m. jp@jjjihhhhfffrfbf0 @ɛBL A=dRI =ɚiIԸ=I*ii)p@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:08:14.8090 TRx dataTimestamp_ set to:1736374096.108635checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515505E%(a=*F?2F:FBFJF*J "J J J J J J J J J I II G &>G B E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768902Oe >+uw,vԽAyeBe$IH*>IC I%IIBI' =&I.I6Ip<:ID FUMb@Mb@Mb@QQQ Q)QYUuV?|?5^ʿ+yUr(?URUUA UA)QIUv@QyUAImIm4٢}Ͻ }(=9}Q > G٣y > Nusing accuracyPremultiplier from config"595?"5Y^0 i&B0?:Q^o@ E<<v#"5 z@?EZj9EFNOT Ignoring new targets: 382.70 m.BjE JjM ] ProNav: ac range: 382.700012 m, nav range: 3.774086 m, bearing: 257.386180 deg, approach rate: -0.419844 m/s, LOS rate: -8.059286 deg/s, cmd heading: 264.219694 deg, new cmd heading: 252.293982 deg. 2j]جeHeadingCmd: 4.403361 target range: 382.700012 and range: 382.70 m. jeU@jajajaiahahihihmzBf ffrfbf`s\@ɛ]Be7 ae]Ia e=ɚaiaIm[z=Im`ii)U@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 382.2 m (Round-trip 509.7 ms) speed -0.3 m/s ,DAT read: user:2330> BDAT read: Tx time:22:08:15.8952 $Ping request sent.Gu t> % $?I! Gc>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:08:15.8944 GiByO ?ȝ uw,m9ԽA:8@Y:zH@:т=9:y:He?@U?`:?`H?`̦`i~ ?ɨ:8@:<;:CyFޅBF$I)H JAININN4٢V V/=9Z0;Q Z>\\ ^G٣^IGy^-@ b> fNusing accuracyPremultiplier from config`j"59b?5?j"5Yb?0 ib&Bhntno@b Eb;b;b'"5p r@t addTargetRange:: Added new target pos. range: 382.200012 m, deltaT: 4.031925 s, deltaX: -0.500000 m, approachRate: -0.124010 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 382.70 m.Bj%Jj%5 ProNav: ac range: 382.700012 m, nav range: 3.567495 m, bearing: 253.575594 deg, approach rate: -0.455160 m/s, LOS rate: -8.875080 deg/s, cmd heading: 252.293992 deg, new cmd heading: 240.383713 deg. 2jWHeadingCmd: 4.195487 target range: 382.700012 and range: 382.20 m. jnA@jjjihhhhfffrf@3w@bf S?ɛB4 %gI! %q=ɚ!i!I%"=zK-k3IK-9K)K-i K-IMZiQiQ)UnA@)QEYEY*EY"EYWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFl0JF y I G ^>G B O >uw,yTԽAWill construct direction to contact in vehicle frame from tetrahedron phase data._F@YU@=9BnyH`??@? `?U%B ?ɨ_F@y;騅Cy҅B$IH5->I1 I5#%II5BBI5& =&I1.I16I5S<:I51 FBIÜCJIÜCRIZI( =bI( =jIÊ5Mb@Mb@Mb@ )Yoʡ?QοS㥛y-?u/ݼA IA) AII@yII4٢ 7 =9Q > G٣yX > Nusing accuracyPremultiplier from config"59ƺ5?"5Y60 i\&B7?:قo@ E; ;n,"5ΒB @ B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 382.70 m.Bj%/Jj-/= ProNav: ac range: 382.700012 m, nav range: 3.313046 m, bearing: 248.454123 deg, approach rate: -0.454729 m/s, LOS rate: -9.842483 deg/s, cmd heading: 240.383699 deg, new cmd heading: 224.297702 deg. 2j=ӾEHeadingCmd: 3.914733 target range: 382.700012 and range: 382.20 m. jEz@jAjAjAiAhIhIhIhMWBfQfQfQrfQbfU=?ɛBϼ 隅lI Q<ɚiI/=Iii)z@)*FU?2FQ:FQBFU0JFQ- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.Gq G} qAG} qAGQ BY O} >juw,nԽAB)N@YB]@B-p=9B# Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509129k"uw,niԽAvB[@Yvj@vW=9vrII"4٢% : -<9-Q ->)1 5G٣5IGy5f 5> ENusing accuracyPremultiplier from configAM"59E5?M"5YE0 iE&BIUtUo@E EE:E:E2"5Y ]@YZjFNOT Ignoring new targets: 382.70 m.BjKJjK ProNav: ac range: 382.700012 m, nav range: 3.020344 m, bearing: 241.206707 deg, approach rate: -0.414688 m/s, LOS rate: -11.358678 deg/s, cmd heading: 215.564622 deg, new cmd heading: 201.836885 deg. 2j󾝊HeadingCmd: 3.522718 target range: 382.700012 and range: 382.20 m. j7ta@jjjihhhhfffrfbfI  I $II BI % =&I .I 6D6I <:I ] FGQ B O= >{+(uw,NDԽA6n@Y6e~@6k֬=96- ףp=?\(\Ͽ:vy1?zԼA 3A)IyGAI-I-4٢E= EI=9EH;Q E>II MG٣IyU U> Nusing accuracyPremultiplier from config"59x5?"5Y0 i%BG?G?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265176V.uw,$ԽA2}@Y2V@2=92;tt vG٣tyz z> Nusing accuracyPremultiplier from config| "59~75? "5Y~0 i~%B   o@~' E~;~;~}9"5ΒB @>EZjAEFNOT Ignoring new targets: 382.70 m.BjM9yJjM9yUProNav REINIT: LOS rate is -13.944819 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg.]HeadingCmd: 1.476444 target range: 382.700012 and range: 382.20 m. jYjYjYjYiYhYhahahafafifirfibfm@`@ɛBN 隭aI <ɚiI =I~ii))zKK9KKk K*Fm?2Fi:FiBFqJFq"G}>G}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518290G^>GBO> I <5uw,rԽAB @YB@BW=9B-Mo??ר?`p@:? c`̍?@?ɨB @B̎;BCyfBj$I)t tAMWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772297II4H1>IC I$IIBI$ =&IGD.I6Ie<:ID F٢y= /=9_;Q > G٣IGy} > =Nusing accuracyPremultiplier from config1]"5955?]"5Y50 i5%BY]_]o@5, E5ɬ;5;5="5i u@qZjFNOT Ignoring new targets: 382.70 m.BjsJjsProNav REINIT: LOS rate is -14.933987 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg.HeadingCmd: 1.476444 target range: 382.700012 and range: 382.20 m. jjjjihhhhfffrfbf5@ɛB!Ӽ XI <ɚiI"=I%1i!i)))))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021009G c>G B O >6h;uw,AԽAB)@YB@B=9B< c=9N;Q > G٣yY > Nusing accuracyPremultiplier from config"595?"5Y0 i%B7?:mo@1 E;;@"5 @;E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 382.70 m.BjHJjHProNav REINIT: LOS rate is -15.250843 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg.HeadingCmd: 1.476444 target range: 382.700012 and range: 382.20 m. jjjjihhhhBfffrfbf` @ɛEBEV imJIi um<ɚqiqIu>$=I}miyiy)y)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274155*F)2F):F)BF-m0JF)zK LK 9K K l K  BKpA:KqAG Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:08:18.8101  TRx dataTimestamp_ set to:1736374100.140620 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526075}QBuw,E սA6G@Y6Ŭ@6k=96A G٣yD > Nusing accuracyPremultiplier from config"596?"5Y0 il%Bo@5 E::ID"5 w@Zj1=FNOT Ignoring new targets: 382.70 m.Bj=Jj=EProNav REINIT: LOS rate is -17.073808 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg.MHeadingCmd: 1.476444 target range: 382.700012 and range: 382.20 m. jIjIjIjIiIhqhqhqhqfyfyfyrfybf}@ @) ~G9Q 8$YyyB $?IɛB(ռ @I G<ɚiI%=Ikii))*F?2F:FBF0JFGrA GrAeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780158H4>I I$IIBI# =&I.I6I<:Iq FG Gy B O >{Huw,#սA2̤@Y2۫@2=92Tt}?@W??`4??E yv?`?ɨ2̤@2 ;2Cy:0B> %IiF=IFp< F=DUMb@Mb@Mb@QQQ Q)QYUˡE?OnÿyU'?UUUA UA)UAIU@QyU AImIm4٢}= }K=9;Q > G٣IGyА > Nusing accuracyPremultiplier from config"59 6?"5Y}0 iR%B6,?:o@9 E;8;G"5 @ZjFNOT Ignoring new targets: 382.70 m.BjJjProNav REINIT: LOS rate is -16.184535 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg.HeadingCmd: 1.476444 target range: 382.700012 and range: 382.20 m. jjjjihh h h Bf ffrfbfz @ɛEBEټ AE3IA En,<ɚIiIIM>'=IU) iQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 383.1 m (Round-trip 510.8 ms) speed -0.4 m/s ,DAT read: user:2331> BDAT read: Tx time:22:08:19.8952 $Ping request sent.G B O5 >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:22:08:19.8944 ϣNuw,sg=սA:*@Y:@:=9:3? ? f%'ё?4?ɨ:*@:;8yBGBF)%IININ4٢V(= VY=9V6;Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f"59b6?f"5Yb0 ib9%Bhjjo@b= Eb:bC:bK"5nϒB r{@r:E addTargetRange:: Added new target pos. range: 383.100006 m, deltaT: 4.032692 s, deltaX: 0.899994 m, approachRate: 0.223174 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 382.70 m.Bj% Jj% %ProNav REINIT: LOS rate is -15.783083 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg.-HeadingCmd: 1.476444 target range: 382.700012 and range: 383.10 m. j)j)j)j1i1h1h1h1h9f9f9fArfEw@bfEz?ɛmBuwٴ qu%Iq }+<ɚyiyI}.(=I{8ii))zKH LK9KKm K  s%8xm]I4! RK]?JK]>*F?2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GYG1B9OU> q Iq Uuw,?WսAF @YFn@F|~=9FcJ9 EG٣AZHRH?AH5>I I%II)BI&I.I6Iܰ<:I FyUs > Nusing accuracyPremultiplier from config"596?"5Yc0 i%B   o@C E::G>Will construct direction to contact in vehicle frame from tetrahedron phase data.G h>G B O > ] $?Ia j[uw,m9qսA6(@Y6m8@6n=96iH mO=9uan;Q }> G٣IGyΒ > Nusing accuracyPremultiplier from config"59U%6?"5Y1 i%B?:%o@F E;k;lR"5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 382.70 m.BjjhJjjhProNav REINIT: LOS rate is -13.004250 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg.HeadingCmd: 1.476444 target range: 382.700012 and range: 383.10 m. jjjjihhhhrBfffrfbf t?ɛeBV 隅 I <ɚiI+=Iii))%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.*Fu?2Fy:FyBF}_0JFyzKONK59KKn K -XD8_?." G c>Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506369buw,QսAyEBE%IImImƕ4٢f> H=9Q > G٣y > Nusing accuracyPremultiplier from config"59-6?"5Y1 i$Bo@J E;1;U"5 @Zj FNOT Ignoring new targets: 382.70 m.Bj^mJj^mProNav REINIT: LOS rate is -13.281573 deg/s. Setting heading cmd to target acoustic bearing of 84.594034 deg.%HeadingCmd: 1.476444 target range: 382.700012 and range: 383.10 m. j!j!j!j)i)h)h)h)h1f1f1f9rf9bf=?ɛeBe> aeQIi m'<ɚiiiIm.-= IIii))*J-R="J-a=J=J9J=0J9J=,:J9J=ـ3J9aM@aM@aM@aM@*F?2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763966Gh>H6>I IH%IIaBI" =&I.I7D6IͰ<:I FBIȞCJIȞCRIZI# =bI$ =jIȻ5G B O >mhuw,֤սAy~B~%IMb@Mb@Mb@ )YS㥛?y&1 F=9Q > G٣y > Nusing accuracyPremultiplier from config"5956?"5Y 1 i$B?:o@M E$;;Y"5  @ 7EZjIUFNOT Ignoring new targets: 382.70 m.Bj].Jj].} ProNav: ac range: 382.700012 m, nav range: 2.678501 m, bearing: 178.125894 deg, approach rate: 0.234026 m/s, LOS rate: -9.786200 deg/s, cmd heading: 84.594038 deg, new cmd heading: 72.654640 deg. 2j}ѾHeadingCmd: 1.268063 target range: 382.700012 and range: 383.10 m. jO?jWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011354jjihhhh͇Bfffrfbf+@ɛBҭ 隍ؾI <ɚiI˪.=I$ii)O?)*F?2F:FBFJFGqA GpA IG c>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263195G B O >,nuw,!սA6ğ@Y6Ӧ@6A=963.IV;IZIZ4٢fn(= f\=9j֪hh nG٣nIGynN n> vNusing accuracyPremultiplier from configpv"59r!<6?z"5Yrp1 ir$Bxzzo@rQ Er:r:r\"5ВB @:EZj)-FNOT Ignoring new targets: 382.70 m.Bj5-Jj5- ProNav: ac range: 382.700012 m, nav range: 2.764695 m, bearing: 174.452342 deg, approach rate: 0.235333 m/s, LOS rate: -9.710414 deg/s, cmd heading: 72.654641 deg, new cmd heading: 62.105721 deg. 2jAоHeadingCmd: 1.083949 target range: 382.700012 and range: 383.10 m. jھ?jjjihhhhfffrfbf`i2@ɛMBU Q]ξIY ]=<ɚYiYI]0=IeǮ)iaia)eھ?)izKCOK9KKo K  *F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.աiաchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514690G) IiG B O5 >JM JM JM /JI JM :JM :JM (N3JI uuw,DսA6@Y6c @6{=968ll nG٣lyry r> vNusing accuracyPremultiplier from configtz"59vB6?z"5Yv1 iv$Bxz̙~o@vT E Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769621v@:vdIuC Iu%IIuBIu# =&Iq.Iq6Iuǰ<:Iu FZjQUFNOT Ignoring new targets: 382.70 m.Bj] Jj] m ProNav: ac range: 382.700012 m, nav range: 2.866562 m, bearing: 170.652383 deg, approach rate: 0.214475 m/s, LOS rate: -7.710589 deg/s, cmd heading: 62.105722 deg, new cmd heading: 51.250776 deg. 2j]HeadingCmd: 0.894495 target range: 382.700012 and range: 383.10 m. jd?jjjihhhhfffrfbf`@ɛB0Ӷ I ƶ<ɚi!I%O1=I-F/i)i))-d?))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018826G G B O > $?I |uw,znսAyņB%IMb@Mb@Mb@ )Y rh?tC<\ A  A)nAIy AII4٢ <=9Q > G٣y > Nusing accuracyPremultiplier from config"59I6?"5Yv1 i$B>:#o@W E];;d"5q u@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 382.70 m.Bj Jj  % ProNav: ac range: 382.700012 m, nav range: 2.984754 m, bearing: 167.464381 deg, approach rate: 0.306317 m/s, LOS rate: -7.931034 deg/s, cmd heading: 51.250775 deg, new cmd heading: 42.147609 deg. 2j%%HeadingCmd: 0.735615 target range: 382.700012 and range: 383.10 m. jMG>zKiLK}9KKp KGy G G Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:08:22.8118  TRx dataTimestamp_ set to:1736374104.172664 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523550uw,P ֽA QIQJc@Yr@.=9uu G٣IGy >  Nusing accuracyPremultiplier from config "59 DP6?"5Y s1 i $Bo@ Z E : : g"5! %+@%7EZjIMFNOT Ignoring new targets: 382.70 m.BjU+JjU+e ProNav: ac range: 382.700012 m, nav range: 3.105667 m, bearing: 164.363822 deg, approach rate: 0.286403 m/s, LOS rate: -7.054823 deg/s, cmd heading: 42.147608 deg, new cmd heading: 33.283831 deg. 2jeMmHeadingCmd: 0.580912 target range: 382.700012 and range: 383.10 m. jm?jqjqjqiqhyhyhyhyfyffrfbf@N @ɛ|BH8 O=隵 I ,<ɚiI֗4=Iߊ:ii)?)J J J 0J J |:J  9J ـ3J *F]?2FY:FYBF]=5JFY%Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779083Hu9>Iq Iu%IIuˆBIu" =&Iq.Iq6Iuy<:IuV FG G B O >uw,m&ֽA6@Y65@6Gj=96[mmt G٣y > Nusing accuracyPremultiplier from config"59T6?"5Y#1 i$B>;o@] E;_m;*k"5  ~@ZjY]FNOT Ignoring new targets: 382.70 m.BjeƽJjeƽ}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:08:22.8118 LVL= 16944, 18817, 19090, 24563, AGC= 66, IDX= 462,-0.25, 1.813, 2.217,-0.025, 1.303, PHS= 0.598, 0.961,-1.332, RAW= 21.5, -2.2, CAL= 21.2, -4.4, ROT= 128.8, 4.4 %Ygot valid direction response: 22:08:22.8118 LVL= 16944, 18817, 19090, 24563, AGC= 66, IDX= 462,-0.25, 1.813, 2.217,-0.025, 1.303, PHS= 0.598, 0.961,-1.332, RAW= 21.5, -2.2, CAL= 21.2, -4.4, ROT= 128.8, 4.4 -PDAT read: Bearing 128.8, 4.4 (Local) -~Local bearing/azimuth received: Bearing 128.8, 4.4 (Local) DAT read: Range 10 to 50 : 384.3 m (Round-trip 512.5 ms) speed 0.0 m/s ,DAT read: user:2332> BDAT read: Tx time:22:08:23.8952 $Ping request sent.jjjihhhJDAT read: TxSync time:22:08:23.8944 R#Rx 1: Read range and direction messages.\direction in FSK: [0.089478,0.943509,0.319036]:publishing transmit ping timeءFpublishing direction and range infoy9}ú];?qZ?:1?uk?hMBfffrfbf&T?y}&Cy}0B}I }J)}_I}Bi}?}v?}~}7 >}nF }q>)}nFI}@i}nF=yy}¿L4)<)}ۿI}=i}?}@yy=:publishing transmit ping timeء=Fpublishing direction and range infoy9}ú];?qZ?:1?uk?yyyyy y)yIyiyyyyy y)yIyiyyy}¿L4)<)yIyiyyyyɛyB 隝I <ɚiI56=Inf@ii)=>) iIq*F2F:FBF5JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.G ^>G B O >@uw,?ֽA:Л@Y:Y@:=9:Utt vG٣tyz z> ~Nusing accuracyPremultiplier from config|"59~Y6?"5Y~&1 i~$B J o@~_ E~ ;~:~mn"5 8@k _r?k9P@( k kLP+ֽA:k&CBkվCZkw>" t1A@In sv@|r^@ú];?qZ?:1?uk?Jk?Rk@*O~ v@/U@UjF6_@T[[a?nw?Z}?"k,B*koCk逪?kU0( 2k7@CkkJ+ kVCkdBkS?m addTargetRange:: Added new target pos. range: 384.299988 m, deltaT: 4.032280 s, deltaX: 1.199982 m, approachRate: 0.297594 m/s, rangeRepo size: 4  Added new target pos. range: 384.299988 m, bearing: 13.863343 deg, lat: 36.902401 deg, lon: -122.121957 deg, deltaT: 12.096897 s, deltaX: 1.599976 m, approachRate: 0.132263 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 384.30 m.BjJj ProNav: ac range: 384.299988 m, nav range: 57.020744 m, bearing: 93.116698 deg, approach rate: 0.000000 m/s, LOS rate: -5.558232 deg/s, cmd heading: 27.107907 deg, new cmd heading: 20.911417 deg. 2jHeadingCmd: 0.364973 target range: 384.299988 and range: 384.30 m. jݺ>jjjihhhhfffrfx@bfY?ɛxB} quTIq }ϭ<ɚyiyI}7=I)Dii)ݺ>)EEqAzKJQJK@9KKq KgZ *Fm?2Fi:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data..~G5tA IA YtAyBGc>G B J) J- J- 1J) J) J- 9J- 3J) OE >'uw,YֽA @6p@Y6@6=96kfBB%I F=Fp=ININ\4٢Vq VN=9Vb :Q V>XX ZG٣ZIGy^ۊ ^>vWill construct direction to contact in vehicle frame from tetrahedron phase data. zNusing accuracyPremultiplier from confighz"59j]6?z"5Yj*1 ijz$B|~~o@jb Ej;j;jq"5 @ Zj15FNOT Ignoring new targets: 384.30 m.Bj=b;Jj=b;H:>I I%IIBI! =&I.I6I<:I Fe ProNav: ac range: 384.299988 m, nav range: 57.178326 m, bearing: 93.161443 deg, approach rate: 0.396388 m/s, LOS rate: 0.112243 deg/s, cmd heading: 20.911416 deg, new cmd heading: 21.045281 deg. 2je;HeadingCmd: 0.367309 target range: 384.299988 and range: 384.30 m. j>jjjihhhYhYfafifrfbf?ɛuBl ľI }ߪ<ɚiIXY9=I6G@ii)>)E{=Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE ?2FA :FA BFM 4JFI a Ia Gmh>GABQOu?_uw,3zֽAB3@YB$@B&o=9BnEEEA E A)E=AIEAAyE AII4٢ =99:Q > G٣yP > Nusing accuracyPremultiplier from config"59b6?"5Y401 i`$BV>;o@e E;;v"5mђB mk@u9EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 384.30 m.Bj(:Jj(:% ProNav: ac range: 384.299988 m, nav range: 57.379539 m, bearing: 93.207819 deg, approach rate: 0.361921 m/s, LOS rate: 0.083125 deg/s, cmd heading: 21.045281 deg, new cmd heading: 21.183923 deg. 2j%0d;-HeadingCmd: 0.369729 target range: 384.299988 and range: 384.30 m. j-&M>j)j)j)i)h1h1h1h54Bf9f9fYrfabfen|?ɛrBû *ؾI h<ɚiI[;=Iǀ@@ii)&M>)zK-PLK-s9K)K-r K- $9?=9994EEx=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F 2F :F BF @5JF 5 $?I5 iG m>J=J=J=0J9J=:J=9J=ـ3J9GBO>huw,ֽA:@Y:@:Z=9:g\\ bG٣`yb"۽ b> fNusing accuracyPremultiplier from configdn"59fKf6?r"5Yf41 ifI$BtzL~o@fh EfW;f;fz"5 {@ =Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725785HM<>II IM%IIMֆBII&II.II6IM<:IM FZjFNOT Ignoring new targets: 384.30 m.BjM͍:JjU͍: ProNav: ac range: 384.299988 m, nav range: 57.555225 m, bearing: 93.239019 deg, approach rate: 0.350117 m/s, LOS rate: 0.061987 deg/s, cmd heading: 21.183924 deg, new cmd heading: 21.277237 deg. 2j)*;HeadingCmd: 0.371358 target range: 384.299988 and range: 384.30 m. j">jjjihh h hfffrfbf *?ɛpB 隅I u\<ɚiI!==I89@ii)">)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978338*F ?2F :F BF P5JF "G G t> y Iy G h>GBO>uw,ֽA6糗@Y6hÞ@6X=96=?]]̼]A ]E A)]SAIYYy]=AIIk4٢  =9:Q > G٣IGy9G > Nusing accuracyPremultiplier from config"59gi6?"5Y;:1 i!$B>:o@k Ea;;"5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229744 @ZjFNOT Ignoring new targets: 384.30 m.Bj <|:Jj <|: ProNav: ac range: 384.299988 m, nav range: 57.763908 m, bearing: 93.263923 deg, approach rate: 0.463632 m/s, LOS rate: 0.055131 deg/s, cmd heading: 21.277236 deg, new cmd heading: 21.351680 deg. 2jW;-HeadingCmd: 0.372657 target range: 384.299988 and range: 384.30 m. j5̾>j1j1j1i1h1h1h9h=Bf9f9fArfAbfE@@@ɛmBu  I <ɚiIn?=It3@ii)̾>)*F?2F:FBF_0JFzKmiLKm@9KiKms Km1.*)%"  RKu?JKu?G^> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483736G B O > I buw,dֽAB@YB%@B^=9Btt vG٣tyvY z> ~Nusing accuracyPremultiplier from configx"59z\k6?"5YzC>1 iz$Bµo@zn Ez ;z*;zj"5 @ZjFNOT Ignoring new targets: 384.30 m.BjP&:JjP&: ProNav: ac range: 384.299988 m, nav range: 57.918045 m, bearing: 93.278274 deg, approach rate: 0.391480 m/s, LOS rate: 0.036350 deg/s, cmd heading: 21.351680 deg, new cmd heading: 21.394617 deg. 2j:%HeadingCmd: 0.373406 target range: 384.299988 and range: 384.30 m. j%#/>j!j!j!i!h)h)h)h)f1fQfQrfYbf]@B@ɛ%kB%"ɼ -=-$I) -<ɚ)iIIMsA=IUH.@iQiY)]#/>)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733511*F?2F:FBFJF HA>IC I%IIBI =&I.I8D6Iİ<:I FBIşCJIşCRIZI! =bI! =jI|5G Ga Bq O >}uw,BֽA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985546y]B]$I-Mb@Mb@Mb@))) )))Y-kt?y&1Zd;Oy- >-`e-j<-A - A)-AI-A)y)IEIE4٢U# U5=9]Q ]>YY eG٣aye e> mNusing accuracyPremultiplier from configi}"59m/m6?}"5YmC1 im#B>:ӻo@mq Em R;m[O;m]"5 (@ IZjFNOT Ignoring new targets: 384.30 m.Bj9Jj9 ProNav: ac range: 384.299988 m, nav range: 58.127262 m, bearing: 93.287807 deg, approach rate: 0.477857 m/s, LOS rate: 0.021695 deg/s, cmd heading: 21.394616 deg, new cmd heading: 21.423112 deg. 2j9n:HeadingCmd: 0.373904 target range: 384.299988 and range: 384.30 m. jSp>jjjihhhhBfffrfbfV@ɛ-jB- 155I1 5h<ɚ1i1I5tC=I=(@i9iA)ESp>)A*F2F:FBF`0JFG GqAJJJJJ:JO9JJJ;a J;a Je,;a Jf,;a Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:08:26.8134 TRx dataTimestamp_ set to:1736374107.952673checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238604G h>G ?G ?G B O >tuw,\׽A6:@Y6KJ@6=96}?Ij= j=j=IpIp٢v# zd=9zOQ z>|| ~G٣~IGy~ >  Nusing accuracyPremultiplier from config "59 m6?"5Y H1 i #Bo¿o@ t E =; 4; "5! %@!EB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 384.30 m.Bje3<Jje3jjjihhhhfffrfbf @ɛhBJ , PI <ɚiI]E=I$@ii ) j>) ]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.491685*F}?2F:FBF0JF IGc>*J"JC=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741698H G>I C I H%II aBI  =&I .I 9D6I <:I | FIuw, ׽AyBc$IMb@Mb@Mb@ )YK7?~jtp= ףyI ? )IAyII4٢m "=9Q > G٣y  > Nusing accuracyPremultiplier from config "59 n6?"5Y OO1 i m#B?:Ŀo@ x E ;  ; "5) -@)ZjYeFNOT Ignoring new targets: 384.30 m.BjmqJjmq ProNav: ac range: 384.299988 m, nav range: 58.566277 m, bearing: 93.280201 deg, approach rate: 0.541625 m/s, LOS rate: -0.013209 deg/s, cmd heading: 21.420359 deg, new cmd heading: 21.400398 deg. 2j HeadingCmd: 0.373507 target range: 384.299988 and range: 384.30 m. j]<>jjjih9hAhAhMTBfIfQfQrfQbf}`&@ɛfB7 _I <ɚiI H=I@ii ) ]<>) ]Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 385.5 m (Round-trip 514.0 ms) speed -0.3 m/s m,DAT read: user:2333> }BDAT read: Tx time:22:08:27.8953 }$Ping request sent.}G > Will construct direction to contact in vehicle frame from tetrahedron phase data.G^>GBO ?muw,C׽A6|@Y6@6=96ŀrBB#$IIFIF=4٢Nl R:=9RQ R>TT VG٣VIGyVN Z> ^Nusing accuracyPremultiplier from config\b"59^:n6?b"5Y^U1 i^3#Bdf˿fo@^| E^a:^a:^"5jҒB n@njjjihhhhfffrfx@bf@.?ɛUdBU,@ Y]xIY ] <ɚYiYI]J=zKe>KKe9KaKeu Ke     I!@ii)+>)E=Will construct direction to contact in vehicle frame from tetrahedron phase data.iA*F?2F:FBF`0JF I iG] c>G9 BI Oe >Quw,\׽A2Will construct direction to contact in vehicle frame from tetrahedron phase data.>"@Y>@>u=9>F;H|??oY l;c?_C??ɨ>"@>j;>CyjFBj#I)p pprAIv.Iv5٢~X ~E=9Q >  G٣ y   > Nusing accuracyPremultiplier from configHMK>IMC IM$IIMBIM =&II.II6IMQ<:IMJ Fe"59Fm6?e"5Y~[1 i"BimϿmo@ E5<5<["5q u@qZjFNOT Ignoring new targets: 384.30 m.BjPJjP ProNav: ac range: 384.299988 m, nav range: 59.027130 m, bearing: 93.238683 deg, approach rate: 0.555574 m/s, LOS rate: -0.057838 deg/s, cmd heading: 21.346108 deg, new cmd heading: 21.276330 deg. 2jHeadingCmd: 0.371342 target range: 384.299988 and range: 385.50 m. j >jjjihh!hQhYfafafrfbf?ɛbB%Rf !% I! M7v<ɚIiIIM L=IU @iQiQ)U >)YEYEY*Ea"Ea-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF _0JF I J J J J J :J [9J J J ;J ;J ;J ;G G ?G ?GBO>nZuw,3|׽AJ޷@YJ_Ǘ@J8=9J4yy G٣y > Nusing accuracyPremultiplier from config"59Aj6?"5Yc1 i"B*'?:^׿o@ E;;Ù"5 @ZjIUFNOT Ignoring new targets: 384.30 m.BjUJjU纝e ProNav: ac range: 384.299988 m, nav range: 59.344067 m, bearing: 93.186693 deg, approach rate: 0.618876 m/s, LOS rate: -0.100979 deg/s, cmd heading: 21.276330 deg, new cmd heading: 21.121192 deg. 2jeuHeadingCmd: 0.368634 target range: 384.299988 and range: 385.50 m. ju>jqjqjqiqhyhyhhBfffrfbf.?ɛ`B{p  I Ue<ɚ!i!I%HO=I @ii)>)*F?2F:FBFo0JFzKLK}9KKv K (<N)\8 Will construct direction to contact in vehicle frame from tetrahedron phase data.)y y G r> NG5 |uAM A i Iq QY |uAy BG B O >i=uw,H׽AZˏ@YZ ۖ@Z1=9Zɢ|| G٣IGy㘽 >  Nusing accuracyPremultiplier from config "59 Xg6?"5Y Uj1 i {"Bۿ%o@  E -; -; $"5) -~@)MB*** querying acoustic contact ***jIjIZjQUFNOT Ignoring new targets: 384.30 m.Bje Jje u ProNav: ac range: 384.299988 m, nav range: 59.585621 m, bearing: 93.140509 deg, approach rate: 0.651653 m/s, LOS rate: -0.124087 deg/s, cmd heading: 21.121192 deg, new cmd heading: 20.983203 deg. 2juQ}HeadingCmd: 0.366226 target range: 384.299988 and range: 385.50 m. j}>jyjyjihhhhfffrfbf?ɛ^Bf0 =隽I W<ɚiIWQ=I@ii)>)*Fq2Fq:FqBFu_5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HR>IC IN$IIBI =&I.I:D6Iu<:Ik FGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011807guw,կ׽A6ގ@Y6@6Z=96J G٣y > Nusing accuracyPremultiplier from config "59c6? "5Yr1 i:"BEZjFNOT Ignoring new targets: 384.30 m.Bj"Jj"E ProNav: ac range: 384.299988 m, nav range: 59.894733 m, bearing: 93.083384 deg, approach rate: 0.685409 m/s, LOS rate: -0.126012 deg/s, cmd heading: 20.983203 deg, new cmd heading: 20.812714 deg. 2jE}HeadingCmd: 0.363250 target range: 384.299988 and range: 385.50 m. j}>jyjyjihhhhBfffrfbf ER@JJJJJ:J9JJJ ;J!;J& ;J' ;ɛ%\B%v 隭iI C<ɚiIS=IՔ?ii)>)*F}?2Fy:FyBF}1JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264717G c>G G rAGY Bi O >=Puw,׽A6@Y6@6.=96UǦȄBBR#IIJAIJ=5٢R Ra=9VH/Q V>TT ZG٣XyZث Z> bNusing accuracyPremultiplier from config`f"59b`6?f"5Yb_y1 ib"BhjV޿jo@b Eb:b:b"5l n@lZjFNOT Ignoring new targets: 384.30 m.Bj :3Jj :3% ProNav: ac range: 384.299988 m, nav range: 60.151001 m, bearing: 93.028797 deg, approach rate: 0.738764 m/s, LOS rate: -0.156692 deg/s, cmd heading: 20.812713 deg, new cmd heading: 20.649650 deg. 2j%׻-HeadingCmd: 0.360404 target range: 384.299988 and range: 385.50 m. j-톸>j)j1j1i1h1h1h9h9f9f9fArfAbfEu@zKNKŷ9KKw KɛZB I U5<ɚiIU=I$?ii)톸>)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516542*F?2F:FBFR0JF $?I iG^>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771409H Z>I C I #II :BI  =&I .I ;D6I H<:I R F}uw,׽A{@Y@Ƞ=9  G٣IGyY > Nusing accuracyPremultiplier from config"59\6?"5Y1 i!B$J?:ٿo@ E+;;;"5 @Zj9EFNOT Ignoring new targets: 384.30 m.BjMJjUm ProNav: ac range: 384.299988 m, nav range: 60.510693 m, bearing: 92.965424 deg, approach rate: 0.752594 m/s, LOS rate: -0.131809 deg/s, cmd heading: 20.649651 deg, new cmd heading: 20.460663 deg. 2jm봻}HeadingCmd: 0.357106 target range: 384.299988 and range: 385.50 m. j}ֶ>jyjyjyihhhhlBfffrfbf@ɛXBHԚ y}I Э!<ɚiIoX=I?ii)ֶ>)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020941 IE% ʞ=E) E- rA*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274060GGBO?vw,:xؽA6^@Y6@6M=96.B>2#I)@ @IN6IN] 5٢V謁 V6=9Z&Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f"59bRW6?f"5Yb1 ib!Bhjݿjo@b Eb? ;b ;b$"5l nH@lZj FNOT Ignoring new targets: 384.30 m.Bj 3Jj 3% ProNav: ac range: 384.299988 m, nav range: 60.851170 m, bearing: 92.895831 deg, approach rate: 0.772951 m/s, LOS rate: -0.157106 deg/s, cmd heading: 20.460663 deg, new cmd heading: 20.253053 deg. 2j%׻-HeadingCmd: 0.353482 target range: 384.299988 and range: 385.50 m. j->j)j)j)i1h1h1h1h1f9f9f9rf9bfE 7 @ɛUB,ˤ I <ɚiI`Z=I?ii)>)E =zKUyJKU9KQKUx KU*Fu?2Fq:FyBF}n4JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.iA%BDAT read: Rx Time:22:08:30.8448 -TRx dataTimestamp_ set to:1736374112.2383775checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527212 IiG=c>G B! O= >*J C="J R=JKـ3 K .KK"KJ J J J J s:J 9J J a @a @a @a @94vw,;7ؽA2i@Y2@2?=92ΕWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776310yDF3#IIR;IR 5٢j{;H~`>I~C I~#II~BI~ =&I|.I~ G٣yϐ > Nusing accuracyPremultiplier from config"59Q6?"5Y1 iJ!Bῑo@ Ei;j;"5ԒB K@5@EB*** querying acoustic contact ***jjZjqFNOT Ignoring new targets: 384.30 m.Bj4Jj4E ProNav: ac range: 384.299988 m, nav range: 61.179989 m, bearing: 92.819394 deg, approach rate: 0.682645 m/s, LOS rate: -0.157835 deg/s, cmd heading: 20.253053 deg, new cmd heading: 20.024974 deg. 2jEػMHeadingCmd: 0.349502 target range: 384.299988 and range: 385.50 m. jM>jIjIjQiQhQhQhQhYfYfYfYrfYbf #K@ɛRB ĨI F;ɚiIg]=I?i i ) >) =Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: Range 10 to 50 : 409.0 m (Round-trip 545.4 ms) speed -0.8 m/s ],DAT read: user:2334> ]BDAT read: Tx time:22:08:31.9453 e$Ping request sent.eG >G^>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O ?<vw,@ؽAr@Yr0@r =9rMȜ G٣IGyN > Nusing accuracyPremultiplier from config"59I6?"5Y.1 i!BL?: 㿑o@ E;;q;B"5 @CE]addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 409.000000 m, deltaT: 4.033836 s, deltaX: 23.500000 m, approachRate: 5.825720 m/s, rangeRepo size: 4ZjY]FNOT Ignoring new targets: 384.30 m.Bje]Jje]u ProNav: ac range: 384.299988 m, nav range: 61.646877 m, bearing: 92.707582 deg, approach rate: 0.816186 m/s, LOS rate: -0.193983 deg/s, cmd heading: 20.024974 deg, new cmd heading: 19.692082 deg. 2ju }HeadingCmd: 0.343692 target range: 384.299988 and range: 385.50 m. j}[>jyjyjyiyhhh!h%pBf!f)f)rf-y@bf-`V?ɛOB7 隝I w;ɚiI(`=I\?ii)[>)EE*E"EzK}K}ŷ9KyK}y K}   Will construct direction to contact in vehicle frame from tetrahedron phase data. 1I9*F ?2F :F BF% l0JF! J J ?AJ J {J J J p:J -9J J Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHHg>IC Ig#IIڄBI =&I.I=D6IN<:Ic FGc>GBO ?Cvw,bؽA=@Y=@=g=9=!QY ]G٣yW > Nusing accuracyPremultiplier from config"59@6?"5YB1 i B'뿑p@ E<h<"5 @ZjFNOT Ignoring new targets: 384.30 m.BjdzJjdz ProNav: ac range: 384.299988 m, nav range: 62.024105 m, bearing: 92.594602 deg, approach rate: 0.735390 m/s, LOS rate: -0.218910 deg/s, cmd heading: 19.692083 deg, new cmd heading: 19.355209 deg. 2j<%HeadingCmd: 0.337812 target range: 384.299988 and range: 385.50 m. j%>j)j)j)i)h)h1h9h9f9fAfArfAbfE@X ?ɛmLBmY qu&Iq }&;ɚyiyIvb=I<ڳ?ii)>)UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F):F)BF-0JF) iIiGI G! B1 OM >ivw,s|ؽAy5քB5b#IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yx&?11 5G٣1y= => ENusing accuracyPremultiplier from configAM"59E96?M"5YEɲ1 iE BMyI?U:UUp@E EE;Ec;E"5eՒB e@eFEZjFNOT Ignoring new targets: 384.30 m.Bj㎻Jj㎻ ProNav: ac range: 384.299988 m, nav range: 62.305805 m, bearing: 92.504643 deg, approach rate: 0.785930 m/s, LOS rate: -0.249846 deg/s, cmd heading: 19.355209 deg, new cmd heading: 19.086555 deg. 2jw+HeadingCmd: 0.333123 target range: 384.299988 and range: 385.50 m. j!>jjjihhhhBfffrfbf`?ɛJBֲ I E#w;ɚiIGd=I X?i i )!>)*F?2F:FBF5JFG GrAGr>zK% qLK% K9K! K% z K%   m Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > e $?Ie iM%vw,;ؽAy%B%#I)Y YIm&ImF5٢}t,> }W=9yQ }> G٣IGy > Nusing accuracyPremultiplier from config"5926?"5YP1 i Bp@ EF;;E"5 @J|JxJJJ;g:J9JJZjFNOT Ignoring new targets: 384.30 m.Bj Jj  ProNav: ac range: 384.299988 m, nav range: 62.587631 m, bearing: 92.415502 deg, approach rate: 0.738786 m/s, LOS rate: -0.232623 deg/s, cmd heading: 19.086556 deg, new cmd heading: 18.820340 deg. 2j HeadingCmd: 0.328477 target range: 384.299988 and range: 385.50 m. j  .>jjjih!h!h)h1f9f9f9rfAbfE@?ɛGBu 隕/I #<;ɚiI)f=I?ii ) .>)*FM?2FI:FIBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.Hl>IC Im#II߄BI =&IFD.I6Ij<:I| FG}^>Gi B O >7x+vw,aؽAWill construct direction to contact in vehicle frame from tetrahedron phase data.>˄@Y>wۋ@>le=9>fHkտ ?jcտ&`©?@?ɨ>˄@> >;>CybBb#I IMb@Mb@Mb@ )YS?:v~jtxy:?TĻA  A)AIyAII_4٢ = D=9$Q > G٣y)q > Nusing accuracyPremultiplier from config"59)6?"5Y1 i B :? :  p@ Ew;;"5֒B @IE=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 384.30 m.BjM&JjU&e ProNav: ac range: 384.299988 m, nav range: 62.867699 m, bearing: 92.307120 deg, approach rate: 0.672382 m/s, LOS rate: -0.259044 deg/s, cmd heading: 18.820340 deg, new cmd heading: 18.496645 deg. 2je1mHeadingCmd: 0.322827 target range: 384.299988 and range: 385.50 m. jmI>jijijiiihhhhBfffrfbf@ɛUDBU뗽 QU[IQ ]:ɚYiYI]g=Iej?iaia)eI>)*FE?2FA:FABFAJFAG>GBO-p>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.7`2vw, ؽA6M΃@Y6݊@6X=96<a Ǖ??ɨ6M΃@6;6CyR'BR#IIZ IZ<4٢ba0> b^=9b Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr"59n 6?r"5YnS1 inx Btv vp@n En:nG:n!"5x z@xZjFNOT Ignoring new targets: 384.30 m.BjJj ProNav: ac range: 384.299988 m, nav range: 63.110592 m, bearing: 92.205824 deg, approach rate: 0.634517 m/s, LOS rate: -0.263600 deg/s, cmd heading: 18.496646 deg, new cmd heading: 18.193930 deg. 2j4HeadingCmd: 0.317544 target range: 384.299988 and range: 385.50 m. j >jjjihhhhfffrfbfb@ɛABr薽 I p:ɚiIi=I?ii) >)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514441zK=LK=9K9K={ K=Ec~G I "Yy BE*F?2F:FBFJF"GG>GvT>GBO>J{JqJJJd:Jq9JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766098H n>I C I #II BI =&I .I >D6I U<:I o F|8vw,ؽAbڂ@Yb#@bL=9bTI = =II4٢U= UB=9I߻Q > G٣IGy- 5> Nusing accuracyPremultiplier from configi"59m6?"5YmJ1 imd Bp@m Emj9j9j9i9h9h9hAhAfAffrfbf@ɛ>B ٯ=ρI t9ɚiID_k=I ~z?i i )  >)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.019258*F?2F:FBFJF $?IG]4>G1B9OU>>vw,lؽA6@Y6O@6@=96 eI=9eQ e>ii mG٣iymI u> }Nusing accuracyPremultiplier from configy"59} 6?"5Y}1 i}\ B'?:p@} E};};}^"5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270032 @NEZjYeFNOT Ignoring new targets: 384.30 m.BjeqJjeq ProNav: ac range: 384.299988 m, nav range: 63.618919 m, bearing: 91.962081 deg, approach rate: 0.597862 m/s, LOS rate: -0.313761 deg/s, cmd heading: 17.798232 deg, new cmd heading: 17.465682 deg. 2jTWHeadingCmd: 0.304834 target range: 384.299988 and range: 385.50 m. j(>jjjihhhh\Bfffrfbf @ɛ%)a*Fe?2Fa:FaBFeo0JFaG=|+=GBOn>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:22:08:34.8975 U TRx dataTimestamp_ set to:1736374116.268683U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523070 I izK BIK K9K K | K BK :K 8Evw,ٽA27@Y2\G@2qA4=92u&! %G٣!y%t %> 5Nusing accuracyPremultiplier from config)5"59-6?="5Y-1 i-U B9==p@- E-;-!;-"5A M>@IZji}FNOT Ignoring new targets: 384.30 m.BjVJjV ProNav: ac range: 384.299988 m, nav range: 63.838902 m, bearing: 91.840827 deg, approach rate: 0.589967 m/s, LOS rate: -0.324067 deg/s, cmd heading: 17.465682 deg, new cmd heading: 17.103180 deg. 2jg^HeadingCmd: 0.298507 target range: 384.299988 and range: 385.50 m. j՘>jjjihhhhfffrfbfw| @ɛ9B拽 kI  /ɚ i I Cn=IST?ii)՘>)*F?2F:FBF.5JFG GqAHp>I I#II?BI =&I.I6I_<:Ix FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776588G=G ?G?GBOG>#Kvw,n1ٽAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 411.0 m (Round-trip 548.1 ms) speed -0.5 m/s ,DAT read: user:2335> BDAT read: Tx time:22:08:35.9953 $Ping request sent.m? @dtBݿT$㤿 ??ɨf@f!;fCyB8$I) UMb@Mb@Mb@QQQ Q)QYU9v?ʡEQ?yU?U-Uu u)=9}ٻQ }>yy G٣IGy( > Nusing accuracyPremultiplier from config"595?"5Y1 iO B?:e p@ EiD;B; "5 8@B*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 411.000000 m, deltaT: 8.067894 s, deltaX: 25.500000 m, approachRate: 3.160676 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 384.30 m.BjCJjC ProNav: ac range: 384.299988 m, nav range: 64.064926 m, bearing: 91.685706 deg, approach rate: 0.466007 m/s, LOS rate: -0.318693 deg/s, cmd heading: 17.103180 deg, new cmd heading: 16.639468 deg. 2jZHeadingCmd: 0.290413 target range: 384.299988 and range: 411.00 m. j>jjjihhhhBf!f!f!rf%y@bf- ?J}JuJJJ[j:J9JJJ;aJ;aJf:aJg:aɛ6B]a $YI ɚiIo=I9?ii)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:08:35.9945 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EE /=*F ?2F :F BF _0JF G !GQ BY O} >Rvw,KٽA6@Y6T)@6G=96t=y6H C޿),?`N䱿<A޿q׶??ɨ6@6;6CyNBNO$IIVIV4٢b#= b=9f@YQ f ?dh jG٣hyj@ n ? rNusing accuracyPremultiplier from configlr"59n5?v"5Yn1 inK Btv` vp@n En;n;n"5| ~@~QEZj!%FNOT Ignoring new targets: 384.30 m.Bj-!Jj-!= ProNav: ac range: 384.299988 m, nav range: 64.212799 m, bearing: 91.581751 deg, approach rate: 0.464017 m/s, LOS rate: -0.325454 deg/s, cmd heading: 16.639468 deg, new cmd heading: 16.328323 deg. 2j=[_MHeadingCmd: 0.284983 target range: 384.299988 and range: 411.00 m. jMK>jIjIjIiQhQhQhQhYfYfYfYrfYbfe ?ɛ4B 隍NI >%ɚiI:p=I)?ii)K>)E= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500955 5$?I1zKK}9KK} KRK ?JK>*F=?2FA:FABFES4JFAGΓüGBOL>ZHY RH] @AHe r>Ia  Ie ;$IIe BIa &Ia .Ia 6Ie J<:Ie i FBI-ʨCJI-ʧCRI-ʓCZI- =bI- =jI-ʯ6 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752733IQ ]G٣Yym u> Nusing accuracyPremultiplier from config"595?"5Y21 iG B2p@ E<<"5 _@ZjyFNOT Ignoring new targets: 384.30 m.Bj Jj  ProNav: ac range: 384.299988 m, nav range: 64.407852 m, bearing: 91.441957 deg, approach rate: 0.406350 m/s, LOS rate: -0.290346 deg/s, cmd heading: 16.328324 deg, new cmd heading: 15.910221 deg. 2jCGHeadingCmd: 0.277686 target range: 384.299988 and range: 411.00 m. j,>jjjihhh)h)f)f)f1rf1bf5@;?ɛ1B>U AEGII MXXɚIiIIMr=IU^ ?iQiQ)U,>)Y )I)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009680E% x=J {J J J J d:J J J J #;J $;J J *F 2F :F BF 0JF "G 0>G N>G ǽG G nAGi By O >o`vw,VԁٽA.Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260676>@Y>]@>o<9>T=y>H ߿?䉶^߿?[a?D?ɨ>@>8;>CyFBFi$IiN4=IN4<%Mb@Mb@Mb@!!! !)!Y%v/?X9v~jtx?y%x ?%%;%A %A)%AI% A!y%AII4٢Q,= 0=9dQ > G٣IGyU > Nusing accuracyPremultiplier from config-"595?-"5Y&1 i? B5 ?5:55p@ EW;;"5=ؒB =@EVEZjFNOT Ignoring new targets: 384.30 m.BjջJjջ ProNav: ac range: 384.299988 m, nav range: 64.591751 m, bearing: 91.287249 deg, approach rate: 0.445030 m/s, LOS rate: -0.373325 deg/s, cmd heading: 15.910220 deg, new cmd heading: 15.447426 deg. 2jHeadingCmd: 0.269608 target range: 384.299988 and range: 411.00 m. j >jjjihhhhBfffrfbf@И?ɛ.BDxg 隍{AI 7ɚiIs=I>ii) >)EE*E"E $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513966zKBHK9KK~ K*F ?2F :F BF X5JF G H G B O >yfvw,bٽA*J"Ja=B@YBP@BXb<9B@=yBH߿?`@U޿ ֠?@̑w\?@u?ɨB@B ;BCyZBZe$IIjIj4٢ri r[=9rQ r>tt vG٣tyvm; z> ~Nusing accuracyPremultiplier from configx"59z5?"5Yz1 iz9 Bp p@z EzG;zh;z"5 @Zj1=FNOT Ignoring new targets: 384.30 m.BjE4ûJjE4ûU ProNav: ac range: 384.299988 m, nav range: 64.739716 m, bearing: 91.164053 deg, approach rate: 0.410886 m/s, LOS rate: -0.341323 deg/s, cmd heading: 15.447426 deg, new cmd heading: 15.078688 deg. 2jU?jUHeadingCmd: 0.263173 target range: 384.299988 and range: 411.00 m. j]>jYjYjYiYhYhahahafafifirfibfmR:?ɛ=,B=4oz AEBIA M}ɚIiIIMs=IUe>iqiq)u>)yHt>I I$IIBI =&I.I6Ic<:I| FuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765871*F ?2F :F BF _0JF GV(GBOC> I % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016734lvw,yٽA2@Y2@2c.<92=y2H)޿n?@@@om޿՟?`Ѕ᥻??ɨ2@2Ќ;2CynBrh$ImMb@Mb@Mb@iii i)iYmx&1?~jtÿI +ymA?mm94m$A mE A)m?AImAiymAII4٢< ?=9Q > G٣y< > Nusing accuracyPremultiplier from config"595?"5YG1 i+ B?:p@ E3;;"5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 384.30 m.BjJj ProNav: ac range: 384.299988 m, nav range: 64.894424 m, bearing: 91.021119 deg, approach rate: 0.360478 m/s, LOS rate: -0.332247 deg/s, cmd heading: 15.078688 deg, new cmd heading: 14.650917 deg. 2jdHeadingCmd: 0.255707 target range: 384.299988 and range: 411.00 m. j>jjjihhhhBfffrfbf "5@ɛ*B=L_ L;=?I! -ʧɚ)J=J=vJ=1J9J=s:J=ϣ9J=3J9J=;J=;J=:J=:i)IMt=IUS>iQiQ)U>)YEaEa*F%?2F!:F!BF%`0JF!G1 G5rAG \G?G!?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269149GBQO}z>svw,uUٽA2@@Y2DP@2A;92D=y2H ݿ?@Sݿ 0?`Ǟ`?a?ɨ2@@2bӋ;2Cy>BBW$I)D DIJIJ_4٢Rˑ R[=9RoQ V>TT VG٣VIGyZ = Z> bNusing accuracyPremultiplier from config\b"59^C5?f"5Y^1 i^ Bdffp@^ E^:^P:^"5jْB j@nYE e$?IeiZjyFNOT Ignoring new targets: 384.30 m.BjjJjj ProNav: ac range: 384.299988 m, nav range: 65.031212 m, bearing: 90.899188 deg, approach rate: 0.352678 m/s, LOS rate: -0.313711 deg/s, cmd heading: 14.650916 deg, new cmd heading: 14.285899 deg. 2jLWHeadingCmd: 0.249336 target range: 384.299988 and range: 411.00 m. jQ>jjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520901frfbf"4@ɛ]'Bez aeEIa eɚaiiImu=Im>iyi)Q>)zKKK9KK K*F?2F:FBFo0JFG\~JAJE@AGBOm>HI I$IIBI&I.I?D6IO<:Im F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776758yvw, 8ٽA5̀@Y5܇@595>y5H ܿG?wm`ukܿʻ?>u?? ?ɨ5̀@54;5Cy}BޅM$IIIk4٢um }0=9ԪQ > G٣y= > Nusing accuracyPremultiplier from config"59/5?"5Y2 i Bp@ E;;"5 E@Zj!%FNOT Ignoring new targets: 384.30 m.BjMϹJjMϹ] ProNav: ac range: 384.299988 m, nav range: 65.206276 m, bearing: 90.749950 deg, approach rate: 0.382147 m/s, LOS rate: -0.324897 deg/s, cmd heading: 14.285899 deg, new cmd heading: 13.839396 deg. 2j]^HeadingCmd: 0.241543 target range: 384.299988 and range: 411.00 m. jWw>jjjihhhhfffrfbf @ IIIɛ%B k YHI һɚiI~v=IWw>ii)Ww>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024708*F?2F:FBFn0JFJM zJM JM 0JI JM `:JM y9JM ـ3JI JM p;JM q;JM ::JM <:G 3G! G% qAG B O >繀vw, ڽA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277191>}@Y> @>B9>\4>y>H`ۿ z?`lIÿO`ڿY? ?z?@A?ɨ>}@>;>CyRBR?$IMb@Mb@Mb@ )Y r?Onÿ~jty?9A  A)IAyAI I4٢Jt S=9}Q > G٣ye= >  Nusing accuracyPremultiplier from config "59 5?"5Y 2 i BX ?:p@  E ; K; 5"5! %@!ZjFNOT Ignoring new targets: 384.30 m.BjJj ProNav: ac range: 384.299988 m, nav range: 65.360321 m, bearing: 90.630744 deg, approach rate: 0.395528 m/s, LOS rate: -0.305353 deg/s, cmd heading: 13.839396 deg, new cmd heading: 13.482625 deg. 2jQHeadingCmd: 0.235316 target range: 384.299988 and range: 411.00 m. jp>jjjihhhhBf f fQrfQbfU @ɛ#B EMI GɚiIdw=Ib>ii)p>))i m|C~G AIA u$YqyuHBE٦=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:08:38.9504 TRx dataTimestamp_ set to:1736374120.308672checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529849*Fm ?2Fi :Fi BFm `0JFi zKm BoHKm s9Ki Km Km "G >G >G GiBO>HI I$IIBI =&I.I>D6Iq<:I F-vw,K"ڽAjWill construct direction to contact in vehicle frame from tetrahedron phase data.j=j=nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.783664vn@Yv @vT6.9v))m>yvHؿ w?ɿ@q׿7?@ť?Z??ɨvn@v ;vCymB$Ii >I %=IIv4٢- -0=95VTQ 5>99 =G٣=IGyE= E> MNusing accuracyPremultiplier from configIU"59M45?U"5YM 2 iMBQ]`]p@M EMG;M;MB"5a e@e\EZjFNOT Ignoring new targets: 384.30 m.Bj$Jj$ ProNav: ac range: 384.299988 m, nav range: 65.555397 m, bearing: 90.497206 deg, approach rate: 0.433326 m/s, LOS rate: -0.295747 deg/s, cmd heading: 13.482625 deg, new cmd heading: 13.083210 deg. 2jJHeadingCmd: 0.228345 target range: 384.299988 and range: 411.00 m. jLi>jjjihhhhfffrfbf@ɛ!By =YI tɚiIcw=I f>i1i9)=Li>)iEX=*F=?2FA:FABFE0JFA $?ImWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 413.1 m (Round-trip 550.9 ms) speed -0.2 m/s ,DAT read: user:2336> BDAT read: Tx time:22:08:40.0454 $Ping request sent.VXvw,*<ڽAySB#I%Mb@Mb@Mb@!!! !)!Y%K7?T㥛 v/y%I ?%%xi%(A %A)%AI%A!y%=AIMIM%4٢eY m8=9uQ u> G٣y > Nusing accuracyPremultiplier from config"59ax5?"5Ye2 iB?:l p@ ES;;+"5 e@B*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 413.100006 m, deltaT: 4.035924 s, deltaX: 2.100006 m, approachRate: 0.520328 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 384.30 m.BjJj ProNav: ac range: 384.299988 m, nav range: 65.762962 m, bearing: 90.373371 deg, approach rate: 0.463414 m/s, LOS rate: -0.275603 deg/s, cmd heading: 13.083210 deg, new cmd heading: 12.712883 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:08:40.0446 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.2ju$=uHeadingCmd: 0.221882 target range: 384.299988 and range: 413.10 m. ju4c>jyjyjyiyhyhyhhBfffrfy@bf?ɛuBuΆ qufIy <ɚiIw=I4c>ii)4c>)E= = I } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501704*F ?2F :F BF `0JF G rA G zK :IK 9K K K   -IYeljeg|.L[bZOKEB?:Dt]G4 ",$xqlfJxJtJJJZ:J9JJa@a@a@a@G]3G?G?GqByO?[vw,aڽAHVv>IVC IV$IIV݅BIT&IT.IV?D6IV\<:IVx F~q@Y~@~⍽9~>y~H@͜տ@?@̿ ӿIm?ຸ??W?ɨ~q@~L;~Cy4B#I)! !I=I=4٢E< M=9MSKQ M>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752827 G٣IGyF= >  Nusing accuracyPremultiplier from config"59k5?"5Yh2 iBp@ E0<0<"5%ڒB %a@-aEZjFNOT Ignoring new targets: 384.30 m.BjtJjt ProNav: ac range: 384.299988 m, nav range: 66.028236 m, bearing: 90.234748 deg, approach rate: 0.468508 m/s, LOS rate: -0.243841 deg/s, cmd heading: 12.712883 deg, new cmd heading: 12.298695 deg. 2jX'HeadingCmd: 0.214653 target range: 384.299988 and range: 413.10 m. j[>jjjihhh!h)f)f)f)rf1bf5}?ɛB .tI ɚiIEw=IM[>iIiQ)U[>)YEEt0=*F?2F:FBFJF )I1E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004831G1 G B O5 >Tvw,QzڽAy~B~#IMb@Mb@Mb@ )Y5^I ?sh|?i|?5y?q2A KA)AISAyzAII4٢W8 C=9Q > G٣y > Nusing accuracyPremultiplier from config#59b5?#5Y02 iBH?:p@ E;;#5 @Zj)-FNOT Ignoring new targets: 384.30 m.BjJj ProNav: ac range: 384.299988 m, nav range: 66.247383 m, bearing: 90.141586 deg, approach rate: 0.561306 m/s, LOS rate: -0.237830 deg/s, cmd heading: 12.298695 deg, new cmd heading: 12.020134 deg. 2j8#HeadingCmd: 0.209791 target range: 384.299988 and range: 413.10 m. jnV>jjjih hhhBfffrf!bf%|\?ɛ5B5 15VI1 =oV,ɚ9i9I=sw=IEnV>Will construct direction to contact in vehicle frame from tetrahedron phase data.յ>յU?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258073iAi)nV>)EE*E"E*F ?2F :F BF _0JF % $?I% i] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508933G zKedQOKe59KaKe Kea\YROI@=9798410.--+()),//10.*())%&$#" ""! !#  BKq:KupAGBO >|Kvw,gڽAFQ@YFaa@F.9F>yFH@zҿ@?п`}п?`?`f?`?ɨFQ@F;FCyRBR#IIZIZ4٢bJ b2=9bYQ f>hl nG٣lyv= v> Nusing accuracyPremultiplier from config %#59 X5?%#5Y "2 i B)--p@  E ; Ӄ; #59 =u@9ZjyFNOT Ignoring new targets: 384.30 m.BjcJjc ProNav: ac range: 384.299988 m, nav range: 66.505653 m, bearing: 90.047391 deg, approach rate: 0.548435 m/s, LOS rate: -0.199245 deg/s, cmd heading: 12.020134 deg, new cmd heading: 11.738650 deg. 2jHeadingCmd: 0.204878 target range: 384.299988 and range: 413.10 m. jQ>jjjihhhhJJpJJJJ^9JJfffrfbf`?ɛ}B 隭I %;ɚiI"w=IQ>ii)Q>)Hw>I It$IIBI =&I.I6IQ<:Iq FBIJIèCRIZI =bI =jI4*F-?2F):F)BF-o1JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763510G-:G5pAG5pAG B) O > Y IY Lqvw,0ڽA @2Will construct direction to contact in vehicle frame from tetrahedron phase data.0i06checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013186J;@YJJ@Jeҽ9Jx>yJH@͸пH?/п`@Uj̿L?@??@m?ɨJ;@Jٳ;JCyRքBRb#IiV>IV>EMb@Mb@Mb@AAA A)AYEZd;O?Zd;yE~*?EyELEQ8A EA)EZAIE9AAyEAI]I]4٢m  mA=9mQ u>qq uG٣}IGy}.= }> Nusing accuracyPremultiplier from config#597Q5?#5Y)2 iB+?:ip@ E#;;> #5 K@ZjFNOT Ignoring new targets: 384.30 m.BjUnXJjUnXe ProNav: ac range: 384.299988 m, nav range: 66.771149 m, bearing: 89.968945 deg, approach rate: 0.642949 m/s, LOS rate: -0.189217 deg/s, cmd heading: 11.738650 deg, new cmd heading: 11.504248 deg. 2jemHeadingCmd: 0.200787 target range: 384.299988 and range: 413.10 m. jmM>jijijiiqhhhhBfffrfbfö@ɛBƴ I ` LɚiIcw=IM>ii)%M>)!*F2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264906GG B O >{[vw,ڽA6o@Y6)@6(96>y6Hοj?@пaȿ?E? ?`?ɨ6o@6NJ;4y>B>E#IIN IN<4٢V VW=9VQ Z>XX ZG٣XyE= E> }Nusing accuracyPremultiplier from configI#59MJ5?#5YM02 iMB￑p@M EM/jjjihhhhfffrfbf@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517051ɛB &I \ɚ!i)I-Iw=I5I>i1i1)5I>)9*F2F:FBFP5JFzK|NK9KK K     !2CLJHC?:7RK?JK ?JK 3 K .-KK"KJJuJ1JJ}:J9J3JG 3jH bH =H I  I 5$II BI &I .I 6I ]<:I z FG B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771006vw,ڽAJ@YJ_@J39J[>yJH`ʿM?п`qſ@"?1T?e? !\?ɨJ@JV;JCyZBZ3#IIjIj|4٢v牽 vF=9zQ z>   G٣ y= > %Nusing accuracyPremultiplier from config!-#59%WD5?5#5Y%t72 i%B1=쿑=p@% E%m;%u;%1#5I M@IZjFNOT Ignoring new targets: 384.30 m.Bj-3Jj-3- ProNav: ac range: 384.299988 m, nav range: 67.282387 m, bearing: 89.839074 deg, approach rate: 0.652182 m/s, LOS rate: -0.156650 deg/s, cmd heading: 11.300971 deg, new cmd heading: 11.116121 deg. 2j-׻]HeadingCmd: 0.194013 target range: 384.299988 and range: 413.10 m. j]RF>jajajiiihhhhfffrfbf-@ɛ BIu̽ %eII UlɚYiYI] w=IRF>i Ii)RF>) }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020961*F?2F:FBF5JFG :G ?G ?Gy B O >jvw,Q۽A:e@Y:Ȑ@:9:>y:HvǿM?{пC0M¿?`d? h?"b?ɨ:e@:O;:CyFBF*#I)H H%Mb@Mb@Mb@!!! !)!Y%/$?ˡEy&1y%QQ UG٣UIGyUv= ]> eNusing accuracyPremultiplier from configam#59e>5?m#5Ye??2 ieBu=?u:u濑up@e Ee/;ej;e#5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273684 >@!ZjAMFNOT Ignoring new targets: 384.30 m.BjMJjM ProNav: ac range: 384.299988 m, nav range: 67.578331 m, bearing: 89.781040 deg, approach rate: 0.714660 m/s, LOS rate: -0.139530 deg/s, cmd heading: 11.116121 deg, new cmd heading: 10.942781 deg. 2jHeadingCmd: 0.190988 target range: 384.299988 and range: 413.10 m. j?C>jjjihhhḣBfffrfbfZt @ɛ=B=vν =Y==I9 E%{ɚAiAIEv=IM?C>iIiq)u?C>)q*F ?2F :F BF _0JF  $?IGm 3 Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:08:43.0047  TRx dataTimestamp_ set to:1736374124.342102 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527400GA BQ Om >1vw,4۽AzK2kMK29K0K2 K2120.))" 32BK8:K:qA:@Y:@:9:?>y:H@yĿ?@tпMQ`'??A?`gp?ɨ:@: @;:CyJBJ#IIrIr4٢zH zP=9zQ z> G٣y=  > Nusing accuracyPremultiplier from config #59 95?#5Y F2 i BO㿑%p@  E ; ; :#5) -@)ZjQUFNOT Ignoring new targets: 384.30 m.BjUTJj]Tm ProNav: ac range: 384.299988 m, nav range: 67.862091 m, bearing: 89.732163 deg, approach rate: 0.761130 m/s, LOS rate: -0.130553 deg/s, cmd heading: 10.942782 deg, new cmd heading: 10.796766 deg. 2jm1uHeadingCmd: 0.188439 target range: 384.299988 and range: 413.10 m. ju/@>jqjqjqiqhqhyhyhyfffrfbfEZ @*J"J%=JyJJJJ]:JJJɛBd]۽  I &ɚiImv=I /@>i i)/@>)!HI I#IISBI&I.I6Iy<:I F*FM?2FQ:FQBFQJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778150GiG B OM > I Zvw,}w5۽A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&8DAT read: $Error in header &*Received a bad headerRchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.040504yޝBޝ#ImMb@Mb@Mb@iii i)iYmDl?{GzMb`?ymOM?mףm;m=4A m@)m AImx!AiymAII4٢` 3=9Q > G٣y > Nusing accuracyPremultiplier from config#5935?#5Y(P2 iB`M?:ῑp@# EQ;o;<#5ݒB 1@iEZjFNOT Ignoring new targets: 384.30 m.Bj Jj  ProNav: ac range: 384.299988 m, nav range: 68.220818 m, bearing: 89.676570 deg, approach rate: 0.782572 m/s, LOS rate: -0.120642 deg/s, cmd heading: 10.796766 deg, new cmd heading: 10.630862 deg. 2jHeadingCmd: 0.185544 target range: 384.299988 and range: 413.10 m. j!=>jjji!h!h)h1h5vBf1f1f9rf9bf=.@ɛeBed@ɽ imIi u`ɚqiqIu\u=I}!=>iyiy)}!=>)*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.==checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281073G :G qAG qAG B O >اvw,7UO۽A6@Y6'*@696.3>y6Hα?` пw+ Pe?I??$?ɨ6@6w;6CyBBF&#IiJp=IJ< J=Ja=IRIR4~G!A٢Eg= Md= aIei 6YyY/B9uQ > G٣y> > Nusing accuracyPremultiplier from config5#59j05?5#5YW2 i$ B9=ڿ=p@( EL<X<s#5A E@AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 384.30 m.BjpJjp ProNav: ac range: 384.299988 m, nav range: 68.510590 m, bearing: 89.644202 deg, approach rate: 0.732706 m/s, LOS rate: -0.081499 deg/s, cmd heading: 10.630862 deg, new cmd heading: 10.534169 deg. 2j_ HeadingCmd: 0.183856 target range: 384.299988 and range: 413.10 m.UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.533056 jD<>jjjihhhhfffrfbf "3@ɛBCν 隝I ϖɚiIWRu=ID<>ii)D<>)zK]+!MKYKYK] K]1;<;61-))'" JJ?AEPڀ=H v>I  I #II 5BI &I .I >D6I <:I F*F ?2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785795G3GBO?bvw,K9q۽A HIL袍@Yi@Y9>yHൗ@?@Ͽ@?+I?a?@V?ɨ袍@N;騭Cy޽B޽2#IMMb@Mb@Mb@III I)IYMQ?Q롿/$?yMU?M\Myy }G٣}IGWill construct direction to contact in vehicle frame from tetrahedron phase data.ՍAiՍAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.037231y= -> 5Nusing accuracyPremultiplier from config1=#595+5?=#5Y5Td2 i5u B=V?E}:E׿Ep@50 E5$;5#;5$#5I M@UlEZjFNOT Ignoring new targets: 384.30 m.BjJj ProNav: ac range: 384.299988 m, nav range: 68.987160 m, bearing: 89.601685 deg, approach rate: 0.853846 m/s, LOS rate: -0.075648 deg/s, cmd heading: 10.534169 deg, new cmd heading: 10.407501 deg. 2jOHeadingCmd: 0.181645 target range: 384.299988 and range: 413.10 m. j1:>jjjihhhhHBff f rf bf [@ɛUBUE e(4=eaIa mUɚiiiImCt=I}1:>iyi)1:>)EU(W=*F?2F:FBFJFJzJvJ0JJ`:Jϣ9Jـ3JJo;a Ja J:aJ:aE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290711G G B O5 >vw,۽A2n@Y2~@292>y2H\h? Ͽc#+K?۠?1? 7?ɨ2n@2;2Cy:̄B>W#IIF IF4٢N 0> Rn=9RYQ R?TT VG٣TyVl= Z? Nusing accuracyPremultiplier from configX#59Z)5?%#5YZJk2 iZ B!%^Կ%p@Z4 EZu:Z:ZV'#5) 5@1ZjYeFNOT Ignoring new targets: 384.30 m.Bje?vJje?vu ProNav: ac range: 384.299988 m, nav range: 69.251434 m, bearing: 89.583849 deg, approach rate: 0.800497 m/s, LOS rate: -0.053821 deg/s, cmd heading: 10.407502 deg, new cmd heading: 10.354196 deg. 2ju}HeadingCmd: 0.180715 target range: 384.299988 and range: 413.10 m. j}N 9>jyjjihhhhfffrfbf8@ɛ7\߽ I <ɚiIs=IN 9>ii)N 9>) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543976EU-tY=*F?2F:FBFJFzKaMKs9KK KH u>I C I I I =&I .I 6I V<:I s FG G ?G ?G B O- >7vw,۽AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792977 9@YH@=9w>yH7@?7п ɳ??`6?`C-?Ə?ɨ 9@;y]B]s#I)i iII4٢= /=9 ZQ > G٣IGyUdP= U> ]Nusing accuracyPremultiplier from configYe#59]'5?e#5Y]u2 i] Bim4ѿmp@]: E] :];]+#5uޒB u@}nEZjFNOT Ignoring new targets: 384.30 m.Bj2Jj2 ProNav: ac range: 384.299988 m, nav range: 69.651360 m, bearing: 89.565284 deg, approach rate: 0.843071 m/s, LOS rate: -0.038912 deg/s, cmd heading: 10.354196 deg, new cmd heading: 10.298821 deg. 2jպHeadingCmd: 0.179748 target range: 384.299988 and range: 413.10 m. j8>jjjihhhhfffrfbf ي@ɛB-κ  NJI  ФɚiI_r=I8>i!i!)%8>)!E5qAE5pAE- d6=*F2F Ii:FBF0JFPExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045152G :G B O >J= |J= J9 J9 J= ;g:J= 9J9 J9 J= ֊;J= ׊;J= 2;vw,F|۽AJm3;2 @Y2@292a>y2H 4-???`Ytп@' ?`U?@X?@<*?@\?ɨ2 @2Eu;2CyBBB#IMb@Mb@Mb@ )YʡE?J + =R=9EѺQ E>AA MG٣IyME= M> Nusing accuracyPremultiplier from configQ#59U6&5?#5YU}2 iU"!BR?:пp@U? EUjjjihh5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296973hhgBfffrfbfD@ɛ- B- )-ҁI) 5㶼ɚ1i1I5q=I=^7>i9i9)=^7>)AEmEm*Ei"Ei I*F ?2F :F BF `0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548960G zKeJQJKe 9KaKe KeGBO>σvw, ۽A2Fڐ@Y2@2 k92Ą>y2H??@Cп4β???V6? Y?ɨ2Fڐ@2ۋ;2Cy>+B>#IIFIF 4٢R > R0=9Rg}:Q R>TT VG٣TyV_= Z> ^Nusing accuracyPremultiplier from config\b#59^%5?b#5Y^2 i^i!B`bͿfp@^E E^a:^a:^2#5h j.@hvB*** querying acoustic contact ***jtjtZjFNOT Ignoring new targets: 384.30 m.BjuJjuHs>I I$IIYBI =&I.I6Iw<:I FBICJIRIZIbI =jI-5U ProNav: ac range: 384.299988 m, nav range: 70.326668 m, bearing: 89.543963 deg, approach rate: 0.813530 m/s, LOS rate: -0.017973 deg/s, cmd heading: 10.260108 deg, new cmd heading: 10.235161 deg. 2jUYE]HeadingCmd: 0.178637 target range: 384.299988 and range: 413.10 m. j]6>jYjYjaiahahahahifffrfbf@ɛm !-pI) 5ֽɚ1i1I5p=IM6>iIiI)M6>)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805679*F?2F:FBF|1JFG A II G! M nManaging dock network, ignoring radio surface power offB O >} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053244Gvw,P۽A F@YFØ@F 9FF>yFHk??ѿQ???R?`?ɨF@F;FCyN`BR $I-Mb@Mb@Mb@))) )))Y-w/?ʡE ;=9k;Q > G٣IGyx= > Nusing accuracyPremultiplier from config#59#5?#5Yw2 i!BH?:!Ͽp@K Ek;j;6#5ߒB @qEZjFNOT Ignoring new targets: 384.30 m.BjJj- ProNav: ac range: 384.299988 m, nav range: 70.663124 m, bearing: 89.533194 deg, approach rate: 0.816350 m/s, LOS rate: -0.026006 deg/s, cmd heading: 10.235161 deg, new cmd heading: 10.203006 deg. 2j-Ȏ5HeadingCmd: 0.178076 target range: 384.299988 and range: 413.10 m. j5Y6>j1j1j1i9h9h9h9hEBfAfAfArfAbfMǡ@ɛq}Ҫ y}VIy }I üɚyiIo=IY6>ii)Y6>)JJ{J1JJv:J-9J3JJU;JV;J:J:*F ?2F :F BF ?5JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304846G)G B O- > 9 I9 ȑww,k*ܽA6ɋ@Y6J@696Ae>y6H1?X?@{ѿ@?@J_?@]? ? 5?ɨ6ɋ@66ϋ;6CyRBRJ$II^I^4٢f> fZ=9j;Q j>hh nG٣lyn= r> vNusing accuracyPremultiplier from configpv#59r>#5?z#5Yr2 ir!Bxz˿zp@rO Er:r:r9#5y }@yZjFNOT Ignoring new targets: 384.30 m.Bj Jj  ProNav: ac range: 384.299988 m, nav range: 70.952393 m, bearing: 89.530170 deg, approach rate: 0.733644 m/s, LOS rate: -0.007638 deg/s, cmd heading: 10.203006 deg, new cmd heading: 10.193970 deg. 2jHeadingCmd: 0.177918 target range: 384.299988 and range: 413.10 m. j:06>j j j i h h hhfffrfbf%:@=Will construct direction to contact in vehicle frame from tetrahedron phase data.99Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.557710ɛ} B}c 隅O=I ȼɚiIn=I:06>ii):06>)*FM?2FI:FIBFMY0JFIzKBoIK+9KK KBK-qA:K-pAH)I) I-[$II-BI- =&I).I)6I-Z<:I-s FGqGQ BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808975$ ww, -ܽA2Km@Y2|@2\W92G>y2H.#?F?ѿoJ0?͐??c?o?ɨ2Km@2L;0y>BB{$IIJIJ34٢V!H> VL=9V;Q Z>XX ZG٣Xy^= b> fNusing accuracyPremultiplier from config`f#59bh#5?j#5Yb62 ib "Bhj<ȿjp@bT Eb:b:by=#5p r]@pZj FNOT Ignoring new targets: 384.30 m.Bj,.9Jj,.9% ProNav: ac range: 384.299988 m, nav range: 71.260895 m, bearing: 89.533802 deg, approach rate: 0.811912 m/s, LOS rate: 0.009517 deg/s, cmd heading: 10.193970 deg, new cmd heading: 10.204819 deg. 2j-9-HeadingCmd: 0.178108 target range: 384.299988 and range: 413.10 m. j-a6>j1j1j1i1h1h1h9h9f9f9fArfAbfE K@ɛy}M\ y隅2)I  ̼ɚiIm=Ia6>ii)a6>) Ii*F?2F:FBF_0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.061031G-3G! B9 OU >J J J 0J J }:J [9J ـ3J J ;J ;J ;J ;>ww,FܽA2I@Y2Y@2!92Ɖ>y2H?\?ҿ^W@b?` ͹?Z???ɨ2I@2L;2CyBBB$IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.312956=Mb@Mb@Mb@999 9)9Y=X9v?ʡEy&1?y=3?=-=`<=)A =M@)9I=A9y=pAIUIUb4٢ee> e2=9e8;Q m>ii mG٣mIGyuo= }> Nusing accuracyPremultiplier from config#59#5?#5Y2 i>"B:5?:ǿp@Y Ej<j<A#5 @ZjIFNOT Ignoring new targets: 384.30 m.Bj@9Jj@9 ProNav: ac range: 384.299988 m, nav range: 71.583267 m, bearing: 89.538858 deg, approach rate: 0.674957 m/s, LOS rate: 0.010538 deg/s, cmd heading: 10.204819 deg, new cmd heading: 10.219919 deg. 2jn9HeadingCmd: 0.178371 target range: 384.299988 and range: 413.10 m. j6>jjjihhhhBfffrfbf@ @ɛCw 隭I )мɚiIl=I6>ii)6>)E)E) I*F2F:FBFJF"G>G>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565036G G B O >zKU BoJKU 9KQ KU KU ww,`ܽAJ(J*@A65@Y6"E@696.>y6H?a,?`.bҿ@7?@ ?` ?? p?ɨ65@6_;4y>BB$IIJIJ4٢R> Rk=9REIC I$IIBI =&IGD.I6I<:I F  ProNav: ac range: 384.299988 m, nav range: 71.826385 m, bearing: 89.548240 deg, approach rate: 0.700708 m/s, LOS rate: 0.026950 deg/s, cmd heading: 10.219919 deg, new cmd heading: 10.247971 deg. 2j :HeadingCmd: 0.178861 target range: 384.299988 and range: 413.10 m. j%L'7>jAjAjAiAhIhQhYhYfffrfbf!@ɛ  u  VI  XӼɚiIk=IL'7>ii)5L'7>)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817142*F?2F:FBFJF IG :G G G B O5 >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068889ww, zܽAZ"@YZ 2@Z 9Z>yZH@/??/ҿ;`E?P?؃?` ?%?ɨZ"@ZM;ZCyfJBf,%IuMb@Mb@Mb@qqq q)qYu-?B`"۹{Gz?yu5?uνu# 8=9  G٣y= > Nusing accuracyPremultiplier from config#59t%5?#5Yk2 i"BS ?:Ŀp@b E};;nH#5 B o@ sEZj9EFNOT Ignoring new targets: 384.30 m.BjE9JjE9U ProNav: ac range: 384.299988 m, nav range: 72.103577 m, bearing: 89.558521 deg, approach rate: 0.643755 m/s, LOS rate: 0.023784 deg/s, cmd heading: 10.247971 deg, new cmd heading: 10.278694 deg. 2jU:]HeadingCmd: 0.179397 target range: 384.299988 and range: 413.10 m. j]ݳ7>jYjajaiahahahihmOBfififirfqbfu`_"@ɛX 隥%¾I ռɚiIj=Iݳ7>ii)ݳ7>)J J J J J m:J u9J J J ;J ;J /;J /;*F-?2F):F1BF5o0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.320906Gm3G) B9 O] >) .~G 1 e Yi ym B I $ww,eqܽA6@Y6%@696 >y6H$?@?ҿ D?g??b?`V?ɨ6@6;4y^B^q%Iib4=Ib4< f=f=IjIjݜ4٢r> r]=9r5Ttt vG٣vIGyzݤ= z> ~Nusing accuracyPremultiplier from config|#59~&5?#5Y~t2 i~"B  G p@~e E~7:~:~K#5 @ZjAEFNOT Ignoring new targets: 384.30 m.BjM+:JjM+:u ProNav: ac range: 384.299988 m, nav range: 72.332436 m, bearing: 89.572384 deg, approach rate: 0.621459 m/s, LOS rate: 0.037527 deg/s, cmd heading: 10.278694 deg, new cmd heading: 10.320154 deg. 2ju :}HeadingCmd: 0.180121 target range: 384.299988 and range: 413.10 m. jq8>jjjihhhhfffrfbf#@ɛX; 9I m׼ɚiI0}i=Iq8>ii)q8>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586395*F?2F:FBF1JFzK}K}59KyK} K}Hb>IC I[%IIpBI =&I.I- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837652 +ww,MܽA2@Y2@@2…92Տ>y2HR?k?9(ӿT?@:?@kE?@??ɨ2@2;2CyNBR%IIZIZ4٢b> bL=9b.Ndd fG٣dyjܛ= j> nNusing accuracyPremultiplier from configlr#59n(5?r#5Yn2 in"Bpv[vp@ni En!;n;n$O#5x z@xZj!-FNOT Ignoring new targets: 384.30 m.Bj-n:Jj-n:= ProNav: ac range: 384.299988 m, nav range: 72.580238 m, bearing: 89.593336 deg, approach rate: 0.619488 m/s, LOS rate: 0.052198 deg/s, cmd heading: 10.320154 deg, new cmd heading: 10.382793 deg. 2j=J;EHeadingCmd: 0.181214 target range: 384.299988 and range: 413.10 m. jE%9>jAjAjIiIhIhIhIhQfQfQfQrfabfm#@ aIeiɛI}' 隅4YI ;ؼɚiIWMh=I%9>ii)%9>)Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BI Oe >'1ww,BܽArWill construct direction to contact in vehicle frame from tetrahedron phase data.r .=9Q > G٣y > Nusing accuracyPremultiplier from config#59 +5?#5Y2 i"BJ ?:Pp@m E#;7!;CS#5 @ZjFNOT Ignoring new targets: 384.30 m.BjK:JjK: ProNav: ac range: 384.299988 m, nav range: 72.838547 m, bearing: 89.615092 deg, approach rate: 0.529976 m/s, LOS rate: 0.044480 deg/s, cmd heading: 10.382793 deg, new cmd heading: 10.447832 deg. 2j6:HeadingCmd: 0.182349 target range: 384.299988 and range: 413.10 m. j:>jjjihhhḧBfffrfbfI$@ɛimf m =u>Iq uNڼɚqiqIuZf=I}:>ii):>) AII*F=?2F9:F9BF=_5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.8ww,ܽAJ.J.J,J,J.<:J.9J,J,a2@a2@a2@a6@zK8K:9K8K: K:Z@YZ@Z9Z>yZH ? ?kӿ&g?f?B? /?~|?ɨZ@Zy;ZCyfBf%I)h hlnAIrIr4٢zon> zm=9z ?  Nusing accuracyPremultiplier from config #59 -5?#5Y 2 i "Bcp@ q E m ;  ; BV#5! %R@!EB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 384.30 m.HR>IC I%IIۆBI =&I.I:D6Im<:Ic FBjU:Jj:% ProNav: ac range: 384.299988 m, nav range: 73.024696 m, bearing: 89.639895 deg, approach rate: 0.570850 m/s, LOS rate: 0.075865 deg/s, cmd heading: 10.447832 deg, new cmd heading: 10.522049 deg. 2j%CP;-HeadingCmd: 0.183644 target range: 384.299988 and range: 413.10 m. j-G <>j)j)j)i)h1h1h1h1f9f9f9rfAbfE R%@ɛ B 脽I fڼɚ!i!I%~e=I-G <>i)i))=G <>)IWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received,DAT read: user:2338> BDAT read: Tx time:22:08:50.9955 $Ping request sent.% Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:08:50.9947  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247079F>ww, ܽA@Y @9H>yH? x?Wӿ@3@ ?Tl?઩???ɨ@;CyB%&IMb@Mb@Mb@ )YʡE?V-:vy>hԼ,A h@)AIAyzAII(4٢n= ;=9;6 G٣IGyw= >  Nusing accuracyPremultiplier from config #59 t15?#5Y 2 i "B>:p@ t E .< < Z#5 @ZjFNOT Ignoring new targets: 384.30 m.Bj:Jj%:] ProNav: ac range: 384.299988 m, nav range: 73.226189 m, bearing: 89.676711 deg, approach rate: 0.435764 m/s, LOS rate: 0.079404 deg/s, cmd heading: 10.522049 deg, new cmd heading: 10.632196 deg. 2j]Y;eHeadingCmd: 0.185567 target range: 384.299988 and range: 413.10 m. je;>>jajajiiihhhhBfffrfbf@{&@ɛ %I |ڼɚiIųd=I;>>ii);>>)*F%?2F!:F!BF%]0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501714G! G1 G1 1 I1 G9 BI Oe >.Eww,˻ݽA2@Y2K@2iܽ92>y2H? ?`;ӿ|?ƒ`?-??ɨ2@2΋;2Cy>BB&IIJIJ#4٢NLs= Rb=9RCOTT VG٣TyVY= Z> ^Nusing accuracyPremultiplier from configXb#59Z55?b#5YZb2 iZ"B`ffp@Zw EZ;ZE;Z9]#5h j@hZj|}FNOT Ignoring new targets: 384.30 m.Bj;:Jj;: ProNav: ac range: 384.299988 m, nav range: 73.391510 m, bearing: 89.710902 deg, approach rate: 0.494087 m/s, LOS rate: 0.101953 deg/s, cmd heading: 10.632196 deg, new cmd heading: 10.734536 deg. 2j;HeadingCmd: 0.187353 target range: 384.299988 and range: 413.10 m. jw?>jjjihhhhffQfQrfYbf]V5'@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754367ɛBH 隭pI ڼɚiIc=Iw?>ii)w?>)J}J}JyJyJ}:J}:JyJyzKBHK59KK KMr3gmQ9*" E5·3=HG>IC IO&II6BI =&I.I9D6IP<:IA FBIǦCJIǥCRIǖCZI =bI =jI7*F?2F:FBF4JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006949G G B IO->-DLww,r3ݽAZٝ@YZ{@Z_!ͽ9Z*>yZH 0?@f?@ҿQ?֩3?? ?ɨZٝ@Z;XybBf.&IInIn4٢v= v,=9vxx zG٣zIGy~> > %Nusing accuracyPremultiplier from config=#59:5?E#5Y2 i"BIUmq@z E/$<!<ea#5 d@ZjFNOT Ignoring new targets: 384.30 m.Bj%B:Jj%B:U ProNav: ac range: 384.299988 m, nav range: 73.606567 m, bearing: 89.765874 deg, approach rate: 0.403502 m/s, LOS rate: 0.102839 deg/s, cmd heading: 10.734536 deg, new cmd heading: 10.898969 deg. 2jU';]HeadingCmd: 0.190223 target range: 384.299988 and range: 413.10 m. j]B>jYjYjYiahahahahfffrfbf7(@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258357ɛ0ͼ  ii)B>)*E-="E-=E =E rAE *F}?2Fy:FyBF}_0JFyG GG 3] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510443Gy B O >)Sww,EMݽA2ٞ@Y2l@2dz½923>y2H??@Izҿ^@sy?@'@E?@?d?ɨ2ٞ@2;0yBBB0&IEMb@Mb@Mb@AAA A)AYE{Gz?MblyE>E@EE+A E$@)E3AIEAAyEAI]|I][4٢mT< mB=9mJyy }G٣yҗ= > Nusing accuracyPremultiplier from config#59@5?#5Y2 i"B>:q@} E';%; e#5 D@ZjFNOT Ignoring new targets: 384.30 m.Bj2;Jj2; ProNav: ac range: 384.299988 m, nav range: 73.779381 m, bearing: 89.822392 deg, approach rate: 0.477016 m/s, LOS rate: 0.155641 deg/s, cmd heading: 10.898969 deg, new cmd heading: 11.068126 deg. 2j;HeadingCmd: 0.193175 target range: 384.299988 and range: 413.10 m. jE>jjjihhhhBfffrf bf w(@ɛ5B5+Kɼ 9=iAiA)ME>)IEQEQ*E]"E] IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764408*F?2F:FBFJFJ J J /J J J :J (N3J zK NK K K K G :H A>I C I &II }BI # =&I .I 8D6I X<:I G ?G ?G B O >¥Yww,vhݽAZx@YZ@Z묵9ZG>yZHB??ҿ$?@?`|?ྦ?ɨZx@Ze;ZCy%&B%;&IIEIE4}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014677٢ = ?=9o G٣y= > Nusing accuracyPremultiplier from config#59G5?#5Ya2 i"B!%t%q@ E.:q:h#5) M@ImB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 384.30 m.Bj;Jj; ProNav: ac range: 384.299988 m, nav range: 73.959930 m, bearing: 89.886474 deg, approach rate: 0.394587 m/s, LOS rate: 0.139709 deg/s, cmd heading: 11.068125 deg, new cmd heading: 11.259903 deg. 2jÿ;-HeadingCmd: 0.196522 target range: 384.299988 and range: 413.10 m. j-*=I>j)j1j1i1h1h1h9h9f9f9f9rfAbfEi)@ɛB^ü /=I jڼɚiIM`=I*=I>ii)*=I>)! -$?I)*F2F:FBFJF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269125G G B O >[`ww,NDݽAy~%B:&I)    AMb@Mb@Mb@ )Yw/? rh:vy>C T(A )AIAy AIIݜ4٢ G=9Q > G٣IGy > Nusing accuracyPremultiplier from config#59N5?#5Y2 i"B>:q@ E+;{;^l#5 ʻ@Zj!-FNOT Ignoring new targets: 384.30 m.Bj-;;Jj5;; ProNav: ac range: 384.299988 m, nav range: 74.120911 m, bearing: 89.949074 deg, approach rate: 0.422972 m/s, LOS rate: 0.164121 deg/s, cmd heading: 11.259903 deg, new cmd heading: 11.447292 deg. 2jD;HeadingCmd: 0.199793 target range: 384.299988 and range: 413.10 m. jL>jjjihhhhBfffrfbf 9*@ɛEBMn&ü Im!=Ii uZټɚqiqIu_=I}L>iyiy)}L>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519499*F%?2F!:F!BF-0JF) IGM 3G! B1 Ou >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770189Hfww,&ݽA2١@Y2@292E>y2H?? /ѿ ?@?NC??ɨ2١@2;2CyBBB0&IIJIJʴ4٢+ V=9, G٣y%+$> %> -Nusing accuracyPremultiplier from config)5#59- V5?5#5Y-2 i-"B9=ޅEq@- E-^;;-;;-o#5I MI@MpEZjquFNOT Ignoring new targets: 384.30 m.Bj}H;JjH; ProNav: ac range: 384.299988 m, nav range: 74.271034 m, bearing: 90.016260 deg, approach rate: 0.392819 m/s, LOS rate: 0.175446 deg/s, cmd heading: 11.447292 deg, new cmd heading: 11.648442 deg. 2j;HeadingCmd: 0.203304 target range: 384.299988 and range: 413.10 m. j.P>jjjihhhhfffrfbf]+@ɛB̼ .=ii).P>)*F?2F:FBFP5JFJcKkm3 KkL.KcKc"KcJJJ0JJ,:J:Jـ3JzKBJK9KK K #+4:BJH;+%%(%%$#"# BKoA:KH=>IC I&IIBI$ =&IHD.I7D6I<:Ie FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022254GGpAGGBO>  I ilww,ݽAFˢ@YFj۩@F@9F>yFH`?&?пk@?෿@? G G٣yʍ= >  Nusing accuracyPremultiplier from config-#59^5?-#5Y2 i"By}q@ ES<Ѕ<ys#5BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274517 ϼ@rEZjAEFNOT Ignoring new targets: 384.30 m.BjmC;JjuC;} ProNav: ac range: 384.299988 m, nav range: 74.437965 m, bearing: 90.095747 deg, approach rate: 0.360153 m/s, LOS rate: 0.171109 deg/s, cmd heading: 11.648442 deg, new cmd heading: 11.886368 deg. 2j;HeadingCmd: 0.207456 target range: 384.299988 and range: 413.10 m. jjoT>jjjihhhhfffrfbf9S,@ɛBּ ;I \ټɚiI^=IEjoT>iAiA)MjoT>)I*F?2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:08:53.9483  TRx dataTimestamp_ set to:1736374135.192928 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527567G *G B O >tww,ݽAJ~GT TV@l 0Y y )B !I!u @Yu@u9uT>yuH?? {п.z?=n`v?@2?U?ɨu @u+;uCyލBލ&Ii=IC=%Mb@Mb@Mb@!!! !)!Y%Cl?A`"Qy%d>%Y%u%$A %@)%AI%A!y% AI=I=b4٢E M:=9# G٣IGy~= > Nusing accuracyPremultiplier from config#59h5?#5Y2 i"B>:Bq@ E6;;[w#5 @ZjIuFNOT Ignoring new targets: 384.30 m.Bjqp;Jjqp; ProNav: ac range: 384.299988 m, nav range: 74.625809 m, bearing: 90.184419 deg, approach rate: 0.446438 m/s, LOS rate: 0.210212 deg/s, cmd heading: 11.886368 deg, new cmd heading: 12.151713 deg. 2jD<HeadingCmd: 0.212087 target range: 384.299988 and range: 413.10 m. jp-Y>jjjihhhheBfffrfbf`x%-@ɛB`3 隵I YټɚiI]=Ip-Y>ii)p-Y>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780229*Fy2Fy:FyBF}P5JFyjHQ bHU <Hu :>Iu C Iu &IIu BIu & =&Iq .Iq 6Iu <:Iu FG- 3zK MK 9K K K    G! B9 Om >;zww, ݽAfWill construct direction to contact in vehicle frame from tetrahedron phase data.~DAT read: 22:08:53.9483 LVL= 17872, 18049, 15794, 20131, AGC= 68, IDX= 383,-0.00, 1.205, 0.987,-0.978, 0.193, PHS= 1.099, 0.841,-1.175, RAW= 36.0, -7.2, CAL= 37.7, -12.3, ROT= 112.3, 12.3 Ygot valid direction response: 22:08:53.9483 LVL= 17872, 18049, 15794, 20131, AGC= 68, IDX= 383,-0.00, 1.205, 0.987,-0.978, 0.193, PHS= 1.099, 0.841,-1.175, RAW= 36.0, -7.2, CAL= 37.7, -12.3, ROT= 112.3, 12.3  DAT read: Range 10 to 50 : 411.5 m (Round-trip 548.7 ms) speed -0.4 m/s ,DAT read: user:2339> BDAT read: Tx time:22:08:55.0455 $Ping request sent.ddfB+dQ?[O!! %G٣!y- -> Nusing accuracyPremultiplier from config#59 r5?#5Y2 i"Bq@ E<<%{#5 m@oE $?IkfGw?kfNvU& kd kfrݽA:kfCBkfWCZkf >"f [O@2W]u@{I֊k@fjM?3?I͝ m"?Jkfֱ?Rkf*fk Fjn@`t^@>s@f\:Ė?cSB?D-?"kfB*kfRsCkfȽ2?kf $?& 2kfCkf9?kfU0( kfCkfBkf,\?M addTargetRange:: Added new target pos. range: 411.500000 m, deltaT: 14.884129 s, deltaX: -1.600006 m, approachRate: -0.107497 m/s, rangeRepo size: 4 ] Added new target pos. range: 411.500000 m, bearing: 26.974435 deg, lat: 36.902528 deg, lon: -122.121617 deg, deltaT: 31.019235 s, deltaX: 27.200012 m, approachRate: 0.876876 m/s, posRepo size: 4 ZjYeFNOT Ignoring new targets: 411.50 m.BjJj ProNav: ac range: 411.500000 m, nav range: 105.858177 m, bearing: 82.523846 deg, approach rate: 0.000000 m/s, LOS rate: 0.210212 deg/s, cmd heading: 12.151712 deg, new cmd heading: 12.434091 deg. 2jHeadingCmd: 0.217016 target range: 411.500000 and range: 411.50 m. jf9^>jjjihhhhfffrfy@bf,D?ɛEBE} IM(QII MDLڼɚIiQIUY]=I}f9^>ii)f9^>) Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:08:55.0447 EE =Ju Ju Jq Jq Ju L:Ju :Jq Jq Ju O;a Ju Q;a Ju S;a Ju S;a *F ?2F :F BF o0JF -Will construct direction to contact in vehicle frame from tetrahedron phase data.GG5 ?G1GBO%? ww,޽A6A|@Y6‹@6|96>y6H 0?@*?Ͽt????`?ɨ6A|@6$;6CyZBZ%IUMb@Mb@Mb@QQQ Q)QYU|?5^?㥛 L7A`尿yU ?UU+U#A U@)UzAIU AQyU AImIm@4٢} O }=9c G٣y= > Nusing accuracyPremultiplier from config#595?#5Y=3 iw"B ?:|q@ Eu ; ;#5 M@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 411.50 m.Bjyl;Jjyl; ProNav: ac range: 411.500000 m, nav range: 106.081726 m, bearing: 82.628897 deg, approach rate: 0.440874 m/s, LOS rate: 0.206741 deg/s, cmd heading: 12.434091 deg, new cmd heading: 12.748577 deg. 2j <HeadingCmd: 0.222505 target range: 411.500000 and range: 411.50 m. jBc>jjjih h hhBfffrfbf"?ɛB I %mڼɚ!i!Ie\=ImBc>iiiq)uBc>)qEEr.=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFS3JFG He 7>Ia  Ie &IIe BIa &Ia .Ia 6Ie \<:Ie ; FG B O >zKU LKQ KQ KU KU m/ww,V*޽AF[@YF]k@F u9F_G>yFHo??? +uпI#Q?{¿?{??ɨF[@F;FCyRֆBR%IIjIjW4Will construct direction to contact in vehicle frame from tetrahedron phase data.%Ai%A%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998032٢}% K=9;Q > G٣IGy= > Nusing accuracyPremultiplier from config#595?#5Y! 3 ib"B_tq@ EY;jjjihhhhfffrfbfK?ɛBF  TI  =ۼɚ9i9I=\=IEiAiA)E)QEqEq*Ey"Ey -$?I1*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.301046J J J J J ,:J :J J J ;J ;J L;J L;G:GqAGpAGaBqO?ww,LUK޽AFY@YF%@FNqd9F>yFH??Ͽ # C?@&Ŀ_?@+? ?ɨFY@FQ;DyVφBV%II^I^%x4٢f f(=9jI hh jG٣lyrS= r> vNusing accuracyPremultiplier from configtz#59v5?z#5Yv3 ivH"B|~f~q@v Ev;vD;v#5 2@ lE5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509807Zj9=FNOT Ignoring new targets: 411.50 m.BjE{;JjE{;U ProNav: ac range: 411.500000 m, nav range: 106.439072 m, bearing: 82.816542 deg, approach rate: 0.401193 m/s, LOS rate: 0.220254 deg/s, cmd heading: 12.997737 deg, new cmd heading: 13.310554 deg. 2jU(jajajaiihihihqhqfqfqfyrfybf} w?ɛB; 隥I ܼɚiIB\=Ium>ii)um>) I*F!2F!:F!BF%05JF!G) G-qAGE3Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762739G B) OE >^טww,@e޽A6i@Y6@60DZ96&>y6H0?W?ο`x?@Ŀ7E?? Z?ɨ6i@6;4ybņBf%IZHpRHr?AHv3>It Iv&IIv_BIv' =&It.Iv6D6Iv8<:Iv FBICJICRICZI& =bI% =jI5I I J4٢%9 %F=9%;Q %>)) -G٣)y-= 5> =Nusing accuracyPremultiplier from config1E#5955?E#5Y5i3 i51"BQUE`Uq@5 E5pi;57;5%#5]B e@eoEZjFNOT Ignoring new targets: 411.50 m.Bjcz;Jjcz; ProNav: ac range: 411.500000 m, nav range: 106.596687 m, bearing: 82.907278 deg, approach rate: 0.380815 m/s, LOS rate: 0.218905 deg/s, cmd heading: 13.310554 deg, new cmd heading: 13.582359 deg. 2j;<HeadingCmd: 0.237057 target range: 411.500000 and range: 411.50 m. j r>jjjihhhhfffrfbfY ?ɛ B$zKN KK9KK K 15|-I ޼ɚiI\=I r>ii) r>)UWill construct direction to contact in vehicle frame from tetrahedron phase data.UC?US?echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015597*Fu?2Fq:FyBF}0JFy IiG:Gi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268725ww, ~޽Ay]B]%I }@} }@} }@}  }@} II4٢e 4=9Q > G٣IGy > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config#59F5?#5Y3 i"B+::q@ E<;J>[#5 @lEZjFNOT Ignoring new targets: 411.50 m.Bj%{;Jj%{; ProNav: ac range: 411.500000 m, nav range: 106.770424 m, bearing: 83.006804 deg, approach rate: 0.383911 m/s, LOS rate: 0.219567 deg/s, cmd heading: 13.582360 deg, new cmd heading: 13.880449 deg. 2j<HeadingCmd: 0.242260 target range: 411.500000 and range: 411.50 m. jx>jjji!h!h!h)h)f1f1f1rf9bf=@%@JUJUJQJQJU:JU:JQJQJU;JU;JUnN;JUoN;ɛ}BD% 隅DKI ܍߼ɚiI[=Ix>ii)x>)*F%?2F!:F!BF%_0JF!UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517876GE 3GM ?GM > $?I GA Ba O >$ww,(ט޽A:v@Y:]@:VI9:i>y:Hò?@O?`D̿`r?3ƿ@ b? fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j#59b%5?j#5YbA3 ib"Bn :lnw:n Tnq@b Eb7;bK?bO#5p rr@tB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 411.50 m.Bj%ځ;Jj%ځ;5 ProNav: ac range: 411.500000 m, nav range: 106.894363 m, bearing: 83.084614 deg, approach rate: 0.362085 m/s, LOS rate: 0.227055 deg/s, cmd heading: 13.880449 deg, new cmd heading: 14.113606 deg. 2j5<=HeadingCmd: 0.246329 target range: 411.500000 and range: 411.50 m. j==|>j9j9j9i9hAhAhAhAfIfIfIrfIbfM @ɛ}B}#- }V=}fGIy ɚiI[=I=|>ii)=|>)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770905*F-?2F):F)BF1JF1"G=>G=>H0>IC IU&II;BI) =&I.I6I<:I FGm:GiByzKBoHK9KK KO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024007ww, ޽A 4I4Jx:@YJI@JgE9Jz>yJHs4??`z˿@X?ƿ?`c??ɨJx:@JA;JCyRBR%II^I^(4٢zԢ< ~F=9~W1;Q ~> G٣y l=  > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config#595?%#5Y 3 i!B%9!%H:%N%q@ E;;Ț?:#51 5/@1ZjFNOT Ignoring new targets: 411.50 m.Bj;Jj; ProNav: ac range: 411.500000 m, nav range: 107.040527 m, bearing: 83.180468 deg, approach rate: 0.349958 m/s, LOS rate: 0.229187 deg/s, cmd heading: 14.113607 deg, new cmd heading: 14.400771 deg. 2jI<HeadingCmd: 0.251341 target range: 411.500000 and range: 411.50 m. j>jjjihhhhfffrfbf!B @ɛ!B% %BI! %Uɚ!i!I%[=I->i)i))->)1*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277406G3GBO >Jq Ju Ju 1Jq Jq Ju :Ju 3Jq Jq Jq Ju cW;Ju dW;ww,޽AWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:08:58.0004 -TRx dataTimestamp_ set to:1736374139.232510-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526686ye†Bm%I        Mb@Mb@Mb@ )YZd;O?NbX9ȿQ뱿y~*?E\A -@)QAIvAyfAI I 4٢/< ,=9Q %>!! %G٣%IGy- -> =Nusing accuracyPremultiplier from config1=#5955?=#5Y5'3 i5!BET:Ei2?E:E`tEq@5 E5 ;5D;5^#5 ]$?IYeB e@eiEZjFNOT Ignoring new targets: 411.50 m.Bj;Jj; ProNav: ac range: 411.500000 m, nav range: 107.283836 m, bearing: 83.297872 deg, approach rate: 0.518421 m/s, LOS rate: 0.249587 deg/s, cmd heading: 14.400771 deg, new cmd heading: 14.752180 deg. 2jJ+<HeadingCmd: 0.257474 target range: 411.500000 and range: 411.50 m. jӃ>jjjihhhhuBfffrfbf` @ɛ#B$  BI veɚiI[=IӃ>i i ) Ӄ>) *F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777751G G G qAGa Bq O >L&ww,N`޽AjH@bH@HF/>ID IF6&IIF"BID&ID.ID6IF[<:IF5 FyrІBr%IIzIz4٢?= s=9 Q  ?   G٣y ? %Nusing accuracyPremultiplier from config-#595?-#5Y,3 i!B)15q@ E?;R;M#5A E$@AzKK+9KK KZj9EFNOT Ignoring new targets: 411.50 m.BjmTq;JjmTq;} ProNav: ac range: 411.500000 m, nav range: 107.456512 m, bearing: 83.380738 deg, approach rate: 0.440355 m/s, LOS rate: 0.210985 deg/s, cmd heading: 14.752181 deg, new cmd heading: 15.000379 deg. 2j}<HeadingCmd: 0.261806 target range: 411.500000 and range: 411.50 m. jp >jjjihhhhfffrfbf @ɛ%Bё! *I pɚiIr[=I%p >i!-Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:08:58.0004 LVL= 24240, 32753, 32754, 32755, AGC= 67, IDX= 452, 0.05,-0.132,-0.968,-2.542,-1.529, PHS= 1.486, 0.608,-1.016, RAW= 50.2, -9.8, CAL= 57.1, -16.9, ROT= 92.9, 16.9 Ygot valid direction response: 22:08:58.0004 LVL= 24240, 32753, 32754, 32755, AGC= 67, IDX= 452, 0.05,-0.132,-0.968,-2.542,-1.529, PHS= 1.486, 0.608,-1.016, RAW= 50.2, -9.8, CAL= 57.1, -16.9, ROT= 92.9, 16.9 i!)p >) PDAT read: Bearing 92.9, 16.9 (Local)  ~Local bearing/azimuth received: Bearing 92.9, 16.9 (Local) DAT read: Range 10 to 50 : 413.0 m (Round-trip 550.7 ms) speed -0.1 m/s E,DAT read: user:2340> UBDAT read: Tx time:22:08:59.0956 U$Ping request sent.U))-o?xVſ)-ܛI-/>i-9?-$K)):publishing transmit ping timeQFpublishing direction and range info)9-Ƙ?;?-2?y)))) )))I)i))))) )))I)i)))-o?xVſ))I)i)))) AIAE.=EqAEqA*Fm ?2Fq :Fq BFy JFy G  G  Will construct direction to contact in vehicle frame from tetrahedron phase data. i  JDAT read: TxSync time:22:08:59.0948 GYG9BIOe?)ww,]߽AN@YN7@N<9N>yNH`U?`?fɿ 8?Dȿ`4~?t??ɨN@NWm;NCyfކBf%I=Mb@Mb@Mb@999 9)9Y=(\?&1ʿp= ףy='?=P==A 9)=v@I=IA9y=GAII4٢uB= u =9u׀;Q u>yy }G٣yy> > Nusing accuracyPremultiplier from config#595?#5Y43 in!Bi0?:fq@ E;;e#5B N@hEkM1h?kMCJ' kI kM޽A:kMCBkMCZkM&?"MCQ@}q@OR3nr@MƘ?;?-2?JkM9?RkM$K*Mwxc@#j]@;fv@MkfR.?~ʳg?t)?"kMB*kM CkMȐYi?kM& 2kMsCkMȐYi?kM& kI-Will construct direction to contact in vehicle frame from tetrahedron phase data.kMDCkMҌ&?] addTargetRange:: Added new target pos. range: 413.000000 m, deltaT: 4.039935 s, deltaX: 1.500000 m, approachRate: 0.371293 m/s, rangeRepo size: 4  Added new target pos. range: 413.000000 m, bearing: 37.276501 deg, lat: 36.903822 deg, lon: -122.121486 deg, deltaT: 4.039935 s, deltaX: 1.500000 m, approachRate: 0.371293 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 413.00 m.BjJj ProNav: ac range: 413.000000 m, nav range: 196.107925 m, bearing: 37.275845 deg, approach rate: 0.000000 m/s, LOS rate: 0.210985 deg/s, cmd heading: 15.000379 deg, new cmd heading: 15.343434 deg. 2jHeadingCmd: 0.267793 target range: 413.000000 and range: 413.00 m. j9>jjjihhhhnBf)1 1f9f-GsAArfy@bf? %$?I) -'Y-sAy-Bɛ(Bt 隍\I ɚiIDD[=I9>ii)9>)E &V= Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 3JF JJJ0JJl:JJـ3Ja@a@a@a@HI I/&IIBI&I.I6IN<:I+ FGG% ?G%8?GBO?bww,,߽AzK jIKKK K  wG*yB&II%I%4mWill construct direction to contact in vehicle frame from tetrahedron phase data.u>ua=٢}= }=9}Q }> G٣IGy > Nusing accuracyPremultiplier from config#596?#5Ye<3 i>!Bq@ EC:.:#5 Ǿ@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 413.00 m.Bj 9j;Jj 9j;- ProNav: ac range: 413.000000 m, nav range: 196.101730 m, bearing: 37.381497 deg, approach rate: -0.012007 m/s, LOS rate: 0.204773 deg/s, cmd heading: 15.343434 deg, new cmd heading: 15.660398 deg. 2j- <5HeadingCmd: 0.273326 target range: 413.000000 and range: 413.00 m. j5R>j1j9j9i9h9h9hAhAfAfAfIrfIbfMe?ɛ+Bi 隝ѽI ɚiIo[=IR>ii)R>)EE*E"E IIMi*F?2F:FBF_0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.G :G B O >ww,H߽A2ޯ@Y2]@2dE92 >y2H?f&?`2ǿ'!.?ʿ?@R?ո?ɨ2ޯ@2 ߊ;0y>BB'&IMb@Mb@Mb@ )YMbX9?NbX9ȿ:vy!?ET9A @)@IyAIIa4٢> ==9\Q > G٣yY)> > Nusing accuracyPremultiplier from config#596?#5YA3 i!B)?:RTq@ E B;&@;Φ#5 ϼ@eEZj  FNOT Ignoring new targets: 413.00 m.Bj\;Jj\;% ProNav: ac range: 413.000000 m, nav range: 196.076584 m, bearing: 37.464557 deg, approach rate: -0.058394 m/s, LOS rate: 0.192903 deg/s, cmd heading: 15.660398 deg, new cmd heading: 15.909609 deg. 2j%c<-HeadingCmd: 0.277675 target range: 413.000000 and range: 413.00 m. j-m+>j)j)j1i1h1h1h1h=Bf9f9f9rf9bfETf?ɛm-Bmc] quii)m+>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475471*F=?2F9:F9BF9JFA"GM>GM> $?IGG B O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726583 ww,a߽A>3@Y>Ƿ@>?9>O>y>H@nj?? @ƿ`o@w?@,*˿@D?`??ɨ>3@>tE;>CyF5BJM&IIRIR:4٢V%> Z\=9Z;Q Z>\\ ^G٣\ybD= b> fNusing accuracyPremultiplier from configdj#59f0-6?j#5YfF3 if!BlrMrq@f EfP;fRQ;f #5t v@tZjFNOT Ignoring new targets: 413.00 m.BjK[;Jj%K[;- ProNav: ac range: 413.000000 m, nav range: 196.048950 m, bearing: 37.535617 deg, approach rate: -0.074546 m/s, LOS rate: 0.191723 deg/s, cmd heading: 15.909609 deg, new cmd heading: 16.122818 deg. 2j5<5HeadingCmd: 0.281396 target range: 413.000000 and range: 413.00 m. j5,>j9j9j9i9h9hAhAhAfAfIfIrfIbfM 4W?ɛ0Ba  i)i))-,>)QJJJJJJ :ZHRH@AH.>I IO&II6BI( =&I.I6It<:IG FJJJ;a-J;a-J9P;a5J9P;a5*F ?2F :FBF{0JFzKMKs9KK K ;+Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978589GM3 IG) BA O] >M6ww,${߽A6'@Y6@6=96/>y6H?y? ƿ}߿ ?a˿`ɰ?,S??ɨ6'@6E;6CyNQBRp&IiVt>IV{> V=Va=IZIZ 4٢fl > fI=9f:Q j>hh jG٣jIGyn{= n> rNusing accuracyPremultiplier from configpv#59rI=6?v#5YrK3 ir BxzWGzq@r Er:rU:r#5~B ~@bEZjAMFNOT Ignoring new targets: 413.00 m.BjMY;JjUY; ProNav: ac range: 413.000000 m, nav range: 196.012466 m, bearing: 37.613326 deg, approach rate: -0.089085 m/s, LOS rate: 0.189781 deg/s, cmd heading: 16.122819 deg, new cmd heading: 16.355987 deg. MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2340102je><HeadingCmd: 0.285466 target range: 413.000000 and range: 413.00 m. j(>jjjihhhhf!f)fQrfYbfeq@ɛ 3BpƼ t=I xɚiI`GZ=I(>i!i!)%(>)I*F?2F:FBFw0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482983G :G B O > e $?Im iww,cz߽A6V@Y6zf@6g=96>y6H6?VC?xIſ3޿ ua?˿Ȫ?$F?`?ɨ6V@6i;6CyRpBR&I]Mb@Mb@Mb@YYY Y)YY]A`"? ?=98Q > G٣yNu= > Nusing accuracyPremultiplier from config#592N6?#5YP3 i B?:3q@ E;;Y#5B 2@eEZjFNOT Ignoring new targets: 413.00 m.BjJ;JjJ; ProNav: ac range: 413.000000 m, nav range: 195.957474 m, bearing: 37.688527 deg, approach rate: -0.129112 m/s, LOS rate: 0.176608 deg/s, cmd heading: 16.355988 deg, new cmd heading: 16.581654 deg. 2jh; HeadingCmd: 0.289404 target range: 413.000000 and range: 413.00 m. j ,>j j j i h hhhBfffrf!bf%Z@ɛU5BUݭ Y](=IY ]|ɚYiYI]Y=Ie,>iaii)m,>)i*F?2F:FBFZ5JFGpA GEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.734903G *JR="Ja=JJJJJL:J:JJa@a@a@a@G H I  I &II iBI ) =&I .I 6I f<:I ; FBIȝCJIȝCRIȓCZI) =bI) =jI4B O >zK H LK 9K K K BK pA:K qAXww,߽A2(@Y28@2 >92v>y2H? ?=Ŀ`.ܿ@?`HT̿ ? ???ɨ2(@2;0BWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.986407yFBF&IININ4٢vv8> vS=9vйQ v>xx zG٣xyz= ~> Nusing accuracyPremultiplier from config #59]6? #5YS3 i B  p-q@ E::#5B @bE5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 413.00 m.BjM^H;JjM^H;] ProNav: ac range: 413.000000 m, nav range: 195.902023 m, bearing: 37.756288 deg, approach rate: -0.143311 m/s, LOS rate: 0.175177 deg/s, cmd heading: 16.581654 deg, new cmd heading: 16.784993 deg. 2jeq;uHeadingCmd: 0.292953 target range: 413.000000 and range: 413.00 m. I ju>jjjihh!h!h!f!f!f)rf)bf-7@ɛ8B} 隽29>I ƑɚiI7Y=I>ii)>)*Fm?2Fi:FqBFu05JFq=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.241108G3G B O >x0ww,.߽Ay~B~&IMb@Mb@Mb@ )Y@5^I ?q= ףp{Gzyb?뽹ף9A @)@I3AyII{4٢= ?=9Q > G٣IGy > Nusing accuracyPremultiplier from config#59fn6?#5YW3 i Bq?:%q@ EA;$;{#5 V@Zj!-FNOT Ignoring new targets: 413.00 m.Bj-9;Jj59;E ProNav: ac range: 413.000000 m, nav range: 195.837875 m, bearing: 37.825902 deg, approach rate: -0.149517 m/s, LOS rate: 0.162309 deg/s, cmd heading: 16.784994 deg, new cmd heading: 16.993901 deg. 2jE;MHeadingCmd: 0.296600 target range: 413.000000 and range: 413.00 m. jMۗ>jIjIjIiIhIhIhQhU3BfYfYfYrfYbf] @ɛ:B(rC 隝f>I ɚiIY=Iۗ>ii)ۗ>))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:09:02.0377 TRx dataTimestamp_ set to:1736374143.265149checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492622 $?I*F?2F:FBFP0JFG G B O ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742539[ww,I߽AfVʴ@Yfٻ@f+@9f>yfHqG?`?S^ÿ@=ٿ[?@Ϳ??`?ɨfVʴ@f;fCyzɇB-'IIEIE4٢U > UR=9]ֺQ ]>YY eG٣aye> e> mNusing accuracyPremultiplier from configiu#59m~6?u#5Ym2[3 im By}}q@m EmT ;m ;m#5 @_EZjFNOT Ignoring new targets: 413.00 m.Bj7;Jj7; ProNav: ac range: 413.000000 m, nav range: 195.768738 m, bearing: 37.888301 deg, approach rate: -0.177887 m/s, LOS rate: 0.160607 deg/s, cmd heading: 16.993902 deg, new cmd heading: 17.181165 deg. 2jr;HeadingCmd: 0.299868 target range: 413.000000 and range: 413.00 m. jI>jjjihhhhfffrfbf=@ɛ=B4 h0=ŋ>I .[ɚiI%X=I%I>i)i))-I>))E9E=rAjH<bH<H+>IC I&IIBI&I.I5D6I<:Im FJJJJJ:J :JJJ;aJ;aJcW;aJdW;a*F?2F:FBF_0JF"G>G>zKBHK@9KK KWill construct direction to contact in vehicle frame from tetrahedron phase data.ս=ս=DAT read: 22:09:02.0377 LVL= 19376, 29841, 30434, 32755, AGC= 70, IDX= 287, 0.08,-2.754, 2.763, 1.566, 2.426, PHS= 1.191, 0.384,-0.864, RAW= 53.0, -8.0, CAL= 59.3, -14.3, ROT= 90.7, 14.3 Ygot valid direction response: 22:09:02.0377 LVL= 19376, 29841, 30434, 32755, AGC= 70, IDX= 287, 0.08,-2.754, 2.763, 1.566, 2.426, PHS= 1.191, 0.384,-0.864, RAW= 53.0, -8.0, CAL= 59.3, -14.3, ROT= 90.7, 14.3 PDAT read: Bearing 90.7, 14.3 (Local) ~Local bearing/azimuth received: Bearing 90.7, 14.3 (Local) DAT read: Range 10 to 50 : 403.5 m (Round-trip 538.0 ms) speed 0.0 m/s ,DAT read: user:2341> BDAT read: Tx time:22:09:03.1456 %$Ping request sent.%ٽ/]ٽhl?ٽ5 ڽ;z?)ڽrIڽ0?iڽr>ڹڹ۽ZfZ]?xXi۽Q?۽W۹۹M:publishing transmit ping time!MFpublishing direction and range infoع9ؽ$3e^?to?ϤG?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹ Iڹ۽ZfZ]?xXEww,\߽A6@Y6?@61C96o]>y6H Ö?P?`9¿-ؿ?@ZMο`p??_?ɨ6@6h;6Cy>BB,'IIJIJ4٢Z>+> ZU=9Z4Q Z>\l nG٣lyr= r> vNusing accuracyPremultiplier from configtz#59vӍ6?z#5Yv`^3 iv Bx~Pq@v EvZ;vZ;vD#5 %@!kV?kǢ$ k k,߽A:kCBk\CZky?"J@ wptp@"$r@$3e^?to?ϤG?JkQ?RkW* X@vwb@U4ýv@$?: M?7?"k'C*kXBk7V?k <$ 2kCkk $?& kk-HCk0? addTargetRange:: Added new target pos. range: 403.500000 m, deltaT: 4.032369 s, deltaX: -9.500000 m, approachRate: -2.355935 m/s, rangeRepo size: 4 -Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:09:03.1448  Added new target pos. range: 403.500000 m, bearing: 55.743968 deg, lat: 36.903822 deg, lon: -122.121405 deg, deltaT: 4.032369 s, deltaX: -9.500000 m, approachRate: -2.355935 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 403.50 m.BjJj ProNav: ac range: 403.500000 m, nav range: 200.178131 m, bearing: 39.566187 deg, approach rate: 0.000000 m/s, LOS rate: 0.160607 deg/s, cmd heading: 17.181165 deg, new cmd heading: 17.379091 deg. 2jHeadingCmd: 0.303322 target range: 403.500000 and range: 403.50 m. jM>j)j)j)i)h)h)h1h1f9f9f9rf=8y@bfE?ɛABtʻ >I ޼ɚiIW=IM>ii)M>)*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G $?I GY Ba O >lnxw,A2h@Y2x@20H92>y2H=?? ¿ Ϧֿ`?gο@U?@~?@Ƚ?ɨ2h@2g;2CyBBBN'I Fa=DMMb@Mb@Mb@III I)IYML7A`?~jt~jtxyM+?MMĻMA M@)Mv@IIIyMAY]BAIeNIe@ 4٢u> u>=9u:Q }>yy }G٣}IGy*w= > Nusing accuracyPremultiplier from config#596?#5Y`3 i B?:?۾q@ E(;;#5B Э@\EZjFNOT Ignoring new targets: 403.50 m.Bj%;Jj%; ProNav: ac range: 403.500000 m, nav range: 200.079910 m, bearing: 39.624179 deg, approach rate: -0.244372 m/s, LOS rate: 0.144352 deg/s, cmd heading: 17.379090 deg, new cmd heading: 17.553149 deg. 2j";HeadingCmd: 0.306360 target range: 403.500000 and range: 403.50 m. j@ۜ>jjjihhhhlBff f rf bf ?ɛ=CB=; 9=n>I9 E ܼɚAiAIEucW=IM@ۜ>iIiI)M@ۜ>)*F?2F:FBF`0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.H*>I IB'IIBI* =&I.I6I><:I FG3G B O% >A xw,¡0AzKBoIK9KK K:;@Y:QK@:EM9:΍>BWill construct direction to contact in vehicle frame from tetrahedron phase data.y:H *?~?eտ 3? ο"?hz?ս?ɨ:;@:L;:CyJBJj'IIRIR_v4٢Z= ZW=9^!aQ ^>`` bG٣`yb= b> jNusing accuracyPremultiplier from configdj#59f6?n#5Yfb3 if Bprξrq@f Ef6;f6;fL#5t vj@t B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 403.50 m.Bj;Jj%;- ProNav: ac range: 403.500000 m, nav range: 199.987869 m, bearing: 39.675284 deg, approach rate: -0.242193 m/s, LOS rate: 0.134538 deg/s, cmd heading: 17.553149 deg, new cmd heading: 17.706535 deg. 2j5;5HeadingCmd: 0.309037 target range: 403.500000 and range: 403.50 m. j=$:>j9j9j9i9h9h9hAhAfAfAfIrfIbfMW? ]$?IaɛFBh\; 隅>I GڼɚiI?V=I$:>i1i1)5$:>)9E]U=*F?2F:FBF_0JFGqA GpAEWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J J J J J L:J :J J a @a @a @a @G1 G B! O= > xw,^LAyv5Bz'I}Mb@Mb@Mb@yyy y)yY}v?MbP?~jth?y}>}:}D;} A }@)}@Iyyy}QAIcIy/4٢\= 0=9Q > G٣y > Nusing accuracyPremultiplier from config#596?=#5Yd3 i BE>E:E"Eq@ E<<<Z#5I MѪ@UYEZjy}FNOT Ignoring new targets: 403.50 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500274 ~G%tA5 ProNav: ac range: 403.500000 m, nav range: 199.871780 m, bearing: 39.730572 deg, approach rate: -0.242349 m/s, LOS rate: 0.115487 deg/s, cmd heading: 17.706535 deg, new cmd heading: 17.872494 deg. =A2j5; iIi (0Y tAy {(B=HeadingCmd: 0.311934 target range: 403.500000 and range: 403.50 m. j=˵>jAjAjAiAhAhAhIhMBfIfIfQrfQbfU?ɛJB#: >I ּɚiI@U=I˵>ii)˵>)E .=] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752369*F ?2F :F BF JF ZH ?ARH H )>I  I 'II CBI &I .I 6I T<:I ) FG:GBO?xw,fmA>u@Y>@>AV9>`>y>H@?Tm?ѿ`?@Ͽת?va?k?ɨ>u@>88;>CyFEBJ'I)L LLNAIRIRt4٢Zs= Z(=9^BQ ^>\` bG٣bIGyb5= b> jNusing accuracyPremultiplier from configdj#59f6?n#5Yff3 if Blnnq@f Efv:f:f#5t zҩ@zVEZjQ]FNOT Ignoring new targets: 403.50 m.Bj];Jj]; ProNav: ac range: 403.500000 m, nav range: 199.740250 m, bearing: 39.786618 deg, approach rate: -0.274762 m/s, LOS rate: 0.117154 deg/s, cmd heading: 17.872493 deg, new cmd heading: 18.040741 deg. 2j͠;HeadingCmd: 0.314870 target range: 403.500000 and range: 403.50 m. j6>jjjihhhhfffrfbf`@zK~KKs9KK KMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003478ɛUNB]x; Y]>IY ]̞ҼɚYiYIe8T=Ie6>iiii)m6>)iEqEq*Ey"Ey $?I*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255330G G B O >"xw,zA6X@Y6@6RU96I>y6H?°?RKпM?ϿF? :??ɨ6X@6;6CyBSBB'IJK KS}-KK"KJbJbJ`J`Jbl:Jb :J`J`-Mb@Mb@Mb@))) )))Y-Q?)\(?y&1|?y->-Ga=-`;) -@)-3@I))y-\AII4٢}= 2=9O:Q > G٣yp= > Nusing accuracyPremultiplier from config#596?#5Y}g3 i Bd>: q@ E8;Q;#5  @ Zj1=FNOT Ignoring new targets: 403.50 m.BjE<:JjE<:U ProNav: ac range: 403.500000 m, nav range: 199.593521 m, bearing: 39.834184 deg, approach rate: -0.325049 m/s, LOS rate: 0.105451 deg/s, cmd heading: 18.040741 deg, new cmd heading: 18.183544 deg. 2jU;]HeadingCmd: 0.317363 target range: 403.500000 and range: 403.50 m. j]^}>jYjajaiahahahihmBfififqrfbf D@ɛMQBMv< IM?IQ UμɚQiQIUT=I]^}>iYiY)]^}>)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508642*F?2F:FBF0JF"G >G > AIAG! G B O% >Q,(xw,GAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759463:@Y:@:zS9:E>y:H??`@JBͿ?Ͽ@l?x?$?ɨ:@: ߌ;:CyFYBF'IIRIR<4٢Z< Z_=9^g:Q ^>`` bG٣`yf= f> jNusing accuracyPremultiplier from confighn#59j6?n#5Yjh3 ij Blrrq@j Ej ;jC ;j#5vB v@vSEZjFNOT Ignoring new targets: 403.50 m.BjM:JjM: ProNav: ac range: 403.500000 m, nav range: 199.473343 m, bearing: 39.871165 deg, approach rate: -0.328383 m/s, LOS rate: 0.101111 deg/s, cmd heading: 18.183545 deg, new cmd heading: 18.294555 deg. 2jȊ;HeadingCmd: 0.319300 target range: 403.500000 and range: 403.50 m. jQ{>jjjihhhhfffrfbf@@ɛmUBmA6< im?I X˼ɚiIIS=IQ{>ii)Q{>)*FU?2FQ:FQBFU2JFQH$>IC I(IIBI+ =&I.I6I><:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.><checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011720zKRIK}9KK =$?IAKG 3G B! O= >Y.xw,1AfLq@Yf΀@fR9f|>yfHI?n?@&*pʿO?fϿ@W?Q?.?ɨfLq@fd;fCy\B'IiR>I< %=%=I5I5̍4٢ES< EA=9Eo9Q M>II MG٣MIGyU{= U> ]Nusing accuracyPremultiplier from configYe#59]7?e#5Y]h3 i]!BimKɽmq@] E]@;]a;]#5y }\@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 403.50 m.Bj :Jj : ProNav: ac range: 403.500000 m, nav range: 199.330917 m, bearing: 39.912845 deg, approach rate: -0.335906 m/s, LOS rate: 0.098371 deg/s, cmd heading: 18.294554 deg, new cmd heading: 18.419683 deg. 2j;HeadingCmd: 0.321484 target range: 403.500000 and range: 403.50 m. j>jjjihhhhfffrfbf`~ @ɛXB l)< ?I AȼɚiIqR=I>ii-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263552)>)I*F%?2F):F)BF-S5JF1JJJJJL:J:JJJO;aJP;aJI;aJI;aGy GY Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:09:06.0878  TRx dataTimestamp_ set to:1736374147.296808 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516629 ! I! =5xw,AZ,L@YZ[@ZP9Zvl>yZHs?s4?SHƿ-u? п? }??ɨZ,L@Z_-;ZCy _B 'IMb@Mb@Mb@ )YQ?sh|??Mbp?y=;"A @)IyAI I 4٢^< >=9:Q >!! %G٣!y-N~= -> 5Nusing accuracyPremultiplier from config1=#595g7?=#5Y5h3 i5!B=j>E:ElEq@5 E5[;5&:5D#5I M&@MPEZjy}FNOT Ignoring new targets: 403.50 m.BjL:JjL: ProNav: ac range: 403.500000 m, nav range: 199.172989 m, bearing: 39.951989 deg, approach rate: -0.367071 m/s, LOS rate: 0.091054 deg/s, cmd heading: 18.419683 deg, new cmd heading: 18.537207 deg. 2jy;HeadingCmd: 0.323535 target range: 403.500000 and range: 403.50 m. jk>jjjihhhhBfffrfbf@{N @ɛ\B4< W?I ļɚiI Q=Ik>ii)k>)*F ?2F :F BF 4JF =Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767464G:G ?G?jHU <bHU <G B O- >H !>I  I 0(II BI - =&I .I 4D6I <:I _ FBIɜCJIɜCRIZI* =bI* =jI5-k;xw,AWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IDAT read: 22:09:06.0878 LVL= 16656, 29873, 22514, 28243, AGC= 66, IDX= 435,-0.27, 1.800, 0.395,-0.250, 0.344, PHS= 1.543, 0.097,-0.598, RAW= 71.4, -11.0, CAL= 82.9, -20.2, ROT= 67.1, 20.2 Ygot valid direction response: 22:09:06.0878 LVL= 16656, 29873, 22514, 28243, AGC= 66, IDX= 435,-0.27, 1.800, 0.395,-0.250, 0.344, PHS= 1.543, 0.097,-0.598, RAW= 71.4, -11.0, CAL= 82.9, -20.2, ROT= 67.1, 20.2 PDAT read: Bearing 67.1, 20.2 (Local) ~Local bearing/azimuth received: Bearing 67.1, 20.2 (Local) zKJKs9KK K y-\B5'IMDAT read: Range 10 to 50 : 403.5 m (Round-trip 538.1 ms) speed 0.2 m/s U,DAT read: user:2342> ]BDAT read: Tx time:22:09:07.1956 ]$Ping request sent.]ڡڡۥd?d6F翁fwwȿ)ۥXIۥD>iۥ?ۥFۡۡ]:publishing transmit ping timeYFpublishing direction and range infoء9إg?c)2%?]6E8?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥd?d6F翁fwwȿ)ۡIۡiۡۡۡۡ٢M '=9Q > G٣IGy > Nusing accuracyPremultiplier from config#59S+7?#5Yh3 i1!Bq@ E;:#59 =L@9k֢H?k@z. k kJA:kBk[CZk@?"o/(O@>HHc@Ջv@g?c)2%?]6E8?Jk?RkF*'J9I@ H@q2qx@D%W?~t놝?Fଁ?"kAB*kNBk H?k=|{q. 2kCkk& ksCkxBCk{+? addTargetRange:: Added new target pos. range: 403.500000 m, deltaT: 4.033118 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 403.500000 m, bearing: 43.127223 deg, lat: 36.903822 deg, lon: -122.121486 deg, deltaT: 4.033118 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 403.50 m.BjJj ProNav: ac range: 403.500000 m, nav range: 194.468994 m, bearing: 38.380087 deg, approach rate: 0.000000 m/s, LOS rate: 0.091054 deg/s, cmd heading: 18.537207 deg, new cmd heading: 18.679029 deg. 2jHeadingCmd: 0.326011 target range: 403.500000 and range: 403.50 m. j >jjjihhhhf!f!f!rf)bfU `?ɛaB@˲; >I F]ɚiIœP=I>i i ) >)M Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:22:09:07.1948 *F 2F :F BF 4JF J J J J J l:J J J J ;J ;J J G 3GBO>7Cxw,1ANQƾ@YN@NK9N/u>yNH@J?{? ߼N?@Ȕп,{???ɨNQƾ@N];NCyjLBj'I)l lpp%Mb@Mb@Mb@!!! !)!Y%K?l?Mby%^>%=%%jA %@)%@I%A!y%fAI= IIQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.I=̍4٢m mH=9u 8;Q u>qy }G٣yy}A> > Nusing accuracyPremultiplier from config#59|<7?#5Yh3 iA!B@>:OG=q@EM;T:$#5 C@MEZj)-FNOT Ignoring new targets: 403.50 m.Bj5:Jj5:e ProNav: ac range: 403.500000 m, nav range: 194.303238 m, bearing: 38.415079 deg, approach rate: -0.425843 m/s, LOS rate: 0.089974 deg/s, cmd heading: 18.679029 deg, new cmd heading: 18.784094 deg. 2jev;mHeadingCmd: 0.327844 target range: 403.500000 and range: 403.50 m. jm5ۧ>jijijiiihihqhqhuBfqffrfbf |?ɛeB:)< >I #ɚiI%O=I5ۧ>ii!)%5ۧ>)!*F2F:FBF2JFG % Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Ixw,i(ABN@YBЪ@BN9B4>yBH? ?`?пܩ?"? o?ɨBN@B;BCyZII MG٣IyUX= U> }Nusing accuracyPremultiplier from configq#59uK7?#5Yu%h3 iuN!B=q@uEu+;u;uO#5 F@H>I I*(IIBI&I.I6I:I] FZjFNOT Ignoring new targets: 403.50 m.Bj:Jj: ProNav: ac range: 403.500000 m, nav range: 194.155228 m, bearing: 38.444698 deg, approach rate: -0.412416 m/s, LOS rate: 0.082594 deg/s, cmd heading: 18.784094 deg, new cmd heading: 18.873020 deg. 2jb;HeadingCmd: 0.329396 target range: 403.500000 and range: 403.50 m. j>jjjihhhhf f f rf bf ҳ?ɛEhBE< AMb>II Mf[ɚIiIIMJ4O=I>ii)>)*Fm?2Fi:FiBFm_0JFi M$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.zK8oLK+9KK KGIGQGUpAG) B1 OM >EPxw,CBA:d@Y:zt@:o/R9:i>y:H`?9ӡ?d ]?wп`B?@?`U?ɨ:d@:;:CyR6BR'IrWill construct direction to contact in vehicle frame from tetrahedron phase data.IjiIj:4٢z zO=9zQ ~>|| G٣y= >  Nusing accuracyPremultiplier from config #59 [7?#5Y g3 i ]!B[=%q@ E 2; ,3; #5-B -@-JE}B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 403.50 m.Bj:Jju: ProNav: ac range: 403.500000 m, nav range: 193.993240 m, bearing: 38.475484 deg, approach rate: -0.405985 m/s, LOS rate: 0.077221 deg/s, cmd heading: 18.873020 deg, new cmd heading: 18.965452 deg. 2jS; HeadingCmd: 0.331010 target range: 403.500000 and range: 403.50 m. j z>jjjihhhhfffrfbf?ɛlBpR; >I bɚiIaN=I%z>i!i!)%z>)*F=?2F9:F9BF9JF9 =$?I9Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ga G9 BQ Om >rVxw,<\A25@Y2bE@2 O92`>y2H ?@UL?WK%F`?`пީ??E?ɨ25@2=;2CyZ'BZw'Ii^>I^> ^=^a=EMb@Mb@Mb@AAA A)AYEZd;O?~jt?yEj>E=E̼EA E@)E@IEzAAyEAIYIY٢m uB=9}:Q }>yy G٣IGygw= >  Nusing accuracyPremultiplier from config #59 m7?#5Y Hg3 i b!B|>:=q@  E ; u: #5! -@1ZjFNOT Ignoring new targets: 403.50 m.Bj:Jj: ProNav: ac range: 403.500000 m, nav range: 193.815216 m, bearing: 38.512172 deg, approach rate: -0.410847 m/s, LOS rate: 0.084748 deg/s, cmd heading: 18.965453 deg, new cmd heading: 19.075619 deg. 2jh;HeadingCmd: 0.332932 target range: 403.500000 and range: 403.50 m. jv>jjjihhhh'Bfffrfbf?ɛMpBMp[; IMp>IQ U*ɚQiQIUյM=I]v>iYi)v>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743182*F5?2F1:F1BF9JF9Hm>ImC Im(IImBIi&Ii.Ii6Im<:ImU FJyJyJJJJJ:J:JJJ;J;JL;JL;G G B! O= >  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994928\xw,uAzK"K"9K K" K"RK& ?JK&?: @Y:::ƉE9:)>y:H@w?,A-nX??ѿŮ???ɨ: @: ڋ;8yFBFe'III.4٢M吽 MN=9M;Q U>QQ UG٣Qy] = e> mNusing accuracyPremultiplier from configau#59e}7?u#5Yef3 ief!Bqub=uq@eEe;ec;e#5 {@GEZjFNOT Ignoring new targets: 403.50 m.Bj:Jj: ProNav: ac range: 403.500000 m, nav range: 193.657730 m, bearing: 38.542912 deg, approach rate: -0.421837 m/s, LOS rate: 0.082407 deg/s, cmd heading: 19.075619 deg, new cmd heading: 19.167915 deg. 2j8b;HeadingCmd: 0.334543 target range: 403.500000 and range: 403.50 m. j@I>jjjihhhhfffrfbf@ɛtB1: 隽<>I 5ɚiIbM=I@I>ii)@I>)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247741GG ?G ?G B) OE >hcxw,gՏAyB)  a'Iu~G|uA I /Y|uAy(BmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501219l"@BUMb@Mb@Mb@QQQ Q)QYUp= ף?/$ktyU?UU 0UA Ux@)U@IUhAQyU @IeIe4٢j &=9Q > G٣IGy > 5Nusing accuracyPremultiplier from config1=#5957?=#5Y5f3 i5[!B=?=:=]{=q@5E5;5:55#5i m@mDEZjFNOT Ignoring new targets: 403.50 m.Bj:Jj: ProNav: ac range: 403.500000 m, nav range: 193.458221 m, bearing: 38.591503 deg, approach rate: -0.396234 m/s, LOS rate: 0.096603 deg/s, cmd heading: 19.167915 deg, new cmd heading: 19.313837 deg. 2j;HeadingCmd: 0.337090 target range: 403.500000 and range: 403.50 m. j>jjjihhhhBffAfArfAbfM`@ɛyB%L !%'>I! %ŝɚ!i)I-UL=I->i1i1)5>)1*F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751245G9 G B1 HU >IQ  IU 'IIU BIQ &IQ .IQ 6IU <:IU Y FOe >yjxw,AJJJJJl:J:JJJ;J;JyE;JyE;B@YB_S=Bp;9B2>yBH?@@枿a? 7?`WIѿ@k?X%??ɨB@B=;BCyRBR@'I)T TXZAI^I^4٢f! ft=9f;Q f?hh jG٣hyn> n? rNusing accuracyPremultiplier from configpv#59r7?v#5Yrf3 irS!Btv=zq@rEr ;r':r#5| ~^@|Zj15FNOT Ignoring new targets: 403.50 m.Bj=:Jj=: ProNav: ac range: 403.500000 m, nav range: 193.319763 m, bearing: 38.621974 deg, approach rate: -0.426802 m/s, LOS rate: 0.093996 deg/s, cmd heading: 19.313837 deg, new cmd heading: 19.405316 deg. 2j;HeadingCmd: 0.338687 target range: 403.500000 and range: 403.50 m. jWh>jjjihhhhfffrfbfී@ɛ5}B5P 15|y>I9 ]VɚYiYI]K=IeWh>iev˻iej'j)mWh>)i $?I*F?2F:FBFP5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003035zKyJK@9KK KG:GB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254922 G٣y > Nusing accuracyPremultiplier from config#59q7?#5Yf3 iH!Bq@E: ;":'#5ߒB Ů@AEB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 403.50 m.Bj/:Jj/:% ProNav: ac range: 403.500000 m, nav range: 193.125534 m, bearing: 38.664814 deg, approach rate: -0.420107 m/s, LOS rate: 0.092753 deg/s, cmd heading: 19.405317 deg, new cmd heading: 19.533965 deg. 2j%~;-HeadingCmd: 0.340932 target range: 403.500000 and range: 403.50 m. j->j)j1j1i1h1h1h9h9f9f9f9rfAbfE% @ɛBz a>I /ɚiI|CK=I>i67޻i2t)%>)! $?I*F?2F:FBF'5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:09:10.1369 TRx dataTimestamp_ set to:1736374151.333528checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509198Gh}GpAGqAGBO>wxw,tA2"3@Y2@=2592L>y2H?򫻿j??ѿ@?2?;?ɨ2"3@2Y;2CyNBR,'I]Mb@Mb@Mb@YYY Y)YY]x&1? G٣y>> > Nusing accuracyPremultiplier from config$5997?$5Yf3 i5!B?: »q@E;!;Z$5 [@ZjFNOT Ignoring new targets: 403.50 m.Bj:Jj:  ProNav: ac range: 403.500000 m, nav range: 192.980026 m, bearing: 38.699812 deg, approach rate: -0.397928 m/s, LOS rate: 0.095782 deg/s, cmd heading: 19.533965 deg, new cmd heading: 19.639038 deg. 2j x;HeadingCmd: 0.342766 target range: 403.500000 and range: 403.50 m. j>jjjihhhh%Bf!f!f!rf!bf-&@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759102ɛBh ZH>I ɚiIJ=I>i i "G) >)*F?2F:FBF^0JFjHIbHIGelH>I I'II]BI. =&I.I3D6I<:Ic FGYBaOY>JJJ/JJL:JJ(N3JJO;JP;JJ $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:09:10.1369 LVL= 15184, 32321, 21170, 32755, AGC= 69, IDX= 426,-0.21,-2.373, 2.292, 2.386, 2.773, PHS= 1.225,-0.434,-0.390, RAW= 91.3, -4.9, CAL= 99.6, -13.0, ROT= 50.4, 13.0  Ygot valid direction response: 22:09:10.1369 LVL= 15184, 32321, 21170, 32755, AGC= 69, IDX= 426,-0.21,-2.373, 2.292, 2.386, 2.773, PHS= 1.225,-0.434,-0.390, RAW= 91.3, -4.9, CAL= 99.6, -13.0, ROT= 50.4, 13.0 % PDAT read: Bearing 50.4, 13.0 (Local) % ~Local bearing/azimuth received: Bearing 50.4, 13.0 (Local) 5 DAT read: Range 10 to 50 : 402.8 m (Round-trip 537.1 ms) speed 0.4 m/s = ,DAT read: user:2343> E BDAT read: Tx time:22:09:11.2457 E $Ping request sent.E 0#?yؕ fCؑ ؕ P;ؕ A~ ٕ R)ٕ Iٕ Eiٕ ̜?ٕ ?5޾ٕ Ǿٕ W?ٕ % ڕ /?)ڕ VhIڕ z0a?iڕ Vh>ڑ ڑ ە e?D K޿9()ە VIە =iە ?ە ܾۑ ۑ m :publishing transmit ping timeA m Fpublishing direction and range infoؑ 9ؕ Ex~?AJ?>0#?yؑ ؑ ؑ ؑ ّ )ّ Iّ iّ ّ ّ ّ ّ ڑ )ڑ Iڑ iڑ ڑ ڑ ە e?D K޿9()ۑ Iۑ iۑ ۑ ۑ ۑ zK BoJK 59K K K }xw,PAv@Yv=v 29vd>yvH ?xY~u? dt?}ҿ ]? 5?ߴ?ɨv@v(;ty޽B޽('Ii=I= =II4٢ G C=9:Q >  G٣ IGy d=  > =Nusing accuracyPremultiplier from config1=$595o7?=$5Y5~f3 i5!BAE.<Eq@5 E5:5:5 $5I M@M>Ekf~6?k=; k kMA:kfCBkCZkb0@"€2@?@{Vy@Ex~?AJ?>0#?Jk?Rkܾ*"$ 8TΤx@|V2ʿ\#S?"ki*kAk(|6?kP8; 2k Ck7V?kkCkCk\h? addTargetRange:: Added new target pos. range: 402.799988 m, deltaT: 4.036354 s, deltaX: -0.700012 m, approachRate: -0.173427 m/s, rangeRepo size: 4 = Added new target pos. range: 402.799988 m, bearing: 267.121867 deg, lat: 36.903317 deg, lon: -122.121486 deg, deltaT: 4.036354 s, deltaX: -0.700012 m, approachRate: -0.173427 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 402.80 m.BjEJjI ProNav: ac range: 402.799988 m, nav range: 153.104294 m, bearing: 52.004833 deg, approach rate: 0.000000 m/s, LOS rate: 0.095782 deg/s, cmd heading: 19.639038 deg, new cmd heading: 19.764253 deg. 2jHeadingCmd: 0.344951 target range: 402.799988 and range: 402.80 m. jt>jjjihhhhfffrf,y@bf?ɛMBUZ- Y]9>Ia }*ɚiI0VJ=It>i75ic:)t>)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:09:11.2449 *FY2FY:FaBFe_0JFaG% $VkG- ?G- ?G B O >xw,+A $I$=Will construct direction to contact in vehicle frame from tetrahedron phase data.yMBM/'I=Mb@Mb@Mb@999 9)9Y=V-?i|?5L7A`尿y=|>==+9 =5@)=Q@I=@9y=3@IuIu_v4٢D< B=9Q > G٣y > Nusing accuracyPremultiplier from config$597?$5Yf3 i BY?:فq@$E(<'<$5! %+@!ZjimFNOT Ignoring new targets: 402.80 m.Bju5;Jju5; ProNav: ac range: 402.799988 m, nav range: 152.982269 m, bearing: 52.071731 deg, approach rate: -0.289327 m/s, LOS rate: 0.158744 deg/s, cmd heading: 19.764252 deg, new cmd heading: 19.965103 deg. 2j;HeadingCmd: 0.348457 target range: 402.799988 and range: 402.80 m. jh>jjjihhhhBfffrfbf`+?ɛ B ʾ <>I ɚiI[I=Ih>ii%y@)%h>)!*F?2F:FBFJFGcGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I 'II HBI &I .I 6I <:I F FBI˚CJI˚CRIZI- =bI- =jI5ѻxw,--AJ&J&J&0J$J&:J&:J&ـ3J$J&h;J&i;J&J;J&J;Ba@YBA0>Bm69Brߡ>yBH~?@ƿ!|??v?Կ@ئ? ?`9b?ɨBa@B;@yB.'II-I-y4٢]AR e_=9e}(Q e>ii mG٣iym > u> Nusing accuracyPremultiplier from configq$59u*7?$5Yuf3 tIiu Br@u'Eu;u@;u $5ޒB /@;EZj%FNOT Ignoring new targets: 402.80 m.Bj%-;Jj--;] ProNav: ac range: 402.799988 m, nav range: 152.870209 m, bearing: 52.126573 deg, approach rate: -0.309730 m/s, LOS rate: 0.151694 deg/s, cmd heading: 19.965104 deg, new cmd heading: 20.129752 deg. 2j]6;eHeadingCmd: 0.351330 target range: 402.799988 and range: 402.80 m. je>jajajaiahahihihififqfrfbf9j?ɛB" ,4>I =$?I9 M\穼ɚQiQIUOmI=IU>i]Ki])]>)YUWill construct direction to contact in vehicle frame from tetrahedron phase data.U>U;?*FE?2FA:FABFAJFAzKBHK9KK KG0FGBO=r> Will construct direction to contact in vehicle frame from tetrahedron phase data.棑xw,/FAB5d@YB{L>B389Bh4>yBH U?1ɿ ړ?@k]?λ?Sӿ??]e?ɨB5d@B;@yNBL)P PTVAIZrIZJ4٢bi: bU=9bAQ f>dd fG٣fIGyj = j> vNusing accuracyPremultiplier from configl~$59n 8?$5Ynf3 in B <r@n*Ens=n=n?$5 %,@)B*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 402.80 m.Bj=h;Jj=h;M ProNav: ac range: 402.799988 m, nav range: 152.746674 m, bearing: 52.183884 deg, approach rate: -0.281338 m/s, LOS rate: 0.130624 deg/s, cmd heading: 20.129753 deg, new cmd heading: 20.301822 deg. 2jMJ;uHeadingCmd: 0.354334 target range: 402.799988 and range: 402.80 m. ju8k>jqjqjqiqhyhyhyhfffrfbf K?ɛB F,>I %ɚiIH=I-8k>i5 i5)58k>)I*F?2F:FBFm0JF !I!]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.G ?>G B O >͗xw,=`A:";Y:_Yf>:<9:>y:H")?`3̿? i?@?ӿ?@g?@j?ɨ:";:Ǐ;8yFBF9'IMb@Mb@Mb@ )YGz?333333ÿMbyp>A @)h@Iv@y@I5~I5T_4٢M*= MB=9M`Q U>QY ]G٣Yyet= e> mNusing accuracyPremultiplier from configiu$59m8?u$5Ymf3 im Buk?}:}6}r@m-Emx;m(;m$5 @8EZjFNOT Ignoring new targets: 402.80 m.BjR;JjR; ProNav: ac range: 402.799988 m, nav range: 152.616562 m, bearing: 52.249074 deg, approach rate: -0.367202 m/s, LOS rate: 0.184138 deg/s, cmd heading: 20.301822 deg, new cmd heading: 20.497560 deg. 2j;HeadingCmd: 0.357750 target range: 402.799988 and range: 402.80 m. j*>jjjihhhhBfffrfbf`n?ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740267 7>I ɚiIsH=I*>i i>)*>)*F?2F:FBFD1JF"G>Gx>ZH@ARH?AHaIa IaIaIa&Ia.Ia6Iea<:Ie& FGn8GBOd>JJJ/JJ:J:J(N3JJ5;J6;JC;JC;  $?I e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992212zKU k3IKU }9KQ KU KU 5xw,AzA22T;92C?>y2H?`Ͽ=G?Y?@v?`qӿs?S?`zx?ɨ2<2b;0yFBJP'IININ4٢=9= =J=9=:Q E>AA EG٣AyM g= M> UNusing accuracyPremultiplier from configQ]$59U}.8?]$5YUf3 iU~ BYe;er@U1EU:UQ:Ut$5i mr@iZjFNOT Ignoring new targets: 402.80 m.Bj.;Jj.; ProNav: ac range: 402.799988 m, nav range: 152.488846 m, bearing: 52.310458 deg, approach rate: -0.317159 m/s, LOS rate: 0.152561 deg/s, cmd heading: 20.497560 deg, new cmd heading: 20.681863 deg. 2jg;HeadingCmd: 0.360967 target range: 402.799988 and range: 402.80 m. jи>jjjihhhhfffrf bf +@ɛMBML0 QUU>IY ]LɚYiYI]G=Ieи>ieie͚ƽ)mи>)i*F)2F):F)BF-P5JF)G+Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245158GBOK> I 6ߤxw,/oAF@=YF{>Fq99Fy>yFHu?пy??a?ҿ3,??@1?ɨF@=Fe;FCyrBrc'Iiv=Iv< v=v=%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496583Mb@Mb@Mb@ )YX9v?/$ÿS㥫y>/]XA @)Q@II@y@II@4٢= D=9:Q > G٣IGyB= > Nusing accuracyPremultiplier from config$59@8?$5Yf3 i^ B?:L<r@4E;;$5 u@6EZjFNOT Ignoring new targets: 402.80 m.BjT$;JjT$; ProNav: ac range: 402.799988 m, nav range: 152.354965 m, bearing: 52.374016 deg, approach rate: -0.302362 m/s, LOS rate: 0.143669 deg/s, cmd heading: 20.681862 deg, new cmd heading: 20.872705 deg. 2j2;HeadingCmd: 0.364297 target range: 402.799988 and range: 402.80 m. j1>jjjihhh!h%Bf)f)f)rfQbfUη@ɛB. 隝l>I ]ɚiIAXG=I1>i:i7)1>)*F2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748201G G B O >H] >IY  I] 'II] bBI] / =&IY .IY 6I] <:I] L F% xw,MA*JC="J6b=Y6~=>6vG596>y6H ?`Hѿ??oW?`9ҿ ?@ ,?x?ɨ6b=6f;4yB-BF'IININQ4٢V= V]=9VA4;Q V>XX ZG٣Xy^2= ^> bNusing accuracyPremultiplier from config`f$59bP8?f$5Ybf3 ibB Bdj`<jr@b7Eb:bs:bV$5ݒB @3EZjIMFNOT Ignoring new targets: 402.80 m.BjM4;JjU4;e ProNav: ac range: 402.799988 m, nav range: 152.234329 m, bearing: 52.429809 deg, approach rate: -0.341203 m/s, LOS rate: 0.157929 deg/s, cmd heading: 20.872705 deg, new cmd heading: 21.040217 deg. 2je;mHeadingCmd: 0.367221 target range: 402.799988 and range: 402.80 m. jmf>jijijiiihihqhqhqfqffrfbf@@ɛBe9 3>I ɚiIF=If>i%Pwi%ؗ)%f>)! $?I*F?2F:FBF_0JFG  G rA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.002603GGBOA>zK=BHK=9K9K= K=BKI:KI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256198Rxw,*AJ&=YJ>J/9J>yJH?@ҿ??0X?@*gѿ?i`??ɨJ&=J=;Hy^?Bb'IIrIr4٢vg= vF=9z'o;Q z>x| ~G٣|y< >  Nusing accuracyPremultiplier from config $59b8?$5Yrf3 i$ Bx=r@:EQ:; $5! %ܩ@!ZjYeFNOT Ignoring new targets: 402.80 m.Bjq!;Jjq!; ProNav: ac range: 402.799988 m, nav range: 152.098145 m, bearing: 52.491668 deg, approach rate: -0.310459 m/s, LOS rate: 0.141144 deg/s, cmd heading: 21.040217 deg, new cmd heading: 21.225957 deg. 2j;JMJIJM0JIJM,:JIJMـ3JIa]@a]@a]@a]@mHeadingCmd: 0.370463 target range: 402.799988 and range: 402.80 m. juN>jqjqjqiqhqhqhyhyfyfyfrfbfK< @ɛBY P>I "̠ɚiI/F=IN>i*iɉ)N>)) $?I*F?2F @!YyB:FBFU^0JFQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:22:09:14.1849 eTRx dataTimestamp_ set to:1736374155.368848echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.509442Gm&G1B9O]>xw,A6w=Y6t>6.'96%Ն>y6H`}? <ӿۤ?u/ݽuq u@)u@Iqqyu@II]4٢= @=9;Q > G٣IGyݰ< > Nusing accuracyPremultiplier from config$59t8?$5Ye3 i B?:y=r@>EN;8<;$$5 O@0EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 402.80 m.Bj );Jj ); ProNav: ac range: 402.799988 m, nav range: 151.948563 m, bearing: 52.549964 deg, approach rate: -0.380343 m/s, LOS rate: 0.148376 deg/s, cmd heading: 21.225957 deg, new cmd heading: 21.401017 deg. 2j;%HeadingCmd: 0.373518 target range: 402.799988 and range: 402.80 m. j%=>j!j)j)i)h)h)h1h5Bf1f9f9rf9bfEJ"@ɛmBm\;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760580 ȭ>I  ͞ɚiIE=I=>iDei)=>)!H>I I'IIBI&I.I6I<:IF F*F?2F:FBF_0JFJ9J=AA qIyG G B1 u Will construct direction to contact in vehicle frame from tetrahedron phase data.O% >- DAT read: 22:09:14.1849 LVL= 26032, 32753, 29746, 32755, AGC= 69, IDX= 420, 0.03, 1.681, 0.085, 0.657, 0.922, PHS= 0.847,-0.790,-0.268, RAW= 108.2, 2.9, CAL= 119.8, 0.2, ROT= 30.2, -0.2 5 Ygot valid direction response: 22:09:14.1849 LVL= 26032, 32753, 29746, 32755, AGC= 69, IDX= 420, 0.03, 1.681, 0.085, 0.657, 0.922, PHS= 0.847,-0.790,-0.268, RAW= 108.2, 2.9, CAL= 119.8, 0.2, ROT= 30.2, -0.2 E PDAT read: Bearing 30.2, -0.2 (Local) E ~Local bearing/azimuth received: Bearing 30.2, -0.2 (Local) M DAT read: Range 10 to 50 : 401.3 m (Round-trip 535.1 ms) speed 0.3 m/s U ,DAT read: user:2344> ] BDAT read: Tx time:22:09:15.2957 ] $Ping request sent.] : 9:s؀>y:H@Qo?ӿJ? ?=g?`]Ͽ? ??ɨ:y=:u;:CzKNBoIKLKLKN KN  RKZ ?JKZ?y%tB%'IIMIM<4٢ > K=9;Q > G٣yx< > Nusing accuracyPremultiplier from config$598?$5Y'e3 i B5=r@AE:a:<($5 @kb,/1?k:|(G k kA:kCBkBCZk@"ΏP~T3],x@~R) WſQ "Xʿs?JkRk*bs64~g*,hؚu@w%!Ca1޿x?"kaA*kkL"1?kKG 2kCk H?k=|{q. kkBk2J?] addTargetRange:: Added new target pos. range: 401.299988 m, deltaT: 4.036094 s, deltaX: -1.500000 m, approachRate: -0.371646 m/s, rangeRepo size: 4  Added new target pos. range: 401.299988 m, bearing: 263.377542 deg, lat: 36.902915 deg, lon: -122.122301 deg, deltaT: 4.036094 s, deltaX: -1.500000 m, approachRate: -0.371646 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 401.30 m.BjJj ProNav: ac range: 401.299988 m, nav range: 67.545486 m, bearing: 45.428687 deg, approach rate: 0.000000 m/s, LOS rate: 0.148376 deg/s, cmd heading: 21.401018 deg, new cmd heading: 21.600113 deg. 2jHeadingCmd: 0.376993 target range: 401.299988 and range: 401.30 m. j=>jjjihhhhfffrfy@bf-gB?ɛUBU8; QU>IQ ]؛ɚYiYI]{D=Ie=>ieMie {)e=>)iWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:09:15.2949 *F]?2FY:FYBFYJFa"Gm0>Gm=G=мGBAO>Jm Jm Ji Ji Jm :Jm :Ji Ji e $?Ia .xw,IA2=Y2>2921/w>y2H`a?`ӿ?`?Fn?@}ο}? ? % ?ɨ2=2 ;2CWill construct direction to contact in vehicle frame from tetrahedron phase data.y]B]'IMb@Mb@Mb@ )YS㥛?p= ף ) -G٣)y5U< 5> =Nusing accuracyPremultiplier from config9E$59=8?E$5Y=c3 i= BM1?M:MN>mr@=EE=;=;=),$5uܒB u{@}-EZjFNOT Ignoring new targets: 401.30 m.BjX;JjX; ProNav: ac range: 401.299988 m, nav range: 67.348595 m, bearing: 45.541156 deg, approach rate: -0.471078 m/s, LOS rate: 0.269877 deg/s, cmd heading: 21.600113 deg, new cmd heading: 21.938502 deg. 2j69<HeadingCmd: 0.382899 target range: 401.299988 and range: 401.30 m. jZ >jjjih)h1hihm‡BfififirfqbfuM?ɛB&< 隽>I ɚiIUQD=IZ >iiM9})Z >)*F?2F:FBFc0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iH I  I C(II ͈BI &I .I 6I <:I R FG ĀG B O > Zxw,؜/A6Y=Y6>6f96u>y6H!H?[Կ| ?@-?@zX?!>ο`? c?>?ɨ6Y=6%x;6CyBBB(IiF=IF F=FR=IJrIJJ4٢RT.> Vy=9V:Q V?XX ZG٣ZIGyZ-< ^ ? bNusing accuracyPremultiplier from config`f$59b8?f$5Ybb3 ibBhjX>jr@bHEb;b;b.$5A E@AZjFNOT Ignoring new targets: 401.30 m.Bj;Jj; ProNav: ac range: 401.299988 m, nav range: 67.206001 m, bearing: 45.621421 deg, approach rate: -0.429964 m/s, LOS rate: 0.242538 deg/s, cmd heading: 21.938503 deg, new cmd heading: 22.179807 deg. 2js&<HeadingCmd: 0.387111 target range: 401.299988 and range: 401.30 m. j^3> $?Ijjjihhhh f f f rf1bf5#?ɛBh͊< >I pɚiI*C=I ^3>ikig)^3>)-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF@2JFzK:DLK59KK KBKqA:KpAG- G B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.@xw,&pIA6D=Y6VI>696o>y6H$5? ԿA?;?P?y}Ϳ ԡ??b?ɨ6D=6n;6Cy>B>*(IIJaIJ+4٢r= rG=9r^;Q v>| %G٣!y%ߎ< %> 5Nusing accuracyPremultiplier from config)5$59-й8?5$5Y-a3 i-BY]_>]r@-KE-;-;-2$5a m8@m*EZjauFNOT Ignoring new targets: 401.30 m.Bj;Jj;JKcw3 K.-KK"KJ-J-J)J)J-,:J- :J)J) ProNav: ac range: 401.299988 m, nav range: 67.021683 m, bearing: 45.724209 deg, approach rate: -0.427608 m/s, LOS rate: 0.239118 deg/s, cmd heading: 22.179806 deg, new cmd heading: 22.489015 deg. 2j$<HeadingCmd: 0.392507 target range: 401.299988 and range: 401.30 m. j>jjjihhhhfffrfbf`.i?ɛ]B]z w< Y]?Ia eɚaiaIe?B=I>i+iэd)>) I*FE?2FA:FABFEz4JFA=Will construct direction to contact in vehicle frame from tetrahedron phase data.G lGY Bi O >jxw,McA>q=Y>T>>TN 9>c>y>Hp*?0տIL?@=? [?̿䨡?@>?1?ɨ>q=>;>CyJшBJI(I%Mb@Mb@Mb@!!! !)!Y%(\?YY ]G٣Yye< e> mNusing accuracyPremultiplier from configiu$59m18?u$5Ym_3 im B}+?}:>r@mOEm3A;m]?;m;6$5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 401.30 m.Bj7;Jj7;u ProNav: ac range: 401.299988 m, nav range: 66.820557 m, bearing: 45.817198 deg, approach rate: -0.524914 m/s, LOS rate: 0.243422 deg/s, cmd heading: 22.489016 deg, new cmd heading: 22.768822 deg. 2ju'<}HeadingCmd: 0.397391 target range: 401.299988 and range: 401.30 m. j}v>jyjyjyiyhhhhBfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.bf`,?ɛB ͮ< 5=5 ?I1 5sɚ1i9I=MB=IEv>iE8 iui)uv>)yZH1RH5AAHAIA IE(IIE BIE. =&IA.IA6IE<:IE; FBIJIRIZI/ =bI. =jIz4*F?2F:FBF4JF $?IG gG qAG pAG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985689] PExceeded connect timeout, disconnecting.xw,`<}A2C=Y2w>2bZ92Y>y2H"?@\տu?`o?`!f?+ʿ ??`PC?ɨ2C=2;2CyBBBj(I)D DDFAzKJm$JKJ9KHKJ KJIRIR4٢Z > ^T=9^``` bG٣bIGyb< f> jNusing accuracyPremultiplier from configdn$59f^8?n$5Yf1^3 if Bln(>nr@fREf ;f:f9$5t v@v'EZjFNOT Ignoring new targets: 401.30 m.Bj@;Jj@;% ProNav: ac range: 401.299988 m, nav range: 66.632248 m, bearing: 45.904165 deg, approach rate: -0.491751 m/s, LOS rate: 0.227747 deg/s, cmd heading: 22.768822 deg, new cmd heading: 23.030457 deg. 2j-M<5HeadingCmd: 0.401957 target range: 401.299988 and range: 401.30 m. j5Y>j1j1j9i9h9h9h9hAfAfAfArfAbfM@ɛB<  ?I ɚiIgA=IY>i"in)Y>)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237003GGJ J J J J :J :J J B OM > I |xw,A~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489067y B ~(IMb@Mb@Mb@ )Yn?J +?Q?yV?H=u< A @)@I@y@IIt4٢-= ;=9Q > G٣y > Nusing accuracyPremultiplier from config$598?$5Y[3 i! B?:!>r@VE<<l=$5ےB @$EZj9EFNOT Ignoring new targets: 401.30 m.BjEp<;JjEp<;} ProNav: ac range: 401.299988 m, nav range: 66.405869 m, bearing: 45.981987 deg, approach rate: -0.477611 m/s, LOS rate: 0.164747 deg/s, cmd heading: 23.030457 deg, new cmd heading: 23.264718 deg. 2j}!;HeadingCmd: 0.406046 target range: 401.299988 and range: 401.30 m. jA>jjjihhhhBfffrfbf @@ɛBh< 隭>?I b膼ɚiI@=IA>i$i})A>)EE*F}?2Fy:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742297HA IA  IE (IIE ABIA &IA .IA 6IE <:IE U FG /jG B O >xw,A6>Y6p>6m&96TN>y6H@ ?ֿ?/3?W?Gɿ`C?D?@sV?ɨ6>65;6Cy>B>(IIFIFHo4٢Nb= R_=9R&TT VG٣TyV = V> Nusing accuracyPremultiplier from configX$59Z8?%$5YZLY3 iZ0 B!%>%r@ZZEZ;Z:Z@$5) -E@1 ]$?IaZjiuFNOT Ignoring new targets: 401.30 m.BjuoR;Jj}oR; ProNav: ac range: 401.299988 m, nav range: 66.215546 m, bearing: 46.045362 deg, approach rate: -0.550928 m/s, LOS rate: 0.183977 deg/s, cmd heading: 23.264719 deg, new cmd heading: 23.455387 deg. 2j;HeadingCmd: 0.409374 target range: 401.299988 and range: 401.30 m. jo>jjjihhhhfffrfbf`,@ɛ‡B = E"?I YɚiI@=Io>i4%iX)o>) Will construct direction to contact in vehicle frame from tetrahedron phase data. > <checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993426 nManaging dock network, ignoring radio surface power offE][1=zKBoIK9KK K*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246324G G B O >xw,Ay B (I R=%==Mb@Mb@Mb@999 9)9Y=Q?+?Mb?y=?===<=A 9)=@I=~@9y= @IeIe<4٢@=  =9Q  >    G٣ IGy > Nusing accuracyPremultiplier from config%$599?%$5YU3 iM B%$?-:-L>-r@_E;M;E$51 5X@=!EZjaeFNOT Ignoring new targets: 401.30 m.BjmV@;JjmV@;} ProNav: ac range: 401.299988 m, nav range: 65.882431 m, bearing: 46.142857 deg, approach rate: -0.571640 m/s, LOS rate: 0.168153 deg/s, cmd heading: 23.455387 deg, new cmd heading: 23.749351 deg. 2j};HeadingCmd: 0.414504 target range: 401.299988 and range: 401.30 m. j9>jjjihhhhBWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:09:18.2331 TRx dataTimestamp_ set to:1736374159.400722checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498183fffrfbfY; @ɛƇBշ< a'?I zɚiI$?=I9>i'ip)9>) E =*Fm ?2Fq :Fq BFu P5JFq EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.749789jH<bH4<HI I)IIjBI&I.I6I<:IO FGXGGrAJJJJJ|:JJJJ;aJ;aJnN;aJnN;aGiByO?xw,pA :$?I8RN">YRf>R<Ƽ9RaG>yRH@U?׿'m??? ȿƘ?@ ? b?ɨRN">R;RCy^B^(IIfIf{4٢r45= r9=9v;Q v>tx zG٣xyzj= z> Nusing accuracyPremultiplier from config|$59~'-9? $5Y~Q3 i~b B  7? r@~cE~~ ;~ ;~I$5 @uB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 401.30 m.Bj+;Jj+; ProNav: ac range: 401.299988 m, nav range: 65.634216 m, bearing: 46.210037 deg, approach rate: -0.552160 m/s, LOS rate: 0.150008 deg/s, cmd heading: 23.749352 deg, new cmd heading: 23.951652 deg. 2j;HeadingCmd: 0.418035 target range: 401.299988 and range: 401.30 m. j>jjjihhhhfffrfbf@ @ɛʇB< 隍*?I #pɚiIX>=I>iӯ(i֤)>)E1E1uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.004614*E1"E1zKk3IK9KK K*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.M DAT read: 22:09:18.2331 LVL= 23344, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.28,-2.665, 2.144, 2.804, 3.070, PHS= 0.637,-0.878,-0.269, RAW= 113.5, 7.8, CAL= 123.2, 4.6, ROT= 26.8, -4.6 U Ygot valid direction response: 22:09:18.2331 LVL= 23344, 32753, 32754, 32755, AGC= 69, IDX= 417, 0.28,-2.665, 2.144, 2.804, 3.070, PHS= 0.637,-0.878,-0.269, RAW= 113.5, 7.8, CAL= 123.2, 4.6, ROT= 26.8, -4.6 ] PDAT read: Bearing 26.8, -4.6 (Local) ] ~Local bearing/azimuth received: Bearing 26.8, -4.6 (Local) m DAT read: Range 10 to 50 : 399.9 m (Round-trip 533.3 ms) speed 0.5 m/s u ,DAT read: user:2345> } BDAT read: Tx time:22:09:19.3457 } $Ping request sent.}  @) l=I |>i l   ߦ|,?Q†K^Q?) LI i ҁ U  G !r :publishing transmit ping timey  Fpublishing direction and range info 9 Ҍ}Oп\E*w[ҿF&l?y     ) I i      ) I i    ߦ|,?Q†K^Q?) I i    G B O >yw,*A)q q $?IE.~Gy  YyBy%&B%(I)) ) @ @ @  @ Will construct direction to contact in vehicle frame from tetrahedron phase data.=II#4٢<  =9Q =>99 EG٣EIGyE E> UbBottom track data is 0.6 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]$59MF9?e$5YMFM3 iM} Be+:am:iur@MiEM<IB3^jwt@jzOx*ȶjYjYjYiYhYhahhfffrf`fx@bfD?ɛ·B(< O,?I! %bɚAiAIEX==IMn>iM~*iU%9)Un>)Q*F ?2F :F BF JF G 3G B O >h yw,)A2Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I)II~BI&I.I4D6I<:I9 F 5>Y~>.9QB>yH@{? Yؿ??@v?@mǿQ?3?`j?ɨ 5>S>;y(B(II5I51h4٢E; E=9;Q ? G٣y`=  ? bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from configM$59T9?M$5YJ3 i BU :QUk:U?Ur@lEx<yn?O$5Y ]@eEZjFNOT Ignoring new targets: 399.90 m.BjJj*JR="Jp=JJJJJ,:J:JJJ;J;JC;JC;% ProNav: ac range: 399.899994 m, nav range: 83.706810 m, bearing: 264.071170 deg, approach rate: 0.357621 m/s, LOS rate: -0.338848 deg/s, cmd heading: 24.229546 deg, new cmd heading: 23.912121 deg. 2j%h-HeadingCmd: 0.417345 target range: 399.899994 and range: 399.90 m. j-G>j)j)j)i)h1h1h1h1f9f9f9rfybfq? $?IɛЇB%= +?I ][ɚYiYI]G<=IeG>iaimҹ)mG>)i*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BHK 59K K K BK :K G G B O > .yw,4DA>>>Y>_>>o湼9>d?>y>H@`?4$ٿ@:?S?? ƿ K>>>ʈ;>CyZ"BZ(IIbzIb=X4٢j jV=9rj9Q v>x| ~G٣|y< > bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config $59 d9?$5Y G3 i  B9?:N?%r@ oE &; ߤ? vQ$5) -t@)ZjFNOT Ignoring new targets: 399.90 m.BjbJjb ProNav: ac range: 399.899994 m, nav range: 83.835953 m, bearing: 263.951781 deg, approach rate: 0.354965 m/s, LOS rate: -0.327650 deg/s, cmd heading: 23.912122 deg, new cmd heading: 23.554511 deg. 2j`EHeadingCmd: 0.411104 target range: 399.899994 and range: 399.90 m. jE2|>jAjAjIiIhIhIhIhQfQfQfQrfYbf]v?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ҇B9= '?I QTɚiI <=I2|>i9iE^<)E2|>)A*F?2F:F BF JF GGB IIQO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.Qyw,^A6AI>Y6F>6 396A>>y6H`>?`Aٿpɫ?j?@ ? &ƿ e?\? @q?ɨ6AI>6Mb;6CyNBN(IiRC=IR< m m mm mm  u u uMb@Mb@Mb@qqq q)qYuzG?B`"۹?MbP?yu ?u=u:uA u@)qIqqyu@ImI3A4٢Q ?=9¹Q > G٣y< > Nusing accuracyPremultiplier from config$59^v9?$5Y.D3 i BT:<?:?r@sEt;;*U$5 @EZjFNOT Ignoring new targets: 399.90 m.BjcJj c ProNav: ac range: 399.899994 m, nav range: 83.997276 m, bearing: 263.818516 deg, approach rate: 0.395280 m/s, LOS rate: -0.325903 deg/s, cmd heading: 23.554512 deg, new cmd heading: 23.155490 deg. 2j_%HeadingCmd: 0.404140 target range: 399.899994 and range: 399.90 m. j%a>j!j!j!i!h!h)h)h-Bf)f1f1rf1bf= R?ɛeԇBe[= imD%?Ii mKɚiiiImQ;=I}a>iyi}ܷ;)}a>)*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHHI III&I.I6I:IGMEG B O5 >JI JM @AJU JU JU /JQ JU :JU :JU (N3JQ JU 5;JU 6;JU nN;JU nN; M $?IM i{yw,"xA:DP>Y:>:a9:c;>y:H(?ڿ,?S???RƿC?I?mu?ɨ:DP>:x;8y^B^(IIjIj̍4٢r9 rW=9r;Q v>tt vG٣vIGyzJ< z> ~Nusing accuracyPremultiplier from config|$59~L9?$5Y~@3 i~ B  4? r@~wE~:~:~}X$5 '@Will construct direction to contact in vehicle frame from tetrahedron phase data.EB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 399.90 m.Bj]|Jj]|m ProNav: ac range: 399.899994 m, nav range: 84.143829 m, bearing: 263.699832 deg, approach rate: 0.383886 m/s, LOS rate: -0.310341 deg/s, cmd heading: 23.155490 deg, new cmd heading: 22.800065 deg. 2jmTmHeadingCmd: 0.397936 target range: 399.899994 and range: 399.90 m. juL>jqjqjqiqhyhyhyhyfffrfbf m?ɛׇB'T= 隽?I .DɚiIץ:=IL>i)iG<)L>)*F ?2F :F BF ?1JF GizKK9KK KRK?JK>GBOA>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ol$yw,?A tIt&V>Y9>^97>yH ?nڿD?@?@e? ſ??V{?ɨ&V>^|;騵Cy B(IMb@Mb@Mb@ )Y㥛 ?V-? G٣y-< > Nusing accuracyPremultiplier from config$59ל9?$5Y<3 i B? : / ?r@|Eq<G<']$5ؒB @EZjFNOT Ignoring new targets: 399.90 m.Bj-Jj-= ProNav: ac range: 399.899994 m, nav range: 84.337105 m, bearing: 263.531473 deg, approach rate: 0.345158 m/s, LOS rate: -0.299972 deg/s, cmd heading: 22.800066 deg, new cmd heading: 22.296159 deg. 2j=MEHeadingCmd: 0.389141 target range: 399.899994 and range: 399.90 m. jE=>jajijiiihihihqhuBfqfqfqrfybf}@ɛeڇBe梿< ae?Ia m/9ɚiiiIm9=Iu=>iu!E(iu<)u=>)y*F1 2F9 :F9 BF= `0JF9  Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508123H I  I )II oBI &I .I 6I <<:I  FBIJIRIZI. =bIjIDI4G :GBO>+yw,]A2 Z>Y2u>2}92P2>y2H?@ڿ@5??@6?ſ}?_,? ?ɨ2 Z>2;2CJVJVJV0JTJV :JV:JVـ3JTJV;JV;JVyE;JVyE;ybBb(I)h hhjAInInn4٢vfX vY=9z;Q ~>|| ~G٣|y[< >  Nusing accuracyPremultiplier from config $59 9?$5Y 93 i  Bk?r@ E : : J`$5! -@)ZjQUFNOT Ignoring new targets: 399.90 m.Bj]Jj] m$?Iq ProNav: ac range: 399.899994 m, nav range: 84.468155 m, bearing: 263.419230 deg, approach rate: 0.396183 m/s, LOS rate: -0.338799 deg/s, cmd heading: 22.296159 deg, new cmd heading: 21.959957 deg. 2jh HeadingCmd: 0.383274 target range: 399.899994 and range: 399.90 m. j n<>j j j i h hhhfffrfbf`K}@ɛ܇B= 隍?I 02ɚiI6K9=In<>ii}1=)n<>)*FU?2FQ:FQBFU3JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758824G-;GBOL>zKk3IK9KK KBK pA:K qA%2yw,BAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011138%:_>Y%>%X9%` #>y%H`?lڿ;r?-?B?|ÿ?M?@?ɨ%:_>%k;%Cy=B=n(IIMIM4٢]  ]D=9eaa mG٣mIGym#< m> }Nusing accuracyPremultiplier from configq}$59u_9?}$5Yu'63 iu B~?r@uEuv:u:uc$5 @EZjFNOT Ignoring new targets: 399.90 m.BjlJjl ProNav: ac range: 399.899994 m, nav range: 84.621094 m, bearing: 263.290148 deg, approach rate: 0.366155 m/s, LOS rate: -0.308481 deg/s, cmd heading: 21.959956 deg, new cmd heading: 21.573415 deg. 2jSHeadingCmd: 0.376527 target range: 399.899994 and range: 399.90 m. j*>jjjihhhhfffrfbf @ɛMއBMi< QU?IQ UE+ɚQiYI]8=I*>i&i,'=) *>) $?I*F]?2FY:FYBF]3JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262684G] ~<G B! OE >58yw,T:Ay-B5e(IMb@Mb@Mb@ )Yi|?5?Mb?~jty?=ļA @)@I@y@IIt4٢C >=9Q >)) -G٣1y5 => MNusing accuracyPremultiplier from configIU$59M9?]$5YM33 iM B]?m:m1?mr@MEM;M;Mg$5y }@ZjFNOT Ignoring new targets: 399.90 m.Bj豻Jj豻 ProNav: ac range: 399.899994 m, nav range: 84.764328 m, bearing: 263.154139 deg, approach rate: 0.328159 m/s, LOS rate: -0.311078 deg/s, cmd heading: 21.573415 deg, new cmd heading: 21.166087 deg. 2j}UHeadingCmd: 0.369418 target range: 399.899994 and range: 399.90 m. jX$>jjjihhh h ^Bf f frfbf4 @%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:09:22.2952 LVL= 15136, 23761, 21394, 22739, AGC= 74, IDX= 61, 0.16,-1.393,-2.994,-2.200,-2.336, PHS= 1.032,-0.611, 0.133, RAW= 116.9, -7.8, CAL= 120.6, -20.8, ROT= 29.4, 20.8 Ygot valid direction response: 22:09:22.2952 LVL= 15136, 23761, 21394, 22739, AGC= 74, IDX= 61, 0.16,-1.393,-2.994,-2.200,-2.336, PHS= 1.032,-0.611, 0.133, RAW= 116.9, -7.8, CAL= 120.6, -20.8, ROT= 29.4, 20.8 BDAT read: Rx Time:22:09:22.2952 TRx dataTimestamp_ set to:1736374163.705384@DAT read: $Low SNR acquisition 2Received low SNR in chirpjH<bH<H>I I(IIVBI&I.I3D6Iʰ<:Io FUX#Rx 1: Read direction message, but no range.]^direction in FSK: [0.035334,-0.368315,0.929029]9^.@pA?Sy׿40? ;\ S)XIJi?j'1>@'g $@)޹IG\?i޹>Ovk?!rUn)k^I >iѼFuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseɛ}B}|< 隅8?I 4#ɚiI/8=IX$>iP^$i<=)X$>)*FE?2FA:FABFM`5JFI qI}iG%3;=GBO% > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsea?yw,Abe]>Yb>bQ49bD>ybH`e?ڿ??F?{Ɓ?@) ?٭?ɨbe]>bއ;bCyވBX(Ii%=I!I5I54٢]Od ]X=9]Daa eG٣aym m> uNusing accuracyPremultiplier from configq}$59um9?}$5YuW03 iu B+>r@uEu ;u ;uj$5גB @ EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 399.90 m.BjJj ProNav: ac range: 399.899994 m, nav range: 84.888222 m, bearing: 263.036649 deg, approach rate: 0.335479 m/s, LOS rate: -0.317675 deg/s, cmd heading: 21.166087 deg, new cmd heading: 20.814136 deg. 2jZHeadingCmd: 0.363275 target range: 399.899994 and range: 399.90 m. j5>jjjihhhhfffrfbf @ɛB%6< !%5>I! %mYɚ!i)I-7=I=5>i9i=VK=)=5>)AzKMBHKIKIKM KM*F?2F:FBF_0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.AiEAET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseG5k%=G B O) J J J J J :J :J J a @a @a @a @ $?I Eyw,dAyψBF(IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )Yn?:vQyV?ԼI@ @)Z@I@y\@II4٢{ C=9Q > G٣IGy > Nusing accuracyPremultiplier from config$599?$5Y-3 i B?:>r@E_;;n$5֒B n@EZj1=FNOT Ignoring new targets: 399.90 m.Bj=NJjENM ProNav: ac range: 399.899994 m, nav range: 85.004295 m, bearing: 262.900200 deg, approach rate: 0.277494 m/s, LOS rate: -0.325761 deg/s, cmd heading: 20.814136 deg, new cmd heading: 20.405353 deg. 2jM_UHeadingCmd: 0.356141 target range: 399.899994 and range: 399.90 m. j]X>jYjYjYiYhYhYhahe+Bfafafirfibfm#=@ɛuBu< qu>Iq }ɚyiyI}(a7=IX>i"iK=c=)X>)*Fe?2Fa:FaBFaJFaG=H=GBO%o>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapseH >I  I (II 7BI &I .I 6I <:I D FULyw,2A2S>Y2>2Px92X>y2H`?Yڿ`+?;?@,?` o?@:??ɨ2S>2X0;2CyR͈BRC(IIZIZݜ4٢bO b]=9bXdd fG٣dyj%м j> nNusing accuracyPremultiplier from configlr$59n:?r$5Yn+3 in Btv>vr@nEn:n:nq$5| ~@ !I!Zj15FNOT Ignoring new targets: 399.90 m.Bj=Jj=M ProNav: ac range: 399.899994 m, nav range: 85.105148 m, bearing: 262.779557 deg, approach rate: 0.271594 m/s, LOS rate: -0.324501 deg/s, cmd heading: 20.405352 deg, new cmd heading: 20.043859 deg. 2jM^UHeadingCmd: 0.349831 target range: 399.899994 and range: 399.90 m. jU>jQjQjQiQhQhhhfffrfbf`@ɛmBu< 15>I1 5ɚ1i9I=67=I=>iEiEHwT=)E>)AWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBFJFGzKm Km h9Ki Km Km G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseSyw,kLAZLRM>YZN>Z Xl9Zk=yZH*4?Sٿ@f?`)??@ ̻ M?[?@3?ɨZLRM>Zm;ZCyfBf4(I)x xI~I~(4٢ n ME=9U1;Q ]>YY ]G٣Yyet e> Nusing accuracyPremultiplier from configi$59m:?$5Ym)3 im B$>r@mEm:m:mu$5 T@EZjFNOT Ignoring new targets: 399.90 m.BjdJjd ProNav: ac range: 399.899994 m, nav range: 85.220009 m, bearing: 262.640880 deg, approach rate: 0.267407 m/s, LOS rate: -0.322418 deg/s, cmd heading: 20.043859 deg, new cmd heading: 19.628397 deg. 2jE]=HeadingCmd: 0.342580 target range: 399.899994 and range: 399.90 m. j=f>jAjAjaiihihqhyhfffrfbf`E@e~G}vAJJJJJ :JJJ $?I!  Y-vAy-9BɛB< 隍h>I  ɚiI6=If>i i G9Z=)f>)A*FM?2FI:FIBFIJFQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGu 8U=GI BQ Ou >[=Yyw,fA27E>Y2 >2%:926=y2HmN?@ٿ`׈?p? ?ɹ#[@W??ɨ27E>2;2Cy>ˆB>6(I]Mb@Mb@Mb@YYY Y)YY]MbX?p= ףV-y] ?]]]@ ]K@)]p@I]p@Yy]@IIn4٢; ?=9;Q > G٣IGyF > Nusing accuracyPremultiplier from config$59&:?$5Y'3 i B ?:ә>r@Ez;y;>y$5 >@ZjAMFNOT Ignoring new targets: 399.90 m.BjUJjU] ProNav: ac range: 399.899994 m, nav range: 85.315819 m, bearing: 262.500545 deg, approach rate: 0.228397 m/s, LOS rate: -0.334163 deg/s, cmd heading: 19.628398 deg, new cmd heading: 19.207872 deg. 2jeUemHeadingCmd: 0.335241 target range: 399.899994 and range: 399.90 m. jm>jijijiiihqhqhqhu Bfyfyfyrfybf`@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛ-B5lt< 15>>I1 5jsɚ1i1I=[y6=I=>iAiEX=)E>)AZHRH@AH>IC I(IIBI&I.I6I<:IP F*F?2F:FBF0JF $?IG`hZ=G ?G *?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseB`yw,zA20&=>Y2@>2c;92=y2H h?`ٿ?2g;2CyNBR$(IIVIV4٢b2 b[=9bdd fG٣dyj j> nNusing accuracyPremultiplier from configlr$59n6:?r$5YnF&3 iny Bpr>vr@nEn ;n ;n{|$5zՒB z@~EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 399.90 m.Bj-&Jj5&E ProNav: ac range: 399.899994 m, nav range: 85.398949 m, bearing: 262.376938 deg, approach rate: 0.227358 m/s, LOS rate: -0.337731 deg/s, cmd heading: 19.207872 deg, new cmd heading: 18.837419 deg. 2jEgMHeadingCmd: 0.328775 target range: 399.899994 and range: 399.90 m. jM2U>jIjIjQiQhQhQhYhYfYfYfarfabfe@@ɛ-B5< QUx>IQ ]ɚYiYI]qG6=Ie2U>ieۻie7S=)e2U>)izKUJKUs9KQKU KU*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseGGBO>J J J J J :J J J I Jfyw,cA>:V3>Y>D>>0;9>)=y>H?`^ؿ|?B??f?㵿`?@?ɨ>:V3>>Ĥ;>CyZB^+(Iib G٣y > Nusing accuracyPremultiplier from config$59L:?$5Y$3 ig B ?:;`>r@E=;;$5 @Zj!MFNOT Ignoring new targets: 399.90 m.BjM@ŻJjU@Ż ProNav: ac range: 399.899994 m, nav range: 85.488258 m, bearing: 262.214603 deg, approach rate: 0.189947 m/s, LOS rate: -0.344899 deg/s, cmd heading: 18.837419 deg, new cmd heading: 18.350936 deg. 2jlHeadingCmd: 0.320284 target range: 399.899994 and range: 399.90 m. jL>jjjihhhhBfffrfbf@ɛB>;< H,=隅>I ɚiI6=IL>iiO=)L>)*F?2F:FBF2JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseH I  I (II BI / =&I .I 6I q<:I - FG R=G B O >qlyw,U/A*J"C="J"a=:/*>Y:k>:-<9:=y:H?ؿ`u?_/??s[ "?%?ɨ:/*>:;:C F$?IDy^Bb%(IIjIj4٢- -f=9-@ 11 5G٣5IGyE E> MNusing accuracyPremultiplier from configIU$59M8\:?U$5YM#3 iMX BQUhW>Ur@MEM;M;M$5a e @eEZjFNOT Ignoring new targets: 399.90 m.Bj=ɻJj=ɻ ProNav: ac range: 399.899994 m, nav range: 85.555016 m, bearing: 262.091053 deg, approach rate: 0.190275 m/s, LOS rate: -0.351877 deg/s, cmd heading: 18.350936 deg, new cmd heading: 17.980578 deg. 2j}qHeadingCmd: 0.313820 target range: 399.899994 and range: 399.90 m. j>jjjihhhhfffrfbf@ɛB < >I YɚiI<5=I >i i $J=) >) *F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG0P=GBO>zK BoHK 9K K K BK qA:K pA= Will construct direction to contact in vehicle frame from tetrahedron phase data.= T****** received valid address query ******= R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse&isyw,@NAr5!>Yr>rJ-]<9rC=yrHü?w׿?M?? E@r V??ɨr5!>r&F;rCyޝBޝ+(IIIn4٢ó< ?=9;Q > G٣y > Nusing accuracyPremultiplier from config$59o:?$5Y{"3 iF BpM>r@E;:b$5  @ZjFNOT Ignoring new targets: 399.90 m.BjJj ProNav: ac range: 399.899994 m, nav range: 85.633408 m, bearing: 261.942688 deg, approach rate: 0.175381 m/s, LOS rate: -0.331622 deg/s, cmd heading: 17.980579 deg, new cmd heading: 17.535901 deg. 2jcHeadingCmd: 0.306059 target range: 399.899994 and range: 399.90 m. j˳>jjjihh  ]$?IYJeJeJe/JaJe|:Je:Je(N3Jah hqfqfqfyrfybf}Ӹ@ɛ=BEݗ< 隕>I 8ɚiI"5=I5˳>i=RiE*5D=)E˳>)}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBF(5JFG .H=G B O >yyw,Ab>Ybl>bڷ<9b =ybH-?ֿ)??h?n{˖i?6?ɨb>b;bCyrňBv9(I)| |AMb@Mb@Mb@ )YK7A`?1Zd:vy ?"۽T$@ 5@)I-@y@IIb4٢da= C=9E;Q E>AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]$59U:?e$5YU^!3 iU9 Be ?e:eE5>mWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapseer@UEU/;UE;U-$5ԒB @EjHbH4<HI I(II BI. =&I.I6I~<:I6 FBIu™CJIu™CRIqZIqbIqjIu4ZjFNOT Ignoring new targets: 399.90 m.BjλJjλ ProNav: ac range: 399.899994 m, nav range: 85.708679 m, bearing: 261.790271 deg, approach rate: 0.178846 m/s, LOS rate: -0.361825 deg/s, cmd heading: 17.535901 deg, new cmd heading: 17.079061 deg. 2jQxHeadingCmd: 0.298086 target range: 399.899994 and range: 399.90 m. j>jjji h h h hԆBfffrfbfII M-z׻ɚIiIIM5=IU>iQiUB=)U>)Y IJJEE =*F ?2F :F BF P5JF % Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseG ߛC=GBO>yw,FEAzKVBoIKV9KTKV KVRK^>JK^?y ͈B D(II%I%.4٢5A= 5.=95Q 5>99 =G٣=IGyE E> Nusing accuracyPremultiplier from configA$59EY:?$5YE4 3 iE* Br@EEE8Yjj j i h h hhfffrfbf` @ɛEBE!< AM>II M/ʻɚIiIIM5=IU\>iYieza=)e\>)iEE*:+=MWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse*F?2F:FBF_0JF =$?I9G C=G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsedyw,"AJo>YJO>Jȅ<9JE=yJHu?տ ?'??/K5?@?ɨJo>J;JCyVՈBVN(I}Mb@Mb@Mb@yyy y)yY} rh?MbXMby} ?}ʽ}}Q@ }b@)}@I}@yy}(@IIh4٢[= D=9GM G٣y& > Nusing accuracyPremultiplier from config$59:?$5Y"3 i B?:3>r@Ew;;̒$5 @Zj  FNOT Ignoring new targets: 399.90 m.BjϻJjϻ% ProNav: ac range: 399.899994 m, nav range: 85.861908 m, bearing: 261.483690 deg, approach rate: 0.181567 m/s, LOS rate: -0.362139 deg/s, cmd heading: 16.602554 deg, new cmd heading: 16.160161 deg. 2j%x-HeadingCmd: 0.282048 target range: 399.899994 and range: 399.90 m. j-h>j)j)j)i1h1h1h9h=Bf9fAfArfIbfM` @ɛuB}< y} >Iy }򬾻ɚyiI.5=Ih>ii:=)h>)EE*E"EH%>I! I%(II%BI%/ =&I!.I!6I%<:I%F FmWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse*F?2F:FBF\0JF 1 I1 J3K3 K3K3K3"K3Ju Ju Ju 0Jq Ju :Ju :Ju ـ3Jq Ju ;a Ju ;a Ju L;a Ju L;a G} a[yw,729<92d<=y2H?kտ#? ۚ?B ?.? ?ɨ2%=2];0yVBVb(Ii^pp rG٣pyr7 v> ~Nusing accuracyPremultiplier from configt~$59v^:?$5Yv33 iv B+>r@vEv,;v#;v"$5ӒB ՞@EZj9=FNOT Ignoring new targets: 399.90 m.BjE5ɻJjE5ɻU ProNav: ac range: 399.899994 m, nav range: 85.928314 m, bearing: 261.348873 deg, approach rate: 0.173430 m/s, LOS rate: -0.351822 deg/s, cmd heading: 16.160161 deg, new cmd heading: 15.756030 deg. 2jUsq]HeadingCmd: 0.274995 target range: 399.899994 and range: 399.90 m. j]̌>jYjYjYiahahahahafififqrfqbf}ѩ!@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛB-< 隵>I ɚiI)5=Ǐ>iig<=)̌>)*FE?2FI:FIBFMo0JFIGW=GBO (>zKjIKKK KBK:KE Will construct direction to contact in vehicle frame from tetrahedron phase data.M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapse  $?I >yw,"VA:=Y:_(>:k<9:=y:H2?Կ??? !?`ԒLt?`?ɨ:=:;:CyrBry(IIzIz4٢5ĭ= =E=9Mm;Q M>Ya eG٣mIGy > Nusing accuracyPremultiplier from configU$59:?]$5Y,3 i Bam5#>mr@ED<<$5 @EZjYeFNOT Ignoring new targets: 399.90 m.BjeJj ProNav: ac range: 399.899994 m, nav range: 86.003571 m, bearing: 261.193213 deg, approach rate: 0.159059 m/s, LOS rate: -0.328710 deg/s, cmd heading: 15.756031 deg, new cmd heading: 15.289470 deg. 2jaHeadingCmd: 0.266852 target range: 399.899994 and range: 399.90 m. jƠ>jjjihhhhfffrfbf""@ɛ-B5L< 15?I1 5Izɚ1i9I=5=I=Ơ>iEviE==)EƠ>)IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBFc0JFG% 9=G B O5 >ZH RH ?AH >I  I (II -BI &I .I 6I \<:I  FU Will construct direction to contact in vehicle frame from tetrahedron phase data.] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapsemyw,koAm=YE>6 <9v=yHID?Կ??`/3?@8`@?`G?ɨm=v߉;CyޅBޅ(IMb@Mb@Mb@ )Y/$?V-MbP?y&?m:$@ x@)I-@yI=I=]4٢M< M9=9U;Q U>QY ]G٣Yy]H} ]> mNusing accuracyPremultiplier from configiu$59m>:?u$5Ym3 imBu?}:}.i>}r@mEm ;m;m$5 >@ $?IZjFNOT Ignoring new targets: 399.90 m.BjٻJjٻ ProNav: ac range: 399.899994 m, nav range: 86.092094 m, bearing: 261.046785 deg, approach rate: 0.230568 m/s, LOS rate: -0.380992 deg/s, cmd heading: 15.289471 deg, new cmd heading: 14.850647 deg. 2jHeadingCmd: 0.259193 target range: 399.899994 and range: 399.90 m. j約>jjjihhhh(Bfffrfbf``#@ɛ%B%= )-?I) -ȕɚ)i)I55=I5約>i1i=^A=)=約>)AJJJJJ,:J:JJJ;J;JJ;JJ;*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGk>=G B O >wOyw,ɰA:5A=Y:wȤ>:<9:=y:HX?ԿR?O\\ ^G٣`yb b> fNusing accuracyPremultiplier from configdj$59f:?j$5Yf3 ifBlnQa>nr@fEf ;f ;f$5rҒB r @rEzK~BoHK~+9K|K~ K~ %M$ Zj!%FNOT Ignoring new targets: 399.90 m.Bj-ȻJj-Ȼ= ProNav: ac range: 399.899994 m, nav range: 86.165436 m, bearing: 260.923696 deg, approach rate: 0.209300 m/s, LOS rate: -0.350969 deg/s, cmd heading: 14.850646 deg, new cmd heading: 14.481699 deg. 2j=pEHeadingCmd: 0.252753 target range: 399.899994 and range: 399.90 m. jEh>jAjAjAiIhIhIhIhIfQfQfQrfQbf]`$@ɛ = 隅?I  ɚiIm5=Ih>ii;=)h>)Will construct direction to contact in vehicle frame from tetrahedron phase data.iA Will construct direction to contact in vehicle frame from tetrahedron phase data. 2<92O=y2H@f?`ӿ@?? 4V?@w ܞ q?`?ɨ2js=2k;2Cy:B>(I]Mb@Mb@Mb@YYY Y)YY]/$?~jth?yY]̼]D;]Q@ Y)]@IYYy]@ImImW4٢1 ==9x';Q > G٣IGyZ > Nusing accuracyPremultiplier from config$59 ;?$5Y3 iBK?:>r@E;u;q$5 4@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 399.90 m.BjĻJjĻE ProNav: ac range: 399.899994 m, nav range: 86.267876 m, bearing: 260.775815 deg, approach rate: 0.238391 m/s, LOS rate: -0.343731 deg/s, cmd heading: 14.481698 deg, new cmd heading: 14.038591 deg. 2jEkMHeadingCmd: 0.245020 target range: 399.899994 and range: 399.90 m. jUmz>jQjQjQiYhYhYhaheHBfifqfyrfybf}$@ɛuB}= y}4 ?Iy tpɚiIe5=Imz>ii{?D=)mz>)*Fe?2Fa:FaBFe@5JFaHI I(IIGBI&I.I6Ix<:I1 F%Will construct direction to contact in vehicle frame from tetrahedron phase data.%yw,jA:ٶ=Y:>:A=9:}=y:Hu?Kӿ ?z?e?b@?@J?ɨ:ٶ=:{;:CyF"BF(IININ̍4٢V#= VZ=9VL;Q V>XX ZG٣XyZj ^> bNusing accuracyPremultiplier from config`f$59b;?f$5Ybj3 ibBhj>jr@bEb:b:b$5l n@nEZj  FNOT Ignoring new targets: 399.90 m.BjûJjû% ProNav: ac range: 399.899994 m, nav range: 86.356201 m, bearing: 260.647178 deg, approach rate: 0.235180 m/s, LOS rate: -0.342164 deg/s, cmd heading: 14.038591 deg, new cmd heading: 13.653082 deg. 2j-j-HeadingCmd: 0.238291 target range: 399.899994 and range: 399.90 m. j-t>j1j1j1i1h1h1h9h9f9fAfArfAbfE%%@}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2347> BDAT read: Tx time:22:09:30.2958 $Ping request sent.ii5*F=)5t>)9*F?2F:FBF_0JFzKuMKqKqKu Ku</ GߛC=GBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:22:09:30.2950 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254651 I yw,BAVז=YVݛ>V==9Vض=yVH??ҿW?},? Ws? Ҡ ??ɨVז=V! ;VCydj(Iiv%=Iv<IzIz4٢ 7;  D=9 8;Q  > G٣yX > %Nusing accuracyPremultiplier from config!-$59%.;?-$5Y%3 i%B)-&>5r@%E!%:%[$59 =@9ZjQeFNOT Ignoring new targets: 399.90 m.BjuJju= ProNav: ac range: 399.899994 m, nav range: 86.453369 m, bearing: 260.504634 deg, approach rate: 0.220109 m/s, LOS rate: -0.322532 deg/s, cmd heading: 13.653081 deg, new cmd heading: 13.225939 deg. 2j=Y]}HeadingCmd: 0.230836 target range: 399.899994 and range: 399.90 m. jR`l>jjjihhhhfffrfbf@]&@ɛB-_e = )-G?I) -o0ɚ1i1I5@5=I5R`l>i=`i=L=)=R`l>)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502104*F}?2Fy:FyBFyJFyG 'HF=G H I  I (II `BI . =&I .I 6I {<:I 3 FB O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754447޶yw,)"Ay=+B=(IMb@Mb@Mb@ )YbX9?X9v? G٣IGy   > $?I %Nusing accuracyPremultiplier from config%$598B;?-$5Yx3 iB5?5:=$>=r@Ed;a;($5A Eo@EEZjFNOT Ignoring new targets: 399.90 m.Bj ûJjûU ProNav: ac range: 399.899994 m, nav range: 86.581001 m, bearing: 260.357951 deg, approach rate: 0.298502 m/s, LOS rate: -0.342552 deg/s, cmd heading: 13.225939 deg, new cmd heading: 12.786548 deg. 2j]k]HeadingCmd: 0.223167 target range: 399.899994 and range: 399.90 m. j]d>jajajaiahahaJJBAJJJ1JJ:J:J3JJ5;J6;J-Y;J.Y;hhmBfffrfbfx'@ɛBA"= !%U?I! qɚiI'5=Id>iiUUi=)d>)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006006G O=G rAG G B O >yw,u A2ޱ=Y2>2n=92я=y2H ?.`ҿ`)?`݌?@?@P}??ɨ2ޱ=2\a;2CyR/BR(IIZlIZm?4٢b[< b`=9bIQ b>dd fG٣dyjp j> nNusing accuracyPremultiplier from configlr$59n4S;?r$5Yn3 inBpv >vs@nEn;n;nW$5zђB z!@zEzKULKU9KQKU KUZjFNOT Ignoring new targets: 399.90 m.Bj$»Jj$» ProNav: ac range: 399.899994 m, nav range: 86.686554 m, bearing: 260.234642 deg, approach rate: 0.290935 m/s, LOS rate: -0.339464 deg/s, cmd heading: 12.786548 deg, new cmd heading: 12.417075 deg. 2jhHeadingCmd: 0.216719 target range: 399.899994 and range: 399.90 m. j]>jjjihhhhfffrfbf*(@ɛae4= aeq?Ii m\;ɚiiiIm5=I]>iiW=)]>)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260409*F?2F:FBFn0JF $?IiGnp_=GYBaOMt> Will construct direction to contact in vehicle frame from tetrahedron phase data. ? ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514325yw,4$A2=Y2b>2=925=y2H? Aҿ?)q?@?k??ɨ2=2;2CyN2BR(I)T TTVA5Mb@Mb@Mb@111 1)1Y5S?Zd;?Mbp?y5?5y=5;5@ 5@)1I11y5@IzI=X4٢^?< <=9&:Q > G٣yᄻ > Nusing accuracyPremultiplier from config$59g;?$5Y3 iBi?:>s@E!;@;$$5ВB @EB*** querying acoustic contact ***jjZj1=FNOT Ignoring new targets: 399.90 m.BjEǻJjEǻ] ProNav: ac range: 399.899994 m, nav range: 86.827682 m, bearing: 260.087324 deg, approach rate: 0.334768 m/s, LOS rate: -0.348882 deg/s, cmd heading: 12.417076 deg, new cmd heading: 11.975849 deg. 2jeoomHeadingCmd: 0.209018 target range: 399.899994 and range: 399.90 m. jmV>jijqjqiqhyhyhhBfffrfbf)@ɛaeF#= im?Ii mѻɚqiqIuS4=I}V>iyio=)V>)HM>II IM)IIMtBII&II.II6IM|<:IIBI JI RI ZI / =bI / =jI :4*Fm?2Fi:FiBFmt0JFi%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767197 $?IGm g=*J "J GA BI Om >J J J 0J J ,:J :J ـ3J J ;J ;J @;J @;yw,>A6Ï=Y6#>6 =96=y6H?#ҿ {?W?`ɖ?fB! 4?2?ɨ6Ï=6ֆ;6Cy>-BB(IIJIJ4٢R R]=9V_,;Q V>TT VG٣VIGyZŏ Z> ^Nusing accuracyPremultiplier from config\f$59^9y;?f$5Y^ 3 i^Bhj >js@^E^x5;^x5;^^$5l n)@rEZj FNOT Ignoring new targets: 399.90 m.Bj »Jj»% ProNav: ac range: 399.899994 m, nav range: 86.947678 m, bearing: 259.962453 deg, approach rate: 0.327599 m/s, LOS rate: -0.340438 deg/s, cmd heading: 11.975850 deg, new cmd heading: 11.601761 deg. 2j%i-HeadingCmd: 0.202489 target range: 399.899994 and range: 399.90 m. j-BYO>j)j)j)i)h)h1h1h1f9f9fArfAbfEx)@}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018026ɛ8= 隍r?I mXɚiI4=IBYO>ii[=)BYO>)!*F?2F:FBF`5JFzKFKK+9KK K(>:4-*+,*+*'&BKpA:KqAGn=GBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269971 I ,yw,ʋXAy%*B%(IIEIEݜ4٢^ ==9Q > G٣y > Nusing accuracyPremultiplier from config$59Í;?$5Y 3 iBs@E4<09<)$5) -Y@9ZjFNOT Ignoring new targets: 399.90 m.BjZJjZ ProNav: ac range: 399.899994 m, nav range: 87.089272 m, bearing: 259.816093 deg, approach rate: 0.290328 m/s, LOS rate: -0.299613 deg/s, cmd heading: 11.601761 deg, new cmd heading: 11.163402 deg. 2jMHeadingCmd: 0.194838 target range: 399.899994 and range: 399.90 m. jG>j j j i h h hhfffrfbf Ҹ*@ɛam}= im?Ii uUmɚqiqIu4=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522176IG>i#i=)G>)*F]?2FY:FYBFe2JFaG Š}=ZHA RHE @AHM >II  II II IM 0 =&II .II 6IM <:IM X FGa Bi O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774129"yw,Ip< =p=}Mb@Mb@Mb@yyy y)yY}^I +?l?Mb`?y}X?}=};}@ y)}@I}@yy} @IIv}4٢N 9=9Q > G٣y > Nusing accuracyPremultiplier from config$59>;?$5Y23 iB?:>s@E;[;$5ϒB  @߽EZj FNOT Ignoring new targets: 399.90 m.Bj ֻJjֻ- ProNav: ac range: 399.899994 m, nav range: 87.237396 m, bearing: 259.671346 deg, approach rate: 0.384538 m/s, LOS rate: -0.375129 deg/s, cmd heading: 11.163401 deg, new cmd heading: 10.729908 deg. 2j-5HeadingCmd: 0.187272 target range: 399.899994 and range: 399.90 m. j5J?>j1j1j1i1h9h9h9h=vBfAfAfArfAbfEy+@ɛ)54(= 15W?I1 5>o9ɚ1i9I=4=I=J?>iAiE=)EJ?>)I*F2F:FBF@5JFGj=GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033436Dyw,FAy(II%I%Q4٢5ʂ: =R=99Q =>AA EG٣EIGyA M>zKU@MKU9KQKU KU&%"!    3EHC90&! RK]?JK]? eNusing accuracyPremultiplier from configIm$59M`;?m$5YM3 iMBqqus@MEM ;M ;Mg$5y }@}ܽEZjFNOT Ignoring new targets: 399.90 m.Bj$Jj$-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285969} ProNav: ac range: 399.899994 m, nav range: 87.369003 m, bearing: 259.543612 deg, approach rate: 0.335853 m/s, LOS rate: -0.325478 deg/s, cmd heading: 10.729908 deg, new cmd heading: 10.347289 deg. 2j__HeadingCmd: 0.180594 target range: 399.899994 and range: 399.90 m. j8>jjjihhhhfffrfbf 3T,@ m$?Iiɛ&= 隭?I R^9:ɚiI4=I8>i ie=)8>)JJJJ*F?2F:FBF4JFJ:J :JJa@a@a@a@G = Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:09:33.2238  TRx dataTimestamp_ set to:1736374174.550084 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541042GY Ba O >yw,AM==YMᶈ>MK=9M҄=yMH`p?пR?/?a?䄰i J?@[?ɨM==MI;IymBm(IMb@Mb@Mb@ )YOn?333333? G٣yg > Nusing accuracyPremultiplier from config$59;?$5Y(3 iB?:B>s@E;=;$5 @B*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 399.90 m.Bj5㼻Jj5㼻E ProNav: ac range: 399.899994 m, nav range: 87.507133 m, bearing: 259.404488 deg, approach rate: 0.328435 m/s, LOS rate: -0.330276 deg/s, cmd heading: 10.347289 deg, new cmd heading: 9.930583 deg. 2jEbMHeadingCmd: 0.173321 target range: 399.899994 and range: 399.90 m. j){1>jjjihhhhlBfffrfbf`!-@ɛQU"= QU ?IQ U(z:ɚYiYI]y4=I){1>ii =)){1>)H>I I)IIjBI/ =&I.I6I<:IA F*F%?2F!:F!BF%_0JF!MWill construct direction to contact in vehicle frame from tetrahedron phase data.IiIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.791610GN= YIaGBO>@yw,vAyB(I)! !)-AI=I=W4٢M!& Me=9MQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam$59e;?m$5Ye3 ieBiims@eEe:e:e2$5y }a@}ٽEWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:09:33.2238 LVL= 25792, 32753, 27618, 32755, AGC= 71, IDX= 225,-0.10,-2.094, 2.515,-3.089,-2.723, PHS= 0.718,-0.998,-0.369, RAW= 111.2, 8.7, CAL= 120.9, 5.9, ROT= 29.1, -5.9 Ygot valid direction response: 22:09:33.2238 LVL= 25792, 32753, 27618, 32755, AGC= 71, IDX= 225,-0.10,-2.094, 2.515,-3.089,-2.723, PHS= 0.718,-0.998,-0.369, RAW= 111.2, 8.7, CAL= 120.9, 5.9, ROT= 29.1, -5.9 PDAT read: Bearing 29.1, -5.9 (Local) ~Local bearing/azimuth received: Bearing 29.1, -5.9 (Local) DAT read: Range 10 to 50 : 392.9 m (Round-trip 523.9 ms) speed 0.3 m/s ,DAT read: user:2348> BDAT read: Tx time:22:09:34.3458 $Ping request sent. ڝ @)ڝB=Iڝ"?Zj!=FNOT Ignoring new targets: 399.90 m.BjEJjEU ProNav: ac range: 399.899994 m, nav range: 87.623901 m, bearing: 259.287629 deg, approach rate: 0.315029 m/s, LOS rate: -0.314856 deg/s, cmd heading: 9.930584 deg, new cmd heading: 9.580476 deg. 2jXHeadingCmd: 0.167211 target range: 399.899994 and range: 399.90 m. jS9+>jjjihhhhfffrf`fx@iڝBҽڙڙ۝qC?ڵQ\Eÿ :0O?)۝I۝ i۝T۝ ۙۙ:publishing transmit ping timeFpublishing direction and range infoؙ9؝c +ZѿCi6п䉬?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙbf?۝qC?ڵQ\Eÿ :0O?)ۙIۙiۙۙۙۙɛBC#= 隥 ?I :ɚiIn4=IS9+>i i=)S9+>)*F-?2F):F)BF)JF)zKgMKKK KBKqA:KU Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:22:09:34.3450 G] 6=  M $?II Gi Y y BB O >)yw,|AJ"J"J J J"|:J" 9J J B =YB>Bc=9B.=yBH@t?`P:п+?o?6?`9 I??ɨB =B ;BCybBb|(IIjIjn4٢]߇ }I=9r:Q > G٣IGyU > Nusing accuracyPremultiplier from config$59 ;?$5Y2 iB>s@Ep;;$5 >@k 5(?kA k kSA:ksCBkCZkF@"?"30F[,AX|sv@c +ZѿCi6п䉬?JkTRk *k'NRUFbAX,zv@6ը0ܥÿ>}^׿*UJ?"k5*k=qkA(?k:j B 2kCkL"1?k:j B kCkCki@ addTargetRange:: Added new target pos. range: 392.899994 m, deltaT: 14.895321 s, deltaX: -7.000000 m, approachRate: -0.469946 m/s, rangeRepo size: 4 M Added new target pos. range: 392.899994 m, bearing: 247.584274 deg, lat: 36.902286 deg, lon: -122.124442 deg, deltaT: 14.895321 s, deltaX: -7.000000 m, approachRate: -0.469946 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 392.90 m.BjUJjY ProNav: ac range: 392.899994 m, nav range: 149.837646 m, bearing: 257.365269 deg, approach rate: 0.000000 m/s, LOS rate: -0.314856 deg/s, cmd heading: 9.580477 deg, new cmd heading: 9.145297 deg. 2jHeadingCmd: 0.159616 target range: 392.899994 and range: 392.90 m. jBr#>jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbfA?ɛZU= ?I ^;ɚiITs4=IBr#>i ic=)Br#>)*F?2F:FBFJFG}ܒ=GBO>jH <bH <H >I  I (II QBI &I .I 6I <:I FU Will construct direction to contact in vehicle frame from tetrahedron phase data.Wyw,AJJ3=9Jj=yJH ?`ο?? ?@<@vK?/?ɨJ G٣yF0 > Nusing accuracyPremultiplier from config$59s@E,7;x5;j$5ΒB @ ֽEZj)5FNOT Ignoring new targets: 392.90 m.Bj5sJj5sE ProNav: ac range: 392.899994 m, nav range: 149.965195 m, bearing: 257.282879 deg, approach rate: 0.364255 m/s, LOS rate: -0.235091 deg/s, cmd heading: 9.145297 deg, new cmd heading: 8.898339 deg. 2jMW!UHeadingCmd: 0.155305 target range: 392.899994 and range: 392.90 m. jU[>jQjQjQiQhQhYhYh]ZBfYfafarfabfe T?ɛBS%= 隝M>I s;ɚiI.h4=IM[>iM2iM3u=)M[>)Q*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G=G B O >;Bzw, A>$uBq>>=9>Vl=y>H^?@'Ϳ@ ??`k?@d(?@?ɨ>$u<>t;>CyZBZb(Ii^=I^pp rG٣tyvG v> ~Nusing accuracyPremultiplier from configx~$59zNs@zEz;z;z$5 |@ӽEZj9=FNOT Ignoring new targets: 392.90 m.BjEdJjEd] ProNav: ac range: 392.899994 m, nav range: 150.079498 m, bearing: 257.208248 deg, approach rate: 0.306290 m/s, LOS rate: -0.199830 deg/s, cmd heading: 8.898339 deg, new cmd heading: 8.674618 deg. 2j]$ ]HeadingCmd: 0.151401 target range: 392.899994 and range: 392.90 m. je>jajajaiahahqhyhfffrfbfm?ɛa=  >I  @E1;ɚiIWh4=zK%7KK%9K!K% K%I>iiq=)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.i $?I*F}?2F:FBF_5JFGU{=GBJQJUJU/JQJQJU:JU(N3JQOER> Will construct direction to contact in vehicle frame from tetrahedron phase data.Cd zw,4d'A6! 6p=96+\s=y6H$? ̿@.u?J?`?F`La??ɨ6! <6i;6CyRӈBRK(IeMb@Mb@Mb@aaa a)aYe$C?~jtx?{Gzye?e;eףeh@ a)e@Iaaye\@IIq4٢ ?=9:Q > G٣IGy`p > Nusing accuracyPremultiplier from config$59j's@Ey;L^;o$5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 392.90 m.Bj]Jj] ProNav: ac range: 392.899994 m, nav range: 150.195236 m, bearing: 257.120267 deg, approach rate: 0.255319 m/s, LOS rate: -0.193938 deg/s, cmd heading: 8.674618 deg, new cmd heading: 8.410880 deg. 2j HeadingCmd: 0.146798 target range: 392.899994 and range: 392.90 m. j R>j j jIiIhQhQhQhU/BfYfYfYrfYbfe`?ɛB= >I 2{K;ɚiI}4=IR>i]iKm=)R>)H>I I(II2BI. =&I.I6Iv<:I1 F*F2F:FBF]5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode. $?IG s=G B O >Kzw,>>AA6-:Y6b>6/=96A|=y6H1?˿0(?@D?`,? nhĿ`}?`b?ɨ6-:6z;6CyBʈBB@(IININʴ4٢V< V[=9Zhf;Q Z>X\ ^G٣\y^; b> fNusing accuracyPremultiplier from config`f$59b9js@bEb*:b:b$5r͒B r1@rнEZjIMFNOT Ignoring new targets: 392.90 m.BjUhuJjUhu}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003389 ProNav: ac range: 392.899994 m, nav range: 150.293930 m, bearing: 257.044135 deg, approach rate: 0.278318 m/s, LOS rate: -0.214551 deg/s, cmd heading: 8.410879 deg, new cmd heading: 8.182636 deg. 2j>HeadingCmd: 0.142814 target range: 392.899994 and range: 392.90 m. j=>jjjihhhhfffrfbf4@ɛ%B-p= )->I) -_;ɚ)i)I54=I==>i=vi=`=)==>)9*F?2F:FBF_0JFGap=zKuJK9KK KGBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255076 I wzw,d![AJJJ0JJ :J:Jـ3JN@YNX>NU? =9N'р=yNHC?ʿ`L?@? =? UD@F?@?ɨN@NՌ;NCyVBV-(I)X X\^AIbIb4٢j jH=9nB:Q n>ll rG٣pyrȼ r> vNusing accuracyPremultiplier from configtz$59vM~s@vEv ;v: ;v?$5 $@ Zj)5FNOT Ignoring new targets: 392.90 m.Bj5ppJj5pp] ProNav: ac range: 392.899994 m, nav range: 150.400986 m, bearing: 256.959795 deg, approach rate: 0.267013 m/s, LOS rate: -0.210207 deg/s, cmd heading: 8.182636 deg, new cmd heading: 7.929798 deg. 2j]CmHeadingCmd: 0.138401 target range: 392.899994 and range: 392.90 m. jm >jqjqjihhhhfffrf!bf%@ɛ%B%NX< qu>Iy 1u;ɚiI4=I >ir.iM=) >)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508082*F?2F:FBFJFG Db=H >I  I (II BI &I .I 6I <:I ] FBIIJIIRIIZIIbIIjIMC5G B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759207$zw,tA "$?I >s@Y>`tN>>&"=9>=y>HS? jBɿ@{??M?G#@Zl??ɨ>s@>$; G٣IGyԻ > Nusing accuracyPremultiplier from config$59djjjihhhhBfffrfbf@ɛuB}< y}>Iy }r;ɚiI|4=I>ii¤>=)>)*FE?2FA:FABFAJFA"GM=GM=G0P=GBOn>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011258#zw,ώA6@Y65C>6'#=96o=y6H'e?/ǿ |?;?^?`b{I??ɨ6@6;6Cy>BR(IIZIZy4٢f f\=9jX7:Q j>hh nG٣lyn n> vNusing accuracyPremultiplier from configpv$59rvjIjQjQiQhQhQhYhYfYfYfarfabfe @ɛBp= 隕>I ᣍ;ɚiI.4=IH>iiy'=)H>)zKBHKs9KK KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264272 =$?I9*FU?2FQ:FQBFUo0JFQGCXP=GiBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. = < BDAT read: Rx Time:22:09:37.2717  TRx dataTimestamp_ set to:1736374178.586884 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525358)zw,6AyB(Ii=I< ==eMb@Mb@Mb@aaa a)aYe~jt?MbX9 rhyaeʡeCeh@ a)e@Ie-@aye@I}I}h4٢; 1=9Q > G٣y > Nusing accuracyPremultiplier from config$59ǎI5C I5u(II5BI1&I1.I16I5p<:I5. FHeadingCmd: 0.123793 target range: 392.899994 and range: 392.90 m. jB=jjjihhhhBfffrfbf  @ɛMBMT< IM>II Ua;ɚQiQIU5=I]B=i]Ei]V?=)]B=)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767997 -$?I)*F2F:FBF_0JF*JU 4="JU 4=Jm Jm Ji Ji Jm :Jm :Ji Ji Jm ;a Jm ;a Jm I;a Jm I;a G (=G B O >0zw,߈A:@Y:20>:%=9:մ=y:H@h? ~ſ`??`dv?$H'@N? J?ɨ:@:;:Cy^Bb(IIjIjʴ4٢rj\ rj=9r&:Q r?tt vG٣tyzY z? Nusing accuracyPremultiplier from config| $59~ BDAT read: Tx time:22:09:38.3958 $Ping request sent.I1 5;ɚ1i1I5)5=I=/=i=i==)E/=)A*F?2F:FBF0JFG/7=GYBiO\>zKBoIKKK KBK:K  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:22:09:38.3951 16zw,zA2C@Y2 r(>2$=92+=y2H ?UĿ.? ?`N~?pl\??ɨ2C@2z;2CyVBV(IIfIf4٢rT rI=9r5WQ v>tt vG٣vIGyzt z> ~Nusing accuracyPremultiplier from config|$59~I +X;ɚiI=W5=I=ifi<=)=)*Fe?2Fa:FaBFe0JFaH >I  I h(II BI - =&I .I 6I F<:I  FG >=G ?G > $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >B#=zw,AR@YR!>RO]!=9R$=yRH ʓ? ÿ?`%?E~?@T*6ض??ɨR@R;RCyzBz(IMb@Mb@Mb@ )Y+?ʡE~jty?-D~@ @)@IyII4٢{< :=9Q > G٣yt > Nusing accuracyPremultiplier from config$59I wv;ɚiI:m5=I=iAi\=)=)ErAE*FU?2FY:FYBF]P5JFY"Ge=Ge=G5-=GB Will construct direction to contact in vehicle frame from tetrahedron phase data.O%o>Dzw,A6e@Y6>6/!=96Cظ=y6H s??¿?`: ??R`$n?V?ɨ6e@6;6CyRBR(IIZIZ%x4٢b^< f[=9fQ f>hh jG٣hynK n> 5Nusing accuracyPremultiplier from config1=$595KJK>hhfffrfbfl?ɛEBE%= AE >II M8;ɚIiII_5=I=i9i<)=)*F2F:FBF4JFG sc=G qAG pA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >/Jzw,*AB@YB`>B.=9B"~=yBH`?[`?`?V?@eg䣿@U?@?ɨB@B&A;BCyJBN(I-Mb@Mb@Mb@))) )))Y-V-?ly-?---@ ))-@I-C@)y-G@IEIEa4٢Ur< UB=9Q > G٣IGy > Nusing accuracyPremultiplier from config$59hI :;ɚiI5=I =i7iN<) =)HI Ib(IIBI&I.I6I<:I? F*Fm?2Fi:FiBFm_0JFi -$?I1GE5<Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BQOmV>JJJ0JJ :JJـ3JJ;J;JJ&Qzw,9DA2;@Y2m>2=92M=y2HX?]`??(?ۓܣ@?|?ɨ2;@2O;2Cy>BB&(InWill construct direction to contact in vehicle frame from tetrahedron phase data.ININƕ4٢v= zQ=9zQ z>|| ~G٣|yǼ > Nusing accuracyPremultiplier from config%59$ =?%%5Yk2 iB!%5L<%s@+E:]:+%5) 5T@1MB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 391.20 m.BjpJjp ProNav: ac range: 391.200012 m, nav range: 153.266312 m, bearing: 253.080085 deg, approach rate: 0.178512 m/s, LOS rate: -0.210418 deg/s, cmd heading: 5.731354 deg, new cmd heading: 5.481043 deg. 2jhHeadingCmd: 0.095662 target range: 391.200012 and range: 391.20 m. j=jj!j!i!h!h!h)h)f)f)fQrfQbfU@ɛBFP = \>I M;ɚiIա5=I=i4Ai*<)=)*FA2FI:FIBFIJFIGQ GUqA IGmr<Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKBoHKKK K3s%.:JQYr,cZtN,~BKpA:KpAGA BQ Ou >2EWzw,k~^A @FN@YF>F =9Fm=yFHi?@0l?`?@?+`b??ɨFN@F;FCyjBj.(IIzIz4٢= I=9 Q >    G٣ y > Nusing accuracyPremultiplier from config%%591 =?%%5Ya2 iB)-<;-s@/E::%51 5@=EZjY]FNOT Ignoring new targets: 391.20 m.Bje@Jje@u ProNav: ac range: 391.200012 m, nav range: 153.340591 m, bearing: 252.990939 deg, approach rate: 0.191319 m/s, LOS rate: -0.229499 deg/s, cmd heading: 5.481042 deg, new cmd heading: 5.213735 deg. 2ju}HeadingCmd: 0.090997 target range: 391.200012 and range: 391.20 m. j}\=jyjyjihhhhfffrfbf @ɛB= m>Iq };ɚyiIĥ5=I\=iTo޻iD<)\=)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509816*F=?2FA:FABFAJFAGִ<GBOn>ZHa RHa Hm >Ii  Im h(IIm BIi &Ii .Ii 6Im <:Im D F $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758815k]zw,#JxA6@Y6=6=96F=y6H`?)? ?ߢ?"ٶ[,??ɨ6@62;6CyBBB$(IMb@Mb@Mb@ )YZd;?T㥛 y?@ )Q@Ip@y3@II4٢ ==9fQ > G٣IGye >  Nusing accuracyPremultiplier from config %59 6=?%5Y ;2 i B?:<s@ 3E K; -; ~%5%ɒB %e@%EZjIMFNOT Ignoring new targets: 391.20 m.Bj]|Jj]|e ProNav: ac range: 391.200012 m, nav range: 153.425156 m, bearing: 252.895076 deg, approach rate: 0.195086 m/s, LOS rate: -0.221029 deg/s, cmd heading: 5.213735 deg, new cmd heading: 4.926309 deg. 2jmmHeadingCmd: 0.085980 target range: 391.200012 and range: 391.20 m. jmr=jqjqjqiqhqhyhyh}MBfyffrfbfd@JJJJJ,:J:JJJ;J;JL;JL;ɛMBMl = QU>IY ];ɚYiYI]5=Ier=ieuܻie<)mr=)*F%?2F!:F!BF%n0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010367Gm 5<GA BQ Om > Sdzw,O#A6@Y6+=6Ǽ=96=y6H?`g@̨?M? ʢ?·v` ?`?ɨ6@6_;6Cy>B>5(I)@ @IJIJƕ4٢rz= r]=9rQ v>tt vG٣tyz z> Nusing accuracyPremultiplier from config| %59~ZJ=? %5Y~2 i~B  < s@~7E~:~:~ %5 @ZjIMFNOT Ignoring new targets: 391.20 m.BjM{JjU{e ProNav: ac range: 391.200012 m, nav range: 153.496979 m, bearing: 252.813418 deg, approach rate: 0.193653 m/s, LOS rate: -0.220069 deg/s, cmd heading: 4.926309 deg, new cmd heading: 4.681450 deg. 2jemHeadingCmd: 0.081707 target range: 391.200012 and range: 391.20 m. jmU=jijijiiqhqhqhqhyfyfyfyrfbf @ $?IɛBp#= >I X;ɚiIw5=IU=iUڻi<)U=)]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263611zKOK9KK K[9pUD6' *FU?2FQ:FQBFUo3JFQ"G]=G]=Gִ<GQBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:22:09:41.3196 5 TRx dataTimestamp_ set to:1736374182.616237E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520524G}jzw,A2ϲ@Y2=2cS=92J_=y2H ?mH?}?)?@Kb <ܹ??ɨ2ϲ@2;2CyNBR*(I-Mb@Mb@Mb@))) )))Y-Cl? rh{Gz?y-d?-C-#<-@ -@)-h@I-@)y-@IEIEn4٢Um$ UC=9](Q ]>aa eG٣aym. m> uNusing accuracyPremultiplier from configq%59u_=?%5Yu2 iuBy?:&=s@u;EuHI <ɚiIP5=I=iaػi<)=) $?IeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.766671*Fq2Fq:FqBFuw2JFqG <G B O >eqzw,bA2@Y2=20=92 =y2H`?[F*?\??}`A`? ?ɨ2@2HZ;2CyRBR%(IIZIZh4bWill construct direction to contact in vehicle frame from tetrahedron phase data.~DAT read: 22:09:41.3196 LVL= 23408, 32753, 26226, 32195, AGC= 68, IDX= 421,-0.24,-2.720, 1.470, 1.910, 2.344, PHS= 1.307,-0.827,-0.437, RAW= 99.9, -0.4, CAL= 109.1, -5.3, ROT= 40.9, 5.3 Ygot valid direction response: 22:09:41.3196 LVL= 23408, 32753, 26226, 32195, AGC= 68, IDX= 421,-0.24,-2.720, 1.470, 1.910, 2.344, PHS= 1.307,-0.827,-0.437, RAW= 99.9, -0.4, CAL= 109.1, -5.3, ROT= 40.9, 5.3  PDAT read: Bearing 40.9, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 40.9, 5.3 (Local) DAT read: Range 10 to 50 : 389.7 m (Round-trip 519.6 ms) speed 0.4 m/s %,DAT read: user:2350> %BDAT read: Tx time:22:09:42.3958 -$Ping request sent.-ڰ?ybC`bp[b brf)b}IbDibK?bFSbw߾b-?b bS?)bqIb36?ibq=``bt ?C_nֿm2)bȳIb<;ibU!b螺``U:publishing transmit ping time)UFpublishing direction and range info`9bԋnar r>ڰ?y```` `)`I`i````` `)`I`i```bt ?C_nֿm2)`I`i````٢}Y }H=9}eQ > G٣IGy, > Nusing accuracyPremultiplier from config%59t=?%5Y2 i~B=s@?E,;M;%5ȒB B@EkbN8?kb<9 k` kblA:kbCBkbCZkb2@"bHHmA.{l9<3x@bԋnar r>ڰ?JkbU!Rkb螺*b:Br,ƋP>4Xw@bZxsW)UƿbFy|?"kb*kbckbt8?kbA9 2kbCk`k`k`kbCkb@  addTargetRange:: Added new target pos. range: 389.700012 m, deltaT: 4.031996 s, deltaX: -1.500000 m, approachRate: -0.372024 m/s, rangeRepo size: 4  Added new target pos. range: 389.700012 m, bearing: 258.185098 deg, lat: 36.902211 deg, lon: -122.124442 deg, deltaT: 4.031996 s, deltaX: -1.500000 m, approachRate: -0.372024 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 389.70 m.BjJj5 ProNav: ac range: 389.700012 m, nav range: 153.686737 m, bearing: 252.639829 deg, approach rate: 0.000000 m/s, LOS rate: -0.200642 deg/s, cmd heading: 4.417729 deg, new cmd heading: 4.180507 deg. 2j1=HeadingCmd: 0.072964 target range: 389.700012 and range: 389.70 m. j=m=j9j9j9iAhAhAhAhAfIfifqrfu@3[x@bfu ?ɛ܇B*= 隍5>I <ɚiI5=Im=ihֻi <)m=)*F92F9:F9BF=T5JFA yIyuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:09:42.3951 zKM MKM 9KI KM KM Ge <Gm ?Gm +?G! BI O >J J J J J ܫ:J :J J a @a @a @a @wzw,A2@Y2@=2!=92M=y2H? +̻٧?/?k?d.5㡿 X? ?ɨ2@2F;0yJBJ"(Iiba=Ib=df@AIfIfHo4٢n7 nU=9rNQ r>pp vG٣tyv7 v> zNusing accuracyPremultiplier from configxe%59z=?e%5Yzz2 izyBae,=ms@zCEzIsI1 =A <ɚ9iAIE5=I]ό=ieӻie<)mό=)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF4JFH I  I I I &I .I 4D6I <:I N FG% U< m $?Ii G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747544޹}zw,:A>L@Y>}=>=9>=y>H?BVX?@s|?!?cn@??ɨ>L@>-;>CyJBJ(I%Mb@Mb@Mb@!!! !)!Y%d;O?{Gz?Mb`?y%?%#<%;%v@ %@)%~@I%@!y%p@IEIEF4٢U| UC=9UQ > G٣yt > Nusing accuracyPremultiplier from config%59&=?%5Y2 iqB?:Y>s@GE';s;%5ǒB %@EZj%FNOT Ignoring new targets: 389.70 m.Bj%iJj%i= ProNav: ac range: 389.700012 m, nav range: 153.880463 m, bearing: 252.474323 deg, approach rate: 0.254020 m/s, LOS rate: -0.204310 deg/s, cmd heading: 3.939416 deg, new cmd heading: 3.684305 deg. 2j=7 EHeadingCmd: 0.064303 target range: 389.700012 and range: 389.70 m. jEl=jAjAjAiAhIhIhIhMbBfQfQfQrfYbf])?ɛ؇BL= 隍>IJJAA )<ɚiIH5=Il=i ѻiO=)l=)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999231G=<G Bq O >wzw,3lA:wf@Y:=:a =9:=y:H`?w?`p ?r? C@ `?-?ɨ:wf@:in;:CyBBF (IIRIRkf4٢Zu ZU=9Z Q Z>\\ ^G٣^IGyb[m b> fNusing accuracyPremultiplier from configdj%59f=?j%5Yf2 iflBhj=ns@fJEf;f;fP%5p r@p $?IZj!%FNOT Ignoring new targets: 389.70 m.Bj-)_Jj-)_5 ProNav: ac range: 389.700012 m, nav range: 153.969727 m, bearing: 252.401773 deg, approach rate: 0.240192 m/s, LOS rate: -0.195103 deg/s, cmd heading: 3.684305 deg, new cmd heading: 3.466784 deg. 2j=EHeadingCmd: 0.060507 target range: 389.700012 and range: 389.70 m. jEw=jAjAjAiAhAhIhIhIfIfIfQrfQbfU{?ɛևBu= 隅>I =<ɚiI{5=Iw=iUϻi<)w=)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.251982zK-BHK-9K)K- K-*FE?2FA:FABFAJFAJJJJJ:J:JJG5h=G=pAG9GBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506237Ίzw,T-A2Q@Y2R=2+S<92S=y2H?fs0?`z??vɟ\k?d?ɨ2Q@2;2CyZB^'I)` `EMb@Mb@Mb@AAA A)AYEgfffff?:v?~jtxyE3?E=9}VQ }>yy G٣y > Nusing accuracyPremultiplier from config%59=?%5Y2 ibB[?:\>s@NEA<< %5! %j@%EZjFNOT Ignoring new targets: 389.70 m.BjRJjR ProNav: ac range: 389.700012 m, nav range: 154.078949 m, bearing: 252.319274 deg, approach rate: 0.244284 m/s, LOS rate: -0.184384 deg/s, cmd heading: 3.466784 deg, new cmd heading: 3.219464 deg. 2jH>I Ib(IIBI&I.I6I<:I= FHeadingCmd: 0.056190 target range: 389.700012 and range: 389.70 m. j'f=jjjihhhhSBfffrfbfp?ɛMӇBM = IU׼>IQ Uy<ɚQiQIU@q5=I]'f=i]4s̻i]$=)]'f=)a Ii*F%?2F!:F!BF!JF!"G-=G-=]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755365*JC="J=GE <G B) OU >8zw,q!GA6eE@Y6@C=6=96=y6H*?@< ҥ?c??6A+??ɨ6eE@6 ;6CyBBB'IIJIJ4٢RB VX=9V:Q V>XX ZG٣XyZ܁ Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007269 fNusing accuracyPremultiplier from configdn%59f=?r%5Yf2 ifZBpr>rs@fQEfO;fgP;f`#%5vƒB v@zEZjFNOT Ignoring new targets: 389.70 m.BjgJjg ProNav: ac range: 389.700012 m, nav range: 154.175125 m, bearing: 252.246648 deg, approach rate: 0.267639 m/s, LOS rate: -0.201977 deg/s, cmd heading: 3.219464 deg, new cmd heading: 3.001724 deg. 2j HeadingCmd: 0.052390 target range: 389.700012 and range: 389.70 m. jݖV=jjjihhhhfffrfbf (~@ɛUчBu#= y}>Iy }[<ɚyiyI}e5=IݖV=iɻi( =)ݖV=)*Fm?2Fi:FiBFm0JFq~G|uA $?I Y|uAy BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262149G$3=Gi Bq O >zK K K K K BK :K qAJ J J J J ,:J :J J rݗzw,`A29@Y2h=2=92f=y2H E?> ˥??`?Z ??ɨ29@2^;0yNrBR'IIVIVƕ4٢bн fH=9f9Q j>AI MG٣MIGyMW M> ]Nusing accuracyPremultiplier from configQ]%59U =?e%5YU.2 iUQBaee>es@UUEUL ;Uz:U'%5i uI@qB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 389.70 m.BjYJjY ProNav: ac range: 389.700012 m, nav range: 154.282242 m, bearing: 252.165816 deg, approach rate: 0.252296 m/s, LOS rate: -0.190256 deg/s, cmd heading: 3.001724 deg, new cmd heading: 2.759395 deg. 2jHeadingCmd: 0.048161 target range: 389.700012 and range: 389.70 m. jCE=jjjihhhhfffrfbfѴ@ɛ·Bɰ= !%:>I! %u#<ɚ!i!I--d5=I-CE=i-Iǻi5J=)5CE=)1*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518648Gmk =Gu?Gu ?ZHRHAAH>I IC(II͈BI, =&I.I6I~<:I; FGI BQ Ou > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767110@zw,zAy_B 'Ii8>I=Mb@Mb@Mb@ )Ykt?Mby ? )~@I@yII4٢ ;=9Q > G٣y > Nusing accuracyPremultiplier from config%59=?%5Y2 iBB/?:=s@YEG);&;*%5 q@EZj)FNOT Ignoring new targets: 389.70 m.Bj[Jj[ ProNav: ac range: 389.700012 m, nav range: 154.378159 m, bearing: 252.085174 deg, approach rate: 0.228595 m/s, LOS rate: -0.192070 deg/s, cmd heading: 2.759395 deg, new cmd heading: 2.517623 deg. 2jHeadingCmd: 0.043941 target range: 389.700012 and range: 389.70 m. jH3=jjjihhhh!Bfffrfbf6@ɛṁBm< qu>Iq u]*(<ɚqiqIum5=I}H3=i}ûi#=)H3=)*F%?2F!:F!BF%_5JF)G1 G1Will construct direction to contact in vehicle frame from tetrahedron phase data.%>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019393Ge V=GA BQ Om >zw,A 6$?I4>M@Y>@}=>y=9>u=y>H?AMF??6?]@0@? S?ɨ>M@>};>CyRIBR'IIZIZ4٢b" b]=9bbQ f>dd fG٣dyj@ j> nNusing accuracyPremultiplier from configlr%59na>?r%5Yn2 in5Btv=vs@n\En3:n:n-%5x zħ@|ZjFNOT Ignoring new targets: 389.70 m.Bj(OJj(O ProNav: ac range: 389.700012 m, nav range: 154.461578 m, bearing: 252.014499 deg, approach rate: 0.213885 m/s, LOS rate: -0.181109 deg/s, cmd heading: 2.517623 deg, new cmd heading: 2.305714 deg. 2jHeadingCmd: 0.040242 target range: 389.700012 and range: 389.70 m. j$=jjjihhhhfffrfbf + @ɛ-ɇB-z< )5^>I1 5{.+<ɚ1i1I5v5=I=$=i=Hi==)E$=)A]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271361zKKh9KK K2/ RK?JK?*F?2F:FBFR0JFG5X=JJJJJ:J:JJGBOH> Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:22:09:45.3172 = TRx dataTimestamp_ set to:1736374186.657107M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530851zw,A6U@Y6@=6Z=96\=y6H`U?E*`4?@#??PJ`0??ɨ6U@6H;6Cy^2B^'IeMb@Mb@Mb@aaa a)aYeʡE?S㥛Qye?e/ݼeeI@ e@)aIaayaI}I}(4٢ֽ >=9>9Q > G٣IGy > Nusing accuracyPremultiplier from config%59#>?%5Y2 iB?:U=s@`E;;1%5ŒB ,@EZjFNOT Ignoring new targets: 389.70 m.BjhJjh ProNav: ac range: 389.700012 m, nav range: 154.547958 m, bearing: 251.931112 deg, approach rate: 0.210914 m/s, LOS rate: -0.203493 deg/s, cmd heading: 2.305714 deg, new cmd heading: 2.055694 deg. 2j HeadingCmd: 0.035879 target range: 389.700012 and range: 389.70 m. j y=j jjihhhhBf!f!f!rf!bf%t @H]>IY I] (II]BI]- =&IY.IY6I]\<:I]" F U$?IQɛ ƇB]< Y]X>IY e..<ɚaiaIe5=Iy=i˽iW)=)-y=))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776363*F?2F:FBF_1JFG =G qAG qAG B O >zw,oAbWill construct direction to contact in vehicle frame from tetrahedron phase data.zDAT read: 22:09:45.3173 LVL= 17136, 26609, 20594, 29923, AGC= 68, IDX= 413,-0.08, 0.100,-1.616,-1.348,-0.818, PHS= 1.006,-0.751,-0.533, RAW= 96.5, 3.4, CAL= 105.8, 1.4, ROT= 44.2, -1.4 ~Ygot valid direction response: 22:09:45.3173 LVL= 17136, 26609, 20594, 29923, AGC= 68, IDX= 413,-0.08, 0.100,-1.616,-1.348,-0.818, PHS= 1.006,-0.751,-0.533, RAW= 96.5, 3.4, CAL= 105.8, 1.4, ROT= 44.2, -1.4 PDAT read: Bearing 44.2, -1.4 (Local)  ~Local bearing/azimuth received: Bearing 44.2, -1.4 (Local) DAT read: Range 10 to 50 : 387.9 m (Round-trip 517.2 ms) speed -0.1 m/s =,DAT read: user:2351> EBDAT read: Tx time:22:09:46.4459 M$Ping request sent.MII MG٣I`9bg}lpĿdg4*g5Cؖ?y```` `)`I`i````` `)`I`i```bGhM?d\npٿo ;H?)`I`i````yu u> Nusing accuracyPremultiplier from configy%59}8>?%5Y}S2 i} Bs@}dE}K;}p;}5%5 h@EkbxI/?kb~ڙ7 k` kbA:kbCBkbCZkbr{@"b|ѤNJtw@bg}lpĿdg4*g5Cؖ?JkbGRkb致*bCLF}YFihw@bNXw %>$:%B-?"kbd7*kb6kb`#./?kb@57 2kbBCk`kbTpf< kb CkbBkb'b@ addTargetRange:: Added new target pos. range: 387.899994 m, deltaT: 4.040384 s, deltaX: -1.800018 m, approachRate: -0.445507 m/s, rangeRepo size: 4  Added new target pos. range: 387.899994 m, bearing: 225.107855 deg, lat: 36.902211 deg, lon: -122.123826 deg, deltaT: 4.040384 s, deltaX: -1.800018 m, approachRate: -0.445507 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 387.90 m.BjMJjI] ProNav: ac range: 387.899994 m, nav range: 103.998451 m, bearing: 242.403069 deg, approach rate: 0.000000 m/s, LOS rate: -0.203493 deg/s, cmd heading: 2.055694 deg, new cmd heading: 1.775679 deg. 2jYHeadingCmd: 0.030991 target range: 387.899994 and range: 387.90 m. j<jjjihhhhfffrf`f>x@bf ?ɛ-ÇB-*< )- 7>I) 50<ɚ1i1I55=I=ezw,9AM@YMֳ=M=9M[i=yMH V?9@? p?@#?RI: #? ?ɨM@Mޓ;Iy] B]S'IIuIum4٢Fս N=9Q > G٣y9 > Nusing accuracyPremultiplier from config%59J>?%5Y2 iB9=s@hEm ; ;9%5  @MB*** querying acoustic contact ***jIjIZjYFNOT Ignoring new targets: 387.90 m.Bj}Jj} ProNav: ac range: 387.899994 m, nav range: 104.111603 m, bearing: 242.296220 deg, approach rate: 0.299353 m/s, LOS rate: -0.282372 deg/s, cmd heading: 1.775679 deg, new cmd heading: 1.455483 deg. 2j AUHeadingCmd: 0.025403 target range: 387.899994 and range: 387.90 m.mWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. j<jjjihhhh f9fAfIrfqbf}dG?ɛ=BE@1< 隍>I 2<ɚiIq5=II I'IIqBI&I.I6Ii<:I- FBIJIRIZIbIjİ4 I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738769G /7=G B O >oܾzw,TAy-B-B'IJMJMJIJIJM:JM :JIJIJM;a]JM;a]JMU;a]JMU;a]Mb@Mb@Mb@ )YS?Q뱿Qy?\3@ )Q@Iy@IMIMQ4٢]1v ]6=9mQ u> G٣IGy > Nusing accuracyPremultiplier from config%59_>?%5YC2 iBm?:-s@lE~$;!;<%5ĒB @EZjFNOT Ignoring new targets: 387.90 m.Bj#Jj# ProNav: ac range: 387.899994 m, nav range: 104.220963 m, bearing: 242.172825 deg, approach rate: 0.248420 m/s, LOS rate: -0.280008 deg/s, cmd heading: 1.455483 deg, new cmd heading: 1.085691 deg. 2j*@HeadingCmd: 0.018949 target range: 387.899994 and range: 387.90 m. j:<j j j i h hhhBfffrfbf%k?ɛMBMXڣ< QU=IQ U^4<ɚQiQIU5=Ie:  $?I zw,A>Yv@Y>@=>_5<9>=y>H0?@4ʲ)?ب?׾?\@e -?l?ɨ>Yv@>-;>CyJBJ,'IIRIR4٢ZlȽ Zk=9^QQ ^?\` bG٣`ybj b? jNusing accuracyPremultiplier from configdj%59f&p>?j%5Yfy2 ifBln+ns@foEfy;f;f?%5p v@vEZjFNOT Ignoring new targets: 387.90 m.Bj%Jj%5 ProNav: ac range: 387.899994 m, nav range: 104.303703 m, bearing: 242.077382 deg, approach rate: 0.240741 m/s, LOS rate: -0.277478 deg/s, cmd heading: 1.085691 deg, new cmd heading: 0.799593 deg. 2j5n>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.243213MHeadingCmd: 0.013956 target range: 387.899994 and range: 387.90 m. jMd<jIjIjIiQhQhQhQhQfYfYfYrfabfey8?ɛB":< 隕=I k5<ɚiIG!6=IdWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495992zw,O1AHI I'IICBI, =&I.I6IC<:I FyB"'I I Mb@Mb@Mb@    ) Y &1?y&1Mby ? `役  @ @) h@I @ y @I%I%4٢5  54=95Q =>99 =G٣9yE E> UNusing accuracyPremultiplier from configI]%59M>?]%5YM>2 iMB]?]:]&潑es@MsEMD;M@;MC%5i m@iZjFNOT Ignoring new targets: 387.90 m.BjѧJjѧ ProNav: ac range: 387.899994 m, nav range: 104.399406 m, bearing: 241.944330 deg, approach rate: 0.211259 m/s, LOS rate: -0.293434 deg/s, cmd heading: 0.799593 deg, new cmd heading: 0.400810 deg. 2jaIHeadingCmd: 0.006995 target range: 387.899994 and range: 387.90 m. j:;jjjihhhhBfffrfbf@m?ɛBi< =I q6<ɚiI`R6=I:;iZi/R=):;)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746991*Fm?2Fi:FiBFm0JFiJ}J}JyJyJ},:J}:JyJyJ};J};J}nN;J}oN;U PExceeded connect timeout, disconnecting.G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999451wzw,KA:@Y:Հ=:<9:~=y:H#?ё@M?`?s? @@䕸? t?ɨ:@:ᩈ;:CyBՇBF'IIJIJ4٢V Zg=9ZW$:Q Z>\\ ^G٣^IGy= => MNusing accuracyPremultiplier from configAM%59E>?U%5YE2 iEBQUUs@EvEEM;E;EG%5}ÒB @EZjFNOT Ignoring new targets: 387.90 m.BjJj  ProNav: ac range: 387.899994 m, nav range: 104.475121 m, bearing: 241.835232 deg, approach rate: 0.199803 m/s, LOS rate: -0.287694 deg/s, cmd heading: 0.400810 deg, new cmd heading: 0.073755 deg. 2j qEHeadingCmd: 0.001287 target range: 387.899994 and range: 387.90 m. jW:j1j9j9i9h9h9hAhAfAfAfArfIbfM"@ɛB< =I  7<ɚiI6=I=X:i=@i=/=)=W:)A $?I*F5?2F1:F1BF5_5JF1]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250981Gm 0P=zK nTNK ػ9K K K GA BQ O >zw,WeA2@Y2>h=20<92=y2H?h`m`?A?? |? ?ɨ2@2;2CyBևBB'IHJAININ"4٢bq; bI=9f;Q f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv%59r>?v%5Yr2 ir~Bxzfzs@rzEr:r:rJ%5 Ӯ@Zj!-FNOT Ignoring new targets: 387.90 m.Bj-Jj5 ProNav: ac range: 387.899994 m, nav range: 104.554245 m, bearing: 241.719770 deg, approach rate: 0.207047 m/s, LOS rate: -0.301902 deg/s, cmd heading: 0.073755 deg, new cmd heading: 359.727637 deg. 2j1OHeadingCmd: 6.278432 target range: 387.899994 and range: 387.90 m. j@jjjihhhhf f f rfbf@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506473ɛB<  =I 8<ɚi!I%6=I]3ěieie3=)@)*F?2F:FBFJFH >I  I n'II  BI - =&I .I 3D6I c<:I ) F $?IG{/=GqByO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754766J!zw,uA2Γ@Y2I=2B<92p1=y2H?`D"?`1?`?џz??ɨ2Γ@24;2CyRׇBR'IJ9J9JEJEJAJAJE:JE :JAJAJE;JE;JES;JES;Mb@Mb@Mb@ )Y-?L7A`:vy??+Լ@ @);@I@yII4٢%+; %5=9-<:Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E%59=>?M%5Y=2 i=dBM+?M:M1-Ms@=~E=;=:=mN%5Y ]@]EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 387.90 m.Bj,Jj, ProNav: ac range: 387.899994 m, nav range: 104.639725 m, bearing: 241.581108 deg, approach rate: 0.190053 m/s, LOS rate: -0.308045 deg/s, cmd heading: 359.727649 deg, new cmd heading: 359.312010 deg. 2jhSHeadingCmd: 6.271178 target range: 387.899994 and range: 387.90 m. j}@jjjihhhhBfffrfbf@g@ 5nManaging dock network, ignoring radio surface power offɛmBuՌ< quب=Iq }9<ɚyiI6=I^DiiI-4=)}@)*FE?2FA:FABFEU0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007738G G ?G #?) M ~G] vAGq I B ?Y vAy ^BO >zw,oA6vZ@Y6-=6<96=y6H?`??g?P] ??ɨ6vZ@6;6CyBڇBB'IIJIJ4٢R< Re=9V/Q V>\` fG٣jIGyn n> rNusing accuracyPremultiplier from configpz%59r>?z%5Yr2 irPBxzw4zs@rEr;r;rQ%5’B @EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258835Zj9=FNOT Ignoring new targets: 387.90 m.BjMqJjMq] ProNav: ac range: 387.899994 m, nav range: 104.707634 m, bearing: 241.469207 deg, approach rate: 0.187351 m/s, LOS rate: -0.308517 deg/s, cmd heading: 359.312019 deg, new cmd heading: 358.976537 deg. 2j]SeHeadingCmd: 6.265323 target range: 387.899994 and range: 387.90 m. je}@jajajaiihihihqhqfqfqfqrfybf}O @ɛB%>< !%,=I) -:<ɚ)i)I-m 7=I5QTi5ϥi5]/=)5}@)9zK,LKh9KK K  (07<BEEFBA>:861.(&"  *F?2F:FBF_0JFG/=GWill construct direction to contact in vehicle frame from tetrahedron phase data.=<BDAT read: Rx Time:22:09:49.3806  TRx dataTimestamp_ set to:1736374190.692564 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520553B! O= >3zw,+A2@Y2?=2 =92=y2H ?Jଃ?ġ??Y^g 楶??ɨ2@2;2CHV>IT IVb'IIVBIV, =&IT.IV4D6IV<:IV Fyn߇Bn'Iir>Ir; va=va= %$?I%iMb@Mb@Mb@ )YCl?M¿y&1|yd?n` -@)Q@I@yp@I=I=4٢M< M3=9M5:Q U> G٣y3 > Nusing accuracyPremultiplier from config%59=>?%5Ya2 i>B?:Gs@ET ; ;U%5ÒB 7@EZjFNOT Ignoring new targets: 387.90 m.BjlJjl% ProNav: ac range: 387.899994 m, nav range: 104.793228 m, bearing: 241.320050 deg, approach rate: 0.187209 m/s, LOS rate: -0.325966 deg/s, cmd heading: 358.976547 deg, new cmd heading: 358.529450 deg. 2j%_-HeadingCmd: 6.257519 target range: 387.899994 and range: 387.90 m. j-=@j)j)j)iIhQhQhQhUBfYfYfYrfYbf]@C@ɛBeǛ< =I  |<<ɚiI87=IAҼi-i1=)=@) -Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763234*F2F:FBFJFG  G "G G JK KS}-KK"KJ}J}J}1JyJ},:J}:J}3JyJ};J};J}A;J}A;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:09:49.3806 LVL= 13520, 19649, 14306, 19027, AGC= 67, IDX= 53,-0.22, 1.299,-0.606,-0.333, 0.156, PHS= 1.230,-0.716,-0.493, RAW= 96.0, -0.2, CAL= 104.7, -4.8, ROT= 45.3, 4.8  Ygot valid direction response: 22:09:49.3806 LVL= 13520, 19649, 14306, 19027, AGC= 67, IDX= 53,-0.22, 1.299,-0.606,-0.333, 0.156, PHS= 1.230,-0.716,-0.493, RAW= 96.0, -0.2, CAL= 104.7, -4.8, ROT= 45.3, 4.8 % PDAT read: Bearing 45.3, 4.8 (Local) % ~Local bearing/azimuth received: Bearing 45.3, 4.8 (Local) 5 DAT read: Range 10 to 50 : 397.8 m (Round-trip 530.5 ms) speed 0.0 m/s = ,DAT read: user:2352> = BDAT read: Tx time:22:09:50.4959 E $Ping request sent.E AA MG٣IyM  > Nusing accuracyPremultiplier from config%59??%5Y2 i,BUs@E:@:oY%5’B "@E $?Ik ^h7?k }6 k  k A:k CBk CZk 2H@" XAG9>?=0Lx@ OWբDvOU e??Jk /G@Rk * GAF6HWA%ZA*#'x@ >7g,\ XUlh?"k *k Tk \7?k [2'6 2k Ck `#./?k A9 k BCk xBk @ addTargetRange:: Added new target pos. range: 397.799988 m, deltaT: 4.031429 s, deltaX: 9.899994 m, approachRate: 2.455703 m/s, rangeRepo size: 4  Added new target pos. range: 397.799988 m, bearing: 236.850024 deg, lat: 36.902233 deg, lon: -122.123557 deg, deltaT: 4.031429 s, deltaX: 9.899994 m, approachRate: 2.455703 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 397.80 m.BjJj ProNav: ac range: 397.799988 m, nav range: 83.234985 m, bearing: 234.733439 deg, approach rate: 0.000000 m/s, LOS rate: -0.325966 deg/s, cmd heading: 358.529443 deg, new cmd heading: 358.084081 deg. 2jHeadingCmd: 6.249746 target range: 397.799988 and range: 397.80 m. j@jjjihhhhfffrfx@bf?ɛ]BXl< 隅>I $><ɚiI]7=IKiC잻i)=)@)*F=?2F9:F9BF9JF9eWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:22:09:50.4952 GBO=>zK MK 9K K K BK :K rAKzw,&A6x@Y6.q<6H<96V=y6H T? m*?!?:?`6.\??ɨ6x@6ٓ;6CyjBjL'IIr{IrZ4٢-\= -r=95I AA<ɚiIg7=IE$iIiMM =)U@)a*Fm?2Fi:FqBFuf0JFqjH<bHH>I It'II%BI&I.I6I<:IJ F $?IGBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.Q-{w,A:h@Y:P<:<9:sI=y:H?@? ???if??ɨ:h@: ;:CyN BRW'I)T VA=Mb@Mb@Mb@999 9)9Y=)\(?ʡEMb`?y=G!?=ケ=;9 =C@)=~@I=@9y=@II4٢t,= D=9wQ > G٣y > Nusing accuracyPremultiplier from config%59'??%5Y92 iB $?u:u.ut@E<<_%5y }M@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 397.80 m.BjٻJjٻ ProNav: ac range: 397.799988 m, nav range: 83.431061 m, bearing: 234.438102 deg, approach rate: 0.266909 m/s, LOS rate: -0.380657 deg/s, cmd heading: 357.697280 deg, new cmd heading: 357.199169 deg. 2j HeadingCmd: 6.234302 target range: 397.799988 and range: 397.80 m. j f@j j)j)i)h1h1h1h5ՆBf9f9f9rf9bfE ?ɛB< 隵f>I D<ɚiI9q7=Im:Hii9=)f@)*Fe?2Fa:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.>h?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G9BIOeV> I X{w,0A6L@Y6<6 <96Dê=y6HM?`P|? ?^?r@x@O?`5?ɨ6L@6;6CyRBRk'II^I^m4٢f©= fY=9f⛻Q j>hh jG٣lyn r> vNusing accuracyPremultiplier from configpv%59r;??z%5YrP2 ir Bxz>2zt@rEr] ;r ;r9c%5B E@EWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251901Zj9EFNOT Ignoring new targets: 397.80 m.BjEJjEU ProNav: ac range: 397.799988 m, nav range: 83.534637 m, bearing: 234.290149 deg, approach rate: 0.292599 m/s, LOS rate: -0.417441 deg/s, cmd heading: 357.199168 deg, new cmd heading: 356.755869 deg. 2j]>]HeadingCmd: 6.226564 target range: 397.799988 and range: 397.80 m. je@@jajajaiahahahihifififqrfqbfu@)h?ɛBn= 隥Ɇ>I pG<ɚiI$g7=I>giiG=)@@)*F5?2F1:F1BF5 5JF9J-J-J-0J)J-:J-:J-ـ3J)a=@a=@a=@a=@zK=V$KK=]9K9K= K=j RKM ?JKM>GU‹9=Ge ?Ge?GYBiO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503711׀ {w,Lq4AH$I$ I&'II&NBI$&I$.I$6I&d<:I&+ FBIJIRIZI, =bI, =jI+4 B$?IDV4@YV;Vh<9V=yVHQ?o@o?@z??@u̵]ֵ?`?ɨV4@V팈;Ty%7B%'IMb@Mb@Mb@ )YS㥛?i|?5~jt?y$&?qD<`@ )h@I@y\@II44٢C= 8=9:Q >    G٣ IGy3ڻ > %Nusing accuracyPremultiplier from config-%59S??-%5Y2 iB5&?5:5*5t@E8;;$;g%59 E@EEZjamFNOT Ignoring new targets: 397.80 m.BjmۻJjmۻ ProNav: ac range: 397.799988 m, nav range: 83.682968 m, bearing: 234.120275 deg, approach rate: 0.336079 m/s, LOS rate: -0.384209 deg/s, cmd heading: 356.755861 deg, new cmd heading: 356.247156 deg. 2jփHeadingCmd: 6.217686 target range: 397.799988 and range: 397.80 m. jH@jjjihhh)h-Bf1f1f1rf1bf5?ɛ}B! = 隅ݥ>I 4K<ɚiIV7=I$ii#Z=)H@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756631*Fe?2Fa:FaBFe%5JFaG H=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008900ci{w,@ONA2@Y2@:2<92h=y2H\?`? r?@eB?@?D@тQC?P?ɨ2@2`h;0yBIBB'IiF>IF>IJIJ4٢f;= f`=9jm:Q j>hh nG٣lyn r> vNusing accuracyPremultiplier from configpv%59rg??z%5Yr2 irBxzzt@rErI1 5kP<ɚ1i1I5'97=I=i9i=(]=)Es@)A u$?Iq*F%?2F!:F!BF%_0JF!=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259748G W=G B O >JU JU JQ JQ JU :JU :JQ JQ zK MMK K K K wm`VQXUMHC>95/*'(&"  BK pA:K pAf{w,.hARA@YR@R|<9RW=yRH@??Zf|?+?IqN?ҶSǶ?`?ɨRA@Rш;PybZBb'IIrIrQ4٢~= G=99Q  >  G٣y%V@ %> 5Nusing accuracyPremultiplier from config)E%59-z~??E%5Y-72 i-BAMŽMt@-E-a];-];-m%5B a@EZj%FNOT Ignoring new targets: 397.80 m.Bj%޻Jj%޻] ProNav: ac range: 397.799988 m, nav range: 83.941307 m, bearing: 233.822188 deg, approach rate: 0.337568 m/s, LOS rate: -0.389523 deg/s, cmd heading: 355.828677 deg, new cmd heading: 355.354295 deg. 2j]Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512026HeadingCmd: 6.202103 target range: 397.799988 and range: 397.80 m. jw@jjjihhhhfffrfbf`~G@ɛB"= 隽Q>Iq uV<ɚqiqI}P7=Ii;ii=)w@)ZHARHE?A e$?IiHM>II IM'IIM{BII&II.II6IM <:IM F*F?2F:FBFJFE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763764G% g\=G) G- qAG B O >i {w,/A:i@Y:@:z <9:=y:H?b?%?%y`?)u ?@?ɨ:i@:;:CyBrBB'IMb@Mb@Mb@ )YPn?{Gz?y$?ף<v@ )@I@y@I=I=t4٢M= MD=9U7:Q U>QQ UG٣UIGy]mb ]> mNusing accuracyPremultiplier from configam%59eД??m%5YeN2 iau-$?u:uQut@eEe;e:eq%5y }֤@}EeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 397.80 m.Bj}_ɻJj}_ɻ ProNav: ac range: 397.799988 m, nav range: 84.095322 m, bearing: 233.675041 deg, approach rate: 0.369216 m/s, LOS rate: -0.352105 deg/s, cmd heading: 355.354307 deg, new cmd heading: 354.913685 deg. 2jqHeadingCmd: 6.194412 target range: 397.799988 and range: 397.80 m. j8@jjjihhhhcBfffrfbf@ɛmBm5?= imh>Ii uY\<ɚqiqIu26=I}εiyi}p=)}8@)*F-?2F1:F1BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015754G f= Q IY G B O >N&{w,ۛA6@Y6T@6v<96=y6H.?2͒??`@?U9?+?ɨ6@6F;6CyBBB'I)D FAIJIJ4٢V= VW=9Z߅9Q Z>X\ ^G٣\Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267893y]t ]> eNusing accuracyPremultiplier from configam%59e}??m%5Yen2 iaqurut@eEe:e:eu%5y ֣@ZjFNOT Ignoring new targets: 397.80 m.BjֻJjֻ ProNav: ac range: 397.799988 m, nav range: 84.244110 m, bearing: 233.532188 deg, approach rate: 0.392139 m/s, LOS rate: -0.375832 deg/s, cmd heading: 354.913677 deg, new cmd heading: 354.485881 deg. 2j HeadingCmd: 6.186946 target range: 397.799988 and range: 397.80 m. j v@j j j ihhh9h9f9f9fArfAbfE`Ǒ @ɛBM= 隍?I |b<ɚiIs6=I+Žiịu=)v@)EqAEJJJ1JJL:J:J3JzKm7NKm9KiKm Km     /<<#  -Qilf]P*FE?2FA:FABFE`0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:09:53.4148 TRx dataTimestamp_ set to:1736374194.727807checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528019Gm q=GI B O > e $?Ia |,{w,RԵAHm>ImC Im(IImBIm+ =&Ii.Ii6ImG<:Im FymBm'IMb@Mb@Mb@ )Yx&1?S㥫?/$?y!?/]=< p@)@I;@y@I-I-4٢=Y= =3=9=Q =>AA EG٣IyM M> ]Nusing accuracyPremultiplier from configQ]%59U??e%5YU2 iUBe7"?e:e͇=et@UEU;U%;Ux%5uB uG@u~EZjFNOT Ignoring new targets: 397.80 m.BjJj ProNav: ac range: 397.799988 m, nav range: 84.423233 m, bearing: 233.388887 deg, approach rate: 0.413387 m/s, LOS rate: -0.330012 deg/s, cmd heading: 354.485889 deg, new cmd heading: 354.056908 deg. 2j|bHeadingCmd: 6.179459 target range: 397.799988 and range: 397.80 m. j @jjjihhhhBfffrfbf" @ɛ}B rM=  ?I  i<ɚ i I[6=InԽiiv=) @)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772458*F?2F:FBF0JFG% ghs=G5 ?G5 ?G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:09:53.4148 LVL= 13440, 26737, 21010, 27091, AGC= 65, IDX= 272,-0.09, 1.876, 0.057, 0.166, 0.734, PHS= 1.230,-0.630,-0.570, RAW= 91.6, -0.3, CAL= 99.6, -4.8, ROT= 50.4, 4.8  Ygot valid direction response: 22:09:53.4148 LVL= 13440, 26737, 21010, 27091, AGC= 65, IDX= 272,-0.09, 1.876, 0.057, 0.166, 0.734, PHS= 1.230,-0.630,-0.570, RAW= 91.6, -0.3, CAL= 99.6, -4.8, ROT= 50.4, 4.8  PDAT read: Bearing 50.4, 4.8 (Local)  ~Local bearing/azimuth received: Bearing 50.4, 4.8 (Local)  DAT read: Range 10 to 50 : 386.0 m (Round-trip 514.7 ms) speed 0.6 m/s  ,DAT read: user:2353>  BDAT read: Tx time:22:09:54.5459  $Ping request sent. < O=9:Q >  G٣y-3߼ ->.~G|uA $?I 5Y5|uAy5 B UNusing accuracyPremultiplier from configIU%59M??]%5YM2 iMBY]c=]t@MEM:M:M|%5a m@{Ekx9?kkI<3 k kTA:kCBkCZkMQ@"{ i?BYm>@Vw@Դ&#B?: ?Jkį@Rk?*r3.sKSvx@Pީ瀒I|e /W?"k**kk!am9?k<3 2kCk\7?k@57 kCkOBk]@ addTargetRange:: Added new target pos. range: 386.000000 m, deltaT: 4.036129 s, deltaX: -11.799988 m, approachRate: -2.923590 m/s, rangeRepo size: 4  Added new target pos. range: 386.000000 m, bearing: 187.782512 deg, lat: 36.902461 deg, lon: -122.123305 deg, deltaT: 4.036129 s, deltaX: -11.799988 m, approachRate: -2.923590 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 386.00 m.BjJj ProNav: ac range: 386.000000 m, nav range: 51.926739 m, bearing: 240.928784 deg, approach rate: 0.000000 m/s, LOS rate: -0.330012 deg/s, cmd heading: 354.056898 deg, new cmd heading: 353.597115 deg. 2jHeadingCmd: 6.171434 target range: 386.000000 and range: 386.00 m. jc|@jjjihhhhfffrf x@bf?ɛ xBI= 9= ?I9 Eݝr<ɚAiAIE6=IUiU"pi..=)c|@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%:DAT read: Txe:22:09:54.5452 %Xunknown deviceResponse_: Txe:22:09:54.5452 *FQ2FQ:FQBFUo0JFQJ) J- J- 0J) J) J- :J- ـ3J) zK MK h9K K K A8.& G} _̈=GQ BY Ou >r:{w,AyB'Ii4=IR=I-xI-T4٢=6; =E=9=Q =>AA EG٣EIGyM M>Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config%59??%5Y/2 iBt@EL::%5 ޢ@Zj!MFNOT Ignoring new targets: 386.00 m.BjM3JjU3] ProNav: ac range: 386.000000 m, nav range: 52.058712 m, bearing: 240.699345 deg, approach rate: 0.362783 m/s, LOS rate: -0.629108 deg/s, cmd heading: 353.597117 deg, new cmd heading: 352.910579 deg. 2je׼eHeadingCmd: 6.159451 target range: 386.000000 and range: 386.00 m. j:@jjjihhh)h1f9f9frfbf4?HI IC(II͈BI, =&I.I6I<:IA F $?Iɛ tB P[=  5?I  .)z<ɚiIM5=I$hiid=):@)!*F?2F:FBF0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.G f=G B O >J J ?A'VA{w,A6\@Y6@6<96=y6HT?@L???@9?{6 ԟ`?`0?ɨ6\@6>;6Cy>B>'I]Mb@Mb@Mb@YYY Y)YY]V-?EԸ?:v?y]|?]=]T G٣yּ > Nusing accuracyPremultiplier from config%59@?%5Yl2 iq!?:y=t@E ;:%5B @xEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 386.00 m.Bj"Jj" ProNav: ac range: 386.000000 m, nav range: 52.207016 m, bearing: 240.475013 deg, approach rate: 0.375872 m/s, LOS rate: -0.566947 deg/s, cmd heading: 352.910574 deg, new cmd heading: 352.239521 deg. 2j¼HeadingCmd: 6.147739 target range: 386.000000 and range: 386.00 m. jH@j j j i h h hhBfffrfbf%@?ɛqBt= ?I %<ɚiIt5=IF ii f=)H@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF05JFGΌ=GrAGGyBO]> I] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255545G{w,6A6@Y6.@6 <96$˞=y6H?⋦??fp?"ѳ??ɨ6@6;6CyB'III<4٢%C %O=9-Q ->)1 5G٣1y5: 5> ENusing accuracyPremultiplier from config9E%59=@?E%5Y=2 i=BIUT=Ut@=E=,;=:,;=%5Y ]Ǣ@]uEZjFNOT Ignoring new targets: 386.00 m.BjJj ProNav: ac range: 386.000000 m, nav range: 52.352551 m, bearing: 240.255215 deg, approach rate: 0.369151 m/s, LOS rate: -0.555969 deg/s, cmd heading: 352.239522 deg, new cmd heading: 351.581993 deg. 2jǾHeadingCmd: 6.136263 target range: 386.000000 and range: 386.00 m. jE\@jjjihhhhfffrfbfK8?ɛnBi= ?I 驃<ɚiI5=Iriiڤ=)E\@)iJEJAJAJAJEܫ:JAJAJAzKVLK9KK K*F?2F:F!BF%_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511669G]ʖ=Ga B O > $?I H >I  I O(II ׈BI &I .I 6I <:I c F:M{w,nL9A6r@Y6@6B=96=y6H?w?@kS?@^I@?%`h˳?@r?ɨ6r@6ĉ;6CyBBB'I)D DDFAMb@Mb@Mb@ )YZd;O?Mb?Mb`yj?=QA @)I@Iyz@I%I%ݜ4٢5 5J=9} #;Q > G٣IGye > Nusing accuracyPremultiplier from config%59,@?%5Y2 iBA?: =t@E;;%5 @ZjFNOT Ignoring new targets: 386.00 m.Bj6Jj%6- ProNav: ac range: 386.000000 m, nav range: 52.502499 m, bearing: 240.029548 deg, approach rate: 0.357038 m/s, LOS rate: -0.535794 deg/s, cmd heading: 351.581993 deg, new cmd heading: 350.906959 deg. 2j5ڷ]HeadingCmd: 6.124482 target range: 386.000000 and range: 386.00 m. j]@jYjajaiahahahihmBfififirfqbf@F?ɛjBN\=  ?I ߈<ɚiI 4=I."ii=)@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761768*F?2F:FBFJFGe6=*JR="Ja=GYBqO[> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011551ZT{w,,SA:[@Y:k@:w=9:+=y:H?}?@$x?Fo? "᳿2Π`v? ?ɨ:[@:3;8y^wBb'IIjIjƕ4٢r; rP=9r;Q r>tt vG٣tyz@y z> ~Nusing accuracyPremultiplier from config|%59~@@?%5Y~Z2 i~B= t@~E~@:~:~%5B b@rEZjAEFNOT Ignoring new targets: 386.00 m.BjMJjM] ProNav: ac range: 386.000000 m, nav range: 52.641766 m, bearing: 239.819634 deg, approach rate: 0.369379 m/s, LOS rate: -0.555282 deg/s, cmd heading: 350.906952 deg, new cmd heading: 350.278903 deg. 2j]eHeadingCmd: 6.113520 target range: 386.000000 and range: 386.00 m. je@jajajaiahihihihifqfqfq $?Irfbf @ɛgBc= 隽?I Š<ɚiIR4=I¼-ii=)@)*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263542GJ=GBO >zKE BoHKE +9KA KE KE   VBKI :KM qA Z{w,|mAZd"@YZ1@ZP =9Z=yZHN? ?Z?r֭@?T` t@$ز?@?ɨZd"@ZK;XyfeBf'IIrIrn4٢vG zI=9zAL;Q z>|| ~G٣|y >  Nusing accuracyPremultiplier from config %59 U@?%5Y 2 i B=t@ E T ;  ; v%5! -v@-oEZjimFNOT Ignoring new targets: 386.00 m.Bju{Jju{Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523884  ProNav: ac range: 386.000000 m, nav range: 52.788311 m, bearing: 239.597871 deg, approach rate: 0.357994 m/s, LOS rate: -0.540238 deg/s, cmd heading: 350.278902 deg, new cmd heading: 349.615491 deg. 2j5a5HeadingCmd: 6.101942 target range: 386.000000 and range: 386.00 m. j5C@j9j9j9i9hAhIhqhqfqfqfqrfybf}z|@ɛcBQ= ?I eb<ɚiII4=ZHRHAAHI I<(IIȈBI+ =&I.I6I<:IS FBI-ěCJI-ěCRI)ZI)bI)jI-4 $?II9i i o=) C@) EE*F?2F:FBF_0JFGk=GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775618J J J J J l:J :J J J ;a J ;a J U;a J U;a >a{w,nކAFٿ@YF2@FX=9F`=yFHl?Sȱ?@?@8/ ?x ~??ɨFٿ@FA;FCyVOBV'IiZ!>IZp;=Mb@Mb@Mb@999 9)9Y=`"?ˡE?Mby=?====v@ =@)=@I=$@9y=@IUIUݜ4٢eqн eC=9mt3;Q m>ii uG٣uIGyu筼 > Nusing accuracyPremultiplier from config%59k@?%5Y>2 iBN?:4=t@E;u:;%5 Ӧ@]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 386.00 m.BjumJjum ProNav: ac range: 386.000000 m, nav range: 52.934887 m, bearing: 239.367877 deg, approach rate: 0.336189 m/s, LOS rate: -0.526056 deg/s, cmd heading: 349.615500 deg, new cmd heading: 348.927463 deg. 2jHeadingCmd: 6.089933 target range: 386.000000 and range: 386.00 m. j@jjjihhhhsBfffrfbf@ɛE`BMK= IM>II uH<ɚqiqIu4=I}Eiyi}*=)}@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028549*F ?2F :F BF o0JF  IG- 蘸=G B O- >g{w,=AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279625:@Y:@:l=9:b=y:H`??`?Oz ;?ܱ@Ӣ`/??ɨ:@:;:CyF5BF'III4٢%m %N=9-#;Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E%59=~@?M%5Y=2 i=BIM=Mt@=E=:=:=%5]B ]t@]lEZjFNOT Ignoring new targets: 386.00 m.BjJj ProNav: ac range: 386.000000 m, nav range: 53.064106 m, bearing: 239.163369 deg, approach rate: 0.344770 m/s, LOS rate: -0.544318 deg/s, cmd heading: 348.927454 deg, new cmd heading: 348.315449 deg. 2jǺHeadingCmd: 6.079251 target range: 386.000000 and range: 386.00 m. j:@jjjihhhhfffrfbfC @ɛ]ByI= >I <ɚiIX3=IPii /=) :@) *F?2F:FBF`5JFzK-MK- 9K)K- K-ypg_[QbL. RKE>JKE>G=GaBiO9>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:09:57.4624 TRx dataTimestamp_ set to:1736374198.768698checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532716H >I  I (II BI  $?I &I .I 6I <:I _ F2m{w,A6|3@Y6B@6=96h=y6H??eA?@[ h? 7AG??ɨ6|3@6V;6CyB BBo'IEMb@Mb@Mb@AAA A)AYEbX9?X9v?:vyEE?Eqy }G٣yy}߼ }> Nusing accuracyPremultiplier from config%59C@?%5Y2 iB?:t@E-;;0%5 @iEZjFNOT Ignoring new targets: 386.00 m.BjMJjM ProNav: ac range: 386.000000 m, nav range: 53.182079 m, bearing: 238.934974 deg, approach rate: 0.284771 m/s, LOS rate: -0.550090 deg/s, cmd heading: 348.315441 deg, new cmd heading: 347.631810 deg. 2j¼HeadingCmd: 6.067320 target range: 386.000000 and range: 386.00 m. j|'@jjjihhhh?Bfffrf bf 6@ɛEZBE'p8= IM>II M|<ɚIiIIMX3=IU ]iYi]-=)]|'@)Y5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784396*F?2F:FBFD5JFJJJJJ:J:JJJh;Ji;JL;JL;G,A=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i  DAT read: 22:09:57.4625 LVL= 12720, 25233, 16978, 25731, AGC= 68, IDX= 410, 0.18,-0.029,-1.727,-1.827,-1.104, PHS= 1.163,-0.576,-0.726, RAW= 85.9, 1.5, CAL= 92.3, -1.9, ROT= 57.7, 1.9 % Ygot valid direction response: 22:09:57.4625 LVL= 12720, 25233, 16978, 25731, AGC= 68, IDX= 410, 0.18,-0.029,-1.727,-1.827,-1.104, PHS= 1.163,-0.576,-0.726, RAW= 85.9, 1.5, CAL= 92.3, -1.9, ROT= 57.7, 1.9 - PDAT read: Bearing 57.7, 1.9 (Local) - ~Local bearing/azimuth received: Bearing 57.7, 1.9 (Local) = DAT read: Range 10 to 50 : 384.2 m (Round-trip 512.3 ms) speed 0.0 m/s E ,DAT read: user:2354> E BDAT read: Tx time:22:09:58.5460 M $Ping request sent.M  G٣IGy > Nusing accuracyPremultiplier from config%59@?%5YJ2 iBt@Ea:a: %5  @ k9?ky%. k kvA:kCBkƾCZkM@"@ǧDQVC+d4Q@^=[{{w@MVefv?"K?Jk(@Rkw*_7VfŚ{G@/Bw@#<ιK?ݢn1?"k;B*kk=9?kAA. 2kNCkt8?k[2'6 kk(Bk7s@ addTargetRange:: Added new target pos. range: 384.200012 m, deltaT: 4.048923 s, deltaX: -1.799988 m, approachRate: -0.444560 m/s, rangeRepo size: 4 E Added new target pos. range: 384.200012 m, bearing: 116.159295 deg, lat: 36.902495 deg, lon: -122.123183 deg, deltaT: 4.048923 s, deltaX: -1.799988 m, approachRate: -0.444560 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 384.20 m.BjUJjQe ProNav: ac range: 384.200012 m, nav range: 42.161747 m, bearing: 235.360425 deg, approach rate: 0.000000 m/s, LOS rate: -0.550090 deg/s, cmd heading: 347.631822 deg, new cmd heading: 346.855128 deg. 2jaHeadingCmd: 6.053764 target range: 384.200012 and range: 384.20 m. jo@jjjihhhhfffrf@3x@bf M?ɛ-VB-| = 15 >I1 5]<ɚ1i1I5H3=I=fjiaie=)eo@)aEWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:22:09:58.5453 *F2F:FBF_5JFzKe oMKe 9Ka Ke Ke JaB/"BKu qA:Kq G= =G B! O= >xz{w,AyUBU 'IIeIe4٢K! `=9Q >Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣y > Nusing accuracyPremultiplier from config%59@?%5Yx2 iBt@E<é<R%5B @fEZj FNOT Ignoring new targets: 384.20 m.Bj :Jj : ProNav: ac range: 384.200012 m, nav range: 42.278324 m, bearing: 235.116188 deg, approach rate: 0.312179 m/s, LOS rate: -0.652233 deg/s, cmd heading: 346.855120 deg, new cmd heading: 346.124469 deg. 2j߼%HeadingCmd: 6.041012 target range: 384.200012 and range: 384.20 m. j%O@j)j)j)i)h)h)h1h1f9fAfIrfQbf]!?jHM<bHIHm >Ii Im'IImbB $?IIi&Ii.Ii6Imذ<:Im FɛSB(_= qu>Iq uuD<ɚqiyI}3=I}Zwii3=)O@)*F-?2F):F)BF-P5JF)G% m=e Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >J J J J J J 9:J J J J J X`;J Y`;k{w,hA6 @Y6!@6"=96?>r=y6H??+e?ྒŰ?@D9R(=?;?ɨ6 @6s;4yFLJBF'IMb@Mb@Mb@ )Y7A`?QQ롿y?\`@ )@Iy(@II94٢ K=9;Q > G٣y纽 > Nusing accuracyPremultiplier from config%59@?%5Y2 iB?:c/t@E;;ʦ%5 9@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 384.20 m.Bj\Jj\ ProNav: ac range: 384.200012 m, nav range: 42.377563 m, bearing: 234.830883 deg, approach rate: 0.269406 m/s, LOS rate: -0.772702 deg/s, cmd heading: 346.124481 deg, new cmd heading: 345.270639 deg. 2jHeadingCmd: 6.026110 target range: 384.200012 and range: 384.20 m. j%@j!j!j!i!h!h!h)h-Bf)f)f1rf1bf5ȅ?ɛ]QBed= aem>Ia euc<ɚaiiIm3=Imgiqiuz=)u@)y*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) }~GtA  YtAyB IG[=G B O > {w,n!AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247399:@Y:@:9'=9::[=y:H? ?٠?`W@D?夿`Mm?f?ɨ:@:o;:CyFBF&IiJ=IJ=PRBAIRIR]4٢Z ZZ=9^D;Q ^>`` bG٣bIGyb+ f> jNusing accuracyPremultiplier from configdn%59f)@?r%5Yf2 ifnBpr?rt@fEfQ>;f>;f%5vB v @zcEZjFNOT Ignoring new targets: 384.20 m.Bj%MJj%M5 ProNav: ac range: 384.200012 m, nav range: 42.469120 m, bearing: 234.560407 deg, approach rate: 0.243937 m/s, LOS rate: -0.719083 deg/s, cmd heading: 345.270652 deg, new cmd heading: 344.461030 deg. 2j5=HeadingCmd: 6.011979 target range: 384.200012 and range: 384.20 m. j="b@j9j9j9i9h9hAhAhAfAfIfIrfIbfM`I?ɛNB= %7>I! %/<ɚ!i!I%3=I-ۊi)i-=)-"b@)Q*F2F:FBF`0JFzKZMK]9KK KRK?JK?Gb=GBOD>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499316Hm !>Ii  Im n'IIm BIi &Ii $?I .Ii 6Im <:Im F6{w,;A @:@Y:|@:W(=9:CG=y:H@>???ÿ?dګ@u ?f?ɨ:@: Ň;8yRBR&I5Mb@Mb@Mb@111 1)1Y5l?Zd;OV-y5?5j55@ 5@)5@I5@1y5@IMIM4٢] e@=9e(:Q e>ii mG٣iym m> }Nusing accuracyPremultiplier from configq%59u@?%5Yu2 iuUB?:t@uEu@;u;uȭ%5 ޱ@`EZjFNOT Ignoring new targets: 384.20 m.BjZJjZ ProNav: ac range: 384.200012 m, nav range: 42.547470 m, bearing: 234.234850 deg, approach rate: 0.184410 m/s, LOS rate: -0.764837 deg/s, cmd heading: 344.461029 deg, new cmd heading: 343.486256 deg. 2j9HeadingCmd: 5.994966 target range: 384.200012 and range: 384.20 m. jֿ@jjjihhhhBfffrfbf?ɛJB$< #>I t<ɚiI 4=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751560I={i9iEB=)Eֿ@)I*F ?2F :FBFi0JFJJJ/JJܫ:J:J(N3JJ;J;J.Y;J.Y;G- b=G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0040615{w,hwUAy%B%&I aIaII4٢8۽ 2=9Q >! %G٣!y] ]> Nusing accuracyPremultiplier from config%59 A?%5Y2 i8B%t@EX::%5y }q@ZjFNOT Ignoring new targets: 384.20 m.Bj}QJj}Q ProNav: ac range: 384.200012 m, nav range: 42.639324 m, bearing: 233.861714 deg, approach rate: 0.180732 m/s, LOS rate: -0.732594 deg/s, cmd heading: 343.486252 deg, new cmd heading: 342.369403 deg. 2jb HeadingCmd: 5.975473 target range: 384.200012 and range: 384.20 m. j 7@j j jihh!EWill construct direction to contact in vehicle frame from tetrahedron phase data.EQ?E=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256683h1hQfYfifirfqbfu/@ɛmFBm8< iut=Iq uA<ɚqiqIuB\4=I}eiyi=)7@)EEpA*F) 2F) :F) BF- _0JF) zK JK h9K K K Z  GU -= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508233G)B1OU>G{w,sAvv@Yv$@v8=9v"=yvH` l?@ ??ǿFk?@<@` DQ?1?ɨvv@v|;vCy%mB-&I)9 9=A=AIEIE4٢Uѽ UF=9] Ya eG٣eIGyeD e> uNusing accuracyPremultiplier from configiu%59m1A?}%5Ym2 im By}ڬ}t@mEm:m:mh%5B ´@]E $?IH#>I I'IIއBI* =&I.I5D6I<:Iq FZjFNOT Ignoring new targets: 384.20 m.Bj&FJj&F ProNav: ac range: 384.200012 m, nav range: 42.705921 m, bearing: 233.568169 deg, approach rate: 0.157456 m/s, LOS rate: -0.692946 deg/s, cmd heading: 342.369407 deg, new cmd heading: 341.490219 deg. 2jHeadingCmd: 5.960129 target range: 384.200012 and range: 384.20 m. j`@jjjihhhhfffrfbf@I@ɛeCBe"< aeH=Ia m@<ɚiiiIm4=IugiqiuI=)u`@)y*F?2F:FBFn0JFGI=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759495GBO>J J v,{w,OAy=XB=y&IMb@Mb@Mb@ )Y1Zd?Dly&1y"?O `@ @)I@y=@II4٢%ý %>=9%Q ->)) =G٣9yE E> MNusing accuracyPremultiplier from configIU%59M3A?]%5YM2 iMB]D?]:]о]t@MEM!;M;M,%5a e @mZEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011259%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 384.20 m.Bj=}Jj=}m ProNav: ac range: 384.200012 m, nav range: 42.767139 m, bearing: 233.219576 deg, approach rate: 0.155610 m/s, LOS rate: -0.884810 deg/s, cmd heading: 341.490225 deg, new cmd heading: 340.446064 deg. 2juuHeadingCmd: 5.941905 target range: 384.200012 and range: 384.20 m. ju$@jyjyjihh h h bBfffrfbf`@ɛ]?B-h< 隍H=I Y<ɚiI4=IYiiy=)$@)  $?I*F?2F:FBF0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264412G =G qAG rAG B O >_T{w,!A:4@Y: D@:7C=9:=y:H@>?j.?? ʿ y??@Wpܢ?`?ɨ:4@:L;:CJKـ3 K .KK"KJRJRJR0JPJR:JR :JRـ3JPa^@a^@a^@a^@ybFBbc&IInIn4٢vVȽ va=9v;Q z>xx zG٣|y2 > Nusing accuracyPremultiplier from config %%59 EA?%%5Y <3 i B)-޾-t@ E ; x; X%59 =-@AZj FNOT Ignoring new targets: 384.20 m.BjofJjof ProNav: ac range: 384.200012 m, nav range: 42.813812 m, bearing: 232.925208 deg, approach rate: 0.127909 m/s, LOS rate: -0.805847 deg/s, cmd heading: 340.446053 deg, new cmd heading: 339.563986 deg. 2jB HeadingCmd: 5.926509 target range: 384.200012 and range: 384.20 m. j@jjjihhhhfffrfbf`h @ɛ:742-/33-*'###!   I-3iQiU=)U@)Q*F?2F:FBFP5JF"G=G=Gܥ=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:10:01.4609 TRx dataTimestamp_ set to:1736374202.803087checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518924GaBiO]>H%>IC I&IIBI) =&I.I6Ip<:I= FBIJIRIZI+ =bI+ =jIǴb5  $?I<{w,A6ɺ@Y6@6"G=96&5=y6HD'?`??<̿`'?`8ᨿ??ɨ6ɺ@6;6CyBBBB^&IiF=IF=EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.772120 Mb@Mb@Mb@    ) Y +?sh|?ſ{Gzy ? ) ף @ $@) I @ y @II4٢扼  9=9 ;Q  > G٣IGyh > %Nusing accuracyPremultiplier from config!-%59%ZA?-%5Y%3 i%B-a%?-:-K5t@%E%;% <%/%5mB m^@uWEZjFNOT Ignoring new targets: 384.20 m.Bj{Jj{ ProNav: ac range: 384.200012 m, nav range: 42.860336 m, bearing: 232.552372 deg, approach rate: 0.110059 m/s, LOS rate: -0.881029 deg/s, cmd heading: 339.563975 deg, new cmd heading: 338.446831 deg. 2j)HeadingCmd: 5.907012 target range: 384.200012 and range: 384.20 m. j=@j jqjqiqhyhhhWBfff)rf1bf= P @ɛ8Bֲ<  M BDAT read: Tx time:22:10:02.5460 M $Ping request sent.M g{w,{AV/R@YVa@VJ=9V()=yVH`t ?@ՠ?#2?cο ?W৿`O `^??ɨV/R@V ;VCy^;BbU&II=I=94٢Mn MW=9M;Q U>QQ UG٣Qy > Nusing accuracyPremultiplier from config%59mlA?%5Y3 iBt@E1;[;%5 η@kfJ>?k!& k ktA:kCBk.CZk7p?"OeL-X`@5Vܔ&v@;Tÿɭq@?w(?Jk?RkJ*&2؊$`%_@0Y0v@0vJj. ?,1?"kB*kV$k >?k۹.& 2kCk=9?k<3 kBCkAk6N@ addTargetRange:: Added new target pos. range: 383.000000 m, deltaT: 4.035057 s, deltaX: -1.200012 m, approachRate: -0.297397 m/s, rangeRepo size: 4  Added new target pos. range: 383.000000 m, bearing: 94.644725 deg, lat: 36.902503 deg, lon: -122.122825 deg, deltaT: 4.035057 s, deltaX: -1.200012 m, approachRate: -0.297397 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 383.00 m.BjJju ProNav: ac range: 383.000000 m, nav range: 25.464685 m, bearing: 184.611518 deg, approach rate: 0.000000 m/s, LOS rate: -0.881029 deg/s, cmd heading: 338.446829 deg, new cmd heading: 337.368144 deg. 2jq}HeadingCmd: 5.888185 target range: 383.000000 and range: 383.00 m. j}l@jyjyjyiyhyhhhfffrfw@bf ?ɛ4B;< `[zK  NK 9K K K  BK :K  Will construct direction to contact in vehicle frame from tetrahedron phase data.吼{w,Ay ?B Z&IIIb4٢M< UJ=9eQ m>yy G٣y >jH<bHH(>I I&IIBI( =&I.I6I_<:I3 F Nusing accuracyPremultiplier from config%59A?%5Y 3 iBt@E::%5B @TE  $?IZjFNOT Ignoring new targets: 383.00 m.BjJPJjJPU ProNav: ac range: 383.000000 m, nav range: 25.683075 m, bearing: 184.292845 deg, approach rate: 0.503467 m/s, LOS rate: -0.728407 deg/s, cmd heading: 337.368151 deg, new cmd heading: 336.420352 deg. 2jU]HeadingCmd: 5.871643 target range: 383.000000 and range: 383.00 m. j]@jYjYjYiYhahahhfffrfbfg?ɛ50B5X< 1=`)M@)IUWill construct direction to contact in vehicle frame from tetrahedron phase data.Ee .=*F ?2F :F BF Q5JF G rA G rA Will construct direction to contact in vehicle frame from tetrahedron phase data.G==GB)OM?t{w,A6@Y6@6t$P=96iFaa eG٣eIGye m> }Nusing accuracyPremultiplier from configq%59uA?%5Yu3 iuB&?: t@u Eu;u;u%5 @REB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 383.00 m.BjJj ProNav: ac range: 383.000000 m, nav range: 25.967058 m, bearing: 183.859459 deg, approach rate: 0.600910 m/s, LOS rate: -0.907009 deg/s, cmd heading: 336.420339 deg, new cmd heading: 335.134627 deg. 2jHeadingCmd: 5.849203 target range: 383.000000 and range: 383.00 m. j,@jjj  $?IihhhhQBfffrfbf ".?ɛ,BP< =I 5b<ɚiIM6=I-2޾i1i=-=)=,@)E}8R=*F?2F:FBFP0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.G=GBO>JJJJJJ:JJzK ?LK 9K K K RK ?JK ?~{w,_0A2@Y2@2RU=92&dd fG٣dyjD j> nNusing accuracyPremultiplier from configlr%59nA?r%5Yn3 inBpvE vt@nEn ;n ;n %5x z`@zTEZjFNOT Ignoring new targets: 383.00 m.BjhJjhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500489 ProNav: ac range: 383.000000 m, nav range: 26.171000 m, bearing: 183.547073 deg, approach rate: 0.535753 m/s, LOS rate: -0.814237 deg/s, cmd heading: 335.134624 deg, new cmd heading: 334.204856 deg. 2j %HeadingCmd: 5.832975 target range: 383.000000 and range: 383.00 m. j%@j!j!j)i)h)h)h)h1f1f9f9rf9bf=d?ɛ(B4< 隭xL=I X<ɚiI17=Iii=)@)EE*E"EH)>I I&IIxBI' =&I.I6Iv<:IF F I!*F?2F:FBF%2JF! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752927G} >GQ BY Ou >-{w,LA6-@Y6S=@6 X=96[v? a? ? Oӿ~?ve<j?@?ɨ6-@6;6Cy>NB>l&IMMb@Mb@Mb@III I)IYM'1Z?Q{GztyM"?M\MףM@ MQ@)MhAIM$@IyM@IeIe?4٢u1Y= u0=9}:Q }>y G٣yƼ > Nusing accuracyPremultiplier from config%59A?%5Y3 imB&?:t@E;;%5 @QEZjFNOT Ignoring new targets: 383.00 m.Bj/\Jj/\ ProNav: ac range: 383.000000 m, nav range: 26.422918 m, bearing: 183.185371 deg, approach rate: 0.541459 m/s, LOS rate: -0.770002 deg/s, cmd heading: 334.204844 deg, new cmd heading: 333.130219 deg. 2jHeadingCmd: 5.814219 target range: 383.000000 and range: 383.00 m. j@jjjihhhhBff f rf bf 1Z?ɛ#B~a< ܪ=I R<ɚiIޘ7=I_ii>)-@))E9E=qAWill construct direction to contact in vehicle frame from tetrahedron phase data.i}vAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016522 YvAyB*F?2F:FBF_0JF"G=G=G->GBOe> $?Iiu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256356 6{w,bfAfgڷ@Yf@f3Y=9f/SIvp= v=tIzIz4٢< R=9 :Q  >  ]G٣]IGyeѼ e>JJJ1JJ:J :J3J Nusing accuracyPremultiplier from configq%59uA?%5Yu3 iu\Bt@uEu )u@)qzKKh9KK K*F!2F!:F!BF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510336H+>IC I&IIBI&I.I6Io<:IA F I GE =GA By O >{w, zA>'@Y>@>VZ=9>!H B?`Ӣ?|?@ԿH?oGH??ɨ>'@>YR;>CyF]BJ&IMb@Mb@Mb@ )Y?ʡEy ?ケ@ )@Iyp@I5I5Ь4٢E0F= EF=9M;9Q M>II MG٣IyUKϼ U> ]Nusing accuracyPremultiplier from configYe%59]9A?e%5Y]3 i]MBm"?m:m:mt@]E];] ;]%5y }@yZjFNOT Ignoring new targets: 383.00 m.BjZJjZ ProNav: ac range: 383.000000 m, nav range: 26.854900 m, bearing: 182.584836 deg, approach rate: 0.574287 m/s, LOS rate: -0.765505 deg/s, cmd heading: 332.205539 deg, new cmd heading: 331.343309 deg. 2jVHeadingCmd: 5.783031 target range: 383.000000 and range: 383.00 m. j@jjjihhhhBff=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760304frfqbfu <@ɛBK< >I  ӣ<ɚiIB8=I ii >)@)*F?2F:FBFp0JFG̼>GyBO_> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012511H{w,ZA6O)@Y68@68[=960lp rG٣pyrn r> vNusing accuracyPremultiplier from configtz%59vJA?z%5Yv! 3 iv?B|~(~t@v"Ev ;v ;v%5  @ KE%B*** querying acoustic contact ***j!j!Zj1=FNOT Ignoring new targets: 383.00 m.Bj=xMJj=xMM ProNav: ac range: 383.000000 m, nav range: 27.063816 m, bearing: 182.302303 deg, approach rate: 0.535449 m/s, LOS rate: -0.718538 deg/s, cmd heading: 331.343296 deg, new cmd heading: 330.502302 deg. 2jM]HeadingCmd: 5.768353 target range: 383.000000 and range: 383.00 m. j]Z@jYjYjYiYhYhahahafafifirfibfm 3 @ɛ5B5= 9=+>I9 =Ӥ<ɚ9i9IEf8=IEiAiM >)MZ@)I*F2F:FBFZ2JFGqA GqAEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264364G7>GBO>zK] RIK] 9KY K] K]  } "}}V5  Sq{w,80A2Ϯ@Y2S@2Z=92Hdh jG٣jIGyr v> Nusing accuracyPremultiplier from config%59 B?%5Y#3 i0B t@&El;X;%5! -γ@)ZjimFNOT Ignoring new targets: 383.00 m.BjuLJjuL% ProNav: ac range: 383.000000 m, nav range: 27.279970 m, bearing: 182.005887 deg, approach rate: 0.526130 m/s, LOS rate: -0.715769 deg/s, cmd heading: 330.502308 deg, new cmd heading: 329.620182 deg. 2j%-HeadingCmd: 5.752957 target range: 383.000000 and range: 383.00 m. j-:@j)j)j)i)h)h1H=,>I9 I=&II=BI=& =&I9.I=6D6I=<:I=V FhqhyfyfyfrfbfN @ɛB = 8M>I H<ɚiIb8=Iii' >):@) $?I*F2F:FBF`5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768974G - >G) BQ O >*J C="J J J J /J J L:J :J (N3J J O;a J Q;a J S;a J S;a Z{w,MAyruBr&IuMb@Mb@Mb@qqq q)qYuMb?Q뱿~jth?yu#?u\uD;u3@ u~@)uAIu;@qyu@II4٢ ;=9Q > G٣y > Nusing accuracyPremultiplier from config%59B?%5Y&3 i"B$?:?t@*E;;%5B @HEZjFNOT Ignoring new targets: 383.00 m.Bj6Jj6 ProNav: ac range: 383.000000 m, nav range: 27.521000 m, bearing: 181.733159 deg, approach rate: 0.569814 m/s, LOS rate: -0.639104 deg/s, cmd heading: 329.620176 deg, new cmd heading: 328.809212 deg. 2jNۼ%HeadingCmd: 5.738803 target range: 383.000000 and range: 383.00 m. j%G@j!j!j)i)h)h)h1h5ֆBf1f1f9rf9bf=@ɛmBm= imN>I   <ɚ iIX 9=I\ iiX>)G@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:10:05.4605 LVL= 10416, 21409, 16018, 21939, AGC= 66, IDX= 438,-0.04, 0.748,-0.632,-1.707,-0.509, PHS= 1.346,-0.076,-1.201, RAW= 63.8, -0.6, CAL= 67.6, -4.3, ROT= 82.4, 4.3 -Ygot valid direction response: 22:10:05.4605 LVL= 10416, 21409, 16018, 21939, AGC= 66, IDX= 438,-0.04, 0.748,-0.632,-1.707,-0.509, PHS= 1.346,-0.076,-1.201, RAW= 63.8, -0.6, CAL= 67.6, -4.3, ROT= 82.4, 4.3 5PDAT read: Bearing 82.4, 4.3 (Local) 5~Local bearing/azimuth received: Bearing 82.4, 4.3 (Local) *F2F:FBF5JFDAT read: Range 10 to 50 : 382.7 m (Round-trip 510.3 ms) speed 0.3 m/s ,DAT read: user:2356> BDAT read: Tx time:22:10:06.5460 $Ping request sent.)ٽUIٹiٽI?ٽ㥛ٽ^ٽӇ?ٽ+ ڽ?)ڽ`IڽX?iڽ`=ڹڹ۽})y?f܆j  )۽zI۽94G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.C{w,:A2a@Y2ż@24Y=92l??ɨ2a@2;2CyVBV&IIfIf4٢ = T=9RQ >!! %G٣!y- -> =Nusing accuracyPremultiplier from config1M%5951B?M%5Y5)3 i5BIUUt@5.E5K;5K;5.%5a e@mEEkL-\?k"9! k kCA:kYCBk CZk?"=H#{i@8`t@ ˙qx?{9C?Jk8?Rkڅ*bS@Vt;e@L1dct@m<?I[?;ϥ?"k/C*kBkrP[\?k \! 2k5Ck!am9?kAA. kNCk]_BkZ@ addTargetRange:: Added new target pos. range: 382.700012 m, deltaT: 4.034290 s, deltaX: -0.299988 m, approachRate: -0.074359 m/s, rangeRepo size: 4  Added new target pos. range: 382.700012 m, bearing: 65.640864 deg, lat: 36.902513 deg, lon: -122.122265 deg, deltaT: 4.034290 s, deltaX: -0.299988 m, approachRate: -0.074359 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 382.70 m.BjJj ProNav: ac range: 382.700012 m, nav range: 55.841549 m, bearing: 118.489264 deg, approach rate: 0.000000 m/s, LOS rate: -0.639104 deg/s, cmd heading: 328.809214 deg, new cmd heading: 328.043105 deg. 2jHeadingCmd: 5.725432 target range: 382.700012 and range: 382.70 m. j6@jjjihhhhfffrf@3w@bf#?ɛ] Be&= ae^~>Ia enX<ɚaiiImB9=IuiqiuyO>)u6@)q*F5?2F1:F1BF5_0JF1"G==G=>zK#OK9KK KG>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO=r>H=+>I9 I=&II=BI9&I9.I96I=<:I=a FBIȝCJIȝCRIZI' =bI' =jIȇK5 I k|w,A2"@Y22@2R=92 G٣IGy- > Nusing accuracyPremultiplier from config%59EB?%5Y -3 iBG?:t@2E7 ;w;%5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.Zj)5FNOT Ignoring new targets: 382.70 m.Bj=;Jj=;M ProNav: ac range: 382.700012 m, nav range: 56.056725 m, bearing: 118.641094 deg, approach rate: 0.519221 m/s, LOS rate: 0.364961 deg/s, cmd heading: 328.043112 deg, new cmd heading: 328.496844 deg. 2jMxzI <ɚiIc9=I iiay=)w@)*Fi2Fi:FiBFqJFqJJJJJ:J :JJJ<J<JR;JR;G >Gi Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >|w,A $?I:@Y:9@:wVO=9:Dhh jG٣hynL n> rNusing accuracyPremultiplier from configpv%59rVB?v%5Yr/3 irBxzzt@r6Er;r;r%%5B @BEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 382.70 m.Bj!;Jj!; ProNav: ac range: 382.700012 m, nav range: 56.247074 m, bearing: 118.768983 deg, approach rate: 0.488667 m/s, LOS rate: 0.327207 deg/s, cmd heading: 328.496855 deg, new cmd heading: 328.879218 deg. 2j`<HeadingCmd: 5.740025 target range: 382.700012 and range: 382.70 m. jI@jjjihhhhfffrfbfx?ɛ-B-Ϻ(= )->I) 5<ɚ1i1I5̂9=I= i9i==)=I@)I*F?2F:FBF`0JFGq@>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.GaBqO9>zK BoHK s9K K K   ߿ |w,y5A2@Y2Z @2J=92~xx zG٣xyz/ ~> Nusing accuracyPremultiplier from config %59 iB? %5Y 33 iB Ct@:EQ;;%5B %7@%EEH->I I'IIɇBI' =&I.I6I<:I FZjaeFNOT Ignoring new targets: 382.70 m.Bjm;Jjm;} ProNav: ac range: 382.700012 m, nav range: 56.458851 m, bearing: 118.904748 deg, approach rate: 0.498131 m/s, LOS rate: 0.318142 deg/s, cmd heading: 328.879209 deg, new cmd heading: 329.284971 deg. 2j}VZ<HeadingCmd: 5.747107 target range: 382.700012 and range: 382.70 m. jM@jjjihhhhfffrfbf ]W? $?Iɛ5B5k/= 1=>I9 =*<ɚ9i9I=ؚ9=IEp< iE hiEO=)EM@)EEpA*F?2F:FBF_0JFG GpAGm#=GBO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.15?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723373J J J 0J J :J :J ـ3J J ;J ;J U;J U;|w,XOA2@Y2@2j7P=92 G٣IGy > Nusing accuracyPremultiplier from config%59{B?%5Y63 iBV?:Ot@>ED;;r%5B @BEZjFNOT Ignoring new targets: 382.70 m.Bj Y;Jj Y;% ProNav: ac range: 382.700012 m, nav range: 56.668720 m, bearing: 119.047041 deg, approach rate: 0.536730 m/s, LOS rate: 0.362558 deg/s, cmd heading: 329.284977 deg, new cmd heading: 329.710266 deg. 2j%x<-HeadingCmd: 5.754530 target range: 382.700012 and range: 382.70 m. j-%@j)j)j)i)h1h1h1h=Bf9f9f9rf9bfE`?ɛuBu<:= qun>Iy }B<ɚyiyI}69=IUii-i[=)-%@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975823*F?2F:FBF0JF IiGj=G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227141Z|w,1iAy=B=&IIMIM94٢md- mN=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config%59B?%5Y83 iBt@BE":q:%5 @ZjFNOT Ignoring new targets: 382.70 m.Bj`;Jj`; ProNav: ac range: 382.700012 m, nav range: 56.863842 m, bearing: 119.178184 deg, approach rate: 0.491761 m/s, LOS rate: 0.329382 deg/s, cmd heading: 329.710279 deg, new cmd heading: 330.102351 deg. 2j b<HeadingCmd: 5.761373 target range: 382.700012 and range: 382.70 m. j+]@jjjihhhhfffrfbf@ɛ-B-6= )5>I1 5Y<ɚ1i1I=9=I=zi=^؃iE5PM=)E+]@)A*F?2F:FBF1JFGe[=zKLK9KK K 9'wofb^ZUSL@/ BKpA:KpAGYBaO}Y>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479123ZHRH@AH.>I I'IIއBI% =&I.I6IH<:I& F $?I |w,9 A2A@Y2Ų@2S=92' G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732188yN > -Nusing accuracyPremultiplier from config!]%59%B?e%5Y%;3 i%Be?e:emt@%FE%g<%&^<%%5 @?EZjFNOT Ignoring new targets: 382.70 m.Bj 1;Jj 1;= ProNav: ac range: 382.700012 m, nav range: 57.079166 m, bearing: 119.324275 deg, approach rate: 0.484258 m/s, LOS rate: 0.327314 deg/s, cmd heading: 330.102360 deg, new cmd heading: 330.538970 deg. 2j=`I <ɚiII9=IiFȁi(<)@)IJJJJJL:J :JJJO;JQ;JS;JS;*F2F:FBF3JF"G=G=Go7=GqBO>)  5 |uAA } Y} |uAy} B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983220 -@ B I &|w,0A237@Y2F@2S=92iIb<IfIf4٢n nR=9rQ r>pp vG٣vIGyvb v> ~Nusing accuracyPremultiplier from configx~&59zұB?&5Yz>3 izBt@zJEz;z;z&5 B @IQ U<ɚYiYI]|9=I]liaie;)e и@)a*F?2F:FBFQ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.== BDAT read: Rx Time:22:10:09.4608  TRx dataTimestamp_ set to:1736374210.617060checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236610G \=GBO >zK- \NK- +9K) K- K- RK= ?JK= ? -|w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487178fޱ@Yf%@fΣP=9fI G٣yؼ > %Nusing accuracyPremultiplier from config!-&59%fB?-&5Y%A3 i%B)-8-u@%NE%r;%r;%d&59 =ܰ@9ZjaeFNOT Ignoring new targets: 382.70 m.Bjm;Jjm;H->I I)'IIBI& =&I.I6In<:IA F ProNav: ac range: 382.700012 m, nav range: 57.477978 m, bearing: 119.580628 deg, approach rate: 0.545521 m/s, LOS rate: 0.344104 deg/s, cmd heading: 330.905863 deg, new cmd heading: 331.305354 deg. 2j'l<HeadingCmd: 5.782369 target range: 382.700012 and range: 382.70 m. j+ @jjjihhhhfffrfbf@ @ }$?IyɛBoC= >I <ɚiI9=I5i9iT])+ @) *F?2F:FBF_0JFG#.=GBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: Range 10 to 50 : 382.8 m (Round-trip 510.5 ms) speed 0.0 m/s 5,DAT read: user:2357> -=X#Rx 1: Read range message, but no direction.!y%fC!=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.3|w,@A6@Y6)@6}M=96]:=y6H`?r?`U?2S߿ ?{﬩_??ɨ6@6;6CyNBN&I5Mb@Mb@Mb@111 1)1Y59v?~jt?~jthy5?5D<5D5v@ 5@)5hAI5@1y5@IEIE4٢,B ?=9eQ > G٣y > Nusing accuracyPremultiplier from config&59B?&5YD3 iB?:u@RE R;P;"&5B @9E- addTargetRange:: Added new target pos. range: 382.799988 m, deltaT: 3.779166 s, deltaX: 0.099976 m, approachRate: 0.026454 m/s, rangeRepo size: 4 Zj)5FNOT Ignoring new targets: 382.70 m.Bj=>;Jj=>;M ProNav: ac range: 382.700012 m, nav range: 57.688618 m, bearing: 119.712621 deg, approach rate: 0.490788 m/s, LOS rate: 0.306419 deg/s, cmd heading: 331.305347 deg, new cmd heading: 331.699874 deg. 2jMJRI m<ɚiIN9=Iliꂻi )A@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiqBDAT read: Tx time:22:10:10.5461 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249671| :|w,yAyB&I)! !JAJEJAJAJAJE:JAJAaU@aU@aU@aU@I5I5)4٢eG mP=9mQ m>qq uG٣uIGy} }> Nusing accuracyPremultiplier from config&59B?&5YG3 iBu@UE*:: &5 @ZjFNOT Ignoring new targets: 382.70 m.BjҮ;JjҮ; ProNav: ac range: 382.700012 m, nav range: 57.881828 m, bearing: 119.832679 deg, approach rate: 0.493584 m/s, LOS rate: 0.305681 deg/s, cmd heading: 331.699886 deg, new cmd heading: 332.058853 deg. 2jQ<HeadingCmd: 5.795520 target range: 382.700012 and range: 382.80 m. jt@jjjihhhhfffrfbfmr?ɛBF= 隽>I <<ɚiI9=I6i5icȼ)t@)*F?2F:FBFJFzK=a3JK=9K9K= K=  %*+.0-+7AFJKLKIEA@=<9796BKEqA:KA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501425H}.>Iy I}#'II}BI}' =&Iy.Iy6I}˰<:I} F YI]iG~q;G B O >: A|w,`AN_@@YNO@NgV:=9N=yNHЯ?@ ??.߿ ?`H?`?ɨN_@@Nb;NCy^B^&IMMb@Mb@Mb@III I)IYM(\?I +?y G٣y > Nusing accuracyPremultiplier from config&596B?&5YJ3 iB?:u@YE;;&5 P@6EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755017Zjq}FNOT Ignoring new targets: 382.70 m.Bj}̠;Jj}̠; ProNav: ac range: 382.700012 m, nav range: 58.083046 m, bearing: 119.953375 deg, approach rate: 0.470368 m/s, LOS rate: 0.281161 deg/s, cmd heading: 332.058854 deg, new cmd heading: 332.419681 deg. 2j@<HeadingCmd: 5.801818 target range: 382.700012 and range: 382.80 m. j~@jjjihhhhEBfffrfbfQ?ɛEB0<= 隥>I <ɚiI89=IuiHiL#)~@)*F}?2Fy:FyBF}`0JFyGU GBO=r> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006991 = $?I9 Z5G|w,;A2"@Y292@2.=92X=y2H١?#?NE?굿ѥ (?`?ɨ2"@2i;2CyNBN&IIVIV̍4٢^# ^V=9bQ b>`d fG٣dyf f> nNusing accuracyPremultiplier from confighn&59jt C?r&5YjM3 ijsBprru@j]Ejj:jj:jp&5t zͲ@xB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 382.70 m.Bj;Jj; ProNav: ac range: 382.700012 m, nav range: 58.272129 m, bearing: 120.065017 deg, approach rate: 0.490487 m/s, LOS rate: 0.288663 deg/s, cmd heading: 332.419679 deg, new cmd heading: 332.753515 deg. 2jF<HeadingCmd: 5.807644 target range: 382.700012 and range: 382.80 m. j9ع@jjjihhhhf!f!f!rf!bf-`?ɛ]݆B]5C= Y]>IY ]n<ɚaiaIe9=ImzimX im0?)m9ع@)qEyE}mA*F?2F:FBF0JF"G=G=GEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259392GyBO?>JUJUJQJQJU,:JU:JQJQ\M|w, 8A"Will construct direction to contact in vehicle frame from tetrahedron phase data. i"A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509667zK.MK.ػ9K,K. K.30+#       N)@YNH9@N==9N=yNH`z?@? H࿃?g m棿?g?ɨN)@N։;LH%/>I! I%'II%ԇBI%& =&I!.I!6I%<:I%e FBIJIRIZI& =bI& =jI5yEBE&IiU=IU> }=yII4 I٢޼ >=9 Q > G٣IGy`: > ]Nusing accuracyPremultiplier from configQ]&59UC?e&5YUP3 iUeBaeeu@UaEUb;UQ;Ud&5 .@5EZjFNOT Ignoring new targets: 382.70 m.Bjɬ;Jjɬ; ProNav: ac range: 382.700012 m, nav range: 58.497131 m, bearing: 120.197065 deg, approach rate: 0.516794 m/s, LOS rate: 0.302126 deg/s, cmd heading: 332.753511 deg, new cmd heading: 333.148124 deg. 2jXO<%HeadingCmd: 5.814532 target range: 382.700012 and range: 382.80 m. j%@j!j!j!i!h!h!hIhIfIfQfQrfQbfU ?ɛچBp8:= 5>I  <ɚiI9=ITiNxiP)@)*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761546G vż*Je R="Ja G B O >gCT|w,QA6G@Y6eW@6q=96~=y6H ??ő߿@t?Ժ`-ns??ɨ6G@6,;6Cy>qB>&IMb@Mb@Mb@ )Y㥛 ?Mb?I +y?<94A ~@)Iyp@II(4٢텽 I=9iQ > G٣yx< > Nusing accuracyPremultiplier from config&59M-C?&5YS3 iXB?:u@dEK;`J;&5 @Zj  FNOT Ignoring new targets: 382.70 m.Bj;Jj;% ProNav: ac range: 382.700012 m, nav range: 58.690018 m, bearing: 120.309048 deg, approach rate: 0.512687 m/s, LOS rate: 0.296669 deg/s, cmd heading: 333.148132 deg, new cmd heading: 333.482973 deg. 2j%K<-HeadingCmd: 5.820376 target range: 382.700012 and range: 382.80 m. j-@@j)j)j1i1h1h1h9h=/Bf9f9fArfAbfEw@ɛ׆B<= >I <ɚiIC9=I%^i%Hki%V)%@@)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014531 $?I*FM?2FI:FIBFMZ5JFIGGBOEs> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265945}Z|w,\lAj7@Yj@j=9jN>yjH@_?xU?á X߿?@G\?}?ɨj7@jό;jCyvjBv&IJSK[|3 K[L.KSKS"KSJJJJJ :J:JJI-I-y4٢5Y =P=9=TQ =>AA EG٣AyE< M> UNusing accuracyPremultiplier from configI]&59MQ>C?]&5YMV3 iMMBY]eu@MhEMt;M;M0&5mB mt@m2EZj 5FNOT Ignoring new targets: 382.70 m.Bj=;JjU;e ProNav: ac range: 382.700012 m, nav range: 58.886383 m, bearing: 120.424993 deg, approach rate: 0.480502 m/s, LOS rate: 0.282768 deg/s, cmd heading: 333.482975 deg, new cmd heading: 333.829645 deg. 2jeBI }<ɚi!I%M9=I%Hi-bi-?E)-r@)Q*F2F:FBF14JFGqA GGNEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518348GzKjMK9KK KREGD6(+ [B2& BOh>H0>I I&IIBI&I.I6I<:IR F $?IXa|w,DAnԱ@YnF@n<9n>ynH? ?`Х@޿@u? ̏5"??ɨnԱ@n;nCyz]Bz&I)| |Mb@Mb@Mb@ )YI +?I +~jty9?94DA @)I@y@II?4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769645٢p C=9Q >IQ UG٣UIGyU<< U> eNusing accuracyPremultiplier from configYe&59]PC?m&5Y]Y3 i]?BH?:ou@]lE] <] <] &5 5@0EZj%FNOT Ignoring new targets: 382.70 m.Bj%J;JjMJ;U ProNav: ac range: 382.700012 m, nav range: 59.105198 m, bearing: 120.545961 deg, approach rate: 0.502506 m/s, LOS rate: 0.276773 deg/s, cmd heading: 333.829648 deg, new cmd heading: 334.191204 deg. 2j]=<]HeadingCmd: 5.832737 target range: 382.700012 and range: 382.80 m. j]ȥ@jajajaiahahhh Bfffrfbf @ɛцB^K1=  >I  <ɚ i I R9=I2i|iKF)ȥ@)*Fu?2Fq:FqBFu?1JFye Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021487 I G G ?G Gq B O >3g|w,uAJ$ @YJ@Jc<9JM>yJH?c|?j͜޿?¿g@?@˜?ɨJ$ @JĊ;HyjHBje&IIrIr4٢~ ~X=9Q >  G٣ y <  > Nusing accuracyPremultiplier from config&59 `C?%&5Y\3 i5B!%%u@oE;;%$&5) 5@1UB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 382.70 m.Bje;Jjm; ProNav: ac range: 382.700012 m, nav range: 59.286232 m, bearing: 120.646811 deg, approach rate: 0.522949 m/s, LOS rate: 0.290434 deg/s, cmd heading: 334.191211 deg, new cmd heading: 334.492835 deg. 2jRG<HeadingCmd: 5.838001 target range: 382.700012 and range: 382.80 m. jк@jjjihhhhfffrfbf b @ɛΆBK0= Fr>I <ɚiI"9=I,ijϗiB)к@)*Fm?2Fq:FqBFu`0JFqGMdLWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:10:13.4609 TRx dataTimestamp_ set to:1736374214.650560checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277214GaByO;>J=J=J9J9J=:J=:J9J9Tm|w,inA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525568>YL@Y>[@><9>'>y>H@n7?@?4-'޿@?%ÿ>6`? ?ɨ>YL@>jډ;<HZ2>IZC IZ&IIZBIZ% =&IX.IX6IZs<:IZJ FzKfNKfh9KdKf Kf  ,n&,/&   BL{Oyn8BnQ&IIzIzb4٢~ ~I=9Q >   G٣ y?< > Nusing accuracyPremultiplier from config%&59bqC?%&5Y_3 i*B! 5$?I1-=u@sEq|;|;'&5EB E@E-EZj!-FNOT Ignoring new targets: 382.70 m.Bj-;Jj-;= ProNav: ac range: 382.700012 m, nav range: 59.489433 m, bearing: 120.761358 deg, approach rate: 0.475958 m/s, LOS rate: 0.267387 deg/s, cmd heading: 334.492832 deg, new cmd heading: 334.835296 deg. 2j=7I1 5G<ɚ1i1I58=I=i}ۚi}ӽ:)@)EdO=Will construct direction to contact in vehicle frame from tetrahedron phase data.=%=DAT read: 22:10:13.4609 LVL= 21200, 25889, 27634, 28803, AGC= 65, IDX= 441, 0.00, 0.860, 0.009,-1.234,-0.167, PHS= 1.115, 0.223,-1.071, RAW= 53.9, -2.8, CAL= 57.1, -6.8, ROT= 92.9, 6.8 Ygot valid direction response: 22:10:13.4609 LVL= 21200, 25889, 27634, 28803, AGC= 65, IDX= 441, 0.00, 0.860, 0.009,-1.234,-0.167, PHS= 1.115, 0.223,-1.071, RAW= 53.9, -2.8, CAL= 57.1, -6.8, ROT= 92.9, 6.8 PDAT read: Bearing 92.9, 6.8 (Local) *F= ?2F9 :F9 BF= _0JFA "GA GE =] ~Local bearing/azimuth received: Bearing 92.9, 6.8 (Local) u DAT read: Range 10 to 50 : 382.9 m (Round-trip 510.6 ms) speed -0.1 m/s = ,DAT read: user:2358> E BDAT read: Tx time:22:10:14.5461 E $Ping request sent.E ?ysCR!e k)pIAiR?Zd>p?+H  ?)Id?i=Zص?xp6yǾ>[)I6J=iE?%\ :publishing transmit ping timeA  Fpublishing direction and range info9*g?lk,?ם#>?y )Ii )IiZص?xp6yǾ>[)IiG {TBG -GB ! MYIyUwBOU>u|w,AF@YF@F`l<9F\f,>yFHjS?w?@ M@ݿ`?Ŀ<q??ɨF@FgL;FCyR,BRC&IiZ=IZ< ^a=\%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:22:10:14.5454 %Mb@Mb@Mb@!!! !)!Y%n?~jty&1y%?%ļ%`e% A %@)!I%3@!y%(AIeIey4٢} 3 }=9}FڻQ }> G٣IGyb< > Nusing accuracyPremultiplier from config&59C?&5Yc3 iB/?:u@xEr#;;9,&5 <@k%Wg?kFz" k kMA:ksCBk#CZkah|?"=+@ O1o@'͌E!r@*g?lk,?ם#>?JkE?Rk%\* N@c[@qd@'wt@WpMnO?({ ?Jsr^?"kt%C*kBkܖg?k\" 2kCk >?k۹.& kCkCkd? addTargetRange:: Added new target pos. range: 382.899994 m, deltaT: 4.034191 s, deltaX: 0.100006 m, approachRate: 0.024790 m/s, rangeRepo size: 4  Added new target pos. range: 382.899994 m, bearing: 56.491789 deg, lat: 36.902639 deg, lon: -122.121380 deg, deltaT: 7.813357 s, deltaX: 0.199982 m, approachRate: 0.025595 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 382.90 m.BjJj ProNav: ac range: 382.899994 m, nav range: 131.012009 m, bearing: 97.309314 deg, approach rate: 0.000000 m/s, LOS rate: 0.267387 deg/s, cmd heading: 334.835298 deg, new cmd heading: 335.252033 deg. 2j)5HeadingCmd: 5.851252 target range: 382.899994 and range: 382.90 m. j5t=@j1j1j1i9h9hAhAheBfififirfm`fw@bfu@Z?ɛȆBq= H>I {Y<ɚiI68=Ip&ݾiki<)t=@)E]&=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F% ?2F! :F) BF- <4JF) GMf:G!B1OU?TC}|w, A6 @Y6ȹ@6fq<96->y6H k? ?gݿ?@Ŀ:`M?@=?ɨ6 @6;6CyBBB,&IIJIJ4٢V  V9=9Z$Q Z>XX ^G٣\y^a< ^> bNusing accuracyPremultiplier from config`f&59bC?j&5Ybg3 ibBhjju@b|EbW;b;b0&5l n\@r*EZj FNOT Ignoring new targets: 382.90 m.Bj=w;Jj=w;5Will construct direction to contact in vehicle frame from tetrahedron phase data.- ProNav: ac range: 382.899994 m, nav range: 131.167496 m, bearing: 97.400187 deg, approach rate: 0.370282 m/s, LOS rate: 0.216153 deg/s, cmd heading: 335.252022 deg, new cmd heading: 335.524317 deg. 2j5X<=HeadingCmd: 5.856004 target range: 382.899994 and range: 382.90 m. j=cd@j9jAjAiAhAhAhIjH<bHH5>I I&II}BI$ =&I.I7D6I<:Ir FzKqpOK9KK K<Y W+}obYPF><6/,('# !   BK:K $?IhIfffrfbf?ɛEņBe\= im(>Ii m|<ɚiiiIm婄|w,Ay B &IMb@Mb@Mb@ )Yrh|?/$Qy?,uA @)I`@ypAII4٢ -=9Q > G٣y > Nusing accuracyPremultiplier from config&59gC?&5Yj3 iBR?: u@EJ4;1;74&5 ƺ@ZjFNOT Ignoring new targets: 382.90 m.Bjc;Jjc; ProNav: ac range: 382.899994 m, nav range: 131.346466 m, bearing: 97.498543 deg, approach rate: 0.362769 m/s, LOS rate: 0.199094 deg/s, cmd heading: 335.524328 deg, new cmd heading: 335.818991 deg. 2j<HeadingCmd: 5.861147 target range: 382.899994 and range: 382.90 m. j@jjj i hhhhffEWill construct direction to contact in vehicle frame from tetrahedron phase data.fArfIbfMV? $?Iɛ†B = 隥>I d<ɚiI7=Idؾi㤻iBL)@)EE*Fm?2Fi:FiBFiJFiGurA GqG5 8 Will construct direction to contact in vehicle frame from tetrahedron phase data. v? W?G B! OE >܊|w,-AB@YBz,@BX;9Bԑ.>yBH? [?K `ܿ&+? lÿ z?`?ɨB@B;BCyJBJ&I)P PIVIVF4٢^M ^[=9bxQ b>`` fG٣fIGyf= f> nNusing accuracyPremultiplier from configlr&59nC?r&5Ynm3 inBtvjvu@nEn@:n:n|7&5zB zV@~'EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 382.90 m.Bj-};Jj5};E ProNav: ac range: 382.899994 m, nav range: 131.486450 m, bearing: 97.577093 deg, approach rate: 0.396046 m/s, LOS rate: 0.221999 deg/s, cmd heading: 335.818982 deg, new cmd heading: 336.054380 deg. 2jE[=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.H9>IC Iz&IIZBI# =&IGD.I6Iy<:IU F IizKdNKh9KK K RK?JK?Ǒ|w,tGA_@Y/o@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.935061צ;9/>yHֶ??,'$?ܿH?rÿ@ttb??ɨ_@8;騍CyޭBޭ%IEMb@Mb@Mb@AAA A)AYE+?X9vS㥛yE?E}E/ݼErA E@)EhAIEv@AyEAI]I]4٢m m2=9unBQ u>qq uG٣qy}< }> Nusing accuracyPremultiplier from config&59C?&5Yq3 iB ?:# u@Ep;!;~;&5 }@&EZjamFNOT Ignoring new targets: 382.90 m.Bjmh;Jjmh;} ProNav: ac range: 382.899994 m, nav range: 131.667206 m, bearing: 97.674329 deg, approach rate: 0.378612 m/s, LOS rate: 0.203391 deg/s, cmd heading: 336.054378 deg, new cmd heading: 336.345683 deg. 2j} <HeadingCmd: 5.870339 target range: 382.899994 and range: 382.90 m. jٻ@jjjihhhhBfffrfbf@J J J J J :J  9J J J ;J ;J O>;J P>;ɛMBM< IM=II U<ɚQiQIUnA7=I]`Ӿi]Ui]7$)ٻ@)*F5?2F1:F1BF9JF9E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.186901 $?I G] IGa Ge qAG1 BA Oe >[|w,XaA6@Y6d@6Mc;96<.>y6H@?.?#@ۿ`?1ÿe`l?`>?ɨ6@6;6Cy>҆B>%IIHIH٢R Rl=9VQ V?XX ZG٣Xy^< ^? bNusing accuracyPremultiplier from config`f&59bbC?f&5Ybt3 ibBhj ju@bEb;b;b>&5l nʽ@pZj FNOT Ignoring new targets: 382.90 m.Bj;Jj;% ProNav: ac range: 382.899994 m, nav range: 131.803299 m, bearing: 97.748133 deg, approach rate: 0.415563 m/s, LOS rate: 0.225127 deg/s, cmd heading: 336.345672 deg, new cmd heading: 336.566852 deg. 2j%<-HeadingCmd: 5.874200 target range: 382.899994 and range: 382.90 m. j-r@j)j)j1i1h1h1h9h9f9f9f9rfAbfE?@ɛmBmE< qu83=Iq u<ɚqiqIu6=I}fѾi}:_i})r@)*Fm?2Fi:FiBFmZ5JFi"Gu=Gup=GEDWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440582GB)OE0>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690900|w,4{AH<>I IO&II6BI! =&I.I8D6IR<:I; FBICJICRICZI$ =bI$ =jI5 yNH?`_?4\`}ۿ*x?@nÿ@p]@? ?ɨN|˳@N-U;Ly~ʆB~%Ii>I;II4٢%' %C=9%܀Q %>)) -G٣-IGy5]< 5> =Nusing accuracyPremultiplier from config9E&59=pC?E&5Y=]x3 i=BAMMu@=EzKMLKM+9KIKM KM  =:=n<=0B&5B M@#EZjFNOT Ignoring new targets: 382.90 m.Bj%h;Jj%h; ProNav: ac range: 382.899994 m, nav range: 131.966507 m, bearing: 97.837586 deg, approach rate: 0.371691 m/s, LOS rate: 0.203470 deg/s, cmd heading: 336.566860 deg, new cmd heading: 336.834887 deg. 2j <HeadingCmd: 5.878878 target range: 382.899994 and range: 382.90 m. j@jjjihhhhff frfbf @ɛBѪ<  =I  ?<ɚ i I  6=IlϾi魻ig+)@)A*F?2F:FBF`5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.խ>խ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.943527J J @AJ- J- J) J) J- L:J- 9J) J) J- P;J- Q;J- %7;J- %7;G= fL$G B! O= > |w,A6@Y6&@6Ǹ9680>y6Hu?`?Ϧ2ۿ?@ÿ >?`J??ɨ6@6;6Cy>B>%I Mb@Mb@Mb@    ) Y RQ?KQy "? ^  A ) AI QA y AI%I%4٢5 5J=95Q 5>99 =G٣9yEK< E> MNusing accuracyPremultiplier from configIU&59M D?U&5YM |3 iMBUf$?U:U=u@MEM6])|w,ЮA6@Y6J/@696(/>y6H ?`{?ڿ@X?@ÿ@_??@n?ɨ6@6;4yrBr%II I 4٢MI MH=9UQ U>QQ ]G٣Yy]S< e> mNusing accuracyPremultiplier from configau&59ebD?u&5Ye3 ieBquuu@eEe ;e ;eII&5 @ EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 382.90 m.Bj;Jj; ProNav: ac range: 382.899994 m, nav range: 132.304428 m, bearing: 98.009123 deg, approach rate: 0.446619 m/s, LOS rate: 0.227136 deg/s, cmd heading: 337.090381 deg, new cmd heading: 337.348815 deg. 2j<HeadingCmd: 5.887847 target range: 382.899994 and range: 382.90 m. j?i@jjjihhhhfffrfbf @ɛBR< 7I %"P<ɚ!i!I%5=I-iʾi-i-9)-?i@))*F?2F:FBF_0JFGqA GqA%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.699234HE@>IEC IE#&IIEBIE = e!$?Ia&IA.IA6IE:<:IE- FGu zKLK9KK K GQBYO}>|w, BDAT read: Tx time:22:10:18.5961 $Ping request sent.yuH?`~1?貿 ڿ ?@%ÿ0m??`?ɨuF@uO;uCUFpublishing direction and range infoy9}h8>?ύe%?f"?y}fCy}pM}f }B_)}cI}Ci}j?}K?}}%?}iw }?)}ϢI}?i}Ϣ>yy}<̚]?T%Dǒx#տ)}I}]Z>i}0?}TBgyym:publishing transmit ping timemFpublishing direction and range infoy9}h8>?ύe%?f"?yyyޥBޭ%IJJJ1JJ:J9J3JJ8;J9;J<;J<;yyy y)yIyiyyyyy y)yIyiyyy}<̚]?T%Dǒx#տ)yIyiyyyy)  -only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3768,V  @ @ @  @ I I E4٢5 ==9=>LQ =>AA EG٣EIGyE< U> bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config&59k5D?&5Y3 iB+::u@E; ?)M&5 B @ Ek}k?k}}* ky k}A:k}fCBk}CZk}>"}8a`@ձj@םs@}h8>?ύe%?f"?Jk}0?Rk}TBg*}'-f@zEV@6fu@}??G?v?"k}B*k}7Ck}^z?k}(m* 2k}Ck}rP[\?kyk}Ck}QCk}5͇?addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 404.799988 m, deltaT: 4.031344 s, deltaX: 21.899994 m, approachRate: 5.432430 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 382.90 m.Bjd;Jjd;5 ProNav: ac range: 382.899994 m, nav range: 132.531082 m, bearing: 98.125061 deg, approach rate: 0.391983 m/s, LOS rate: 0.200163 deg/s, cmd heading: 337.348808 deg, new cmd heading: 337.696022 deg. 2j5^ <=HeadingCmd: 5.893908 target range: 382.899994 and range: 382.90 m. j=䚼@j9jAjIiIhIhIhIhQfQfQfQrfULy@bf]ސ?ɛ%B%R< )-I) 5t<ɚ1i1I5[5=I=jOǾi=7ִiE)E䚼@)A Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:22:10:18.5954 E "$?IA *F ?2F :F BF @5JF G GBO>G|w,Ab!@Yb@bzt9b>+>ybH6??)Aڿ?A&ÿ }N~?`Od?@?ɨb!@b.b;bCy=B=%III.4٢g _=9(Q > G٣y< > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config&59ED?&5YӇ3 ixB :X: u@E;;h?3O&5 >@Will construct direction to contact in vehicle frame from tetrahedron phase data.Zj!%FNOT Ignoring new targets: 382.90 m.Bj-ă;Jj-ă;= ProNav: ac range: 382.899994 m, nav range: 132.677231 m, bearing: 98.200752 deg, approach rate: 0.445357 m/s, LOS rate: 0.230397 deg/s, cmd heading: 337.696027 deg, new cmd heading: 337.922848 deg. 2j=I C I &II BI  =&I .I 9D6I P<:I A FGi Bq O >zKe }@LKe h9Ka Ke Ke  a|w, AJ@YJ@J҈"9J=.>yJHy=?@]?@峿Jٿ S?gLÿ`Q??K?ɨJ@J ;JCyRBV%II^I^ 4٢f fZ=9jܻQ j>hl nG٣lyn; n> vbBottom track data is 1.3 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpz&59rVD?~&5Yr3 irjB9/:   u@rEr,|w,A I >Will construct direction to contact in vehicle frame from tetrahedron phase data.yNHE?`\? .ٿ@?ÿ ? N??ɨN\@N,\;NCyVBZ%Ii^a=I^i> M U UU UU  U U UMb@Mb@Mb@QQQ Q)QYUJ +?X9v rhyU(?UUC UA U@)U@IQQyUAImImt4٢}DZ }>=9}[Q > G٣IGya; > Nusing accuracyPremultiplier from config&59kD?&5YY3 iUBT:+?:1u@Ev;;T&5I Md@IZjFNOT Ignoring new targets: 382.90 m.Bj;Jj; ProNav: ac range: 382.899994 m, nav range: 133.023697 m, bearing: 98.372113 deg, approach rate: 0.470545 m/s, LOS rate: 0.223616 deg/s, cmd heading: 338.160426 deg, new cmd heading: 338.436244 deg. 2jw<HeadingCmd: 5.906827 target range: 382.899994 and range: 382.90 m. j@jjjihhhhBfff rf bf v?ɛUBUk< Q]>IY ]D%<ɚYiYI]'4=IiA_i&)@)*F?2F:FBF`0JF!-Will construct direction to contact in vehicle frame from tetrahedron phase data.G= xG B! O= >ľ|w,u5A6ʴ@Y6ڻ@6X96+>y6H0O?/?A5pٿ? ¿ ?^?K?ɨ6ʴ@6+;6Cy>B>%IIUIUݜ4٢m= mL=9mw?Q m>qq uG٣qy}6; }> Nusing accuracyPremultiplier from config&59}D?&5YC3 iCBuu@Ev::0X&5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 382.90 m.Bj;Jj; ProNav: ac range: 382.899994 m, nav range: 133.203445 m, bearing: 98.457770 deg, approach rate: 0.476100 m/s, LOS rate: 0.226574 deg/s, cmd heading: 338.436256 deg, new cmd heading: 338.692879 deg. 2j~<HeadingCmd: 5.911306 target range: 382.899994 and range: 382.90 m. jk)@jjjihhhhfffrfbfm?ɛB;j< I <ɚiI3=Ifi{i<)k)@)! =$$?I=iH}H>Iy I}%II}BI} =&Iy.Iy6I}-<:I}+ FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FE?2FA:FABFMt0JFIzKLKs9KK KRK?JK?Gm GA Bq O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979230  nManaging dock network, ignoring radio surface power off|w,TOAy5B=%IMb@Mb@Mb@ )YMbX?HzGQy*?= A )v@I@yII4٢  A=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-&59%D?-&5Y%3 i%0B-b.?-:-55u@%E%#;%u;%[&5=B =@=EZjaeFNOT Ignoring new targets: 382.90 m.Bjmt;Jjmt;} ProNav: ac range: 382.899994 m, nav range: 133.400360 m, bearing: 98.548480 deg, approach rate: 0.465441 m/s, LOS rate: 0.214091 deg/s, cmd heading: 338.692880 deg, new cmd heading: 338.964605 deg. 2j}<HeadingCmd: 5.916049 target range: 382.899994 and range: 382.90 m. jEP@jjjihhhhBfffrfbf#@ɛBJH< I <ɚiI/33=I\iPھi/)EP@)*F?2F:FBF]2JFG GpA !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227737GG B O >a|w,u:iAV@YV#@Vm9V(>yVH@f? L?ﳿ@ٿ` ?¿ [? 8? (?ɨV@V :;VCyfBf%I)p pI I 4٢%2= %Y=9-]Q ->)) 5G٣5IGy5(< 5> ENusing accuracyPremultiplier from config9E&59=ɣD?M&5Y=X3 i= BIMjMu@=E=Y;=;=._&5Y ]@YZjFNOT Ignoring new targets: 382.90 m.BjAt;JjAt; ProNav: ac range: 382.899994 m, nav range: 133.573547 m, bearing: 98.629029 deg, approach rate: 0.459733 m/s, LOS rate: 0.213544 deg/s, cmd heading: 338.964612 deg, new cmd heading: 339.205945 deg. 2j<HeadingCmd: 5.920260 target range: 382.899994 and range: 382.90 m. jr@jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479171ɛB<  TI 7<ɚiI 2=I FѹiiS")r@)JMJMJIJIJM|:JM9JIJIaU@aU@aU@aU@*FY2FY:FYBF]E5JFYGH0 &$?I Hi Ii  Ii Ii Ii &Ii .Ii 6Im @<:Im 9 FG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731189O zK iJK h9K K K BK pA:K qA6|w,A2L"@Y21@2[92'>y2Hq?I?`. ٿ`?`t¿ ?b?@?ɨ2L"@2V ;0yNBR%IIZIZļ4٢bU= bQ=9bGQ f>dd fG٣dyj< j> nNusing accuracyPremultiplier from configlr&59nWD?r&5Yn?3 inBpvvu@nEn? ;n ;nb&5x z@zEZjFNOT Ignoring new targets: 382.90 m.Bj%b;Jj%b;5 ProNav: ac range: 382.899994 m, nav range: 133.753098 m, bearing: 98.712774 deg, approach rate: 0.425645 m/s, LOS rate: 0.198260 deg/s, cmd heading: 339.205936 deg, new cmd heading: 339.456832 deg. 2j5<]HeadingCmd: 5.924639 target range: 382.899994 and range: 382.90 m. j]@jYjYjYiYhYhahahafafifirfibfm&@ɛ5B5?< 15 /_|w,A6D@Y6S@6ۊ96G(>y6H ~?QN?k-@ؿ "?ty¿`>[??x?ɨ6D@6>;6Cy>B>%IBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.239122-Mb@Mb@Mb@))) )))Y-K7?T㥛 /$y-)?--- A ))-I@I-A)y-(AIIפ4٢U= ]5=9e3Q e>ii mG٣iy}n< }> Nusing accuracyPremultiplier from config&59/D?&5Y3 iB,?:u@EZ;;f&5 @ZjAMFNOT Ignoring new targets: 382.90 m.Bjn~;Jjn~; ProNav: ac range: 382.899994 m, nav range: 133.959732 m, bearing: 98.811392 deg, approach rate: 0.466797 m/s, LOS rate: 0.222440 deg/s, cmd heading: 339.456823 deg, new cmd heading: 339.752220 deg. 2j<HeadingCmd: 5.929795 target range: 382.899994 and range: 382.90 m. j@jjjihhhhBfffrfbf`b @ɛB< ,*=2=I <ɚiI?v1=I﴾ifŻi}+)@)*Fe?2Fi:FiBFm_0JFi"Gu=Gu=5Will construct direction to contact in vehicle frame from tetrahedron phase data.5=54==BDAT read: Rx Time:22:10:21.5108 ETRx dataTimestamp_ set to:1736374222.720995Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.493257Gm sT)Jm Jm Ji Ji Jm :Jm u9Ji Ji Gy B O >S|w,O϶A:!b@Y:q@:H9:D)>y:H??@u`<ؿ-?h¿Ȓ?`? ?ɨ:!b@: ;:CyJʆBJ%IiN%>IN= Rp=PIVIV4٢^D= ^e=9^Q b>`` bG٣bIGyf+< f> jNusing accuracyPremultiplier from confighn&59jD?n&5Yj3 ijBlr ru@jEj7 ;j:ji&5vB v@vEEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 382.90 m.Bj]{;Jj]{;m ProNav: ac range: 382.899994 m, nav range: 134.116623 m, bearing: 98.886503 deg, approach rate: 0.460686 m/s, LOS rate: 0.220293 deg/s, cmd heading: 339.752215 deg, new cmd heading: 339.977281 deg. 2jm/M Will construct direction to contact in vehicle frame from tetrahedron phase data.|w,A:DAT read: 22:10:21.5108 LVL= 20832, 23777, 29842, 32755, AGC= 71, IDX= 135, 0.08,-0.135,-0.879,-2.206,-1.109, PHS= 1.062, 0.278,-1.100, RAW= 51.0, -2.6, CAL= 53.3, -6.1, ROT= 96.7, 6.1 >Ygot valid direction response: 22:10:21.5108 LVL= 20832, 23777, 29842, 32755, AGC= 71, IDX= 135, 0.08,-0.135,-0.879,-2.206,-1.109, PHS= 1.062, 0.278,-1.100, RAW= 51.0, -2.6, CAL= 53.3, -6.1, ROT= 96.7, 6.1 FPDAT read: Bearing 96.7, 6.1 (Local) F~Local bearing/azimuth received: Bearing 96.7, 6.1 (Local) JDAT read: Range 10 to 50 : 382.8 m (Round-trip 510.4 ms) speed -0.3 m/s N,DAT read: user:2360> RBDAT read: Tx time:22:10:22.5962 R$Ping request sent.Rم̌مc?م9 څ%n?)څ^ ڽIڅ?iڅ^ =ځځۅ`3 ?\G䦿)ۅm-IۅF67=iۅ4?ۅuOہہm:publishing transmit ping timePuFpublishing direction and range info؁9؅2?7Ⱦs?sg1?y؁؁؁yޝӆBޝ%I؁ ف)فIفiففففف ځ)ځIځiځځځۅ`3 ?\G䦿)ہIہiہہہہ Mb@Mb@Mb@    ) Y #~j?y&1|y %? ̽ `  ) `@I  y QAIeIe44٢= -#=9-Q ->11 5G٣1y= => MNusing accuracyPremultiplier from configAM&59EED?U&5YE3 iEBU'?U:U& Uu@EEE/;Eo;E)n&5eB e|@eEk+3Zb?kB\, k koA:kfCBkCZkp?";,@Հaup@oWq@2?7Ⱦs?sg1?Jk4?RkuO*dF%3zV@4~Oh@Rss@/(OQ?9A?Ny?"kxBC*kѳBk]7b?k2Q 2kQCk]7b?k\" k5Ck>Ck9?= addTargetRange:: Added new target pos. range: 382.799988 m, deltaT: 8.071053 s, deltaX: -0.100006 m, approachRate: -0.012391 m/s, rangeRepo size: 4 ($?I Added new target pos. range: 382.799988 m, bearing: 65.187651 deg, lat: 36.903636 deg, lon: -122.120981 deg, deltaT: 8.071053 s, deltaX: -0.100006 m, approachRate: -0.012391 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 382.80 m.BjJj  ProNav: ac range: 382.799988 m, nav range: 190.712769 m, bearing: 61.871709 deg, approach rate: 0.000000 m/s, LOS rate: 0.220293 deg/s, cmd heading: 339.977283 deg, new cmd heading: 340.328080 deg. 2j HeadingCmd: 5.939846 target range: 382.799988 and range: 382.80 m. j7@jjjihAhAhAhEÆBfIfIfIrfMw@bfM@ܜ?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:10:22.5955 ɛB= p=I O<ɚiI0=I>ʯi˻iKB)7@)*F?2F:FBF^0JFGrA GqAG ;+G B O >*|w,A.Will construct direction to contact in vehicle frame from tetrahedron phase data.B@YB~@Bl9B+>yBH ??`v ؿ`H?J¿ d?@E?)) MG٣QyU< U> ]Nusing accuracyPremultiplier from configYe&59]xE?e&5Y]ޮ3 i]Bimmu@]E]0;] 2;]Sq&5 ?@ZjFNOT Ignoring new targets: 382.80 m.Bjej;Jjej;= ProNav: ac range: 382.799988 m, nav range: 190.723206 m, bearing: 61.942888 deg, approach rate: 0.030050 m/s, LOS rate: 0.204925 deg/s, cmd heading: 340.328082 deg, new cmd heading: 340.541608 deg. 2j= I <ɚiIQ`/=I᭾iͻi@',)1@)! IEm.=HuL>IuC Iu/&IIuBIq&Iq.Iq6Iu#<:Iu& F Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE ?2FA :FA BFE ]0JFA zK UMK ]9K K K     G 4?GiBO>%}w,Y4 ArWill construct direction to contact in vehicle frame from tetrahedron phase data.lٵ@Y@>ͼ95+>yH[?H)?C׿ Y?`X¿? d??ɨlٵ@,;CyB&I) AMb@Mb@Mb@ )YPn?MbMb`?y$?;A @)v@IyAII4٢.= =9hQ > G٣IGyf$< > Nusing accuracyPremultiplier from config&59 E?J@AJ&5Y3 iB$?: u@E;; v&5 @Zj9EFNOT Ignoring new targets: 382.80 m.BjE_;JjE_;U ProNav: ac range: 382.799988 m, nav range: 190.719589 m, bearing: 62.047513 deg, approach rate: -0.006760 m/s, LOS rate: 0.195569 deg/s, cmd heading: 340.541621 deg, new cmd heading: 340.855498 deg. 2jU7<]HeadingCmd: 5.949051 target range: 382.799988 and range: 382.80 m. j]^@jajajaiahahahihmBfififirfqbfuy?ɛB= 隥4>I $<ɚiI[.=Iiлi/)^@)Eu=*F-?2F):F)BF-_0JF)G .G G  5)$?I5iGBO>}Will construct direction to contact in vehicle frame from tetrahedron phase data.WE }w,&A2Y@Y2@2@iм92,>y2H?@"?5ҵ׿_?¿o ?`~??ɨ2Y@2s;2CyBBB&IIJIJr4٢jZ= jt=9jQ j?ll rG٣pyr; r? zNusing accuracyPremultiplier from configt&59v0E?&5Yv3 ivB u@vEvc;vc;vx&5 @ EZjYeFNOT Ignoring new targets: 382.80 m.Bje0[;Jjm0[; ProNav: ac range: 382.799988 m, nav range: 190.717194 m, bearing: 62.112488 deg, approach rate: -0.007065 m/s, LOS rate: 0.191628 deg/s, cmd heading: 340.855509 deg, new cmd heading: 341.050434 deg. 2j<HeadingCmd: 5.952453 target range: 382.799988 and range: 382.80 m. jz@jjjihhhhfffrfbf?ɛ B L.= z]>I! %~<ɚ!i)I--=IUicһiSw4)z@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.JKm3 KS}-KK"KJ%J%J!J!J%:J% :J!J!*F?2F:FBFJF"G=G= - *$?I) H Q>I  I a&II EBI  =&I .I :D6I E<:I C F Will construct direction to contact in vehicle frame from tetrahedron phase data.G a}w,-AA2&@Y2\6@2Ѽ92.>y2H@= RG=9V>͹Q V>TT VG٣ y ٌ< > Nusing accuracyPremultiplier from config&592EE?%&5Y3 iB!%%u@E::|&51 5m@1MB*** querying acoustic contact ***jQjQZjY]FNOT Ignoring new targets: 382.80 m.Bje_;Jje_; ProNav: ac range: 382.799988 m, nav range: 190.712524 m, bearing: 62.194295 deg, approach rate: -0.011172 m/s, LOS rate: 0.195736 deg/s, cmd heading: 341.050442 deg, new cmd heading: 341.295868 deg. 2jU<HeadingCmd: 5.956737 target range: 382.799988 and range: 382.80 m. j@jjjihhhhfffrfbf ۝?zKPLK9KK K ɛB5= P>I A<ɚiI,=IF$iNջi()@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GP<3Ga Bi O > iG% |uAA m Ym |uAym B}w,`[A 0I4>X@Y>g@>ͼ9>/>y>H?T6?zvֿࡂ?HÿC?`?`S?ɨ>X@>;>CyF3BFL&IiJ,>IJ> N=Np=%Mb@Mb@Mb@!!! !)!Y%x&1?:v:v?y%A ?%T%T<%rA %@)%@I%QA!y%@I=I=ƕ4٢M= MA=9MG:Q M>QQ UG٣UIGyem< e> uNusing accuracyPremultiplier from configi}&59mfYE?}&5Ym3 imB}S ?}:}ƾu@mEm;mp;mJ&5B ]@EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211774ZjIuFNOT Ignoring new targets: 382.80 m.BjuJL;Jj}JL; ProNav: ac range: 382.799988 m, nav range: 190.687607 m, bearing: 62.271759 deg, approach rate: -0.057443 m/s, LOS rate: 0.178605 deg/s, cmd heading: 341.295865 deg, new cmd heading: 341.528287 deg. 2j&;HeadingCmd: 5.960793 target range: 382.799988 and range: 382.80 m. jѾ@jjjihhhhBfffrfbfT@ɛ-B5^== 15>I1 5Ġ<ɚ1i9I=v+=I=iE=׻iE"#)EѾ@)A*F2F:FBF1JFGE r( Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464005G! B) Ou >}w,5uA6@Y6@6̼96u1>y6H??XO Xiֿ@?@ÿ@?@!?@`?ɨ6@6;6CyBBBB]&IIJIJ4٢R= RV=9V_9Q V>TT VG٣TyZ< Z> bNusing accuracyPremultiplier from config\f&59^lE?f&5Y^3 i^ Bdfþfu@^E^:^:^&5l nz@lZjFNOT Ignoring new targets: 382.80 m.BjV;JjV; ProNav: ac range: 382.799988 m, nav range: 190.663467 m, bearing: 62.343076 deg, approach rate: -0.063551 m/s, LOS rate: 0.187779 deg/s, cmd heading: 341.528283 deg, new cmd heading: 341.742260 deg. 2j<HeadingCmd: 5.964528 target range: 382.799988 and range: 382.80 m. jiݾ@jjjihhhhfffrfbf`$[@ɛeBe \M= mtûIi ml<ɚi U+$?IYiiIu*=I'iٻid&)iݾ@)ZH1RH5?AH=X>I=C I=&II=xBI= =&I9.I=;D6I=<:I=v F Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716913*F%?2F!:F!BF-_5JF)G5qA G1zKMLKIKIKM KM""!!#$'$$#!   Gm "GA BQ O >{#}w,%A2Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971155yUUBUv&IJJJJJ-:J9JJJ;aJ;aJ!;aJ!;aeMb@Mb@Mb@aaa a)aYeS?:v?Q?ye?e G٣y > Nusing accuracyPremultiplier from config&593E?&5Y_3 iB?:u@E;;&5 3@EZjFNOT Ignoring new targets: 382.80 m.BjT;JjT; ProNav: ac range: 382.799988 m, nav range: 190.614716 m, bearing: 62.432606 deg, approach rate: -0.101234 m/s, LOS rate: 0.185956 deg/s, cmd heading: 341.742259 deg, new cmd heading: 342.010913 deg. 2j=; HeadingCmd: 5.969216 target range: 382.799988 and range: 382.80 m. j @j j j i h hhhPBfffrfbf%`( @ɛMBUO= QU4>IQ U+j<ɚQiYI])=Ii{ܻi-)@) E,$?IA*F2F:FBF`5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. i checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220030G dG B O >)}w,Aj@Yj @jż9jW1>yjH`8?`?ۣqտ?@ʺÿ@"? ??ɨj@j;jCy~_B~&I)  I%I%4٢Ern= Ey=9E*;Q E?II MG٣MIGyMD!= U? ]Nusing accuracyPremultiplier from configYe&59]#E?e&5Y]3 i](Bimmu@]E]:]:]܊&5uB u@uEZjFNOT Ignoring new targets: 382.80 m.BjKL;JjKL; ProNav: ac range: 382.799988 m, nav range: 190.580414 m, bearing: 62.491339 deg, approach rate: -0.104294 m/s, LOS rate: 0.178609 deg/s, cmd heading: 342.010904 deg, new cmd heading: 342.187134 deg. 2j';HeadingCmd: 5.972292 target range: 382.799988 and range: 382.80 m. j@jjjihhhhfffrfbf{ @ɛ Ti= >I y<ɚiIb(=I%n-i%ݻi%A)%@))uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:10:25.5116 TRx dataTimestamp_ set to:1736374226.754236checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475272*Fe?2Fa:FaBFe^0JFiG=,&GB O-N> ) I1 H5 [>I1  I5 &II5 BI5  =&I1 .I5 yFH-??6 :տ@?@ÿ@,?t??ɨF-@F0J;FCyRjBR&II^I^:4٢b8Z= fR=9f٫:Q f>hh jG٣hyn1< r> vNusing accuracyPremultiplier from configpv&59rE?z&5Yr3 ir6Bxz~u@rEr;r;rC&5 @B*** querying acoustic contact ***j!j!Zj)-FNOT Ignoring new targets: 382.80 m.Bj5L;Jj5L;E ProNav: ac range: 382.799988 m, nav range: 190.538437 m, bearing: 62.560899 deg, approach rate: -0.107927 m/s, LOS rate: 0.178888 deg/s, cmd heading: 342.187123 deg, new cmd heading: 342.395850 deg. 2jE;MHeadingCmd: 5.975935 target range: 382.799988 and range: 382.80 m. jM:@jIjQjQiQhQhQhYhafafafarfibfmN@ɛBg= 隝>I C <ɚiI'=IOi;q߻i):@)zKuQMKu9KqKu KuRK?JK>E}X<Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:F!BF!JF!"GM=GM=UDAT read: 22:10:25.5116 LVL= 20032, 25569, 23842, 31155, AGC= 69, IDX= 430, 0.15,-2.824, 2.763, 1.446, 2.494, PHS= 1.053, 0.316,-1.051, RAW= 50.2, -3.5, CAL= 52.9, -7.5, ROT= 97.1, 7.5 ]Ygot valid direction response: 22:10:25.5116 LVL= 20032, 25569, 23842, 31155, AGC= 69, IDX= 430, 0.15,-2.824, 2.763, 1.446, 2.494, PHS= 1.053, 0.316,-1.051, RAW= 50.2, -3.5, CAL= 52.9, -7.5, ROT= 97.1, 7.5 ePDAT read: Bearing 97.1, 7.5 (Local) e~Local bearing/azimuth received: Bearing 97.1, 7.5 (Local) DAT read: Range 10 to 50 : 383.4 m (Round-trip 511.2 ms) speed 0.2 m/s ,DAT read: user:2361> BDAT read: Tx time:22:10:26.5962 $Ping request sent.٥+٥K`?٥5z ڥ\l?)ڥ Iڥi?iڥ >ڡڡۥ{ ?Tq\^B)ۥIۥ&x=iۥ޾?ۥbLۡۡ :publishing transmit ping timeؙ Fpublishing direction and range infoء9إ<~Ϡk?GB?W2[?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ{ ?Tq\^B)ۡIۡiۡۡۡۡG} - % -$?I! G1 BA O] >6}w,3ARW@YR"g@RW#9RY0>yRH`;?_?@볿`Կ1?ÿ×?@?@?ɨRW@Ra<;RCyhhWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:10:26.5955 Mb@Mb@Mb@ )Y^I +?)\(?y&1?yX?Ga=`e<rA )I@IAyzAIIפ49Va:Q > G٣yg3< > Nusing accuracyPremultiplier from config&59 E?&5Y3 iGB?:|u@E(;;Z&5 B ڳ@Ek5a?kkj k k6A:kCBkhCZk)?"M )H5@]Zb@jp@,)q@<~Ϡk?GB?W2[?Jk޾?RkbL*G*,HT@|h:h@Gs@p ?Y?k Hp?"k$GC*kJBkgrFa?k/G 2kI) -<ɚ)i)I-LL&=IUiuiu)u`@)yE < Will construct direction to contact in vehicle frame from tetrahedron phase data.*F- ?2F) :F1 BF5 85JF1 G ^G B O >c=}w,$&A6n@Y6@6960>y6HM?@q?Xu` Կ#?@Kÿ`???ɨ6n@6;6CynoBn&Iiv=Iv= z=z=I~I~W4٢ 6<  <9 ;Q > G٣IGy< > %Nusing accuracyPremultiplier from config!-&59%\E?-&5Y%3 i%UB15u=u@%E%)f;%~;%&5a e@mEZjFNOT Ignoring new targets: 383.40 m.Bj=E;Jj=E; ProNav: ac range: 383.399994 m, nav range: 201.407227 m, bearing: 64.309687 deg, approach rate: -0.128451 m/s, LOS rate: 0.172440 deg/s, cmd heading: 342.656029 deg, new cmd heading: 342.842906 deg. 2j;HeadingCmd: 5.983737 target range: 383.399994 and range: 383.40 m. jz@jjjihhhhfffrfbf? .$?IɛB *y=  G>I  <ɚ i Ii%=II C I &II BI  =&I .I ;D6I y<:I m FBI£CJI£CRI”CZI =bI =jI^6=Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FiBFm_0JFizKBIK9KK KBKqA:KpAG G G ? Will construct direction to contact in vehicle frame from tetrahedron phase data.G B1 O} >AD}w,fAJFJFJDJDJFM:JF9JDJDJF;JF!;JFp#;JFq#;yElBE&IMb@Mb@Mb@ )Y +?x&?Mbp?y?7=;\ A @)v@IhAy\@IE{IEZ4٢U+ U)=9]Q ]>YY eG٣aye e> mNusing accuracyPremultiplier from configiu&59mE?u&5Ym3 imdB}?}:} ]}u@mEmS;m;mՙ&5 @ZjFNOT Ignoring new targets: 383.40 m.Bj|=;Jj|=; ProNav: ac range: 383.399994 m, nav range: 201.341476 m, bearing: 64.388947 deg, approach rate: -0.137379 m/s, LOS rate: 0.165660 deg/s, cmd heading: 342.842903 deg, new cmd heading: 343.080759 deg. 2ja;HeadingCmd: 5.987889 target range: 383.399994 and range: 383.40 m. jɜ@jjjihhhhHBfffrfbfr?ɛb= >I <ɚiI2$=I%1i-Ci-aL)-ɜ@)1 0$?I*F?2F:FBFb0JFG GnA%Will construct direction to contact in vehicle frame from tetrahedron phase data.GGG B O >WJ}w,k .A6 ݷ@Y6@6䕰96[->y6Hf?n?ӿ@M?XÿL?@??ɨ6 ݷ@6;6CyRgBR&IIZ}IZ]4٢bP bj=9b=;Q b>dd fG٣dyj1< j> nNusing accuracyPremultiplier from configlr&59nE?r&5Yn3 innBpv$Svu@nEn` ;n ;n&5zB z@zEZj!%FNOT Ignoring new targets: 383.40 m.Bj%>;;Jj->;;5 ProNav: ac range: 383.399994 m, nav range: 201.292282 m, bearing: 64.446084 deg, approach rate: -0.140911 m/s, LOS rate: 0.163700 deg/s, cmd heading: 343.080757 deg, new cmd heading: 343.252208 deg. 2j=;EHeadingCmd: 5.990881 target range: 383.399994 and range: 383.40 m. jEL@jAjAjAiAhAhIhIhIfIfQfQrfQbfUQ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛQ}n= y}>Iy }a<ɚyiI7#=I𨕾i-i"Ҽ)L@)*F12F1:F1BF50JF1GGBOF> IHQ>I I'IIɇBI =&I.I:D6I<:I FM Will construct direction to contact in vehicle frame from tetrahedron phase data.yQ}w,GA2B@Y2@2792m+>y2H/v?d?}ӿ ?8ÿ?@yW?@?ɨ2B@2;2CzKNKN9KLKN KNyVdBV&I)X X^A^AIbIb4٢j\ jI=9j;Q n>ll nG٣rIGyr0r< r> vNusing accuracyPremultiplier from configtz&59v F?z&5Yv3 ivxB|~L~u@vEv;vc;vo&5 #@ B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 383.40 m.Bj]1;Jj]1; ProNav: ac range: 383.399994 m, nav range: 201.233826 m, bearing: 64.512568 deg, approach rate: -0.136302 m/s, LOS rate: 0.155065 deg/s, cmd heading: 343.252195 deg, new cmd heading: 343.451705 deg. 2j;HeadingCmd: 5.994363 target range: 383.399994 and range: 383.40 m. jѿ@j j j i h h hhfqfqfyrfybf}?ɛ f= 隕E>I 4<ɚiI%"=IziyiTǼ)ѿ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FI2FQ:FQBF]<1JFY*J4="J%=JJJJJ:J*9JJJ8;J:;J(;J(;G  1$?I Ga Bi O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.201921^X}w,aA6t>@Y6M@6/}96N*>y6H`/?`?q6ӿ ? ÿ ?0?@?ɨ6t>@6ߘ;4yBZBB{&IMb@Mb@Mb@ )Y ףp= ?Zd;O?~jtyQ?j<=D A @)@I@y @II4٢3 ;=9;Q > G٣y[< > Nusing accuracyPremultiplier from config&59b"F?&5Y3 i{B?:fu@E8;0;E&5  @EZj15FNOT Ignoring new targets: 383.40 m.Bj=oH;Jj=oH;M ProNav: ac range: 383.399994 m, nav range: 201.176941 m, bearing: 64.585446 deg, approach rate: -0.136740 m/s, LOS rate: 0.175234 deg/s, cmd heading: 343.451718 deg, new cmd heading: 343.670413 deg. 2jU;]HeadingCmd: 5.998180 target range: 383.399994 and range: 383.40 m. je@jajajaiahahihihm1Bfqfqfqrfqbfuq@ɛh= E|>IA Eސ<ɚAiAIE^=!=IM$쑾iM"iU)U@)Q*F2F:FBFP5JFG~>ԼGBO`>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454117t6^}w,ǜ{A $I$>ie@Y>t@>_U9>)(>y>H?"?1#@ҿ,?`͖ÿΫ?X?'?ɨ>ie@>;XX ^G٣\yfT< f> jNusing accuracyPremultiplier from confighn&59jR4F?n&5Yj3 ij|Bprbru@j Ej;j;jw&5vB vݵ@vEZjquFNOT Ignoring new targets: 383.40 m.ZHRHAAHIC I&IIBI =&I.I6I?<:I= FBj7;Jj7; ProNav: ac range: 383.399994 m, nav range: 201.128845 m, bearing: 64.646048 deg, approach rate: -0.127344 m/s, LOS rate: 0.160497 deg/s, cmd heading: 343.670421 deg, new cmd heading: 343.852271 deg. 2jK;HeadingCmd: 6.001354 target range: 383.399994 and range: 383.40 m. j @jjjihhh h f f frfbf=@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706185ɛ%[= !%j>I! %<ɚ!i)I-V =Im.Liuiu>W)u @)q*F2F:FBF4JFzK1K5h9K1K5 K5 !)29=COYZY[\][WWTJ@<8898630.+)%" G a.ʼG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. 8>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962992(e}w) &wC,AZc~Gdp -YyWBR@Yן@p-9θ'>yHݝ?|??bҿ9?ÿ??`?ɨR@̤;騽Cy>BY&IiN>I= =a= %2$?I!5Mb@Mb@Mb@111 1)1Y5Zd;O?/$?{Gzy5j?5<5ף5 A 5@)5@I5`@1y5p@IMIM(4٢]e ]%=9eu;Q e>aa mG٣mIGym.< m> }Nusing accuracyPremultiplier from configq}&59uLF?&5Yu3 tIiuwB?:낾v@uEu$;uC ;uū&5 j@ZjFNOT Ignoring new targets: 383.40 m.BjH;JjH; ProNav: ac range: 383.399994 m, nav range: 201.073090 m, bearing: 64.730442 deg, approach rate: -0.115799 m/s, LOS rate: 0.175327 deg/s, cmd heading: 343.852268 deg, new cmd heading: 344.105519 deg. 2j;HeadingCmd: 6.005774 target range: 383.399994 and range: 383.40 m. jN/@jjjihhhhBfffrfbf @ɛ!%rT= !%o>I! -]2<ɚ)i)I-m=I5ii)N/@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211431*FM?2FI:FIBFMG3JFIGm NG B O >Hk}w,zSAy*B@&II-I-Ь4٢E Ev=9EQ E?II MG٣IyM U? ]Nusing accuracyPremultiplier from configYe&59]v]F?e&5Y]&3 i]tBaaev@]E]:]":]&5q u@q}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:10:29.5110 TRx dataTimestamp_ set to:1736374230.789431checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463931ZjFNOT Ignoring new targets: 383.40 m.BjA;JjA; ProNav: ac range: 383.399994 m, nav range: 201.035736 m, bearing: 64.787373 deg, approach rate: -0.111153 m/s, LOS rate: 0.169439 deg/s, cmd heading: 344.105531 deg, new cmd heading: 344.276354 deg. 2j;HeadingCmd: 6.008756 target range: 383.399994 and range: 383.40 m. jG@jjjihhhhfffrfbfU @ɛFS= ԏ>I <ɚiI=I-i5i5oļ)5G@)1EAEErAJJJJJ:Ju9JJa@a@a@a@*F?2F:FBF_0JF %3$?I!HN>I I&IIBI&I.I6I}<:Ii FG = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.715566G B O- >0r}w,0A>Ը@Y>J@>λ9>yh&>y>H`ű? ?Xy ҿL?ãÿy???ɨ>Ը@>մ;>CyZ!Bb6&IzK} NK}+9KyK} K} II(4٢O!  @=9%!YY eG٣aym< m> uNusing accuracyPremultiplier from configq}&59uusF?}&5Yu3 iunBy}Q}v@uEu:u:u&5B 1@EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 383.40 m.Bj5A;Jj=A;} ProNav: ac range: 383.399994 m, nav range: 200.984360 m, bearing: 64.862702 deg, approach rate: -0.115434 m/s, LOS rate: 0.169296 deg/s, cmd heading: 344.276341 deg, new cmd heading: 344.502386 deg. 2j}_;HeadingCmd: 6.012701 target range: 383.399994 and range: 383.40 m. j h@jjjihhhhfffrfbf@ɛB9F= ݆>I @<ɚiIC=I%|i%hi%L)% h@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:10:29.5110 LVL= 19168, 31153, 27186, 32467, AGC= 69, IDX= 441, 0.14,-0.303,-1.133,-2.371,-1.346, PHS= 1.130, 0.260,-1.028, RAW= 53.6, -3.9, CAL= 57.3, -8.3, ROT= 92.7, 8.3 Ygot valid direction response: 22:10:29.5110 LVL= 19168, 31153, 27186, 32467, AGC= 69, IDX= 441, 0.14,-0.303,-1.133,-2.371,-1.346, PHS= 1.130, 0.260,-1.028, RAW= 53.6, -3.9, CAL= 57.3, -8.3, ROT= 92.7, 8.3 PDAT read: Bearing 92.7, 8.3 (Local) ~Local bearing/azimuth received: Bearing 92.7, 8.3 (Local)  DAT read: Range 10 to 50 : 382.9 m (Round-trip 510.6 ms) speed 0.0 m/s ,DAT read: user:2362> ]BDAT read: Tx time:22:10:30.5962 e$Ping request sent.eٕٕ|o?ٕ'g ڕj?)ڕVIڕ?iڕV>ڑڑەw&(?i-$n@%oa)ەKIەV+=iە3?ەZۑۑ:publishing transmit ping timeaFpublishing direction and range infoؑ9ؕ#Oì?A;X?@ףp&%?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەw&(?i-$n@%oa)ۑIۑiۑۑۑۑ*FU?2FQ:FQBFQJFQ  4$?I E Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:22:10:30.5955 G} vżGQ BY Ou >x}w,fAV4@YV@VB9V$>yVH)?ǥ?@ѿkT?5ÿ`r? ~?A?ɨV4@V:;TyrBr &I)t tvAtMb@Mb@Mb@ )Y'1Z?Q rhy"?C  Z@)3@II@y@II4٢ +=9;Q >! %G٣%JGy-; -> =Nusing accuracyPremultiplier from config1=&595%F?E&5Y5[3 i5]BE:#?E:EäMv@5E5Z;5;5&5Q UH@QkF<_?k? k kA:ksCBk&CZkN?"R 5@NzUKo@-r@#Oì?A;X?@ףp&%?Jk3?RkZ*dp*R@fg@EVUt@tP*aG??HJ?ە0?"k7;C*k Bkrg_?k5 2krCkk5 krCkMCkt? addTargetRange:: Added new target pos. range: 382.899994 m, deltaT: 4.032807 s, deltaX: -0.500000 m, approachRate: -0.123983 m/s, rangeRepo size: 4  Added new target pos. range: 382.899994 m, bearing: 68.030528 deg, lat: 36.903636 deg, lon: -122.120784 deg, deltaT: 4.032807 s, deltaX: -0.500000 m, approachRate: -0.123983 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 382.90 m.BjJj ProNav: ac range: 382.899994 m, nav range: 205.646942 m, bearing: 65.556765 deg, approach rate: 0.000000 m/s, LOS rate: 0.169296 deg/s, cmd heading: 344.502393 deg, new cmd heading: 344.736634 deg. 2jHeadingCmd: 6.016789 target range: 382.899994 and range: 382.90 m. j@jjjihhhhÆBfffrf`fw@bf?ɛb<= i>I a}<ɚiI#=IeiiŸ)@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFGGIBYOu>JJJ1JJ:J9J3J I {}w,r3AjH<bH4<HL>I I&IIBI =&I.I6IO<:IF FBw@YB@B59BX#>yBH``?B}?`Gѿ\?~cÿcp?T??ɨBw@Bc1;BCy~B~ &III4٢Uͽ Ul=9]P:Q ]?aa eG٣aye< e? uNusing accuracyPremultiplier from configiu&59mF?}&5Ym,3 imPBy}i}v@mEm-;m;m&5 [@EZjFNOT Ignoring new targets: 382.90 m.BjfL;JjfL; ProNav: ac range: 382.899994 m, nav range: 205.623474 m, bearing: 65.617663 deg, approach rate: -0.068857 m/s, LOS rate: 0.178698 deg/s, cmd heading: 344.736641 deg, new cmd heading: 344.919353 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.2jG;HeadingCmd: 6.019979 target range: 382.899994 and range: 382.90 m. j@jjjihhhhfffrfbf{F?ɛ)-== )-E>I) 5A=ɚ1i1I5=I=Æi=iE)E@)A*F-?2F):F)BF-0JF)"G5=G5=zKRLKKK K&-' GU|GI Ba  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >}w,{A6.@Y6(@6J196">y6H?@T?vzඓѿ ~c?Nÿ>)f?,??ɨ6.@6E;6Cy^B^%IMMb@Mb@Mb@III I)IYM r?lktyM#?MM 0M A MC@)M@IM@IyM@IeIe4 5$?Ii٢u, H=9?e;Q > G٣yb; > Nusing accuracyPremultiplier from config&59YF?&5Y3 i:B %?:]þv@#E3;;0&5B ޺@EZjY]FNOT Ignoring new targets: 382.90 m.BjeUE;JjeUE; ProNav: ac range: 382.899994 m, nav range: 205.612061 m, bearing: 65.691042 deg, approach rate: -0.026833 m/s, LOS rate: 0.172523 deg/s, cmd heading: 344.919362 deg, new cmd heading: 345.139510 deg. 2j;HeadingCmd: 6.023821 target range: 382.899994 and range: 382.90 m. j$@jjjihhhhBfffrfbf+ ?ɛB0= 3>I! %=ɚ!i!I%=I-j˄iMiM)M$@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.iA*F?2F:FBF0JFG- NG B O- >#}w, 2A"Will construct direction to contact in vehicle frame from tetrahedron phase data.yB%Ii%4=I%= )-=I5I54٢E֖ EM=9MQ M>II UG٣UJGy] ]> eNusing accuracyPremultiplier from configam&59eEF?m&5YeB3 ie%Bqquv@e'Ee:e :e&5y λ@ZjFNOT Ignoring new targets: 382.90 m.Bj2U;Jj2U; ProNav: ac range: 382.899994 m, nav range: 205.601349 m, bearing: 65.761963 deg, approach rate: -0.028150 m/s, LOS rate: 0.186392 deg/s, cmd heading: 345.139513 deg, new cmd heading: 345.352288 deg. 2j;HeadingCmd: 6.027534 target range: 382.899994 and range: 382.90 m. j@jjjihhhhfffrfbf`#?ɛ  ,=  >I P=ɚiIh=I䂾iWiԼ)%@)!JJJ0JJJb9Jـ3J*F?2F:FBF@5JF u6$?IqH-J>I-C I-t&II-UBI- =&I).I-9D6I-K<:I-A FBIŢCJIŢCRIœCZI =bI =jIŖ5Will construct direction to contact in vehicle frame from tetrahedron phase data.GfGBO> }w,]LA:O@Y:A_@:}y^:9:M!>y:H?h?q!*ѿq?`b_ÿ`/Kc?@?ɨ:O@:e؈;8yFنBF%IzKN$)LKN9KLKN KNRKV>JKV ?IZIZ 4٢b9 bS=9bKdd fG٣dyj/< j> nNusing accuracyPremultiplier from configlr&59nF?r&5Yn3 inBtvvv@n+En:n":n&5x z@zEZjFNOT Ignoring new targets: 382.90 m.Bj%L;Jj%L;5 ProNav: ac range: 382.899994 m, nav range: 205.589584 m, bearing: 65.831045 deg, approach rate: -0.030467 m/s, LOS rate: 0.178914 deg/s, cmd heading: 345.352287 deg, new cmd heading: 345.559542 deg. 2j5;=HeadingCmd: 6.031152 target range: 382.899994 and range: 382.90 m. j=2@j9j9jAiAhAhAhAhIfIfIfIrfIbfU,?ɛy}$= y} =I ==ɚiI=I iil)2@)*F?2F:FBF[0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.Gͼ YIYGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.05}w,ÞfA6d@Y6tt@6H;96">y6Hk? {?ѿwx?Gÿ`i@?@m?ɨ6d@6;6Cy~цB~%IMb@Mb@Mb@ )Yy&1?Zd;I +y`%?94 A -@)@I@y@II4٢ 8=9 ;Q  > G٣y/; > Nusing accuracyPremultiplier from config&59F?&5Y3 iB(?:⾑v@0E 2;0; &5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 382.90 m.BjGP;JjGP; ProNav: ac range: 382.899994 m, nav range: 205.596268 m, bearing: 65.915201 deg, approach rate: 0.014461 m/s, LOS rate: 0.182090 deg/s, cmd heading: 345.559542 deg, new cmd heading: 345.812002 deg. 2j;HeadingCmd: 6.035558 target range: 382.899994 and range: 382.90 m. jK#@jjjihh h h VBfffrfbf`DI@ɛMBMpF= IM =II Ug=ɚQiQIUU`=I]}i]Bi]{ʼ)]K#@)a*F2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.G6JJJJJJu9JJGpAGG B O > U 7$?IQ ZH RH @AH% G>I!  I% H&II% 1BI%  =&I! .I! 6I% <:I% j FW}w,{A2z@Y2/@2֩;92>y2H@???`k@п\}?)_ÿ:u?F?ɨ2z@2=;2CynΆBn%I) A  AII 4٢% %Z=9%;Q ->)) -G٣)y5x; 5> =Nusing accuracyPremultiplier from config9E&59=G?E&5Y=3 i=BIMᾑMv@=4E=:=:=2&5UB UD@UEZjFNOT Ignoring new targets: 382.90 m.Bj+Q;Jj+Q; ProNav: ac range: 382.899994 m, nav range: 205.601166 m, bearing: 65.980952 deg, approach rate: 0.013623 m/s, LOS rate: 0.182870 deg/s, cmd heading: 345.812013 deg, new cmd heading: 346.009260 deg. 2j;HeadingCmd: 6.039001 target range: 382.899994 and range: 382.90 m. j?@jjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.745140fffrfbf-@ɛ `= =I ]=ɚ i I E=I ziVOiμ)?@)*F?2F:FBFJFzKBJK9KK KTw:GɼGBOU >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996836J AAJ BAH}w,\A6@Y6"@6};96>y6H?@?`+`п@?.gÿ {@N?|?ɨ6@6F;6CyfɆBf%I r9$?IpMb@Mb@Mb@ )Y(\?㥛 ¿/$y'?, )@I@y@IIV4٢Q A=9m;Q > G٣JGyڃ; > Nusing accuracyPremultiplier from config&59G?&5Y3 iB!,?:v@9Ebt;r;&5B @EZjFNOT Ignoring new targets: 382.90 m.Bj%zT;Jj%zT; ProNav: ac range: 382.899994 m, nav range: 205.616287 m, bearing: 66.059672 deg, approach rate: 0.035686 m/s, LOS rate: 0.185761 deg/s, cmd heading: 346.009269 deg, new cmd heading: 346.245409 deg. 2j;HeadingCmd: 6.043122 target range: 382.899994 and range: 382.90 m. jBa@jjjihhhhIBfffrfbf p @ɛ9=v= 9=L=I9 E=ɚAiAIEa=IMuimXim8<)mBa@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249761*F?2F:FBFJF"G=G=Gp6ϼG B O >Gq}w,0AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:10:33.5101 TRx dataTimestamp_ set to:1736374234.820697checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501920BG@YB̶@B*<9B, >yBH?c? NпS?`ÿ`ⁿ`?`?ɨBG@Br;@yNĆBN%IIVIV4٢} ʼ }N=9};Q > G٣y< > Nusing accuracyPremultiplier from config&59*G?&5YA3 iBムv@=E*;`+;Y&5 ѽ@Zj5FNOT Ignoring new targets: 382.90 m.Bj=Q;Jj=Q;e ProNav: ac range: 382.899994 m, nav range: 205.629791 m, bearing: 66.133374 deg, approach rate: 0.033575 m/s, LOS rate: 0.183236 deg/s, cmd heading: 346.245402 deg, new cmd heading: 346.466494 deg. 2je;mHeadingCmd: 6.046981 target range: 382.899994 and range: 382.90 m. jmހ@jijijiiihihihhfffrfbf@B @ɛBj= =I =ɚ i I5'=IEqiM imY:߼)uހ@)y :$?Ii*F-?2F):F)BF-`0JF)HF>I I)&IIBI&I.I6I5<:I. FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754290G ޼G B O >f[}w,A:@Y: @: N'<9:8>y:H@?AP?ZОiп?ÿ@鄿?"?ɨ:@:;:CyF̆BF%IiJ=IJ4< V=V=IZIZ4٢b(= bW=9b~;Q b>dd fG٣dyf; j> nNusing accuracyPremultiplier from configlr&59n>G?r&5YnF3 inBpvムvv@nAEn*:n:n&5x zH@z޼EzK~dNK|K|K~ K~/tu$=e&t1{1l;q/DqU@) Zj)-FNOT Ignoring new targets: 382.90 m.Bj53X;Jj53X;E ProNav: ac range: 382.899994 m, nav range: 205.642746 m, bearing: 66.204271 deg, approach rate: 0.034540 m/s, LOS rate: 0.189017 deg/s, cmd heading: 346.466482 deg, new cmd heading: 346.679158 deg. 2jE BDAT read: Tx time:22:10:34.5962 $Ping request sent.=S=q?=Pwּ =d{?)=I=?i==99=K=Y`!?G2])=N5I=<ۅ}w,A2j̹@Y2@2C<92 >y2H@?$?@f@9пǏ?@aÿ~`?y?ɨ2j̹@2X;2Cy^ԆB^%I-Uonly read 2 of 4 data items for bottom velocity. Device response is::BS, -166, +65,A  U@U U@U U@U  ]@] I]I]34٢q< 0=9lw;Q > G٣JGy; > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config&59^UG?&5Y3 iaB+::sv@FEP;>&5 Ҽ@ݼEkmU"Z?kmK ki kmA:kmCBkm̽CZkm?"mxG@Q!o@Ir@mh7T?)+:?t:E?Jkm?Rkmf\*m 5X*\M@dah@&͞HPt@m8`똪? ?SE.7?"kmD@C*kmjBkm7(ͩZ?km( 2kmI C I #&II BI  =&I .I 6I /<:I ) FG B O >7k}w,A6ع@Y6"@67I<96{ >y6H?? `"п ?`w6`&`Va??ɨ6ع@6;6CyRBR%IIbIbK4٢v = zj=9zo:Q z>|| G٣y ߊ;  > -bBottom track data is 0.8 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config5&59gG?5&5Y3 iHB} :y}O:}v@JE O<!T?&5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 382.20 m.BjY;JjY;  ProNav: ac range: 382.200012 m, nav range: 207.811356 m, bearing: 67.775144 deg, approach rate: 0.052178 m/s, LOS rate: 0.189780 deg/s, cmd heading: 346.955879 deg, new cmd heading: 347.150012 deg. 2j ><5HeadingCmd: 6.058911 target range: 382.200012 and range: 382.20 m. j=@jQjQjQiQhYhYhYhafafifirfqbfu ?ɛy.=  >I s =ɚiI=I(eiiy)@)*F?2F:FBFO5JFzK5/FPK5h9K1K5 K5|xvqh_\TRPOLIFD@>:974540.,('&#$"!!""GnGrAGpAU Will construct direction to contact in vehicle frame from tetrahedron phase data.] >] @e T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.G B O >JsKs KsKsKs"KsJ J J J J :J =9J J J 8;J 9;J *;J *;}w,%A 4I4@Yx@?a<9u>yH?M?**ǧϿI? /`M9 ? n?ɨ@:Z;Cy-B-%I)a eAimA        Mb@Mb@Mb@ )Y~jt? rhQy$?C  A C@)I@I@y@I I {4٢]vb= ]5=9]Y;Q ]>aa eG٣aym3< m> uNusing accuracyPremultiplier from configq}&59uy}G?}&5Yu3 iu-BT:l(?:澑v@uNEu;u;u&5B ú@ۼEZjFNOT Ignoring new targets: 382.20 m.BjVQ;Jj%VQ;5 ProNav: ac range: 382.200012 m, nav range: 207.829941 m, bearing: 67.856266 deg, approach rate: 0.041933 m/s, LOS rate: 0.183015 deg/s, cmd heading: 347.150020 deg, new cmd heading: 347.393362 deg. 2j54;EHeadingCmd: 6.063158 target range: 382.200012 and range: 382.20 m. jed@jajajaiihihihihusBfqfqfqrfqbf}?ɛB0=  :%>I  =ɚ i I =INaiIiV6)d@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246193*F2F:FBF05JFG= MG B! O= >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497198}w,5A6 -@Y6<@6&r<96 >y6Hf ??zbο?w¿{]J?z?ɨ6 -@6;6CyBBB&IININ҅4٢V= Vj=9VOD;Q Z>XX ^G٣^JGy^|< ^> bNusing accuracyPremultiplier from config`f&59bG?f&5Yb3 ibBhj㾑jv@bREbs;b;b&5p r@pZj FNOT Ignoring new targets: 382.20 m.BjS;JjS; ProNav: ac range: 382.200012 m, nav range: 207.843338 m, bearing: 67.919219 deg, approach rate: 0.039395 m/s, LOS rate: 0.185105 deg/s, cmd heading: 347.393366 deg, new cmd heading: 347.582211 deg. 2j;HeadingCmd: 6.066454 target range: 382.200012 and range: 382.20 m. jd @jjjihhhhfffrfbf8?ɛAEt== 隍$>>I )(=ɚiI==I]ii4#)d @) M=$?IQEY*F?2F:FBF _0JF H]H>I]C I]/&II]BI] =&IY.IY6I]<:I] FWill construct direction to contact in vehicle frame from tetrahedron phase data.թiխAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750318G G B O >}w,VOA26h@Y2w@28<92\>y2H`N?I?@;铿@ο R?,ÿ搿 98??ɨ26h@2`;0y:B>$&IIJIJ"4٢j = jH=9nՆ;Q n>pp rG٣pyr< r> zNusing accuracyPremultiplier from configtz&59vIG?~&5Yv3 ivB߾v@vVEv&@;vlK;v&5B j@ؼEzK=NK9K9K= K=    ZjIMFNOT Ignoring new targets: 382.20 m.BjUM;JjUM;e ProNav: ac range: 382.200012 m, nav range: 207.857315 m, bearing: 67.992811 deg, approach rate: 0.034173 m/s, LOS rate: 0.179917 deg/s, cmd heading: 347.582207 deg, new cmd heading: 347.802968 deg. 2je;mHeadingCmd: 6.070307 target range: 382.200012 and range: 382.20 m. jm?@jijijiiihihqhqhqfyfyfyrfybf@i?ɛB&J= 隭Dq>I ?=ɚiI=IYii,ܼ)?@)Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003010*FU?2FQ:FQBFYJFYJJJ1JJ:J9J3JJ;J;J8;J8; iIqG޼GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253301}w,AiA Z@YZ@Z\<9Z3c>yZH&?3? |1Ϳ@?ÿҒ??ɨZ@ZF;ZCyjBn3&I v=vp=Mb@Mb@Mb@ )YCl?:vy;?T A -@)`@I@y@II4٢g= <=9i;Q > G٣y&< > Nusing accuracyPremultiplier from config&59pG?&5Y4 iBs"?m:mؾmv@[E#<<R&5q }@}ռEZjFNOT Ignoring new targets: 382.20 m.Bj>;Jj>; ProNav: ac range: 382.200012 m, nav range: 207.868271 m, bearing: 68.068632 deg, approach rate: 0.024074 m/s, LOS rate: 0.166600 deg/s, cmd heading: 347.802959 deg, new cmd heading: 348.030408 deg. 2j;HeadingCmd: 6.074276 target range: 382.200012 and range: 382.20 m. jy`@jjji!h)h)h)h-Bf1f1f1rf1bf=$e@ɛQL= 隭υ>I =ɚiIX=I8Uim iUǼ)y`@)*F]?2FY:FYBFYJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505582 u >$?Iq G ۼGY Bi O >ZHY RH] ?AHa Ia  Ie [&IIe @BIa &Ia .Ia 6Ie <:Ie  FBIˡCJIˡCRIZI =bI =jI˰5J}w,) A66ĺ@Y6@6"<96!>y6H -?@3?ᐿ"̿J? 1Ŀ@ J&?G?ɨ66ĺ@6Fj;6CyB8BBQ&IIJIJ4٢R> R_=9V P;Q V>TT ZG٣ZJGyZH5< Z> fNusing accuracyPremultiplier from config`f&59bWG?f&5Yb 4 ibBhj־jv@b^Eba:b:b&5A E@I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757426B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 382.20 m.BjC;JjC; ProNav: ac range: 382.200012 m, nav range: 207.876831 m, bearing: 68.132688 deg, approach rate: 0.022863 m/s, LOS rate: 0.171082 deg/s, cmd heading: 348.030404 deg, new cmd heading: 348.222564 deg. 2j;%HeadingCmd: 6.077630 target range: 382.200012 and range: 382.20 m. j%{@j!j!j!i!h!h)h)h)f)f1fqrfqbfuk@ɛB Ec= >I =ɚiI=I }Riiż){@)EE*F%?2F!:F!BF%`0JF!G) G-rAzKeLK9KK K- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009268G5 S&żG B) O >J J J J J M:J 9J J J ;J ;J ';J '; y Iy G}w,LA@Yt@e<9#>yH`4?A?jO4̿@ ?`lĿ6Y??ɨ@;CyEBa&IMb@Mb@Mb@ )Y+?L7A`尿Mbpyv?+ )I@y=@II٢Mk= 6=9k;Q > G٣yW < > Nusing accuracyPremultiplier from config&59G?&5Yz4 iB]?:v@cEFL;K;r&5 B 6@ ҼEZj15FNOT Ignoring new targets: 382.20 m.Bj=P;Jj=P;M ProNav: ac range: 382.200012 m, nav range: 207.861542 m, bearing: 68.209435 deg, approach rate: -0.036320 m/s, LOS rate: 0.182329 deg/s, cmd heading: 348.222551 deg, new cmd heading: 348.452808 deg. 2jMC;UHeadingCmd: 6.081649 target range: 382.200012 and range: 382.20 m. jUޜ@jQjQjYiYhYhYhaheφBfafafirfibfm @ɛ=f= 9='>IA En =ɚAiAIEg=IM_NiMiMȼ)Mޜ@)QeWill construct direction to contact in vehicle frame from tetrahedron phase data.aiamchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262994*F?2F:FBF0JFGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:10:37.5253  TRx dataTimestamp_ set to:1736374238.852608 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514327g}w,A6]@Y6@6F<96UK#>y6H 8?`3?H˿ #?@lĿdȕR?;?ɨ6]@6;6CyR^BR&I)T TTTIZIZЬ4٢bP > b^=9f;Q f>dh jG٣hyj; j> rNusing accuracyPremultiplier from configlv&59nG?v&5Yne4 inBxzץzv@ngEn}0;n0;n&5 @ϼEZjFNOT Ignoring new targets: 382.20 m.Bj 5;Jj 5;= ProNav: ac range: 382.200012 m, nav range: 207.848785 m, bearing: 68.272314 deg, approach rate: -0.032274 m/s, LOS rate: 0.159095 deg/s, cmd heading: 348.452810 deg, new cmd heading: 348.641457 deg. 2j=^;EHeadingCmd: 6.084941 target range: 382.200012 and range: 382.20 m. jE׷@jAjAjAiAhIhIhIhIfQfqfqrfybf}i @ɛj`z= >I ? =ɚiI= ?$?IItKii/м)׷@) *F?2F:FBF2JFH N>I C I &II nBI  =&I .I :D6I <:I  F}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765340G a.ʼG BI O >}w,A>@Y>m$@>R<9>S#>y>H@7??`?@ɫt˿2?{Ŀ@閿hX?ƕ?ɨ>@>Q;>CyFrBF&IIRIR4٢Va= ZL=9Zf4;Q Z>\\ ^G٣^JGyb< f> jNusing accuracyPremultiplier from confighn&59jH?n&5Yjx 4 ijBprrv@jkEj;j;j,&5t vW@tZjFNOT Ignoring new targets: 382.20 m.BjR;JjR;- ProNav: ac range: 382.200012 m, nav range: 207.834183 m, bearing: 68.341154 deg, approach rate: -0.039104 m/s, LOS rate: 0.184357 deg/s, cmd heading: 348.641460 deg, new cmd heading: 348.847994 deg. 2j- ;5HeadingCmd: 6.088546 target range: 382.200012 and range: 382.20 m. j5_@j1j1j9i9h9h9hAhAfAfIfIrfQbfU @zK}JKyKyK} K}=K0 RK?JK>ɛBp= 隝>I F =ɚiIa=IhOGi)1iμ)_@)Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:10:37.5253 LVL= 16000, 28241, 27698, 25075, AGC= 67, IDX= 87, 0.18, 1.986, 0.925,-0.120, 0.833, PHS= 1.240, 0.138,-0.956, RAW= 60.1, -4.5, CAL= 65.8, -9.7, ROT= 84.2, 9.7 UYgot valid direction response: 22:10:37.5253 LVL= 16000, 28241, 27698, 25075, AGC= 67, IDX= 87, 0.18, 1.986, 0.925,-0.120, 0.833, PHS= 1.240, 0.138,-0.956, RAW= 60.1, -4.5, CAL= 65.8, -9.7, ROT= 84.2, 9.7 ePDAT read: Bearing 84.2, 9.7 (Local) m~Local bearing/azimuth received: Bearing 84.2, 9.7 (Local) DAT read: Range 10 to 50 : 393.6 m (Round-trip 524.9 ms) speed 0.0 m/s *F?2F:FBFt4JF,DAT read: user:2364> BDAT read: Tx time:22:10:38.6463 $Ping request sent.Qn 2l)aICiR?O >jtC?|٠ ?)-\-I?i-\->Q?*+]$rZ׬)ŅIRW=i?^v:publishing transmit ping time @$?I J!J%J%0J!J!J%9J%ـ3J!J!J!J%:;J%:;Fpublishing direction and range info9T:h8?i?5?*jA?y )Ii )IiQ?*+]$rZ׬)IiGGqByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:10:38.6456 2}w,AB#'@YB6@BJ^<9B$>yBHB?L?]|`-˿!?@Ŀ<˗Jj??ɨB#'@B%;BCyNBN&IMb@Mb@Mb@ )YZd;?~jt{Gzt?y?Dף; A C@)I@y@IIn4٢%%= %5=9-3:Q U>QQ UG٣Qy]; ]> eNusing accuracyPremultiplier from configa&59eH?&5Ye3 4 ieB?:ov@eoEe;e;e(&5B @̼Ek SS]?k a# k  k A:k CBk vCZk w?" L5@lOk@D݆/t@ T:h8?i?5?*jA?Jk ?Rk ^v* oj7P@ c@_v@ IQ?A)?I Pm =ɚiI1=IBi$i$)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*FY2FY:FYBF]@5JFY A$?IG vżG ?G >jH bH <H T>I C I &II BI  =&I .I 6I %<:I - FGq B O >W~w,՗A25D@Y2S@2<92 $>y2H@I?`?Bٻʿ?Ŀܗ`?ఓ?ɨ25D@2;2CybBb&Iifxx zG٣xy~6"< ~> Nusing accuracyPremultiplier from config&59U0H?&5Y 4 iB^lv@sER;S;I&5! %<@%ɼE=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 393.60 m.BjeS;JjeS;u ProNav: ac range: 393.600006 m, nav range: 205.743698 m, bearing: 69.952552 deg, approach rate: -0.079863 m/s, LOS rate: 0.185158 deg/s, cmd heading: 349.116377 deg, new cmd heading: 349.301041 deg. 2j}%;}HeadingCmd: 6.096453 target range: 393.600006 and range: 393.60 m. j%@jjjihhhhfffrfbfK?ɛ = >I =ɚiI2=I6?i2xijݼ)%@)*FU?2FQ:FQBFU_0JFQG-+GBO (>zK.SLK+9KK K) Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) E tAY Y tAy BJA JE AA I i*F~w,{A%Q@Y%`@%؜<9%$>y%HK??Mlʿ?`Ŀ`j?@?ɨ%Q@%R;%Cy}B}&I Mb@Mb@Mb@    ) Y Gz?Q?{Gz?y p? \= #< E A Z@) @I @ y p@I=I=d4٢e 5= e(=9mj:Q m>qq uG٣uJGy}rS; }> Nusing accuracyPremultiplier from config'59KIH?'5Y 4 i?:v@wE;;'5 @ZjFNOT Ignoring new targets: 393.60 m.BjA;JjA; ProNav: ac range: 393.600006 m, nav range: 205.685959 m, bearing: 70.034485 deg, approach rate: -0.119374 m/s, LOS rate: 0.169443 deg/s, cmd heading: 349.301038 deg, new cmd heading: 349.546907 deg. 2j;HeadingCmd: 6.100744 target range: 393.600006 and range: 393.60 m. jL9@jjjihhhh[Bfffrfbf;?ɛ)-= )-?I) 5Ϲ=ɚ1i1I5=I=:EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.230167i=NiM)ML9@)I*F?2F:FBFJFG G qAG Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482090Jk ~w,H8A6y6H=Q?D?_`*ʿ ?`"ĿsO`^?B?ɨ6BB&IIJIJ4٢R,a= R=9V7XQ V?TT VG٣XyZ).< Z? ^Nusing accuracyPremultiplier from config\b'59^LYH?b'5Y^4 i\djjv@^zE^3;^3;^C'5rB r@rƼEZjFNOT Ignoring new targets: 393.60 m.Bj66;Jj66; ProNav: ac range: 393.600006 m, nav range: 205.648544 m, bearing: 70.086994 deg, approach rate: -0.113487 m/s, LOS rate: 0.159301 deg/s, cmd heading: 349.546897 deg, new cmd heading: 349.704452 deg. 2j;HeadingCmd: 6.103494 target range: 393.600006 and range: 393.60 m. jO@jjjihhhhfffrfbfV?JJJJJm:J=9JJa%@a%@a%@a%@ɛuB}?= y}?Iy }4=ɚyiyI=I8i;i)O@) C$?I*Fm?2Fi:FiBFm`0JFiHS>I I'IIɇBI&I.I6I5<:I7 FGEnGB O-N>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734139%S~w,#RA6٘@Y6^@6;<96Y$>y6HY?? |`pɿ?αĿ ar??ɨ6٘@6H;6CyRBR&I)T TXZAI^I^4٢ff= fH=9j;Q j>hh nG٣lyrY< r> vNusing accuracyPremultiplier from configtz'59vZnH?z'5Yv4 itxz#~v@vEv:v%c;v'5  :@Zj9EFNOT Ignoring new targets: 393.60 m.BjEH;JjEH;U ProNav: ac range: 393.600006 m, nav range: 205.598282 m, bearing: 70.155961 deg, approach rate: -0.127464 m/s, LOS rate: 0.174941 deg/s, cmd heading: 349.704456 deg, new cmd heading: 349.911407 deg. 2jU;eHeadingCmd: 6.107106 target range: 393.600006 and range: 393.60 m. jejm@jajajaiahahihihififqfqrfqbfu=?zKKػ9KK Kɛ9=8= 9E ?IA E=ɚAiAIEH=IM N4iM>iMf޼)Mjm@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986132*F?2F:FBF0JF*JC="J4= D$?IGIG) B1 OU >m Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238357?~w,!lAj@Yj@jA<9jzQ$>yjH`?@2?qȿ@?=Ŀ@?q??ɨj@j览;jCyvBv&IMb@Mb@Mb@ )Y-? rh? G٣JGyC*< > Nusing accuracyPremultiplier from config'59(H?'5Y%4 iB-?:ηv@E;J; '5 ܭ@żEZjFNOT Ignoring new targets: 393.60 m.Bj:8;Jj:8; ProNav: ac range: 393.600006 m, nav range: 205.529495 m, bearing: 70.229229 deg, approach rate: -0.151165 m/s, LOS rate: 0.161065 deg/s, cmd heading: 349.911411 deg, new cmd heading: 350.131285 deg. 2j;HeadingCmd: 6.110944 target range: 393.600006 and range: 393.60 m. j ڌ@j j)j)i)h)h1h1h5qBf1f9f9rf9bf=-~@ɛQU4l= QU?IQ ]n=ɚYiYI]Y=Ie `0im>i5ۼ)ڌ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490955*F}?2Fy:FyBF}o0JFyJJJJJJ9JJ IZH RH AAH P>I C I )'II BI  =&I .I 6I <:I  FG ޼G B O >e!~w,w܅A2 @Y2@2<92<%>y2H`h?z?_1ȿl?`FĿwm?`?ɨ2 @2\;2Cy>B>&IIFIF:4٢N{ R`=9Ro;Q R>TT VG٣TyVHq< V> ^Nusing accuracyPremultiplier from configXb'59Z1H?b'5YZ4 iZB`b߬bv@ZEZc;Z;Z'5h j@j¼EzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 393.60 m.Bj J;Jj J;EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.746715U ProNav: ac range: 393.600006 m, nav range: 205.471191 m, bearing: 70.290300 deg, approach rate: -0.168624 m/s, LOS rate: 0.176678 deg/s, cmd heading: 350.131288 deg, new cmd heading: 350.314553 deg. 2jU;eHeadingCmd: 6.114142 target range: 393.600006 and range: 393.60 m. je@jajajaiahahahihififqfrfbfUl@ɛeBe3= ae?Ia m=ɚiiiImE=I-iMi˼)@)*F?2F:FBF`5JFzKmBoHKmh9KiKm KmGu ټWill construct direction to contact in vehicle frame from tetrahedron phase data.>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994360GI BQ O > E$?I c'~w,/ŸAyB&IiG>IC= %=%=Mb@Mb@Mb@ )YMb?/$?~jth?y ?=D; A )QAI@y@II4٢ ,=9Q > G٣y > Nusing accuracyPremultiplier from config'59H?'5Y4 iB!?:sv@Ef;;'5B !@EZj)-FNOT Ignoring new targets: 393.60 m.Bj5B;Jj5B;E ProNav: ac range: 393.600006 m, nav range: 205.386703 m, bearing: 70.371109 deg, approach rate: -0.177730 m/s, LOS rate: 0.170063 deg/s, cmd heading: 350.314556 deg, new cmd heading: 350.557083 deg. 2jEl;MHeadingCmd: 6.118375 target range: 393.600006 and range: 393.60 m. jM@jIjQjQiQhQhYhYh]vBfafafrfbf * @%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246261ɛIe = ae ?Ii m=ɚiiiImY=Iu(iuiun)u@)y*F12F9:F9BF=_5JF9G} ~ʼG G qAGa Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:10:41.5599  TRx dataTimestamp_ set to:1736374242.884597 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499138--~w,Ay=B=&IIUIU4٢^ ]=9Q > G٣ JGy >JJJ/JJ:JO9J(N3J Nusing accuracyPremultiplier from config'59SH?'5Y}4 iBv@ER;;B'5  @ Zj1 F$?IFNOT Ignoring new targets: 393.60 m.BjA;JjA; ProNav: ac range: 393.600006 m, nav range: 205.321259 m, bearing: 70.434017 deg, approach rate: -0.176324 m/s, LOS rate: 0.169542 deg/s, cmd heading: 350.557082 deg, new cmd heading: 350.745864 deg. 2j;HeadingCmd: 6.121670 target range: 393.600006 and range: 393.60 m. j@jjjihhhhfffrf bf O" @ɛuB}z= y}?Iy }r=ɚyiIs=II9 I=6'II=BI= =&I9.I96I=@<:I=; FBIâCJIâCRIZI =bI =jIv5*FA2FA:FABFM3JFIGQ GUqAGGGBOj>=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750093+4~w,jANy@YN@N =9N0&>yNH~?`e?Ju?@ſ^?vſ\`?ಏ?ɨNy@N%5;LybBb&IIjIjh4٢r rZ=9rFtt vG٣tyzF?= z> ~Nusing accuracyPremultiplier from config|'59~%H?'5Y~4 i~BC, v@~E~2 ;~:~'5 5@EZjAEFNOT Ignoring new targets: 393.60 m.BjMi@;JjMi@;] ProNav: ac range: 393.600006 m, nav range: 205.251938 m, bearing: 70.496807 deg, approach rate: -0.185650 m/s, LOS rate: 0.168218 deg/s, cmd heading: 350.745869 deg, new cmd heading: 350.934303 deg. 2j];eHeadingCmd: 6.124959 target range: 393.600006 and range: 393.60 m. je@jajijiiihihihqhqfqfqfqrfybf}@ɛ<{= 隵?I =ɚiIL=I"izi8쓼)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:10:41.5599 LVL= 11968, 21777, 17250, 19843, AGC= 70, IDX= 285,-0.30,-0.271,-1.293,-2.217,-1.209, PHS= 1.026,-0.038,-1.011, RAW= 61.5, 0.3, CAL= 64.1, -2.8, ROT= 85.9, 2.8 Ygot valid direction response: 22:10:41.5599 LVL= 11968, 21777, 17250, 19843, AGC= 70, IDX= 285,-0.30,-0.271,-1.293,-2.217,-1.209, PHS= 1.026,-0.038,-1.011, RAW= 61.5, 0.3, CAL= 64.1, -2.8, ROT= 85.9, 2.8 PDAT read: Bearing 85.9, 2.8 (Local)  ~Local bearing/azimuth received: Bearing 85.9, 2.8 (Local) DAT read: Range 10 to 50 : 382.0 m (Round-trip 509.4 ms) speed 0.0 m/s %,DAT read: user:2365> *F5?2F1:F1BF5_0JF1mBDAT read: Tx time:22:10:42.6463 u$Ping request sent.uM Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:22:10:42.6456 h:~w,xA6@Y6@6 =96O%>y6H?~?w? 0ſ? ſ ;6CyBBF&I)H HHHMb@Mb@Mb@ )YPn?&1?I +y$?P=94/ A @)I@yIIפ4٢܊ ;=9vQ > G٣yB; >  Nusing accuracyPremultiplier from config '59 H?'5Y i4 i B$?:Ҵ]v@ E )< (< `'5mB m @mEkDP?k`v$$ k kA:kCBkCZk%Q?"`^^,ǖj@Vus@=-? Ռ?JkIq u=ɚqiyI} =I}di iup)P!@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF)JF)G圼GB B u'JO-> aIaJaJeJe1JaJaJe*9Je3JajH <bH <H I  I )'II BI  =&I .I 6I 6<:I 4 FA~w,"A6>@Y6Ļ@6 =96|>y6H`??@ہ? 3ſ@&-?ÿZ?_?ɨ6>@6Wъ;6Cy^B^&IIjIj 4٢v"ƽ v\=9v:Q z>xx zG٣z JGWill construct direction to contact in vehicle frame from tetrahedron phase data.y< > Nusing accuracyPremultiplier from config '59 I?'5Y 4 i B䮽v@ E 3< 7< !'5 F@B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 382.00 m.Bj%L;Jj-L;m ProNav: ac range: 382.000000 m, nav range: 199.477325 m, bearing: 71.850935 deg, approach rate: -0.147151 m/s, LOS rate: 0.178956 deg/s, cmd heading: 351.169641 deg, new cmd heading: 351.368272 deg. 2jm; HeadingCmd: 6.132533 target range: 382.000000 and range: 382.00 m. j =@j jjihhhhfffrf!bf%`v?ɛ B @ = >I \ =ɚiI> =IDiw iEȬ)E=@)A*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKK9KK K '16Af>T],`{BKpA:KnAG ՒJ J @A e H$?Ia G B OU >.G~w,?!AyxB&IMb@Mb@Mb@ )Y? ףp= ?~jtyf&?Q8=ļ A p@)I@y@II_v4٢ .=9Q > G٣y > Nusing accuracyPremultiplier from config'59I? '5Y4 iB &? :  v@E;;%'5 @EZjFNOT Ignoring new targets: 382.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233717Bj2T;Jj2T;U ProNav: ac range: 382.000000 m, nav range: 199.409698 m, bearing: 71.936438 deg, approach rate: -0.146680 m/s, LOS rate: 0.185515 deg/s, cmd heading: 351.368263 deg, new cmd heading: 351.624857 deg. 2jU;HeadingCmd: 6.137012 target range: 382.000000 and range: 382.00 m. jfb@jjjihhhh+Bfffrfbf?ɛuBuΌ= y}>Iy }!=ɚyiyI} =Ii i%μ)fb@)*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484689G HG B O >;N~w,;A6@Y6-@6=96>y6H›??ՙ?`rÿ::?@Ŀ` ;? ?ɨ6@6Y;6Cy[B|&II-I-4٢M ! Ma=9M;Q U>YY ]G٣Yy]y= e> mNusing accuracyPremultiplier from configau'59eb2I?u'5Ye-4 iewBqu꠽uv@eEe2 ;e ;e('5B @E I$?IZjFNOT Ignoring new targets: 382.00 m.BjX;JjX; ProNav: ac range: 382.000000 m, nav range: 199.354340 m, bearing: 72.002546 deg, approach rate: -0.158691 m/s, LOS rate: 0.189559 deg/s, cmd heading: 351.624859 deg, new cmd heading: 351.823240 deg. 2j<HeadingCmd: 6.140474 target range: 382.000000 and range: 382.00 m. j~@jjjihhhhfffrfbf ?ɛB= 隭>I "=ɚiIWl =I#it< iu) ~@) HmM>Ii Im&IImćBIm =&Ii.Ii6Im <:Im F*F?2F:FBF0JFG GG}EG1BAOeU>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736799/U~w,{UA:R@Y:>b@:t=9:>y:H ?$?\? +¿`??jTĿWע?`F?ɨ:R@:4?;8yZDBb`&ING5vAQ }Y}vAy}BII4Will construct direction to contact in vehicle frame from tetrahedron phase data.?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988888zKNK9KK KX;w^LC81){tqqpkfea^ZUPLHGHQdo٢̼ &=9mX;Q >    G٣  JGy V< > Nusing accuracyPremultiplier from config'59I! -J$=ɚiiiIm =IuTZ iuD iu[(q)}@)y Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242337*F ?2F :F BF _0JF Gp6ϼGBO?]~w,SvAy3BK&IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492729Mb@Mb@Mb@ )YQ?:v G٣y  > Nusing accuracyPremultiplier from config'59fI?'5Y 4 iEB>)?: v@E;;=1'5 @EZjFNOT Ignoring new targets: 382.00 m.Bj[Z;Jj[Z;U ProNav: ac range: 382.000000 m, nav range: 199.230682 m, bearing: 72.179074 deg, approach rate: -0.103402 m/s, LOS rate: 0.190903 deg/s, cmd heading: 352.090897 deg, new cmd heading: 352.352970 deg. 2jU<]HeadingCmd: 6.149719 target range: 382.000000 and range: 382.00 m. j]@jYjYjYiYhahahihmBfififqrfqbfu&@ɛB K$?I =4v= AE>IA E65%=ɚAiAIE" =IMHiM iUv)U@)QZHRHHJ>IC I&IIBI =&I.I9D6I*<:I) F*F2F:FBF0JFG GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744705c~w,JbA2@Y2@2=92[(>y2H?j?+?G?KĿ?S?ɨ2@2*;2CyNBN3&IIZIZ94٢b3ҽ b`=9b;Q b>dd fG٣dyj߇< j> nNusing accuracyPremultiplier from configlr'59nyI?r'5Yn4 in/Bprvv@nEn :n:nF4'5zB z*@zEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 382.00 m.Bj/P;Jj/P; ProNav: ac range: 382.000000 m, nav range: 199.194443 m, bearing: 72.243956 deg, approach rate: -0.101641 m/s, LOS rate: 0.182009 deg/s, cmd heading: 352.352958 deg, new cmd heading: 352.547640 deg. 2j;HeadingCmd: 6.153117 target range: 382.000000 and range: 382.00 m. jV@jjjihhhhfffrfbf`o@ɛmBMp= 隵Ny>I %=ɚiIx =I0iB i)V@)*Fe?2Fa:FaBFeU5JFi"Gm=Gm=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996766zK]z\OK]9KYK] K]tsohd`XWRLHB>;85/-,(&#)6::7654430.*,*&$# ! IJJBAJ!J%J%0J!J!J%=9J%ـ3J!J!J!J%*;J%*;G ~G B O >j~w,;AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249512V@YV@V'=9V]>yVH@3?>?V?@I?4Ŀ 㣿 ??ɨV@V;VCy^ B^&IeMb@Mb@Mb@aaa a)aYeˡE?Mb/$ye'?ee,e A ep@)eAIe@ayaI I ٢= =5=9=:Q E>AA EG٣E JGyMS; M> uNusing accuracyPremultiplier from configq}'59uqI?}'5Yu4 iu B)?:fv@uEuf;u;uB8'5 e@EZjFNOT Ignoring new targets: 382.00 m.Bj[;Jj[;5 ProNav: ac range: 382.000000 m, nav range: 199.169388 m, bearing: 72.329762 deg, approach rate: -0.056065 m/s, LOS rate: 0.192032 deg/s, cmd heading: 352.547645 deg, new cmd heading: 352.805094 deg. 2j5<=HeadingCmd: 6.157610 target range: 382.000000 and range: 382.00 m. j=% @j9j9j9i9hAhAhAhEBfIfifqrfqbfu @ɛBB\= !%M>I) -f&=ɚ)i)I-? =I5i5} i5")5% @)9*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:10:45.5587 TRx dataTimestamp_ set to:1736374246.917250checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502325 M$?I G G B O >H L>I  I &II dBI  =&I .I 6I V<:I J Fp~w,AJ@YJ@J =9J|>>yJH ެ? ?଺?@{K?@1Ŀ`ί?@)?ɨJ@J);JCynBr%Iiv>Iv=IzIz4٢o a=9 s:Q  >    G٣ y; > Nusing accuracyPremultiplier from config%'59ӥI?%'5Y4 iB)-(e-v@E;;g;'51 55@1ZjamFNOT Ignoring new targets: 382.00 m.Bjm[;Jjm[;} ProNav: ac range: 382.000000 m, nav range: 199.149597 m, bearing: 72.397386 deg, approach rate: -0.056243 m/s, LOS rate: 0.192200 deg/s, cmd heading: 352.805089 deg, new cmd heading: 353.007979 deg. 2j<HeadingCmd: 6.161151 target range: 382.000000 and range: 382.00 m. j'(@jjjihhhhfffrfbf @ɛB:S= t>I u '=ɚqiqIu =I}i} ip:)'(@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.754197*F ?2F :FBFZ0JFGo>G B!OEQ> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:10:45.5587 LVL= 12160, 28833, 22242, 31939, AGC= 66, IDX= 432, 0.32, 0.074,-1.051,-1.795,-0.860, PHS= 1.022,-0.143,-0.937, RAW= 66.3, 0.7, CAL= 69.6, -2.6, ROT= 80.4, 2.6 % Ygot valid direction response: 22:10:45.5587 LVL= 12160, 28833, 22242, 31939, AGC= 66, IDX= 432, 0.32, 0.074,-1.051,-1.795,-0.860, PHS= 1.022,-0.143,-0.937, RAW= 66.3, 0.7, CAL= 69.6, -2.6, ROT= 80.4, 2.6 - PDAT read: Bearing 80.4, 2.6 (Local) - ~Local bearing/azimuth received: Bearing 80.4, 2.6 (Local) = DAT read: Range 10 to 50 : 381.2 m (Round-trip 508.3 ms) speed 0.0 m/s  ,DAT read: user:2366>  BDAT read: Tx time:22:10:46.6463  $Ping request sent. QY ]G٣Yy] ]> mNusing accuracyPremultiplier from configa'59eI?'5Ye4 ieBv@eEe*=er*=eM?'5B ɺ@%Ek~M?k~& k kA:kCBkNCZk?"GiV4JYg@Rjt@ht`C[?(1?Jk0E?Rk*(t4&@ `@ieOv@6՞?"}\?G ?"k0C*k7Akx/M?k^5f& 2k8Ck7(ͩZ?kX,# kCk(CkH? addTargetRange:: Added new target pos. range: 381.200012 m, deltaT: 4.031619 s, deltaX: -0.799988 m, approachRate: -0.198428 m/s, rangeRepo size: 4  Added new target pos. range: 381.200012 m, bearing: 85.074142 deg, lat: 36.903421 deg, lon: -122.121120 deg, deltaT: 4.031619 s, deltaX: -0.799988 m, approachRate: -0.198428 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 381.20 m.BjJjEWill construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 381.200012 m, nav range: 168.106216 m, bearing: 72.193289 deg, approach rate: 0.000000 m/s, LOS rate: 0.192200 deg/s, cmd heading: 353.007973 deg, new cmd heading: 353.317678 deg. 2jHeadingCmd: 6.166557 target range: 381.200012 and range: 381.20 m. joT@jj jih1h1h9h9f9f9fArfM@3w@bfM@O?ɛBvC= /7=隽=I Þ'=ɚiI= =Ii i=yм)oT@)*F ?2F :F BF P5JF G ܣG rAG  Will construct direction to contact in vehicle frame from tetrahedron phase data.GyBO>t~~w,'AF(@YF@Fr"=9F>yFH? a?ۿ?@7|O? Ŀ SW?@|?ɨF(@F;FCyNۆBN%I !I!uMb@Mb@Mb@qqq q)qYux&?)\(~jtyu7)?uGόuDu A u@)u@Iu@qyu(@II4٢7 -=9:Q > G٣ JGy; > Nusing accuracyPremultiplier from config'59I?'5Y4 iB+?:iv@E9;=7;MC'5B T@EZj FNOT Ignoring new targets: 381.20 m.Bj ;Jj ; ProNav: ac range: 381.200012 m, nav range: 168.099518 m, bearing: 72.297194 deg, approach rate: -0.018230 m/s, LOS rate: 0.282781 deg/s, cmd heading: 353.317681 deg, new cmd heading: 353.629406 deg. 2jB<HeadingCmd: 6.171998 target range: 381.200012 and range: 381.20 m. j@jjjihhhhBfffrfbf O?jH]<bH]<H]O>I]C I]H&II]1BI] =&IY.I]:D6I]<:I] FBIJIRIZI =bI =jIß5ɛeBeD= ae4=I '=ɚiI =IZi3 is)@)*Fe?2Fa:FaBFe[0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G5a.ʼGB!O=>'\~w,9{A:V@Y:ܺ@:$ =9:{!>y:Hʮ?y?ò?@CJ?@Ŀq F?`?ɨ:V@:;:CyFƆBF%I)H HININƕ4٢Z Z[=9ZQ ^>\\ bG٣`ybq b> fNusing accuracyPremultiplier from configdj'59fI?j'5Yf4 if~Blnenv@fEfw;f;fF'5t v@tB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 381.20 m.Bj;Jj;5 ProNav: ac range: 381.200012 m, nav range: 168.094452 m, bearing: 72.381875 deg, approach rate: -0.013596 m/s, LOS rate: 0.227283 deg/s, cmd heading: 353.629411 deg, new cmd heading: 353.883459 deg. 2j5e+@mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF `0JF zKu GLKu9KqKu Ku O$?IJJJ/JJ:J9J(N3JJ;J;J3;J3;GϼGqByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228162@~w,b0A2@Y2@2#=92>y2H`??}g?@j@K??Ŀ㣿`??ɨ2@2w5;2CyNÆBN%I-Mb@Mb@Mb@))) )))Y-S㥛?DlI +y-$?-O -94-/ A -Z@)-AI-@)y)II4٢M <=9yQ > G٣y4 > Nusing accuracyPremultiplier from config'59<J?'5Yl"4 iVB(?:v@Eo;:^J'5 Ҽ@EZjFNOT Ignoring new targets: 381.20 m.Bj;Jj ; ProNav: ac range: 381.200012 m, nav range: 168.102814 m, bearing: 72.478831 deg, approach rate: 0.019235 m/s, LOS rate: 0.223015 deg/s, cmd heading: 353.883466 deg, new cmd heading: 354.174317 deg. 2j <%HeadingCmd: 6.181508 target range: 381.200012 and range: 381.20 m. j%@j!j!j!i!h!h)h)h-lBf1f1f1rf1bf=ш?ɛeBez4= ae9=Ia mK7(=ɚiiiIm> =Iu,<нi}bi )@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.479897Eu< P$?I*F-?2F):F)BF-_0JF)"G5=G5=HM I>IM C IM &IIM BIM  =&II .IM 9D6IM H<:IM ? FGU MG] ?G] *? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732077G) B9 O] >~w,VcLA6@Y6 @6*!=96ݪ>y6H?%?j?B>%IININb4٢U U?=9]y:Q ]>Ya G٣JGy&; > Nusing accuracyPremultiplier from config'59J?'5Y$4 i/Bv@E>;;&N'5B ,@EZjFNOT Ignoring new targets: 381.20 m.Bj%z;Jj%z;U ProNav: ac range: 381.200012 m, nav range: 168.111313 m, bearing: 72.575266 deg, approach rate: 0.019265 m/s, LOS rate: 0.218579 deg/s, cmd heading: 354.174323 deg, new cmd heading: 354.463612 deg. 2jU<]HeadingCmd: 6.186557 target range: 381.200012 and range: 381.20 m. j]G@jYjYjYiYhYhhhfffrfbf Q$?IzKVBJKh9KK K?~w,)fAyuBu%IiY>I=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236374%Mb@Mb@Mb@!!! !)!Y%{Gz?K7~jty%#?%I %! %@)%AI%@!y%@11iIEIE4٢! )=9Q > G٣y   > Nusing accuracyPremultiplier from config'590J?'5Y'4 iB'?:EEv@EF;;aR'5I M4@MEZjFNOT Ignoring new targets: 381.20 m.Bj|;Jj|; ProNav: ac range: 381.200012 m, nav range: 168.121658 m, bearing: 72.682494 deg, approach rate: 0.021337 m/s, LOS rate: 0.221132 deg/s, cmd heading: 354.463623 deg, new cmd heading: 354.785281 deg. 2j<HeadingCmd: 6.192171 target range: 381.200012 and range: 381.20 m. jD&@jjj!i!h!h!h)h-~Bf)f)f)rf1bf5 @ɛB/= `IQ IU%IIUBIU =&IQ.IQ6IU<:IU FG]GeqAGerAGB!OE?~w,@A:@Y: @:-=9::A!>y:H!? ??cP?aĿ嶥:? [?ɨ:@:;:CyZÆBZ%IIbIb4٢n[= n<=9n;Q n>pp rG٣pyv< v> ~Nusing accuracyPremultiplier from configx~'59z#GJ?'5Yz)4 izBaw@zEz:z:z$V'5 @Zj9=FNOT Ignoring new targets: 381.20 m.BjEO;JjEO; ProNav: ac range: 381.200012 m, nav range: 168.129349 m, bearing: 72.777883 deg, approach rate: 0.018230 m/s, LOS rate: 0.226102 deg/s, cmd heading: 354.785270 deg, new cmd heading: 355.071422 deg. 2j,<HeadingCmd: 6.197165 target range: 381.200012 and range: 381.20 m. j.O@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739902hhfffrfbf62@ɛBy3= 隕=I  (=ɚiIq =I'+i_i=/).O@)*F ?2F :F BF m0JF Gw!GBOC>) G YyG B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991689 R$?I zKU RIKU 9KQ KU KU BK] qA:K] qAh~w,A2@Y2 @2{1,=92 #>y2Htx zG٣~JGy; > Nusing accuracyPremultiplier from config'59n]J?'5YX,4 iBͦw@E;U;Y'5-B -@5E]B*** querying acoustic contact ***jYjYZjFNOT Ignoring new targets: 381.20 m.Bjb;Jjb; ProNav: ac range: 381.200012 m, nav range: 168.136627 m, bearing: 72.872994 deg, approach rate: 0.015154 m/s, LOS rate: 0.198019 deg/s, cmd heading: 355.071427 deg, new cmd heading: 355.356746 deg. 2j<HeadingCmd: 6.202145 target range: 381.200012 and range: 381.20 m. jw@jjjihh!hQhQfYfYfarfbf` @ Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:10:49.5727 TRx dataTimestamp_ set to:1736374250.697082checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245181ɛ5B5;3= 15H'=I1 5(=ɚ9i9I=E =IePie{imb7)mw@)q*F?2F:FBF_0JFG= W5GE ?GE ?G! B1 OM >B~w,ͻA6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495809y%ֆB-%I S$?I=Mb@Mb@Mb@999 9)9Y={Gz?T㥛 y9==̼= A =p@)=zAI=@9y9IUIUh4٢e= e3=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configq'59usJ?'5Yu.4 iuB'?:蟾w@uEue";u;u]'5 |@EJJJJJ:JO9JJZjFNOT Ignoring new targets: 381.20 m.Bj;Jj; ProNav: ac range: 381.200012 m, nav range: 168.140549 m, bearing: 72.966990 deg, approach rate: 0.010367 m/s, LOS rate: 0.248473 deg/s, cmd heading: 355.356738 deg, new cmd heading: 355.638717 deg. 2j*<}HeadingCmd: 6.207067 target range: 381.200012 and range: 381.20 m. jJ@jjjihhhhBfffrfbf`> @ɛ>= ,=I R(=ɚiIɀ =I9䛽i 'i L^J) J@) HD>IC III =&I.I8D6Ic<:IN FEA*F?2F:FBF0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747593G 6G B O- >A~w,wAB8@YB(H@B(=9B9)>yBH?|?Nw?%P?lſT`??ɨB8@Bc1;@RPExceeded connect timeout, disconnecting.yV݆BV%II^I^4٢ft)= fj=9jyQ j>hh nG٣lynU< n> vNusing accuracyPremultiplier from configpv'59rɅJ?z'5Yr_04 irBxzٛzw@rEr:r3:r`'5| @EZj)5FNOT Ignoring new targets: 381.20 m.Bj5&;Jj5&;M ProNav: ac range: 381.200012 m, nav range: 168.142303 m, bearing: 73.044270 deg, approach rate: 0.005065 m/s, LOS rate: 0.223068 deg/s, cmd heading: 355.638716 deg, new cmd heading: 355.870553 deg. 2jM BDAT read: Tx time:22:10:50.6964 $Ping request sent. ٕ2A)ٕKIٕFiٕX9?ٕw>ٕٕ\?ٕ ڕ/ ?)ڕVIڕ= ?iڕV>ڑڑەMB7?!)m,1-ӿ)ە%nIە>iە~~?ەJkۑۑU:publishing transmit ping timeUFpublishing direction and range infoؑ9ؕ|4??#Bi)?˾??yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑzKk3IK]9KKKڑەMB7?!)m,1-ӿ)ۑIۑiۑۑۑۑ*J"JR=E Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:22:10:50.6957 WI~w,VAynBr%IMb@Mb@Mb@ )YCl?ʡE~jty;?-D @)AI@yf@IIy4٢= :=9Q > G٣JGy >  Nusing accuracyPremultiplier from config '59GJ?'5Y/24 iiB ?:?w@E0;x;d'5! %@%EkXGx?kxa * k koA:kCBkjCZk?"w[@Rgne@_%D$t@|4??#Bi)?˾??Jk~~?RkJk*_]a@mJX@Ov@Eص?U9?wn?"k}B*k CkWx?kM̏) 2kCkk# kCk%Ck̢?} addTargetRange:: Added new target pos. range: 391.500000 m, deltaT: 4.032510 s, deltaX: 10.299988 m, approachRate: 2.554237 m/s, rangeRepo size: 4  Added new target pos. range: 391.500000 m, bearing: 35.541513 deg, lat: 36.903421 deg, lon: -122.121150 deg, deltaT: 4.032510 s, deltaX: 10.299988 m, approachRate: 2.554237 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 391.50 m.BjJj ProNav: ac range: 391.500000 m, nav range: 165.593048 m, bearing: 72.871848 deg, approach rate: 0.000000 m/s, LOS rate: 0.223068 deg/s, cmd heading: 355.870560 deg, new cmd heading: 356.168508 deg. 2jHeadingCmd: 6.216313 target range: 391.500000 and range: 391.50 m. j @jjjihhhhBfffrfxx@bf`8?ɛB42C= 隥=I )=ɚiI}U =I iiDP) @)*F2F:FBF 5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. yIyJ- J- J) J) J- <:J- 9J) J) G IjH) bH- 4<H1 I1  I5 &II5 BI1 &I1 .I1 6I5 i<:I5 R FG B O >1~w,1 A6Ԁ@Y6Z@6%=96)>y6H C?"?S?軿Y?]ſ`sc@A?҉?ɨ6Ԁ@6ć;6CyBBB%IIJIJ4٢Rf= Rb=9RQ V>TT VG٣TyZX< Z> ~Nusing accuracyPremultiplier from config\'59^ӮJ?'5Y^34 i^VB  my w@^E^:^:^g'5 @ZjYeFNOT Ignoring new targets: 391.50 m.Bjmr;Jjmr; ProNav: ac range: 391.500000 m, nav range: 165.580658 m, bearing: 72.950198 deg, approach rate: -0.033570 m/s, LOS rate: 0.212295 deg/s, cmd heading: 356.168520 deg, new cmd heading: 356.403586 deg. 2j<HeadingCmd: 6.220416 target range: 391.500000 and range: 391.50 m. j @jjjihhhhfffrfbf@ ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛAM}P= IM>II Mx)=ɚIi I - =I4i"i;) @)*F?2F:FBF_0JFGrA G nManaging dock network, ignoring radio surface power offGN Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > m V$?Ii J @AJ AAzK BoIK h9K K K QZ~w,#AFD@YF@F"=9F|)/>yFH@4?@2? q?Y?2%ƿ Iâ$??ɨFD@F8;FCybBb&IIjIjF4٢r = rF=9rBQ v>tt vG٣tyz< z> ~Nusing accuracyPremultiplier from config|'59~J?'5Y~654 i~BB  cq w@~E~;~@;~Fk'5B @EZjAUFNOT Ignoring new targets: 391.50 m.Bje~;Jjm~; ProNav: ac range: 391.500000 m, nav range: 165.564911 m, bearing: 73.039301 deg, approach rate: -0.039370 m/s, LOS rate: 0.222790 deg/s, cmd heading: 356.403588 deg, new cmd heading: 356.670919 deg. 2j<HeadingCmd: 6.225082 target range: 391.500000 and range: 391.50 m. j3@jjjihhhhfffrfbf j?ɛ5B=U= AEL>II ut*=ɚyiyI =Imii3)3@) Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG f:G B O >Ӈ~w,ybH`?zC?`֒?e\?nƿ & ??ɨb@b;`yrBv&I W$?IMb@Mb@Mb@ )YS?y&1Mb`?y/?`e;A @)AI@yzAIIkf4٢5H= 56=9=QAQ =>99 =G٣EJGyE< E> UNusing accuracyPremultiplier from configIU'59MJ?]'5YM64 iM4B]?]:]<]w@MEM;M;M1o'5a m@mEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 391.50 m.BjEr;JjEr;JJJJJ:J9JJ ProNav: ac range: 391.500000 m, nav range: 165.534409 m, bearing: 73.134222 deg, approach rate: -0.068051 m/s, LOS rate: 0.211809 deg/s, cmd heading: 356.670921 deg, new cmd heading: 356.955735 deg. 2j\<HeadingCmd: 6.230053 target range: 391.500000 and range: 391.50 m. j\@jjjihhhhBfffrfbf ?ɛB[q\= j3>I  +=ɚiI =I%Yi%"ie,)\@)HB>I I)&IIBI =&I.I6I.<:I& FBIàCJIáCRIZI =bI =jI'5*F}?2Fy:FyBFyJFy Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G 3Gy B O >Hn~w,CVAB'3@YBB@BT=9B{.4>yBHc??&N?l^ ^?/ƿ@iWkd?T|?ɨB'3@B;BCyJBN+&I)P RAIVIV4٢bn= be=9bP:Q b>dd fG٣dyj+< j> rNusing accuracyPremultiplier from configlv'59nJ?v'5Yn74 in)Btv6vw@nEn:n:nOr'5| ~>@|Zj!-FNOT Ignoring new targets: 391.50 m.Bj-lr;Jj-lr;= ProNav: ac range: 391.500000 m, nav range: 165.508972 m, bearing: 73.209839 deg, approach rate: -0.071283 m/s, LOS rate: 0.211942 deg/s, cmd heading: 356.955740 deg, new cmd heading: 357.182624 deg. 2jEtI +=ɚiIy =I[iIii<#)}@)*F5?2F1:F1BF50JF1"G==G==mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999380 X$?IzK:IKKKK Gu;+GQBYOu>% Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253187~w,̚pANm@YN}@N=9NS6>yNH 9?@ݵ?$? ̌`?bƿt?`y?ɨNm@NJ;NCyZ+BZA&IEMb@Mb@Mb@AAA A)AYEQ?~jtx?~jtx?yE(?E;E;A A)AIE@AyEAIUIU4٢m= m@=9u:Q u>q G٣y< > Nusing accuracyPremultiplier from config'59K?'5Y84 i"B,?:jw@E;;&v'5B @EZj9=FNOT Ignoring new targets: 391.50 m.BjEl;JjEl;M ProNav: ac range: 391.500000 m, nav range: 165.450546 m, bearing: 73.300389 deg, approach rate: -0.133138 m/s, LOS rate: 0.206414 deg/s, cmd heading: 357.182612 deg, new cmd heading: 357.454356 deg. 2jU <]HeadingCmd: 6.238755 target range: 391.500000 and range: 391.50 m. j]@jYjYjYiYhYhahahe%Bfafifirfqbfu@ɛBj= 隥h>I n,=ɚiI+ =I,5ioi)@)*F-?2F):F)BF-0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505017 IGc#GBO >ZH RH AAH @>I  I U&II ;BI ! =&I .I 6I 6<:I ) F ~w,OxA:˘@Y:Q@:;=9:b6>y:H ?R?`.?4c?Rƿ`=ũ?Iy?ɨ:˘@:%;:CyN-BRC&IIZIZ4٢T< F=9Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7552331 5G٣5JGy=UP< => ENusing accuracyPremultiplier from configA'59EK?'5YE84 iEBw@EEE¢I >-=ɚiI~=I#iiH)w@)*FE?2FI:FIBFM1JFIGM GGM pAGM qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007199 Y$?I GA B O >J J J J J J :J J J Q;a J R;a J yE;a J zE;a zK5 iKK5 9K1 K5 K5    ~w,PQA2Ϳ@Y2Y@2=926>y2H`??@H?@Ig?(ƿ?x?ɨ2Ϳ@2j;2CyB5BBM&IiF=IF<ININ.4٢Vi,= V\=9V/Q V>XX ZG٣XyZ< ^> bNusing accuracyPremultiplier from config`f'59b*K?f'5Yb84 ibBdfxfw@bEb/:b:b|'5h nB@lZj|FNOT Ignoring new targets: 391.50 m.Bjx;Jjx; ProNav: ac range: 391.500000 m, nav range: 165.345627 m, bearing: 73.458558 deg, approach rate: -0.145899 m/s, LOS rate: 0.217303 deg/s, cmd heading: 357.710203 deg, new cmd heading: 357.928990 deg. 2j"<HeadingCmd: 6.247039 target range: 391.500000 and range: 391.50 m. j@jjjihhhhf!f)fYrfabfm @ɛ Br= !%y>II M.=ɚIiIIM)=IU iUiUa)U@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259433*F?2F:FBF_5JFGqA GrAG G B O >~w,,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:22:10:53.6073 &TRx dataTimestamp_ set to:1736374254.980703*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512384 4I4fU@Yf@f=9fՔ5>yfH s?Ӗ?Y?`Bl?ƿ⡿`?z?ɨfU@fB;fCyn:BrT&I%Mb@Mb@Mb@!!! !)!Y%+?{Gz?Mb?y%v?%#=%<%+A %@)!I%@!y%pAI=I=4٢MԵ< M3=9MꀺQ U>QQ UG٣Yy]Y5< ]> eNusing accuracyPremultiplier from configam'59eBK?m'5Ye84 ieBu?u:uuw@e Ee);e;e܀'5}B }@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 391.50 m.Bjj;Jjj; ProNav: ac range: 391.500000 m, nav range: 165.265656 m, bearing: 73.552978 deg, approach rate: -0.173701 m/s, LOS rate: 0.205184 deg/s, cmd heading: 357.928987 deg, new cmd heading: 358.212384 deg. 2j <HeadingCmd: 6.251986 target range: 391.500000 and range: 391.50 m. jD@jjjihhhhNBfffrfbf @ɛ%B%9x= )->I) -.=ɚ)i)I5 6=I5>i=i=Η)=D@)9HyIy I}z&II}ZBIy&Iy.Iy6I}<:I} F*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768557GG B O% >~w, A:c~GF|uAP f Yf|uAyfBr)@Yr19@r =9r4>yrH?`?.}?ap?ƿ@o?9|?ɨr)@r;pyGBd&III4٢%= %_=9%{Q %>)) -G٣-JGy5< 5> =Nusing accuracyPremultiplier from config9E'59=VK?E'5Y=84 i=BIMy;Mw@=E=:=s:='5Q U@EZj%FNOT Ignoring new targets: 391.50 m.Bj%m`;Jj-m`;] ProNav: ac range: 391.500000 m, nav range: 165.200623 m, bearing: 73.628497 deg, approach rate: -0.168899 m/s, LOS rate: 0.196209 deg/s, cmd heading: 358.212386 deg, new cmd heading: 358.439030 deg. 2j]I p/=ɚi I|=I.߼i i )0@) ][$?IY]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:10:53.6073 LVL= 9904, 17553, 16370, 19443, AGC= 70, IDX= 273,-0.26, 1.163,-0.233,-0.644, 0.152, PHS= 1.099,-0.338,-0.798, RAW= 76.6, 0.4, CAL= 81.9, -3.7, ROT= 68.1, 3.7 Ygot valid direction response: 22:10:53.6073 LVL= 9904, 17553, 16370, 19443, AGC= 70, IDX= 273,-0.26, 1.163,-0.233,-0.644, 0.152, PHS= 1.099,-0.338,-0.798, RAW= 76.6, 0.4, CAL= 81.9, -3.7, ROT= 68.1, 3.7 PDAT read: Bearing 68.1, 3.7 (Local) ~Local bearing/azimuth received: Bearing 68.1, 3.7 (Local) uDAT read: Range 10 to 50 : 380.0 m (Round-trip 506.7 ms) speed 0.3 m/s *F?2F:FBF_0JFG G"GG,DAT read: user:2368> BDAT read: Tx time:22:10:54.6964 $Ping request sent.y:H7?`.??සs?@Мƿ~ h? |?ɨ:W@:<{;:CyREBRa&I)T VAMb@Mb@Mb@ )YGz?Dl?y&1|?yp?O=`;A @)II@yAI I 4٢=. E:=9EQsQ E>II MG٣IyMP< u> }Nusing accuracyPremultiplier from configy'59}4mK?'5Y}v84 i}Bp?:f=w@}E};}A;}'5 +@kyG?k9j- k kA:kCBkCZkO?"^Y:K|k_@SWv@OD㱿H$NB?!?Jk?Rk*5%[&O@]kw@tiup?\X?"k0yB*k(kpKG?k>"8- 2k,CkP?k^5f& kCkUCkT?E addTargetRange:: Added new target pos. range: 380.000000 m, deltaT: 4.033670 s, deltaX: -11.500000 m, approachRate: -2.851002 m/s, rangeRepo size: 4 } Added new target pos. range: 380.000000 m, bearing: 99.605461 deg, lat: 36.903156 deg, lon: -122.121422 deg, deltaT: 4.033670 s, deltaX: -11.500000 m, approachRate: -2.851002 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 380.00 m.BjJj ProNav: ac range: 380.000000 m, nav range: 135.332260 m, bearing: 82.838855 deg, approach rate: 0.000000 m/s, LOS rate: 0.196209 deg/s, cmd heading: 358.439039 deg, new cmd heading: 358.698259 deg. 2jHeadingCmd: 6.260466 target range: 380.000000 and range: 380.00 m. jU@jjjihhhh_Bfffrfw@bf?ɛ=B=+y= 9=t>IA E0=ɚAiAIEyu=Imim.f!im:)mU@)qEyEy*F5?2F1:F1BF=^0 AIAJF9}Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ=Յ4=GB!O>jHm <bHm <Hy Iy  I} &II} nBIy &Iy .Iy 6I} <:I} Fw, A6~@Y6@6=96+>y6H??m?@O`F?ſu{UU?`?ɨ6~@6Nw;6CyB>BBY&IIJIJ44٢f fe=9jQ j>hl nG٣lyrY< r> vNusing accuracyPremultiplier from configtz'59vK?z'5Yv84 itxzz=~w@vEv{I! %n1=ɚ!i!I%=I-$"i-"i- 4)5|@)9*F?2F:FBF`0JFGBO%,> 5 \$?I1  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ̝:J /:J J J ;J ;J ^;J ^;w,%AzK2MK29K0K2K2"! >@Y>u@>=9>z->y>H^?N˦?S?UR@? غſV u? ?ɨ>@>G;>CyR7BRQ&IIZIZi4٢b.  bK=9b5Q b>dd fG٣fJGyjP< j> nNusing accuracyPremultiplier from configlr'59nyK?r'5Yn74 inBtv<=vw@nEn;n;n'5x z@z~EZj!%FNOT Ignoring new targets: 380.00 m.Bj-ژ;Jj-ژ;= ProNav: ac range: 380.000000 m, nav range: 135.244827 m, bearing: 83.033128 deg, approach rate: -0.121931 m/s, LOS rate: 0.267270 deg/s, cmd heading: 358.970919 deg, new cmd heading: 359.281270 deg. 2j=l7I %?2=ɚ!i!I-ҽ=IeMie0"i)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.i*F?2F:F!BF!JF!G5rAG5rAGBOn>  I! !w,t?A"Will construct direction to contact in vehicle frame from tetrahedron phase data.y]1B]H&IiaIe>Mb@Mb@Mb@ )YV-?ʡE?Mb`y|?=A )I`@yI I ]4٢e e2=9mQ m>ii uG٣yy > Nusing accuracyPremultiplier from config'59K?'5Y 74 i B ?:=w@E;1;'5 a@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 380.00 m.Bjf;Jjf; ProNav: ac range: 380.000000 m, nav range: 135.186798 m, bearing: 83.152859 deg, approach rate: -0.126554 m/s, LOS rate: 0.261229 deg/s, cmd heading: 359.281283 deg, new cmd heading: 359.640625 deg. 2jG3<HeadingCmd: 6.276913 target range: 380.000000 and range: 380.00 m. jy@jjjihhhhJBff f rf HI I&IIxBI&I.I6Ig<:IL Fbf-?ɛUB]3p= Y]b>IY ]3=ɚaiaIe]=Ieͻim>#im)my@)q*F%?2F!:F!BF%0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GM w!G B O5 >/ w,*UYA:;@Y:J@:tH=9:V0>y:H{?ޝ?eٛ?椘k?ƿZH-? ?ɨ:;@:+;:CyB-BFD&IININݜ4٢V Vk=9VQ Z?XX ZG٣Xy^9= ^? bNusing accuracyPremultiplier from config`f'59bK?j'5Yb{64 ibBln=nw@b#Ebyc;bc;b'5vB v@v{EZjFNOT Ignoring new targets: 380.00 m.Bj(;Jj(;- ProNav: ac range: 380.000000 m, nav range: 135.140152 m, bearing: 83.242807 deg, approach rate: -0.134300 m/s, LOS rate: 0.259060 deg/s, cmd heading: 359.640633 deg, new cmd heading: 359.910568 deg. 2j-1<5HeadingCmd: 6.281624 target range: 380.000000 and range: 380.00 m. j5@j1j1j1i1h9h9h9h9fAfAfArfAbfE7?ɛ}B}t= 隅W>I `3=ɚiIZ =I̺i7$i>ؼ)@) ^$?I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.975840*F?2F:FBFP5JFJJJ/JJ\:J9J(N3JJj;Jk;J8;J8;zK}LK+9KKK #&'%# RK ?JK?G(GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228595]3w,V,sA:c@Y:as@:=9:D0>y:HV?-? Μ?Z?@CƿU?Ӂ?ɨ:c@:*;8y^B^,&IMMb@Mb@Mb@III I)IYMMb?Zd;?QyM ?My=MuMA I)IIIIyMAIeIe4٢u u>=9ul9Q }>yy }G٣}JGy'>< > Nusing accuracyPremultiplier from config'59K?'5Y54 iBP!?:=w@'E;;S'5 @xEZjFNOT Ignoring new targets: 380.00 m.Bj-;Jj-; ProNav: ac range: 380.000000 m, nav range: 135.087128 m, bearing: 83.355142 deg, approach rate: -0.123900 m/s, LOS rate: 0.262592 deg/s, cmd heading: 359.910562 deg, new cmd heading: 0.247695 deg. 2j64<HeadingCmd: 0.004323 target range: 380.000000 and range: 380.00 m. j˨;jjjihhhh=Bfffrfbf1@ɛÆB1b= ->I =4=ɚiIG=I˨;i$i)˨;)!*F2F:FBF!5JF IG^G?G?eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.477851GBOa>ZH RH @AH ?>I  I &II iBI &I .I 6I <:I e FBIJIȠCRIZI! =bI! =jIM4#w,A6u@Y6@6'=96Dž1>y6H?tA?6?@܃?!ƿ R?v?`$?ɨ6u@6 ;4yf Bf&I)h hIrIr4٢za zS=9z߹Q z>|| G٣y1k< >  Nusing accuracyPremultiplier from config '59 K?'5Y [54 i B!%v=%w@ +E ?; H@; '5) -@)ZjQUFNOT Ignoring new targets: 380.00 m.Bj];Jj];m ProNav: ac range: 380.000000 m, nav range: 135.038315 m, bearing: 83.456639 deg, approach rate: -0.125817 m/s, LOS rate: 0.261708 deg/s, cmd heading: 0.247695 deg, new cmd heading: 0.552295 deg. 2jm3I Ԩ4=ɚiIp=Ipm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981503J AAJ S)w,AzK^bMK^9K\K^K^  BKfpA:Kdn@Ynh@n`=9n`0>ynH{?-??@Й? yƿ`]@F?@p?ɨn@nu2;nCyvBz&IImImh4٢ɔ /=9 Q > q }G٣yyk; > Nusing accuracyPremultiplier from config'591L?'5Y44 iB=w@0E<<'5B %@-uEWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:10:57.6207 TRx dataTimestamp_ set to:1736374258.768644checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239462ZjIMFNOT Ignoring new targets: 380.00 m.BjM|;JjU|;] ProNav: ac range: 380.000000 m, nav range: 134.975906 m, bearing: 83.585825 deg, approach rate: -0.116082 m/s, LOS rate: 0.240402 deg/s, cmd heading: 0.552295 deg, new cmd heading: 0.940025 deg. 2j]$<HeadingCmd: 0.016407 target range: 380.000000 and range: 380.00 m. jf<jjjihhhhfffrfbf`w @ɛEdžBMɳM= IMH=II M*5=ɚIiIIUy=IUf0w,g`AJK|3 KL.KK"KJJJ1JJ:J :J3Ja5@a5@a5@a5@-%HFailed to parse device response: 11 yB%IIIW4٢%2 %B=9-Q ->11 5G٣5JGy5 5> ENusing accuracyPremultiplier from config9E'59=L?M'5Y= 44 i=BIQUw@=4E=%;=T&;=y'5Y ]@]sE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 380.00 m.Bj¨;Jj¨; ProNav: ac range: 380.000000 m, nav range: 134.926453 m, bearing: 83.689317 deg, approach rate: -0.140953 m/s, LOS rate: 0.295083 deg/s, cmd heading: 0.940025 deg, new cmd heading: 1.250612 deg. 2jJ<HeadingCmd: 0.021827 target range: 380.000000 and range: 380.00 m. j-ϲ<jjjihhhhfffrfbf@ @ɛMȆBM5E= QU@S=IQ UbD5=ɚQiQI]a=I]-ϲ]6w,/A2@Y2@2<92 p/>y2H?@V)?(N?@xKj?ſ@ S?I?ɨ2@28;2CyN҆BN%IiR=IRdd fG٣dyj/< j> ra$?Ip vNusing accuracyPremultiplier from configpv'59r ,L?z'5Yrx34 irBxz=w@r8ErN mBDAT read: Tx time:22:10:58.7464  ProNav: ac range: 380.000000 m, nav range: 134.880203 m, bearing: 83.783413 deg, approach rate: -0.120781 m/s, LOS rate: 0.245817 deg/s, cmd heading: 1.250612 deg, new cmd heading: 1.532993 deg. 2j(<HeadingCmd: 0.026756 target range: 380.000000 and range: 380.00 m. j.<jjji$Ping request sent.>=w,KA2@Y2 @2g<92I,>y2H=?w?@n?`I@u?ſ@v`A?ʇ?ɨ2@2;2Cy^ĆB^%I @ @ @  @ II4٢} <=9;Q > G٣y5; > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config'59BL?'5Y24 iB+::= w@<E;y>'5B @5pEk-CaG?k-y*A 1 k) k-0GA:k-CBk-CZk-@"-W2:uTW@,gRcw@-3D=285Z?2a?Jk-R?Rk-M1*-!S,,B>@x!@Hx@-w`-hv-5?9?"k-HA*k-fk-{G?k-ɷ1 2k-Ck-x/M?k-M̏) k-8Ck-Bk-!? addTargetRange:: Added new target pos. range: 390.000000 m, deltaT: 4.033942 s, deltaX: 10.000000 m, approachRate: 2.478965 m/s, rangeRepo size: 4  Added new target pos. range: 390.000000 m, bearing: 115.093598 deg, lat: 36.903062 deg, lon: -122.121813 deg, deltaT: 4.033942 s, deltaX: 10.000000 m, approachRate: 2.478965 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 390.00 m.Bj Jj  ProNav: ac range: 390.000000 m, nav range: 99.340332 m, bearing: 87.793607 deg, approach rate: 0.000000 m/s, LOS rate: 0.245817 deg/s, cmd heading: 1.532993 deg, new cmd heading: 1.850971 deg. 2j!%HeadingCmd: 0.032306 target range: 390.000000 and range: 390.00 m. j%R=j)j)j)i)hihihyhyfyfyfyrfbf ? b$?IɛU͆BU0= Y]`IY ]B5=ɚYiYI]]=IeR=i(iH)R=)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJFJEJEJAJAJE :JE:JAJAjH}<bHyH6>IC I<&II'BI% =&IHD.I7D6Iq<:IL FG  G B O >Dw,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:`R::/<9:S*,>y:H?p?l?*IJ?`? jſ@i??ɨ:@:;:CyFBF%II^I^?4٢jȪ nZ=9n]Q r>pp rG٣pyvLj; v> zbBottom track data is 0.8 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx'59zVL?'5Yz"24 izB :]:=w@z@Ez|4;zO?zլ'5 @mEZjFNOT Ignoring new targets: 390.00 m.Bj;Jj; ProNav: ac range: 390.000000 m, nav range: 99.307877 m, bearing: 87.928614 deg, approach rate: -0.088676 m/s, LOS rate: 0.368988 deg/s, cmd heading: 1.850971 deg, new cmd heading: 2.256115 deg. 2j;}<HeadingCmd: 0.039377 target range: 390.000000 and range: 390.00 m. jeI!=jjjihh h h f ffrf1bf5@?ɛΆBA^%= 隥QI K5=ɚiI*f=IeI!=iiu+)eI!=))Y Y~GtA  UYUtAyUh B*F2F:FBF0JFG_GaBiO[> c$?IWill construct direction to contact in vehicle frame from tetrahedron phase data./Jw,4*AzK2JK29K0K2 K2=G, jsU@Yj<*<jI<9jW)>yjH|?`wjf?@\E?/?ſS@B?@5?ɨjsU@jw;jCyvBv%I)x xI~I~ 4٢   G=9wQ > G٣JGy:< > -bBottom track data is 1.2 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!5'59%mlL?5'5Y%b14 i%B591=3:=P==w@%DE%h;%?%'5a m@iZjFNOT Ignoring new targets: 390.00 m.Bjv;Jjv; ProNav: ac range: 390.000000 m, nav range: 99.270531 m, bearing: 88.076325 deg, approach rate: -0.092565 m/s, LOS rate: 0.366253 deg/s, cmd heading: 2.256115 deg, new cmd heading: 2.699408 deg. 2j[{<HeadingCmd: 0.047114 target range: 390.000000 and range: 390.00 m. j$@=jjjihhhhff frfbf%\w?}Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ цB R=  I 4=ɚi!I%==IM$@=iM)iM+!)U$@=)Q*F ?2F :F BF0JF I G G G % Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Bi O >.Qw,ZDAFli@YF.R<Fe<9F^)>yFH$?Q?B?? (ſ ŋ?@?ɨFli@F8;FCyZB^%IJJJ0JJ:J:Jـ3JH%4>I! I% &II%BI%& =&I!.I%6D6I%|<:I%R F        Mb@Mb@Mb@ )YK7A`?QˡEy+?u' A @)zAI@yzAI I .4٢V :=9%:Q %>!) -G٣)y-; 5> =Nusing accuracyPremultiplier from config9E'59="L?E'5Y=14 i=BET:E,?E:MMw@=IE=z ;=;='5UB U@UjEuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 390.00 m.Bj;Jj; ProNav: ac range: 390.000000 m, nav range: 99.280403 m, bearing: 88.245823 deg, approach rate: 0.022702 m/s, LOS rate: 0.389727 deg/s, cmd heading: 2.699408 deg, new cmd heading: 3.207837 deg. 2j<HeadingCmd: 0.055987 target range: 390.000000 and range: 390.00 m. jRe=jjjihhhhBfffrfbf`A?ɛӆB$= PI s4=ɚiIY$=IRe=iiN;)Re=)*FE?2FA:FABFES5JFA}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G w!GY Bi O >qAWw,n^A &d$?I$y-B-x%IIEIEV4٢UE UX=9]Q ]>aa eG٣aye e> }Nusing accuracyPremultiplier from configy'59}qL?'5Y}U24 i}Bw@}ME}*:}:}'5 @gEZjFNOT Ignoring new targets: 390.00 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992944 ProNav: ac range: 390.000000 m, nav range: 99.289612 m, bearing: 88.391978 deg, approach rate: 0.024299 m/s, LOS rate: 0.385622 deg/s, cmd heading: 3.207837 deg, new cmd heading: 3.646251 deg. 2jS<HeadingCmd: 0.063639 target range: 390.000000 and range: 390.00 m. j5U=jjjihhhh f f f rf bfj.@ɛ=ՆB=0= AEIA E3=ɚAiAIM=IM5U=iIiUQU)U5U=)Y*F?2F:FBF_0JFGP<3GiByO=>zK][LK]]9KYK] K]wo. Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246863k]w,IxA:d@Y:<:׏<9:)>y:H`?@m9?ܿ??ſ@?|?ɨ:d@:e;:CyR~BRm%I-Mb@Mb@Mb@))) )))Y-v/?J +kty-x)?-Ƚ- 0-A )))I-3@)y-AIEIEb4٢]1 ]J=9]79Q e>aa eG٣eJGym6< m> uNusing accuracyPremultiplier from configq}'59uL?}'5Yu)34 iu_B+?:w@uQEu;u;uj'5B ;@dEZjFNOT Ignoring new targets: 390.00 m.Bj;Jj; ProNav: ac range: 390.000000 m, nav range: 99.313950 m, bearing: 88.546203 deg, approach rate: 0.060333 m/s, LOS rate: 0.382225 deg/s, cmd heading: 3.646251 deg, new cmd heading: 4.108802 deg. 2j(<HeadingCmd: 0.071712 target range: 390.000000 and range: 390.00 m. jݒ=jjjihhhh~Bfffqrfqbfu@ɛ׆B= 1I b3=ɚiI=Iݒ=iiN^)ݒ=) =e$?I9*F?2F:FBFJF"G=Gp=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497170ZHRHAAH%5>I! I%%II%ֆBI!&I!.I!6I%e<:I%C FJEJAJAJAJE:JAJAJAJE;aMJE;aMJEC;aMJEC;aUGf:G?G?G B O >Sdw,#A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748929>@Y><>g<9>7 ,>y>H?RÏ+?? ?Sſ He?@?ɨ>@>;`` bG٣`yfo< f> jNusing accuracyPremultiplier from confighn'59jGL?n'5Yj34 ijABpr齑rw@jUEj;jr;jļ'5t vQ@tZjquFNOT Ignoring new targets: 390.00 m.Bjt;Jjt; ProNav: ac range: 390.000000 m, nav range: 99.336922 m, bearing: 88.692879 deg, approach rate: 0.058195 m/s, LOS rate: 0.371487 deg/s, cmd heading: 4.108802 deg, new cmd heading: 4.548721 deg. 2j~<HeadingCmd: 0.079390 target range: 390.000000 and range: 390.00 m. jO=jjjihhhhfffrfbf ՛@ɛEنBE< AExWIA M2=ɚIiIIM=IUO=iqi}+m)}O=)*F?2F:FBFJFGtV %f$?I!GBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000753JI JM ?A~jw,AzK. NK.h9K,K. K.BK4:K4>@Y>8<>}<9>[.>y>H?k ?2?G?`ſgm?@}?ɨ>@>AC;\\ ^G٣\yb-; b> fNusing accuracyPremultiplier from configdj'59fL?j'5Yf44 if!BhnO佑nw@fYEf;f%;fJ'5p r@raEZj  FNOT Ignoring new targets: 390.00 m.Bj;Jj;% ProNav: ac range: 390.000000 m, nav range: 99.361076 m, bearing: 88.847221 deg, approach rate: 0.061752 m/s, LOS rate: 0.394484 deg/s, cmd heading: 4.548721 deg, new cmd heading: 5.011623 deg. 2j%]<-HeadingCmd: 0.087469 target range: 390.000000 and range: 390.00 m. j-#=j)j)j1i1h1h1h9h9f9f9fArfAbfE @ɛچB< JI 2=ɚiI\=I#=iiAa)#=)eWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:22:11:01.6546 }TRx dataTimestamp_ set to:1736374262.800929checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259431*F?2F:FBF`0JFG|[GBO>  g$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507934Teqw,AF@YFy<FZ<9F^U1>yFH ?%ڟ?K?@?*ſp@M ?`?ɨF@F;FCyRkBRU%IHj4>Ih Ij%IIjBIh&Ih.Ih6Ij{<:IjR FJJJJJ:J:JJJ6;J7;JA;JA;Mb@Mb@Mb@ )Y rh?!rhI +y,?l罹94\ A @)AII@yAIIʴ4٢2 ,=9hQ > G٣JGy; > Nusing accuracyPremultiplier from config'59L?'5Y54 iB P/? : w@^Ex5;a#;p'5B g@^E=B*** querying acoustic contact ***j9j9ZjAEFNOT Ignoring new targets: 390.00 m.BjM&;JjU&;] ProNav: ac range: 390.000000 m, nav range: 99.395889 m, bearing: 89.032412 deg, approach rate: 0.073045 m/s, LOS rate: 0.388435 deg/s, cmd heading: 5.011623 deg, new cmd heading: 5.566983 deg. 2j]J  I Oww,FA6w@Y6"<6 <96Q4>y6HN?+7?3`?H~? Xƿ@s?~?ɨ6w@6C;6CyNtBR`%IIZIZs4٢~][= o=9ݺQ ?    G٣ y >< ? Nusing accuracyPremultiplier from config%'59E M?%'5Y64 iB)575w@bE;7;n'5Q U@YZjFNOT Ignoring new targets: 390.00 m.Bjd;Jjd; ProNav: ac range: 390.000000 m, nav range: 99.420631 m, bearing: 89.165884 deg, approach rate: 0.071454 m/s, LOS rate: 0.385361 deg/s, cmd heading: 5.566983 deg, new cmd heading: 5.967292 deg. 2j<<HeadingCmd: 0.104149 target range: 390.000000 and range: 390.00 m. jL=jjjihhhhfffWill construct direction to contact in vehicle frame from tetrahedron phase data.ս=ս<DAT read: 22:11:01.6546 LVL= 15344, 25665, 20434, 30307, AGC= 67, IDX= 433, 0.13, 1.741, 0.614,-0.043, 0.360, PHS= 1.469, 0.300,-0.407, RAW= 68.1, -16.4, CAL= 80.8, -24.8, ROT= 69.2, 24.8 Ygot valid direction response: 22:11:01.6546 LVL= 15344, 25665, 20434, 30307, AGC= 67, IDX= 433, 0.13, 1.741, 0.614,-0.043, 0.360, PHS= 1.469, 0.300,-0.407, RAW= 68.1, -16.4, CAL= 80.8, -24.8, ROT= 69.2, 24.8  PDAT read: Bearing 69.2, 24.8 (Local) ~Local bearing/azimuth received: Bearing 69.2, 24.8 (Local) DAT read: Range 10 to 50 : 378.0 m (Round-trip 504.0 ms) speed 0.0 m/s %,DAT read: user:2370> -BDAT read: Tx time:22:11:02.7465 -$Ping request sent.-ٽNbоٽ #?ٽC ڽJ?)ڽkݾIڽ#?iڽk>ڹڹ۽$i?<Dg*r =ҿ)۽gI۽#>i۽Jo?۽5_۹۹:publishing transmit ping time)*J "J p=ɛ-ކB-N< 15NTI1 5މ0=ɚ1i1I5=I=L=i= +i=w)EL=)AmFpublishing direction and range infoع9ؽ U|?I9B?{0 ?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽$i?<Dg*r =ҿ)۹I۹i۹۹۹۹*F?2F:FBF~0JFzK}BoIK}9KyK} K}':[ p?mA* Q|_D0  cRtu Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O- >}w,-AynkBnU%IMb@Mb@Mb@ )YQ?)\(L7A`堿y(?Gό+A @)AI`@ypAII]4٢)+ >=9Q > G٣y > Nusing accuracyPremultiplier from config'59A#M?'5Yx74 iB+?:w@gEB;;1'5 \@[Ek󞊈n?kF) k kWA:kC j$?IBkCZkI?":7XX@f$d@_Ƀ}t@ U|?I9B?{0 ?JkJo?Rk5_*FwY@ 8Qv Z@B\u@s ?F:c5?=9|?"kcB*kBk|U0o?kCq~) 2kCkkkkBk? addTargetRange:: Added new target pos. range: 378.000000 m, deltaT: 4.032267 s, deltaX: -12.000000 m, approachRate: -2.975993 m/s, rangeRepo size: 4  Added new target pos. range: 378.000000 m, bearing: 45.206935 deg, lat: 36.903062 deg, lon: -122.121813 deg, deltaT: 4.032267 s, deltaX: -12.000000 m, approachRate: -2.975993 m/s, posRepo size: 4 Zj)-FNOT Ignoring new targets: 378.00 m.Bj5Jj1m ProNav: ac range: 378.000000 m, nav range: 99.452309 m, bearing: 89.330126 deg, approach rate: 0.000000 m/s, LOS rate: 0.385361 deg/s, cmd heading: 5.967292 deg, new cmd heading: 6.489041 deg. 2jiuHeadingCmd: 0.113255 target range: 378.000000 and range: 378.00 m. juO=jqjqjqiqhyhyhyh}Bfffrfw@bf?ɛBP< iI /=ɚiI^=I-O=i)i-$)-O=)1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF/1JFG7jHbHH5>I I%IIBI&I.I6I<:Ia FBIƞCJIƞCRIZI& =bI& =jIC5GBO>w,lAWill construct direction to contact in vehicle frame from tetrahedron phase data.:Zj@Y:5=:y<9::>y:H@??М?r?ƿ.!?v?ɨ:Zj@:;:CyrzBrh%IIzIz4٢= X=9 Q  >    G٣JGys= > %Nusing accuracyPremultiplier from config!-'59%m8M?-'5Y%384 i%B15ད5w@%kE%;%;%'5=B =a@EXEZjamFNOT Ignoring new targets: 378.00 m.Bjmy;Jjuy; ProNav: ac range: 378.000000 m, nav range: 99.477386 m, bearing: 89.475026 deg, approach rate: 0.070975 m/s, LOS rate: 0.409988 deg/s, cmd heading: 6.489041 deg, new cmd heading: 6.923623 deg. 2j<HeadingCmd: 0.120840 target range: 378.000000 and range: 378.00 m. jz=jjjihhhhfffrfbf߼?ɛB8< MI :/=ɚiI=Iz=iinƑ)z=)*Fu?2Fq:FqBFu)4JFq IGڋG?G?Will construct direction to contact in vehicle frame from tetrahedron phase data.GiByO>J! J% BAJ) J- J) J) J) J- :J) J) a5 @a5 @a5 @a= @j̊w,J-A2T@Y2N=2埯<92Nk?>y2H@? P!?˩? h?@Hǿ`f?oo?ɨ2T@2iC;0zK>MOK>]9K<K>K>h6 yFBJp%IIRIR4٢r< vL=9vUQ v>tx zG٣xyz~< z> Nusing accuracyPremultiplier from config| '59~NM? '5Y~84 i~B  :ӽ w@~oE~;~;~'5 @ZjAEFNOT Ignoring new targets: 378.00 m.BjMZ;JjMZ;] ProNav: ac range: 378.000000 m, nav range: 99.502731 m, bearing: 89.627705 deg, approach rate: 0.063395 m/s, LOS rate: 0.381800 deg/s, cmd heading: 6.923623 deg, new cmd heading: 7.381533 deg. 2j]jajajaiihihihihifqfqfrfbf?ɛMBMa< IMDIq .=ɚiI]==Will construct direction to contact in vehicle frame from tetrahedron phase data.I]>iaieD)u>)y*FA2FA:FABFE3JFA uk$?IqGe ߆GA BI Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,!GAH66>I4 I4I4I6% =&I4.I67D6I6<:I6o FN@YNm=N-<9NFD>yNHP?` {?`筭?e^?/ȿ@u@a? h?ɨN@NNՇ;NCyZBZ%IMb@Mb@Mb@ )YS㥛?|?5^S㥛y$?ҽ/ݼ+A @)AII@yAIIЬ4٢= ==9}9Q > G٣yN< > Nusing accuracyPremultiplier from config'59IfM?'5Y94 ioB'?:w@tE7;I;'5 @UEZj!%FNOT Ignoring new targets: 378.00 m.Bj-;Jj-;= ProNav: ac range: 378.000000 m, nav range: 99.526566 m, bearing: 89.788590 deg, approach rate: 0.055188 m/s, LOS rate: 0.372439 deg/s, cmd heading: 7.381533 deg, new cmd heading: 7.864059 deg. 2j= >jAjAjAiIhIhIhIhMBfQfQfQrfYbf]`7,?ɛB< 隍|'I .=ɚiI=I> >ii)> >)*FM?2FI:FIBFM_0JFIEWill construct direction to contact in vehicle frame from tetrahedron phase data.|uA Y|uAy BG мG B O > a Ia ޗw,`A6@Y6@=6RL<96%F>y6H`?Vʭ ?>?W?@zȿɕ`?@7d?ɨ6@6O;6Cy>B>%I)@ @DFAIHIH٢R%= R^=9VTQ V>TT ZG٣ZJGy^t< > Nusing accuracyPremultiplier from config%'59zM?%'5Y":4 iWB!% -w@xEz::'55B 5w@5REUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 378.00 m.Bjm;Jjm;} ProNav: ac range: 378.000000 m, nav range: 99.546776 m, bearing: 89.930093 deg, approach rate: 0.053193 m/s, LOS rate: 0.372357 deg/s, cmd heading: 7.864060 deg, new cmd heading: 8.288477 deg. 2j}<HeadingCmd: 0.144661 target range: 378.000000 and range: 378.00 m. j">jjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.frfbf`@(@ɛBQ= I =-=ɚiI=I">ii4㚽)">)E *Fu?2Fq:FqBFqJFqJJJJJJ:JJzK5KK5ػ9K1K5K5GGBO >] Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257363 w,zAJM@YJ[=J@H<9JfgJ>yJH`?`X?Uf? +N? ȿ@ȕ `!?^?ɨJM@JMӇ;HyjBj%IeMb@Mb@Mb@aaa a)aYeRQ?x&:vye"?e7eTeXA e@)eAIe`@aye=AI}I}4٢= <=9&Q > G٣y< > Nusing accuracyPremultiplier from config'59M?'5YT:4 iFB#?:^߼w@|EB;;'5 o@OEZjFNOT Ignoring new targets: 378.00 m. m$?IBjb;Jjb; ProNav: ac range: 378.000000 m, nav range: 99.554169 m, bearing: 90.085279 deg, approach rate: 0.017526 m/s, LOS rate: 0.367863 deg/s, cmd heading: 8.288476 deg, new cmd heading: 8.753989 deg. 2jv|<HeadingCmd: 0.152786 target range: 378.000000 and range: 378.00 m. js>jjjihhhhֆBfffrfbf õ@ɛB = !%LI! e-=ɚaiaIe"Q=Ims>iiiuș)us>)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507588*F?2F:FBFJFZHQRHU@AH]5>IY I]%II]BIY&IY.I]6D6I]<:I]V FGE G B O% >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758160w,JҔAZ.@YZ@6=ZJ<9ZK>yZH3? ??u? oH?`4ɿ(@K? \?ɨZ.@ZÇ;XyjBj%IIrIr"4٢z= ~S=9~κQ ~> G٣yb<  > Nusing accuracyPremultiplier from config'59qM?'5Yw:4 i7B~%w@E::&'5) -@)ZjQUFNOT Ignoring new targets: 378.00 m.Bj];Jj];u ProNav: ac range: 378.000000 m, nav range: 99.559982 m, bearing: 90.226784 deg, approach rate: 0.015063 m/s, LOS rate: 0.366603 deg/s, cmd heading: 8.753989 deg, new cmd heading: 9.178468 deg. 2j}{<}HeadingCmd: 0.160195 target range: 378.000000 and range: 378.00 m. j} $>jjjihhhhfffrfbf@ɛB= TŽI ,=ɚiIx%=I $>iiLF) $>)*FE?2FA:FABFE0JFI IG%ęWill construct direction to contact in vehicle frame from tetrahedron phase data.խN>թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011164G!B)OE>J J J J J J :J J w,A6@Y6=6/<96$N>y6He?˹6?@5?/??Fɿ唿 ?X?ɨ6@6sq;6CyRÆBR%IiVV>IV= V=V=IZIZ4٢ba= fN=9f)Q f>hh jG٣jJGyj-< n> vNusing accuracyPremultiplier from configpv'59rM?z'5Yr:4 ir'BxzGzw@rEr:r:r'5zK~K~ 9K|K~K~/0*$! ~B @LEZj1=FNOT Ignoring new targets: 378.00 m.BjE;JjE;U ProNav: ac range: 378.000000 m, nav range: 99.564384 m, bearing: 90.372204 deg, approach rate: 0.011050 m/s, LOS rate: 0.365005 deg/s, cmd heading: 9.178469 deg, new cmd heading: 9.614701 deg. 2jUz<]HeadingCmd: 0.167808 target range: 378.000000 and range: 378.00 m. j]+>jYjYjYiYhahahahafififirfibfm @ɛB= $I ,=ɚi!I%=I-+>i1iUո)U+>)Y%Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:22:11:05.6684 UTRx dataTimestamp_ set to:1736374266.834184echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271115*F2F:FBF2JF! n$?IG G ?G ;?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518103He 4>Ia  Ie %IIe ۆBIa &Ia .Ia 6Ie x<:Ie P Fw,ߥAyeΆBe%IMb@Mb@Mb@ )YX9v?~jt~jthy?ļDnA @)zAI@yAI I E4٢F= 5=9Q >!! -G٣)y- 5> =Nusing accuracyPremultiplier from config9E'59=+M?E'5Y=.:4 i=BE?E:EK=Ew@=E=;=;='5Q U@UIEZjy}FNOT Ignoring new targets: 378.00 m.Bj;Jj; ProNav: ac range: 378.000000 m, nav range: 99.552734 m, bearing: 90.532278 deg, approach rate: -0.025936 m/s, LOS rate: 0.356405 deg/s, cmd heading: 9.614701 deg, new cmd heading: 10.094968 deg. 2jt<HeadingCmd: 0.176190 target range: 378.000000 and range: 378.00 m. jDk4>jjjihhhhBfffrfbf_ @ɛB"= [I 4`,=ɚiIީ=IuDk4>iqiu)}Dk4>)y*F!2F):F)BF-_5JF)5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.774618GęG B O > I +w,cDAyB%III.4٢E= E[=9AQ M>II MG٣IyQ U> ]Nusing accuracyPremultiplier from configYe'59]M?e'5Y]94 i]Biimw@]E]:]v:]'5q }۹@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:11:05.6684 LVL= 16624, 30193, 22194, 27555, AGC= 69, IDX= 66,-0.09,-2.569, 2.065, 2.060, 2.634, PHS= 1.169,-0.522,-0.576, RAW= 88.4, -0.8, CAL= 96.0, -5.7, ROT= 54.0, 5.7 Ygot valid direction response: 22:11:05.6684 LVL= 16624, 30193, 22194, 27555, AGC= 69, IDX= 66,-0.09,-2.569, 2.065, 2.060, 2.634, PHS= 1.169,-0.522,-0.576, RAW= 88.4, -0.8, CAL= 96.0, -5.7, ROT= 54.0, 5.7 PDAT read: Bearing 54.0, 5.7 (Local) ~Local bearing/azimuth received: Bearing 54.0, 5.7 (Local) DAT read: Range 10 to 50 : 388.2 m (Round-trip 517.7 ms) speed 0.3 m/s ,DAT read: user:2371>  BDAT read: Tx time:22:11:06.7965  $Ping request sent.jjjihhhhff٭d ڭPw?)ڭ%˽Iڭ:Fq?iڭ%=ککۭKC?7wgL荿)ۭ Iۭ`Ioi}.i})}À;>)*F2F:FBFP5JFzKU# MKU9KQKUKUGeG1B9OU>U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.239643hVw,"AJ@YJ@q=JÔ<9JOR>yJH`?`?}?^%?`Kɿ.?R?ɨJ@J;JCy^Bb%I eo$?IaMb@Mb@Mb@ )Y~jt?S㥛?I +?y?/<94<A )AIv@yI-I-t4٢!= 3=9Q > G٣JGy]= > Nusing accuracyPremultiplier from config'59M?'5Y84 iB?:>w@E;8;'5%}B -@@-FEkǸH?k:7 k kA:kCBkCZk!@"ou9bI@=Lw@\Ԑo?#?Jk#@Rkൿ*Ԡ6Y/kk=ۡvA,x@`Ÿqf9?"k^*kzkH?k߻?7 2kCkH?k>"8- k,CkBk? addTargetRange:: Added new target pos. range: 388.200012 m, deltaT: 4.037158 s, deltaX: 10.200012 m, approachRate: 2.526533 m/s, rangeRepo size: 4 - Added new target pos. range: 388.200012 m, bearing: 241.951881 deg, lat: 36.902934 deg, lon: -122.122232 deg, deltaT: 4.037158 s, deltaX: 10.200012 m, approachRate: 2.526533 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 388.20 m.Bj5Jj1E ProNav: ac range: 388.200012 m, nav range: 64.251289 m, bearing: 104.120669 deg, approach rate: 0.000000 m/s, LOS rate: 0.336462 deg/s, cmd heading: 10.491337 deg, new cmd heading: 10.955327 deg. 2jamHeadingCmd: 0.191207 target range: 388.200012 and range: 388.20 m. jmC>jijqjqiqhqhqhyh}!BfyfyfyrfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.489944bf?ɛB*= I EzG,=ɚAiAIE =IMC>iIiM,)MC>)QjH bH p<H1>IC I &IIBI& =&I.I6I<:IZ F*F2F:FBF05JFG= 憧GE rAGA G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7418785Dw,AB@YB@=BV<9BcQ>yBH ?@Ƚ@(Ȥ?D?`? ɿ?T?ɨB@Bj;BCy^B^%IIfIfh4٢~= m=9Q ?    G٣ y5< 5> =Nusing accuracyPremultiplier from config9E'59=JN?E'5Y=74 i=BAE$&>Ew@=E=H:=:='5 @ZjFNOT Ignoring new targets: 388.20 m.BjS <JjS < ProNav: ac range: 388.200012 m, nav range: 64.269547 m, bearing: 104.309786 deg, approach rate: 0.054142 m/s, LOS rate: 0.560667 deg/s, cmd heading: 10.955327 deg, new cmd heading: 11.522498 deg. 2jc<HeadingCmd: 0.201106 target range: 388.200012 and range: 388.20 m. j%M>j!j!j!i!hAhIhIhIfIfQfQrfQbfU?ɛBE1= Pii)M>) Mp$?II*F?2F:FBF_0JFG{GaByO\>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993737J J AAgw,/AfA@Yf`4>fp<9fU>yfH¶?V9 S?`AA EG٣AyM< M> ]Nusing accuracyPremultiplier from configQe'59U#N?e'5YU64 iUBae0>ew@UEU ;U:Uc'5q u"@uCEzK}BIKyKyK}K}BK:KpAZjFNOT Ignoring new targets: 388.20 m.Bj<Jj< ProNav: ac range: 388.200012 m, nav range: 64.289047 m, bearing: 104.529401 deg, approach rate: 0.049240 m/s, LOS rate: 0.554364 deg/s, cmd heading: 11.522498 deg, new cmd heading: 12.181110 deg. 2j:<HeadingCmd: 0.212600 target range: 388.200012 and range: 388.20 m. jY>jjjihhhhfffrfbf?ɛB3=  ii)Y>)%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249203*F?2F:FBFJF =q$?I9GмG ?G?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497777H 0>I  I 6&II "BI ' =&I .I 6I a<:I ; FBIJIRIZI% =bIjIy5aw,IAJFJFJDJDJF:JF :JDJDJF;aJJF;aJJFU;aNJFU;aNRp@YR`#>Ro<9RW>yRH`?`u`?fs??@:ʿ㍿?I?ɨRp@R;RCyZB\Mb@Mb@Mb@ )Y^I +?Q?   G٣JGy< > Nusing accuracyPremultiplier from config%'59*9N?%'5Y 54 i(B-t?-:->-w@E;w;.'5=|B =@=AEZjaeFNOT Ignoring new targets: 388.20 m.BjmB<JjmB<} ProNav: ac range: 388.200012 m, nav range: 64.289948 m, bearing: 104.762656 deg, approach rate: 0.002082 m/s, LOS rate: 0.539450 deg/s, cmd heading: 12.181110 deg, new cmd heading: 12.880831 deg. 2j}<HeadingCmd: 0.224813 target range: 388.200012 and range: 388.20 m. j[5f>jjjihhhhRBfffrfbfp?ɛBG_2= ii\x)[5f>)E*F?2F:FBFd0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749767GęGa Bi O >  I w,cA6J@Y6^>6zs<96yY>y6H@T?`¿(??P? H_ʿ`n`H?@G?ɨ6J@6 Q;4ybBb&IIjIjW4٢vW= v^=9z<:Q z>xx ~G٣|y~< >  Nusing accuracyPremultiplier from config '596KN?'5Y34 i1B.>w@E::e'5! %@!ZjIMFNOT Ignoring new targets: 388.20 m.BjU<JjU<]Will construct direction to contact in vehicle frame from tetrahedron phase data.]}?Yechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002155} ProNav: ac range: 388.200012 m, nav range: 64.289352 m, bearing: 104.960276 deg, approach rate: -0.001621 m/s, LOS rate: 0.538174 deg/s, cmd heading: 12.880831 deg, new cmd heading: 13.473673 deg. 2j}<HeadingCmd: 0.235160 target range: 388.200012 and range: 388.20 m. jp>jjjihhhhfffrfbf,@ɛB(6= =I ,=ɚiI5=Ip>ii`љ)p>)*FU?2FQ:FQBFU0JFY*J"Ja=GzKBoHK9KKKRK?JK?GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253749w,P}A2=@Y2 '>2$o<92wX>y2H?`ĿF?? &? 2;ʿX䍿@?@[H?ɨ2=@2;2CyBBB &I ^s$?I\Mb@Mb@Mb@ )YGz?~jt?{Gz?yp?=#<&A )IyAII4٢n >=9h!Q > G٣yí< > Nusing accuracyPremultiplier from config(59`N?(5Y\14 i:B]?:>x@Ec;';'(5 Ϸ@>E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 388.20 m.Bj;<Jj%;<- ProNav: ac range: 388.200012 m, nav range: 64.276360 m, bearing: 105.198449 deg, approach rate: -0.030180 m/s, LOS rate: 0.553348 deg/s, cmd heading: 13.473673 deg, new cmd heading: 14.188298 deg. 2j5<=HeadingCmd: 0.247633 target range: 388.200012 and range: 388.20 m. j=a}>j9j9j9i9h9hAhAhE`BfAfIfIrfQbf]@ɛB2= 隅iig)a}>)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507260*F?2F:FBFo1JFH/>I IO&II6BI&I.I6Iy<:IL FJKm3 KS}-KK"KJJJJJl:J:JJJ;J;JJ;JJ;G G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757804Fw,A)( *|CXlt %HY!y%B@ Bj@Y1>ffh<9W>yH?_Bſ?,? ?@ʿ ?`I?ɨj@Y;騥CyII4٢Ev: EA=9MwQ M>II UG٣UJGyU< ]> eNusing accuracyPremultiplier from configYe(59]uN?m(5Y],/4 i]CBim>mx@]E]:]v:](5zB @8EZjFNOT Ignoring new targets: 388.20 m.Bj<Jj< ProNav: ac range: 388.200012 m, nav range: 64.262070 m, bearing: 105.432127 deg, approach rate: -0.033257 m/s, LOS rate: 0.543965 deg/s, cmd heading: 14.188298 deg, new cmd heading: 14.889453 deg. 2j<%HeadingCmd: 0.259870 target range: 388.200012 and range: 388.20 m. j% >j!j!j!i!h!h)h)hI t$?Iifffrfbf tG@ɛB*1= 隕iid<) >)*F}?2Fy:FyBF}y1JFyGqA G}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009841G Gy B O >w,hA>[@Y>;>>c<9>p1X>y>Hv?\ƿS? P>?@[@>;>CyjBn%IIvIv4٢~ ~b=9PQ >   G٣yL< > %Nusing accuracyPremultiplier from config!-(59%N?-(5Y%<-4 i%KB)5M>5x@%E%v:%:%(59 =s@AZjaeFNOT Ignoring new targets: 388.20 m.Bjm"<Jjm"<} ProNav: ac range: 388.200012 m, nav range: 64.248581 m, bearing: 105.633800 deg, approach rate: -0.037910 m/s, LOS rate: 0.566913 deg/s, cmd heading: 14.889452 deg, new cmd heading: 15.494573 deg. 2j}<HeadingCmd: 0.270431 target range: 388.200012 and range: 388.20 m. ju>jjjihhhhfffrfbf`4 @zKBoIK+9KKK ^q?.g{oN.OMɛmBuړ*= qu@׻Iq u,=ɚqiyI}iin)u>)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:11:09.7017 TRx dataTimestamp_ set to:1736374270.864825checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263015*F ?2F :F BF2JF IGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513765H ->I  I U&II ;BI &I .I 6I <:I f Fw,`;AJ6J4J4J4J6L:J4J4J4J6O;J6P;J4J4y5B5%IMb@Mb@Mb@ )Y)\(?Zd;O?yG!?j=A )AIy\AI I t4٢  :=9%Q %>!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=(595N?=(5Y5*4 i5PBE"?E:E>Ex@5E5@;5o;5 (5I M@M5EZjFNOT Ignoring new targets: 388.20 m.Bj <Jj <= ProNav: ac range: 388.200012 m, nav range: 64.234802 m, bearing: 105.882434 deg, approach rate: -0.030227 m/s, LOS rate: 0.545558 deg/s, cmd heading: 15.494573 deg, new cmd heading: 16.240591 deg. 2j=4jAjAjAiAhAhIhqh}>Bfyffrfbf @ɛBq%=  ӼI :,=ɚiIii $)  >) Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781685*F?2F:FBF4JF u$?I G= G B) OE >w,AFm@YFM>FJ<9F3{W>yFH@Z?@ȿ`?h? U?}?ɿ`X@?J?ɨFm@F4C;DyN߆BN%IIZIZݜ4٢^팽 be=9b0Q b>dd fG٣f JGyjpP= j> rNusing accuracyPremultiplier from configlv(59nN?v(5Yn(4 inTBxzo>zx@nEn;n;n (5~yB ~@~2EZj!MWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:11:09.7017 LVL= 15600, 29025, 17666, 27731, AGC= 69, IDX= 263, 0.49, 2.306, 0.638, 0.790, 1.324, PHS= 1.070,-0.639,-0.537, RAW= 93.1, 1.3, CAL= 101.3, -1.9, ROT= 48.7, 1.9 Ygot valid direction response: 22:11:09.7017 LVL= 15600, 29025, 17666, 27731, AGC= 69, IDX= 263, 0.49, 2.306, 0.638, 0.790, 1.324, PHS= 1.070,-0.639,-0.537, RAW= 93.1, 1.3, CAL= 101.3, -1.9, ROT= 48.7, 1.9 PDAT read: Bearing 48.7, 1.9 (Local) ~Local bearing/azimuth received: Bearing 48.7, 1.9 (Local) DAT read: Range 10 to 50 : 375.7 m (Round-trip 501.0 ms) speed 0.3 m/s ,DAT read: user:2372> BDAT read: Tx time:22:11:10.7965 $Ping request sent.jjQ Q)QIQiQQQji!h!h!h!h!f)f)f)rf-@3{w@bf5Ko?Ugbj}?ܿP-y{?)QIQiQQQQɛB= ^I k,=ɚ i I  mii )Uq>)Y*F?2F:FBF_0JF"G=G=GGBO>zKOK9KKKhB({trnjfb]UNKID@;:65642.,-*)+)'%#!!Will construct direction to contact in vehicle frame from tetrahedron phase data.iAw,A &v$?I$JG@YJ`^V>J}<<9J+W>yJHL?`jɿݫ?@Z?&?ɿMG?@pJ?ɨJG@JI;JCy^ˆB^%IMMb@Mb@Mb@III I)IYMT㥛 ?p= ף?MbyM!?M=MMnA M@)IIMAIyIIIm4٢ .=9Q > G٣y$< > MNusing accuracyPremultiplier from configI](59MN?](5YMa&4 iMPBe!?e:er>ex@MEMN;MM;M0(5i u@qk2EF?kiŴ: k klA:kٻCBkCZkt@"1NE55@ZpP"Jw@,Sa]?6"?Jk+@RkD*%Z :깬 P@w@ty `XI9ſqs?"kL*kVk15F?knc: 2kTCkpKG?kɷ1 kkBkx @}Will construct direction to contact in vehicle frame from tetrahedron phase data. addTargetRange:: Added new target pos. range: 375.700012 m, deltaT: 4.030931 s, deltaX: -12.500000 m, approachRate: -3.101021 m/s, rangeRepo size: 4  Added new target pos. range: 375.700012 m, bearing: 247.904501 deg, lat: 36.902910 deg, lon: -122.122584 deg, deltaT: 4.030931 s, deltaX: -12.500000 m, approachRate: -3.101021 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 375.70 m.BjJj- ProNav: ac range: 375.700012 m, nav range: 36.731308 m, bearing: 124.377957 deg, approach rate: 0.000000 m/s, LOS rate: 0.594775 deg/s, cmd heading: 16.850324 deg, new cmd heading: 17.748775 deg. 2j1=HeadingCmd: 0.309775 target range: 375.700012 and range: 375.70 m.HU(>IUC IUH&IIU1BIU( =&IQ.IU5D6IU{<:IUH F j=Ś>jjjihhhhBfffrfbf`?ɛ]B]= YeʽIa m/ ,=ɚiiiImiqiu߻)uŚ>JJJJJ,:J :JJJ;J;JR;JR;)*Fu?2Fq:FqBFu^0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.G ]G qAG pAG B O >w,oA6@Y6E`>67\<9632Z>y6H;? ʿ ?@1??+ʿ@u낿C?bF?ɨ6@6*;6CyNBR%IIZIZ{4٢^d bW=9bQ b>dd fG٣dyfe< j> nNusing accuracyPremultiplier from configlr(59n+N?r(5Ynk$4 inMBtvg>vx@nEnj:nj:nj(5x ~@~/EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 375.70 m.Bj-<Jj-<= ProNav: ac range: 375.700012 m, nav range: 36.795414 m, bearing: 124.727957 deg, approach rate: 0.184445 m/s, LOS rate: 1.005257 deg/s, cmd heading: 17.748774 deg, new cmd heading: 18.796822 deg. 2j=y,=EHeadingCmd: 0.328066 target range: 375.700012 and range: 375.70 m. jES>jAjIjIiIhIhIhYhYfYfYfarfabfe@N?ɛBx= 隕I +=ɚiI=iiV̽)S>) w$?I*F ?2F :FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.$??T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.GuGABQOm>ȯ w,/65A6;Y66i>6;96Z>y6H>,? ̿@ ?D?@-z?`6ʿ CB~?@E?ɨ6;6;4yRBR%I)T TTVAIZxIZT4٢fi fJ=9jQ j>hh nG٣n!JGzK)NK9KKK   yU^< U> eNusing accuracyPremultiplier from configYe(59]IN?m(5Y] "4 i]JBimߪ>mx@]E]:]z:](5uxB}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245630 @,EZjFNOT Ignoring new targets: 375.70 m.BjƆ<JjƆ< ProNav: ac range: 375.700012 m, nav range: 36.867661 m, bearing: 125.125003 deg, approach rate: 0.171860 m/s, LOS rate: 0.942635 deg/s, cmd heading: 18.796822 deg, new cmd heading: 19.985447 deg. 2j!=HeadingCmd: 0.348812 target range: 375.700012 and range: 375.70 m. jw>jjjihhhhfff rf bf `q?ɛ5B5fX< 9=#I9 =u,+=ɚ9i9I=iAiE߽)Mw>)Q I*F?2F:FBFo0JFG` ǽGBO_>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497455H $>I C I )&II BI * =&I .I 4D6I <:I S Fw,UOA2͊2-E;92,S\>y2H?EDͿr?! ?@d?`ʿhy S?`B?ɨ2͊<2 ;2CyBBB%IMb@Mb@Mb@ )Yp= ף?Mb?Mby%?<A @)I@yAII4٢G  8=9 .Q  > G٣y< > %Nusing accuracyPremultiplier from config!-(59%O?5(5Y%* 4 i%<B5_%?=:=y>Ex@%E%֩;%;%(5i m@iZjFNOT Ignoring new targets: 375.70 m.BjM<JjMjyjyjyiyhyhhhBfffrfbf@?ɛB< 3Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750028I *=ɚiI&ii)f>) *F?2F:FBFJF x$?IG ,ɽG ?G ?GY Bi O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001546w,MhA5^5;g;95 ^>y5H?@[ο6?E?O?` ʿl{Q? -??ɨ5^<5;1yMBM%II]I]h4٢mý mT=9m§:Q u>qq }G٣yy}U< > Nusing accuracyPremultiplier from config(59O?(5YX4 i/B>>x@E;/;2 (5  @*E*J54="J54=J=J=J9J9J=:J=:J9J9aE@aE@aE@aM@ZjuFNOT Ignoring new targets: 375.70 m.Bju<Jju< ProNav: ac range: 375.700012 m, nav range: 37.044399 m, bearing: 125.892472 deg, approach rate: 0.229446 m/s, LOS rate: 0.997211 deg/s, cmd heading: 21.195020 deg, new cmd heading: 22.282010 deg. 2j+=HeadingCmd: 0.388894 target range: 375.700012 and range: 375.70 m. j,>jjjihhhhfffrfbf@ɛB%]P< !%x\I! M)=ɚIiIIMaiQiU)U,>)Y*F92F9:F9BFE 3JFAGcӽGBO%n>zKLKػ9KKK      Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254862 y$?I w,TǂA ZD=YZ>ZA;9Zxa>yZH?ގϿ}?A? 6?`Xʿ#z? :?ɨZD=ZΈ;ZCyfBfq%IUMb@Mb@Mb@QQQ Q)QYU{Gz?l/$yU#?UU,UXA Up@)UzAIQQyUAIuIub4٢ؽ I=9jJQ > G٣"JGyr< > Nusing accuracyPremultiplier from config(59@0O?(5Y4 iBw$?:[>x@E+;6;#(5wB a@'EZj  FNOT Ignoring new targets: 375.70 m.Bjp~<Jjp~<% ProNav: ac range: 375.700012 m, nav range: 37.148952 m, bearing: 126.259112 deg, approach rate: 0.254457 m/s, LOS rate: 0.889794 deg/s, cmd heading: 22.282010 deg, new cmd heading: 23.378693 deg. 2j%=-HeadingCmd: 0.408035 target range: 375.700012 and range: 375.70 m. j->j)j)j)i)h1hhhBfffrfbf"@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506151ɛ-B5=< 15iQiU)U>)YZHRHH">I I%IIBI+ =&I.I6I<:Ic FBIeÜCJIeÜCRIeÔCZIe( =bIe) =jIe/5*F2F:FBF@5JFGȇG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758312 &w,;AZR;= qIYZb>ZtK;9Z5d>yZH?Zп???N?˿f wGJ?G5?ɨZR;=Z;XyޝqBޝ]%III4٢ C=9Q > G٣yw< >  Nusing accuracyPremultiplier from config (59 EFO?(5Y P4 i Be>x@ E z ;  ; e'(5! %g@!EB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 375.70 m.Bj]1<Jj]1jyjyjyiyhyhyhhfffrfbfH@ɛ B < 隽zI (=ɚiIiiL)>)*Fu?2Fq:FqBFu[0JFyG]#GaGeqAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010898G!B1OMS>JIJM@AJUJUJQJQJU:JU:JQJQ9,w,0A6e=Y6,>6;96Fg>y6H`Y?пHӰ? {{?`?z˿@>s?.?ɨ6e=6;6CyRmBRW%IIZIZ4٢b f`=9f&Q f>hh jG٣hyj< n> rNusing accuracyPremultiplier from configpv(59rvYO?v(5Yr4 irBtzp>zx@rEr*:r:r*(5| ~@~$EzKELKE9KAKEKEBKI:KMqA]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:22:11:13.6997 eTRx dataTimestamp_ set to:1736374274.896755mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262672Zjq}FNOT Ignoring new targets: 375.70 m.Bj}{<Jj}{< ProNav: ac range: 375.700012 m, nav range: 37.348961 m, bearing: 126.967745 deg, approach rate: 0.247684 m/s, LOS rate: 0.879762 deg/s, cmd heading: 24.510243 deg, new cmd heading: 25.498605 deg. 2j=HeadingCmd: 0.445035 target range: 375.700012 and range: 375.70 m. j>jjjihhhhfffrfbfH @ɛ B_~< I  '=ɚiI=ii)>)*F}?2Fy:FBF`0JF z$?IG0GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513506H >I  I %II ƆBI , =&I .I 6I İ<:I x F3w,bA2=Y2a>2Ek;92k>y2H@?ѿ ]???C˿dym@l1? (?ɨ2=2oO;2CyNaBNI%IMb@Mb@Mb@ )Y"~j? ףp= i|?5yS#?QqA )AIyAIIK4٢Q ;=9K%Q > G٣y< > Nusing accuracyPremultiplier from config(59pO?(5Y4 iB%?:.>x@EY;;f.(5vB U@!EZj!%FNOT Ignoring new targets: 375.70 m.Bj-$~<Jj-$~<= ProNav: ac range: 375.700012 m, nav range: 37.477715 m, bearing: 127.348561 deg, approach rate: 0.301526 m/s, LOS rate: 0.888757 deg/s, cmd heading: 25.498606 deg, new cmd heading: 26.636972 deg. 2j=|=EHeadingCmd: 0.464903 target range: 375.700012 and range: 375.70 m. jE>jAjAjAiIhIhIhQhUBfQfQfQrfYbf] @ɛ BD< 隕ԫI <%=ɚiI,ii:)>)1}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:11:13.6997 LVL= 25472, 32753, 31186, 32755, AGC= 67, IDX= 417, 0.34, 1.354,-0.284, 0.045, 0.527, PHS= 0.915,-0.764,-0.485, RAW= 98.9, 4.3, CAL= 108.8, 2.6, ROT= 41.2, -2.6 Ygot valid direction response: 22:11:13.6997 LVL= 25472, 32753, 31186, 32755, AGC= 67, IDX= 417, 0.34, 1.354,-0.284, 0.045, 0.527, PHS= 0.915,-0.764,-0.485, RAW= 98.9, 4.3, CAL= 108.8, 2.6, ROT= 41.2, -2.6 PDAT read: Bearing 41.2, -2.6 (Local) ~Local bearing/azimuth received: Bearing 41.2, -2.6 (Local)  vDAT read: Rang50 : 374.1 m (Round-trip 498.9 ms) speeds  unknown deviceResponse_: Rang50 : 374.1 m (Round-trip 498.9 ms) speeds ,DAT read: user:2373> *F-?2F):F)BF-_0JF)M~GMBDAT read: Tx time:22:11:14.7966 ay YybBU$Ping request sent. }|$?Iy% Will construct direction to contact in vehicle frame from tetrahedron phase data.% =% %=- JDAT read: TxSync time:22:11:14.7958 H:w,>A^a/=Y^AĞ>^`:9^u>y^HHy? ҿȲ??ࠛ?̿R`8W? ?ɨ^a/=^n;^CyjZBj@%IIvIv.4٢~ X=9ջQ >   G٣ #JGy !~=  > %Nusing accuracyPremultiplier from config%(59O?%(5Y`4 iB)-%H>-x@E::1(5Q @ZjFNOT Ignoring new targets: 375.70 m.Bj(q<Jj(q<*J"JJJJJJJJJU ProNav: ac range: 375.700012 m, nav range: 37.585854 m, bearing: 127.682347 deg, approach rate: 0.274013 m/s, LOS rate: 0.843341 deg/s, cmd heading: 26.636971 deg, new cmd heading: 27.635341 deg. 2jU=]HeadingCmd: 0.482328 target range: 375.700012 and range: 375.70 m. j]>jYjYjYiYhYhahahafifqfqrfqbf}`#{@ɛB1< ﴾I .$=ɚiI pii|)>)*F?2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.zKIKK 9KKKRK?JK>G\G B O5 > }$?I @w,AJt=YJ>JwF 9Jw>yJHeQ?ӿ.!?y? m?\&Ϳha??`8?ɨJt=J;JCyfXBf>%IuMb@Mb@Mb@qqq q)qYu+?x&)\(yuv?u7 uGauA uC@)uhAIuQAqyufAIIƕ4٢ A=9Q > G٣ym= > 5Nusing accuracyPremultiplier from config1=(595O?=(5Y5]4 i5BE"?E:Ea>Ex@5E52 ;5* ;55(5Y ]@]EZjFNOT Ignoring new targets: 375.70 m.Bjt<Jjt< ProNav: ac range: 375.700012 m, nav range: 37.723778 m, bearing: 128.047334 deg, approach rate: 0.324731 m/s, LOS rate: 0.856182 deg/s, cmd heading: 27.635342 deg, new cmd heading: 28.726158 deg. 2j=HeadingCmd: 0.501366 target range: 375.700012 and range: 375.70 m. jY?jjjihhhhBfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛBr>t< I #=ɚiII9 I=%II=BI9&I9.I96I=<:I= F*F?2F:FBF}0JFG)IG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.&Gw,eAB=YB->Bom9B}>yBHw*?Կ/?Z? ~dd fG٣dyf = j> nNusing accuracyPremultiplier from configlr(59nO?r(5Ynr4 ingBpr>vx@nEn';nY;n8(5x z@x ~$?IZj15FNOT Ignoring new targets: 375.70 m.Bj=l<Jj=lG=>G1nGBO%>Will construct direction to contact in vehicle frame from tetrahedron phase data.J!J!J1J5J1J1J1J5$:J1J1uQMw,M7A2D >Y2>2μ92](>y2H ??տ`K?`GC?`2 ?@3οԙw?@??ɨ2D >2‡;0y:\B>C%IIJIJ4٢^W< bJ=9bQ b>`d fG٣f$JGyf= f> nNusing accuracyPremultiplier from configlr(59nO?r(5YnO4 inEBpr7.>vx@nEn:nz:n=<(5x z@zEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 375.70 m.Bj-n<Jj-n<5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseM ProNav: ac range: 375.700012 m, nav range: 37.957840 m, bearing: 128.685513 deg, approach rate: 0.304426 m/s, LOS rate: 0.835586 deg/s, cmd heading: 29.625116 deg, new cmd heading: 30.634580 deg. 2jM]=UHeadingCmd: 0.534674 target range: 375.700012 and range: 375.70 m. jUj?jQjQjQiYhYhYhYhYfafafarfabfm31@zKBoIK]9KKKBK:KpAɛEBEvw< 隍YI 1!=ɚiII)  I- %II- BI) &I) .I) 6I- ٰ<:I- FG B O >4Tw,QA:>Y:E̼>:9:>y:H 5?@hֿ`?r??@bοTw?@O&?@?ɨ:>:je;:Cy^gB^P%IMMb@Mb@Mb@III I)IYMGz?Dl:vyMp?MO MTI M-@)IIIIyM=AIeIe\4٢uYR= }@=9}(Q }> G٣yD= > Nusing accuracyPremultiplier from config(599O?(5Y4 i!B!?:3>x@Ei;ڦ;?(5uB @EZjFNOT Ignoring new targets: 375.70 m.Bjk<Jjuk< ProNav: ac range: 375.700012 m, nav range: 38.086533 m, bearing: 129.038210 deg, approach rate: 0.300971 m/s, LOS rate: 0.822053 deg/s, cmd heading: 30.634580 deg, new cmd heading: 31.688969 deg. 2j =HeadingCmd: 0.553077 target range: 375.700012 and range: 375.70 m. jr ?jjjihhhhBfffrfbf@ɛUBU.D< QUIQ ] =ɚYiYI]d Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse_Zw,ԂkAV&>YV4M>V.Sѻ9V/>yVH? %?׿ ?`?@C?Vο Z*z? tP?3?ɨV&>V1;VCypB[%II-I-y4٢E1= EN=9E%ͺQ E>IQ UG٣Qyu3= }> Nusing accuracyPremultiplier from configy(59}O?(5Y}4 i}B%C>x@}E}:}H:}zC(5 T@ZjFNOT Ignoring new targets: 375.70 m.Bj~k<Jj~k< ProNav: ac range: 375.700012 m, nav range: 38.206135 m, bearing: 129.372036 deg, approach rate: 0.295982 m/s, LOS rate: 0.823535 deg/s, cmd heading: 31.688970 deg, new cmd heading: 32.687206 deg. 2jK =%HeadingCmd: 0.570499 target range: 375.700012 and range: 375.70 m. j%? ?j!j)j)i)h)h)hQhQfYfYfYrfYbf]@@ɛB؂< MII U>=ɚQiYI]UWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQ]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapsezK-K-9K)K-K- 5 $?I9 tRaw,A:f5>Y:>:9:">y:H~?nؿ`?? {?`ο`[}?r??ɨ:f5>:v;:CyR|BRj%ImMb@Mb@Mb@iii i)iYm~jt?q= ףplym?m뽹mmA m@)iImAiym\AII4٢[= >=9Q > G٣%JGy= >  Nusing accuracyPremultiplier from config (59 P?(5Y :4 i B?%:%Hn>%x@ E '8; 6; 0G(5) -@-EZjQUFNOT Ignoring new targets: 375.70 m.Bj]nn<Jj]nnG B O- >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapseSpgw,Q3A6;E>Y6V>6+ 96݅>y6HN?ؿ@s?w? H?ο6??K?ɨ6;E>6;6CyBBBs%IILIL٢V2= Zc=9ZQQ Z>\\ ^G٣\yb+= b> fNusing accuracyPremultiplier from configdj(59fP?j(5Yf4 ifBhj}>jx@fEf:f: r$?IpfTJ(5vsB z@zEZjqFNOT Ignoring new targets: 375.70 m.Bjd<Jjd< ProNav: ac range: 375.700012 m, nav range: 38.417915 m, bearing: 130.022427 deg, approach rate: 0.257870 m/s, LOS rate: 0.799252 deg/s, cmd heading: 33.739857 deg, new cmd heading: 34.632751 deg. 2j! =HeadingCmd: 0.604456 target range: 375.700012 and range: 375.70 m. j?jjjihhhhfffrfbf`&@ɛ]B]i]< aeZIa e=ɚaiaIepmw,gAyB %I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:22:11:17.6974 5TRx dataTimestamp_ set to:1736374278.9301755T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseIUIUt4٢u= u?=9}Q }> G٣y > Nusing accuracyPremultiplier from config(59[,P?(5Y 4 iBx@EX;;N(5 N@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 375.70 m.Bjr<Jjr< ProNav: ac range: 375.700012 m, nav range: 38.534081 m, bearing: 130.377196 deg, approach rate: 0.278994 m/s, LOS rate: 0.849475 deg/s, cmd heading: 34.632751 deg, new cmd heading: 35.693722 deg. 2j=HeadingCmd: 0.622973 target range: 375.700012 and range: 375.70 m. j({?jjjihhh h f f f rfzK]KK]S9KYK]K]bfZ@ɛB < .<tI 1=ɚiIG=x>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHI I%IIBI, =&I.I6I<:I FBIțCJIțCRIȓCZI, =bI, =jIA4G dk"G B O >J- J- J) J) J- :J- :J) J) J- ;J- ;J- I;J- I;tw,A6qcf>Y6 *>64E96 B>y6H j?`vڿ ?{?i?`οr?`ɵ?:?ɨ6qcf>6WD;6CyNBR%I-Mb@Mb@Mb@))) )))Y-1Zd?ʡE{Gzy-"?---ף-=A ))-AI-hA)y-AII4٢^= 7=9EQ > G٣&JGy= > =Nusing accuracyPremultiplier from config1m(595BP?u(5Y5 4 i5Bu?u:u >ux@5E5<5;5R(5y }@ EZjFNOT Ignoring new targets: 375.70 m.Bj@j<Jj@j<-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)mDAT read: 22:11:17.6974 LVL= 31536, 32753, 32754, 32755, AGC= 67, IDX= 427,-0.27,-0.341,-1.961,-1.388,-1.083, PHS= 0.829,-0.832,-0.309, RAW= 107.9, 4.3, CAL= 119.1, 1.7, ROT= 30.9, -1.7 uYgot valid direction response: 22:11:17.6974 LVL= 31536, 32753, 32754, 32755, AGC= 67, IDX= 427,-0.27,-0.341,-1.961,-1.388,-1.083, PHS= 0.829,-0.832,-0.309, RAW= 107.9, 4.3, CAL= 119.1, 1.7, ROT= 30.9, -1.7 }PDAT read: Bearing 30.9, -1.7 (Local) }~Local bearing/azimuth received: Bearing 30.9, -1.7 (Local) DAT read: Range 10 to 50 : 372.4 m (Round-trip 496.6 ms) speed 0.4 m/s ,DAT read: user:2374> BDAT read: Tx time:22:11:18.7966 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:11:18.7958 zw,A6w>Y6C>6^96p9>y6H6%;6CyRȆBR%IIZIZ4٢r*> rm=9v@Q v?tx zG٣xyzO= z? %Nusing accuracyPremultiplier from config%(59SP?-(5Y 4 iB)-Ϫ>-x@E : :U(5Y ]@] Ek]jR?k]fF kY k]A:k]3CBk]CZk]]@"]PzDZv@]ȿ(4oɿ59i?Jk]5Rk]*] UN\@_f17sEt@]ބ㞗?m߿9W?"k]6*k]@k]^AnR?k]lF 2k]Ck]H?k]߻?7 k]TCk]Bk]/@ addTargetRange:: Added new target pos. range: 372.399994 m, deltaT: 7.811908 s, deltaX: -3.300018 m, approachRate: -0.422434 m/s, rangeRepo size: 4 % Added new target pos. range: 372.399994 m, bearing: 272.003633 deg, lat: 36.902934 deg, lon: -122.123263 deg, deltaT: 7.811908 s, deltaX: -3.300018 m, approachRate: -0.422434 m/s, posRepo size: 4 Zj!-FNOT Ignoring new targets: 372.40 m.Bj-Jj)e ProNav: ac range: 372.399994 m, nav range: 38.650841 m, bearing: 233.912417 deg, approach rate: 0.000000 m/s, LOS rate: 0.819193 deg/s, cmd heading: 36.842799 deg, new cmd heading: 37.685909 deg. 2jamHeadingCmd: 0.657743 target range: 372.399994 and range: 372.40 m. jma(?jijijiiihihihhfffrfbf?ɛ B-$< 15$I1 5=ɚ1i1I=3w,A6ф>Y6m>6ꛈ96>y6H a?ܿ@d??X?@tο`I?-?q?ɨ6ф>6;6CyJІBJ%I)P PVAVA%Mb@Mb@Mb@!!! !)!Y%-?y&1MbPy%5?%`弹%%jA !)%QAI%A!y%\AI=I=̍4٢M= MD=9UQ U>QQ UG٣Yy]++= e> Nusing accuracyPremultiplier from config(59gP?(5Y 4 iB^?:>x@ E;;X(5  %@ZjAEFNOT Ignoring new targets: 372.40 m.BjMJjM} ProNav: ac range: 372.399994 m, nav range: 38.884762 m, bearing: 233.722412 deg, approach rate: 0.563437 m/s, LOS rate: -0.454906 deg/s, cmd heading: 37.685910 deg, new cmd heading: 37.119342 deg. 2j}HeadingCmd: 0.647855 target range: 372.399994 and range: 372.40 m. j%?jjjihhhh"BWill construct direction to contact in vehicle frame from tetrahedron phase data.jH<bHHI I%IIBI&I.I6I<:Im FfffrfbfZw,z A B$?IDyrBr%IIzI=X4٢ r= N=9Q > G٣'JGy% %> -Nusing accuracyPremultiplier from config)-(59-YyP?5(5Y-o4 i)115x@-E-:-7 ;-\(5ErB E@EEZjimFNOT Ignoring new targets: 372.40 m.BjuJju ProNav: ac range: 372.399994 m, nav range: 39.089882 m, bearing: 233.557949 deg, approach rate: 0.545009 m/s, LOS rate: -0.434687 deg/s, cmd heading: 37.119343 deg, new cmd heading: 36.628557 deg. 2j)HeadingCmd: 0.639289 target range: 372.399994 and range: 372.40 m. jp#?jjjihhhhfffrfbf?ɛo< p̽I =ɚiI^G荀w,T:A6@>Y6T?696N>y6H?@!߿`hV??ਟ?Xο? ?`?ɨ6@>6.;4yRBR&IIZxIZT4٢b¸= bO=9bkQ b>dd fG٣dyj= j> vNusing accuracyPremultiplier from configtz(59vP?z(5Yvu4 ivBxz>zx@vEv*:vL:Will construct direction to contact in vehicle frame from tetrahedron phase data.v_(5  g@ Zj15FNOT Ignoring new targets: 372.40 m.Bj=Jj=ໝM ProNav: ac range: 372.399994 m, nav range: 39.309914 m, bearing: 233.401119 deg, approach rate: 0.554208 m/s, LOS rate: -0.392806 deg/s, cmd heading: 36.628556 deg, new cmd heading: 36.160711 deg. 2jMʆUHeadingCmd: 0.631123 target range: 372.399994 and range: 372.40 m. jUO!?jQjQjQihhhh!f!f!f!rf!bf-?zKuKuh9KqKuKuɛB= 15hI1 ==ɚ9i9I=zєw,4TAJ!D>YJD ?J*9J>yJHa?`@;?@?,F?`οJ;JCyV BV&IEMb@Mb@Mb@AAA A)AYE}?5^I?X9v?{Gz?yEM"?Eqq uG٣qyB= > Nusing accuracyPremultiplier from config(59P?(5Yv3 iB"?:?x@E;9;Rc(5 Y@EEB*** querying acoustic contact ***jAjAZjFNOT Ignoring new targets: 372.40 m.Bj̪Jj̪ ProNav: ac range: 372.399994 m, nav range: 39.568111 m, bearing: 233.266501 deg, approach rate: 0.576563 m/s, LOS rate: -0.298645 deg/s, cmd heading: 36.160712 deg, new cmd heading: 35.759499 deg. 2jLHeadingCmd: 0.624121 target range: 372.399994 and range: 372.40 m. je?jjjihhhhhBfffrfbf-?ɛB = 隵I =ɚiI)Fw,$~sA6 L>Y68"?6'Ƽ96gӋ>y6H@ ? Ͽ?`'?`F?,οBĘ?A? ?ɨ6 L>6;f;6Cy>B>)&IININ4٢V== V0=9VQ V>XX ZG٣Z(JGy^/= ^> bNusing accuracyPremultiplier from config`f(59bP?f(5Yb!3 ibBdf?jx@bEbU:b $?IGBOf>H >I C I [&II @BI &I .I 3D6I а<:I z F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758197*w,AHA2>Y22T?2uѼ928>y2H$?)@B?`?m?]ο`-?$?@?ɨ2>2;2CyN(BN=&I-Mb@Mb@Mb@))) )))Y-~jt?ʡE?y&1?y-$?-=-`e<-A -@)-v@I-A)y-3AII]4٢S= 8=9[KQ > G٣y%-9= %> -Nusing accuracyPremultiplier from config)5(59-P?(5Y-@3 i-B%?:N1?x@-E-<-<-9k(5 @ZjyFNOT Ignoring new targets: 372.40 m.BjkJjk ProNav: ac range: 372.399994 m, nav range: 40.123978 m, bearing: 233.038078 deg, approach rate: 0.608237 m/s, LOS rate: -0.206233 deg/s, cmd heading: 35.365835 deg, new cmd heading: 35.078994 deg. 2j HeadingCmd: 0.612244 target range: 372.399994 and range: 372.40 m. j?jjjihhhhtBfffrfbfo@ɛ%!B%j= !-NTw,"A:^N>Y:c#?:ռ9:t>y:H ]??0? M?Ϳ`{?`|?`?ɨ:^N>:Q;:CyF0BFG&IININ)4٢Vi0= Va=9ZQ Z>X\ ^G٣\ybnV= b> fNusing accuracyPremultiplier from configdj(59fP?j(5YfD3 ifBhn'6?rx@f#Ef8S;fS;f\n(5vpB v@vEZj)-FNOT Ignoring new targets: 372.40 m.Bj5rJj=r] ProNav: ac range: 372.399994 m, nav range: 40.350452 m, bearing: 232.968147 deg, approach rate: 0.691060 m/s, LOS rate: -0.212186 deg/s, cmd heading: 35.078994 deg, new cmd heading: 34.870382 deg. 2j]mHeadingCmd: 0.608603 target range: 372.399994 and range: 372.40 m. jmh?jijijiiihqhqhyhfffrfbf @ɛM"BMU"= IMJaJeJe0JaJaJe 9Jeـ3Jaau@au@au@au@GBO J> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:11:21.7250  TRx dataTimestamp_ set to:1736374282.960673 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515297H=w,A $I$>>Y>?>Լ9>b.>y>H?&?֚?g?@̿@r?@b??ɨ>>>;>CzKNKN9KLKN KNBKT:KVqAy^:BbT&IIvIvF4٢~9E= ~F=9~Y8Q > G٣)JGy 8=  > Nusing accuracyPremultiplier from config(59CP?(5Y3 iB%:?%x@'E ; ;q(5) -c@)ZjFNOT Ignoring new targets: 372.40 m.BjEJjE ProNav: ac range: 372.399994 m, nav range: 40.612576 m, bearing: 232.895497 deg, approach rate: 0.625447 m/s, LOS rate: -0.172231 deg/s, cmd heading: 34.870383 deg, new cmd heading: 34.653840 deg. 2jf컝-HeadingCmd: 0.604824 target range: 372.399994 and range: 372.40 m. j5?j1j1j9i9hAhIhYhYfafafirfbf @ɛ$B%= 1=I l=ɚ i I GI I&IInBI. =&I.I6I<:I] FWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766987E-Ѵ<E1*F ?2F :F BF _0JF G м Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:11:21.7250 LVL= 32688, 32753, 32754, 32755, AGC= 72, IDX= 62,-0.38,-1.197,-2.658,-1.890,-1.724, PHS= 0.615,-0.887,-0.169, RAW= 118.6, 6.8, CAL= 127.8, 2.9, ROT= 22.2, -2.9 Ygot valid direction response: 22:11:21.7250 LVL= 32688, 32753, 32754, 32755, AGC= 72, IDX= 62,-0.38,-1.197,-2.658,-1.890,-1.724, PHS= 0.615,-0.887,-0.169, RAW= 118.6, 6.8, CAL= 127.8, 2.9, ROT= 22.2, -2.9  PDAT read: Bearing 22.2, -2.9 (Local) ~Local bearing/azimuth received: Bearing 22.2, -2.9 (Local) %DAT read: Range 10 to 50 : 393.1 m (Round-trip 524.2 ms) speed 0.4 m/s 5,DAT read: user:2375> =BDAT read: Tx time:22:11:22.8466 E$Ping request sent.Eiڽ 4QOڹ ڹ ۽ 2?PəXg-u?)۽ xϼI۽ =i۽ ۽ Wތ۹ ۹ }:publishing transmit ping time9Fpublishing direction and range infoع 9ؽ Nп"8C1-ؿ jEB†?yع ع GB IO?w,Aةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭ2?PəXg-u?)۩I۩i۩۩۩۩.>Y&?9gq>yH~? ?`T? U?@ɿї?@?A?ɨ.>d;Cy=BX&IMb@Mb@Mb@ )YQ?y&1?11 5G٣9y=:= E> Nusing accuracyPremultiplier from configI(59M@P?(5YM3 iMBo+?:lN?x@M.EMiw,zSA6>Y6R)?696te>y6H>? I?০??%ȿCQ?`y?0?ɨ6>6;6CyBABB]&IINmIN3A4٢R< Vg=9V;Q V>XX ZG٣Xy^V= ^? bNusing accuracyPremultiplier from config`f(59b Q? $?IiM(5YbJ3 ib3BIMQ?Ux@b2EbI I&IIBI- =&I.I6I<:I FBI]ƚCJI]ƚCRIYZIYbI]- =jI]ƒv5%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.*Fe?2Fa:FaBFe_0JFaG= {#G B O >1ŀw, A6<>Y6R+?6@96[>y6H`???@h?ƿ?)?C?ɨ6<>6̉;6CyBDBB`&IMb@Mb@Mb@ )Y#~j?X9v?II MG٣M*JGyM< U> ]Nusing accuracyPremultiplier from configQe(59UQ?e(5YU3 iUHBe(?e:epZ?mx@U6EUz;U+;U~(5q u@}EZjFNOT Ignoring new targets: 372.40 m.BjJj ProNav: ac range: 372.399994 m, nav range: 41.527878 m, bearing: 232.769631 deg, approach rate: 0.694416 m/s, LOS rate: -0.064990 deg/s, cmd heading: 34.356941 deg, new cmd heading: 34.279312 deg. 2jh2HeadingCmd: 0.598287 target range: 372.399994 and range: 372.40 m. jT)?jjjihhhh/Bfffrfbf?}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990834ɛ)B )=  8Z=I  5݅=ɚ1i1I5p- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242416'#̀w,W2AJJJJJ:J:JJB>YB u.?B)P9BO>yBH@d?,;?'?F?@Tſ ??W?ɨB>B ;BCyJ>BJY&I)L LIVIVm4٢^߼ ^S=9b;Q b>dd fG٣dyf< j> rNusing accuracyPremultiplier from configpv(59r'Q?v(5Yr3 irYBtv>]?vx@r:ErX:r:rw(5| ~ @|Zj!%FNOT Ignoring new targets: 372.40 m.Bj-iJj-i= ProNav: ac range: 372.399994 m, nav range: 41.783463 m, bearing: 232.749717 deg, approach rate: 0.659101 m/s, LOS rate: -0.051039 deg/s, cmd heading: 34.279312 deg, new cmd heading: 34.219937 deg. 2j= EHeadingCmd: 0.597251 target range: 372.399994 and range: 372.40 m. jEj?jAjAjAiAhIhIhIhIfQfQfYrfYbfe?ɛ%*B%&= )-$=I) -=ɚ)i)I- Ӏw,mLAH">I"C I"&II"BI"/ =&I .I 6I"<:I" FnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746268y G٣y >  Nusing accuracyPremultiplier from config(598Q?(5Y3 ifB%?:[?x@?E5;;(5%nB %%@%EZjq}FNOT Ignoring new targets: 372.40 m.Bj}rJj}r ProNav: ac range: 372.399994 m, nav range: 42.087612 m, bearing: 232.724051 deg, approach rate: 0.632671 m/s, LOS rate: -0.053003 deg/s, cmd heading: 34.219938 deg, new cmd heading: 34.143496 deg. 2jHeadingCmd: 0.595916 target range: 372.399994 and range: 372.40 m. j?jjjihhhhBfffrfbf }?ɛ+B2#= 隕=I  =ɚiIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998236 $?I 6ـw,]fA2>Y2/?2ў92c2>y2HԾ?o=?`I?HZ?@2s? \:?o?ɨ2>2:;2CyB1BBI&IININ.4٢Vt Vu=9V=Q V?XX ZG٣Z+JGy^< ^? bNusing accuracyPremultiplier from config`f(59bDQ?f(5YbA3 iblBhjU]?jx@bBEb:b":b(5l rȳ@pZj  FNOT Ignoring new targets: 372.40 m.BjdJjd- ProNav: ac range: 372.399994 m, nav range: 42.303200 m, bearing: 232.707793 deg, approach rate: 0.664393 m/s, LOS rate: -0.049849 deg/s, cmd heading: 34.143498 deg, new cmd heading: 34.094971 deg. 2j-5HeadingCmd: 0.595070 target range: 372.399994 and range: 372.40 m. j5zV?j9j9j9i9hAhAhIhIfIfQfQrfbf@ɛM,BM= qu $ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502191Kw,zA @IDR h>YR9/?Rt:9R">yRHa? `׹?`F? @s?@.uV3.??ɨR h>R);Py~/B~F&Ii ]>I =II@4٢E/5 EA=9M}pII UG٣QyU쓺 U> eNusing accuracyPremultiplier from configYe(59]SQ?e(5Y]3 i]pBimG]?mx@]GE]P:].:]2(5umB }@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 372.40 m.Bj[Jj[ ProNav: ac range: 372.399994 m, nav range: 42.576756 m, bearing: 232.687326 deg, approach rate: 0.645573 m/s, LOS rate: -0.047990 deg/s, cmd heading: 34.094972 deg, new cmd heading: 34.033966 deg. 2jHeadingCmd: 0.594005 target range: 372.399994 and range: 372.40 m. j?jjjihhhhfffrfbf`@ɛ-B6= 隍J;I =ɚiIhT<zKRIK9KK#KI?i?N)i--=)?)*F}?2Fy:FBF_0JFHE>IA IE&IIEBIA&IA.IA6IEư<:IEm FWill construct direction to contact in vehicle frame from tetrahedron phase data.>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754593GRk=G B O > Gw,vTA65>Y60/?6q;96T#>y6HP?V(?8?`?`~`??ɨ65>6L;4y>%B>:&I Mb@Mb@Mb@    ) Y ףp= ?(\µ?Zd;Oy ? = j  A @) I @ y @I%I%4٢5K 5K=9o G٣y > Nusing accuracyPremultiplier from config(59lbQ?(5Y3 ijBP ?:R?x@KE;:֏(5 @Zj FNOT Ignoring new targets: 372.40 m.Bj Jj% ProNav: ac range: 372.399994 m, nav range: 42.836315 m, bearing: 232.654046 deg, approach rate: 0.623445 m/s, LOS rate: -0.079452 deg/s, cmd heading: 34.033965 deg, new cmd heading: 33.934730 deg. 2j%Z-HeadingCmd: 0.592273 target range: 372.399994 and range: 372.40 m. j-0?j)j)j)i)h)h1h1h5Bf9f9f9rf9bfE'@]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007191ɛ}.B}g\= 隅pI ޾=ɚiIB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258418ww,KAJXJXJXJXJXJXJXJXb1&>YbN-?b\n<9b=ybH?mӶ?`?bu;bCynBn*&IIvIv4٢~ ~M=9~ G٣,JGy W  > Nusing accuracyPremultiplier from config(59CpQ?(5Y3 iaB!%WQ?%x@OEa::0(51 5P@=EZjaeFNOT Ignoring new targets: 372.40 m.BjmJjm} ProNav: ac range: 372.399994 m, nav range: 43.075237 m, bearing: 232.621764 deg, approach rate: 0.621332 m/s, LOS rate: -0.083484 deg/s, cmd heading: 33.934729 deg, new cmd heading: 33.838422 deg. 2j}-eHeadingCmd: 0.590592 target range: 372.399994 and range: 372.40 m. j1?jjjihhhhfffrfbf@; @ɛ/B: = #<:I E=ɚiIH1 I1  I5 &II5 BI1 &I1 .I1 6I5 <:I5 FsYw,g AbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.762344y~B~!&I)  A Mb@Mb@Mb@ )Y7A`?II UG٣QyU U> ]Nusing accuracyPremultiplier from configYe(59]Q?e(5Y]3 i]RBm?m:>?x@]SE]);];][(5 õ@ZjFNOT Ignoring new targets: 372.40 m.Bj Jj  ProNav: ac range: 372.399994 m, nav range: 43.352085 m, bearing: 232.557515 deg, approach rate: 0.571648 m/s, LOS rate: -0.131818 deg/s, cmd heading: 33.838424 deg, new cmd heading: 33.646906 deg. 2j%HeadingCmd: 0.587249 target range: 372.399994 and range: 372.40 m. j%U?j!j!jIiIhIhIhQhUSBfQfQfQrfYbf]+@ɛ0Bu = |I Z=ɚiIp U $?IQ ] BDAT read: Tx time:22:11:26.8967 ] $Ping request sent.] u @u+ȼ u@)uf;Iu>iuf;>qqu{ ?]C5? I/ɘ)uR=IupNg0w,oA`>Ye)?Yl<9W=yH0? +{?϶?`$!?s =??ɨ`>;Cy5B5&IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:11:26.8959 IMIMb4٢q -=9 G٣y > MNusing accuracyPremultiplier from configIU(59MZQ?U(5YM%3 iM>BQU:?Ux@MXEM":Mz:M(5a e@EkMy?kMREH kI kMA:kMCBkMJCZkM$@"MPBGh-ihpWt@M9Z/)O˸ 3sU ?JkMeRkM쀿*MD$^@ri>RWs@MWBQ4?y21]O?"kMM*kMBkM=z?kMH 2kMCkIkMlF kMCkMD:CkM;>@ addTargetRange:: Added new target pos. range: 391.299988 m, deltaT: 8.063745 s, deltaX: 18.899994 m, approachRate: 2.343823 m/s, rangeRepo size: 4  Added new target pos. range: 391.299988 m, bearing: 301.059394 deg, lat: 36.903196 deg, lon: -122.124969 deg, deltaT: 8.063745 s, deltaX: 18.899994 m, approachRate: 2.343823 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 391.30 m.BjJj ProNav: ac range: 391.299988 m, nav range: 186.268127 m, bearing: 270.799694 deg, approach rate: 0.000000 m/s, LOS rate: -0.131818 deg/s, cmd heading: 33.646905 deg, new cmd heading: 33.450716 deg. 2jHeadingCmd: 0.583825 target range: 391.299988 and range: 391.30 m. ju?jjjihhh h f f f rftx@bf@?ɛ1Bs= 隍I f=ɚiI!R-w,{AzKOKs9KK%Ku6I!>=;l/U-wmf`WPKG?=;:73--+)':v>Y:7(?:z =9:}=y:HSR?-cD??"K?=+`$??ɨ:v>:;:CyFBJ%IIbIb]4٢jν jm=9jIeC Ie&IIedBIe0 =&Ia.Ie1D6Ie<:Ie F ProNav: ac range: 391.299988 m, nav range: 186.395340 m, bearing: 270.754081 deg, approach rate: 0.351985 m/s, LOS rate: -0.126120 deg/s, cmd heading: 33.450715 deg, new cmd heading: 33.313970 deg. 2jHeadingCmd: 0.581438 target range: 391.299988 and range: 391.30 m. j'?jjjihhhhff1f1rf1bf= j?]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ɛ2B< XI =ɚiIxkw,T!A $?I ,.@yޕBޕ%I a=a=EMb@Mb@Mb@AAA A)AYEgfffff?I +lyE3?E94EEA A)E@IEQ@AyE@I]I]n4٢mO< m0=9uQ u>qq uG٣qy} }> Nusing accuracyPremultiplier from config(59Q?(5Y3 iB?:$?x@_E(;@;{(5kB {@EZjFNOT Ignoring new targets: 391.30 m.Bj7Jj7 ProNav: ac range: 391.299988 m, nav range: 186.551910 m, bearing: 270.688268 deg, approach rate: 0.382958 m/s, LOS rate: -0.160839 deg/s, cmd heading: 33.313971 deg, new cmd heading: 33.116697 deg. 2jܻHeadingCmd: 0.577995 target range: 391.299988 and range: 391.30 m. j?jjjihhhhBfff rf bf L?ɛ< I 4=ɚiIw,;A63>Y6$?6,==96/=y6H?ʳ?@2? ?S嚿?=?@?ɨ63>6I;6CyBBB%IININ{4٢V Vm=9V =Q V?XX ZG٣Xy^ ^? bNusing accuracyPremultiplier from config`f(59bQ?f(5Ybz3 ibBdf!?jy@bbEb:b:b(5l nA@lZj  FNOT Ignoring new targets: 391.30 m.Bj\$Jj\$% ProNav: ac range: 391.299988 m, nav range: 186.666489 m, bearing: 270.638758 deg, approach rate: 0.332749 m/s, LOS rate: -0.143694 deg/s, cmd heading: 33.116698 deg, new cmd heading: 32.968260 deg. 2j%;Ż-HeadingCmd: 0.575405 target range: 391.299988 and range: 391.30 m. j-M?j)j)j)i)h)h1h1h1f9f9f9rfAbfE@)~?ɛ3B<  =I =ɚiII5 C I5 [&II5 @BI5 6 =&I1 .I5 0D6I5 ְ<:I5 k FBIșCJIȘCRIȔCZI/ =bI1 =jI66E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734351G .H_=G J J J 0J J |:J :J ـ3J J ;J ;J CG;J DG;B O >^Zw,sVA6))>Y6ʐ#?6Z=96=y6H౦? N@+=?`B??@o5@=qL?`?ɨ6))>6{!;4y>݆B>%I Mb@Mb@Mb@    ) Y B`"?L7A`堿Qy ? +  `@ @) @I @ y 3@I%I%4٢=*7 =7=9 G٣.JGy9 > Nusing accuracyPremultiplier from config(59Q?(5Yá3 iBM?:W?y@fE;;(5 ݸ@߻EZj FNOT Ignoring new targets: 391.30 m.Bj 7$Jj 7$% ProNav: ac range: 391.299988 m, nav range: 186.805328 m, bearing: 270.572705 deg, approach rate: 0.301994 m/s, LOS rate: -0.143567 deg/s, cmd heading: 32.968261 deg, new cmd heading: 32.770250 deg. 2j%Ż%HeadingCmd: 0.571949 target range: 391.299988 and range: 391.30 m. j-Iww,zpA2>Y2~!?2Ԫw=920Ƌ=y2H7?Q@¶???``"m? ?ɨ2>2 ;2CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.242241yJ׆BJ%IIVIV4٢Z ^U=9^^`` bG٣`yfN f> jNusing accuracyPremultiplier from configh}(59jQ?}(5Yjў3 ijByD?y@jjEjAzK5 aMK5 h9K1 K5 'K5 RKE ?JKE ?C_"w, AVT>YV_Q?VQ=9VB=yVHk?}W?Ҝ?8?㻑?@l?ɨVT>Vۋ;VCyz͆B~%II]I]4٢8 ==9oeH]>IY I]/&II]BIY&IY.IY6I]<:I] F G٣yB > Nusing accuracyPremultiplier from config(59Q?(5Y"3 iB?y@nE ;:ٰ(5 ӹ@ ܻE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 391.30 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746566BjQ(JjQ( ProNav: ac range: 391.299988 m, nav range: 187.053375 m, bearing: 270.451859 deg, approach rate: 0.300146 m/s, LOS rate: -0.147154 deg/s, cmd heading: 32.610841 deg, new cmd heading: 32.407957 deg. 2jɻHeadingCmd: 0.565626 target range: 391.299988 and range: 391.30 m. j?jjjihhhh)f)f1f1rf1bf5``@ɛy}@< 隅HMI =ɚiI! (w,ΣAyӆB%ImMb@Mb@Mb@iii i)iYmCl?sh|?Mbym?mmmv@ m@)m`@Im@iymz@II?4٢@< ;=9Q > G٣/JGy > UNusing accuracyPremultiplier from config](59+R?](5Y]3 iBe?e:e9>ey@rEW;T;a(5y }|@ZjFNOT Ignoring new targets: 391.30 m.Bj)Jj)5 ProNav: ac range: 391.299988 m, nav range: 187.156967 m, bearing: 270.389663 deg, approach rate: 0.247092 m/s, LOS rate: -0.148270 deg/s, cmd heading: 32.407957 deg, new cmd heading: 32.221473 deg. 2j5˻=HeadingCmd: 0.562371 target range: 391.299988 and range: 391.30 m. j=?j9jAjAiAhAhAhQhUBfQfQfQrfYbf]A @ɛq<  BI  5&=ɚ i I LYfc?f+=9f<=yfHh?`ȹF? ? ?m@q??ɨfQϿ>f;fCyrІBr%IiR>I< ==IIK4٢M@+ M(=9U&=Q U>QQ ]G٣Yy]d ]> Nusing accuracyPremultiplier from configa(59eR?(5Ye<3 ie\Bs>y@evEeV;ex;e(5jB @ٻEZjFNOT Ignoring new targets: 391.30 m.Bj7zKE+LKE9KAKE(KE Jj%7 ProNav: ac range: 391.299988 m, nav range: 187.274353 m, bearing: 270.314504 deg, approach rate: 0.251186 m/s, LOS rate: -0.160726 deg/s, cmd heading: 32.221472 deg, new cmd heading: 31.996139 deg. 2jܻHeadingCmd: 0.558438 target range: 391.299988 and range: 391.30 m. j?jjjihhhhfffrfbf @H}>Iy I} &II}BI}7 =&Iy.Iy6I}-<:I} Fɛz7< #1="HI M=ɚiIL (8wWill construct direction to contact in vehicle frame from tetrahedron phase data. i .DAT read: 22:11:29.8212 LVL= 20592, 29313, 26354, 32755, AGC= 69, IDX= 267,-0.10, 0.626,-1.221,-0.449,-0.169, PHS= 0.883,-1.005,-0.283, RAW= 112.3, 5.0, CAL= 122.8, 1.8, ROT= 27.2, -1.8 2Ygot valid direction response: 22:11:29.8212 LVL= 20592, 29313, 26354, 32755, AGC= 69, IDX= 267,-0.10, 0.626,-1.221,-0.449,-0.169, PHS= 0.883,-1.005,-0.283, RAW= 112.3, 5.0, CAL= 122.8, 1.8, ROT= 27.2, -1.8 6PDAT read: Bearing 27.2, -1.8 (Local) 6~Local bearing/azimuth received: Bearing 27.2, -1.8 (Local) >DAT read: Range 10 to 50 : 390.3 m (Round-trip 520.4 ms) speed 0.2 m/s >,DAT read: user:2377> ,;6ArBDAT read: Tx time:22:11:30.9467 r$Ping request sent.v+ @)=I>iXFH ?(?(7> !?)Q0 IGi*қ:publishing transmit ping timepFpublishing direction and range info99.ʿX wѿ9?y )Ii )IiXFH ?(?(7> !?)Iiy}φB}%IMb@Mb@Mb@ )YB`"?|?5^~jty?ҽļI@ )QAIy@IIb4٢  =9 Q > G٣0JGy > %Nusing accuracyPremultiplier from config!(59%o0R?(5Y%ב3 i%/Bd?:|>y@%{E%?|<%{<%(5 @ֻEknR\?kA k k)zA:k&CBkCZkI@"lT>ZRQv@9.ʿX wѿ9?JkRk*қ*_*]O@@H Ɲa䳨wv@>e? RB&׿?"k, *k~Bki.\?k#B 2kCki.\?kkk7>CkO@ addTargetRange:: Added new target pos. range: 390.299988 m, deltaT: 4.042727 s, deltaX: -1.000000 m, approachRate: -0.247358 m/s, rangeRepo size: 4  Added new target pos. range: 390.299988 m, bearing: 283.011806 deg, lat: 36.903483 deg, lon: -122.124969 deg, deltaT: 4.042727 s, deltaX: -1.000000 m, approachRate: -0.247358 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 390.30 m.BjJj% ProNav: ac range: 390.299988 m, nav range: 190.218414 m, bearing: 279.876018 deg, approach rate: 0.000000 m/s, LOS rate: -0.160726 deg/s, cmd heading: 31.996137 deg, new cmd heading: 31.708989 deg. 2j!-HeadingCmd: 0.553426 target range: 390.299988 and range: 390.30 m. j-X ?j)j1j1i1h1h1h9h=Bf9f9fArfMdx@bfMy?ɛ\< Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:11:30.9459 隝(KI o=ɚiI^RY2^?2T\=92D@=y2HҪ?D@?nt??@U㶿`p??ɨ2÷>2F;0y:ֆB:%IIJIJ{4٢R= RW=9RjTT VG٣TyZ+ Z> ^Nusing accuracyPremultiplier from configXb(59Z@R?b(5YZ3 iZBdf>fy@Z~EZE;Z4;Z(5jiB j8@jԻEZj|~FNOT Ignoring new targets: 390.30 m.BjSJj S ProNav: ac range: 390.299988 m, nav range: 190.266129 m, bearing: 279.813971 deg, approach rate: 0.142522 m/s, LOS rate: -0.185288 deg/s, cmd heading: 31.708989 deg, new cmd heading: 31.522895 deg. 2jR%HeadingCmd: 0.550178 target range: 390.299988 and range: 390.30 m. j%| ?j!j!j)i)h)h)h)h1f1f1f1rf9bf=?ɛl< I I%IIBI&I.I6I<:I} F=Will construct direction to contact in vehicle frame from tetrahedron phase data.G)ş<Ga Bq O >Fw,0Ay5߆B5%I)9 9AEAMb@Mb@Mb@ )YI +?EԸ/$y9?ƽ@ @)AI@y@II4٢)= 8=9Q > G٣y  > Nusing accuracyPremultiplier from config(59TR?(5Y3 iB%b?%:%>%y@E;+;(5 =$?I=i9 =@=ѻE]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 390.30 m.BjmAJjuA} ProNav: ac range: 390.299988 m, nav range: 190.328995 m, bearing: 279.738288 deg, approach rate: 0.140611 m/s, LOS rate: -0.169222 deg/s, cmd heading: 31.522894 deg, new cmd heading: 31.295921 deg. 2jEWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.-HeadingCmd: 0.546217 target range: 390.299988 and range: 390.30 m. j- ?j)j)j)i)h1h1h1h5Bf9f9f9rf9bf=_?ɛ< 隵)I O=ɚiI9kNw,z<A2߇>Y2$@?2[=92b2=y2HR? ?` ;?T? c@?:?ɨ2߇>2;2Cy>BB%IIJIJ4٢R7e< R7=9Ro;Q V>TT VG٣V1JGyZ Z> ^Nusing accuracyPremultiplier from config\b(59^hR?b(5Y^73 i^Bdf>fy@^E^:^H:^(5Q Ug@QZjFNOT Ignoring new targets: 390.30 m.Bj:Jj: ProNav: ac range: 390.299988 m, nav range: 190.390030 m, bearing: 279.662641 deg, approach rate: 0.131784 m/s, LOS rate: -0.163280 deg/s, cmd heading: 31.295920 deg, new cmd heading: 31.069054 deg. 2jໝHeadingCmd: 0.542257 target range: 390.299988 and range: 390.30 m. j` ?jjjihh h h fffrfbf>?ɛE3BEJ_< AE"IA M0=ɚIiIIMԨg<)U` ?)Y I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486174EaEa*EA"EAzKLKKK*KBKpA:KoA*F?2F:FBF5JFH% >I% C I% %II% BI! &I! .I% /D6I% <:I% F F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736618G <G B O >Vw,£YA @6@>Y6<?6A=96r=y6H@? A??+?a)@q`L??ɨ6@>6f;6Cy>BB%IMb@Mb@Mb@ )Y333333? G٣y > Nusing accuracyPremultiplier from config(59SR?(5Yӆ3 iB?:)>y@E;;(5hB @@λEZj)5FNOT Ignoring new targets: 390.30 m.Bj=~NJj=~NM ProNav: ac range: 390.299988 m, nav range: 190.472382 m, bearing: 279.577009 deg, approach rate: 0.173690 m/s, LOS rate: -0.180532 deg/s, cmd heading: 31.069055 deg, new cmd heading: 30.812270 deg. 2jMUHeadingCmd: 0.537776 target range: 390.299988 and range: 390.30 m. jU ?jQjYjYiYhYhYhahe`Bfafafarfibfm: ?ɛi< 隝I HC=ɚiIxU Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240519WJ\w,sA25>Y2?2/=92h=y2H`?+/?k? ?n @l?3?ɨ25>2";0y~B&Ii=I> =R=I%I%4٢5< 5U=95P;Q =>99 =G٣9yE8} E> MNusing accuracyPremultiplier from configIU(59MܐR?U(5YM83 iM~BY]2>]y@MEM:M:MN(5a e@e˻EZjFNOT Ignoring new targets: 390.30 m.Bj FJj F ProNav: ac range: 390.299988 m, nav range: 190.535431 m, bearing: 279.510357 deg, approach rate: 0.163839 m/s, LOS rate: -0.173144 deg/s, cmd heading: 30.812271 deg, new cmd heading: 30.612382 deg. 2jHeadingCmd: 0.534287 target range: 390.299988 and range: 390.30 m. j?jjjihhhhfffrfbf Y@ɛ2B~?< lI H=ɚiIT)cw,tDAzK"JK"9K K"+K"RK& ?JK&#?N.\>YNL?N$=9N6=yNH } ?@?L?`t.? B# &@͋?c?ɨN.\>N.;NCyj Bj&II~I~h4H=>I=C I=&II=BI9&I9.I=0D6I=<:I=V FBI CJI CRI CZI 7 =bI 7 =jI 4٢5= ]<=9eX:Q m>yy G٣2JGy > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744729 (59R?5(5Y%3 iXB15n>5y@Eo;l;L(59 E@AZjFNOT Ignoring new targets: 390.30 m.Bj_BJj_B ProNav: ac range: 390.299988 m, nav range: 190.609756 m, bearing: 279.431154 deg, approach rate: 0.159534 m/s, LOS rate: -0.169935 deg/s, cmd heading: 30.612382 deg, new cmd heading: 30.374869 deg. 2j?黝HeadingCmd: 0.530141 target range: 390.299988 and range: 390.30 m. jZ?jjjihhhhff)f)rf)bf5@8q@ɛZ< I l=ɚiI^pTiw,!AV>YV ?VYq=9V=yVH*?_`?? [L?"mmG??ɨV>Vx;VCyb Bb&IMb@Mb@Mb@ )Y-?Q~jtxy5?ĻA @)AI@y@II4٢ L=9[Q >!! %G٣!y%9 -> 5Nusing accuracyPremultiplier from config)=(59-R?=(5Y-1~3 i-?BEf?E:E?Ey@-E-P#;-!;-(5MgB M@MȻEuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 390.30 m.BjKJjK ProNav: ac range: 390.299988 m, nav range: 190.686981 m, bearing: 279.365180 deg, approach rate: 0.208438 m/s, LOS rate: -0.178000 deg/s, cmd heading: 30.374869 deg, new cmd heading: 30.177027 deg. 2jQMHeadingCmd: 0.526688 target range: 390.299988 and range: 390.30 m. jM?jQjQjQiYhYhahihmBfffrfbf@9 @ɛ1B< I \=ɚiIf.YVP ?V=9Vx=yVH`;?`IE?Z?HZ?ͥ*]?`?ɨV5>Vj;TyfBf'&I)h hhjAIrIrK4٢v= z_=9zZQ z>|| ~G٣|yI# >  Nusing accuracyPremultiplier from config (59 R?(5Y [{3 i &BN>y@ E ': ; (5! %@!ZjQUFNOT Ignoring new targets: 390.30 m.Bj]GJj]Gm ProNav: ac range: 390.299988 m, nav range: 190.761230 m, bearing: 279.301258 deg, approach rate: 0.203145 m/s, LOS rate: -0.174823 deg/s, cmd heading: 30.177026 deg, new cmd heading: 29.985334 deg. 2jmﻝuHeadingCmd: 0.523343 target range: 390.299988 and range: 390.30 m. ju?jqjqjq}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:11:33.8679 TRx dataTimestamp_ set to:1736374295.064728checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501754iqhhhhfffrfbf < @ɛ== UIQ ] 8=ɚYiYI]Y;zKBHK 9KK,K   BK:KpAH]>IY I]&II] BIY&IY.IY6I]<:I]X F- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752637%jvw,A0 G٣3JGy > Nusing accuracyPremultiplier from config(59/R?(5YDw3 i BD%?:?y@E;;(5  A@ ŻEZj9=FNOT Ignoring new targets: 390.30 m.BjEHJjEHU ProNav: ac range: 390.299988 m, nav range: 190.876923 m, bearing: 279.224854 deg, approach rate: 0.266164 m/s, LOS rate: -0.175669 deg/s, cmd heading: 29.985333 deg, new cmd heading: 29.756263 deg. 2jU񻝊]HeadingCmd: 0.519345 target range: 390.299988 and range: 390.30 m. j]?jYjYjYiYhahahaheBfififirfqbfu௰@ɛ0Bv= 隥fI (=ɚ)i)I5< e$?IyI?ie' i]<)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:11:33.8679 LVL= 23792, 32753, 32754, 32755, AGC= 68, IDX= 411, 0.24, 2.780, 1.232, 2.035, 2.044, PHS= 0.825,-0.764,-0.012, RAW= 118.3, -0.7, CAL= 125.8, -8.5, ROT= 24.2, 8.5 EYgot valid direction response: 22:11:33.8679 LVL= 23792, 32753, 32754, 32755, AGC= 68, IDX= 411, 0.24, 2.780, 1.232, 2.035, 2.044, PHS= 0.825,-0.764,-0.012, RAW= 118.3, -0.7, CAL= 125.8, -8.5, ROT= 24.2, 8.5 MPDAT read: Bearing 24.2, 8.5 (Local) U~Local bearing/azimuth received: Bearing 24.2, 8.5 (Local) mDAT read: Range 10 to 50 : 387.7 m (Round-trip 517.0 ms) speed 0.5 m/s u,DAT read: user:2378> BDAT read: Tx time:22:11:34.9467 $Ping request sent.iڕ>ڑڑە$!ߠr?:;伾ĉ)ەIە&N5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:22:11:34.9459 |w,A%E>Y%  ?%/)=9%3=y%H`I?R19? P|?a?3@? J?ɨ%E>%0;!y5 B54&IIEIE4٢}= }P=9?Q > G٣yg > Nusing accuracyPremultiplier from config(59R?(5Ys3 iB?y@EL:n:(5 m@JJJJJ|:J:JJk.rTo?kPvD k kwA:kCBk~CZk`1@"u@UdDwփbXs/5v@Z-#ؿG-h2S?JkRkba*DWU@][d*|*3u@r:h[?O zۿֻu)?"kr&*kʭBk"o?kqD 2kaCkTb?kkkEBCkꔞ@ addTargetRange:: Added new target pos. range: 387.700012 m, deltaT: 4.031102 s, deltaX: -2.599976 m, approachRate: -0.644979 m/s, rangeRepo size: 4  Added new target pos. range: 387.700012 m, bearing: 297.567199 deg, lat: 36.903630 deg, lon: -122.124969 deg, deltaT: 4.031102 s, deltaX: -2.599976 m, approachRate: -0.644979 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 387.70 m.BjJj  ProNav: ac range: 387.700012 m, nav range: 194.269989 m, bearing: 283.939430 deg, approach rate: 0.000000 m/s, LOS rate: -0.175669 deg/s, cmd heading: 29.756262 deg, new cmd heading: 29.539471 deg. 2j HeadingCmd: 0.515561 target range: 387.700012 and range: 387.70 m. j?jjjihhhhf!f!fIrfM@3;x@bfM@z5?ɛ/B = 隥I =ɚiIRgYxw,A:>Y: ?:ا=9:z=zKBvLKB]9K@KB-KB    y:H`R?'@I?\s? m?U??ɨ:>:Ʊ;:CyRBR/&Iif G٣yz > %Nusing accuracyPremultiplier from config!5(59%zR?5(5Y%o3 i%BAM?My@%E%w;%;%l(5ufB u@EZjFNOT Ignoring new targets: 387.70 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.Bj%;AJj%;A] ProNav: ac range: 387.700012 m, nav range: 194.352783 m, bearing: 283.870743 deg, approach rate: 0.203720 m/s, LOS rate: -0.168935 deg/s, cmd heading: 29.539472 deg, new cmd heading: 29.333501 deg. 2je绝eHeadingCmd: 0.511966 target range: 387.700012 and range: 387.70 m. je7?jijijiiihhhhfffrfbf(?ɛ.BP=   I  =ɚiIw,si(A>>Y>A ?>==9>e2=y>H G`?)@f)?Z_?fx?i@+b˶?W?ɨ>>>ڟ;>CyddMb@Mb@Mb@ )Ysh|??T㥛 ?MbP?y)?=:IA ;@)AIQ@yp@I{IZ49 Q  > G٣4JGy޻ > %Nusing accuracyPremultiplier from config!-(59%5S?-(5Y%nk3 i%B5*?5:5"?5y@%E%;%5;%=(5=eB =@EEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 387.70 m.Bj]aJj]a ProNav: ac range: 387.700012 m, nav range: 194.463715 m, bearing: 283.791633 deg, approach rate: 0.276441 m/s, LOS rate: -0.197030 deg/s, cmd heading: 29.333501 deg, new cmd heading: 29.096307 deg. 2j8HeadingCmd: 0.507826 target range: 387.700012 and range: 387.70 m. j?jjjihhhhچBfffrfbfb?ɛe-Be9= am@Ii N=ɚiIq p=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G p<G B O > = $?IE i|w,DBA6v>Y6 ?6㯜=96 =y6Hd?$?[?x? ⤿?@?ɨ6v>6];6CyR!BR5&II^I^%x4٢f 0< f<9fNQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv(59r"S?v(5Yrg3 irBtz!?zy@rEr:r:rh(5| ~I@Zj15FNOT Ignoring new targets: 387.70 m.]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.476355BjPOJjPO ProNav: ac range: 387.700012 m, nav range: 194.556107 m, bearing: 283.725888 deg, approach rate: 0.254827 m/s, LOS rate: -0.181248 deg/s, cmd heading: 29.096309 deg, new cmd heading: 28.899166 deg. 2jHeadingCmd: 0.504386 target range: 387.700012 and range: 387.70 m. jj?jjjihhhhf!f!f)rf)bfU`?ɛ+B = 隥I =ɚiII IO&II6BI&I.I6I<:ID FzK=.SLK=9K9K=.K= gVLD!Y IJ xW3v`H5+Gc< Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732117G B O >JI JM JI JI JI JM :JI JI JI ae JM ;am JM A;am JM A;am w,U.\Ab>Yb ?bƘ=9b>|=ybH Xf?!w? ~[?w?8 nt?`?ɨb>b;bCynBn(&IppuMb@Mb@Mb@qqq q)qYuZd;O?)\(?Mb`yu~*?uG=uu`A u$@)uAIu~@qyu@II44٢&@ ==9Q > G٣y7 > Nusing accuracyPremultiplier from config(59f5S?(5Yb3 iB,?:3?y@E:;-;1(5 @EZjyFNOT Ignoring new targets: 387.70 m.BjDJjD ProNav: ac range: 387.700012 m, nav range: 194.686371 m, bearing: 283.649040 deg, approach rate: 0.291515 m/s, LOS rate: -0.171859 deg/s, cmd heading: 28.899166 deg, new cmd heading: 28.668779 deg. 2j뻝HeadingCmd: 0.500365 target range: 387.700012 and range: 387.70 m. j?jj $?IjihhhhBfffrfbf` {?ɛm*Bm= imIi uD=ɚqiqIu$ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232369ߜw,uA6>Y6> ?6=968=y6H_?@E+@?h?Gm?>'??ɨ6>6k ;6CyN BN&IIZIZ4٢b fZ=9fQ f>dh jG٣j5JGyj; j> vNusing accuracyPremultiplier from configpz(59rES?z(5Yre^3 irBxz4?zy@rEr9;r;ry(5 @ZjFNOT Ignoring new targets: 387.70 m.BjHJjH*J"J%= ProNav: ac range: 387.700012 m, nav range: 194.800064 m, bearing: 283.582497 deg, approach rate: 0.299083 m/s, LOS rate: -0.174949 deg/s, cmd heading: 28.668780 deg, new cmd heading: 28.469266 deg. 2j !𻝊 HeadingCmd: 0.496882 target range: 387.700012 and range: 387.70 m. j `g>j jj1i1h1h9h9h9f9fAfArfAbfE$@ɛ)BM< (zI P=ɚiIr0ii<)`g>)*F%?2F!:F!BF%0JF! IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488249Ge q<GI BQ Ou >qƣw,ՏA6+>Y6 ?6A=96i=y6HHS? $?@A? ?]?;eۺ?\?ɨ6+>62;6CZH@RH@HF>ID IFU&IIF;BID&ID.ID6IFа<:IFe FyRBR &IIZIZ?4٢b(b fK=9j7Q j>hh nG٣lynF< r> vNusing accuracyPremultiplier from configpv(59rWS?z(5YrY3 zK=l"PK=+9K9K=/K=}wpmjf`YUQLJKGDC@>;9630.,.)))))('$%irBIM4?My@rErWjjjihhhhfffrfbfs@ɛ]'B]"< aeHIa e=ɚiIdibHi=)}>)J J J 0J J :J :J ـ3J J ;J ;J C;J C;*FE?2FI:FIBFM0JFI $?IGe %< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989646G9 BI Oe >Pw,AVO>YV# ?VM=9VV=yVHB?`8Z@\?`?H?`n ??ɨVO>Vڌ;VCyfBf%IMb@Mb@Mb@ )Yx&?X9v?Mby7)?=A Q@)AI@y@IIפ4٢v 9=9\Q > G٣y< > Nusing accuracyPremultiplier from config(59iS?(5YT3 iyB .,? : ;? y@E;;(5 ?@=B*** querying acoustic contact ***j9j9ZjIUFNOT Ignoring new targets: 387.70 m.BjU1\JjU1\e ProNav: ac range: 387.700012 m, nav range: 195.064545 m, bearing: 283.434896 deg, approach rate: 0.356663 m/s, LOS rate: -0.192506 deg/s, cmd heading: 28.255335 deg, new cmd heading: 28.026768 deg. 2jemHeadingCmd: 0.489159 target range: 387.700012 and range: 387.70 m. jms>jijqjqiqhqhqhyh}҆Bfyfyfrfbf@O @ɛ&B< 隽hսI W=ɚiI^Wii"=)s>)*Fe?2Fi:FiBFm05JFiGuqA GqGE=GM?GM>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241268GB!OMR> I ܰw,A2>Y2 ?2-=92fM=y2H5?o ~T?`2;2CyV܆BZ%IIbIb4٢jڽ j]=9nнQ n>lp rG٣r6JGyr< r> vNusing accuracyPremultiplier from configtz(59vyS?~(5Yv"P3 ivkB|~jqjqjqiqhyhyhyhfffrfbf M @ɛ$BK< .I G=ɚiIJZiiLS8=)>)*Fe?2Fi:FiBFm^0JFiH%>I! I%B&II%,BI!&I!.I!6I%<:I%u FBI9JI9RI9ZI=5 =bI=5 =jI=%n5zKm NKm9KiKm0Km%.MugN@5,'" BK:KqAGsc=GBWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747610Om >J J J J J \:J :J J J h;J i;J @;J @;w,fAy}̆B}%I U$?IYeMb@Mb@Mb@aaa a)aYe r?)\(?Qye#?eG=euevA a)eAIe@ayeQAII4٢r $=9Q > G٣y > Nusing accuracyPremultiplier from config)59hS?)5YJ3 iTB&?:9?y@E< ;;j)5 u@EZjFNOT Ignoring new targets: 387.70 m.Bj@Jj@5 ProNav: ac range: 387.700012 m, nav range: 195.335480 m, bearing: 283.287843 deg, approach rate: 0.306552 m/s, LOS rate: -0.168347 deg/s, cmd heading: 27.835119 deg, new cmd heading: 27.585921 deg. 2j5绝=HeadingCmd: 0.481465 target range: 387.700012 and range: 387.70 m. j=>j9j9j9iAhAhAMWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:11:37.8642 LVL= 21232, 30353, 28850, 32755, AGC= 71, IDX= 405,-0.28, 2.491, 1.135, 1.701, 1.913, PHS= 0.666,-0.731,-0.215, RAW= 111.4, 4.6, CAL= 122.2, 1.6, ROT= 27.8, -1.6 Ygot valid direction response: 22:11:37.8642 LVL= 21232, 30353, 28850, 32755, AGC= 71, IDX= 405,-0.28, 2.491, 1.135, 1.701, 1.913, PHS= 0.666,-0.731,-0.215, RAW= 111.4, 4.6, CAL= 122.2, 1.6, ROT= 27.8, -1.6 PDAT read: Bearing 27.8, -1.6 (Local) ~Local bearing/azimuth received: Bearing 27.8, -1.6 (Local) DAT read: Range 10 to 50 : 384.9 m (Round-trip 513.2 ms) speed 0.4 m/s ,DAT read: user:2379> BDAT read: Tx time:22:11:38.9468 $Ping request sent.iMIIM#"?ɡÿ9?)MOIMWiM[M흿IIhhBfffrf`fx@bf`D?:publishing transmit ping timeعFpublishing direction and range infoI9M|ɿö;@п53?yIIII I)IIIiIIIII I)IIIiIIIM#"?ɡÿ9?)IIIiIIIIɛ"BK*< %,I! %a=ɚ!i!I-i5ii51E=)=>)*F5?2F9:F9BF=?5JF9G% 7=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:11:38.9460 G-w,DA6,>Y6@ ?6?}=962=y6HC? `;?Ţ?C?̢`b?໽?ɨ6,>6ỷ;6CynBn%IIvIv"4٢. %=9%UQ % ?)) -G٣)y- 5 ? eNusing accuracyPremultiplier from config1e)595S?m)5Y5F3 i5FBim_8?my@5E5:5n:56)5cB .@Ek}[?k}eB ky k}eA:k}sCBk}CZk}-@"}v!psSc{-Y= Vv@}|ɿö;@п53?Jk}[Rk}흿*}Q9@h Kb47v@}Ywְ?'|ؿwLm?"k}*k}Ak}[?k}sbB 2k}Ckyk}qD k}aCk}-Ck}P@M addTargetRange:: Added new target pos. range: 384.899994 m, deltaT: 4.030144 s, deltaX: -2.800018 m, approachRate: -0.694769 m/s, rangeRepo size: 4  Added new target pos. range: 384.899994 m, bearing: 279.637870 deg, lat: 36.903630 deg, lon: -122.124720 deg, deltaT: 4.030144 s, deltaX: -2.800018 m, approachRate: -0.694769 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 384.90 m.BjJj ProNav: ac range: 384.899994 m, nav range: 173.992096 m, bearing: 284.900420 deg, approach rate: 0.000000 m/s, LOS rate: -0.168347 deg/s, cmd heading: 27.585922 deg, new cmd heading: 27.412244 deg. 2jHeadingCmd: 0.478434 target range: 384.899994 and range: 384.90 m. jJ>jjjihhhhfffrfbf?ɛE!BE< AEPaIA M =ɚIiIؼiQiD=)J>) M$?IMi*Fe?2Fi:FiBFm_0JFi]Will construct direction to contact in vehicle frame from tetrahedron phase data.GI GU rAGU rAG B O- >kāw, A6ʗ>Y6H ?6Bo=96H=y6H+U?Q@? ?V?<@??ɨ6ʗ>6D;6Cy>BB%IIJIJ:4٢Rؽ RS=9V Q V>XX ZG٣XjHb<bHb<HdId If&IIf BId&Id.Id6If<:Ifx Fy= => uNusing accuracyPremultiplier from configizK}MK} 9KyK}1K}G$eznU6{eVI>7.'   (*+(()%$&!RK?JK?)59mqS?)5YmTB3 im5Ba7?y@mEm;m;m)5 ~@Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 384.90 m.Bj-:SJjU:S ProNav: ac range: 384.899994 m, nav range: 174.109482 m, bearing: 284.821827 deg, approach rate: 0.276006 m/s, LOS rate: -0.184669 deg/s, cmd heading: 27.412244 deg, new cmd heading: 27.176624 deg. 2jy HeadingCmd: 0.474322 target range: 384.899994 and range: 384.90 m. j G>j j jihhhhfffrfbf%?)5F= 9tAAJJJJJ:J:JJJ5;J6;JC;JC; -Y-tAy- BɛuBu< quzIq }T =ɚyiyI}iiF=)G>)*Fu?2Fq:FyBFyJFy 9I9e Will construct direction to contact in vehicle frame from tetrahedron phase data.G C=Gq B O >fʁw,0+A6n>Y6 ?6xe=96R=y6H _?E@'?y?C`?+󵬿`??ɨ6n>6\;6Cy>B>~%I Mb@Mb@Mb@    ) Y V-?Q?~jty |? \= ļ A h@) 3AI @ y zAI%I%r4٢Յ 4=9Q > G٣7JGy > Nusing accuracyPremultiplier from config )59yS? )5Y=3 iB  ? : @(?y@E0;.; )5 k@E5B*** querying acoustic contact ***j1j1ZjIUFNOT Ignoring new targets: 384.90 m.BjUXmJjUXme ProNav: ac range: 384.899994 m, nav range: 174.214539 m, bearing: 284.739914 deg, approach rate: 0.266291 m/s, LOS rate: -0.207504 deg/s, cmd heading: 27.176624 deg, new cmd heading: 26.931034 deg. 2jmhmHeadingCmd: 0.470035 target range: 384.899994 and range: 384.90 m. jmu>jqjqjqiqhqhqhyh}Bfyfyfrfbf?ɛBkG< 隵$I 6 =ɚiIiE>iEO=)Eu>)IEy*F?2F:FBFm0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G9 G B O5 > $?I PEсw,vTEA6Q>Y6_D ?6\=96%=y6H`g?=Z?`jn?@~g?˫]h? ?ɨ6Q>6;6Cy>lBBV%I F=Fa=HJ@AIJIJ4٢R1 Vb=9VûQ V>XX ^G٣\rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498480y^ e> uNusing accuracyPremultiplier from configiu)59m|S?u)5Ym!:3 im By}'?}y@mEm;m!;m)5 n@ZjFNOT Ignoring new targets: 384.90 m.BjYJjY ProNav: ac range: 384.899994 m, nav range: 174.307617 m, bearing: 284.667288 deg, approach rate: 0.244068 m/s, LOS rate: -0.190336 deg/s, cmd heading: 26.931035 deg, new cmd heading: 26.713274 deg. 2jHeadingCmd: 0.466235 target range: 384.899994 and range: 384.90 m. jM>jjjihhhhfffrfbf ?ɛBe< tI f$ =ɚ!i!I%;=I%M>i-i-uU=)-M>))*F?2F:FBF1JFH>IC I%IIBI4 =&I.I6I<:I FzK}NK}9KyK}2K}"!!"" #$%$%&%  BK:KpAGCXP=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753863G BI O >rׁw,O=_Ay=[BEB%I yIyMb@Mb@Mb@ )Y^I +?/$?X9vyX?<`A ~@)IyII4٢ 6=9Q >    G٣ y > %Nusing accuracyPremultiplier from config!-)59%S?-)5Y%q63 i%B5?5:5?5y@%E%;%$;%)5=bB =t@=EZjamFNOT Ignoring new targets: 384.90 m.BjudTJjudT ProNav: ac range: 384.899994 m, nav range: 174.389175 m, bearing: 284.587692 deg, approach rate: 0.190355 m/s, LOS rate: -0.185689 deg/s, cmd heading: 26.713275 deg, new cmd heading: 26.474599 deg. 2jHeadingCmd: 0.462069 target range: 384.899994 and range: 384.90 m. jL>jjjihhhhQBfffrfbf?ɛUBU> < QUIQ ] =ɚYiYI])=IeL>ieNWieʵd=)L>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002600*F-?2F):F)BF-2JF)Ge U=G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254380f݁w,=yA2t)>Y2?2\=92=y2Hʣ?4߿U??`? N@϶?~?ɨ2t)>29#;2CynCBn$%IIvIv4٢N \=9 |Q  >   G٣8JGy" > %Nusing accuracyPremultiplier from config!-)59%>S?-)5Y%Q33 i%B)5?5y@%E%@:%a:%)59 =@9ZjaeFNOT Ignoring new targets: 384.90 m.BjmUJjmUJJJJJ|:J:JJa@a@a@a@ ProNav: ac range: 384.899994 m, nav range: 174.456955 m, bearing: 284.518511 deg, approach rate: 0.183184 m/s, LOS rate: -0.186898 deg/s, cmd heading: 26.474599 deg, new cmd heading: 26.267138 deg. 2jDHeadingCmd: 0.458448 target range: 384.899994 and range: 384.90 m. j>jjjihhhhfffrfbf@@ɛB[; ӾI ,=ɚiI}=I>i4i9=)>)*F2F:FBF(4JF"G=G= u$?IuiGu}xd=GABIOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506583Pw,AZHRHH>I I%IIBI3 =&I.I1D6I<:I FFVE>YF?FuZ=9F=yFH?@P߿ζ?`??@ ZU$??ɨFVE>F[;FCyr/Br %I)t ttvAIzIzs4٢- -H=95GQ 5>11 =G٣9y= => MNusing accuracyPremultiplier from configAe)59ET?m)5YE/3 iEBq}?}y@EEE;E;Ez)5aB @EZjFNOT Ignoring new targets: 384.90 m.zKraMK9KK3KBjjjji hhh)h)eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761524fffrfbf 9]@ɛUBUґ; QUIQ ]=ɚYiYI]+=Ie>ie+ieF2=)}>)*F2F!:F!BF%5JF! ]$?IY Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011428G% 'd=G B O= >ޭw,ʬA6>Y64S?6Y=96=y6H?޿m?%? i?굨8`G?@?ɨ6>6i;6CyN BN$I-Mb@Mb@Mb@))) )))Y-㥛 ?Q롿y-?-̼-\-A -@)-AI))y-@IMIMЬ4٢]  ]G=9e Q e>aa eG٣iym m> }Nusing accuracyPremultiplier from configq})59uT?})5Yu-3 iuB?:T>y@uEu;u ;u)5 @EeB*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 384.90 m.BjJIJjJI ProNav: ac range: 384.899994 m, nav range: 174.582230 m, bearing: 284.365682 deg, approach rate: 0.119896 m/s, LOS rate: -0.175981 deg/s, cmd heading: 26.038001 deg, new cmd heading: 25.808818 deg. 2j񻝊HeadingCmd: 0.450449 target range: 384.899994 and range: 384.90 m. j;>jjjihhhhBfff rf bf  @ɛ]Be Q ae\Ia eZ=ɚaiI3:=I;>i :ݻiB#"=);>)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263177*F=?2F9:F9BF=_0JF9GUA=JJJ/JJ:J:J(N3JGBOe> I II w,^A6%>Y6 ?6XW=96m=y6HD ?@X޿ ?O? ?'; ??ɨ6%>6$;4yBBB$IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bBDAT read: Rx Time:22:11:41.8623 fTRx dataTimestamp_ set to:1736374303.128764fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515625IJIJ4٢e eJ=9ekQ m>ii mG٣m9JGyu= u> Nusing accuracyPremultiplier from config)59$T?)5YC*3 iB>y@EX:;!)5 !@Zj)5FNOT Ignoring new targets: 384.90 m.Bj] `Jj] `e ProNav: ac range: 384.899994 m, nav range: 174.632462 m, bearing: 284.289210 deg, approach rate: 0.128696 m/s, LOS rate: -0.195867 deg/s, cmd heading: 25.808817 deg, new cmd heading: 25.579469 deg. 2jmlmHeadingCmd: 0.446446 target range: 384.899994 and range: 384.90 m. jm>jjjihhhhfffrfbf @ɛB%`1Q )-~I) M=ɚIiIIUy=IU>iUxڻi]=)]>)Y*F?2F:FBFJFG  G H%>I! I%a%II%uBI!&I!.I!6I%ݰ<:I%v FzK:KK+9KK4K'?NZ```]UPLEA960,(%"Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771850G5 /=Ga Bq O >,w,jA $?I]M>Y]>]bW=9]#֦=y]H`M-?lݿ@?@&?/?bߪʹ?`?ɨ]M>];YyB%$Ii- >I-a=Mb@Mb@Mb@ )YʡE?~jtV-y-?IA )AIyIIʴ4٢ 5=9gQ > G٣yۢ > Nusing accuracyPremultiplier from config)598T?)5Y'3 ihB?:Ź>y@EyH;G;%)5`B 0@EZjFNOT Ignoring new targets: 384.90 m.BjRJjRWill construct direction to contact in vehicle frame from tetrahedron phase data.iADAT read: 22:11:41.8623 LVL= 27056, 31473, 29154, 32755, AGC= 64, IDX= 414,-0.06,-1.918, 2.987,-2.669,-2.488, PHS= 0.658,-0.762,-0.184, RAW= 113.9, 4.7, CAL= 124.3, 1.3, ROT= 25.7, -1.3  Ygot valid direction response: 22:11:41.8623 LVL= 27056, 31473, 29154, 32755, AGC= 64, IDX= 414,-0.06,-1.918, 2.987,-2.669,-2.488, PHS= 0.658,-0.762,-0.184, RAW= 113.9, 4.7, CAL= 124.3, 1.3, ROT= 25.7, -1.3 PDAT read: Bearing 25.7, -1.3 (Local) ~Local bearing/azimuth received: Bearing 25.7, -1.3 (Local) -DAT read: Range 10 to 50 : 383.4 m (Round-trip 511.3 ms) speed 0.4 m/s 5,DAT read: user:2380> =BDAT read: Tx time:22:11:42.9468 =$Ping request sent.eaʿǦ\nӿ$]? ProNav: ac range: 384.899994 m, nav range: 174.661667 m, bearing: 284.205666 deg, approach rate: 0.064195 m/s, LOS rate: -0.183605 deg/s, cmd heading: 25.579468 deg, new cmd heading: 25.328880 deg. 2jHeadingCmd: 0.442072 target range: 384.899994 and range: 384.90 m. jOW>jjjihhyCiz q)I@ir(?oCj<~t?= - @)޹i޹Wz?[2:LZ2,?hh߅Bfff)ڽI9i %:publishing transmit ping time9-Fpublishing direction and range info9g>aʿǦ\nӿ$]?y )Iirf]`fw@bf]QH? )IiWz?[2:LZ2,?)Iiɛ B"  I  =ɚiI=IOW>i}G׻it=)OW>)!*F?2F:FBFJF} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:11:42.9460 G =G B O >Jw,A*JL"JN4=J(N3Kb3 K(.KK"KJRJRJPJPJR\:JR:JPJP-+>Y->-S=9-Z>=y-HR?Nݿ>??`T?Y[[w@?n?ɨ-+>-;)yEBE$IIuIu4٢ T=9 Q > G٣yYμ > Nusing accuracyPremultiplier from config)59GJT?)5Y%3 iNBŴ>y@E6;`;()5 7@k=7X?k=%C k9 k=vA:k=CBk=\CZk=p@"=-St,]7vJv@=g>aʿǦ\nӿ$]?Jk= Rk=*=e9)@Y 8c/hGu@=chP?"ڿ6p!0?"k=*k=qOAk=ՎX?k=YBC 2k=YCk=i.\?k=YBC k=YCk=Ck=N@ addTargetRange:: Added new target pos. range: 383.399994 m, deltaT: 4.032296 s, deltaX: -1.500000 m, approachRate: -0.371996 m/s, rangeRepo size: 4  Added new target pos. range: 383.399994 m, bearing: 274.733782 deg, lat: 36.903483 deg, lon: -122.124576 deg, deltaT: 4.032296 s, deltaX: -1.500000 m, approachRate: -0.371996 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 383.40 m.BjJj 5$?I1M ProNav: ac range: 383.399994 m, nav range: 158.752869 m, bearing: 279.514893 deg, approach rate: 0.000000 m/s, LOS rate: -0.183605 deg/s, cmd heading: 25.328881 deg, new cmd heading: 25.108922 deg. 2jIUHeadingCmd: 0.438233 target range: 383.399994 and range: 383.40 m. jU `>jQjQjYiYhYhYhYhafffrfbf?ɛ B I <ɚiIZ=I `>i<ջi]<)  `>) *F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G/=GQBYO}z>H] >IY  I] )%II] GBI] 2 =&IY .IY 6I] <:I] ~ FBI%˗CJI%˗CRI!ZI%3 =bI%3 =jI%5G/w,A2́>Y2>2WL=92 =y2H)o? ܿC?@|/?`n?`;? H?ɨ2́>2wc;0yBBB$IIJIJ4٢8 R=9ܙQ >!! %G٣%:JGy% -> 5Nusing accuracyPremultiplier from config)zK=$MK=59K9K=5K= RKE ?JKE?M)59-[T?M)5Y-#3 i-5BIU>Uy@-E-;-!;-P,)5Y ]z@]EWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 383.40 m.Bj%oJj-o ProNav: ac range: 383.399994 m, nav range: 158.792755 m, bearing: 279.435982 deg, approach rate: 0.105884 m/s, LOS rate: -0.209428 deg/s, cmd heading: 25.108923 deg, new cmd heading: 24.872250 deg. 2j%HeadingCmd: 0.434103 target range: 383.399994 and range: 383.40 m. j-B>jAjjihhhhfffrfbf`%?ɛBd I <ɚi!I%W=IEB>iMӻiM<)MB>)I*F?2F:FBFr0JF 1I1- Will construct direction to contact in vehicle frame from tetrahedron phase data.GE q=GI GI G B! OE >.X w,/A2k{>Y2">2I=92X=y2H M?`qܿb?B?̊?ƪ`C??ɨ2k{>2͈;2Cy>B>$I)@ @UMb@Mb@Mb@QQQ Q)QYUI +?J +~jtyU9?UȽUļUA U@)UAIU@QyQImIm]4٢}4 }D=9}Q > G٣y > Nusing accuracyPremultiplier from config)59{oT?)5Y!3 iBu?:>y@E;!;/)5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 383.40 m.BjyJjy ProNav: ac range: 383.399994 m, nav range: 158.826263 m, bearing: 279.349001 deg, approach rate: 0.084145 m/s, LOS rate: -0.218378 deg/s, cmd heading: 24.872250 deg, new cmd heading: 24.611365 deg. 2jHeadingCmd: 0.429549 target range: 383.399994 and range: 383.40 m. j>jjjihh h h ÅBf ffrfbf`V?ɛB< zI r<ɚiI|=I>iTѻi<)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF5JFGe~<GaBiOZ>JJJ0JJ|:J9Jـ3J  $?I = Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497654}@w,qIA6?u>Y6>6-D=96X=y6Hw?ܿ`?Zc??@wp@ٗ?`n?ɨ6?u>6k;6CyBBB$IIJIJ4٢f%; jV=9jK2Q j>hl nG٣lyr r> vNusing accuracyPremultiplier from configtz)59vT?z)5Yv= 3 ivBxz>~y@vEv ;vC ;vK3)5 @EZj)-FNOT Ignoring new targets: 383.40 m.Bj5oJj5oM ProNav: ac range: 383.399994 m, nav range: 158.856018 m, bearing: 279.269042 deg, approach rate: 0.077969 m/s, LOS rate: -0.209486 deg/s, cmd heading: 24.611366 deg, new cmd heading: 24.371536 deg. 2jMUHeadingCmd: 0.425364 target range: 383.399994 and range: 383.40 m. jU@>jQjQjQihhhhfffrfbfL?ɛ}B}4" y}I 0$<ɚiI=I@>i ϻiĭ<)@>)*F92F9:F9BF=5JF9H >IC I$II$BI1 =&I.I6I<:IF FzK< LK9KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757265NGK6|uA = YE |uAyE 4 BKGm 9f<BK :K G) B9 OU >  I iw,,JcA2l>Y2Z>2ŗF=92=y2H$?ۿ,?? ?2@{Шs?@?ɨ2l>2߇;2CyFBJ$I-Monly read 1 of 4 data items for water velocity. Device response is::WS,-32768,  M@U U@U U@U  U@U I]I]34٢mL< mA=9m݅:Q m>qq uG٣u;JGy}> }> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config)59T?)5Yc3 i B+::S>y@E=;4>I6)5_B |@EZjFNOT Ignoring new targets: 383.40 m.Bj7nJj7n ProNav: ac range: 383.399994 m, nav range: 158.887299 m, bearing: 279.180516 deg, approach rate: 0.073604 m/s, LOS rate: -0.208265 deg/s, cmd heading: 24.371536 deg, new cmd heading: 24.106010 deg. 2jHeadingCmd: 0.420729 target range: 383.399994 and range: 383.40 m. ji>jjjihhhhfffrfbf @d?ɛ=B=R 9E IA E<ɚAiAIE=IMi>iMͻiMY<)Mi>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002180) *F?2F:FBFO0JFGU~<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253389!w,D2}AB\f>YB&>BF=9B[=yBHQ?8ۿ? M?`?ܮۨ ?5?ɨB\f>BXD;BCyPPi^R>I^>InIn49~c9Q ~>   G٣ y > =bBottom track data is 0.8 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config)M)59-'T?M)5Y-3 i- BM :IUm:U->y@-E-E<-U?-8)5 Zj FNOT Ignoring new targets: 383.40 m.Bj5eJj5eE ProNav: ac range: 383.399994 m, nav range: 158.915359 m, bearing: 279.098066 deg, approach rate: 0.068181 m/s, LOS rate: -0.200297 deg/s, cmd heading: 24.106010 deg, new cmd heading: 23.858706 deg. 2jEv MHeadingCmd: 0.416413 target range: 383.399994 and range: 383.40 m. jM4>jIjI $?IjiihhhhfffrfbfhT@ɛ=B=4 AEk IA EW<ɚAiIX =I4>i/̻i*<)4>)*F]?2Fa:FaBFe_0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.H?= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506558G <Ga Bi O >H >I  I $II BI &I .I 6I ڰ<:I x FF|%w,A6a>Y6[>6avG=96ѓ=y6H`?ڿdx?`@?c? t`F쨿?@$?ɨ6a>6j;6CyBBB$IIJIJ4٢R?L< V<9V9Q V>XX ZG٣XyZ\X ^> bbBottom track data is 1.2 s old, using for 20.0 s. bNusing accuracyPremultiplier from config`f)59bT?f)5Yb3 ib Bj9hj@:j>jy@b Eb%;bƚ?bZ:)5p r&@rEZj  FNOT Ignoring new targets: 383.40 m.BjzJjz% ProNav: ac range: 383.399994 m, nav range: 158.942276 m, bearing: 279.016616 deg, approach rate: 0.072460 m/s, LOS rate: -0.219227 deg/s, cmd heading: 23.858706 deg, new cmd heading: 23.614400 deg. 2j%t5HeadingCmd: 0.412149 target range: 383.399994 and range: 383.40 m. j53>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757779jjjihhzKKKK7Khahafiffrfbf`܂@JJJ/JJ :J9J(N3JJ;aJ;aJ:;aJ:;aɛ-B5d 15DI1 5<ɚ9i9I=7! =I=3>iEʻiE<)E3>)I $?I*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010054G <G pAG G B O >+w,۰AyB$I        Mb@Mb@Mb@ )YS?QQ ]G٣] eNusing accuracyPremultiplier from configam)59e%T?m)5Ye3 ie BuT:uC?u:u1>uy@eEef;e;eZ>)5}^B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 383.40 m.BjzJjz ProNav: ac range: 383.399994 m, nav range: 158.989502 m, bearing: 278.916296 deg, approach rate: 0.103309 m/s, LOS rate: -0.219389 deg/s, cmd heading: 23.614401 deg, new cmd heading: 23.313534 deg. 2jHeadingCmd: 0.406898 target range: 383.399994 and range: 383.40 m. jT>jjjihhhhBfffrfbf @ɛ=B=8 9=]IA E<ɚAiAIE, =IMT>iMIɻiUWd<)UT>)YuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262531*F?2F:FBF JF  }$?IyGM 喇<G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:22:11:45.8602 % TRx dataTimestamp_ set to:1736374307.160753- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514581͎2w,oAz-X>Yz8>z/C=9z=yzH ?cڿ`?? @?V'`J^V??ɨz-X>z^؈;zCy B $I) IIn4٢5pT= 5]=9=@Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ])59UbT?])5YU3 iU Bae>ey@UEU& ;UX ;UA)5i m@iZjFNOT Ignoring new targets: 383.40 m.Bj}sJj}s  ProNav: ac range: 383.399994 m, nav range: 159.026108 m, bearing: 278.835309 deg, approach rate: 0.096240 m/s, LOS rate: -0.212875 deg/s, cmd heading: 23.313534 deg, new cmd heading: 23.070629 deg. 2j 5HeadingCmd: 0.402658 target range: 383.399994 and range: 383.40 m. j5?)>j9j9j9i9h9h9hAhAfAfAfIrfIbfM \ @ɛB xI (<ɚiIz =I?)>iB~ǻi<)?)>)H>I I$IIBI&I.I6I<:I] F*F?2F:FBFw0JFG-<GYBiO\>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765364zKBoIK9KK8KRK?JK?J J J 0J J :J :J ـ3J J ;J ;J yE;J yE; I 8w,[A:4T>Y:>:@=9:*=y:HG?#ڿ?@?@?Ʋ` ? k?ɨ:4T>:5;:CyN BR$IMb@Mb@Mb@ )YRQ?ˡE~jth?y"?'D; A @)AI@yAII(4٢S< A=9ںQ > G٣y-" > Nusing accuracyPremultiplier from config)59T?)5YN3 i B"?:>y@EB;;FE)5 L@EZj9=FNOT Ignoring new targets: 383.40 m.BjE9JjE9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:11:45.8602 LVL= 23280, 32753, 29730, 32755, AGC= 70, IDX= 427,-0.21, 2.145, 0.654, 1.180, 1.242, PHS= 0.991,-0.542,-0.065, RAW= 107.7, -5.7, CAL= 113.6, -16.8, ROT= 36.4, 16.8 -Ygot valid direction response: 22:11:45.8602 LVL= 23280, 32753, 29730, 32755, AGC= 70, IDX= 427,-0.21, 2.145, 0.654, 1.180, 1.242, PHS= 0.991,-0.542,-0.065, RAW= 107.7, -5.7, CAL= 113.6, -16.8, ROT= 36.4, 16.8 =PDAT read: Bearing 36.4, 16.8 (Local) =~Local bearing/azimuth received: Bearing 36.4, 16.8 (Local) UDAT read: Range 10 to 50 : 381.9 m (Round-trip 509.2 ms) speed 0.9 m/s U,DAT read: user:2381> ]BDAT read: Tx time:22:11:46.9468 ]$Ping request sent.]}"C?\"˿Dbs)[If=i ȿ2":publishing transmit ping timeYFpublishing direction and range info9ٛ1 Y?n#qʿ(3bK?y )Ii )Ii}"C?\"˿Dbs)Ii ProNav: ac range: 383.399994 m, nav range: 159.082138 m, bearing: 278.740513 deg, approach rate: 0.135668 m/s, LOS rate: -0.229450 deg/s, cmd heading: 23.070629 deg, new cmd heading: 22.786345 deg. 2jxHeadingCmd: 0.397697 target range: 383.399994 and range: 383.40 m. j>jjjihhhh#Bff f rf `fw@bf #h?ɛ]B] aeIa .<ɚiI7 =I>iŻi <)>)*F]?2FY:FYBFe0JFaG Sݮ< Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:11:46.9460 GA BI Oe >>w,pA2YQ>Y2>2q==92=y2HV?`ٿõ? d? ? 2Ǻ?`J?ɨ2YQ>2Ɖ;2CyNBR$IIVIVn4٢f]\= f]=9fQ j>hh jG٣j=JGyn˻ n> rNusing accuracyPremultiplier from configpz)59r# U?z)5Yr3 ir} BxzŸ>~y@rErA;rA;rH)5 @kD5/j?k%\= k kA:kCBkCZk@"i.?~zSɶWw@ٛ1 Y?n#qʿ(3bK?Jk ȿRk2"*YH7+P@r%,Y ꘪv@ZlM?r6п^ UVc?"kg*kYBkb0Uj?ko= 2kCkksbB kCkCkӛ@ addTargetRange:: Added new target pos. range: 381.899994 m, deltaT: 4.031932 s, deltaX: -1.500000 m, approachRate: -0.372030 m/s, rangeRepo size: 4 =$?I=i] Added new target pos. range: 381.899994 m, bearing: 302.710544 deg, lat: 36.903483 deg, lon: -122.124506 deg, deltaT: 4.031932 s, deltaX: -1.500000 m, approachRate: -0.372030 m/s, posRepo size: 4 ZjY}FNOT Ignoring new targets: 381.90 m.Bj}Jjy ProNav: ac range: 381.899994 m, nav range: 152.974213 m, bearing: 279.008820 deg, approach rate: 0.000000 m/s, LOS rate: -0.229450 deg/s, cmd heading: 22.786344 deg, new cmd heading: 22.517679 deg. 2jHeadingCmd: 0.393008 target range: 381.899994 and range: 381.90 m. jL8>jjjihhhhfffrfbf ?ɛUBU Y Y]ؾIY ]/<ɚYiYI] =IeL8>ie!Ļieu+<)mL8>)*Fe?2Fa:FaBFe3JFaGmrA GmqAWill construct direction to contact in vehicle frame from tetrahedron phase data.G p<G B jH <bH H >I C I %II .BI 2 =&I .I 6I <:I ; FO >Ew,J A:O>Y:>:/65=9:C=y:H#'?_ٿ}?: ;:CyRBR$IiVC=IVp<IZIZ44٢bN bK=9fQ f>hh jG٣hynuܻ n> rNusing accuracyPremultiplier from configpv)59rgU?v)5Yr3 irq Bxzb>zy@r Er:r:r L)5~]B ~@EZj!-FNOT Ignoring new targets: 381.90 m.Bj-ȌJj-Ȍ=Will construct direction to contact in vehicle frame from tetrahedron phase data.M ProNav: ac range: 381.899994 m, nav range: 153.025665 m, bearing: 278.914609 deg, approach rate: 0.134487 m/s, LOS rate: -0.246167 deg/s, cmd heading: 22.517679 deg, new cmd heading: 22.235143 deg. 2jM(]HeadingCmd: 0.388076 target range: 381.899994 and range: 381.90 m. j]>jYjYjYiYhahahahafififirfibfm@~a?ɛB,ᇻ ؾI z<ɚiIb =zK=:IK= 9K9K=9K=I>i"»i9<)>)JJJJJ :J 9JJJ;J;JN>;JO>;*Fi2Fq:FqBF}4JFy 5$?I1G%<Will construct direction to contact in vehicle frame from tetrahedron phase data.iGi By O >Kw,%2 A:7M>Y:\>:t@0=9:!)=y:H`-?`{ٿ ? O"?*?QMo??ɨ:7M>:;:CyB!BF$IMb@Mb@Mb@ )Yy&1?Mb`?{Gzt?y`%?;ף; @)IAI`@yAI-I-kf4٢Et= EB=9EII MG٣IyU U> ]Nusing accuracyPremultiplier from configYe)59]44U?e)5Y] 3 etIi]g Bma%?m:m>mz@]$E]& ;]r;]O)5q u@}EZjFNOT Ignoring new targets: 381.90 m.BjbJjb ProNav: ac range: 381.899994 m, nav range: 153.097488 m, bearing: 278.816911 deg, approach rate: 0.168965 m/s, LOS rate: -0.229728 deg/s, cmd heading: 22.235143 deg, new cmd heading: 21.942189 deg. 2jHeadingCmd: 0.382963 target range: 381.899994 and range: 381.90 m. j>jjjihhhh^Bfffrfbf F?ɛB 0m: EľI <ɚiI =I>i%Li%?<)%>)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF\0JF JyJ}AA IGU d<G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data._Rw,L AVkI>YVH>V 8(=9V=yVH :?ٿ?h?@"?f?@?ɨVkI>V.;VCy^#B^$IIfIf%x4٢nC< nP=9r飻Q r>pp vG٣v>JGyv v> ~Nusing accuracyPremultiplier from configx~)59zGU?)5Yz 3 iz_ B>z@z(Ez ;z@#;z!S)5 @]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 381.90 m.Bju Jju  ProNav: ac range: 381.899994 m, nav range: 153.164169 m, bearing: 278.725514 deg, approach rate: 0.169800 m/s, LOS rate: -0.232636 deg/s, cmd heading: 21.942189 deg, new cmd heading: 21.668121 deg. 2jHeadingCmd: 0.378180 target range: 381.899994 and range: 381.90 m. jѠ>jjjihhhhfffrfbf@G@?ɛB 隵JI i~<ɚiIm=IѠ>iGi6<)Ѡ>)HIII IM#%IIMBBII&II.II6IM<:IM] FBI ĘCJI ĘCRI ZI 1 =bI 1 =jI I5*Fu?2Fq:FqBFu_0JFy"G=G=UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.zKuBoHKu9KqKu:KuG<G B O >J J J J J J :J J J J J A;J A; $?I Yw,e AFBMF>YF>Ff'=9FJ=yFH D?@Xٿô?޽?,? Sop⤿@?%?ɨFBMF>Fc;Dy^+B^%I)` `Mb@Mb@Mb@ )Y(\?S㥫?y'?/]= A @)AIv@yI-I-Q4٢E= M6=9MQ U>YY ]G٣Yye?ݻ e> }Nusing accuracyPremultiplier from configi)59m]U?)5Ymb3 imU B?(?:>z@m-Em R;m ?;mW)5\B @EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999353ZjFNOT Ignoring new targets: 381.90 m.BjZJjZ ProNav: ac range: 381.899994 m, nav range: 153.264328 m, bearing: 278.621201 deg, approach rate: 0.222349 m/s, LOS rate: -0.231421 deg/s, cmd heading: 21.668121 deg, new cmd heading: 21.355388 deg. 2jHeadingCmd: 0.372722 target range: 381.899994 and range: 381.90 m. jeվ>jjji h h hhiBfffrfbf c@ɛ]݆B]h=U; aeıIa F<ɚiI=Ieվ>ii"<)eվ>)*F?2F:FBFJFG G"GGe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250703GY Bi O >b0_w, A*J"C="J"R=y*B%II-I-K4٢E E]=9EQ E>II MG٣IyU U> eNusing accuracyPremultiplier from configYe)59]oU?m)5Y]W3 i]M Biimz@]1E]:] :]LZ)5q }&@y $?IZjFNOT Ignoring new targets: 381.90 m.BjtJjt ProNav: ac range: 381.899994 m, nav range: 153.346664 m, bearing: 278.535950 deg, approach rate: 0.225495 m/s, LOS rate: -0.233350 deg/s, cmd heading: 21.355387 deg, new cmd heading: 21.099775 deg. 2j% HeadingCmd: 0.368261 target range: 381.899994 and range: 381.90 m. j>jjjihhhhfffrfbf|%@ɛچB گI <ɚiI=I>i:i2S=)>)q*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503323GBO J>ZHI RHI HU >IQ  IU <%IIU WBIQ &IQ .IQ 6IU <:IU M FNfw,d A)Bſ= FwCv}G%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755332-ZA z YyB/B>Y>b =9=yHR?r ٿ@%??`:?@X?9?ɨ/B>;騡y޽)B޽%III44٢%/ %==9%bQ ->)) -G٣-?JGyU. U>zKK9KK;K Nusing accuracyPremultiplier from configi )59mU?=)5Ym2 imD BAM>Mz@m6Em =m =m ^)5 )@~EJJJJJ̶:J:JJJ;J;JJ;JJ; $?IZjFNOT Ignoring new targets: 381.90 m.BjeJje ProNav: ac range: 381.899994 m, nav range: 153.443649 m, bearing: 278.434802 deg, approach rate: 0.192603 m/s, LOS rate: -0.200746 deg/s, cmd heading: 21.099776 deg, new cmd heading: 20.796524 deg. 2j HeadingCmd: 0.362968 target range: 381.899994 and range: 381.90 m. jֹ>j!j!j!i!h!h)h)h)f)f1f1rf1bf5 h>@ɛ}ՆBy; 隥I -<ɚiI!=Iֹ>i+iC1=)ֹ>)*F=?2F9:F9BF=_0JF9GQBaO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006802mBlw,k AJP@>YJ >J=9J=yJHX? ٿ@c?`f? @?@*?`?ɨJP@>JR;JCyV+BV%IiZY>IZ=Mb@Mb@Mb@999 9)9Y=K7?i|?5?y=)?=q=99 =@)=IAI=A9y=AIUIUW4٢e(< eW=9e$Q m>ii mG٣iyuՖ u> Nusing accuracyPremultiplier from configy)59}nU?)5Y}2 i}= Bf*?:T>z@}:E}U;}o;}da)5[B @{EZjFNOT Ignoring new targets: 381.90 m.BjTJjT ProNav: ac range: 381.899994 m, nav range: 153.529068 m, bearing: 278.347533 deg, approach rate: 0.277977 m/s, LOS rate: -0.283840 deg/s, cmd heading: 20.796524 deg, new cmd heading: 20.534865 deg. 2jBHeadingCmd: 0.358401 target range: 381.899994 and range: 381.90 m. jV>jjjihhhhBfffrfbfX @ɛ҆B@K 隭I #<ɚiI5=I5V>i=nxi=f=)=V>)95Will construct direction to contact in vehicle frame from tetrahedron phase data.5)>5<=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260408*F%?2F!:F)BF-1JF)GB O%M> yIy Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:11:49.8574  TRx dataTimestamp_ set to:1736374311.192669 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511888+sw,I A2k;?>Y2$>2=92&7=y2HM\?jؿ)g?$W?@hD?! ???ɨ2k;?>2>R;2CyN%BN$IIZIZ4٢E ML=9M-Q M>IQ UG٣QyU, }> Nusing accuracyPremultiplier from config)59fU?)5YB2 i5 B>z@>E@:[;d)5 l@B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 381.90 m.Bj=qJj=qM ProNav: ac range: 381.899994 m, nav range: 153.621658 m, bearing: 278.253140 deg, approach rate: 0.223862 m/s, LOS rate: -0.228081 deg/s, cmd heading: 20.534865 deg, new cmd heading: 20.251861 deg. 2jMMHeadingCmd: 0.353462 target range: 381.899994 and range: 381.90 m. jU>jjjihhhhfffrfbf @ɛΆBs; 隕PI G<ɚiI=I>iibl=)>)H >IC IH%IIaBI1 =&I.I6Iٰ<:Iv F*F?2F:FBF4JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762821zKKKK<KRK ?JK ?G 9f< $?I G B O >dZyw,: Aj>>YjJ>j=9ji=yjHn`?`ؿ@6@?E?"G?@*b`gd;?`?ɨj>>j-;jCy~!B~$I=Mb@Mb@Mb@999 9)9Y=uV?333333?{Gzty=r(?===ף=/ A =@)9I=hA9y=AI]I]4٢m m8=9uEQ u>qq uG٣u@JGy}/ }>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:11:49.8574 LVL= 18208, 32657, 24562, 32755, AGC= 69, IDX= 414, 0.11, 2.003, 0.557, 1.014, 0.967, PHS= 1.124,-0.363, 0.044, RAW= 105.4, -12.1, CAL= 111.8, -22.9, ROT= 38.2, 22.9 Ygot valid direction response: 22:11:49.8574 LVL= 18208, 32657, 24562, 32755, AGC= 69, IDX= 414, 0.11, 2.003, 0.557, 1.014, 0.967, PHS= 1.124,-0.363, 0.044, RAW= 105.4, -12.1, CAL= 111.8, -22.9, ROT= 38.2, 22.9 PDAT read: Bearing 38.2, 22.9 (Local) ~Local bearing/azimuth received: Bearing 38.2, 22.9 (Local) DAT read: Range 10 to 50 : 379.8 m (Round-trip 506.4 ms) speed 0.4 m/s ,DAT read: user:2382> BDAT read: Tx time:22:11:50.9468 $Ping request sent.ډډۍtF?Ͽ-ʿ)ۍb܂IۍjW>iۍ(nۍ |ۉۉ:publishing transmit ping timeFpublishing direction and range infoe)59U?e)5Yw2 i, Bm)?m:m?mz@CE<`<h)5q u@}xEk5^зu?؉9؍PtHZ?`IaſK$B?y؉؉؉؉ ى)ىIىk}QA: k k׊ A:kCBkCZk@">BH@AFPqN0w@PtHZ?`IaſK$B?Jk(nRk |*x陛rX@'g_Q별/v@zGz?NxOxȿvfT?"kʎ*kBk8u?k:glN: 2kCkb0Uj?kiىىىىى ډ)ډIډiډډډۍtF?Ͽ-ʿ)ۉIۉiۉۉۉۉkk$CktE@ addTargetRange:: Added new target pos. range: 379.799988 m, deltaT: 4.031794 s, deltaX: -2.100006 m, approachRate: -0.520861 m/s, rangeRepo size: 4  Added new target pos. range: 379.799988 m, bearing: 323.867046 deg, lat: 36.903849 deg, lon: -122.124506 deg, deltaT: 4.031794 s, deltaX: -2.100006 m, approachRate: -0.520861 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 379.80 m.BjJjE ProNav: ac range: 379.799988 m, nav range: 164.517670 m, bearing: 292.336145 deg, approach rate: 0.000000 m/s, LOS rate: -0.228081 deg/s, cmd heading: 20.251861 deg, new cmd heading: 19.919021 deg. 2jAMHeadingCmd: 0.347652 target range: 379.799988 and range: 379.80 m. jM>jIjIjIiIhIhQhIhUxBfQfQfQrf]̼w@bf]?ɛɆB;  uI  Mj<ɚiI=I>ii0+=)>)!*F?2F:FBF0JFGrA GrAG +=E Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:22:11:50.9460 G B O >oYD>8D=9=yH`Qe? sؿ޲? 1? J? tǡ@C?`o?ɨ<>n;Cy B$I !I!)A AIMIMv}4٢}O \=9͇Q > G٣yq > Nusing accuracyPremultiplier from config)59U?)5Y82 i$ B?z@FE`J;J; l)5 @uEk\u?k{|H: k k:kBkZk@">BH@AFPqN0w@PtHZ?`IaſK$B?JkRk*sLX@GQ?< v@v`?Ԧ52ȿVTV?"k*kcBk/,u?k0U: 2kCkko= kCkBk9[@ZjFNOT Ignoring new targets: 379.80 m.BjJj ProNav: ac range: 379.799988 m, nav range: 164.549759 m, bearing: 292.250323 deg, approach rate: 0.092843 m/s, LOS rate: -0.248257 deg/s, cmd heading: 19.919021 deg, new cmd heading: 19.661609 deg. 2j`* HeadingCmd: 0.343160 target range: 379.799988 and range: 379.80 m. j >j j)j1i1h1h1h9h9f9f9f9rfAbfE=?ɛƆB8 隵dI <ɚiI=I>iq*i 7=)>)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G s=jH bH H >I  I I I &I .I 6I <:I FG B O > gw, A:l<>Y:%N>:8F =9:v=y:H`ge?oؿ??^2?J?'?|?ɨ:l<>:ʡ;:CyRBR$IIZIZ4٢b  bW=9fSQ f>dh jG٣hyjD9 j> rNusing accuracyPremultiplier from configlr)59nU?v)5Yn2 in Btv?vz@nJEn@:n:nUo)5zZB ~ @~Will construct direction to contact in vehicle frame from tetrahedron phase data.="@rEZj)5FNOT Ignoring new targets: 379.80 m.Bj5\Jj=\M ProNav: ac range: 379.799988 m, nav range: 164.582397 m, bearing: 292.164062 deg, approach rate: 0.092879 m/s, LOS rate: -0.245423 deg/s, cmd heading: 19.661610 deg, new cmd heading: 19.402879 deg. 2jMn(UHeadingCmd: 0.338644 target range: 379.799988 and range: 379.80 m. jUb>jQjQjQiQhQhYhYhYfafafarfabfe ֛?ɛÆB ܞ 隕I <ɚiI7N=Ib>i@i1F=)b>)zKK9KK=K*FE?2FI:FIBFQJFQBKi:KmoA 5$?I9GM-=GaBqO<>Will construct direction to contact in vehicle frame from tetrahedron phase data. w,94 A29>Y2c>2<92gQ=y2H_o?ؿ??T?Gܟ@z?`?ɨ29>24;2CyB BB$I5Mb@Mb@Mb@111 1)1Y5NbX9?Dl?Mby5%?5O=55 A 5@)1I5QA1y5\AIMIMm4٢e eA=9eQ e>ii mG٣mAJGyu u> Nusing accuracyPremultiplier from configy)59}XU?)5Y}i2 i} B&?:?z@}OE}6;};} s)5 @oEZjFNOT Ignoring new targets: 379.80 m.BjJj ProNav: ac range: 379.799988 m, nav range: 164.616562 m, bearing: 292.068876 deg, approach rate: 0.080800 m/s, LOS rate: -0.225072 deg/s, cmd heading: 19.402879 deg, new cmd heading: 19.117381 deg. 2jvHeadingCmd: 0.333661 target range: 379.799988 and range: 379.80 m. jժ>jjjihhhh]Bfffrfbf?ɛ-B-~ )-I) 54<ɚ1i1I5=I=ժ>i=wi=IL=)=ժ>)AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`0JF"G%=G%>JEJEJAJAJEL:JE9JAJA %$?I%iG4=GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.Xxw,N A6;S6>Y6 ">6` =96=y6Hy? ؿfu?h? `?@nǴ ??ɨ6;S6>6v;6Cy>Bf$Iij=Ij=IrIr4٢zU zR=9z:Q ~>|| G٣y >  Nusing accuracyPremultiplier from config )59  V?)5Y +2 i  B?z@ SE ; y; qv)5! %J@)ZjIUFNOT Ignoring new targets: 379.80 m.BjUJjUm ProNav: ac range: 379.799988 m, nav range: 164.647537 m, bearing: 291.981337 deg, approach rate: 0.079630 m/s, LOS rate: -0.224998 deg/s, cmd heading: 19.117382 deg, new cmd heading: 18.854818 deg. 2juiuHeadingCmd: 0.329079 target range: 379.799988 and range: 379.80 m. ju|>jyjyjyiyhyhhhfffrfbfN?ɛB 隽I C<ɚiI*=I|>i렻i%P=)|>)*FQ2FQ:FQBFU0JFQH >I I<%IIWBI0 =&I.I6I<:I FG-.H=GBO)>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK- JK- 9K) K- >K- RKe ?JKe ? ) I) } PExceeded connect timeout, disconnecting.ܢw,jh Ay%B-$IMb@Mb@Mb@ )Y}?5^I? ףp= ?MbyM"?Q8=\ A )IyAII4٢ %9=9%Q ->11 =G٣9yE M> mNusing accuracyPremultiplier from configaWill construct direction to contact in vehicle frame from tetrahedron phase data.)59eZ!V?)5Ye2 ie B"?:>z@eWEe;es;e[z)5YB P@mEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 379.80 m.BjubyJjuby ProNav: ac range: 379.799988 m, nav range: 164.672821 m, bearing: 291.882802 deg, approach rate: 0.055953 m/s, LOS rate: -0.218027 deg/s, cmd heading: 18.854817 deg, new cmd heading: 18.559259 deg. 2jHeadingCmd: 0.323920 target range: 379.799988 and range: 379.80 m. jإ>jjjihhhh[Bfffrfbfu@ɛ%BM QU6þIQ ]H><ɚYiYI]I=Ieإ>ieierc=)eإ>)*F]?2FY:FYBFeo0JFa= Will construct direction to contact in vehicle frame from tetrahedron phase data.M T****** received valid address query ******M R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.G 5PK=G B OU >J] J] JY JY J] |:J] :JY JY Y6j>6`=96Z=y6Hg?׿@?@S1??[K Yˠ >?@?ɨ6;+>6;4y>B>$IIJIJʴ4٢RZ Rd=9Rn; Z$?IXQ Z>\\ ^G٣\yb b> -Nusing accuracyPremultiplier from config)5)59-2V?5)5Y- 2 i- B15>5z@-[E-:-L:-})5A E@EjEZjFNOT Ignoring new targets: 379.80 m.Bj{Jj{ ProNav: ac range: 379.799988 m, nav range: 164.691330 m, bearing: 291.802109 deg, approach rate: 0.050521 m/s, LOS rate: -0.220229 deg/s, cmd heading: 18.559258 deg, new cmd heading: 18.317208 deg. 2j$HeadingCmd: 0.319696 target range: 379.799988 and range: 379.80 m. j$>jjjihhhhfffrfbf C@ɛ}BXֻ ɾI <ɚiI#=I $>i ☻i qH=) $>)*F2F:FBF72JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507915Gg\=GBOc>ZHy RH} AAH >I C I #%II BBI 1 =&I .I 6I հ<:I q FBIIJIIRIIZIIbIIjIM>:5w,9& A2$>Y2Ns>2X=92=y2H@$?ޏ׿ ?A?@?@h?&?ɨ2$>2;2CyR߅BR$I)X XnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758929I^I^4٢Ee_ EA=9Md:Q M>II UG٣UBJGyUn u> Nusing accuracyPremultiplier from configy)59}FV?)5Y}2 i} B>z@}_E};};}))5 @Zj 5FNOT Ignoring new targets: 379.80 m.Bj5{xJj5{xE ProNav: ac range: 379.799988 m, nav range: 164.710968 m, bearing: 291.711181 deg, approach rate: 0.046924 m/s, LOS rate: -0.217238 deg/s, cmd heading: 18.317208 deg, new cmd heading: 18.044459 deg. 2jEMHeadingCmd: 0.314935 target range: 379.799988 and range: 379.80 m. jM1?>jQjQjQiQhQhQhYhYfYfYfarfabfe@ɛBdG 隽ѾI :<ɚiIn=I1?>ipijG=)1?>)zKJK9KK? $?IK *F}?2Fy:FBF@5JF -nManaging dock network, ignoring radio surface power offWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013535G 'd=G B O >ެw, A2>Y2EK>26=925=y2H?>6׿?pv?p? `k?@?ɨ2>2\ш;0yR҅BR$I5Mb@Mb@Mb@111 1)1Y5+?y&1?Mby5v?5`<15 A 5@)5AI5A1y5\AIMIM4٢UQx ]I=9]mM9Q ]>aa mG٣iym&x u> }Nusing accuracyPremultiplier from configq)59uYV?)5YuP2 iu B?:>z@ucEu;u;u)5XB g@gEZjFNOT Ignoring new targets: 379.80 m.Bj|Jj| ProNav: ac range: 379.799988 m, nav range: 164.722107 m, bearing: 291.624580 deg, approach rate: 0.028346 m/s, LOS rate: -0.220364 deg/s, cmd heading: 18.044460 deg, new cmd heading: 17.784676 deg. 2j;HeadingCmd: 0.310401 target range: 379.799988 and range: 379.80 m. j>jjjihhhh$Bfffrfbf @ɛB )ھI X<ɚiI5=I >iꑻiwB=)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263844*Fu?2Fq:FqBFu4JFq"G=G=Jـ3K|3 KS}-KK"KJ%J%J!J!J%\:J%:J!J! IG.H=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:11:53.8546  TRx dataTimestamp_ set to:1736374315.224541 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515989#۳w,Z, AV&>YVx>Vp =9V=yVHw?ֿ? ??+8 .??ɨV&>V׈;VCy~ƅB~$II I "4٢%Gj %K=9-m|:Q ->11 5G٣1y5' => ENusing accuracyPremultiplier from config9E)59=mV?M)5Y=2 i= BIM>Mz@=gE= ;=q ;=2)5Y ]$@YZjFNOT Ignoring new targets: 379.80 m.BjeqJjeq ProNav: ac range: 379.799988 m, nav range: 164.731781 m, bearing: 291.538073 deg, approach rate: 0.023602 m/s, LOS rate: -0.211045 deg/s, cmd heading: 17.784675 deg, new cmd heading: 17.525170 deg. 2jHeadingCmd: 0.305872 target range: 379.799988 and range: 379.80 m. j?>jjjihhh)h)f)f1f1rf1bf5 @ɛB| 隅I <ɚiI=I?>iis,9=)?>)H>I I %II.BI2 =&I.I6I<:I F*F?2F:FBF_0JFH~G)I }PYyy}.BWill construct direction to contact in vehicle frame from tetrahedron phase data.==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767524 $?I zK H LK h9K K @K G ,+H=G B! O= >aw,J Ay=B=z$IiE=IEp< E=E=Mb@Mb@Mb@ )YGz?Mbp? rhyp?;C @)3AIyIIs4٢-w -==95Q 5>19 =G٣=CJGy= => ENusing accuracyPremultiplier from configAM)5UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:11:53.8546 LVL= 24624, 32753, 25250, 32755, AGC= 69, IDX= 417, 0.12,-1.633, 3.122,-2.820,-2.588, PHS= 1.043,-0.526,-0.235, RAW= 100.1, -3.9, CAL= 107.8, -12.2, ROT= 42.2, 12.2 9EV?)5YE2 iE B?:>z@ElEE UBDAT read: Tx time:22:11:54.9469 ]$Ping request sent.]QQ ProNav: ac range: 379.799988 m, nav range: 164.732315 m, bearing: 291.445646 deg, approach rate: 0.001097 m/s, LOS rate: -0.189800 deg/s, cmd heading: 17.525171 deg, new cmd heading: 17.247895 deg. 2jBHeadingCmd: 0.301033 target range: 379.799988 and range: 379.80 m. j >jjjihhhh BffUo?gտR~&)Ug^IU=iUUxPQQ%:publishing transmit ping timeY%Fpublishing direction and range infoQ9U,z.&f}hA?yQQQQ Q)QIQiQQQQQ Q)QIQiQfrf=@3w@bfE@w?QQUo?gտR~&)QIQiQQQQɛBI \I <ɚiIp=I >iK=idL=) >)!*F?2F:FBF^0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ‹9=G B O >w,Ts A $?I*JR="J> >Y>>> =9>0=y>H`?ֿ$???K?`ǰ`=VI?o?ɨ> >>O;>CyJBJd$IIZIZHo4٢^½ b\=9b:Q b>`d fG٣)y5 5> =Nusing accuracyPremultiplier from config9E)59=xV?E)5Y=2 i= BIMa>Mz@=oE=;=;=S)5Q ]@]aEk4:~N^?kY[H8 k k A:kټCBkCZk%@"Z"فG;{w@,z.&f}hA?JkRkxP*H7@'圫JkRw@kz=z?¿Gߗ?"k\U*kAka\^?k">'R8 2kCkk0U: kCkڼBkMլ@ addTargetRange:: Added new target pos. range: 377.700012 m, deltaT: 4.032028 s, deltaX: -2.099976 m, approachRate: -0.520824 m/s, rangeRepo size: 4  Added new target pos. range: 377.700012 m, bearing: 293.900416 deg, lat: 36.903849 deg, lon: -122.123600 deg, deltaT: 4.032028 s, deltaX: -2.099976 m, approachRate: -0.520824 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 377.70 m.BjJj ProNav: ac range: 377.700012 m, nav range: 94.427193 m, bearing: 309.456673 deg, approach rate: 0.000000 m/s, LOS rate: -0.189800 deg/s, cmd heading: 17.247894 deg, new cmd heading: 17.061467 deg. 2j-HeadingCmd: 0.297779 target range: 377.700012 and range: 377.70 m. j-vv>j1j1j1i9h9hAhAhIfQfQfYrfYbf] ?ɛ-B-hU )-I) 5|<ɚ1i1I5}=I=vv>i=Mi],n&=)vv>)Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFU_0JFQG5A=G BO5p>jH<bH<HIC I$IIBI1 =&I.I6I<:I FA1ǂw,* A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:g>Y:V>:0=9:z=y:H ?@*տ@?:r;:CyrBvY$IIzIz]4٢Y'  G=90Q > G٣y1 %> -Nusing accuracyPremultiplier from config!-)59%ЧV?5)5Y%2 i% B15>5z@%sE%*:%:%ђ)5A E@AZjimFNOT Ignoring new targets: 377.70 m.Bju̻Jju̻ ProNav: ac range: 377.700012 m, nav range: 94.348175 m, bearing: 309.315752 deg, approach rate: -0.200719 m/s, LOS rate: -0.358263 deg/s, cmd heading: 17.061468 deg, new cmd heading: 16.638360 deg. 2juHeadingCmd: 0.290394 target range: 377.700012 and range: 377.70 m. j>jjjihhhhfffrfbf@{?ɛBe I &<ɚiI3=I>ii`7=)>)JIJMJIJIJIJM:JIJIJMi;a}JMj;aJMCG;aJMDG;azKjI $?I*F?2F:FBF0JFK9KKAKWill construct direction to contact in vehicle frame from tetrahedron phase data.G][͂w,8 Ay~B~L$I) Mb@Mb@Mb@ )Y~jt?MbQy?u A 3@)IAIyAIIt4٢F @=9Q > G٣DJGy > Nusing accuracyPremultiplier from config)59WV?)5YV2 i B?:ԭ>z@wE5;;)5WB <@^EZjFNOT Ignoring new targets: 377.70 m.BjhƻJj%hƻ- ProNav: ac range: 377.700012 m, nav range: 94.260704 m, bearing: 309.168059 deg, approach rate: -0.205271 m/s, LOS rate: -0.346919 deg/s, cmd heading: 16.638360 deg, new cmd heading: 16.194877 deg. 2j5nHeadingCmd: 0.282654 target range: 377.700012 and range: 377.70 m. j>jjjihhhhBfffrfbf?ɛUBUY Q]IY ]k<ɚYiYI]<=Ie>ie]ieR=)e>uWill construct direction to contact in vehicle frame from tetrahedron phase data.uF?u[?)*Fe?2Fa:FaBFe0JFa IG 7=Ga Bi O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.HԂw,Q ABN>YB>B?K=9B=yBH?@|տ`??` ?= >??ɨBN>B;BCy^B^D$IInIn(4٢r vX=9vQ v>xx zG٣xy~?W ~> Nusing accuracyPremultiplier from config )59V? )5YY2 iu B  ]>z@{E$;4;ؙ)5 @[EZjAMFNOT Ignoring new targets: 377.70 m.BjU*ǻJjU*ǻe ProNav: ac range: 377.700012 m, nav range: 94.182297 m, bearing: 309.036517 deg, approach rate: -0.207404 m/s, LOS rate: -0.348245 deg/s, cmd heading: 16.194877 deg, new cmd heading: 15.799930 deg. 2jenmHeadingCmd: 0.275761 target range: 377.700012 and range: 377.70 m. jm0>jijijiiqhqhqhqhyfyfyfyrfybf ?ɛB$ 隭^I 2o<ɚiI*=I0>iiV=)0>)HyIy I}$II}BIy&Iy.Iy6I}<:I} F*Fe?2Fi:FiBFmQ5JFiGE@A=GB O5.>uWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I Ju Ju Jq Jq Ju |:Ju :Jq zK BoHK K K BK RK >JK >Jq Ju ;Ju ;Ju A;Ju A; nڂw,Qk A68=Y6ڮ>6w =96k=y6Hk"?34տ@O?l??7`sJ?s?ɨ68=6y;6CyBBB>$I-Mb@Mb@Mb@))) )))Y-V-?Qy-|?-̼)- A -@))I))y-\AIEIE4٢Ml UD=9USs;Q U>YY ]G٣Yye. e> mNusing accuracyPremultiplier from configiu)59m}V?u)5YmO2 ime Bu?}:}T>}z@mEmE;mE;mz)5VB @XEZjFNOT Ignoring new targets: 377.70 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BjǻJjǻ ProNav: ac range: 377.700012 m, nav range: 94.087006 m, bearing: 308.889891 deg, approach rate: -0.226608 m/s, LOS rate: -0.349038 deg/s, cmd heading: 15.799930 deg, new cmd heading: 15.359616 deg. 2joHeadingCmd: 0.268076 target range: 377.700012 and range: 377.70 m. j=A>jjjihhhhڅBfffrf)bf-6x@ɛB$"f 隝3I T<ɚiIz=I=A>i$h~ia=)=A>)*Fa2Fa:FaBFeP5JFa Will construct direction to contact in vehicle frame from tetrahedron phase data.G S=G G qAGa Bq O >Ww,# A I :_=Y:>:*V=9:\u=y:H`6?Կ)6? ?@#*?@~ɡׅ??ɨ:_=:D;:CyJ}BJ0$IiR>IR;IVIVy4٢^)` ^T=9b2:Q b>`` fG٣fEJGyf f> jNusing accuracyPremultiplier from confighn)59jV?n)5Yjw2 ijU Bprp>rz@jEj ;j ;jؠ)5t v@vUEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 377.70 m.Bj»Jj» ProNav: ac range: 377.700012 m, nav range: 93.997643 m, bearing: 308.754277 deg, approach rate: -0.224014 m/s, LOS rate: -0.340277 deg/s, cmd heading: 15.359615 deg, new cmd heading: 14.952394 deg. 2jiHeadingCmd: 0.260969 target range: 377.700012 and range: 377.70 m. j>jjjihhhhfffrf bf `-i@ɛ]B]2 Y]IY eDc<ɚaiaIe5=Im>iiim&^=)}>)*F%?2F):F)BF-^0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GZHiRHm@AHu >Iq Iu$IIu҅BIq&Iq.Iq6Iu<:Iuc F[w,z A"Will construct direction to contact in vehicle frame from tetrahedron phase data.">"="checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706648>M=Y>C>>]=9>=y>H~G? 1ZԿg? ? :? ݰ8@Bٴ??ɨ>M=>,;X\ bG٣`yb b> jNusing accuracyPremultiplier from configdj)59f W?n)5Yf2 ifE Bln>>nz@fEf>;f;f^)5p v@tZjFNOT Ignoring new targets: 377.70 m.Bj%\һJj%\һ- ProNav: ac range: 377.700012 m, nav range: 93.903267 m, bearing: 308.612502 deg, approach rate: -0.244601 m/s, LOS rate: -0.367820 deg/s, cmd heading: 14.952394 deg, new cmd heading: 14.526649 deg. 2j5n|=HeadingCmd: 0.253538 target range: 377.700012 and range: 377.70 m. j=ρ>j9j9j9i9h9hAhAhAfAfAfIrfIbfM`r@ɛ}B 隅 I X<ɚiI=Iρ>iiCc=)ρ>)1JJJJJ: E$?IMiJ:JJJ;J;J@;J@;zKK+9KKCKBK:KqA*F?2F:FBF%_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.958563Gm6a=GA BQ O >w,UN A:/=Y:|>:X=9:=y:H@o\?`cӿ\R?M?N?01`ٴ?`?ɨ:/=:R(;:CyRfBR$I5Mb@Mb@Mb@111 1)1Y5V-?Q롿 rhy5?5\5C5 A 5I@)1I11y5AImIm4٢uk }>=9}m:Q }> G٣y > Nusing accuracyPremultiplier from config)59q W?)5Y2 i3 B>?:>z@Ep;2;)5 @SEZjFNOT Ignoring new targets: 377.70 m.BjUŻJj]Żm ProNav: ac range: 377.700012 m, nav range: 93.799133 m, bearing: 308.465344 deg, approach rate: -0.243552 m/s, LOS rate: -0.344561 deg/s, cmd heading: 14.526650 deg, new cmd heading: 14.084695 deg. 2jmxlHeadingCmd: 0.245824 target range: 377.700012 and range: 377.70 m. j^{>jjjihhhh…Bfffrfbf@ @ɛB 4 I :<ɚiI=I ^{>i !ui Qa=)5^{>)1E9eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:11:57.8208 uTRx dataTimestamp_ set to:1736374319.007297uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.214207*F?2F:FBF^0JF M$?IIG  Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463437w,) A6 ,=Y6q>6=96C=y6Hx| ~G٣FJGy: >  Nusing accuracyPremultiplier from config )59 3W?)5Y -2 i # B>z@ E l; ; ~)5%UB %@-PEZjQUFNOT Ignoring new targets: 377.70 m.Bj]!ĻJje!Ļm ProNav: ac range: 377.700012 m, nav range: 93.704063 m, bearing: 308.332517 deg, approach rate: -0.245209 m/s, LOS rate: -0.342941 deg/s, cmd heading: 14.084695 deg, new cmd heading: 13.685817 deg. 2jm[kuHeadingCmd: 0.238863 target range: 377.700012 and range: 377.70 m. juct>jyjyjyiyhyhhhfffrfbf e @ɛ|Bü cY=I z<ɚiIwg=Ict>ii>b=)ct>)H >I Iz$IIBI0 =&I.I2D6I<:I` FBIJIRIZIbIjIn5*Fu?2Fq:FqBFuk0JFqmWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:11:57.8208 LVL= 21360, 28353, 21490, 26019, AGC= 71, IDX= 273,-0.10, 2.843, 1.425, 1.639, 1.891, PHS= 1.040,-0.419,-0.255, RAW= 95.9, -5.3, CAL= 103.7, -14.3, ROT= 46.3, 14.3 Gnp_=5Ygot valid direction response: 22:11:57.8208 LVL= 21360, 28353, 21490, 26019, AGC= 71, IDX= 273,-0.10, 2.843, 1.425, 1.639, 1.891, PHS= 1.040,-0.419,-0.255, RAW= 95.9, -5.3, CAL= 103.7, -14.3, ROT= 46.3, 14.3 =PDAT read: Bearing 46.3, 14.3 (Local) =~Local bearing/azimuth received: Bearing 46.3, 14.3 (Local) GBO>Ji Ji Ji Ji Ji Ji $?I Ji Ji Ji Ji Ji Jm @;zK uJK 9K K DK RK ?JK ? DAT read: Range 10 to 50 : 352.3 m (Round-trip 469.8 ms) speed 0.1 m/s  ,DAT read: user:2384>  BDAT read: Tx time:22:11:58.9469  $Ping request sent. ?mq m?)mrImN?imr>iim&?Z^Vڿ^]ӷ)mu׾Im=im:mǿii5 :publishing transmit ping timeة 5 Fpublishing direction and range info w, Aؙ9؝*kN6?Ǖ=hB ۲?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝&?Z^Vڿ^]ӷ)ۙIۙiۙۙۙۙWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:11:58.9461 y1Mb@Mb@Mb@ )YʡE?MbZd;Oy?@j 3@)IyAI]I]\4٢m@ m=9mQ u>qq uG٣qy} }> Nusing accuracyPremultiplier from config)59MW?)5Y.2 i BC?::u>z@E(<;)5 @kTo_?k͇5 k kA A:k&CBkCZk@"p,@DXTɿ v@*kN6?Ǖ=hB ۲?Jk:Rkǿ*T1^7@iP$H>6hpu@()?^;3sN?"k!*kAkH_?kHU5 2kCkk:glN: kkBk*@]addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 352.299988 m, deltaT: 3.781718 s, deltaX: -25.400024 m, approachRate: -6.716530 m/s, rangeRepo size: 4ZjaeFNOT Ignoring new targets: 377.70 m.BjmvJjmvu ProNav: ac range: 377.700012 m, nav range: 93.571678 m, bearing: 308.154956 deg, approach rate: -0.241441 m/s, LOS rate: -0.324289 deg/s, cmd heading: 13.685817 deg, new cmd heading: 13.152397 deg. 2j^HeadingCmd: 0.229553 target range: 377.700012 and range: 377.70 m. jk>jjjihhhhBfffrfv@bf?ɛeuBe0 r ae# Ii m?<ɚiiiIm`=Ik>iThiI=)k>)m Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu ?2Fq :Fq BFu _0JFq y Iy GU va=G)B1OU>Ew, AB=YB5>B =9Bv*=yBH ?@`ҿ2??`? F >b۴?v?ɨB=Bʇ;BCyNQBN#IIVIV4٢^` ^j=9^`b:Q b>`` bG٣`yf2 f> jNusing accuracyPremultiplier from confighn)59j_W?n)5Yj2 ij Bpre>rz@jEj<:j<:j)5t vB@zMEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 377.70 m.Bj%ջJj-ջ= ProNav: ac range: 377.700012 m, nav range: 93.479858 m, bearing: 308.035672 deg, approach rate: -0.287503 m/s, LOS rate: -0.373866 deg/s, cmd heading: 13.152397 deg, new cmd heading: 12.794197 deg. 2j=JEHeadingCmd: 0.223301 target range: 377.700012 and range: 377.70 m. jEd>jAjAjAiAhAhIhIhQfQfQfQrfQbf] U?ɛqB 隍SI <ɚiI=Id>ii_=)d>)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF0JFGi=GqByO<>jHbHH>IC Ia$IIBI/ =&I.I6I<:IC F)F= ~G tA-A UY]tAy]B Bu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.834531Mw,$ A2F=Y2[>2O=92h=y2H`?`ҿ`ת?WF?ƞ?K E?`?ɨ2F=2O;2CyBRBB#IiFhh jG٣jGJGyn n> rNusing accuracyPremultiplier from configpv)59rtW?v)5Yr2 ir BxzA]>~z@rErdI;rhL;r)5 5$?I9 =,@=JEZjzKK9KKEK FNOT Ignoring new targets: 377.70 m.Bj5OJj5O ProNav: ac range: 377.700012 m, nav range: 93.372284 m, bearing: 307.897891 deg, approach rate: -0.240423 m/s, LOS rate: -0.308287 deg/s, cmd heading: 12.794197 deg, new cmd heading: 12.380386 deg. 2jSHeadingCmd: 0.216078 target range: 377.700012 and range: 377.70 m. jC]>jjjihhhhfffrfbf`?ɛ=kBM IM II M/B<ɚIiIIU7=IUC]>i]`Z_i]b=)]C]>)YWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.087070E3=*F! 2F! :F! BF% _0JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.338590GM=GU?GU?GIBYOu?m?w,;E A:9=Y:ߐ>:;=9:[=y:HO? ѿ3?y?x?8 D? e?ɨ:9=:(@;:CyBMBB#IJJJJJ\:J9JJa%@a%@a%@a%@}Mb@Mb@Mb@yyy y)yY}X9v?:vZd;Oy}?}Ty} A y)}AI}hAyy}AII)4٢; =9:Q > G٣ykO > Nusing accuracyPremultiplier from config)59rW?)5Yľ2 i B?:pN>z@EV;;I)5 |@ZjFNOT Ignoring new targets: 377.70 m.BjqԻJjqԻ- ProNav: ac range: 377.700012 m, nav range: 93.225609 m, bearing: 307.715286 deg, approach rate: -0.297906 m/s, LOS rate: -0.371466 deg/s, cmd heading: 12.380386 deg, new cmd heading: 11.831724 deg. 2j5~5HeadingCmd: 0.206503 target range: 377.700012 and range: 377.70 m. j5guS>j9j9j9i9h9h9hAhMBfIfIfIrfIbfU[?ɛeB= 6 I %<ɚ!i!I%=I-guS>i)i-*n=)-guS>)1EhW=*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.592123G q=GaBqO|>H >I  I H$II BI . =&I .I 6I ˰<:I v F[`w,V^ A6U:k=Y6_>6[=96b=y6H 2?![ѿ?`? ?bb%s? ;?ɨ6U:k=6A;6Cy<<I^I^"49j:Q j>hh jG٣hynW n> rNusing accuracyPremultiplier from configpv)59rfW?v)5Yr2 ir BxzI>zz@rEr+;r;r)5TB v@GEZj!-FNOT Ignoring new targets: 377.70 m.Bj-»Jj5»EWill construct direction to contact in vehicle frame from tetrahedron phase data.EB?EN?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.843147e ProNav: ac range: 377.700012 m, nav range: 93.123711 m, bearing: 307.588939 deg, approach rate: -0.274510 m/s, LOS rate: -0.340746 deg/s, cmd heading: 11.831724 deg, new cmd heading: 11.452275 deg. 2jeimHeadingCmd: 0.199880 target range: 377.700012 and range: 377.70 m. jmQL>jijijiiihihqhqhqfqfyfyrfybf-@ɛaBoɼ  I py<ɚiIKh =IQL>ii]s=)QL>)EE*E"E $?IzKuKK9KKFKE|G\ Y5 *F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.095380G] {a=G9 BA O] >w,x AyMb@Mb@Mb@ )Yףp= ?p= ף~jty? A )AIQAy\AII4٢: <9Q > G٣HJGy > Nusing accuracyPremultiplier from config)59W?)5YR2 i B?:)4>z@E';2:`)5 m@DEZj9=FNOT Ignoring new targets: 377.70 m.BjEd»JjEd»U ProNav: ac range: 377.700012 m, nav range: 92.997566 m, bearing: 307.439316 deg, approach rate: -0.286179 m/s, LOS rate: -0.339904 deg/s, cmd heading: 11.452275 deg, new cmd heading: 11.002807 deg. 2jUEi]HeadingCmd: 0.192035 target range: 377.700012 and range: 377.70 m. j]D>jYjYjYiYhahahhBfffrfbf`@ɛ5ZB= 9=I9 =q<ɚIiQIUie Uim=)mD>)iMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.348095*F?2F:FBF_5JF!GY`n=GBOd> IJ5J5J1J1J5:J5 :J1J1 Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.598813r$w,Χ AR_E$=YR >RQ=9RO=yRH?KпL?2}?N?@I ²??ɨR_E$=R;RCynLBlI I 4٢5J 5W=95 \Q =>99 EG٣AyE4: E> MNusing accuracyPremultiplier from configIU)59MW?U)5YMU2 iM BY]f">]z@MEM;M(;M)5a mw@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 377.70 m.BjJj󿻝 ProNav: ac range: 377.700012 m, nav range: 92.885246 m, bearing: 307.310659 deg, approach rate: -0.292656 m/s, LOS rate: -0.335630 deg/s, cmd heading: 11.002807 deg, new cmd heading: 10.616374 deg. 2jVfHeadingCmd: 0.185291 target range: 377.700012 and range: 377.70 m. j׼=>jjjihhh1h1f9f9f9rf9bf=`@ZHRHAAH>I I;$IIBI- =&I.I6I<:IT FɛUB빼 I ~k<ɚiI !=I׼=>iZMi̬d=)׼=>)*F?2F:FBF4JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.850884Gghs=G B $?I O >A*w, AzK6vNK4K4K6GK6-=-S=9-=y-H`G?lxϿ`=m??O?UɡI?~?ɨ-=<-ꋊ;-Cy=XB=$IEMb@Mb@Mb@AAA A)AYEMb?y&1:vyE ?E`eETA A)E`AIEAAyEAIuIuʴ4٢+R= 6=9CQ > G٣y > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.102679)59IW?)5Y2 i~ B/!?:(>z@Ev{;y;)5SB @AEZjFNOT Ignoring new targets: 377.70 m.Bj6ŻJj6Ż  ProNav: ac range: 377.700012 m, nav range: 92.753571 m, bearing: 307.156694 deg, approach rate: -0.294495 m/s, LOS rate: -0.344834 deg/s, cmd heading: 10.616374 deg, new cmd heading: 10.153834 deg. 2j lHeadingCmd: 0.177218 target range: 377.700012 and range: 377.70 m. jx5>jjjihhhhBf!f!f!rf)bf-Q @ɛUPBU|J Y]IY ]ܱd<ɚYiYI]{"=Ix5>iibf=)x5>)*F?2F:FBF0JFG }xd=G ?G I?e Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:22:12:01.8501 m TRx dataTimestamp_ set to:1736374323.037481} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.357205G B O >1w,] A2X2 =92Ƒ=y2H ?Fο^??A? H6EW92??ɨ2X<2{;2C B$?I@yFbBF$IININ4٢ne= rk=9r-$Q r?tt vG٣vIJGyv z?JJJJJ\:J9JJ ~Nusing accuracyPremultiplier from configx)59zW?)5Yz<2 izp B>z@zEzߣ;z ;z)5! -@->EZjQFNOT Ignoring new targets: 377.70 m.Bj»Jj» ProNav: ac range: 377.700012 m, nav range: 92.649956 m, bearing: 307.037541 deg, approach rate: -0.295729 m/s, LOS rate: -0.340456 deg/s, cmd heading: 10.153833 deg, new cmd heading: 9.795981 deg. 2jiHeadingCmd: 0.170972 target range: 377.700012 and range: 377.70 m. jQ/>jjjihhhhfff rf bf  ? @ɛ}KB}p y}I ,_<ɚiIF^#=IQ/>iQcFi-[Y=)Q/>)EErA*Fm?2Fi:FiBFm_0JFiGuqA GqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.606609Gf=H>I IB$IIBI. =&I.I6I<:IJ FG B O >d7w,+n AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:12:01.8501 LVL= 21232, 29681, 22482, 28659, AGC= 70, IDX= 227, 0.07, 3.015, 1.684, 1.685, 2.021, PHS= 1.082,-0.290,-0.338, RAW= 88.3, -6.6, CAL= 97.0, -15.5, ROT= 53.0, 15.5 -^B-`>=9-B0=y-Hc?@#ͿW?z?`???r?ɨ-^B<-};-C=Ygot valid direction response: 22:12:01.8501 LVL= 21232, 29681, 22482, 28659, AGC= 70, IDX= 227, 0.07, 3.015, 1.684, 1.685, 2.021, PHS= 1.082,-0.290,-0.338, RAW= 88.3, -6.6, CAL= 97.0, -15.5, ROT= 53.0, 15.5 EPDAT read: Bearing 53.0, 15.5 (Local) M~Local bearing/azimuth received: Bearing 53.0, 15.5 (Local) UDAT read: Range 10 to 50 : 374.3 m (Round-trip 499.1 ms) speed 0.2 m/s ],DAT read: user:2385> eBDAT read: Tx time:22:12:02.9469 e$Ping request sent.e*&u= ?0࿎Z:)| I#Y=i&?,:publishing transmit ping timeaFpublishing direction and range info92? 7?:f\?y )Ii )Ii*&u= ?0࿎Z:)IiII4٢< ,=9ZQ >  G٣ y  > ENusing accuracyPremultiplier from config9E)59=X?M)5Y=2 i=^ BIMw>Mz@=E=7:=: ]$?I]i=)5 @kpQ_?k+V/ k kK A:k&CBkٹCZk:g?"k% 0@.>H@|I",w@2? 7?:f\?Jk&?Rk,*x226@\%)<@-AIw@]?nB?a?R?"kIA*kAkO's^_?k./ 2kCkO's^_?k">'R8 kk%kBk0@= addTargetRange:: Added new target pos. range: 374.299988 m, deltaT: 7.813886 s, deltaX: -3.400024 m, approachRate: -0.435126 m/s, rangeRepo size: 4 zKEBoIKE+9KAKEHKERK}?JK}? Added new target pos. range: 374.299988 m, bearing: 51.751262 deg, lat: 36.903549 deg, lon: -122.123380 deg, deltaT: 7.813886 s, deltaX: -3.400024 m, approachRate: -0.435126 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 374.30 m.BjJj- ProNav: ac range: 374.299988 m, nav range: 58.786266 m, bearing: 292.186791 deg, approach rate: 0.000000 m/s, LOS rate: -0.340456 deg/s, cmd heading: 9.795981 deg, new cmd heading: 9.229969 deg. 2j)5HeadingCmd: 0.161093 target range: 374.299988 and range: 374.30 m. j5$>j1j1j9i9hyhyhhfffrfdw@bf k ?ɛCB; پI V<ɚiI5$=I$>ix;i]=)$>)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:12:02.9461 *F ?2F :F BF R4JF G YW=G qAG GBO>_?w,T ArS1;Yrd>rt<9r=yrH 0?̿@nB? V?j$?Sܯ S'?`?ɨrS1;r;rCy%uB%'$IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y'1Z?ˡEMbPy"?' A `@)IAIAyQAII"4٢E8= M&=9My`Q M>QQ UG٣UJJGyU ]> Nusing accuracyPremultiplier from config)59)X?)5Yƶ2 iR B'#?:#>z@E8;6;,)5 @;E IZjAEFNOT Ignoring new targets: 374.30 m.BjM,EJjM,E} ProNav: ac range: 374.299988 m, nav range: 58.716347 m, bearing: 291.889459 deg, approach rate: -0.161956 m/s, LOS rate: -0.689532 deg/s, cmd heading: 9.229969 deg, new cmd heading: 8.336987 deg. 2j}켝HeadingCmd: 0.145508 target range: 374.299988 and range: 374.30 m. j>jjjihhJJJJJ:J 9JJhhBfffrfbfIJ?ɛ >B =v  xɾI  xQ<ɚiIX$=I5>i9i=Ӧw=)=>)9*F2F:FBF_0JF] Will construct direction to contact in vehicle frame from tetrahedron phase data.G .H_=G B O >jH- <bH) H5 >I1  I5 N$II5 B`Ew, AIq&Iq.Iq6Iu<:Iu_ FBI5CJI5CRI1ZI5. =bI5. =jI5 5:e@Y: [>:<9:MW=y:H@aA?˿?7?@;?RI` ? v?ɨ:e@:e;:CyFBF<$IININ4٢V<= V=9Z Q Z ?XX ^G٣\y^j b ? fNusing accuracyPremultiplier from config`f)59be:X?j)5Yb2 ibK Bhj>jz@bEb:b:b)5]RB e@e8EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 374.30 m.Bj{*Jj{* ProNav: ac range: 374.299988 m, nav range: 58.670887 m, bearing: 291.700153 deg, approach rate: -0.143057 m/s, LOS rate: -0.596187 deg/s, cmd heading: 8.336987 deg, new cmd heading: 7.768649 deg. 2j̼HeadingCmd: 0.135589 target range: 374.299988 and range: 374.30 m. j >jjjihhhh!f!f!f!rf!bf-`*o?ɛ:B\q 隭ڳI 8N<ɚiIQ?%=I% >i!i% v=)% >)1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:F BF JF "G=G=GUl=GBOb> $?IzKE KE 9KA KE IKE %Lw,2 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.216638R@YRU>R!<9Ry j=yRH K? Eʿ ?}?@C?;۩ @:??ɨR@R-;PynBnC$IeMb@Mb@Mb@aaa a)aYe)\(?{Gz?yeG!?ee#QQ UG٣Yye P e> uNusing accuracyPremultiplier from configiu)59m;RX?})5Ymk2 imH B}L!?}:}T>}z@mEm;m;m)5 ^@5EZjFNOT Ignoring new targets: 374.30 m.BjL6JjL6 ProNav: ac range: 374.299988 m, nav range: 58.622360 m, bearing: 291.421761 deg, approach rate: -0.111032 m/s, LOS rate: -0.637504 deg/s, cmd heading: 7.768649 deg, new cmd heading: 6.932844 deg. 2jڼHeadingCmd: 0.121001 target range: 374.299988 and range: 374.30 m. jY=jjjihhhh Bfffrfbf@?ɛ5B%) 隝*I I<ɚiI%=IY=iiЋ=)Y=)*F?2F:FBFm0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467707 $?I G vpx=G G ?G B O- > Sw,aL Ay~B~Y$II I 4٢=˾= =]=9EQ E>AA MG٣IyM M> UNusing accuracyPremultiplier from configQ])59UQeX?])5YU)2 iUF Baaez@UEU;Uy;U)5i mD@iZjFNOT Ignoring new targets: 374.30 m.Bj-Jj- ProNav: ac range: 374.299988 m, nav range: 58.584503 m, bearing: 291.198518 deg, approach rate: -0.103102 m/s, LOS rate: -0.608381 deg/s, cmd heading: 6.932844 deg, new cmd heading: 6.262715 deg. 2jмHeadingCmd: 0.109305 target range: 374.299988 and range: 374.30 m. jM=jjjihhhhfffrfbfx?ɛ1BI- %I :F<ɚiI 5*&=I M=iik%=)M=)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720113*F?2F:FBF3JFGmf=G!B)OU2>HIC Im$IIBI0 =&I.I1D6I<:IP FENG]|uAuZA ?Y|uAyB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9721446Yw,f A 0I0Fo@YF@M>F<9F-=yFH@X?Lɿ ?@?@`K?}kl A??ɨFo@F;FCynBnb$IIvIvݜ4٢~r= N=9PȻQ >    G٣ KJGy  > %Nusing accuracyPremultiplier from config%)59yX?-)5Yڱ2 iD B)-L>-z@E ;G;)5A E@E2EJJJJJ :J9JJJ;aJ;aJ<;aJ<;aZjFNOT Ignoring new targets: 374.30 m.Bj(Jj( ProNav: ac range: 374.299988 m, nav range: 58.542671 m, bearing: 290.957087 deg, approach rate: -0.102102 m/s, LOS rate: -0.589695 deg/s, cmd heading: 6.262715 deg, new cmd heading: 5.537944 deg. 2jYʼHeadingCmd: 0.096655 target range: 374.299988 and range: 374.30 m. j>=jjjihhhh!fYfafrfbf _w@zKM&~JKM9KIKMJKM ɛ+B} I A<ɚiI3&=I>=iiɥ=)>=)]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.228183*F2F:FBF0JFG GpAG =Gy B O >D`w,z A2L@Y2xI>2F޸<92=y2H _?Wȿu?? O?Ұ@HBL??ɨ2L@2a;2Cy:B>r$I Mb@Mb@Mb@    ) Y Pn?X9v? G٣y% > Nusing accuracyPremultiplier from config)59X?)5Y$2 iF BZ$?:x>z@EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479431{;.|;E)5QB @/EZjFNOT Ignoring new targets: 374.30 m.Bj'7Jj'7 ProNav: ac range: 374.299988 m, nav range: 58.510174 m, bearing: 290.694452 deg, approach rate: -0.079209 m/s, LOS rate: -0.640498 deg/s, cmd heading: 5.537944 deg, new cmd heading: 4.749654 deg. 2jۼ%HeadingCmd: 0.082897 target range: 374.299988 and range: 374.30 m. j%ũ=j!j!j!i!h!h)h)h-GBf)f1f1rf1bf5>M@ɛ]'Be^ƻ aeVjIa eS?<ɚaiiImo&=Imũ=iqiu=)uũ=)q ]$?Ia*F-?2F):F)BF-C4JF)G}ܒ=GB O-N>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731340ZH RH H >I C I $II ҅BI . =&I .I 2D6I `<:I $ FrGfw,V A6%@Y6 B>6cZ<96體=y6H`}k?ǿ(?`?oZ?@9@䊕B??ɨ6%@6;6CyNBR$IIVIVK4٢b|u= bX=9bgQ b>dd fG٣dyf j> rNusing accuracyPremultiplier from configlr)59nX?v)5Yn2 inI BtvZq>vz@nEn:n*:n)5x ~0@~-EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 374.30 m.Bj-3Jj-3} ProNav: ac range: 374.299988 m, nav range: 58.480232 m, bearing: 290.458072 deg, approach rate: -0.079251 m/s, LOS rate: -0.625979 deg/s, cmd heading: 4.749654 deg, new cmd heading: 4.040190 deg. 2j}ּHeadingCmd: 0.070515 target range: 374.299988 and range: 374.30 m. ji=jjjihhhhfffrfbf@Ha@ɛ #B   4JI  =<ɚiI:'=I=i=i9i=i=)=i=)A*F ?2F :F BF \0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984467 E$?IAJK KKK"KJJJ/JJ:J:J(N3JJ;J;J@;J@;Gό=G?G>GBO >zK JK ]9K K KK   BK :K sA1qlw,/ AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235389R@YRf:>R <9Rh=yRHw?ƿn?*?[e?o`A@짲??ɨR@RƏ;RCy^B^$IMb@Mb@Mb@ )Yw/?! %G٣%LJGy% %> 5Nusing accuracyPremultiplier from config)=)59-X?=)5Y-q2 i-O BE(?E:E$>Ez@-E-7;-06;-|)5MPB M7@M*EZjFNOT Ignoring new targets: 374.30 m.Bj1Jj1  ProNav: ac range: 374.299988 m, nav range: 58.461132 m, bearing: 290.171501 deg, approach rate: -0.041268 m/s, LOS rate: -0.619362 deg/s, cmd heading: 4.040191 deg, new cmd heading: 3.180265 deg. 2j Լ5HeadingCmd: 0.055506 target range: 374.299988 and range: 374.30 m. j5ZZc=j1j1j1i1h9h9h9h=LBfAfAfArfAbfM`_ @ɛBXs AI 0:<ɚiI'=I ZZc=i iF =)ZZc=)*F?2F:FBF_0JF"G=G=G] =GB!O=r>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:12:05.8330 TRx dataTimestamp_ set to:1736374327.073451checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489218 5 $?I1 J J Ysw, A:@Y:`0>:<9:ѐ=y:H ?@ſO՞?@?@s? ? ?(?ɨ:@:;:CybʅBb$IIhIh٢rd= r`=9r_Q v>tt vG٣tyzԼ z> ~Nusing accuracyPremultiplier from config|)59~X?)5Y~2 i~T B  W> z@~E~:~:~)5 k@ZjAMFNOT Ignoring new targets: 374.30 m.BjM?JjM?] ProNav: ac range: 374.299988 m, nav range: 58.444386 m, bearing: 289.937535 deg, approach rate: -0.047963 m/s, LOS rate: -0.670284 deg/s, cmd heading: 3.180265 deg, new cmd heading: 2.478201 deg. 2j]漝eHeadingCmd: 0.043253 target range: 374.299988 and range: 374.30 m. je)1=jajijiiihihihqhqfqfqfqrfybf}@ @ɛBp# 隵 I n8<ɚiIT'=I)1=ii*=))1=)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739567*F=?2FA:FABFE`0JFAH >IC I$IIBI/ =&I.I6I]<:I FGU^=G9BiO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:12:05.8330 LVL= 18528, 32033, 17522, 24563, AGC= 70, IDX= 258, 0.49,-0.220,-1.914,-1.767,-1.252, PHS= 1.120,-0.615,-0.518, RAW= 92.9, 0.2, CAL= 101.0, -4.0, ROT= 49.0, 4.0 % Ygot valid direction response: 22:12:05.8330 LVL= 18528, 32033, 17522, 24563, AGC= 70, IDX= 258, 0.49,-0.220,-1.914,-1.767,-1.252, PHS= 1.120,-0.615,-0.518, RAW= 92.9, 0.2, CAL= 101.0, -4.0, ROT= 49.0, 4.0 - PDAT read: Bearing 49.0, 4.0 (Local) - ~Local bearing/azimuth received: Bearing 49.0, 4.0 (Local) 5 DAT read: Range 10 to 50 : 361.3 m (Round-trip 481.8 ms) speed 0.2 m/s E ,DAT read: user:2386> M BDAT read: Tx time:22:12:06.9470 M $Ping request sent.M zjQ<9zF=yzH?`Ŀ@?@?@ȁ?s@d??ɨz:@z;zCyUƅBU$IJmJmJm0JiJm\:Jm9Jmـ3JiJmi;Jmj;Jm:;Jm:;II4٢x ;=9.Q > 5G٣1y=ɨ => ENusing accuracyPremultiplier from configAM)59EX?)5YE2 iE[ B>z@EEE5LK9KKLKJkY%@Rk*~~_:[8 v@@6寲^[ *))>?"k*kk`8P?kau3 2kCkH_?kHU5 kCkAkC@ addTargetRange:: Added new target pos. range: 361.299988 m, deltaT: 4.034046 s, deltaX: -13.000000 m, approachRate: -3.222571 m/s, rangeRepo size: 4  Added new target pos. range: 361.299988 m, bearing: 196.428790 deg, lat: 36.903542 deg, lon: -122.123027 deg, deltaT: 4.034046 s, deltaX: -13.000000 m, approachRate: -3.222571 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 361.30 m.BjJj ProNav: ac range: 361.299988 m, nav range: 30.190758 m, bearing: 308.434205 deg, approach rate: 0.000000 m/s, LOS rate: -0.670284 deg/s, cmd heading: 2.478201 deg, new cmd heading: 1.405497 deg. 2jHeadingCmd: 0.024531 target range: 361.299988 and range: 361.30 m. jN<jjjihhhhf f f rf ̔v@bf o?EWill construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:22:12:06.9462 ɛuBX ; 隥lI 5<ɚiI(=IN7w,GAWill construct direction to contact in vehicle frame from tetrahedron phase data. U$?IYymÅBm$Iiua=Iu=}Mb@Mb@Mb@yyy y)yY}%C?MbX?{Gz?y}Z$?}=}#<}/ A }`@)yI}Ayy}AIeI34٢e ,=9Q > G٣MJGy > Nusing accuracyPremultiplier from config)59X?)5Y+2 i^ BP&?:@>{@EW;;)5 @$EZjFNOT Ignoring new targets: 361.30 m.Bj-ͼJj-ͼE ProNav: ac range: 361.299988 m, nav range: 30.086723 m, bearing: 307.894323 deg, approach rate: -0.276200 m/s, LOS rate: -1.438260 deg/s, cmd heading: 1.405497 deg, new cmd heading: 359.780710 deg. 2jMvMHeadingCmd: 6.279358 target range: 361.299988 and range: 361.30 m. jM@jQjQjQiQhQhQhYh]bBfYfYfarfabfe)s?ɛB V 隭I )3<ɚiI;(=I(5'ii]>)@)!*F?2F:FBF`0JFG-=GIBYOuz>Will construct direction to contact in vehicle frame from tetrahedron phase data.iAHA IA  IE $IIE BIA &IA .IA 6IE <:IE d FXAw,DnA:x@Y: >:wW<9:}g=y:H?X???κ@@x?1?ɨ:x@:~݈;:CyBBF$IININ4٢Vм Vr=9ZrBQ Z?XX ZG٣Xy^͏ ^? fNusing accuracyPremultiplier from config`f)59bY?j)5Yb2 ib` BhjF>j{@bEb:b:b)5nOB r@r!EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 361.30 m.Bj Jj - ProNav: ac range: 361.299988 m, nav range: 30.008093 m, bearing: 307.503608 deg, approach rate: -0.231694 m/s, LOS rate: -1.154295 deg/s, cmd heading: 359.780706 deg, new cmd heading: 358.605665 deg. 2j- F5HeadingCmd: 6.258850 target range: 361.299988 and range: 361.30 m. j5H@j1j1j1i1h9h9hAhAfAfAfIrfIbfM!?ɛ B =i M4=隅I 42<ɚiIb(=I]fii g=)H@)*F?2F:FBF1JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode. U$?IQJ)J-J)J)J)J-:J)J)J)J)J-@;J-@;GL=GBO>zK KK h9K K MK  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246754kw,K8A2_!@Y2`!>2<<92fT=y2H[? K_?@+x? ?5f?@b?ɨ2_!@2(;2Cy>BBu$IUMb@Mb@Mb@QQQ Q)QYUPn?MbX?yU$?QUU A UhA)UAIUAQyQImoImD4٢}S6 }>=9StQ > G٣yʼ > Nusing accuracyPremultiplier from config)59]'Y?)5Yu2 i_ B &?:j>{@E;;X)5 @ZjFNOT Ignoring new targets: 361.30 m.Bj GJj G ProNav: ac range: 361.299988 m, nav range: 29.907648 m, bearing: 307.005596 deg, approach rate: -0.230968 m/s, LOS rate: -1.148984 deg/s, cmd heading: 358.605668 deg, new cmd heading: 357.106975 deg. 2j"E%HeadingCmd: 6.232693 target range: 361.299988 and range: 361.30 m. j%8r@j!j!j!i)h)h)h)h5SBf1f1f1rf9bf=?ɛB  )-.'I1 5/<ɚ1i1I5(=I=JNi9i=|>)=8r@)A*F2F:FBF1JF "G =G =G=G ?G:?eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499911GBOj> =$?I9Sw,W&RA6@Y6]=6%<96N?=y6H@I?i؏?39?I?@j lT??ɨ6@6h;6Cy>B>a$I)@ @DDIJIJ4٢R RY=9RsQ V>XX ZG٣ZNJGy^2 ^> fNusing accuracyPremultiplier from config`f*59b@;Y?f*5Yb2 i`hj>j{@bEb:b :b*5p r@rEZj FNOT Ignoring new targets: 361.30 m.Bj JjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751379 ProNav: ac range: 361.299988 m, nav range: 29.818911 m, bearing: 306.567477 deg, approach rate: -0.238654 m/s, LOS rate: -1.181789 deg/s, cmd heading: 357.106988 deg, new cmd heading: 355.788965 deg. 2jJHeadingCmd: 6.209689 target range: 361.299988 and range: 361.30 m. jŵ@j)j)j)i)h1hqhqhqfyfyfyrfybf ?ɛBR' @I U-<ɚiI>(=IZ{iiG>)ŵ@) H >I I$IIBI&I.I1D6Iɰ<:In FBIØCJIØCRIZI/ =bI/ =jIZa5*F?2F:FBFP5JFG- f=m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002811G B ) I) OM >sw,lAFf_@YF=F)X4<9F*=yFH?Ⱥ@ W?a?`?%@犆@A?p?ɨFf_@FQΈ;FCyRBRO$IJ^J^J\J\J^:J^9J\J\J^;J^;J^:;J^:;IZIZ4٢n֋ rF=9r> ;Q r>pt vG٣tyvf v> ~Nusing accuracyPremultiplier from configx*59zPY?*5Yz2 iz] BT>{@zEzU;z;z;*5 @EZjQeFNOT Ignoring new targets: 361.30 m.BjmmJjmm} ProNav: ac range: 361.299988 m, nav range: 29.721228 m, bearing: 306.090711 deg, approach rate: -0.236284 m/s, LOS rate: -1.157018 deg/s, cmd heading: 355.788953 deg, new cmd heading: 354.354270 deg. 2j}FHeadingCmd: 6.184649 target range: 361.299988 and range: 361.30 m. j@jjjihhhhfffrfbf`Q@ɛB 隽UI d*<ɚiIK(=IKi1i=">)=@)zKBoHKKKNKRK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255040EmY=*Fm ?2Fi :Fi BFu 0JFq G]  >G9 BQ Om >bew,څAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506911 b$?I`y~B3$I%Mb@Mb@Mb@!!! !)!Y%%C?/$?/$y%Z$?%=%% A %A)%IAI%A!y!I=I=h4٢M\̽ M5=9UQ U>QY ]G٣Yy] ]> eNusing accuracyPremultiplier from configam*59ehY?m*5Ye"2 ieR Bu%?u:uhr>u{@eEe";e6;e+ *5 @ZjFNOT Ignoring new targets: 361.30 m.BjGJjGm ProNav: ac range: 361.299988 m, nav range: 29.610718 m, bearing: 305.569447 deg, approach rate: -0.245643 m/s, LOS rate: -1.162983 deg/s, cmd heading: 354.354258 deg, new cmd heading: 352.785041 deg. 2jmGuHeadingCmd: 6.157260 target range: 361.299988 and range: 361.30 m. juG@jqjyjyiyhyhhhBfffrfbfS@ɛ%B%0 隍zI &<ɚiI+)=Iwii ">>)G@)E d6=*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759674H I  I $II BI 0 =&I .I 6I <:I F)Q Q c~G A  Y y B q@ BG  >G pAG rAG B O >w,VAFR@YF?=F_=<9F`=yFH?,'@g܌?`)B?8?$&?@?ɨFR@F~҇;FCyfbBj$Iin0>Inp=IrIr4٢z zT=9~a:Q ~>|| ~G٣~OJGy >  Nusing accuracyPremultiplier from config *59 a}Y?*5Y Û2 i H B!%gW>%{@ E xL; L;  *5-NB =@=EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 361.30 m.BjmJjm} ProNav: ac range: 361.299988 m, nav range: 29.512138 m, bearing: 305.125687 deg, approach rate: -0.255645 m/s, LOS rate: -1.154629 deg/s, cmd heading: 352.785035 deg, new cmd heading: 351.449564 deg. 2j}FHeadingCmd: 6.133952 target range: 361.299988 and range: 361.30 m. jVI@jjjihhhhfffrfbf@ɛMBU= QULIQ U`#<ɚQiQI]s)=I]iYieX8>)eVI@mWill construct direction to contact in vehicle frame from tetrahedron phase data.m>m4=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011130)aEE*E"E $?I*F2F:FBF(4JFGa>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262921zK= k3IK= s9K9 K= OK= !9Q`gpvywrpnke^WRJIC:4*&# BKA :KE qAw,Ay}LBޅ#IMMb@Mb@Mb@III I)IYM%C?L7A`?Q롿yIM+=M\M`A I)IIIIyMGAIeIe 4٢uܵ u)=9uQ u>yy }G٣yy > Nusing accuracyPremultiplier from config*59iY?*5Y2 i3 B$?:>{@E;;*5 *@EZjFNOT Ignoring new targets: 361.30 m.BjlJjl ProNav: ac range: 361.299988 m, nav range: 29.369337 m, bearing: 304.586618 deg, approach rate: -0.295793 m/s, LOS rate: -1.122017 deg/s, cmd heading: 351.449569 deg, new cmd heading: 349.824959 deg. 2j@HeadingCmd: 6.105597 target range: 361.299988 and range: 361.30 m. ja@jjjihhhhۅBfff rfbf @ɛ=B=6`@ AEIA ES<ɚAiAIEH)=IM5iIiUR>)Ua@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:12:09.8156 TRx dataTimestamp_ set to:1736374331.106029checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517549 $?I*F?2F:FBF_0JF"G >G =G_5>GBO>J]J]JYJYJ]\:J]9JYJYae@ae@ae@ae@iw,<AJ@YJ<JgIJ<9JDWu)@)*F?2F:FBFc0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IDAT read: 22:12:09.8156 LVL= 12976, 24993, 17106, 25715, AGC= 68, IDX= 256, 0.27, 2.632, 1.039, 0.957, 1.710, PHS= 1.011,-0.624,-0.755, RAW= 86.2, 4.4, CAL= 92.3, 2.9, ROT= 57.7, -2.9 G <>] Ygot valid direction response: 22:12:09.8156 LVL= 12976, 24993, 17106, 25715, AGC= 68, IDX= 256, 0.27, 2.632, 1.039, 0.957, 1.710, PHS= 1.011,-0.624,-0.755, RAW= 86.2, 4.4, CAL= 92.3, 2.9, ROT= 57.7, -2.9 e PDAT read: Bearing 57.7, -2.9 (Local) e ~Local bearing/azimuth received: Bearing 57.7, -2.9 (Local) G B O5 >m DAT read: Range 10 to 50 : 348.3 m (Round-trip 464.4 ms) speed 0.4 m/s u ,DAT read: user:2387> } BDAT read: Tx time:22:12:10.8970  $Ping request sent. ?}?s{yz@{??ɨ6QI@6;6CyBBB#I)D DIJIJ"4٢f fJ=9,;Q >!! %G٣%PJGy%SK %> 5Nusing accuracyPremultiplier from config)*59-پY?*5Y-љ2 i- Bx={@-E-F=-/=-'*5A M@EzKrNKKKPKWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:12:10.8962 kH?kC, k kWA:k&CBkCZkH@"< L*% N@~Q#u@9M3ĿQ?Z\h?Jk@RkE,*wF JHX!\M@u5u@ rJ#ÿpX?>J-?"kjB*kRPk&H?k#SԎ, 2kCka\^?kau3 kkAko@] addTargetRange:: Added new target pos. range: 348.299988 m, deltaT: 4.032363 s, deltaX: -13.000000 m, approachRate: -3.223916 m/s, rangeRepo size: 4  Added new target pos. range: 348.299988 m, bearing: 131.570758 deg, lat: 36.903522 deg, lon: -122.122849 deg, deltaT: 4.032363 s, deltaX: -13.000000 m, approachRate: -3.223916 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 348.30 m.BjJj ProNav: ac range: 348.299988 m, nav range: 16.313547 m, bearing: 329.257919 deg, approach rate: 0.000000 m/s, LOS rate: -1.094655 deg/s, cmd heading: 348.781588 deg, new cmd heading: 347.119482 deg. 2jHeadingCmd: 6.058378 target range: 348.299988 and range: 348.30 m. j;@jjjihhhhfffrfu@bf%/?ɛBE AMоII M",<ɚIiIIMv*=I}3fii<>);@)*Fm?2Fi:FqBFu_0JFqGM W*1>G B O)  Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I ƒw,A 6d@Y6@63|W<96 Sy6H`?F??Ӻ? w?Sw@'?ɨ6d@6Gч;6Cyn Bn#I*J4="Ja=JJJJJ|:J:JJMb@Mb@Mb@ )YS㥛?{GzZd;Oy$&?#j<3A A)IAyzAImIm̍4٢}  }2=9}Q > G٣yL > Nusing accuracyPremultiplier from config*59aY?*5Yf2 i B&?:Ú{@EI;s;*5 @EZjFNOT Ignoring new targets: 348.30 m.Bj&Jj& ProNav: ac range: 348.299988 m, nav range: 16.052593 m, bearing: 328.794376 deg, approach rate: -0.732844 m/s, LOS rate: -1.322927 deg/s, cmd heading: 347.119475 deg, new cmd heading: 345.706543 deg. 2jbHeadingCmd: 6.033718 target range: 348.299988 and range: 348.30 m. j7@jjjihhhh Bf f f rfbf?ɛEBEJҼ AE>޾IA M<ɚIiIIM3+=IU{tiQiU?>)U7@)Y*F2F:FBF[1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH<H >I Ia$IIBI&I.I6Iz<:I5 FGe0>G B O >>ȃw,W"A2@Y2@2o`<921!y2H`1?Z? =͌?@`?>?T=?ɨ2@2h;2Cy:B>#IIFIFt4٢N Nn=9R:Q R?PP VG٣TyVG V? ^Nusing accuracyPremultiplier from configX^*59ZY?b*5YZ2 iZ B`bpǽb{@ZEZ:Z:Z*5d j@hvB*** querying acoustic contact ***jtjtZjFNOT Ignoring new targets: 348.30 m.Bj ޒJj ޒ ProNav: ac range: 348.299988 m, nav range: 15.851748 m, bearing: 328.445645 deg, approach rate: -0.584213 m/s, LOS rate: -1.027228 deg/s, cmd heading: 345.706555 deg, new cmd heading: 344.647233 deg. 2j>0%HeadingCmd: 6.015229 target range: 348.299988 and range: 348.30 m. j%|@j!j!j!i)h)h)h)h1f9f9f9rfAbfE ?ɛmBmZ߼ imIq ue <ɚqiqIu+=IO iio5>)|@) e$?IamWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF 5JFG5>GqAGqAGyBO<>- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.191948zKM BHKM 9KI KM QKM Ng΃w,i<A6['@Y66@6Sj<96]y6H?@Rq? ώ?@?? iChi?ɨ6['@6ۈ;4yNBNt#IMMb@Mb@Mb@III I)IYML7A`?"~j rhyM+'?MS㽹MC MA M3A)MAIMAIyMQAIeIe4٢mf u>=9uc:Q u>yy }G٣}QJGyW > Nusing accuracyPremultiplier from config*59Z?*5Y2 i B)?:\h{@E3;12;"*5MB @ EZjFNOT Ignoring new targets: 348.30 m.Bj>UJj>U ProNav: ac range: 348.299988 m, nav range: 15.581657 m, bearing: 328.111988 deg, approach rate: -0.593369 m/s, LOS rate: -0.745722 deg/s, cmd heading: 344.647220 deg, new cmd heading: 343.629010 deg. 2jHeadingCmd: 5.997458 target range: 348.299988 and range: 348.30 m. j,@jjjihhhhTBfff!rfIbfU@?ɛBD ü UI! -Iy<ɚ)i)I-,=IMJiIiMc7>)M,@)IE]rAEY M$?IQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441976*F2F:FBF<5JF"G >G >J)J)J5J5J1J1J5\:J5:J1J1G] =>G9 BA O] >-MՃw,hhh jG٣hrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.693096ynB{ v> zNusing accuracyPremultiplier from configx~*59zEZ?*5YzR2 iz B<{@zEz;z;z3&*5  l@ EZj1=FNOT Ignoring new targets: 348.30 m.BjEgJjEg] ProNav: ac range: 348.299988 m, nav range: 15.339320 m, bearing: 327.825703 deg, approach rate: -0.675260 m/s, LOS rate: -0.810316 deg/s, cmd heading: 343.629003 deg, new cmd heading: 342.756651 deg. 2j] eHeadingCmd: 5.982232 target range: 348.299988 and range: 348.30 m. jern@jajajaiihihihihifqfqfqrfqbf=?H}>I}C I}$II}mBI}/ =&Iy.I}2D6I}<:I} Fɛ߅B "_=I f;ɚiI,=Iii(0>)rn@)*FM?2FI:FIBFM_0JFIG-:>GB O%M> 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9447564wۃw,"pA6d@Y6@68<96ffy6H?к?@?hế!?m?&Ќ@?ɨ6d@6;6CyV̄BVW#II^I^4٢fE fJ=9j;Q j>hh jG٣lyn{s n> vNusing accuracyPremultiplier from configpv*59r+Z?v*5Yr82 ir Bxzz{@r#Erj:r:r)*5  @ZjIUFNOT Ignoring new targets: 348.30 m.BjUTLJj]TLm ProNav: ac range: 348.299988 m, nav range: 15.084202 m, bearing: 327.539409 deg, approach rate: -0.626154 m/s, LOS rate: -0.714551 deg/s, cmd heading: 342.756651 deg, new cmd heading: 341.883315 deg. 2jm1uHeadingCmd: 5.966990 target range: 348.299988 and range: 348.30 m. ju@jqjqjqiqhyhyhyhfffrfbf@ɛ܅B* I ;ɚiIdP-=Im䡾ii(>)@)zKKK59KKRKy:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.201944*F?2F:FBFJFG 7>G ?G ?G B O > % $?I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452713paw,+A2Խ@Y2U@2S3<92^y2H੸?@ ? y? ? ݅? ы@Y?ɨ2Խ@2;2Cy:΄B>Y#IMb@Mb@Mb@ )Y/$?l¿y&1y1(?`zA )IAIAJJJJJ|:J:JJyAII4٢-H< -6=9-g;Q 5>11 5G٣5RJGy=d => ENusing accuracyPremultiplier from configAM*59ECZ?M*5YE2 iE BU,?U:UU{@E(EE;El;E-*5Y ]@]EZjFNOT Ignoring new targets: 348.30 m.Bj#Jj# ProNav: ac range: 348.299988 m, nav range: 14.788964 m, bearing: 327.290828 deg, approach rate: -0.664240 m/s, LOS rate: -0.570433 deg/s, cmd heading: 341.883316 deg, new cmd heading: 341.122732 deg. 2jüHeadingCmd: 5.953715 target range: 348.299988 and range: 348.30 m. jՄ@jjjihhhh4BfffrfIbfM@ >@ɛׅBܼ 隥I ;ɚiI .=IWii.>)Մ@)*F}?2F:FBFJFGqA GG]M.>Will construct direction to contact in vehicle frame from tetrahedron phase data.i%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705726G1B9O]v>H>I I#II:BI&I.I6Iа<:Ix FBI9JI9RI9ZI=0 =bI=0 =jI=?45^w,ΣA2 @Y2e@2<92S:y2H ??? =ÿ?`k.?H`4?ɨ2 @2(;2CyLPIZIZ4٢b bd=9f;Q f>dd jG٣hyjɋ j> 5Nusing accuracyPremultiplier from config1=*5951WZ?=*5Y5`2 i5 BAEE{@5,E5 ;5 ;50*5MLB M@MEmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 348.30 m.BjJj ProNav: ac range: 348.299988 m, nav range: 14.545745 m, bearing: 327.102652 deg, approach rate: -0.657254 m/s, LOS rate: -0.517011 deg/s, cmd heading: 341.122733 deg, new cmd heading: 340.548786 deg. 2jiHeadingCmd: 5.943697 target range: 348.299988 and range: 348.30 m. j2@jjjihhhhfff $?Irfbf@@ɛԅBP -I ;ɚiI1.=I aѭi i Jl>) 2@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957318E·3=*F?2F:FBFJF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:22:12:13.7636 U TRx dataTimestamp_ set to:1736374334.896478e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215142zKm q\NKm 9Ki Km SKm JK(W`C% TW6%BK :K G @)>G G Gy B O >,w,OAy=ʄB=T#IMb@Mb@Mb@ )YE?ktƿy&1|y&? 0`A A)AIyAI5I5D4٢E3 E0=9MQ M>IQ UG٣QyU U> ]Nusing accuracyPremultiplier from configYm*59]nZ?m*5Y]2 i] Bmb,?u:uӾu{@]1E],3;]}0;]4*5y })@yZjFNOT Ignoring new targets: 348.30 m.BjJj ProNav: ac range: 348.299988 m, nav range: 14.245218 m, bearing: 326.906376 deg, approach rate: -0.666185 m/s, LOS rate: -0.444269 deg/s, cmd heading: 340.548779 deg, new cmd heading: 339.947550 deg. 2jrHeadingCmd: 5.933204 target range: 348.299988 and range: 348.30 m. jܽ@jjjihhhh+Bfffrfbf`4 @ɛuυB}P I _;ɚiIv/=I0i i&>)ܽ@)9 e$?IiE5[=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.463689*F?2F:FBF`0JFGeH >G9BIOe>Mw,A2M@Y2՜@2<92#y2HW?@:? N?ɿFZ?Lai@^`ud?ɨ2M@2#;0yFބBFl#IiJ=IJp< Jp=Ja=bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.716655IRIR4٢jJ= nf=9nApp rG٣rSJGyv v> ~Nusing accuracyPremultiplier from configx*59zǀZ?*5Yzf2 iz| B뾑{@z4Ez;z;z7*5 @EH >I  I #II !BI . =&I .I 6I <:I  FU~GiZA YyBZjFNOT Ignoring new targets: 348.30 m.BjJj  ProNav: ac range: 348.299988 m, nav range: 14.007421 m, bearing: 326.791486 deg, approach rate: -0.584042 m/s, LOS rate: -0.286965 deg/s, cmd heading: 339.947558 deg, new cmd heading: 339.597043 deg. 2j5D5HeadingCmd: 5.927086 target range: 348.299988 and range: 348.30 m. j5@j9j9j9i9h9h9hAhAfAfAfIrfIbfM@ɛ˅BDټ XI ;ɚiI20=IRiGN+iy=)@)EE*E)"E) YIY}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 346.8 m (Round-trip 462.5 ms) speed -0.2 m/s ,DAT read: user:2388> 2DAT read: Tx time:22:12 Punknown deviceResponse_: Tx time:22:12 JDAT read: TxSync time:22:12:14.8462 -X#Rx 1: Read range message, but no direction.yy}fCyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F ?2F :F BF _0JF J J J J J :J :J J J ;a J ;a J CG;a J DG;a G >GBO->Ww,AzWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.223905zKOK59KKTK-OltsWH:2(  RK5?JK5?:׺@Y@lf<9&6;yHC0?i??*d̿ 3?@Z<Kc?d?ɨ:׺@,;騵CyBx#IMMb@Mb@Mb@III I)IYM{Gz?jtĿ{Gzt?yM#?M Mף;MzA I)IIIIyMAIeIe4٢u= u=9}W_;Q }>y G٣y% > Nusing accuracyPremultiplier from config*59"Z?*5Y2 it B(?%:%-{@:E<<<*5y }F@}E addTargetRange:: Added new target pos. range: 346.799988 m, deltaT: 4.044656 s, deltaX: -1.500000 m, approachRate: -0.370860 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 348.30 m.BjJj  ProNav: ac range: 348.299988 m, nav range: 13.646791 m, bearing: 326.616253 deg, approach rate: -0.678444 m/s, LOS rate: -0.338372 deg/s, cmd heading: 339.597033 deg, new cmd heading: 339.057458 deg. 2j 8hHeadingCmd: 5.917669 target range: 348.299988 and range: 346.80 m. j]@jjjihhhhCBf!f!f!rf%̬u@bf%?ɛŅBMͬ 隥ݾI ,;ɚiI1=IU$ieCim =)m]@)q m$?Ii*F=?2F9:F9BF=`0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.473475G5 k>G B O >\3w,bA:;@Y:7K@:a<9:g Vo=9Vd>;Q Z?XX ZG٣Xy^oc ^? bNusing accuracyPremultiplier from config`f*59bZ?f*5Ybr2 ibn Bhjj{@b>Eb:b:b?*5l n@rEZj  FNOT Ignoring new targets: 348.30 m.BjUJjU% ProNav: ac range: 348.299988 m, nav range: 13.422379 m, bearing: 326.520921 deg, approach rate: -0.721957 m/s, LOS rate: -0.311822 deg/s, cmd heading: 339.057448 deg, new cmd heading: 338.766673 deg. 2j%V-HeadingCmd: 5.912594 target range: 348.299988 and range: 346.80 m. j-3@j)j)j1i1h1h1h1h9fQfQfQrfYbf]R?ɛ…BPnݼ 隕ľI z;ɚiI)1=I)ii=)3@)*F?2F:FBFA5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.725076G=jH5<bH54<HE >IEC IAIAIA&IA.IE1D6IE<:IED FGqBO%M> i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. > p= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.977969^ w,5+AV@YV@V?=9Vdӥ)) -G٣-TJGy-I 5> =Nusing accuracyPremultiplier from config1E*595TZ?E*5Y52 i5f BAE M{@5BE5:5:5dC*5Y ]_@]EJJJ/JJ|:J:J(N3JJ;J;JA;JA;B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 348.30 m.Bj Jj = ProNav: ac range: 348.299988 m, nav range: 13.147280 m, bearing: 326.424526 deg, approach rate: -0.630403 m/s, LOS rate: -0.225515 deg/s, cmd heading: 338.766673 deg, new cmd heading: 338.471440 deg. 2jEEHeadingCmd: 5.907441 target range: 348.299988 and range: 346.80 m. jE @jIjIjIiIhIhIhqhqfqfyfyrfybf}?ɛB挼 I ;ɚiIY2=Iai i= =) @)*F2F:FBF5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.231464zKمMKh9KKUK    BK:KpAGS=G B O >Ew,VEA6 @Y6 @6"=96[ G٣y5 > Nusing accuracyPremultiplier from config*59Z?*5Y۸2 ig B?:ᾑ{@FEJ;!I; G*5 @EZjFNOT Ignoring new targets: 348.30 m.uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.480790BjJj񻝊 ProNav: ac range: 348.299988 m, nav range: 12.892218 m, bearing: 326.258565 deg, approach rate: -0.636805 m/s, LOS rate: -0.422547 deg/s, cmd heading: 338.471445 deg, new cmd heading: 337.963724 deg. 2jHeadingCmd: 5.898580 target range: 348.299988 and range: 346.80 m. j*@jjjihhhhBfffrfbf`2c?ɛ-B-s )-% Will construct direction to contact in vehicle frame from tetrahedron phase data.) i) - checking for new query: numPingsReceived=0, elapsed TxPingTime=5.732960H% >I!  I% #II% 5BI% 0 =&I! .I! 6I% Ӱ<:I% v Fpw,1_A6~@Y6K@6‹=96XX ZG٣Xy^% ^> fNusing accuracyPremultiplier from config`f*59bZ?j*5Yb2 ibf Bhjr龑j{@bJEb:bz:bRJ*5l r@pZjFNOT Ignoring new targets: 348.30 m.Bj9ϻJj9ϻ ProNav: ac range: 348.299988 m, nav range: 12.662569 m, bearing: 326.119572 deg, approach rate: -0.588009 m/s, LOS rate: -0.362340 deg/s, cmd heading: 337.963716 deg, new cmd heading: 337.539185 deg. 2jxHeadingCmd: 5.891170 target range: 348.299988 and range: 346.80 m. jw@jjjihhhhfffrfbf@U?ɛmBu\I 隝fI ;ɚiIK3=I7Ⱦii,=)w@)  $?Ii*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.986047JCKC KCKCKC"KCJJJ0JJJ:Jـ3JJJJ@;J@;Gm 4I=G) BA O] >3w,.yArWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=6.239443zKLK9KKVKRK?JK?^@Y @=9<=yH`Ms??{"?`Oӿ5q? ȥR??ɨ^@;CyXB$I ==Mb@Mb@Mb@ )Yv?/$~jt?y?<A zA)AIyGAIIE4٢= +=9K9;Q > G٣UJGy > Nusing accuracyPremultiplier from config*59Z?*5Y2 id B ? : t {@OE=3;1;~N*5 9@EZj9EFNOT Ignoring new targets: 348.30 m.BjMhJJjMhJ] ProNav: ac range: 348.299988 m, nav range: 12.386017 m, bearing: 325.799863 deg, approach rate: -0.598914 m/s, LOS rate: -0.707834 deg/s, cmd heading: 337.539179 deg, new cmd heading: 336.558735 deg. 2j]򼝊eHeadingCmd: 5.874058 target range: 348.299988 and range: 346.80 m. jeI@jajajaiahihihihmBfqfqfqrfybf}@ɛB /I 9x;ɚiI<4=I!yѾii=)I@)*F}?2Fy:FyBFyJFyGUƠ= $?IG B)OMt>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.489477$w,A6,@Y6ξ@6 =96I=y6H`xY? [;?{J?@%Կ U?kzf@d? S?ɨ6,@6%,;6CyNdBR$IIZIZ4٢bJ= bu=9bn;Q f?dd fG٣dyj j? rNusing accuracyPremultiplier from configpv*59r [?v*5Yr2 irc Bxzz{@rRErL:rL:rjQ*5| ~v@Zj!-FNOT Ignoring new targets: 348.30 m.Bj-aBJj-aB= ProNav: ac range: 348.299988 m, nav range: 12.191821 m, bearing: 325.576297 deg, approach rate: -0.581209 m/s, LOS rate: -0.679767 deg/s, cmd heading: 336.558746 deg, new cmd heading: 335.877399 deg. 2j=B鼝EHeadingCmd: 5.862166 target range: 348.299988 and range: 346.80 m. jEޖ@jAjIjIiIhIhIhQhQfQfYfYrfabfe@lmJTimed out from 2025-01-08T22:02:18.3Zq6ulufCompleted lineCaptureHoming:MicromodemComms:CheckIn16u luAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkuVCompleted lineCaptureHoming:MicromodemCommsɛ5B5oݻ q}8Iy }y;ɚyiyI}~4=Iˏ׾iiР=)ޖ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.741772*F?2F:FBF`0JFZHRH?AH>I I$IIcBI&I.I6I<:IY FGt=G B O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.993421*w,%ˬAZrr@YZ@Z=9Z*=yZH@?#? @ϖ?@Կ@;? r0_O??ɨZrr@Z;ZCyfuBf&$IInIn4٢v= vG=9zC:Q z>AA EG٣AyMͶ M> UNusing accuracyPremultiplier from configQ]*59U [?]*5YUK2 iUa BY]e{@UVEU ;U ;UU*5mKB mk@mEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 348.30 m.BjAJjA ProNav: ac range: 348.299988 m, nav range: 11.948833 m, bearing: 325.297723 deg, approach rate: -0.579803 m/s, LOS rate: -0.678229 deg/s, cmd heading: 335.877394 deg, new cmd heading: 335.024744 deg. 2jJJJ/JJ:J9J(N3JJ;J;J$7;J$7;HeadingCmd: 5.847285 target range: 348.299988 and range: 346.80 m. j@jjjihhhhfffrfbf@@5knAggregate::initialize lineCaptureHoming:MicromodemComms16 l~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6ɛBb8Z !%νI! %s;ɚ!i!I%LI5=I-U.߾i)i5=)5@)9*F?2F:FBF0JFG=GGrAGABQ Will construct direction to contact in vehicle frame from tetrahedron phase data.i-BDAT read: Rx Time:22:12:17.7143 ETRx dataTimestamp_ set to:1736374338.934722mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.258544zKMJKM+9KIKMWKM $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.496850O ?3w,A>^@Y>@>aA=9>)Q=y>H U ? ?㯒?qտ_?F*G5?q?ɨ>^@>QM;>CyFzBF-$I)L LLNA%Mb@Mb@Mb@!!! !)!Y%V-?/$?/$?y%h?%,=%<% A %A)% AI%A!y%AI5I5n4٢El< E=9M2Q M>II UG٣UVJGyUT U> eNusing accuracyPremultiplier from configam*59e9[?*5Ye}2 ieb B?:P{@e[Ee BDAT read: Tx time:22:12:18.7971 $Ping request sent.I IH$IIBI1 =&I.I6I:IZ FBI9JI9RI9ZI9bI=/ =jI=5G =G B O > I 9w,vAb@Yb @b2=9b^=ybH _?n?ѐ?տ?oO4ͫ???ɨb@bA;bCynBr@$III4٢ k= N=9Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.=<%JDAT read: TxSync time:22:12:18.7963 )) 5G٣1y5B 5> ENusing accuracyPremultiplier from config9M*59=TL[?M*5Y=2 i=c BQUΌU{@=^E=-;=9;=U]*5Y ]@a addTargetRange:: Added new target pos. range: 347.200012 m, deltaT: 3.780104 s, deltaX: 0.400024 m, approachRate: 0.105824 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 348.30 m.BjJj ProNav: ac range: 348.299988 m, nav range: 11.440915 m, bearing: 324.414186 deg, approach rate: -0.564297 m/s, LOS rate: -1.017805 deg/s, cmd heading: 333.472402 deg, new cmd heading: 332.315245 deg. 2j.HeadingCmd: 5.799995 target range: 348.299988 and range: 347.20 m. j@jjjihhhhfffrf@3u@bf`E?ɛBD,: X*I k;ɚiIr}6=Idiiz=)@) *F?2F:FBFo0JFGZ=GyBO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK= BoHK= 9K9 K= XK= RKM ?JKM >@w,mSA>@Y>E@>L =9>ϫn=y>H=? P?N8?8ֿ? ;࢈`̭?L?ɨ>@>Gm;>CyNBNG$I%Mb@Mb@Mb@!!! !)!Y%|?5^?(\µ?Mb?y% ?%=%<%/ A %A)% AI%A!y%AIUIU{4٢ml< mD=9uQ u>qy }G٣yy} }> Nusing accuracyPremultiplier from config*59p_[?*5YY2 i` B%?-:-P-{@ =$?IAbE<<`*5Y ]@]EZjFNOT Ignoring new targets: 348.30 m.BjJj ProNav: ac range: 348.299988 m, nav range: 11.229594 m, bearing: 323.935132 deg, approach rate: -0.480017 m/s, LOS rate: -1.108639 deg/s, cmd heading: 332.315259 deg, new cmd heading: 330.851389 deg. 2j6>HeadingCmd: 5.774446 target range: 348.299988 and range: 347.20 m. jCȸ@jjjihhh h MBfffrf!bf%?ɛB(; 隥I Bj;ɚiI6=I<ii =)Cȸ@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF~0JFJJJ0JJ|:J:Jـ3Ja@a@a@a@G} F=GY Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.) = mCE ~GFw,S=AjH bH<H>I Iz$IIBI0 =&I.I2D6Iΰ<:Is FtA&A >%Y>tAyB BfMo@Yf~@f=9fsf=yfH`w? K?–?žֿ&?#u@Ƭ? ?ɨfMo@fW;fCyrBrD$IIUIU_v4٢e>. eJ=9mg9Q m>iq uG٣uWJGyuɆ u> Nusing accuracyPremultiplier from config*59r[?*5Y2 i^ BQW{@fE;;yd*5JB @EZj)-FNOT Ignoring new targets: 348.30 m.Bj5&Jj5&E ProNav: ac range: 348.299988 m, nav range: 11.022933 m, bearing: 323.455584 deg, approach rate: -0.530046 m/s, LOS rate: -1.252993 deg/s, cmd heading: 330.851385 deg, new cmd heading: 329.386105 deg. 2jEVmHeadingCmd: 5.748872 target range: 348.299988 and range: 347.20 m. jm@jijijiiqhqhqhqhqfyfyfyrfybf?ɛB;  I @i;ɚiIS7=I%ii^>)@) %$?I)*F?2F:FBF1JF"G=G=GuS=5Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBqO|>iMw,7A27@Y2G@2r<92jb=y2H?`r?Ζ?W׿?`}ן #F? ?ɨ27@2&;2CyRBR:$IIZIZ<4٢b+ bV=9b]Q f>dd fG٣dyj4 j> nNusing accuracyPremultiplier from configlr*59n[?r*5Yn2 in\ BtvF^z{@niEn2;n1;ng*5| ~[@B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 348.30 m.Bj-ٵJj5ٵE ProNav: ac range: 348.299988 m, nav range: 10.828277 m, bearing: 322.993850 deg, approach rate: -0.526729 m/s, LOS rate: -1.271872 deg/s, cmd heading: 329.386091 deg, new cmd heading: 327.976288 deg. 2jE8ZMHeadingCmd: 5.724266 target range: 348.299988 and range: 347.20 m. jM0-@jIjIjIiIhIhQhQhQfQfAfIrfQbf}?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ=B=k: 9=@I9 Eg;ɚAiAIE}7=zKIKM+9KIKMYKMBKQ:KQImTiiim>)m0-@)q*F-?2F1:F1BF5]5JF1 IM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760480Gm /=G9 BI O >Tw,PAJ4J6J4J4J4J6:J4J4>@Y>^@>&=9>[=y>H? x?@?c׿?Ty@s5}q??ɨ>@>;=9J:Q > G٣yf > Nusing accuracyPremultiplier from config*59[?*5Y2 iT B?:K{@mEI;;k*5 @EZjFNOT Ignoring new targets: 348.30 m.BjüJjü  ProNav: ac range: 348.299988 m, nav range: 10.606045 m, bearing: 322.416770 deg, approach rate: -0.516753 m/s, LOS rate: -1.369972 deg/s, cmd heading: 327.976286 deg, new cmd heading: 326.209360 deg. 2j  k%HeadingCmd: 5.693428 target range: 348.299988 and range: 347.20 m. j%0@j)j)j)i)h)h)h1h8Bfffrfbf?ɛ-B- 9 )-(-II Ue;ɚQiQI]#8=IeYiaie.1>)e0@)a*F%?2F!:F!BF-V0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012705G>H->I-C I-$II-ͅBI-/ =&I).I)6I-<:I- FG1BAO]v>  $?I i/Zw,jAJõ@YJ Ӽ@J?=9JQmN=yJHg??@?׿`?Pǩ?q?ɨJõ@J ;JCyRsBR$$I)X ZAXZAIbIb4٢j( jW=9jW:Q j>ll nG٣nXJGyr r> vNusing accuracyPremultiplier from configtz*59v[?z*5YvE2 ivM Bx~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263833~S{@vqEv{v;vv;vn*5 z@ZjAEFNOT Ignoring new targets: 348.30 m.BjMƼJjMƼ] ProNav: ac range: 348.299988 m, nav range: 10.410416 m, bearing: 321.896706 deg, approach rate: -0.513048 m/s, LOS rate: -1.389505 deg/s, cmd heading: 326.209370 deg, new cmd heading: 324.620289 deg. 2j]fneHeadingCmd: 5.665693 target range: 348.299988 and range: 347.20 m. je[M@jajajaiahahihihififqfqrfqbf}GB@ɛB(ӹ 隥UI c;ɚiI8=IiifA>)[M@)*F5?2F1:F1BF5_0JF1G R>GBO (>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519464zK} BHK} h9Ky K} ZK} RK ?JK >aw,0A $?IyޥZBޥ$IMb@Mb@Mb@ )YV-?ʡE?/$yh?-= A A) AIyAII4٢ ֽ /=9Q > G٣y > Nusing accuracyPremultiplier from config*59[?*5Y2 i< B3?:j{@uE;A;r*5 @EZjFNOT Ignoring new targets: 348.30 m.Bj%RɼJj%Rɼ5 ProNav: ac range: 348.299988 m, nav range: 10.167741 m, bearing: 321.257160 deg, approach rate: -0.521845 m/s, LOS rate: -1.408066 deg/s, cmd heading: 324.620286 deg, new cmd heading: 322.656667 deg. 2j5q=HeadingCmd: 5.631421 target range: 348.299988 and range: 347.20 m. j=4@j9j9j9i9hAhAhAhM;BfIfIfIrfQbfU{@ɛB- I  W];ɚiI 9=I&ii6^>)4@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768259*F?2F:FBFJFJ}J}J}1JyJ}\:J} 9J}3JyG] (1>Gm ?Gm ?G9 BA Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020597ZH RH @AH >I  I $II ȅBI . =&I .I 6I <:I FVCgw,vABX@YB @BA<9Bi=yBH_?"`? ?PٿZ?|n@p@w??ɨBX@Bb;BCy^FB^#IIfIf34٢n no=9n^Q r?pp rG٣pyz9 z? Nusing accuracyPremultiplier from config%*59S[?%*5Y/2 i0 B!%-{@xE:v:v*51 58@5EZjFNOT Ignoring new targets: 348.30 m.BjJj ProNav: ac range: 348.299988 m, nav range: 9.986649 m, bearing: 320.788878 deg, approach rate: -0.509217 m/s, LOS rate: -1.340635 deg/s, cmd heading: 322.656661 deg, new cmd heading: 321.226652 deg. 2jfHeadingCmd: 5.606463 target range: 348.299988 and range: 347.20 m. j%h@jjjihhhhf f f rf bf%@ɛmBm» 隕fI ]W;ɚiIi{9=I=-ii=Z>)%h@) $?I*F?2F:FBF`0JFG:{!>GyBO_>Will construct direction to contact in vehicle frame from tetrahedron phase data.>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272095lmw,LA6y@Y6@6<96ڿZ)?b-9?@2?ɨ6y@6%\;4y^1B^#Iib%>Ib= f=fp=InInV4٢vҽ vI=9vQ v>xx zG٣zYJGy~: ~> Nusing accuracyPremultiplier from config *59[? *5Y2 i! B {@|E::y*5 @%E=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 348.30 m.BjUCʼJj]Cʼe ProNav: ac range: 348.299988 m, nav range: 9.776589 m, bearing: 320.245632 deg, approach rate: -0.535507 m/s, LOS rate: -1.414642 deg/s, cmd heading: 321.226665 deg, new cmd heading: 319.562403 deg. 2jmrmHeadingCmd: 5.577416 target range: 348.299988 and range: 347.20 m. jm1z@jqjqjqiqhqhyhyhyfffrfbf@ @ɛBf 隵2%I UO;ɚiI9=IM4iig>)1z@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:12:21.6642 TRx dataTimestamp_ set to:1736374342.965278checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533422*F?2F:FBF0JFzKBoHK9KK[KGE>GBOA> yIy5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777518lStw,$AJ J"@AJ&J&J&0J$J&:J&:J&ـ3J$B@YBb@B <9B< G٣y% %> -Nusing accuracyPremultiplier from config)5*59-[?5*5Y-E2 i- B=H?=:=8={@-E-4;-3;-\}*5I M@MEZjiuFNOT Ignoring new targets: 348.30 m.Bj}ɬJj}ɬ ProNav: ac range: 348.299988 m, nav range: 9.526272 m, bearing: 319.725613 deg, approach rate: -0.566841 m/s, LOS rate: -1.208501 deg/s, cmd heading: 319.562394 deg, new cmd heading: 317.961785 deg. 2jXOHeadingCmd: 5.549480 target range: 348.299988 and range: 347.20 m. jW@jjjihhhhBfffrfbfD~@ɛB , 隵)W@)*Fe?2Fa:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 347.1 m (Round-trip 462.9 ms) speed -0.1 m/s ,DAT read: user:2390> BDAT read: Tx time:22:12:22.7471 $Ping request sent.IC Ia$IIBI- =&I.I6I<:Ii FG \>G G m $?Ii G B O >=}zw,A:K@Y:[@:^O<9:#\` bG٣`ybd b> jNusing accuracyPremultiplier from configdj*59f\?j*5Yfd2 if Blnþn{@fEf1;f;f*5t v1@tWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:12:22.7463 = addTargetRange:: Added new target pos. range: 347.100006 m, deltaT: 4.032688 s, deltaX: -0.100006 m, approachRate: -0.024799 m/s, rangeRepo size: 4 Zj9=FNOT Ignoring new targets: 348.30 m.BjE:JjE:U ProNav: ac range: 348.299988 m, nav range: 9.321675 m, bearing: 319.307575 deg, approach rate: -0.563487 m/s, LOS rate: -1.176596 deg/s, cmd heading: 317.961780 deg, new cmd heading: 316.680363 deg. 2jUI]HeadingCmd: 5.527115 target range: 348.299988 and range: 347.10 m. j] ް@jajajaiahahahihifififirfuu@bfu71?ɛ}BՆ 隭LI r7;ɚiI>;=I׍AiiMq>) ް@)*F5?2F1:F1BF55JF1G a>GBO$>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK k3IK K K \K (b8 ^ew,A Iy%B%}#I))Mb@Mb@Mb@ )YZd;?:v+y?TA A) AIAyfAIIs4٢ X 8=9Q > G٣ZJGy > %Nusing accuracyPremultiplier from config-*59v\?=*5Y2 i B=R?=:=={@E;L;f*5A E@MߺEZjiuFNOT Ignoring new targets: 348.30 m.BjuUJj}U ProNav: ac range: 348.299988 m, nav range: 9.052541 m, bearing: 318.907858 deg, approach rate: -0.605210 m/s, LOS rate: -0.925568 deg/s, cmd heading: 316.680355 deg, new cmd heading: 315.445756 deg. 2jHeadingCmd: 5.505567 target range: 348.299988 and range: 347.10 m. j-@jjjihhhhBfffrfbfV?ɛuzBu^ quIq }&;ɚyiyI}";=IGiid>)-@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF5JF*J]C="J]4=Gn>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH H >I C I )$II wBI &I .I 6I <:I A FBI˙CJI˙CRIZI. =bI. =jI˧5Kw,QAF@YF̸@FM<9FwDyFH? ?@?"߿!?`h?ɨF@F`;FCy^ӄBb_#IIjIj(4٢* X=9Q >!! %G٣!y-< -> 5Nusing accuracyPremultiplier from config1=*595.\?=*5Y52 i5 BAEE{@5E56);5);5*5I Ms@QZjqFNOT Ignoring new targets: 348.30 m.Bj\Jj\ ProNav: ac range: 348.299988 m, nav range: 8.822210 m, bearing: 318.624389 deg, approach rate: -0.611933 m/s, LOS rate: -0.772771 deg/s, cmd heading: 315.445757 deg, new cmd heading: 314.573216 deg. 2jHeadingCmd: 5.490338 target range: 348.299988 and range: 347.10 m. jڰ@jjjihhhhfff)rf)bf5?ɛ]wB]P Y]Ia e";ɚaiaIeT<=IJiiWb>)ڰ@) $?I*F%?2F!:F!BF-[0JF)Gw>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O k>uPExceeded connect timeout, disconnecting.JU JU JQ JQ JU :JU 9JQ JQ JQ ae JQ ae JU <;am JU <;am `w,*9A6ܰ@Y6c@6M7<96Icy6H?@-P? `?gS@?@ot?`< W*@?ɨ6ܰ@67;4y>BRH#IIZIZ4٢bý fP=9fIQ f>hh jG٣hyj n> rNusing accuracyPremultiplier from configpv*59r?\?v*5Yr@2 ir Btvz{@rEr:r:r*5| ~@~ܺEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 348.30 m.Bj-FJj-FE ProNav: ac range: 348.299988 m, nav range: 8.583919 m, bearing: 318.360590 deg, approach rate: -0.611470 m/s, LOS rate: -0.695712 deg/s, cmd heading: 314.573214 deg, new cmd heading: 313.759905 deg. 2jEMHeadingCmd: 5.476143 target range: 348.299988 and range: 347.10 m. jM<@jIjQjQiQhQhQhYhYfafafarfabfec?ɛuB 隕I c;ɚiI<=INNiiZ>)<@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*Fu?2Fy:FyBF}_0JFzKE%MKE}9KAKE]KE 5$?I1Gl>GqBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764006Dw,]kSA6G@Y6@6c<96y6H`?@?@?@ X?`^M?+`Jv(?ɨ6G@6;6CyBBB5#I Mb@Mb@Mb@    ) Y K7A`?i|?5 rhy +? q C 3A A) AI  y AI%I%4٢5X 5C=9=:Q =>AA EG٣E[JGyEp M> UNusing accuracyPremultiplier from configIU*59MR\?]*5YM2 iM B]+?]:]&]{@MEM;M-;MÎ*5mIB m@mٺEZjQUFNOT Ignoring new targets: 348.30 m.Bj]{ûJj]{ûm ProNav: ac range: 348.299988 m, nav range: 8.304792 m, bearing: 318.215635 deg, approach rate: -0.636783 m/s, LOS rate: -0.341806 deg/s, cmd heading: 313.759903 deg, new cmd heading: 313.310433 deg. 2jmjHeadingCmd: 5.468298 target range: 348.299988 and range: 347.10 m. jM@jjjihhhhYBfffrfbf`?ɛrBX I h:ɚiI?==IkPiRҺiK>)M@)~G|uAZA =YY=|uAy=7BH}>Iy I}#II}?BIy&Iy.Iy6I}b<:I}) FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019033*F2F:FBFJF"G>G=G2Fx>GaBiO}> ) I) ˚w,GmA2@Y2D"@29<92y2H`ߍ??@/?\ ? ?ٚy8?ɨ2@2;2CyRBR&#IIZIZ4٢bz bR=9b:Q f>dd fG٣dyj2 j> nNusing accuracyPremultiplier from configlr*59nc\?r*5Yn 2 in Btvi.v{@nEn:nn:n)*5x zO@Will construct direction to contact in vehicle frame from tetrahedron phase data.>= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271918|Zj15FNOT Ignoring new targets: 348.30 m. =nManaging dock network, ignoring radio surface power offBjEJjEU ProNav: ac range: 348.299988 m, nav range: 8.044567 m, bearing: 318.126640 deg, approach rate: -0.700874 m/s, LOS rate: -0.247446 deg/s, cmd heading: 313.310421 deg, new cmd heading: 313.034803 deg. 2jU)eHeadingCmd: 5.463488 target range: 348.299988 and range: 347.10 m. jeԮ@jajajaiahahihihififqfqrfqbfuO@ɛoB 隍ʾI N:ɚiIO>=IQi.ik6>)Ԯ@)J1J5J5/J1J1J5:J5(N3J1J1J1J5A;J5A;*Fm?2Fi:FiBFmo0JFiGE\>GB O-N>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526331zK} k3IK} 9Ky K} ^K} RK ?JK ?/w,K!AB%@YB}5@B2<9ByBH`??@~?`˘ X ?}?qś @?ɨB%@B܈;BC b$?I`yfBf#IMb@Mb@Mb@ )YʡE?|?5^ G٣y > Nusing accuracyPremultiplier from config*59u\?*5Y2 i{ B1?:.E{@E<<*5 @ֺEZjFNOT Ignoring new targets: 348.30 m.Bj Oc;Jj Oc;e ProNav: ac range: 348.299988 m, nav range: 7.741074 m, bearing: 318.215238 deg, approach rate: -0.655070 m/s, LOS rate: 0.198729 deg/s, cmd heading: 313.034810 deg, new cmd heading: 313.311021 deg. 2jeb)c@)!*F?2F:FBF_0JFG C[>G ?G ?ZHa RHe ?AHu >Iq  Iu #IIu BIu . =&Iq .Iq 6Iu i<:Iu - F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027010G B O >9ৄw,AFB@YFQ@F@S<9FPyFH?RO??P?M|h @z ?ɨFB@F;FCyRBR#II^I^4٢fP f\=9jY;Q j>ll nG٣lyn r> vNusing accuracyPremultiplier from configpv*59r%\?z*5Yr{2 irm Bxz8LU{@rEr_iGBOi>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:12:25.6145 %TRx dataTimestamp_ set to:1736374346.748901%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280371JM JM JM 0JI JM ̝:JM :JM ـ3JI JM ;JM ;JM I;JM I;ww,׺Ay%B%#II5I5T4٢E EC=9MQ M>II MG٣U\JGyU U> ]Nusing accuracyPremultiplier from configYe*59]5\?e*5Y]2 i]^ Biim{@]E]U;];]*5uIB u@}ֺEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 348.30 m.Bjg;Jjg; ProNav: ac range: 348.299988 m, nav range: 7.194609 m, bearing: 318.513636 deg, approach rate: -0.709457 m/s, LOS rate: 0.416859 deg/s, cmd heading: 313.730014 deg, new cmd heading: 314.239830 deg. 2j <HeadingCmd: 5.484519 target range: 348.299988 and range: 347.10 m. j/@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534206hhfffrfbf qS @zKAKE9KAKE_KEBKMqA:KIɛugBuȶм quϾIq }9ɚyiyI}J@=I_uLii=)/@) I*Fu?2Fy:FyBF0JFGU_)>G B O5 >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783012w,A6W@Y6ߧ@6]=96 G٣yE > Nusing accuracyPremultiplier from config*59\\?*5Y2 iM B 5?:x^|@E;;*5 @ZjFNOT Ignoring new targets: 348.30 m.Bj|<Jj|<- ProNav: ac range: 348.299988 m, nav range: 6.900983 m, bearing: 318.869651 deg, approach rate: -0.699579 m/s, LOS rate: 0.884311 deg/s, cmd heading: 314.239819 deg, new cmd heading: 315.353162 deg. 2j-=5HeadingCmd: 5.503951 target range: 348.299988 and range: 347.10 m. j5^ @j1j1j1i1h9h9h9h=HBfAfAfArfAbfM z@ɛ}fB}7 |=隅ƾI 8ɚiIGA=IGii)]=)^ @)*F?2F:FBF\0JFG&>GGqAH I  I #II BI / =&I .I 6I <:I Q FuWill construct direction to contact in vehicle frame from tetrahedron phase data.GDAT read: 22:12:25.6145 LVL= 17568, 25457, 19042, 25331, AGC= 66, IDX= 437,-0.17,-0.193,-0.585,-2.227,-0.959, PHS= 0.855, 0.421,-1.271, RAW= 41.1, -0.1, CAL= 40.8, -1.9, ROT= 109.2, 1.9 Ygot valid direction response: 22:12:25.6145 LVL= 17568, 25457, 19042, 25331, AGC= 66, IDX= 437,-0.17,-0.193,-0.585,-2.227,-0.959, PHS= 0.855, 0.421,-1.271, RAW= 41.1, -0.1, CAL= 40.8, -1.9, ROT= 109.2, 1.9 8DAT read: $Error in header *Received a bad headerB O-N>mX#Rx 1: Read direction message, but no range.u\direction in FSK: [0.010662,0.798253,0.602228]y9}Յ?IBI? RtE?y}D}qc }bJ)}bI}Bi}HZ?}P>}!}7?} }K6?)}I}?i}=y}d?;eN>yM)}-I}f-n:i}:Z?}9s%T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse } $?Iy w,{AR֪@YRx@Rk=9RO=yRH@?<5?W?-? ̡?c?ɨR֪@R&l;RCnWill construct direction to contact in vehicle frame from tetrahedron phase data.nT****** received valid address query ******rR****** received valid ping request ******rreceived new query, but waiting for acoustic response period to elapseyvBv&#Ii~=I~a= ~=~=AAII-4٢< U=9;Q >! %G٣!y%U| %> 5Nusing accuracyPremultiplier from config)5*59-\?=*5Y-w3 i-< B9=nd=|@-E-C:-:-*5A MP@MӺEZjy}FNOT Ignoring new targets: 348.30 m.Bj.<Jj.< ProNav: ac range: 348.299988 m, nav range: 6.635023 m, bearing: 319.274683 deg, approach rate: -0.694058 m/s, LOS rate: 1.099342 deg/s, cmd heading: 315.353167 deg, new cmd heading: 316.616753 deg. 2j<=HeadingCmd: 5.526005 target range: 348.299988 and range: 347.10 m. jհ@jjjihhhhfffrfbfHF@ɛdB|ܼ kI PVɚiIvB=IAiiZ<)հ@)JQJUJQJQJQJU:JQJQJQJQJUC;JUC;*FE?2FA:FABFE_0JFAGe6>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGi B O- >zK K @9K K `K !%"  RK JK >L„w,hA IJ'@YJd7@J=9J,8=yJH?`?ȵghu?#`<w? ?ɨJ'@JKǍ;JCynBn7#IMb@Mb@Mb@ )Y?)\(Mbpy,?GόA A) AIAyfAII٢h= @=9MS;Q M>QQ UG٣U]JGy]E ]> eNusing accuracyPremultiplier from configam*59eY\?m*5Ye 3 ie- Bm/?u:uhu|@eEe>;e;eǧ*5y }p@ZjFNOT Ignoring new targets: 348.30 m.Bj.<Jj.< ProNav: ac range: 348.299988 m, nav range: 6.338950 m, bearing: 319.805672 deg, approach rate: -0.671338 m/s, LOS rate: 1.260224 deg/s, cmd heading: 316.616752 deg, new cmd heading: 318.283630 deg. 2j8X=HeadingCmd: 5.555097 target range: 348.299988 and range: 347.10 m. j[ñ@jjjihhhheBfffrfbf` @ɛeaBe즼 aeIa mɚiiiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseImTB=I=c:i9iE2)m[ñ@)i*F?2F!:F!BF!JF!G2>GBO>jH <bH <H >I  I s#II BI . =&I .I 6I <:I H F Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseO;Ȅw,"AR@YR@R%=9RP=yRH p?`.?x$? ُ ??ɨR@R<;Py~B~G#III4٢e= eO=9m;Q m>ii mG٣qyu)W u> Nusing accuracyPremultiplier from config*59\?*5Y=3 i B"m|@E ::*5 @кEZj!%FNOT Ignoring new targets: 348.30 m.Bj-<Jj-<] ProNav: ac range: 348.299988 m, nav range: 6.084354 m, bearing: 320.354484 deg, approach rate: -0.650794 m/s, LOS rate: 1.461546 deg/s, cmd heading: 318.283619 deg, new cmd heading: 319.998408 deg. 2j]z=eHeadingCmd: 5.585026 target range: 348.299988 and range: 347.10 m. je@jajajaiahahihihififqfrfbf@ɛ_Bd8 ퟾I TFɚiIfC= $?II=2i9i=y)E@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEc=*Fm ?2Fi :Fi BFm ]0JFq GE A=GM ?GM ?JKcw3 KS}.KK"KJm Jm Jm /Ji Jm :Jm :Jm (N3Ji Jm ;Jm ;Jm @;Jm @;G9 BI Oe >Y΄w,-<A:@Y:z@:1=9:a`=y:HЫ?` ?$wٚ?p±6 ?@?ɨ:@:;8yF΄BJZ#I)L NAPRAIRIRg4٢^\= ^X=9^;Q ^>`` bG٣`yb< f> jNusing accuracyPremultiplier from configdn*59f9\?n*5Yf3 if Blnqn|@fEf ;f ;fe*5t v@vӺE B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 348.30 m.Bj%h<Jj%h<5 ProNav: ac range: 348.299988 m, nav range: 5.837129 m, bearing: 320.979695 deg, approach rate: -0.672380 m/s, LOS rate: 1.772374 deg/s, cmd heading: 319.998406 deg, new cmd heading: 321.952685 deg. 2j= ==HeadingCmd: 5.619134 target range: 348.299988 and range: 347.10 m. j=ϳ@jAjAjAiAhAhAhIhIfIfIfIrfQbfUA@ɛ^B  隅9I D{ɚiID=I?)iiҽ)ϳ@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseEv=*F?2F:FBFp0JFG]=zKMK9KKaKGB IiO J> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJU @AJU AARAՄw, VAy%քB-c#IMb@Mb@Mb@ )Yp= ף?+MbP?y%?: A A) AIAyAIIa4٢= 9=9Q > G٣^JGy > Nusing accuracyPremultiplier from config*598\?*5Y3 i B R&? : $g |@E;;C*5 ;@Zj9EFNOT Ignoring new targets: 348.30 m.BjE<JjE<] ProNav: ac range: 348.299988 m, nav range: 5.557202 m, bearing: 321.631611 deg, approach rate: -0.634618 m/s, LOS rate: 1.552363 deg/s, cmd heading: 321.952687 deg, new cmd heading: 324.006026 deg. 2j]+=]HeadingCmd: 5.654972 target range: 348.299988 and range: 347.10 m. je@jajijiiihihihqhuBfqfqfyrfybf}@ɛ\BE'H IMͅII MV̛ɚIiIIMtlE=IU%iQiUi)]@)YH>I Iz#IIBI&I.I6I<:IL FBIyJIyRIyZIybIyjI}1;5]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseEMS= $?I*F?2F:FBF_0JF"G=G>G Fթ<G G  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O >6܄w,:sA6(@Y68@6\0D=963=y6H@y?$?@F͐@Q?@ }?@p?ɨ6(@6k;6CyMلBMg#IIeIe&4٢9< 9=9V$ G٣y@d > Nusing accuracyPremultiplier from config*59\?*5Y 3 iBm|@EW1;1;/*5 @кEZjIUFNOT Ignoring new targets: 348.30 m.BjUN=JjUN=e ProNav: ac range: 348.299988 m, nav range: 5.276096 m, bearing: 322.439431 deg, approach rate: -0.625323 m/s, LOS rate: 1.892680 deg/s, cmd heading: 324.006033 deg, new cmd heading: 326.556841 deg. 2je]=HeadingCmd: 5.699492 target range: 348.299988 and range: 347.10 m. j=b@jjjihhhhfffrfbf@ɛEYBMǏ IM)II MSɺɚQiQIUoF=IU iYi]1)]=b@)YEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F ?2F :F BF JF I II G} o;zK K 9K K bK Gq By O >pw,Af@Yf @fhH=9f=yfH?oC?ؗ 9?ɶ@`*?@??ɨf@fÎ;fCynBnx#Iir4=Ir G٣yl > Nusing accuracyPremultiplier from configEWill construct direction to contact in vehicle frame from tetrahedron phase data.M=M%=]T****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse*59 ]?*5Y&3 iBn ?:g|@E\<<*5 !@ZjFNOT Ignoring new targets: 348.30 m.Bj<Jj.~G9 miYiymAH >I  I #II BI &I .I 6I <:I  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseEw,\A29@Y2@2ME=92F3=y2H?`P?zH?@޷s2??ɨ29@2N;2CyBBF#IININs4٢j= jX= pIp9n{Q v>tt vG٣v_JGyzb z> Nusing accuracyPremultiplier from config *59S]? *5Y*3 iB  h|@E ; ;*5! %*@%ͺEZjamFNOT Ignoring new targets: 348.30 m.Bju=Jju= ProNav: ac range: 348.299988 m, nav range: 4.803787 m, bearing: 323.893920 deg, approach rate: -0.648005 m/s, LOS rate: 2.206918 deg/s, cmd heading: 328.793067 deg, new cmd heading: 331.127186 deg. 2jR=HeadingCmd: 5.779260 target range: 348.299988 and range: 347.10 m. j@jjjihhhhfffrfbf@ɛVBc~ ?I ;ɚiIH=IiiA7})@)*F?2F:FBF@5JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseGUG?G>GBOj>,w,sA:@Y: @:oA=9:=y:H@7?eD?dZO>?ؽ`+wD?@?ɨ:@:;:CRWill construct direction to contact in vehicle frame from tetrahedron phase data.RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseyB#II5I5V4٢5T; =*=9Q > $?I G٣)y- p; -> 5Nusing accuracyPremultiplier from config1=*595%]?=*5Y513 i5BAE*hE|@5E5e:5k;5v*5}JB }@}ϺEB*** querying acoustic contact ***jjzKBHKs9KKcK Q~ o)/:ZjFNOT Ignoring new targets: 348.30 m.Bj#=Jj#= ProNav: ac range: 348.299988 m, nav range: 4.498271 m, bearing: 325.002275 deg, approach rate: -0.588965 m/s, LOS rate: 2.281630 deg/s, cmd heading: 331.127188 deg, new cmd heading: 334.673331 deg. 2j=%HeadingCmd: 5.841152 target range: 348.299988 and range: 347.10 m. j-@j)j)j)i)h)h)h1h1f1f1f9rf9bf=@@ɛTBDZ 隭~9I ɚiIlI=I>Rii )@)*Fq2Fy:FyBF}R5JFyGUi۽uWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseG B O= >J J J 1J J :J 9J 3J Vw,A:@Y:*%@:N6=9:=y:H[ ?(?@ `&`? Ҧs??ɨ:@:r|;:Cyu Bu#I)y yH>IC I#IIBI, =&I.I3D6I԰<:I FMb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseYI +?L7A`堿MbPy9?+A )\ AIAy AII4٢=  5=9 [Q  > G٣y!< > eNusing accuracyPremultiplier from configm*593]?m*5Y63 iBuv?u:u]u|@E/<;A*5}IB }@̺EZj)-FNOT Ignoring new targets: 348.30 m.Bj5;=Jj5;= ProNav: ac range: 348.299988 m, nav range: 4.255630 m, bearing: 325.857713 deg, approach rate: -0.545169 m/s, LOS rate: 2.031524 deg/s, cmd heading: 334.673341 deg, new cmd heading: 337.383853 deg. 2jF=HeadingCmd: 5.888459 target range: 348.299988 and range: 347.10 m. jBn@jjjihhhhBfffrfbfGW @ $?IiɛSB : 隍VI ɚiIVI=IT9ξii)Bn@)!*F ?2F :F BF _5JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapseG ݽG G rAGBO>w,A>ʨ@Y>Xگ@>Y=9>l>y>H??`[@9?! y:?@?ɨ>ʨ@>ތ; G٣`JGyX|= > %Nusing accuracyPremultiplier from config!-*59%8?]?5*5Y%:3 i%B1= X=|@%E%F1;%1;%d*5A E@AZjiuFNOT Ignoring new targets: 348.30 m.Bju?"=Jju?"= ProNav: ac range: 348.299988 m, nav range: 4.054348 m, bearing: 326.579304 deg, approach rate: -0.603154 m/s, LOS rate: 2.269579 deg/s, cmd heading: 337.383860 deg, new cmd heading: 339.654854 deg. 2j=HeadingCmd: 5.928095 target range: 348.299988 and range: 347.10 m. j@jjjihhhhfffrfbf`K @ɛMRBU V QU IQ U ɚYiYI]rJ=I]iaia)e@)a%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse*F5?2F1:F1BF5_0JF1G=GBO5N> QIYzKeqPKe9KaKedKev$  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsew,QABCK@YBZ@B<9B8l->yBHT?@?`^Pm{?P,¿ h??ɨBCK@Bk;BCy=B=#IJJJ0JJ|:J:Jـ3J%Mb@Mb@Mb@!!! !)!Y%/$?:vy&1|y%&?%T%`%A %hA)% AI%A!y% AI=I=Ь4٢M@ U6=9UqHQ U>aa eG٣aye= m> uNusing accuracyPremultiplier from configq}*59uMN]?}*5Yuw?3 iuB}3?}:J|@uEuY;us;uR*5 5@ZjFNOT Ignoring new targets: 348.30 m.Bj%=Jj%= ProNav: ac range: 348.299988 m, nav range: 3.805323 m, bearing: 327.377088 deg, approach rate: -0.553871 m/s, LOS rate: 1.890457 deg/s, cmd heading: 339.654844 deg, new cmd heading: 342.203057 deg. 2j,=HeadingCmd: 5.972570 target range: 348.299988 and range: 347.10 m. jK@jjjihhhh*Bfffrfbf@!@ɛPB @ 隥I ɚiIXK=IgKii)K@)*F}?2Fy:FBFJFH >I C I #II 0BI + =&I .I 6I C<:I  FGUWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG!B)OEs> A II w,-A68̩@Y6۰@6/C<960B>y6HD? c?N`Y?#ÿ`ǘ?j?ɨ68̩@64;6CyRBR#IiV=IV< Vp=Vp=IXIX٢; b=9 [Q  >    G٣ yA3= > Nusing accuracyPremultiplier from config%*59Z]?%*5Y:C3 iB)-F-|@E::w*51 5!@5ɺEZjamFNOT Ignoring new targets: 348.30 m.Bjm[ =Jjm[ =} ProNav: ac range: 348.299988 m, nav range: 3.606102 m, bearing: 328.043269 deg, approach rate: -0.552449 m/s, LOS rate: 1.949365 deg/s, cmd heading: 342.203051 deg, new cmd heading: 344.311004 deg. 2j:=HeadingCmd: 6.009361 target range: 348.299988 and range: 347.10 m. jL@jjjihhhhfffrfbf`"@ɛOBMVV I ɚiIτK=I3ii)L@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*FU?2FY:FYBFYJFYGU*@G!B)OM1>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapsew,GA z$?I|yH`ʰ?` ? =6P?`ſ:Ї?L?ɨKK%9K!K%eK%382*$Mb@Mb@Mb@ )YtV?:vy?TjA 3@)AIvAy AII 4٢  0=9wQ > G٣aJGy)= > Nusing accuracyPremultiplier from config*59H I  I #II :BI * =&I .I 6I <:I R F^w,aA2^@Y2'@2vq<92k>y2H%?~?Q¿ w?ƿ ./?'?ɨ2^@2;2CybBb#IIhrWill construct direction to contact in vehicle frame from tetrahedron phase data.r  m=9 żQ  ? G٣y|= ? %Nusing accuracyPremultiplier from config!-*59%w]?-*5Y%NK3 i%B1555|@%E%:%:%*59 =!@EƺEZjaeFNOT Ignoring new targets: 348.30 m.Bjm=Jjm= ProNav: ac range: 348.299988 m, nav range: 3.149976 m, bearing: 329.430869 deg, approach rate: -0.565998 m/s, LOS rate: 1.840938 deg/s, cmd heading: 346.872523 deg, new cmd heading: 348.767554 deg. 2j=%HeadingCmd: 6.087142 target range: 348.299988 and range: 347.10 m. j%@j!j!j!i!h)h)h)h)f1fQfqrfqbfuF$@ɛMB| I-`=B-I A-ɚiIDL=IFii)@) Ii*F?2F:FBF0JFGkGYBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.y6H@? ;?jĿ@pc`?=ȿ@3? ? ?ɨ6s@63;6CybBb#IIjIjb4٢v  vL=9v뻼Q v>xx zG٣xy~\= ~> Nusing accuracyPremultiplier from config *59Ȇ]? *5Y O3 iBc/|@E: :*5 @!ZjAMFNOT Ignoring new targets: 348.30 m.BjM=JjM=e ProNav: ac range: 348.299988 m, nav range: 2.923647 m, bearing: 330.109001 deg, approach rate: -0.565908 m/s, LOS rate: 1.826807 deg/s, cmd heading: 348.767545 deg, new cmd heading: 350.958311 deg. 2je=mHeadingCmd: 6.125378 target range: 348.299988 and range: 347.10 m. jm@jijqjqiqhqhqhyhyfyffrfbf%@ɛb 隵;I 6ɚiI vL=I}2ii)@)*FU?2FQ:FQBFUR5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.zK؉LKػ9KKfK        Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա  BDAT read: Response Not Received  *response not received ,DAT read: user:2392>  BDAT read: Tx time:22:12:33.6972  $Ping request sent. y2H1? B?f_ƿ@ϹKN?ʿ@m?Z??ɨ2ؾ@2);2CyBBBs#I*JR="Ja=Mb@Mb@Mb@ )Y(\?AA MG٣MbJGyuC`= u> }Nusing accuracyPremultiplier from configy*59}]?*5Y}wS3 i}B?:! |@}E};}f;}B*5 _@ZjFNOT Ignoring new targets: 348.30 m.Bj<Jj<5 ProNav: ac range: 348.299988 m, nav range: 2.644183 m, bearing: 330.740321 deg, approach rate: -0.567457 m/s, LOS rate: 1.417363 deg/s, cmd heading: 350.958315 deg, new cmd heading: 353.051474 deg. 2j5.s==HeadingCmd: 6.161911 target range: 348.299988 and range: 347.10 m. j=_.@j9j9j9i9hAhAhAhmBfififirfqbfu&@ɛ=LBeM~ imPIq u!pDɚyiyI}L=H>I I#II5BI&I.I6I<:IT FBIuśCJIuŚCRIqZIu+ =bIu+ =jIuŮ5I^ii)_.@)EEWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:12:33.6964 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253174*F?2F:FBF1JF I Gy GQ Ba O >O+w,\rA2@Y2@292F>y2H5?``? ȿ?F̿???ɨ2@2vx;2CyF܄BFj#IIN|IN[4٢V0 V{=9Z8Q Z?X\ ^G٣\y^ = ^ ? bNusing accuracyPremultiplier from config`f*59b]?j*5Yb;V3 ibBhjj|@bEbp;bp;b*5l r@pZjFNOT Ignoring new targets: 348.30 m.Bj<Jj<- ProNav: ac range: 348.299988 m, nav range: 2.458303 m, bearing: 331.117964 deg, approach rate: -0.590941 m/s, LOS rate: 1.291351 deg/s, cmd heading: 353.051467 deg, new cmd heading: 354.269867 deg. 2j-]=5HeadingCmd: 6.183176 target range: 348.299988 and range: 347.10 m. j5@j1j1j1i1h1h9h9h9f9fAfArfAbfE`0&@ɛKBN ^I  MɚiIL=I>ӽ-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501871i1i1)5@)1JJJ0JJ :J:Jـ3JJ;aJ;aJA;aJA;aEM6=*F?2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. <  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754023G- M $?I GI B O >o3w,=ANr@YN"@NU9Nݚ>yNH12? F?@\ɿY@1?̿_? ??ɨNr@N;NCy^ՄB^b#I b=b=zKm/MKm9KiKmgKmMb@Mb@Mb@ )YV-? G٣ytV= > Nusing accuracyPremultiplier from config*59]?*5YZ3 iB?:[|@E;;[*5 ;@úEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 348.30 m.Bj-<Jj-<= ProNav: ac range: 348.299988 m, nav range: 2.158322 m, bearing: 331.782724 deg, approach rate: -0.611411 m/s, LOS rate: 1.543172 deg/s, cmd heading: 354.269864 deg, new cmd heading: 356.540087 deg. 2j=b=EHeadingCmd: 6.222798 target range: 348.299988 and range: 347.10 m. jE*!@jAjAjIiIhIhQhQhUBfQfYfYrfYbf] ĝ'@ɛeJBmא uQ8=ujIqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006054 }>[ɚiI RL=I_Xwii)*!@)E<|^=*FQ2FY:FYBF]/5JFYNG-5tAEA uYu5tAyuAH I  I #II +BI &I .I 6I <:I P FG} RG1 BA U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257880Oe >%9w,}^AyMBMI#IIe{IeZ4٢˽ L=9Q > G٣cJGy > I Nusing accuracyPremultiplier from config*59]?*5YB^3 iB   |@Er;~;*5 %@!Zji}FNOT Ignoring new targets: 348.30 m.Bj}/ =Jj}/ = ProNav: ac range: 348.299988 m, nav range: 1.910975 m, bearing: 332.488642 deg, approach rate: -0.599689 m/s, LOS rate: 1.932963 deg/s, cmd heading: 356.540082 deg, new cmd heading: 358.930499 deg. 2jҥ=HeadingCmd: 6.264519 target range: 348.299988 and range: 347.10 m. jv@jjjihhhhfffrfbfp(@ɛy 隅刾I bjɚiI/L=Im`阼iiii)mv@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509737E~E_=J= J= J= /J9 J= :J= :J= (N3J9 J= 6;J= 7;J= R;J= R;*FE ?2FA :FA BFE _5JFA GmWuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763189GABQOu?-Aw,Avl9@YvH@v'X9vEԢ>yvHh&?)?`ʿc`W?ο`? ?``Z?ɨvl9@v ;vCyEBM@#I)i mAI $?IIn4٢=~ռ e=9u Q }> G٣yk= > %Nusing accuracyPremultiplier from config%*59]?-*5Yb3 iB)--|@E;#;*51 =@]EZjFNOT Ignoring new targets: 348.30 m.Bj<Jj< ProNav: ac range: 348.299988 m, nav range: 1.580612 m, bearing: 333.102769 deg, approach rate: -0.605729 m/s, LOS rate: 1.361338 deg/s, cmd heading: 358.930512 deg, new cmd heading: 1.156804 deg. 2ji=HeadingCmd: 0.020190 target range: 348.299988 and range: 347.10 m. je<jjjihhhhfffrfbf)@zKu2QKKu9KqKuhKuɛIBϻ 隽PI z@~ɚiI=K=Ie"E>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015427E 7=*F ?2F :F BF 0JF H >I  I #II BI &I .I 6I X<:I + F]Will construct direction to contact in vehicle frame from tetrahedron phase data.eY?e<mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267142GRGBO?yIw,'Ay5B5?#I ]$?IY Mb@Mb@Mb@    ) Y Cl?QAA EG٣EdJGyM M> UNusing accuracyPremultiplier from configQ]*59Ur]?]*5YU g3 iUBeX?e:ee|@UEUD;UHeadingCmd: 0.109619 target range: 348.299988 and range: 347.10 m. j=jjjihhhhBfffirfqbfuǙ*@ɛW1 隝I {$ɚiI+ K=I'=ii)=)EE*E"EUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517957JJJ0JJJ:Jـ3JJJJyE;JzE;E *F= ?2FA :FI BFM o0JFQ "G] >G] >Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769714GGB9Oe ?iRw,JA I}@Y}@}@9}>y}H@Q?`?&:ʿ0jݿDa?xοQc?B?la?ɨ}@}ٍ;}CyBA#Ii8>I=zKa3JK9KKiK'=INJHE@=86857CTgx,h}vh^=Mb@Mb@Mb@999 9)9Y=Pn?X9vii mG٣iyuK> u> }Nusing accuracyPremultiplier from configy*59}y^?*5Y}k3 i}BZ$?:7|@} E}Y;};}*5 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 348.30 m.Bj=Jj=U ProNav: ac range: 348.299988 m, nav range: 0.907070 m, bearing: 336.140050 deg, approach rate: -0.662874 m/s, LOS rate: 4.196824 deg/s, cmd heading: 6.280705 deg, new cmd heading: 13.227144 deg. 2jU4>]HeadingCmd: 0.230857 target range: 348.299988 and range: 347.10 m. j]el>jYjYjaiahahahihmBfififirfbf +@ɛHBM  W =͍I ɚiI!J=IPT>ii)el>)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.YiYechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023980*F?2F:FBF0JFHY IY  I] #II] BIY &IY .IY 6I] o<:I] < FG G B O >Xw,dAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273933>gw@Y>@>)9>B>y>Hƨ?@`?&ɿ ۿf? @!οk?@"?l?ɨ>gw@>l; G٣y{= > Nusing accuracyPremultiplier from config *59 )^?%*5Y o3 i B!%%|@ E A; A; *5) -@1ZjauFNOT Ignoring new targets: 348.30 m.Bj}=Jj}= ProNav: ac range: 348.299988 m, nav range: 0.647961 m, bearing: 337.874717 deg, approach rate: -0.635286 m/s, LOS rate: 5.952908 deg/s, cmd heading: 13.227145 deg, new cmd heading: 20.472159 deg. 2jV>HeadingCmd: 0.357307 target range: 348.299988 and range: 347.10 m. j>jjjihhhhfffrfbfv,@ɛJ^ȼ I ɚiIhI=I>ii)>)I*F?2F:FBF 1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:12:36.5691 TRx dataTimestamp_ set to:1736374357.837027checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527263Jq Ju Jq Jq Jq Ju :Jq Jq Jq Jq Ju U;Ju U;G MG B O- >^w,~A6\:@Y6I@6Y96>y6H M? ?`q\ɿڿ@D&?`2Ϳc?U?1{?ɨ6\:@6;6CɮBCBtwABiBtF@iF&CD)FĻ FvtFID FYC)FwAɯHJ>yFHJ CɰJpwAiHIJwFLINCiNwA PRqwF)PRC RwAPTɱTVLCVtwAIT)Vv}FiT)Z&CIZdAXɲX X)^ CI^ xA^Ļ\ \bCb9xA`i``if@CfwA)d dId j@C)nxAnףllrCr1xAipIr\FpIvَCivxA tvtF)tvLC z\wAxxxzfCzGAIz)|i||y ÄB K#IIIn4٢-0B= -g=9-Q -?11 5G٣5eJGy5= ? Nusing accuracyPremultiplier from config*59;^?*5Yq3 iBム|@E : :*5 [@ZjAEFNOT Ignoring new targets: 348.30 m.BjM)D>JjM)D>} ProNav: ac range: 348.299988 m, nav range: 0.418889 m, bearing: 340.464012 deg, approach rate: -0.627953 m/s, LOS rate: 10.975873 deg/s, cmd heading: 20.472158 deg, new cmd heading: 32.312384 deg. 2j}e>HeadingCmd: 0.563958 target range: 348.299988 and range: 347.10 m. j_?jjjihhhhfffrfbf4-@ɛi1i1)=_?)9EEqAEEqAeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781022*F?2F:FBFP0JFGqA G $?IzK ǽNK 9K K jK O@5&{vpkg`]ZVTPOMHGE@=;85552/0.**'$%##! G GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 22:12:36.5691 LVL= 16784, 24209, 21938, 27411, AGC= 67, IDX= 498, 0.10,-1.889,-2.608, 2.095, 3.054, PHS= 1.428, 0.668,-0.963, RAW= 48.1, -10.7, CAL= 55.0, -18.1, ROT= 95.0, 18.1 - Ygot valid direction response: 22:12:36.5691 LVL= 16784, 24209, 21938, 27411, AGC= 67, IDX= 498, 0.10,-1.889,-2.608, 2.095, 3.054, PHS= 1.428, 0.668,-0.963, RAW= 48.1, -10.7, CAL= 55.0, -18.1, ROT= 95.0, 18.1 5 PDAT read: Bearing 95.0, 18.1 (Local) 5 ~Local bearing/azimuth received: Bearing 95.0, 18.1 (Local) ew,AFDAT read: Range 10 to 50 : 350.7 m (Round-trip 467.7 ms) speed -0.2 m/s J,DAT read: user:2393> JBDAT read: Tx time:22:12:37.6472 N$Ping request sent.N99=d%1\?z3sǿ)=KI=Q?>i=?=nB99:publishing transmit ping timeLFpublishing direction and range info99=]o?Lt1:_?o?y9999 9)9I9i99999 9)9I9i999=d%1\?z3sǿ)9I9i9999yލʄBލT#I) AHI I#IIBI&I.I6IX<:I+ FMb@Mb@Mb@ )Yx&1?L7A`堿{Gzy!?+#-A ;@)`AIAyAII:4٢P< =9Q > G٣y > Nusing accuracyPremultiplier from config +59T^? +5Yu3 iB !? : |@E$;;b+5 @EeWill construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:22:12:37.6464 k=ˀ?k=A% k9 k=ΕA:k=YCBk="CZk=de?"=iO~P@gڥn@˚xU/n@=]o?Lt1:_?o?Jk=?Rk=nB*=Jiyiy)}-_?) $?IEu G8=*F ?2F :F BF o0JF %Will construct direction to contact in vehicle frame from tetrahedron phase data.GRGGqAGBO?pw,$Azံ@Yzj@zν9zA>yzH?k?kȿcֿ@e?Ϳ?C=??ɨzံ@z ;zCy܄Bj#IIIi4٢M= M =9MҼQ U>QQ UG٣Qy]O> ]> eNusing accuracyPremultiplier from configam+59e;m^?m+5Ye-'vw,AN6@YNWF@N;Խ9NU>yNH`w ? B?ȿ տ@?@Oο@:{? z/?{?ɨN6@N@Љ;NCyZBZy#IJdJfJdJdJdJf:JdJdaj@aj@aj@aj@- only read 0 of 1 data item for BIT error. Device response is::TS,25010814134454.91, 92.43   @   @  @  @ IIkf4٢5= 5`=95Q 5>9A EG٣EfJGyEx= E> UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]+59M:^?]+5YM{3 iMBe+:ae:eþe|@M"EM4;Mn>MX +5i m@mEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 350.70 m.Bj<Jj< ProNav: ac range: 350.700012 m, nav range: 35.622181 m, bearing: 87.153671 deg, approach rate: 0.203667 m/s, LOS rate: 0.955285 deg/s, cmd heading: 51.557680 deg, new cmd heading: 52.607336 deg. 2j#=HeadingCmd: 0.918171 target range: 350.700012 and range: 350.70 m. jE k?j1j9j9i9hAhAhIhQfqfyfrfbf@O?ɛIBJ AI fɚiIt E=Im.%?ii)%E k?))EUqAEUpAHI I#II0BI&I.I6I@<:I FBIJIÛCRIZI* =bI* =jI94Will construct direction to contact in vehicle frame from tetrahedron phase data.X? @ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.E = $?I*F- ?2F) :F) BF- 0JF) Gq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449795GIBaO>p}w,_AZx@YZ@Z7׽9ZU>yZHlJ?@?`rǿ@ӿw?SϿ@Pں?BM?`z?ɨZx@Z'm;ZCynBn#Iir>Ir> ra=ra=IzdIz?14٢~= -=9JQ >    G٣ y]= > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%+59^?-+5Y<~3 i B- :)-\:-綾5|@'E&@;V? +59 =@=EZjiFNOT Ignoring new targets: 350.70 m.Bj<Jj< ProNav: ac range: 350.700012 m, nav range: 35.713165 m, bearing: 87.607564 deg, approach rate: 0.192702 m/s, LOS rate: 0.958873 deg/s, cmd heading: 52.607336 deg, new cmd heading: 53.965277 deg. 2j$=HeadingCmd: 0.941872 target range: 350.700012 and range: 350.70 m. jq?jjjihhhhfffrfbf?ɛy}T 隅I ɚiIC=I>?ii)q?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703227*FA2FI:FIBFM-1JFI IG Ga zKm NKm 9Ki Km lKm 53.-*(%%'%#"""! !! !*/2/RK} ?JK} >B O >Ew,sA2ٸ@Y2@2Խ92ڕ>y2H4?D? ֑ƿ@$ѿ ? Ͽt?`]?y?ɨ2ٸ@2v;2Cy>B>#IrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.953761 u u uu uu    Mb@Mb@Mb@ )YK? rhMbPy^?C *A $@)AIAyfAII̍4٢= -=9UW;Q > G٣gJGy]= > Nusing accuracyPremultiplier from config +59J^?+5Y3 i BT:?:㭾|@,EE<<-+5 @ZjFNOT Ignoring new targets: 350.70 m.Bj{<Jj{<JK|3 KL.KK"KJ]J]JYJYJ]:J]:JYJY ProNav: ac range: 350.700012 m, nav range: 35.797775 m, bearing: 88.043267 deg, approach rate: 0.170922 m/s, LOS rate: 0.878080 deg/s, cmd heading: 53.965277 deg, new cmd heading: 55.269059 deg. 2j=HeadingCmd: 0.964627 target range: 350.700012 and range: 350.70 m. jv?jjjihhhhÆBfff) rfbf^@Uc~Gm|uAy 1Y|uAyL*BɛmJB;N 88<隅PI ɚiIB=I [?ii)v?)jHbHHI I#IINBI&I.I6IR<:I& F*F=?2F9:F9BF=[5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206318 U $?IQ G G B O >2_w,p/A6@Y6 @6>uн96O>y6H`v?P?@ſ_п ?Rп$?s?w?ɨ6@6_;4yb&Bb#IIjIjW4٢v= vR=9z;Q z>xx ~G٣|y~O= ~> Nusing accuracyPremultiplier from config+59^?+5Y3 i3 B|@/Eo;;+5 %@%EZjIMFNOT Ignoring new targets: 350.70 m.BjUN<JjUN5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 >5 == checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709955?w,LoIA F$?IDj$~@Yj@j˽9j>yjH$?=?rmĿͿ?`пk?b?a|?ɨj$~@j=;jCy9B#I)! !)-AI5I54٢E= EF=9M;Q U>QQ UG٣Yye:{= e> mNusing accuracyPremultiplier from configiu+59m8^?u+5Ym3 imH By}}|@m3Em6;m;m3+5GB @EZjFNOT Ignoring new targets: 350.70 m.Bj<Jj< ProNav: ac range: 350.700012 m, nav range: 35.928139 m, bearing: 88.787392 deg, approach rate: 0.157154 m/s, LOS rate: 0.927260 deg/s, cmd heading: 56.343723 deg, new cmd heading: 57.497080 deg. 2j=]HeadingCmd: 1.003513 target range: 350.700012 and range: 350.70 m. j] s?jYjajaiahahahihifffrfbf&@ɛuKB}   I QɚiI?=Iuu?iqiq)u s?)zK.MK9KKmK*'"=]`XMB:52-,*)''#.{^=.&" Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963107*F?2F:FBF2JFJ) J) J5 J5 J1 J1 J5 |:J5 9J1 J1 G MHI II  IM )$IIM wBII &II .II 6IM <:IM T FG B O >Ęw,dA2oI@Y2X@2=ƽ92Ԅ>y2H&?@] ?Mÿʿ(?yпԸ?V?`.?ɨ2oI@2;2CyBGBB#IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.213726uMb@Mb@Mb@qqq q)qYu7A`?{GzMbP?yu?u#u:u(A u@)uAIunAqyu AII_v4٢w= :=9;Q > G٣hJGyqh= > Nusing accuracyPremultiplier from config+59=^?+5Y3 ia B?:h|@8E;K;+5 @B*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 350.70 m.Bj=`<Jj=`=I5?ii)?)E =Will construct direction to contact in vehicle frame from tetrahedron phase data.iA BDAT read: Rx Time:22:12:40.5351  TRx dataTimestamp_ set to:1736374361.870433 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469109*FM ?2FQ :FQ BFU 4JFQ G RG B O>w,ZA6{@Y6.@6`96x>y6HR?@?@¿`Jǿ$L?;п "? E??ɨ6{@6?;6CyBSBB#IININ4٢Vj[= V>=9V;Q V>XX ^G٣\y^Mw= ^> bNusing accuracyPremultiplier from config`f+59b^?f+5YbX3 iby Bhj{Mj|@b<Eb ;b ;b+5l nF@rEZjFNOT Ignoring new targets: 350.70 m.Bj <Jj < ProNav: ac range: 350.700012 m, nav range: 36.028877 m, bearing: 89.580718 deg, approach rate: 0.112268 m/s, LOS rate: 0.928221 deg/s, cmd heading: 58.692410 deg, new cmd heading: 59.873368 deg. 2jA=HeadingCmd: 1.044987 target range: 350.700012 and range: 350.70 m. j&…?jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.721281ɛELB آ Q ] BDAT read: Tx time:22:12:41.6489 e $Ping request sent.e 9٦w,A*JC="J=JJJ/JJ\:J9J(N3JJJDAT read: TxSync time:22:12:41.6481 NR#Rx 1: Read range and direction messages.R\direction in FSK: [0.498595,0.479186,0.722346]R:publishing transmit ping timeQRFpublishing direction and range infoY9]RB?+?Ydlu?y]YCY]p@]W ]N)]S[I]Fi]&?]`?]t]G\?]% ]ޤ?)]q(I];?i]q(?YY]FF?sҖZc߿)]dӈI]?i]C?]NYY:publishing transmit ping timeQFpublishing direction and range infoY9]RB?+?Ydlu?yYYYY Y)YIYiYYYYY Y)YIYiYYY]FF?sҖZc߿)YIYiYM=@YM@MOd9Me>yMHv?$?@J8Ŀi? e*ѿ@ ?6??ɨM=@M;C;MCycB$I ==YYYH->I) I-a$II-BI)&I).I)6I-w<:I-? FMb@Mb@Mb@ )YI +?MbMby9?&A @)AIAyQ AII4٢ }=  =9 ;Q > G٣y"@= => MNusing accuracyPremultiplier from configAU+59EM_?U+5YË3 iE BUK?U:UA:]|@E@EE%;E;Ec#+5 9@Ek]" ?k]$6p, kY k]n2A:k]YCBk]CZk]>"]PUf@-{yFH`3?@ڴ?n輿ϻ`ֲ?ɬп{L?-L?Ʈ?ɨFB@Fu;FCyRzBR-$II^I^d4٢b= f.=9f&hh jG٣jiJGyna= n> rNusing accuracyPremultiplier from configpv+59r-_?v+5Yr3 ir BtvRz|@rEEr;C;rC;rs'+5 @Zj!-FNOT Ignoring new targets: 362.70 m.Bj5G<Jj5GzKU yBH?? , @¼? ѿJ?m??ɨB\@B;BCyNBN<$I-Mb@Mb@Mb@))) )))Y-|?5^?I +Qy-?-94-u-^&A -@)-hAI-A)y-\ AIcIy/4٢f= 8=9 G٣y>w= > Nusing accuracyPremultiplier from config+59C_?+5Y[3 i B?:|@IEu;ݖ;T++5 @%EZjyFNOT Ignoring new targets: 362.70 m.Bj <Jj < ProNav: ac range: 362.700012 m, nav range: 66.389000 m, bearing: 89.719865 deg, approach rate: 0.048599 m/s, LOS rate: 0.481026 deg/s, cmd heading: 62.074740 deg, new cmd heading: 62.731461 deg. 2j<HeadingCmd: 1.094871 target range: 362.700012 and range: 362.70 m. j$?jjjihhhhنBfffrfbf?H>IC I$IIȅBI+ =&I.I6I<:Iq FɛPBY: =I cɚiI/)9=I$?i9iA)E$?)AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF!JF!G-qA G-rA IG G B O >мw,׿A63>@Y6M@6£96rՎ>y6H`?ɒ? JL?@Sѿ@r?5? ?ɨ63>@6ғ;6CyFBFL$I)H HLNAIRCIR3٢Z*= Z^=9Z\\\ ^G٣\yb = b> fNusing accuracyPremultiplier from configdj+59fT_?j+5Yf3 if Bhnn|@fLEf^;f;f.+5p r0@vE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 362.70 m.Bj%\<Jj%\<- ProNav: ac range: 362.700012 m, nav range: 66.402260 m, bearing: 89.901625 deg, approach rate: 0.037092 m/s, LOS rate: 0.508333 deg/s, cmd heading: 62.731463 deg, new cmd heading: 63.276616 deg. 2j5n<=HeadingCmd: 1.104385 target range: 362.700012 and range: 362.70 m. j=\?j9j9j9i9hAhAhAhAfIfIfIrfIbfM?}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛQBUZ; QU>IQ Up,ɚYiYI]98=I]\?iaia)e\?)aJJJ0JJ̝:J 9Jـ3JJ;aJ;aJO>;a JO>;a *F2F:FBFJFG GBO >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.698115 $?I UÅw,¢AR-@YR=@RWF9Rݐ>yRH?Pn?)UE?ѿ D???ɨR-@Rs;RCyB Z$IIMIM̍4٢K= ==9 / G٣jJGy= u> Nusing accuracyPremultiplier from config+59dk_?+5Y3 i B|@PE:]:2+5 @Zj15FNOT Ignoring new targets: 362.70 m.Bj=J <Jj=J IzKELKE59KAKEpKERKM?JKM?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.949995 ;ɚiI6=I/?ii)/?)*Fu?2Fq:FqBF}`0JFyH >I C I $II BI . =&I .I 2D6I <:I R FBIiJImɚCRIiZIibIm+ =jImɜ5G G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203052=Ʌw,|)A DIDM@YM4;MdF9MW>yMH`?@f??Gҿ ?` ??ɨM@Mꍕ;IyeBej$IMb@Mb@Mb@ )Y|?5^?!! %G٣!y-&= -> 5Nusing accuracyPremultiplier from config1=+5950~_?=+5Y53 i5 B=?=:E:E|@5TE5;5{;56+5UFB U@UEZjFNOT Ignoring new targets: 362.70 m.Bj <Jj <5 ProNav: ac range: 362.700012 m, nav range: 66.412857 m, bearing: 90.324724 deg, approach rate: 0.001674 m/s, LOS rate: 0.485211 deg/s, cmd heading: 63.968485 deg, new cmd heading: 64.545747 deg. 2j5<=HeadingCmd: 1.126536 target range: 362.700012 and range: 362.70 m. j=S2?j9j9j9i9h9hAhAhEņBfififirfqbfu@@ɛSB7_; 80>I ɚiI'5=IS2?ii)S2?)*Fy2Fy:FyBF}0JFy"G>G>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453907G G ?G *?J J J J J \:J J J J i;J j;J N>;J G B O >Ѕw,JCA6@Y6<6E96'>y6H?`z{@?`?`^ҿj?8? ?ɨ6@6B;6CyBBBi$IiF>IF=IJIJ4٢Z Ze=9ZN3\` bG٣`yb= f> jNusing accuracyPremultiplier from configdj+59f_?n+5Yf֊3 if B9=<=|@fWEfkI AɚiIL5=Ib?ii)b?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705919) u$?Iq*F2F:FBF_5JFGG B O >zK BHK 9K K qK  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959191ׅw,]AJ:@AJ8B~GL^ZA r3YtyvG,B%@Y%Z=%~9%<>y%H? ]2?2? rҿA?iq uG٣ukJGyuY= u> Nusing accuracyPremultiplier from configy+59}_?+5Y}3 i} B?:<|@}\E}y;} ;};=+5 #@EZjFNOT Ignoring new targets: 362.70 m.Bjh<Jjh< ProNav: ac range: 362.700012 m, nav range: 66.403465 m, bearing: 90.738540 deg, approach rate: -0.011915 m/s, LOS rate: 0.522489 deg/s, cmd heading: 65.077646 deg, new cmd heading: 65.787231 deg. 2jJ<HeadingCmd: 1.148204 target range: 362.700012 and range: 362.70 m. jW?jjjihhhhBfffrfbf!x @H >I  I $II BI &I .I 6I d<:I ' FɛVBx; ;>I =,ɚ9i9I=4=IEW?iAiA)EW?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:12:44.5203 TRx dataTimestamp_ set to:1736374365.653961checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212685*F2F:FBFR5JF $?IG G B O >i݅w,wA2st@Y2@=2o92,>y2H?V@N?_?uҿr?e??ɨ2st@2?;2CyRBR$IIZIZ)4٢bߘ= bp=9b.(I 2+ɚiI-S3=I s?i i ) s?)*F?2F:FBF_0JFG GqAJJJJJ:J9JJJ;J;J8;J8;GGpAGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.714707 m $?Ii w,ېAB,;@YB=Bk_9B>yBH`/?)?i?ҿ?? Ғ?ɨB,;@B;@yRɅBR$I)T TIbIb4٢= C=9 G٣ y=_= E> Nusing accuracyPremultiplier from configy+59}_?+5Y}lj3 i} Bܠ=|@}cE}q<}k<}4D+5 @ZjAEFNOT Ignoring new targets: 362.70 m.Bjm_<Jjm_<} ProNav: ac range: 362.700012 m, nav range: 66.379349 m, bearing: 91.140447 deg, approach rate: -0.035273 m/s, LOS rate: 0.501388 deg/s, cmd heading: 66.301486 deg, new cmd heading: 66.993130 deg. 2j} <HeadingCmd: 1.169251 target range: 362.700012 and range: 362.70 m. j?jjjihhhhfffrfbf@`@ɛ-ZB5|2< 15B^>I1 5pɚ1i1I=U2=I=?iAiA)E?mWill construct direction to contact in vehicle frame from tetrahedron phase data.zKqKqKqKurKumAiiDAT read: 22:12:44.5203 LVL= 18608, 29665, 21058, 28851, AGC= 65, IDX= 431,-0.22, 2.155, 1.441, 0.616, 0.730, PHS= 1.513, 0.758,-0.117, RAW= 57.6, -28.3, CAL= 72.1, -36.5, ROT= 77.9, 36.5 Ygot valid direction response: 22:12:44.5203 LVL= 18608, 29665, 21058, 28851, AGC= 65, IDX= 431,-0.22, 2.155, 1.441, 0.616, 0.730, PHS= 1.513, 0.758,-0.117, RAW= 57.6, -28.3, CAL= 72.1, -36.5, ROT= 77.9, 36.5 PDAT read: Bearing 77.9, 36.5 (Local) ~Local bearing/azimuth received: Bearing 77.9, 36.5 (Local)  DAT read: Range 10 to 50 : 350.4 m (Round-trip 467.2 ms) speed 0.0 m/s ,DAT read: user:2395> BDAT read: Tx time:22:12:45.5973 $Ping request sent.i۵UO?۵2N۱۱:publishing transmit ping timeFpublishing direction and range infoر9صZ߂?ǐ !? t?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵J%G? =hT]޿)۱I۱i۱۱۱۱HU >IU C IU $IIU BIU 0 =&IQ .IU 1D6IU <:IU N FG G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ii _;w,pAy%ԅB-$IUMb@Mb@Mb@QQQ Q)QYU +?I +/$yU?U94U,Ux!A U-@)U@IU AQyU3AIbI-4٢~@= 3=9Q > G٣lJGy > Nusing accuracyPremultiplier from config+59_?+5Yr3 i B?:hN=}@gE;;G+5   @Ek:퍜?k+W( k kA:k3CBkCZk5)?"i@d@1e@dCo@Z߂?ǐ !? t?JkUO?Rk2N*d.-_a@5jYb[@0ˁ r@:9?;j?JK?"kB*k Ck87q@?kC( 2k=Ck9+$ ?k#SԎ, kcCkBkh? addTargetRange:: Added new target pos. range: 350.399994 m, deltaT: 4.038945 s, deltaX: -12.300018 m, approachRate: -3.045354 m/s, rangeRepo size: 4  Added new target pos. range: 350.399994 m, bearing: 37.870556 deg, lat: 36.904469 deg, lon: -122.122095 deg, deltaT: 4.038945 s, deltaX: -12.300018 m, approachRate: -3.045354 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 350.40 m.BjJj5 ProNav: ac range: 350.399994 m, nav range: 121.410751 m, bearing: 33.955902 deg, approach rate: 0.000000 m/s, LOS rate: 0.501388 deg/s, cmd heading: 66.993132 deg, new cmd heading: 67.628742 deg. 2j1=HeadingCmd: 1.180344 target range: 350.399994 and range: 350.40 m. j=?j9j9j9i9hAhAhAhEBfIfIfIrfm`fu@bfu`?ɛ[B;< p>I ՐɚiIh1=I?ii)?)*FM?2FI:FIBFQJFQeWill construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J :J 9J 3J J ;J ;J <;J <;Gm MGA BQ Om >w,A>@Y>p>>>K9>&>y>H;?nĿjb?!?6Vӿ 3e?1??ɨ>@>;>CyN߅BN$IIVIV#4٢^= ^t=9bp f? nNusing accuracyPremultiplier from confighr+59jG_?r+5Yj3 ij Bpr=v}@jjEj;j;jJ+5x zj@zEZj!%FNOT Ignoring new targets: 350.40 m.Bj- ;Jj- ;= ProNav: ac range: 350.399994 m, nav range: 121.238167 m, bearing: 33.999689 deg, approach rate: -0.547297 m/s, LOS rate: 0.139053 deg/s, cmd heading: 67.628742 deg, new cmd heading: 67.760289 deg. 2j=ܾ;EHeadingCmd: 1.182640 target range: 350.399994 and range: 350.40 m. jE`?jAjAjAiAhIhIhIhIfQfQfQrfQbfUT?ɛ]BRl< 隍%>I 拻ɚiI0=IIʖ?ii)`?)Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I*F?2F:FBF}0JF"G!G%>GRGBOM> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K s9K K sK Aw,roA2{@Y2t/>2[.C92*>y2H~?ƿE-w??S ?+ӿ`nc? ??ɨ2{@2/(;2CyVBV$Iif=If:? ja=ja=eMb@Mb@Mb@aaa a)aYel?J +lye?eHeeA a)eQAIeAaye=AIgI64٢^< 8=9-;Q >   G٣ y9E= > 5Nusing accuracyPremultiplier from config)=+59- `?=+5Y-'3 i- BE]?E:Eh=E}@-oE-u ;-;-N+5I MM@QZjq}FNOT Ignoring new targets: 350.40 m.Bj};Jj}; ProNav: ac range: 350.399994 m, nav range: 121.001938 m, bearing: 34.058276 deg, approach rate: -0.527405 m/s, LOS rate: 0.131058 deg/s, cmd heading: 67.760292 deg, new cmd heading: 67.936397 deg. 2j;HeadingCmd: 1.185714 target range: 350.399994 and range: 350.40 m. jxŗ?jjjihhhhBfffrfbf S?H >I I$IIBI1 =&I.I6I<:I9 Fɛ_BI< 隝>I DɚiI/=Ixŗ?ii)xŗ?)*Fe?2Fa:FaBFmo0JFi $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >mw,OA6C@Y6`XH>6t:96q>y6Hj[?Luɿ\?`?,?ӿbA?? Ɗ?ɨ6C@6";6CyNBN$IIZIZr4٢b= b`=9b3;Q b>dh jG٣jmJGyj= n> rNusing accuracyPremultiplier from configpv+59r`?v+5Yrc3 ir Btv >v}@rrEr:r:rQ+5~EB ~3@~EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 350.40 m.Bj-H;Jj-H;E ProNav: ac range: 350.399994 m, nav range: 120.809273 m, bearing: 34.103462 deg, approach rate: -0.533282 m/s, LOS rate: 0.125269 deg/s, cmd heading: 67.936395 deg, new cmd heading: 68.072166 deg. 2jE;EHeadingCmd: 1.188083 target range: 350.399994 and range: 350.40 m. jM?jIjIjIiIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.hQhhhfffrfbf@r?ɛmaBmS< imR>I zɚiIl/=I?ii)?)*F?2F:FBF2JF IGM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754419G B O >Sw,_&A6@Y6w`>6[u,96>y6H4? %̿lc?@@?? ҿ ???ɨ6@6>;6CyVBV$IIbIb4٢f< jJ=9jll nG٣lyrBn= r> vNusing accuracyPremultiplier from configtz+59v/`?z+5Yvc3 iv Bxz">z}@vvEv:v ;vgU+5 @ZjFNOT Ignoring new targets: 350.40 m.Bjf:Jjf:] ProNav: ac range: 350.399994 m, nav range: 120.591225 m, bearing: 34.151797 deg, approach rate: -0.485015 m/s, LOS rate: 0.107709 deg/s, cmd heading: 68.072165 deg, new cmd heading: 68.217434 deg. 2j]ד;]HeadingCmd: 1.190619 target range: 350.399994 and range: 350.40 m. je3f?jajajaiahahahhfffrfbfb?ɛcBz< d>I  iɚ i I =.=I3f?ii)3f?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010487zKeKe9KaKetKe*F?2F:FBF_5JFGpA GpAJJJ0JJܫ:J:Jـ3Ja@a@a@a@H I  I %II .BI 2 =&I .I 6I <:I 5 FG G G pAGa Bi O > $?I ^} w,?+AWill construct direction to contact in vehicle frame from tetrahedron phase data.?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262209jg$jy!9j(՘>yjH ?@Ͽ ???aҿ-?`??ɨjg$ G٣y p= > Nusing accuracyPremultiplier from configU+59"E`?U+5Y.3 i BU?]:]5>]}@zEt<H</Y+5a e@eEZjFNOT Ignoring new targets: 350.40 m.Bj;Jj; ProNav: ac range: 350.399994 m, nav range: 120.353973 m, bearing: 34.202071 deg, approach rate: -0.588078 m/s, LOS rate: 0.124861 deg/s, cmd heading: 68.217436 deg, new cmd heading: 68.368556 deg. 2ja;HeadingCmd: 1.193256 target range: 350.399994 and range: 350.40 m. j?jjjihhhhBfffrfbf@ɛueB}g< y}>Iy }hYɚyiI-=I?ii)?)*FQ2FQ:FQBFU4JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513869GM WG! B) OM >sew,@EA:G=Y:ى>:9:E>y:H`d?DпP??ef?ҿ?@߽??ɨ:G=:^ ;:CyRBR$IIZIZt4٢b]= b[=9b;Q f>dd fG٣fnJGyjS= j> nNusing accuracyPremultiplier from configlr+59nW`?r+5Yn3 in BtvN>v}@n~En:n;:nq\+5| ~@EZj!-FNOT Ignoring new targets: 350.40 m.Bj-6;Jj-6;E ProNav: ac range: 350.399994 m, nav range: 120.147583 m, bearing: 34.243114 deg, approach rate: -0.575866 m/s, LOS rate: 0.114715 deg/s, cmd heading: 68.368554 deg, new cmd heading: 68.491895 deg. 2jEt;MHeadingCmd: 1.195409 target range: 350.399994 and range: 350.40 m. jM*?jIjIjIiIhQhQhQhQfYfYfarfabfe`V@ɛgB`< 5>I PIɚiI,=I*?ii)*?) m$?Ii5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766650*F-?2F):F)BF-^0JF1GuRG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018084zK BHK h9K K uK Nw,B_A2ٗ=Y2>292>y2H? jҿ T?8? o,?ڛҿ`2??!?ɨ2ٗ=2Ċ;2Cy>-BJFJFJDJDJF|:JF9JDJDJ %IMb@Mb@Mb@ )Y7A`?A`"S㥛y?Y/ݼKA )AIAyzAII@4٢G= :=9T;Q > G٣yl= >  Nusing accuracyPremultiplier from config +59 m`?+5Y z3 i } BK?:c>}@ E ; %; Q`+5! -z@)ZjIUFNOT Ignoring new targets: 350.40 m.H >I I)%IIGBI1 =&I.I6I<:IJ FBI]˜CJI]˜CRIYZI]1 =bI]0 =jI]h5Bj%:Jj%:U ProNav: ac range: 350.399994 m, nav range: 119.904106 m, bearing: 34.288957 deg, approach rate: -0.550985 m/s, LOS rate: 0.103953 deg/s, cmd heading: 68.491894 deg, new cmd heading: 68.629702 deg. 2jm;uHeadingCmd: 1.197814 target range: 350.399994 and range: 350.40 m. juQ?jqjqjyiyhyhyhhBfffrfbf ތ @ɛjBo< }>I r1ɚiI+=I%Q?i!i!)%Q?)IEUqAEQ U$?IQ*F?2F:FBF_0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:22:12:48.4684 MTRx dataTimestamp_ set to:1736374369.700789Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271043G WG B O >`w,*yA:=Y:?>:A 9:<>y:HY? ӿ?`_+? s?`qҿ2A?Q?`?ɨ:=:;:CyJ;BJ%IIRIRd4٢^= b^=9b;Q b>dd fG٣dyj͑= j> nNusing accuracyPremultiplier from configlr+59n~`?r+5Yn3 inu BtvJ~>v}@nEn;n;nc+5x z@zEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 350.40 m.Bj%:Jj-:= ProNav: ac range: 350.399994 m, nav range: 119.701881 m, bearing: 34.324307 deg, approach rate: -0.553434 m/s, LOS rate: 0.096907 deg/s, cmd heading: 68.629700 deg, new cmd heading: 68.735929 deg. 2jE;EHeadingCmd: 1.199668 target range: 350.399994 and range: 350.40 m. jE?jIjIjIiIhIhIhQhQfQfQfQrfYbf]W6 @ɛlB< 隍R>I l ɚiI<+=I?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522061ii)?)*F5?2F1:F1BF5n0JF1GuRGa IBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.M =M = DAT read: 22:12:48.4684 LVL= 20640, 32753, 25586, 32755, AGC= 66, IDX= 442,-0.04, 3.059, 1.597, 1.624, 2.144, PHS= 1.003,-0.499,-0.523, RAW= 89.2, 0.2, CAL= 96.7, -3.9, ROT= 53.3, 3.9  Ygot valid direction response: 22:12:48.4684 LVL= 20640, 32753, 25586, 32755, AGC= 66, IDX= 442,-0.04, 3.059, 1.597, 1.624, 2.144, PHS= 1.003,-0.499,-0.523, RAW= 89.2, 0.2, CAL= 96.7, -3.9, ROT= 53.3, 3.9  PDAT read: Bearing 53.3, 3.9 (Local)  ~Local bearing/azimuth received: Bearing 53.3, 3.9 (Local)  DAT read: Range 10 to 50 : 350.1 m (Round-trip 466.9 ms) speed 0.0 m/s  ,DAT read: user:2396>  BDAT read: Tx time:22:12:49.5473  $Ping request sent. 2t292>y2H^?Pտű??>?AҿŠ?`E??ɨ2c=2;2CyHB*%II-I-4٢]= .=9;Q >yy }G٣}oJGyN= > Nusing accuracyPremultiplier from config+59`?+5Y~3 ij Bҋ>}@E;#;g+5 ȿ@Ek} EZ?k}g: ky k}A:k} CBk}ԭCZk}O@"}^` ?rعAE@u@}\3Gn?Eܢ?Jk}~ @Rk}𽵿*}[.wR3 vPQު du@} ۅA~,N{ʿ4cH?"k}B*k}k})I:Z?k}:: 2k}Ckykykyk}Bk}c?} addTargetRange:: Added new target pos. range: 350.100006 m, deltaT: 3.787112 s, deltaX: -0.299988 m, approachRate: -0.079213 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:12:49.5465 )  Added new target pos. range: 350.100006 m, bearing: 254.802573 deg, lat: 36.904469 deg, lon: -122.122095 deg, deltaT: 3.787112 s, deltaX: -0.299988 m, approachRate: -0.079213 m/s, posRepo size: 4 5.~GZj9auA 'Yy!BzKKKKvK FNOT Ignoring new targets: 350.10 m.BjJj ProNav: ac range: 350.100006 m, nav range: 119.423798 m, bearing: 34.369414 deg, approach rate: 0.000000 m/s, LOS rate: 0.096907 deg/s, cmd heading: 68.735930 deg, new cmd heading: 68.885036 deg. 2j HeadingCmd: 1.202271 target range: 350.100006 and range: 350.10 m. j ?j j j i hhhhfYfYfYrf]u@bfe?*J4="J4=JJJ1JJ\:J9J3JɛoBX< >I ɚiI0*=I?ii)?)*F2F:FBF_0JFZHRHAAH >I IH%IIaBI0 =&I.I6I<:I= F } $?Iy ] Will construct direction to contact in vehicle frame from tetrahedron phase data.G Gq By O >o+w,#AF>YFv>F9FZ>yFH?ֿ@3?F@?Ui?@ ҿ  ?`?`Ƙ?ɨF>Fu;FCyfbBfJ%IMb@Mb@Mb@ )Y5^I ? rh rhy?C CA @)`@IAyAI-UI-4٢=;= =>=9E@;Q M>II MG٣IyUĄ= U> ]Nusing accuracyPremultiplier from configYe+59]`?e+5Y]|3 i]g Bm`?m:m>m}@]E](;] ;][k+5q u.@qZjFNOT Ignoring new targets: 350.10 m.Bj5:Jj5: ProNav: ac range: 350.100006 m, nav range: 119.193398 m, bearing: 34.400570 deg, approach rate: -0.597557 m/s, LOS rate: 0.080960 deg/s, cmd heading: 68.885033 deg, new cmd heading: 68.978680 deg. 2j?^;HeadingCmd: 1.203905 target range: 350.100006 and range: 350.10 m. j?jjjihhhhȆBfffrfbf!g?ɛrBv% = 隍0>I ֺɚiIw)=I?ii)?)*F}?2Fy:FBFo0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >N2w,ɮA6d5>Y6I>696/>y6Hz?@eؿ`1ó?? ~F? LпV?f?` ?ɨ6d5>6C;6CyFeBFN%IHHINoIND4٢Z\< Zh=9^؛Q ^>\` bG٣`yb+= b> jNusing accuracyPremultiplier from configdj+59f-`?n+5Yf{3 ife Bl r$?Itn>v}@fEfo;f;fmn+5zDB z@~EZj%FNOT Ignoring new targets: 350.10 m.Bj%.:Jj-.:E ProNav: ac range: 350.100006 m, nav range: 118.990784 m, bearing: 34.425416 deg, approach rate: -0.573585 m/s, LOS rate: 0.070457 deg/s, cmd heading: 68.978681 deg, new cmd heading: 69.053346 deg. 2jEjA;EHeadingCmd: 1.205208 target range: 350.100006 and range: 350.10 m. jMDD?jIjIjIiIhIhIhQhQfQfQfarfibfu@?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛetBe]= im>Ii mWvɚiiiIm׮(=IDD?ii)DD?)*FM?2FI:FIBFM1JFIGG  Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >zK= eLK= 59K9 K= wK= J} AAJ} @AJKm3 KKK"KJ J J 0J J :J 9J ـ3J y8w,A2Q>Y2>2,92>y2H!?kٿ`!?i?V? пH4?:? ?ɨ2Q>2>J;0H>I It%IIBI&I.I6IV<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.yyBf%IMb@Mb@Mb@ )Y^I +?~jtx?~jtxyX?;Ļ9A )QAIAyQAISI4٢!= =9;Q > G٣pJGy:= > Nusing accuracyPremultiplier from config+59`?+5Yw3 im B\?:A>}@E;:s+5 @|EZjFNOT Ignoring new targets: 350.10 m.Bj-W:Jj-W:= ProNav: ac range: 350.100006 m, nav range: 118.634796 m, bearing: 34.453665 deg, approach rate: -0.592908 m/s, LOS rate: 0.047190 deg/s, cmd heading: 69.053349 deg, new cmd heading: 69.138349 deg. 2j=;EHeadingCmd: 1.206692 target range: 350.100006 and range: 350.10 m. jEt?jAjAjAiAhIhIhIhMBfQfYfYrfYbf] y?ɛxBx<  s?I  #8ɚ i I '=I=t?i9i9)=t?)A*F ?2F :F BF `0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G GBO>@w,'Aɮpptittitt)v` xIx x)zwAɯxxx|ɰ|i|I||IiwA )   ɱ I)i)IbAɲ )I!!! !!!!i))i)))1 1I1 1)1599AAiAIAAIIiI YY)YY YaaaaaIa)aiiiyuB}%III4٢> |=9Q  ? G٣y  ? Nusing accuracyPremultiplier from config+59`?+5Yt3 ir B}@EX;/Y;v+5 R@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 350.10 m.BjV:JjV: ProNav: ac range: 350.100006 m, nav range: 118.442955 m, bearing: 34.468959 deg, approach rate: -0.588309 m/s, LOS rate: 0.046979 deg/s, cmd heading: 69.138351 deg, new cmd heading: 69.184309 deg. 2j;HeadingCmd: 1.207494 target range: 350.100006 and range: 350.10 m. j*?jj!j!i!h!h)h)h)f)f1f1rf1bf5ӫ?ɛzB.= u ?I &ɚiI&=I*?ii)*?) $?I *F2F:FBF 5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.GG B O >bFw,*ARWill construct direction to contact in vehicle frame from tetrahedron phase data.TiTZchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256116y%B%%Ii=4>I=p< E=E=zKUBoHKUػ9KQKUxKU]Mb@Mb@Mb@YYY Y)YY]x?Zd;O?y]K?]j<]]"A ]@)]`@IYYJJJJJ:J9JJy]AII4٢< *=9Q >    G٣ y > Nusing accuracyPremultiplier from config%+59`?%+5Yq3 i~ B%i?%:->-}@E;;z+51 5@5yEH]>I]C I]%II]BI]2 =&IY.IY6I]<:I]; FZjFNOT Ignoring new targets: 350.10 m.Bj1:Jj1: ProNav: ac range: 350.100006 m, nav range: 118.161461 m, bearing: 34.487992 deg, approach rate: -0.572693 m/s, LOS rate: 0.038814 deg/s, cmd heading: 69.184311 deg, new cmd heading: 69.241545 deg. 2j:HeadingCmd: 1.208493 target range: 350.100006 and range: 350.10 m. j毚?jjjihhhhBfffrfbfzu@ɛ5~B5= 9e# ?Ia m/V9ɚiiiIm1%=Iu毚?iyi)毚?) $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507165*FY2FY:FaBFe0JFaGq G} qAG} qAGQ Ba O} >WMw,Z+9A: >Y:Pu ?:b׼9:@m>y:HSl?6߿?Tx?*? п?I?u?ɨ: >:h;:CyޭBޭ%III_v4٢< ]=98 G٣qJGy> > Nusing accuracyPremultiplier from config+59h a?+5Ycn3 i B?}@E;:}+5 @ vEZj15FNOT Ignoring new targets: 350.10 m.Bj=9Jj=9M ProNav: ac range: 350.100006 m, nav range: 117.942856 m, bearing: 34.490518 deg, approach rate: -0.608892 m/s, LOS rate: 0.007049 deg/s, cmd heading: 69.241548 deg, new cmd heading: 69.249141 deg. 2jMК9UHeadingCmd: 1.208626 target range: 350.100006 and range: 350.10 m. jU>?jQjQjQiQhQhYhYhYfYfafarfabfe#@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759248ɛUBU*= QUn ?IQ ][:ɚYiYI]S$=I>?ii)>?)*F?2F:FBF05JF IGY = Will construct direction to contact in vehicle frame from tetrahedron phase data.= >= 4== checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011157GA BI Om >zTw,RAF>YFD?F':ϼ9F>yFH?@ܫ "?1?@_?Sп?]? ?ɨF>F;FCy^Bb%IIjIj)4٢v.= v[=9v52;Q v>xx zG٣xyz5= ~> Nusing accuracyPremultiplier from config +59a? +5Yk3 i B  ?}@E ::7+5 ܹ@sEZjAEFNOT Ignoring new targets: 350.10 m.BjMhJjMh] ProNav: ac range: 350.100006 m, nav range: 117.722656 m, bearing: 34.490223 deg, approach rate: -0.592568 m/s, LOS rate: -0.000794 deg/s, cmd heading: 69.249143 deg, new cmd heading: 69.248258 deg. 2je eHeadingCmd: 1.208610 target range: 350.100006 and range: 350.10 m. jm?jijijiiihihihqhqfqfqfyrfybf} @ɛB2= 隭L?I N:ɚiI%$=I?ii)?)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263184JJBAzKKK59KKyKGGBO >H5 >I1  I5 %II5 ˆBI1 &I1 .I1 6I5 d<:I5  F I i,Zw,lA:>Y:?:ʼ9:O>y:H?T??eG?п1X?e??ɨ:>:;:CyrBr%IxzAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:12:52.4166  TRx dataTimestamp_ set to:1736374373.732733 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516107mMb@Mb@Mb@iii i)iYmv?ˡE?Mbp?ym?m'=m;mjA m@)iImAiymAII#4٢< 2=9T:Q > G٣yyi= > Nusing accuracyPremultiplier from config+59*a?+5Yf3 i B2?:K(?}@E:;-;8+5 @Zj)5FNOT Ignoring new targets: 350.10 m.Bj5_Jj5_m ProNav: ac range: 350.100006 m, nav range: 117.449249 m, bearing: 34.482823 deg, approach rate: -0.585594 m/s, LOS rate: -0.015887 deg/s, cmd heading: 69.248255 deg, new cmd heading: 69.226003 deg. 2jmr.uHeadingCmd: 1.208222 target range: 350.100006 and range: 350.10 m. ju?jqjyjyiyhyhyhhBfffrfbf @ɛB= ?I rF:ɚiI)#=IM?iQiQ)U?)Q*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766946G! J J J J J \:J J J J h;a J j;a J a J a G B OU >aw,qAyB%III_v4٢&&= T=9Q > G٣rJGy > Nusing accuracyPremultiplier from config +59 H:a?+5Y b3 i  B!!%}@ E @; 1; +5) 5@5qEMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 350.10 m.Bje{Jje{ u $?Iq ProNav: ac range: 350.100006 m, nav range: 117.219551 m, bearing: 34.476580 deg, approach rate: -0.607823 m/s, LOS rate: -0.016554 deg/s, cmd heading: 69.226003 deg, new cmd heading: 69.207235 deg. 2j5HeadingCmd: 1.207894 target range: 350.100006 and range: 350.10 m. jF?jjjihhhhfffrfbfY@ɛeBe21= 隍!?I U;ɚiI^M"=IF?ii)F?) Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:12:52.4166 LVL= 25360, 32753, 32754, 32755, AGC= 65, IDX= 422,-0.26, 2.912, 1.364, 1.909, 2.213, PHS= 0.787,-0.801,-0.306, RAW= 107.7, 4.6, CAL= 118.7, 2.0, ROT= 31.3, -2.0 MYgot valid direction response: 22:12:52.4166 LVL= 25360, 32753, 32754, 32755, AGC= 65, IDX= 422,-0.26, 2.912, 1.364, 1.909, 2.213, PHS= 0.787,-0.801,-0.306, RAW= 107.7, 4.6, CAL= 118.7, 2.0, ROT= 31.3, -2.0 UPDAT read: Bearing 31.3, -2.0 (Local) ]~Local bearing/azimuth received: Bearing 31.3, -2.0 (Local) mDAT read: Range 10 to 50 : 348.7 m (Round-trip 465.0 ms) speed 0.7 m/s u,DAT read: user:2397> BDAT read: Tx time:22:12:53.4974 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:12:53.4966 ؾgw,|AJ>YJ;J%?JMý9J>yJH2?n?` @?^?@ο޷? =??ɨJ>J;JCyfBdzKVBJKh9KKzKMb@Mb@Mb@ )Y333333?y&1?y&1|y?`e=` )I@IhAyAI-I-4٢=: =F=9=|;Q E>AA EG٣AyMY> M> uNusing accuracyPremultiplier from configq}+59uIa?}+5Yu^3 iu BG?:I I%IIBI3 =&I.I0D6I:I FBI—CJI—CRIZI2 =bI1 =jI5k=WBm?k=vq7E k9 k=A:k=YCBk="CZk=pi@"=vw7Q mw,gAN >YNN+?Np9N;U>yNH ? N`+??@?`zͿ\?`? ?ɨN >NV;NCy^B^%IIfIfm4٢n nc=9rxQ r>pp vG٣tyv= v> ~Nusing accuracyPremultiplier from configx~+59zVa?~+5YzZ3 iz BC?}@zEz:zH:zU+5 CB S@ nEZj15FNOT Ignoring new targets: 348.70 m.Bj=IzJj=IzM ProNav: ac range: 348.700012 m, nav range: 115.938988 m, bearing: 33.847028 deg, approach rate: -0.630466 m/s, LOS rate: -0.054704 deg/s, cmd heading: 69.185609 deg, new cmd heading: 69.130639 deg. 2jM,UHeadingCmd: 1.206557 target range: 348.700012 and range: 348.70 m. jUxp?jYjYjYiYhYhahahafafifirfibfm ?ɛB D= 隝?I D8;ɚiI =Ixp?ii)xp?)EqWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG qA G qAJiJiJiJiJiJiJiJiJiJiJiJiG! YIYG B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.*tw,0Af9S>Yf3?f9f4>yfH n?`v??JW? Ϳf? }? ?ɨf9S>f;dyrBr%IIzfIz44٢5< 5E=9=u7Q =>AA EG٣MsJGyM= M> UNusing accuracyPremultiplier from configQ]+59Uea?]+5YUU3 iU Bae`K?e}@UEUS;U;U+5i m@qZjFNOT Ignoring new targets: 348.70 m.Bj/Jj/ ProNav: ac range: 348.700012 m, nav range: 115.694283 m, bearing: 33.821995 deg, approach rate: -0.589242 m/s, LOS rate: -0.060406 deg/s, cmd heading: 69.130640 deg, new cmd heading: 69.055382 deg. 2j%HeadingCmd: 1.205244 target range: 348.700012 and range: 348.70 m. jnE?jjjihhhhfffrfbf`7?ɛBV*= ?I UW;ɚ i I =InE?ii)nE?)*F?2F:FBFP5JFU~G}tAWill construct direction to contact in vehicle frame from tetrahedron phase data.i |"YtAyhBzK-BoIK-s9K)K-{K-BK=pA:K=qAH>I I&IIBI&I.I6Ip<:I" FG GA BY O > E $?IA zw,AFW?YF;?FĀü9F7>yFH@n?@Q?`e?D?0̿o?=?`7?ɨFW?Fd;FCyRBR%I%Will construct direction to contact in vehicle frame from tetrahedron phase data. e@e e@e e@e  e@e ImlImm?4٢}B }E=9eQ > G٣y'= > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config+59sa?+5YQ3 i B+::BS?}@E7[;L>+5 J@kEZjYeFNOT Ignoring new targets: 348.70 m.BjeޘJjmޘ} ProNav: ac range: 348.700012 m, nav range: 115.452454 m, bearing: 33.793270 deg, approach rate: -0.561395 m/s, LOS rate: -0.066824 deg/s, cmd heading: 69.055385 deg, new cmd heading: 68.969028 deg. 2j}q7HeadingCmd: 1.203737 target range: 348.700012 and range: 348.70 m. j ?jjjihhhhfffrfbf`?ɛB-\$= )-4 ?I) 5v;ɚ1i1I5Q=I= ?i9i9)= ?)9*F?2F:FBFJFePExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.G! G B O- >J J J J J |:J :J J J ;J ;J Z;J Z;_⁆w,6A: ?Y:RB?:'9:t>y:H5?@B ?@?,?P;̿@.?`,??ɨ: ?:\(;:CyJBJ%IPPIVIV4٢Z< ZX=9^;Q ~>  G٣ y =  > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%+59݀a?%+5Y}L3 i B% :!-g:-Z?-}@E9;M?+51 5*@5hEZjYeFNOT Ignoring new targets: 348.70 m.BjeJjeu ProNav: ac range: 348.700012 m, nav range: 115.227371 m, bearing: 33.763273 deg, approach rate: -0.607835 m/s, LOS rate: -0.081164 deg/s, cmd heading: 68.969030 deg, new cmd heading: 68.878864 deg. 2ju^}HeadingCmd: 1.202163 target range: 348.700012 and range: 348.70 m. jz?jjjihhhhfffrfbf?ɛBT4= s ?I ;ɚiI'=Iz? Iii)z?)*Fu?2Fq:FqBFu^0JFq5Will construct direction to contact in vehicle frame from tetrahedron phase data.GG ?G?GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.v w,3!AV|?YVCI?V۫9Vf>yVH??@??5˿@{?9??ɨV|?V;VCybBb%I*J=C="J=%= ] ] ]] ]]  ] ] ]Mb@Mb@Mb@YYY Y)YY]I +?Q?~jty]9?]<]]A ]@)]@I]QAYy]@II@4٢7 8=zKKKK|K   9n;Q > G٣tJGy%|= %> -Nusing accuracyPremultiplier from config)U+59- a?U+5Y-wG3 i- B]T:]?]:]ZX?]}@-E- ;-I;-+5a e͹@ijHu<bHu<HyI}C I} &II}BI}4 =&Iy.Iy6I}R<:I} FB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 348.70 m.BjZJjZ ProNav: ac range: 348.700012 m, nav range: 114.980675 m, bearing: 33.731116 deg, approach rate: -0.546636 m/s, LOS rate: -0.071407 deg/s, cmd heading: 68.878865 deg, new cmd heading: 68.782188 deg. 2j D5HeadingCmd: 1.200476 target range: 348.700012 and range: 348.70 m. j50?j1j1j1i1h1h9h9h=Bf9fAfArfAbfE*/@ɛB[= 隽/?I ;ɚiIJ/=I0?ii)0?)  $?Ii*F?2F:FBF_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.G MGa Bi O > m nManaging dock network, ignoring radio surface power offY6w,V;AyB%III{4٢M; MV=9MQ U>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam+59ega?m+5Ye#C3 ie Bqqu}@eEe;e;e?+5y }@}eEZjFNOT Ignoring new targets: 348.70 m.Bj5Jj5 ProNav: ac range: 348.700012 m, nav range: 114.768318 m, bearing: 33.703320 deg, approach rate: -0.580707 m/s, LOS rate: -0.076152 deg/s, cmd heading: 68.782191 deg, new cmd heading: 68.698647 deg. 2j QHeadingCmd: 1.199018 target range: 348.700012 and range: 348.70 m. jiy?jjjihhhhfffrfbfe @ɛ%B%].= !%?I! -^;ɚ)i)I-p=I5iy?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763215i1i)iy?)J]J]JYJYJ]̝:J]:JYJYJ];J];J]A;J]A;*F?2F:FBFJF IGG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015181Uw,wUA:e ?Y:V?:`9:D>y:He?@`g?@?xc?e ʿ@ݓ?'??ɨ:e ?:؎;:CyVBV%IiXIXIbIb҅4٢f$ jR=9j ;Q j>ll nG٣lyrx > r> vNusing accuracyPremultiplier from configtz+59v>a?z+5Yv>3 itxze?~}@vEv;v;v+5 >@Zj15FNOT Ignoring new targets: 348.70 m.Bj=ɺJj=ɺM ProNav: ac range: 348.700012 m, nav range: 114.553741 m, bearing: 33.669056 deg, approach rate: -0.551076 m/s, LOS rate: -0.088161 deg/s, cmd heading: 68.698651 deg, new cmd heading: 68.595666 deg. 2jMrUHeadingCmd: 1.197220 target range: 348.700012 and range: 348.70 m. jU>?jQjQjQiYhYhahahafafifirfibfml* @ɛBE#= 隝>I ̯;ɚiI=I>?ii)>?)*F5?2F1:F1BF=h0JF9GA GAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:12:56.3802 TRx dataTimestamp_ set to:1736374377.524759checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273638GRGBO>zKUYLKUh9KQKU}KUHyIy I}&II}BIy&Iy.Iy6I}<:I}. F I fJw,6[oA~Will construct direction to contact in vehicle frame from tetrahedron phase data.~%=~%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519422y]B]%IeMb@Mb@Mb@aaa a)aYem?Zd;O? G٣y > Nusing accuracyPremultiplier from config+59Ҵa?+5Y193 i B?:je?}@E(;;+5 @bEZjFNOT Ignoring new targets: 348.70 m.Bj@úJj@ú ProNav: ac range: 348.700012 m, nav range: 114.308037 m, bearing: 33.629804 deg, approach rate: -0.533124 m/s, LOS rate: -0.085350 deg/s, cmd heading: 68.595665 deg, new cmd heading: 68.477657 deg. 2jLjHeadingCmd: 1.195161 target range: 348.700012 and range: 348.70 m. j?jjjihhhhEBf!f!f!rf!bf%P @ɛUBUm= QU2>IQ ]n;ɚYiYI]=Ie?iaia)e?)i*F?2F:FBFk0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771651G) GQ B O >}0w,.AZw+?YZ?c?Z둼9Z>yZH| ? ??/? nȿ8=?`? ?ɨZw+?ZX;ZCyxxI I ]4٢- -e= M$?IQ95M;Q ]>aa mG٣muJGyu_> u> Nusing accuracyPremultiplier from config+59۾a?+5Y43 i Br?}@E;&~;ީ+5 º@ZjquFNOT Ignoring new targets: 348.70 m.Bj}%ֺJj}%ֺ ProNav: ac range: 348.700012 m, nav range: 114.117043 m, bearing: 33.593569 deg, approach rate: -0.492590 m/s, LOS rate: -0.093610 deg/s, cmd heading: 68.477660 deg, new cmd heading: 68.368772 deg. 2j|HeadingCmd: 1.193260 target range: 348.700012 and range: 348.70 m. j?jjjihhhhfffrfbf@ɛB=  >I %!;ɚiIg%=I?i%Iiq)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 22:12:56.3802 LVL= 14576, 22001, 18002, 18275, AGC= 69, IDX= 66,-0.47, 2.190, 0.528, 1.783, 1.291, PHS= 0.986,-0.716, 0.489, RAW= 133.5, -10.0, CAL= 138.9, -21.2, ROT= 11.1, 21.2 eYgot valid direction response: 22:12:56.3802 LVL= 14576, 22001, 18002, 18275, AGC= 69, IDX= 66,-0.47, 2.190, 0.528, 1.783, 1.291, PHS= 0.986,-0.716, 0.489, RAW= 133.5, -10.0, CAL= 138.9, -21.2, ROT= 11.1, 21.2 }PDAT read: Bearing 11.1, 21.2 (Local) ~Local bearing/azimuth received: Bearing 11.1, 21.2 (Local) *F?2F:FBF0JFDAT read: Range 10 to 50 : 359.0 m (Round-trip 478.7 ms) speed 0.3 m/s  ,DAT read: user:2398>  BDAT read: Tx time:22:12:57.4974 $Ping request sent.@¸2 '@)qIaF>iq>:zˋ?" o?Q%(Oƿ)\q>Ii3>i4O=b:publishing transmit ping timeFpublishing direction and range info9VBѝ?4MF&?y )Ii )Ii:zˋ?" o?Q%(Oƿ)IiGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.U[w, AJI42?YJj?JVh9J>yJH`Gw?wA?d?? tǿL??o?ɨJI42?J;JCynBn%I)p ptvAJ%J%J!J!J%\:J%:J!J!a-@a-@a-@a-@ZHRH?AH>I I%IIBI&I.I6I<:ID FEMb@Mb@Mb@AAA A)AYEv/?/${GzyEx ?EE#A E5@)E@IEI@AyE@IuIuƕ4٢ 6=9J;Q >zKJK59KK~K G٣yyp= > Nusing accuracyPremultiplier from config+59a? +5Y/3 i B  ?5:5pf?5}@E;<ѭ+5EBB Eͺ@E`EkES?kE!C kA kEdA:kECBkE>CZkE@"EP:@99S0lK5P"aq@EVBѝ?4MF&?JkE4ORkE=b*E~n@NN&dRi@E,I?@.ܿ1)/?"kE2!*kEwCkEF?kE2C 2kECkE87q@?kE:: kE=CkECkE_@ IIUiU addTargetRange:: Added new target pos. range: 359.000000 m, deltaT: 4.040332 s, deltaX: 10.299988 m, approachRate: 2.549292 m/s, rangeRepo size: 4  Added new target pos. range: 359.000000 m, bearing: 326.926512 deg, lat: 36.904830 deg, lon: -122.123653 deg, deltaT: 4.040332 s, deltaX: 10.299988 m, approachRate: 2.549292 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 359.00 m.BjJj ProNav: ac range: 359.000000 m, nav range: 154.065063 m, bearing: 331.236837 deg, approach rate: 0.000000 m/s, LOS rate: -0.093610 deg/s, cmd heading: 68.368773 deg, new cmd heading: 68.239791 deg. 2jHeadingCmd: 1.191009 target range: 359.000000 and range: 359.00 m. jr?jjjihhAhAhENBfAfIfIrfMpv@bfMs?ɛB7) = 隝>I  _;ɚiIDQ=Ir?ii6d_)r?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF}0JFGmZ4~G) B1 OM >݄w,A_9?Yq?f9Oo>yH1? z?\?b?7aǿ}?i?C?ɨ_9?;CyeBe%II}I}i4٢ã \=9@WQ > G٣yO= > Nusing accuracyPremultiplier from config+59Za?+5Y+3 i Bm?}@EC;zD;+5 @]EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 359.00 m.BjuJju ProNav: ac range: 359.000000 m, nav range: 154.038177 m, bearing: 331.165555 deg, approach rate: -0.080983 m/s, LOS rate: -0.214747 deg/s, cmd heading: 68.239792 deg, new cmd heading: 68.025909 deg. 2j` HeadingCmd: 1.187276 target range: 359.000000 and range: 359.00 m. j ?j j j ihhhhfffrf!bf%`V?ɛUBUѤ)= QU>IY ]Ϧ;ɚYiYI] =Ie?ieie[UD)e?)iuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.*F-?2F):F1BF55JF1 =$?I9GmGqGI BY Ou >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- >- >- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975457nw,AV2??YV|Dx?V9V-V>yVH`? _@?lc?`1?ƿc?f??ɨV2??V;TyrBr%IIzkIz=4٢5<  S=9  9Q  > G٣vJGyރ= > %Nusing accuracyPremultiplier from config!-+59%a?-+5Y%;'3 i% B15+t?5}@%E%n:%k;%[+59 E@AZjamFNOT Ignoring new targets: 359.00 m.BjmdJjmd} ProNav: ac range: 359.000000 m, nav range: 154.014603 m, bearing: 331.088334 deg, approach rate: -0.060867 m/s, LOS rate: -0.199407 deg/s, cmd heading: 68.025911 deg, new cmd heading: 67.794212 deg. 2jHeadingCmd: 1.183232 target range: 359.000000 and range: 359.00 m. j't?jjjihhhhfffrfbf ?ɛBK$= >I ^;ɚiI =I't?i%i-)'t?)*FU?2FQ:FQBFU_0JFQGE(lG)BQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230969OB>J=J=J9J9J=,:J= 9J9J9H>I I%IIBI&I.I6Ix<:I$ FBIǖCJIǖCRIZI4 =bI4 =jIi4zKE BoHKE 9KA KE KE   ! I) ~w,A^ y^Hk? e? ?@?`#ſ?@A?%?ɨ^  G٣yRc= > Nusing accuracyPremultiplier from config+59.a?+5Y"3 i B?:u?}@E;;\+5 @ZjAEFNOT Ignoring new targets: 359.00 m.BjMZJjMZU ProNav: ac range: 359.000000 m, nav range: 153.989380 m, bearing: 330.999142 deg, approach rate: -0.054074 m/s, LOS rate: -0.191245 deg/s, cmd heading: 67.794211 deg, new cmd heading: 67.526593 deg. 2j]?mHeadingCmd: 1.178561 target range: 359.000000 and range: 359.00 m. jmۖ?jijijiiihihqhqhuVBfyffrfbf`j?ɛBl = 15G>I9 =H;ɚ9i9I=v7=IEۖ?iEC=iE)Eۖ?)I*F?2F:FBF^0JFGiIGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731645}†w,5z A:`L?Y:n?:9:M>y:H@?3`?M?? 9?Ŀ?@/?@6?ɨ:`L?:;:CyNBR%I `I`IZIZ4٢n\A= nk=9rI 5Z<ɚ1i1I5=I=+h?i=&Li=)=+h?)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984300*F%?2F!:F!BF%_0JF!GM ͆G)Y Y ~G |uAG B! M ZA *Y |uAy #BO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237650YȆw,;T$AJJJ/JJ:J9J(N3J\R?Yl?3`9>yH !?p_E??ɿ?@Lÿ <???ɨ\R?;Cy15%IIEIE4٢Uln: ]C=9];Q ]>aa eG٣ewJGye#d= m> uNusing accuracyPremultiplier from configi}+59ma?}+5Ym&3 imx B?}@mEm%-;my-;m+5 `@jHbH<H>I I%IIۆBI5 =&I.I6I<:I7 FZjFNOT Ignoring new targets: 359.00 m.Bj\Jj\ ProNav: ac range: 359.000000 m, nav range: 153.962875 m, bearing: 330.850171 deg, approach rate: -0.028570 m/s, LOS rate: -0.192871 deg/s, cmd heading: 67.325632 deg, new cmd heading: 67.079646 deg. 2j]HeadingCmd: 1.170761 target range: 359.000000 and range: 359.00 m. j|ە?j j j i h h hhfffrfbfv@ɛ ʅBzKKKs9KKKM= QU$>IQ ]<ɚYiYI]=Ie|ە?imYiaҽ)|ە?) $?I*F-?2F):F)BF)JF)Gl=GBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487267Άw,+>A:+X?Y:?:!CC9:>y:H?Lb?@<?.?m¿@>h?y??ɨ:+X?:;:Cy^Bb%IIjIj4٢r:= rR=9r;Q r>tt vG٣tyz8= z> Nusing accuracyPremultiplier from config|+59~\b?+5Y~3 i~j B  ? }@~E~b;~b;~l+5! %@!B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 359.00 m.BjYJjY ProNav: ac range: 359.000000 m, nav range: 153.956833 m, bearing: 330.774191 deg, approach rate: -0.015089 m/s, LOS rate: -0.189738 deg/s, cmd heading: 67.079643 deg, new cmd heading: 66.851694 deg. 2j7 HeadingCmd: 1.166782 target range: 359.000000 and range: 359.00 m. j Y?j j j i h hh9h9f9f9f9rfAbfE%@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739377ɛυB= 隍>I ~h <ɚiIB=IY?iciD)Y?)*F?2F:FBFy0JF"Gp>G;>GeG!B1OMS> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991108Նw,| XAR^?YR?RE%9R7<>yRH?`ZS?^?@JN?U???ɨR^?Rd;PynBr%II~I~@4٢ =  G=9 a;Q > G٣y%f= %> -Nusing accuracyPremultiplier from config)5+59-Vb?5+5Y-3 i-[ B1=?=}@-E- ;- ;-+5A E@EXEZjimFNOT Ignoring new targets: 359.00 m.Bj}jJj}j ProNav: ac range: 359.000000 m, nav range: 153.955688 m, bearing: 330.693871 deg, approach rate: -0.002916 m/s, LOS rate: -0.204652 deg/s, cmd heading: 66.851692 deg, new cmd heading: 66.610731 deg. 2js HeadingCmd: 1.162577 target range: 359.000000 and range: 359.00 m. jOϔ?jjjihhhhfffrfbf: @ɛӅBoL&= >I <ɚiI=IOϔ?iki*n)Oϔ?)*F?2F:FBFQ3JFGWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉBDAT read: Rx Time:22:13:00.3784 TRx dataTimestamp_ set to:1736374381.561021checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254752GB!Od>JJ@AJ%J%J%0J!J%:J%:J%ـ3J!H>IC III6 =&I.I/D6I<:I I izK] jIK] 59KY K] K]  .884.*&!!  BKi :Km pAXۆw,qANld?YN.t?N|9Nۊ>yNH@1J?M?@? ?`?$?M?ɨNld?N{;LyX^%InWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.499377Mb@Mb@Mb@ )Yp= ף?I +:vy?9ԼXA @)@I@y@II4٢6%; 0=9wv;Q > G٣xJGy,J= > Nusing accuracyPremultiplier from config+59b?+5Y 3 iO Bg?:? }@Es6;4;+5 @UEZj9=FNOT Ignoring new targets: 359.00 m.BjEH]JjEH]U ProNav: ac range: 359.000000 m, nav range: 153.962219 m, bearing: 330.604071 deg, approach rate: 0.014070 m/s, LOS rate: -0.193458 deg/s, cmd heading: 66.610730 deg, new cmd heading: 66.341344 deg. 2jU]HeadingCmd: 1.157875 target range: 359.000000 and range: 359.00 m. j]>5?jYjYjYiYhahahihmKBfififirfqbfu @ɛ؅BX= 隵>I A<ɚiI=I>5?iӟpi-)>5?)*F92F9:F9BF=1JF9Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:13:00.3784 LVL= 28096, 32753, 30882, 32755, AGC= 68, IDX= 414, 0.08, 0.676,-0.645, 0.561,-0.034, PHS= 0.798,-0.564, 0.592, RAW= 141.9, -12.9, CAL= 148.6, -21.9, ROT= 1.4, 21.9  Ygot valid direction response: 22:13:00.3784 LVL= 28096, 32753, 30882, 32755, AGC= 68, IDX= 414, 0.08, 0.676,-0.645, 0.561,-0.034, PHS= 0.798,-0.564, 0.592, RAW= 141.9, -12.9, CAL= 148.6, -21.9, ROT= 1.4, 21.9  PDAT read: Bearing 1.4, 21.9 (Local)  ~Local bearing/azimuth received: Bearing 1.4, 21.9 (Local) G= j DAT read: Range 10 to 50 : 357.6 m (Round-trip 476.8 ms) speed 0.4 m/s  ,DAT read: user:2399>  BDAT read: Tx time:22:13:01.4974  $Ping request sent. E ^direction in FSK: [0.130350,-0.734805,0.665635]E :publishing transmit ping timeة E Fpublishing direction and range infoؙ9؝M? J#L?y؝̲Cؙ؝m؝ ٝx)ٝIٝDiٝIL?ٝNbٝP?ٝ@ٝf ڝ%@)ڝEþIڝ+ڙڙ۝W*?^L?֫̿)۝>I۝*g>i۝ݖ۝t:ۙۙ :publishing transmit ping timeة  Fpublishing direction and range infoؙ9؝M? J#L?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝W*?^L?֫̿)ۙIۙiۙۙۙۙw,A &$?I$Jli?YJ?Jm9J߄>yJH)? r?@i? +?h!v?`?l??ɨJli?JI;JCyjΆBj%III@4٢ > l=9=AA EG٣AyMIe= M> UNusing accuracyPremultiplier from configQ}+59Ub?}+5YU3 iUE B]?}@UEU;U;U+5 6@k(=Ŝ?k`*u< k kA:k̲CBkCZk?@"~*zNG@:Clpm@M? J#L?JkݖRkt:*ǜ s@Q>Ws\d@ÏOC?R1QTпS'?"k*kTCk iƜ?k34< 2kKfCkk34< kwCk"Ck õ@ addTargetRange:: Added new target pos. range: 357.600006 m, deltaT: 3.785671 s, deltaX: -1.399994 m, approachRate: -0.369814 m/s, rangeRepo size: 4  Added new target pos. range: 357.600006 m, bearing: 343.139926 deg, lat: 36.904830 deg, lon: -122.123840 deg, deltaT: 3.785671 s, deltaX: -1.399994 m, approachRate: -0.369814 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 357.60 m.BjJj ProNav: ac range: 357.600006 m, nav range: 162.777237 m, bearing: 325.443419 deg, approach rate: 0.000000 m/s, LOS rate: -0.193458 deg/s, cmd heading: 66.341341 deg, new cmd heading: 66.121186 deg. 2jHeadingCmd: 1.154032 target range: 357.600006 and range: 357.60 m. jU?jjjihh h hfffrfYv@bfr?ɛ݅B.= 隅m>I <ɚiI$M=IU?iriڐ)U?)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:13:01.4966 *F?2F:FBFI5JFG GG}G9BAOew> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ARn?YRL?R?b9R^~>yRH`K?T`Θ?@7?>?| ]l?Ղ? ?ɨRn?R\;RC*Jj4="Jj4=y-B-%IZHQRHU@AHYIY I]%II]BIY&IY.IY6I]<:I]H FuMb@Mb@Mb@qqq q)qYu/$?{Gz? G٣y#= > 1I1 Nusing accuracyPremultiplier from config+59'b?+5Y2 iC B ?:?}@E<;"+5 @ZjEFNOT Ignoring new targets: 357.60 m.BjEYJjMYU ProNav: ac range: 357.600006 m, nav range: 162.828629 m, bearing: 325.356693 deg, approach rate: 0.112472 m/s, LOS rate: -0.189741 deg/s, cmd heading: 66.121183 deg, new cmd heading: 65.861090 deg. 2jU7}HeadingCmd: 1.149493 target range: 357.600006 and range: 357.60 m. j"?jjjihhhhHBfffrfbf@?zKwMK9KKK     RK?JK?ɛBG/= >I9 E'%<ɚAiAIE=IM"?iMϺriMQW)M"?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF@5JFGI葽GBO> w,utAvr?Yv?vg9vw>yvH?1?@u?@:>?`/v b?@?@?ɨvr?vOv;vCyMBM%III#4٢]= ^=9_;Q > G٣yJGyS= > Nusing accuracyPremultiplier from config+59-.b?+5Y2 iA Bw?}@E:*:S+5 6@-B*** querying acoustic contact ***j)j)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ZjFNOT Ignoring new targets: 357.60 m.BjsXJjsX ProNav: ac range: 357.600006 m, nav range: 162.873337 m, bearing: 325.288150 deg, approach rate: 0.123465 m/s, LOS rate: -0.189235 deg/s, cmd heading: 65.861089 deg, new cmd heading: 65.655517 deg. 2jHeadingCmd: 1.145905 target range: 357.600006 and range: 357.60 m. j?jjjih!h!h!h!f)f)firfibfuu?J3K;|3 K;S}-K3K3"K3JJJJJ :J 9JJJ;a J;a JN>;aJO>;aɛmBmeD= im!?Iq uXw+<ɚqiqIuT=I}?i}gpi})T<)}?) )I)*F?2F:FBF^0JFG}2#GQBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190873w,NAy%B-&IIUcIUy/4٢e-= eN=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from config+594b?+5Yj2 i? B}@EC:P:+5 @REZjFNOT Ignoring new targets: 357.60 m.BjqdJjqd ProNav: ac range: 357.600006 m, nav range: 162.921722 m, bearing: 325.214424 deg, approach rate: 0.131113 m/s, LOS rate: -0.199719 deg/s, cmd heading: 65.655514 deg, new cmd heading: 65.434403 deg. 2j HeadingCmd: 1.142046 target range: 357.600006 and range: 357.60 m. j.?jjqjqiqhqhyhyhyfyffrfbf?ɛBTK= ?I N1<ɚiIb=I.?i,mi R<).?)*F?2F:FBF_0JF"G%>G>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.448543He>Ia Ie&IIeBIe7 =&Ia.Ia6Ie<:Iem FG  I G B O >zK} ؐLK} s9Ky K} K} y-H?:?`? "?`*汿#z?@?ɨ-c}?-Ɖ;-Cy]B]&IuMb@Mb@Mb@qqq q)qYul?~jtx?Mb`yu?u;uu\ A u5@)u~@Iu@qyu@II4٢z= 7=9 G٣y= > Nusing accuracyPremultiplier from config+59J J J J J \:J :J J J h;J i;J L;J L; $?I w, AyB%+&II5I54٢EK= Ee=9EQ E>II MG٣MzJGyU U> Nusing accuracyPremultiplier from config+59Bb?+5Y2 i; B}@E\G;G;+5 @ZjFNOT Ignoring new targets: 357.60 m.Bj-fJj-f ProNav: ac range: 357.600006 m, nav range: 163.044327 m, bearing: 325.051627 deg, approach rate: 0.152124 m/s, LOS rate: -0.201235 deg/s, cmd heading: 65.165462 deg, new cmd heading: 64.946195 deg. 2j HeadingCmd: 1.133525 target range: 357.600006 and range: 357.60 m. jX?jjjihhh h f f f rfbf@ɛEBMrBi= IM]?II M@<ɚIiIIU==I]X?i]*p^iegp=)eX?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.199289*F ?2F :F BF0JFG;GGrAGBOB> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453722TI w,=&AjHbHH I  I <&II 'BI 6 =&I .I 6I <:I . FBICJICRIZI6 =bI6 =jI3.5?Y&U?Vr<9zE>yH?y`M? ??$J@Î?`f?ɨ?B;騽C IizK=JK=9K9K=K=~i  ;Uyޕ%Bޕ:&Ii)>IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702912Mb@Mb@Mb@ )YT㥛 ?y&1?y!?`</ A K@)IQ@y(@II@4٢V= =95\    G٣ y < > Nusing accuracyPremultiplier from config%+59Lb?%+5Y2 i9 B%.!?-:-?-}@E;;=+51 5˱@1ZjYeFNOT Ignoring new targets: 357.60 m.Bje0qJjm0qu ProNav: ac range: 357.600006 m, nav range: 163.161545 m, bearing: 324.920974 deg, approach rate: 0.189316 m/s, LOS rate: -0.210862 deg/s, cmd heading: 64.946192 deg, new cmd heading: 64.554522 deg. 2j}}HeadingCmd: 1.126689 target range: 357.600006 and range: 357.60 m. j}X7?jyjjih h h h NBf f f rf bf `ݿ@ɛ B 18= 隍 ?I XLL<ɚ i I =I X7?i Ni =) X7?) *Fu ?2Fq :Fq BFu _0JFy G  G Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954706G <J%J%J!J!J% :J%:J!J!J%;J%;J%J;J%J;GqByO ?Sw,IA:F]?Y:j?:&D<9:6>y:H ?m'? ?-?;(@?`|?ɨ:F]?:8;:Cɮ```i``idd)fĻ dId d)jwAɯhhhhɰlilIllInCinwA pp)pp pppɱttvpwAIt)tit) I  ɲ  )Iף 5xAii!!)! !I) ))-xA))) 9I9AAiAIAAIAiI II)IMYC IQQQQQIQ)YiYYye4BeM&II}I}t4٢= v=9@% .~GI i Y y ~B|w,cA.}?Y.*?.<9.K'>y.H ????bsI?ː?ɨ.}?.Z;.CWill construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:13:04.3750 ETRx dataTimestamp_ set to:1736374385.596196Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.469295y3BL&IIUIU:4٢m/\ m/=9uyy }G٣}{JGHI I&IIiBI&I.I6I<:I) Fy4; > )I) 5Nusing accuracyPremultiplier from config1=+595Yb?=+5Y52 i51 BaeY?e}@5E5;5=;5g+5i mݰ@qZjFNOT Ignoring new targets: 357.60 m.BjxJjx ProNav: ac range: 357.600006 m, nav range: 163.319458 m, bearing: 324.748467 deg, approach rate: 0.199872 m/s, LOS rate: -0.217392 deg/s, cmd heading: 64.344159 deg, new cmd heading: 64.037262 deg. 2j1HeadingCmd: 1.117661 target range: 357.600006 and range: 357.60 m. j?jjjihhh!h!f!f!f)rf)bf-`N @ɛuBu U= 隝b?I E\<ɚiIs=I?i0 8i=)?)zK5~OK5s9K1K5K5-*FQ2FQ:FQBFUe0JFQG-ǀ=G1G5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.711435GBO >w,g}ARv?YRﴜ?RF<9RG>yRH ?@ks? V??$5 ??ɨRv?R/f;RCy޽9B޽S&I) Mb@Mb@Mb@ )Y/$?Zd;O?~jthy1(?j<=DA x@)I;@y@II{4٢`< C=9Will construct direction to contact in vehicle frame from tetrahedron phase data.iAMDAT read: 22:13:04.3750 LVL= 26288, 32753, 21922, 32755, AGC= 69, IDX= 411, 0.20,-0.207,-1.647,-0.325,-0.727, PHS= 0.608,-0.872, 0.399, RAW= 142.5, -2.0, CAL= 147.2, -11.1, ROT= 2.8, 11.1 UYgot valid direction response: 22:13:04.3750 LVL= 26288, 32753, 21922, 32755, AGC= 69, IDX= 411, 0.20,-0.207,-1.647,-0.325,-0.727, PHS= 0.608,-0.872, 0.399, RAW= 142.5, -2.0, CAL= 147.2, -11.1, ROT= 2.8, 11.1 ]PDAT read: Bearing 2.8, 11.1 (Local) e~Local bearing/azimuth received: Bearing 2.8, 11.1 (Local) uDAT read: Range 10 to 50 : 355.0 m (Round-trip 473.4 ms) speed 0.5 m/s },DAT read: user:2400> BDAT read: Tx time:22:13:05.4975 $Ping request sent.,@5 l$@)aFI+H=iaF> G٣yݹ > Nusing accuracyPremultiplier from config(^?i#{?;YY)*>IF =i>׿A'8 :publishing transmit ping time؁ Fpublishing direction and range info9Jg IJ"?y )Ii )Ii(^?i#{?;YY)Ii%+59`b?E+5Y2 i+ BM(?M:M?M}@E6<E6<%+5Q Uv@]JEk:?k? JJJJJ|:J:JJJ;J;JA;JA;k k A:kCBkACZk<@"0(p;HQ =m@Jg IJ"?Jk>׿RkA'8*Pdp@>w(U+_k +h@.h&w,0AFz4?YFr?FU<9F>yFH ?qU???ePp?3?ɨFz4?F;Dyb! %G٣!y% %> UNusing accuracyPremultiplier from configIU+59Meb?]+5YM2 ]tIiM% BY]e?]~@MEM;Ma;ME+5a mS@iZjFNOT Ignoring new targets: 355.00 m.Bj%Jj% ProNav: ac range: 355.000000 m, nav range: 275.627502 m, bearing: 333.052355 deg, approach rate: 0.134999 m/s, LOS rate: -0.144839 deg/s, cmd heading: 63.744025 deg, new cmd heading: 63.599829 deg. 2jƻHeadingCmd: 1.110026 target range: 355.000000 and range: 355.00 m. jX?jjjihhhhfffrfbfH1?ɛB{~= 隝?I l<ɚiIZ =IX?i !i=)X?)*F?2F:FBF[5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GƠ=ZHRH*JC="Jp=GBOi>H>I I&IIxBI7 =&I.I6I<:I3 F IizKm &`KKm 9Ki Km Km RK} ?JK} ?Y,w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.6d?Y6~?6B =96y=y6H? `iݾ?`?.?f7@??ɨ6d?6Y;6CyN7BRQ&IMb@Mb@Mb@ )YQ?{Gz?{Gzty\/?#=ףzA @)I@y@IIt4٢] :=9;Q  >    G٣ |JGyO 5> =Nusing accuracyPremultiplier from config9E+59=lb?E+5Y=/2 i= BM/?M:Mw?M~@=#E=;=&;= +5y }@yZjFNOT Ignoring new targets: 355.00 m.BjyJjy  ProNav: ac range: 355.000000 m, nav range: 275.679810 m, bearing: 332.991605 deg, approach rate: 0.117810 m/s, LOS rate: -0.136800 deg/s, cmd heading: 63.599826 deg, new cmd heading: 63.417612 deg. 2j Ļ5HeadingCmd: 1.106846 target range: 355.000000 and range: 355.00 m. j5"?j1j1j1i1h9h9h9h=BfAfAfArfAbfEK?ɛ B\= ?I Gwt<ɚiIN =I"?i6i=)"?)*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G =G G qA I G B O% >3w,ݖA6 ~?Y6(?6.=96=y6H??'?`?_?Ag`䢿@b?c?ɨ6 ~?6$׊;6CyB9BBR&IIJIJa4٢R; Rc=9VTT ZG٣XyZ3 Z> bNusing accuracyPremultiplier from config\f+59^rb?f+5Y^ 2 i^ Bdf?f~@^'E^:^":^(+5h n@nGE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 355.00 m.BjJj ProNav: ac range: 355.000000 m, nav range: 275.722321 m, bearing: 332.941728 deg, approach rate: 0.118917 m/s, LOS rate: -0.139500 deg/s, cmd heading: 63.417610 deg, new cmd heading: 63.268002 deg. 2jyHeadingCmd: 1.104235 target range: 355.000000 and range: 355.00 m. jW?jjjihhhhfffrfbfW`?ɛ5BUAp= QU?IY ].{<ɚYiYI]n =IeW?ie ie=)eW?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF_0JFGrA GGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4983479w,AJ:J:J8J8J::J::J8J8aR@aR@aR@aR@HI I&II}BI6 =&I.I6I<:I? F qI}iL}?Y?o =9=yH?\a?`?>?f? @li?`[?ɨL}?!;y-3B5K&IMb@Mb@Mb@ )Y/$?+? G٣y7 > UNusing accuracyPremultiplier from configQ]+59Uzb?]+5YUį2 iUB]b,?]:]?]~@U-EU;U,;Uo+5m@B mװ@mDEZjFNOT Ignoring new targets: 355.00 m.Bj!Jj!% ProNav: ac range: 355.000000 m, nav range: 275.778778 m, bearing: 332.874408 deg, approach rate: 0.118483 m/s, LOS rate: -0.141250 deg/s, cmd heading: 63.268001 deg, new cmd heading: 63.066084 deg. 2j%-HeadingCmd: 1.100711 target range: 355.000000 and range: 355.00 m. j-?j)j)j)i)h1h1h1h5Bf9fYfarfabfe-?ɛBS= 隭?I <ɚiI< =I?i.3i=)?)zKuk3IKu9KqKuKu]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750598*F?2F:FBFY0JFG G B O >@w,JA2dz?Y2ֻ?21=92eҪ=y2H`R?F?`&?C?a?`*>N?@?ɨ2dz?2Bԉ;2CyZ%BZ;&IIbIb4٢jƠ ju=9nRm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253337 Fw,8.A:ox?Y:v?:>C=9:Θ=y:H`?N=??`??@go`?`?ɨ:ox?:T;8yJ$BJ9&IIRIR4٢Zt ZL=9^s/\\ bG٣`yb˼ b> fNusing accuracyPremultiplier from configdj,59fb?n,5Yf2 ifBln!?n~@f4Ef\ ;f ;f,5p rDZ@tZjFNOT Ignoring new targets: 355.00 m.BjJj- ProNav: ac range: 355.000000 m, nav range: 275.855896 m, bearing: 332.774543 deg, approach rate: 0.103679 m/s, LOS rate: -0.137910 deg/s, cmd heading: 62.932038 deg, new cmd heading: 62.766539 deg. 2j-J5HeadingCmd: 1.095483 target range: 355.000000 and range: 355.00 m. j=8?j9j9j9i9h9h9hAhAfAfAfIrfIbfM+<@ɛuB}lY= } =}f?Iy }<ɚyiyIR =I8?iӺi዗=)8?)*Fu?2Fq:FqBFuo0JFq"G}=G}=GM=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506510GBIO:>jH)bH-p<JJJJJ|:J:JJH5>I1 I5&II5nBI57 =&I1.I16I5<:I57 F YIYzK .JK +9K K K E1 xYD4$ Mw,C7AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757225:v?Y:K?: aQ=9:!=y:H :?z?? h?? 9) N??ɨ:v?:;:Cy^Bb$&IEMb@Mb@Mb@AAA A)AYE(\?+?:vyE'?AEԼE@ E-@)AIAAyE@II{4٢-? -5=95;Q 5>QY ]G٣Yy] ]> mNusing accuracyPremultiplier from configam,59eŏb?u,5Ye!2 ieB(?:B?~@e9Eex;e;e,5 β@ZjFNOT Ignoring new targets: 355.00 m.BjHJj%H] ProNav: ac range: 355.000000 m, nav range: 275.900208 m, bearing: 332.713301 deg, approach rate: 0.095712 m/s, LOS rate: -0.132262 deg/s, cmd heading: 62.766542 deg, new cmd heading: 62.582844 deg. 2j]eHeadingCmd: 1.092277 target range: 355.000000 and range: 355.00 m. jeϋ?jajajaiahihihhDžBfffrfbf @ɛB%?= )-R>I1 5m(<ɚ1i1I5 =I=ϋ?i=C/i=ê=)eϋ?)a*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010281 I II G= ^=G B) OE >bSw,̷PA6Rjs?Y6M?6P`=96l*=y6H??`aM? 8p?@6 ?`er?`^?t?ɨ6Rjs?6;6CyR BR&IIZIZ4٢bs bf=9b(dd jG٣j~JGyj n> rNusing accuracyPremultiplier from configpv,59r2b?z,5Yrf2 irBxz?z~@r=Er/;r;r ,5| y@BEB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 355.00 m.Bj5#Jj5#E ProNav: ac range: 355.000000 m, nav range: 275.932220 m, bearing: 332.665913 deg, approach rate: 0.092820 m/s, LOS rate: -0.137382 deg/s, cmd heading: 62.582845 deg, new cmd heading: 62.440699 deg. 2jEMHeadingCmd: 1.089796 target range: 355.000000 and range: 355.00 m. jMn~?jIjIjIiQhQhQhQhYfYfYfarfabfe໴ @ɛB@_= 隕9>I !\<ɚiIt =In~?i i|=)n~?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261516*FU?2FQ:FQBFU_5JFQG(=GBO'> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:13:08.3713  TRx dataTimestamp_ set to:1736374389.620993 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514817#Zw,jAJBJBJ@J@JB:JB :J@J@H\I\ I^h&II^JBI^6 =&I\ I.I\6I^<:I^? FBIJIRIZIbI7 =jI4%q?Y%?%Tck=9%x=y%Hd?C@?P?? K*?@Eh i?d?ɨ%q?%};!y}B} &Ii>I< =a=Mb@Mb@Mb@ )Y)\(?Q?L7A`堿yG!?u<+@ p@)@IZ@y@@AII4٢B$ !=9Ӯ;Q > G٣y > Nusing accuracyPremultiplier from config ,59&b? ,5Y2 iB !?:5?~@BE;;>,5 @?EZjAMFNOT Ignoring new targets: 355.00 m.BjMfJjMfe ProNav: ac range: 355.000000 m, nav range: 275.962616 m, bearing: 332.600367 deg, approach rate: 0.060171 m/s, LOS rate: -0.129741 deg/s, cmd heading: 62.440701 deg, new cmd heading: 62.244086 deg. 2jmmHeadingCmd: 1.086364 target range: 355.000000 and range: 355.00 m. jm ?jijqjqiqhqhqhyh}Bfyffrfbf @ɛ#B5= 隵>I <ɚiIM =I ?iip=) ?)'TFailed to parse incomplete device message.]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765533E% u<*F 2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 22:13:08.3713 LVL= 25680, 32753, 28786, 32755, AGC= 65, IDX= 406,-0.23, 2.136, 0.749, 1.806, 1.651, PHS= 0.573,-0.855, 0.152, RAW= 133.3, 2.1, CAL= 138.9, -6.0, ROT= 11.1, 6.0 EYgot valid direction response: 22:13:08.3713 LVL= 25680, 32753, 28786, 32755, AGC= 65, IDX= 406,-0.23, 2.136, 0.749, 1.806, 1.651, PHS= 0.573,-0.855, 0.152, RAW= 133.3, 2.1, CAL= 138.9, -6.0, ROT= 11.1, 6.0 MPDAT read: Bearing 11.1, 6.0 (Local) M~Local bearing/azimuth received: Bearing 11.1, 6.0 (Local) ]DAT read: Range 10 to 50 : 352.2 m (Round-trip 469.7 ms) speed 0.0 m/s ],DAT read: user:2401> mBDAT read: Tx time:22:13:09.4475 m$Ping request sent.m @ Q = '@) PwֽI aF>i Pw=   Oa?D?t}?D?) 7n>I i 꿉 w/`  :publishing transmit ping timeiFpublishing direction and range info 9 c.U;ſm1t0 ?y     ) I i      ) I i    Oa?D?t}?D?) I i    Gl= iImiGBO??]cw,TAn k?Yn4?nD=9nno=ynH? @R?N ?@?`?%G??ɨn k?n;nCy߆B%II5I54٢e e-=9eCii mG٣iy/* > Nusing accuracyPremultiplier from config,59b?,5Ya2 ieB?~@GE;W;k,5 @k.P?k KY@ k kA:kCBkݮCZkb@"n66Mu;kkUp@c.U;ſm1t0 ?JkRkw/`*4\Wh@]`NOGp@6@S?Ecƒؿ)a?"k:*kBCk{â?k1r@ 2kCkk1r@ kkߋCk@ addTargetRange:: Added new target pos. range: 352.200012 m, deltaT: 4.030452 s, deltaX: -2.799988 m, approachRate: -0.694708 m/s, rangeRepo size: 4  Added new target pos. range: 352.200012 m, bearing: 325.221983 deg, lat: 36.905842 deg, lon: -122.124268 deg, deltaT: 4.030452 s, deltaX: -2.799988 m, approachRate: -0.694708 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 352.20 m.BjEJjIU ProNav: ac range: 352.200012 m, nav range: 279.742950 m, bearing: 331.092650 deg, approach rate: 0.000000 m/s, LOS rate: -0.129741 deg/s, cmd heading: 62.244088 deg, new cmd heading: 62.046863 deg. 2jY]HeadingCmd: 1.082922 target range: 352.200012 and range: 352.20 m. j]1?jajajaiahihihihifqffrf@3v@bf?ɛ'BT#= >I o <ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:13:09.4467 I> =I1?ii*6=)1?)) =NG]tAuA YtAy3B @ fBEe =*F ?2F :F BF JF G ghs=} Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >iwAiEA,?AZHhRHhJJJJJ\:J9JJ $?IHM>II IM6&IIM"BII&II.II6IM<:IMH Fi?Y2?R=9),r=yHZ? ??Y:?@? a0??ɨi? Ӊ;Cy5҆B5%IeMb@Mb@Mb@aaa a)aYex?y&1|?MbyeK?e`;ee@ e@)e@Iep@ayef@IwIR4٢@ =98;Q > G٣JGyu >  Nusing accuracyPremultiplier from config ,59 ´b?,5Y 2 i ?B?:!?%~@ LE =; <;  ,5) -ݶ@-Iy }6<ɚyiI =I0?ilwi -=)0?)EE*E"E]Will construct direction to contact in vehicle frame from tetrahedron phase data.zK}BoHK}h9KyK}K}*F ?2F! :F! BF% ^0JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data.GAGB) AIAO]?*sw,IA @2bg?Y2?2=92x=y2HQ?`R?@f?+?`?Q&? ?ɨ2bg?23 ;2CyBBB%IDFAIJIJ4٢R$ƽ R==9Vu;Q V>TX ZG٣XyZẼ Z> bNusing accuracyPremultiplier from config\b,59^b?f,5Y^y2 i^ Bdf?f~@^PE^:^:^,5h n4@lZj FNOT Ignoring new targets: 352.20 m.Bj  Jj   ProNav: ac range: 352.200012 m, nav range: 279.787872 m, bearing: 330.977667 deg, approach rate: 0.044427 m/s, LOS rate: -0.121208 deg/s, cmd heading: 61.856058 deg, new cmd heading: 61.701944 deg. 2j^HeadingCmd: 1.076902 target range: 352.200012 and range: 352.20 m. j׉?jjjihhhhfffrfbfI  Ǥ<ɚiI5=I=׉?i=biE =)E׉?)A*F-?2F):F)BF-o0JF)"G5=G5>G6a=eWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOI>Syw,OA>Oe?Y>K ?>>=9>z=y>H ?2?? 6? ?.@I9? @?ɨ>Oe?> ;>CyJBJ%IIVIVb4٢Z ^I=9^;bWill construct direction to contact in vehicle frame from tetrahedron phase data.Q ^>dd fG٣jJGyj j> Nusing accuracyPremultiplier from config,59b?,5Ys2 iB?~@TEv<7z<,5HE>IEC IE%IIEBIE5 =&IA.IE0D6IE<:IE1 F) @ I B*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 352.20 m.Bj=Jj=纝u ProNav: ac range: 352.200012 m, nav range: 279.805237 m, bearing: 330.926202 deg, approach rate: 0.034189 m/s, LOS rate: -0.101325 deg/s, cmd heading: 61.701941 deg, new cmd heading: 61.547555 deg. 2ju}HeadingCmd: 1.074207 target range: 352.200012 and range: 352.20 m. j}?jyjyjyiyhyhhhfffrfbf`/??ɛ1B = E)1=E{>IA M_<ɚIiIIM=I]?i]VKi]B=)?)*F?2F:FBF`0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.zKK9KKKRK ?JK?G= /=G B9 O] >?w, AyB%IMb@Mb@Mb@ )Ym? rhV-y?C@ )@Iy@IIK4٢   6=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-,59%b?-,5Y%Zn2 i%B5?5:5?5~@%WE%A;%;%A#,5E?B E1@E:EZjFNOT Ignoring new targets: 352.20 m.Bj-=Jj5=} ProNav: ac range: 352.200012 m, nav range: 279.811615 m, bearing: 330.877972 deg, approach rate: 0.017602 m/s, LOS rate: -0.133099 deg/s, cmd heading: 61.547552 deg, new cmd heading: 61.402867 deg. 2j}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004173%HeadingCmd: 1.071682 target range: 352.200012 and range: 352.20 m. j%,?j!j!j!i!h)h)h)h-nBf1f1f1rf1bf5p=@ɛ3Be = 隥Q>I 5<ɚiI|=I,?iD+9iȘ=),?)JJJJJ :J:JJ $?Ii*F?2F:FBF0JFG=GaBqO>} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255869gw,A^҄`?Y^?^Ē=9^=y^H?Z>?ci?@^?(L?TO? v?ɨ^҄`?^;^CyjBj%IIvIvh4٢~{ ~^=9 H G٣y T\  > Nusing accuracyPremultiplier from config%,59b?%,5Yi2 iB!-?-~@[E+?;+?;y&,51 5@57EZjYeFNOT Ignoring new targets: 352.20 m.BjelJjelu ProNav: ac range: 352.200012 m, nav range: 279.813324 m, bearing: 330.836186 deg, approach rate: 0.004842 m/s, LOS rate: -0.118395 deg/s, cmd heading: 61.402868 deg, new cmd heading: 61.277511 deg. 2ju}HeadingCmd: 1.069494 target range: 352.200012 and range: 352.20 m. j}1?jjjihhhhfffrfbf/@ɛ5B= 6>I <ɚiI=IU1?iUn0iU<)U1?)Y*F?2F:FBF5JFGqA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508999jH<bHp;H=>I9 I=%II=ˆBI9&I9.I96I=v<:I=" FG = IG B O5 >w, 4Aj>^?Yj]?j0=9jƍ=yjHa? 5b?`G?m? Р?@0̲? Q?ɨj>^?j_;jCy-B-t%IMb@Mb@Mb@ )Yx&?Zd;Oy7 ?j̼@ @)Iy@II94٢>h <=9,;Q > G٣JGy > Nusing accuracyPremultiplier from config ,59b? ,5YYd2 iB } ?:D?~@^EM;_;E*,5 @!=Will construct direction to contact in vehicle frame from tetrahedron phase data.=>=<=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760300ZjQ]FNOT Ignoring new targets: 352.20 m.Bj]Jj]m ProNav: ac range: 352.200012 m, nav range: 279.810455 m, bearing: 330.788791 deg, approach rate: -0.006578 m/s, LOS rate: -0.108680 deg/s, cmd heading: 61.277513 deg, new cmd heading: 61.135325 deg. zKKs9KKK2j-,5HeadingCmd: 1.067013 target range: 352.200012 and range: 352.20 m. j5ߓ?j1j1j1i1h9h9h9h=eBfAfAfArfAbfMit@ɛ8Bd< >I <ɚiI =Iߓ?iD%i[<)ߓ?) EM = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011757*F ?2F :F BF 0JF G _<J J J J J :J 9J J G B I O >Vxw,NA6y\?Y6z?6r=96+=y6H@? h?,,?I?? Ӳ??ɨ6y\?6;6CyB~BBm%IIJIJ4٢R Va=9VV*;Q V>XX ZG٣XyZ\ ^> bNusing accuracyPremultiplier from config`f,59bb?f,5Yb_2 ibBdfi?j~@bbEb;b;bq-,5l n @pZj  FNOT Ignoring new targets: 352.20 m.BjJj% ProNav: ac range: 352.200012 m, nav range: 279.806885 m, bearing: 330.749180 deg, approach rate: -0.009884 m/s, LOS rate: -0.109655 deg/s, cmd heading: 61.135323 deg, new cmd heading: 61.016489 deg. 2j%-HeadingCmd: 1.064939 target range: 352.200012 and range: 352.20 m. j-O?j)j)j)i1h1h1h1h1fffrfbf+H @ɛ:B s<   >I  mɟ<ɚ iIZ=IO?ik#ih?I<)O?)!E=*F2F:FBF_0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264037G<Gi Bq O >w,QjhA>Z?Y>?>=9>c=y>H Z?F???ޜ?`K@ X??ɨ>Z?>d;>CVWill construct direction to contact in vehicle frame from tetrahedron phase data.ZBDAT read: Rx Time:22:13:12.3355 ZTRx dataTimestamp_ set to:1736374393.653930fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.520362HI I%IIBI4 =&I.I6I=<:I Fy%sB%_%I IImIm4٢a: *=9;Q %> G٣yDZ > =Nusing accuracyPremultiplier from config1},595b?},5Y5Y2 i5pBy?~@5fE54<5<51,5 @4EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 352.20 m.BjRJjR򺝊- ProNav: ac range: 352.200012 m, nav range: 279.800293 m, bearing: 330.692763 deg, approach rate: -0.012376 m/s, LOS rate: -0.105927 deg/s, cmd heading: 61.016491 deg, new cmd heading: 60.847238 deg. 2j5d5HeadingCmd: 1.061985 target range: 352.200012 and range: 352.20 m. j=?j9j9j9i9h9h9hahafififirfibfuq{ @ɛ=B< =I ų<ɚiI=I ?i iƵ<)?)*E="E=UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767806zK K 9K K K B w1v]D/Ee [1=*F ?2F :F BF 2JF "GU =GU = Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:13:12.3355 LVL= 18528, 24561, 20850, 28899, AGC= 72, IDX= 71,-0.30,-2.974, 1.873, 3.050, 2.664, PHS= 0.733,-0.745, 0.382, RAW= 136.9, -5.6, CAL= 142.6, -15.8, ROT= 7.4, 15.8 UYgot valid direction response: 22:13:12.3355 LVL= 18528, 24561, 20850, 28899, AGC= 72, IDX= 71,-0.30,-2.974, 1.873, 3.050, 2.664, PHS= 0.733,-0.745, 0.382, RAW= 136.9, -5.6, CAL= 142.6, -15.8, ROT= 7.4, 15.8 ePDAT read: Bearing 7.4, 15.8 (Local) e~Local bearing/azimuth received: Bearing 7.4, 15.8 (Local) uDAT read: Range 10 to 50 : 362.8 m (Round-trip 483.8 ms) speed 0.4 m/s G} M<,DAT read: user:2402> BDAT read: Tx time:22:13:13.4491 $Ping request sent. > 4@ +Ƚ &I@) 0I  A>i 0>   yz?D ǶQz?U븿) >I =i ̿ S  e:publishing transmit ping timeرeFpublishing direction and range info 9 AV.d%ʦ*|?y     ) I i      ) I JK KKK"KJJJ/JJ:JJ(N3J $?IGyBO=?U}w,袎AiQQQUyz?D ǶQz?U븿)QIQiQQQQ H*X?Y GS? :=9 =y H ?8?? JC?V?qL?/?ɨ H*X? ‰; CykBU%IMb@Mb@Mb@ )YQ?y&1Mby?`弹@ @)@I@y@II4٢Sܼ =9t:Q > G٣JGy% %> -Nusing accuracyPremultiplier from config)5,59-c?5,5Y-R2 i-LB55 ?5:=?=~@-kE-;-+;-*7,5a mF@ikUtֱ?kUw> kQ kU A:kUfCBkU!CZkULi@"Us`}+nZp@UAV.d%ʦ*|?JkU̿RkUS*U̶s$n@$ᔴ]9NDtn@UD?vԿoɏ9}?"kU*kU#qCkU? 2kUkCkQkU?? kQkUCkUv@5 addTargetRange:: Added new target pos. range: 362.799988 m, deltaT: 4.033027 s, deltaX: 10.599976 m, approachRate: 2.628293 m/s, rangeRepo size: 4 e Added new target pos. range: 362.799988 m, bearing: 333.768172 deg, lat: 36.905842 deg, lon: -122.124179 deg, deltaT: 4.033027 s, deltaX: 10.599976 m, approachRate: 2.628293 m/s, posRepo size: 4 Zji}Will construct direction to contact in vehicle frame from tetrahedron phase data.}%=}%=JDAT read: TxSync time:22:13:13.4483 FNOT Ignoring new targets: 362.80 m.BjJj ProNav: ac range: 362.799988 m, nav range: 275.972168 m, bearing: 332.067079 deg, approach rate: 0.000000 m/s, LOS rate: -0.105927 deg/s, cmd heading: 60.847239 deg, new cmd heading: 60.655370 deg. 2jHeadingCmd: 1.058636 target range: 362.799988 and range: 362.80 m. jb?jjjihhhh`Bfffrf̬v@bfg?ɛ]@B]*< Y]̪=IY e=<ɚaiaIe=Imb?im imC;)mb?)EE*E"E*F ?2F :F BF k0JF - Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH H >I  I %II BI &I .I 6I <:I 4 FBI ΖCJI ΖCRI ZI 5 =bI 5 =jI ξO5 1I1GV'<G1B9OU?'w,A6eW?Y6?6\=96X=y6H ?ѵ}??m?q?G?@N?ɨ6eW?6 ;6CyFnBFY%I LNp=-Mb@Mb@Mb@))) )))Y-Dl?y&1y&1|y-O ?-`e-`-v@ -@)-3@I-p@)y-@II:4٢0u< %=9WQ > G٣yɻ > Nusing accuracyPremultiplier from config,59qc?,5YL2 i3B^ ?:ل?~@oE1;F;n;,5>B @1EZj  FNOT Ignoring new targets: 362.80 m.BjJj% ProNav: ac range: 362.799988 m, nav range: 275.960114 m, bearing: 332.011362 deg, approach rate: -0.025903 m/s, LOS rate: -0.119732 deg/s, cmd heading: 60.655372 deg, new cmd heading: 60.488214 deg. 2j%W-HeadingCmd: 1.055719 target range: 362.799988 and range: 362.80 m. j-!?j)j)j)i1h1h1h1h=nBf9f9f9rf9bfE@?ɛuBB},5< 隅8=I +<ɚiI=I!?iPi ;)!?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF 3JFzKe OKes9KaKeKey_C+yutligd^\ZUTQPONKKHFD@@<55210-,,,)(''%G;GQBaO}X>5 Will construct direction to contact in vehicle frame from tetrahedron phase data. w,A6"W?Y64ʇ?6%7=96X=y6H`1(?@;?@?}??`l??ɨ6"W?6;6CJRJPJPJPJR<:JPJPJP r$?IriyoBZ%IIIq4٢%: %S=9%.Q ->)) -G٣)y5GG 5> ENusing accuracyPremultiplier from configAM,59Ec?M,5YEG2 iE BQU?U~@EsEE:EC:E>,5Y e@e.EZjFNOT Ignoring new targets: 362.80 m.BjJj ProNav: ac range: 362.799988 m, nav range: 275.950500 m, bearing: 331.967149 deg, approach rate: -0.024904 m/s, LOS rate: -0.114544 deg/s, cmd heading: 60.488217 deg, new cmd heading: 60.355572 deg. 2j8HeadingCmd: 1.053403 target range: 362.799988 and range: 362.80 m. jՆ?jjjihhhhfffrfbfO?ɛDBPe< =I <ɚiID=IՆ?i i;)Ն?)*F ?2F :F BF 5JF G GmAWill construct direction to contact in vehicle frame from tetrahedron phase data.G5ս{; c~GG B A a Om > jY y B5w,^A:9V?Y:~?:M=9:P=y:HdJ?t@U??@T?w?`@݌? c?ɨ:9V?:;:CyHLIVqIVJH4٢^: ^Q=9bɻQ b>`` bG٣fJGyf f> jNusing accuracyPremultiplier from confighr,59j!c?r,5YjB2 ij Bprl?v~@jvEjN3;jp3;j9B,5x z@xZj%FNOT Ignoring new targets: 362.80 m.Bj%Jj%= ProNav: ac range: 362.799988 m, nav range: 275.940521 m, bearing: 331.922690 deg, approach rate: -0.025529 m/s, LOS rate: -0.113737 deg/s, cmd heading: 60.355574 deg, new cmd heading: 60.222193 deg. 2j=MHeadingCmd: 1.051076 target range: 362.799988 and range: 362.80 m. jM?jIjIjIiQhQhQhYhYfafafirfibfm?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛmFBmm < im=HyIy I}%II}BIy&Iy.Iy6I}<:I}S FIi ?<ɚiI_=I?ie i ;)?) I*F?2F:FBF^0JFG ~q; Will construct direction to contact in vehicle frame from tetrahedron phase data.յ N?յ w?G B O >'} TFailed to parse incomplete device message.;w,zA:+U?Y:?:C=9:$=y:Hv?e?`?>?|?7ѱᖻ?@N?ɨ:+U?:;8yZwB^d%I)` `bAbAMb@Mb@Mb@ )Y-?~jtxy??ĻMA @)MAI@yz@I5I54٢E= E4=9ETQ M>II MG٣IyU޻ U> ]Nusing accuracyPremultiplier from configYe,59],c?e,5Y]<2 i]BmA?m:mɅ?m~@]zE];];]0F,5q }o@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 362.80 m.Bj/ Jj/  ProNav: ac range: 362.799988 m, nav range: 275.931244 m, bearing: 331.867881 deg, approach rate: -0.020300 m/s, LOS rate: -0.119935 deg/s, cmd heading: 60.222195 deg, new cmd heading: 60.057762 deg. 2jHeadingCmd: 1.048206 target range: 362.799988 and range: 362.80 m. j+?jjjihhhhBfffrfbf@*?ɛ%HB%ș< )-=I) -<ɚ)i1I5~=I5+?i=2i=;)=+?)9Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FE?2FA:FABFAJFARKu?JKu? IJJJJJL:J':JJG) G B O5 >GƇw,TA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245464:VT?Y:͘?:ȍ=9:}=y:Hܮ? |@=?'?V?{)r?uo??ɨ:VT?:`;:CyJ~BJm%IIRIR44٢Z= Zg=9^Q ^>`` bG٣`ybe6 f> jNusing accuracyPremultiplier from configdj,59f5c?r,5Yf82 ifBtvH?v~@f~Efm;fm;fFI,5x z@z,EZj%FNOT Ignoring new targets: 362.80 m.Bj% Jj% 5 ProNav: ac range: 362.799988 m, nav range: 275.923431 m, bearing: 331.825272 deg, approach rate: -0.022283 m/s, LOS rate: -0.121533 deg/s, cmd heading: 60.057765 deg, new cmd heading: 59.929936 deg. 2j5ЦHeadingCmd: 1.045975 target range: 362.799988 and range: 362.80 m. j?jjjihhhhfff rf bf ৑@ɛ5IB==< 9==I9 =<ɚ9i9IE*=IE?iEiMq;)M?)I*F ?2F :F BF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498449G5;G= ?G=?jHqbHu<H}>Iy I}%II}BIy&Iy.Iy6I}g<:I} FG B $?I O >ṡw,94A2:T?Y2i[?2 =92&=y2H@D?`vs@?F? ?(^?|S??ɨ2:T?2vӉ;0y^B^s%IuMb@Mb@Mb@qqq q)qYu"~j?   G٣JGy- > %Nusing accuracyPremultiplier from config%,59Ac?-,5Y12 iB-e#?-:-Չ?5~@Eo; ;/M,59 =@9ZjimFNOT Ignoring new targets: 362.80 m.BjuJju ProNav: ac range: 362.799988 m, nav range: 275.922943 m, bearing: 331.766052 deg, approach rate: -0.001092 m/s, LOS rate: -0.132464 deg/s, cmd heading: 59.929938 deg, new cmd heading: 59.752278 deg. 2jѵHeadingCmd: 1.042874 target range: 362.799988 and range: 362.80 m. j|?jjjihhhhZBfffrfbf @ɛKBL< =I M<ɚiI9=I|?iiۦ;)|?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750106*Fe?2Fi:FiBFiJFizK}3ZMK}9KyK}K}G)o;Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001662!YӇw, NA $I$>SS?Y>!?>#ˇ=9> =y>H?j@f?@ɩ??N52?ζ?ɨ>SS?>܉;>CyNBNy%IiV]>IVp; TTIZIZ4٢b< ba=9f߀Q f>hh zG٣xy >  Nusing accuracyPremultiplier from config ,59 Jc?,5Y ,2 i B?~@ E : G: fP,5a e[@e)EZjFNOT Ignoring new targets: 362.80 m.BjJj ProNav: ac range: 362.799988 m, nav range: 275.922333 m, bearing: 331.717386 deg, approach rate: -0.001608 m/s, LOS rate: -0.128226 deg/s, cmd heading: 59.752278 deg, new cmd heading: 59.606278 deg. 2jHeadingCmd: 1.040326 target range: 362.799988 and range: 362.80 m. je)?jjjihhhhff!f)rf)bf- @ɛLBV< 隽=I C<ɚiI =Ie)?iia};)e)?)*Fm?2Fq:FqBFu~0JFq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253556G~q;Gi By O >ăهw,WgA6{S?Y6?63=96o=y6H@T?Ge@ ? ?L?j`r۽?` ?ɨ6{S?6Y;6CyVBZ%II-I-44٢EM= EB=9MQ M>QQ ]G٣Yye4 e> uNusing accuracyPremultiplier from configi,59m1Uc?,5Ym%2 imBu?~@mEm,m;m;m T,5 @&EZjWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:13:16.3343 TRx dataTimestamp_ set to:1736374397.685078checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507069FNOT Ignoring new targets: 362.80 m.BjJj  ProNav: ac range: 362.799988 m, nav range: 275.921600 m, bearing: 331.662186 deg, approach rate: -0.001792 m/s, LOS rate: -0.135082 deg/s, cmd heading: 59.606275 deg, new cmd heading: 59.440676 deg. 2j iH>I I%IIBI&I.I6It<:I F5HeadingCmd: 1.037436 target range: 362.799988 and range: 362.80 m. j5ʄ?j9j9j9i9h9h9hAhAfAfAfArfIbfMeT @ 1I=iJJJ0JJ̝:J 9Jـ3JJ;aJ;aJN>;aJO>;aɛNB{Z< 隵 >I <ɚiIҋ=Iʄ?iiT;)ʄ?)E*F}?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757634G G G rAG B O >zK BoIK 9K K K BK9 :K= rAAnw,p΁AyޕBޕ%IUMb@Mb@Mb@QQQ Q)QYU㥛 ?{Gz?MbyU5?U#=UUA U@)Uן@IU@QyU@ImImW4٢}fn< } =9Q > G٣JGy > Nusing accuracyPremultiplier from config,59bc?,5Yr2 iB5?:U?~@E;;{X,5 q@Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 22:13:16.3343 LVL= 27104, 32753, 32754, 32755, AGC= 66, IDX= 410,-0.09, 0.283,-1.374,-0.031,-0.444, PHS= 0.815,-0.882, 0.410, RAW= 136.8, -4.5, CAL= 142.3, -14.5, ROT= 7.7, 14.5 EYgot valid direction response: 22:13:16.3343 LVL= 27104, 32753, 32754, 32755, AGC= 66, IDX= 410,-0.09, 0.283,-1.374,-0.031,-0.444, PHS= 0.815,-0.882, 0.410, RAW= 136.8, -4.5, CAL= 142.3, -14.5, ROT= 7.7, 14.5 MPDAT read: Bearing 7.7, 14.5 (Local) M~Local bearing/azimuth received: Bearing 7.7, 14.5 (Local) ]DAT read: Range 10 to 50 : 360.7 m (Round-trip 481.0 ms) speed 0.5 m/s e,DAT read: user:2403> mBDAT read: Tx time:22:13:17.4476 m$Ping request sent.mI֢#Iw z?yYCi )IBiףP?a>@|٠ \@)I >i>y5(Q?,:n?!m))>I_s=i2пSBjU,Jj],e ProNav: ac range: 362.799988 m, nav range: 275.931885 m, bearing: 331.587478 deg, approach rate: 0.018917 m/s, LOS rate: -0.137412 deg/s, cmd heading: 59.440677 deg, new cmd heading: 59.216562 deg. 2jm:publishing transmit ping timeiFpublishing direction and range info9Z>I֢#Iw z?y )Ii )Iiy5(Q?,:n?!m)HeadingCmd: 1.033524 target range: 362.799988 and range: 362.80 m. jJ?jjjihhhh}Bfffrf@3v@bfM?)IiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛuOBu݈< y}8>Iy }6<ɚiI%(=IJ?iTtiL,<)J?)*FE ?2FA :FA BFM j0JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:13:17.4468  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.236401Gm &;GQBiO>w,@AV^S?YV?V&m=9V=yVH?c???|@|??ɨV^S?VŻ;T))I111 1111i99i9=wA)9 9IA I)IIIIQQiQIQQIYiY Ya)ai iiiiqqIq)qiyyyޕBޕ%IIeI34٢< (=9WQ > G٣y'o > Nusing accuracyPremultiplier from config ,59oc? ,5YM2 iBF?~@Ekn;s;\,5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.487052kV\㰜?k>Jg @ ZHRHAAH>IC I%IIBI6 =&I.I/D6Iw<:Ik kA:kYCBkCZkIQ@"!Ψ*T)sndjQp@Z>I֢#Iw z?Jk2пRkS*+Ym@/خFa*Wcm@w<,m?;0Aؿ?"k*klCk!!o?k᫜&@ 2k4Ck?I! j<ɚiIY=I؃?iԹiS<) ؃?)) Ey E} rA*F= ?2F9 :F9 BF= _0JFA u Will construct direction to contact in vehicle frame from tetrahedron phase data.u  %G٣%JGy- 5> ENusing accuracyPremultiplier from config9E,59=c?M,5Y=&2 i=ZBMC?M:Mv1?M~@=E=;=:=`,5]=B ]@]!EZjyFNOT Ignoring new targets: 360.70 m.Bj*7Jj*7 ProNav: ac range: 360.700012 m, nav range: 273.455353 m, bearing: 331.176681 deg, approach rate: -0.300894 m/s, LOS rate: -0.160137 deg/s, cmd heading: 59.016331 deg, new cmd heading: 58.802626 deg. 2jۻHeadingCmd: 1.026299 target range: 360.700012 and range: 360.70 m. j]?jjjihhhhBfffrfbf3?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990964 $?Iɛ5RB579< 15H>I1 5u<ɚ9i9I=z =Ie]?ieiew<)m]?)i*F?2F:FBFJFG zQ<] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242996G B O >N'w, A6*R?Y68?6ԔT=96%=y6H)?t@*ٻ?^?%?l~?U?ɨ6*R?6&;6CyeBe%II}mI}3A4٢  W=9Q > G٣y > Nusing accuracyPremultiplier from config,59>c?,5Y[ 2 i5B0?~@E ; ;@d,5 s@EZjFNOT Ignoring new targets: 360.70 m.Bj$)Jj$) ProNav: ac range: 360.700012 m, nav range: 273.349915 m, bearing: 331.120985 deg, approach rate: -0.279838 m/s, LOS rate: -0.147877 deg/s, cmd heading: 58.802629 deg, new cmd heading: 58.635477 deg. 2jʻHeadingCmd: 1.023382 target range: 360.700012 and range: 360.70 m. j0?j!j!j!i!h!h!h)h1f1f1f1rf1bf=?ɛeSBe= >I b8<ɚiIIA=I0?ic׳i<)0?)*F?2F:FBFN1JFG~<GBO`> Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494940H!I! I%%II%ˆBI!&I!.I!6I%<<:I% FBIJIRIZI4 =bIjIƊ5 IJJJ0JJ:J 9Jـ3JJ;J;JN>;JO>;Mw,)A2أR?Y2?2GK=92M=y2Hc? o@xM?Y?@)? }`Wy`V??ɨ2أR?2};0yB%IMb@Mb@Mb@ )Y\(\?sh|??~jthy:?=DA @)v@Ih@yQ@II4٢< E=9{Q >    G٣ yպ > %Nusing accuracyPremultiplier from config%,59c?-,5Y2 i(B-% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998951 $?I 4w,{ A:fR?Y:V?:D=9:=y:H ?cm@h? ?P(?+@{~ $?`?ɨ:fR?:㲓;:CyFBF%IIRIR4٢V Vc=9Z-Q Z>X\ ^G٣\ybV b> fNusing accuracyPremultiplier from configdj,59fc?j,5Yf1 ifBhj?j~@fEf:f:fk,5p r@pB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 360.70 m.Bj.Jj.- ProNav: ac range: 360.700012 m, nav range: 273.401550 m, bearing: 331.002176 deg, approach rate: 0.066760 m/s, LOS rate: -0.152818 deg/s, cmd heading: 58.444440 deg, new cmd heading: 58.279089 deg. 2j-ѻ5HeadingCmd: 1.017162 target range: 360.700012 and range: 360.70 m. j5]2?j1j1j1i1h9h9hAhAfAfAfArfIbfM@ɛy}̤< y隅+I (<ɚiI=I]2?i[ii<)]2?)*FU?2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251772)i i~G|uA-ZA e Ye|uAyeBG<GqByO>_ w,+ AjH^<bH^p<Hb>I` I`I`nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503308I`&I`.I`6IbX<:Ib Fy=B=%IIMIM4 I٢  <=9Q > G٣JGy] ]> eNusing accuracyPremultiplier from configam,5JJJ/JJ\:J:J(N3JJh;Ji;JI;JI;9ec?,5Ye1 ieB~@eEebUw,uG AyUBUw%I]A]A-only read 0 of 1 data item for BIT error. Device response is::TS,25010814142614,35.0, +10.9, 01, 0  @ @ @  @ II4٢Y ;=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config,59@c?,5Y41 iB+:j:~@E;>q,5 w,l>a A638T?Y6|| ~G٣|y< > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config ,59 c?%,5Y o1 i B% :!%=:-є?-~@ E zz; L? #t,51 5@1ZjY]FNOT Ignoring new targets: 360.70 m.Bje?Jje?u ProNav: ac range: 360.700012 m, nav range: 273.489105 m, bearing: 330.810380 deg, approach rate: 0.080671 m/s, LOS rate: -0.167071 deg/s, cmd heading: 57.878770 deg, new cmd heading: 57.703763 deg. 2juQ廝}HeadingCmd: 1.007121 target range: 360.700012 and range: 360.70 m. j}T?jyjyjihhhhfffrfbf @ɛ= y< I P<ɚiI%=IT?i2˸i2=)T?)*F]?2FY:FYBF]_0JFYG5Hn<GBO-,>HI I%IIBI&I.I6I:<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511164 Iw,{ A2~T?Y2a?2&%=92=y2Hk?,p?@o???(q &?`?ɨ2~T?2;2CyVwBVc%ImWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765638        Mb@Mb@Mb@ )YV-?l?{Gzyyy }G٣}JGy}; > Nusing accuracyPremultiplier from config,59c?,5Y1 iBT:=?:?~@E;;ax,5 [@EZj1EFNOT Ignoring new targets: 360.70 m.BjM,JjM,] ProNav: ac range: 360.700012 m, nav range: 273.522064 m, bearing: 330.735331 deg, approach rate: 0.066300 m/s, LOS rate: -0.150949 deg/s, cmd heading: 57.703760 deg, new cmd heading: 57.478642 deg. 2j]0ϻeHeadingCmd: 1.003192 target range: 360.700012 and range: 360.70 m. jeh?jajajaiihihihihuBfqfqfqrfqbf}` @zKPLKKKK  BKqA:KpAɛB< I >ũ<ɚiI=Ih?i 5i 4 =) h?) *F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 22:13:20.3119 LVL= 24768, 32753, 29906, 32755, AGC= 68, IDX= 227, 0.10, 2.835, 1.218, 2.581, 2.063, PHS= 0.860,-0.798, 0.514, RAW= 138.6, -7.7, CAL= 144.7, -17.8, ROT= 5.3, 17.8 ] Ygot valid direction response: 22:13:20.3119 LVL= 24768, 32753, 29906, 32755, AGC= 68, IDX= 227, 0.10, 2.835, 1.218, 2.581, 2.063, PHS= 0.860,-0.798, 0.514, RAW= 138.6, -7.7, CAL= 144.7, -17.8, ROT= 5.3, 17.8 e PDAT read: Bearing 5.3, 17.8 (Local) i Iq u ~Local bearing/azimuth received: Bearing 5.3, 17.8 (Local)  DAT read: Range 10 to 50 : 345.0 m (Round-trip 460.1 ms) speed 0.4 m/s  ,DAT read: user:2404>  BDAT read: Tx time:22:13:21.3976  $Ping request sent. `3   j_p]D?99? ) #>I >i bĿ K   :publishing transmit ping timeؑ  Fpublishing direction and range info 9 [Ro&+?>`3$w, AyZB@%II-I-4٢]* es=9mQ m?ii uG٣qyu u? Nusing accuracyPremultiplier from config,59c?,5Y1 iB~@E::c{,5 (@kE;u󺲜?kE= kA kE# A:kECBkEJCZkE@"E}f!@`(n!jW=n@E[Ro&+?>`3ZH RH @AH I  I %II BI &I .I 6I t<:I  F Will construct direction to contact in vehicle frame from tetrahedron phase data. i Y IY q0+w,W A2/LT?Y2:d?2(=92j=y2Hr???`?Ř# ? ?ɨ2/LT?2;2Cy JB-%II%I%<4٢EJ UK=9]Q ]>aa eG٣aym0 u> }Nusing accuracyPremultiplier from configq,59uc?,5Yu1 iuBN?~@uEu ;u ;u~,5 "@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 345.00 m.Bjp=Jjp= ProNav: ac range: 345.000000 m, nav range: 273.572906 m, bearing: 330.620591 deg, approach rate: 0.073173 m/s, LOS rate: -0.165619 deg/s, cmd heading: 57.316079 deg, new cmd heading: 57.131654 deg. 2jS㻝HeadingCmd: 0.997135 target range: 345.000000 and range: 345.00 m. jED?jjjihhhhfffrfbf \s?ɛB< 隵:I <ɚiI:=IED?iM#9i-.=)-ED?)9*F?2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.G =G B O >zK- ̟LK- 9K) K- K- RK= >JK= ?2w,z Ay%?B%%IMb@Mb@Mb@ )YMb?x&?V-?yc?7=<A @)I@yz@II4٢PR @=9Q > G٣JGy   > Nusing accuracyPremultiplier from config,59c?,5Y1 iB%c?%n:%?%~@E;;,5) -ʿ@-EZjy}FNOT Ignoring new targets: 345.00 m.BjSJjS ProNav: ac range: 345.000000 m, nav range: 273.596832 m, bearing: 330.542110 deg, approach rate: 0.056252 m/s, LOS rate: -0.184499 deg/s, cmd heading: 57.131653 deg, new cmd heading: 56.896233 deg. 2j=HeadingCmd: 0.993027 target range: 345.000000 and range: 345.00 m. j6~?jjjihhhhmBfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991825  $?IiɛO < /I %<ɚ!i!I%=I-6~?i-:9i-p==)56~?)9JJJJJ̝:J9JJ*F?2F:FBFT5JFG-=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243743<8w, A2R?Y2?2 =920=y2H`?9lʽ??? ܜ:^?`?ɨ2R?2cь;2CyZ)BZ%IIr}Ir]4٢z z]=9~Q ~>  G٣ y  q  > Nusing accuracyPremultiplier from config,59d?%,5Y˿1 iB!%ʎ?%~@E;:ͅ,5) -0@1ZjQ]FNOT Ignoring new targets: 345.00 m.Bj]WJjeWm ProNav: ac range: 345.000000 m, nav range: 273.616516 m, bearing: 330.472932 deg, approach rate: 0.053627 m/s, LOS rate: -0.188457 deg/s, cmd heading: 56.896234 deg, new cmd heading: 56.688713 deg. 2juV}HeadingCmd: 0.989405 target range: 345.000000 and range: 345.00 m. j}I}?jyjyjyiyhyhhhfffrfbf?ɛB0; `ZI <ɚiI=II}?i9;9it4=)I}?)*F?2F:FBFP0JFHm>Ii Imt%IImBIi&Ii.Ii6Imn<:Im F IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497370GJ`<=GiBqO>g>w,j AJP?YJnA?Jt$ =9J{=yJH8`?I?x?`d?w#"? ?ɨJP?JVF;JCyVBV$I=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747784MMb@Mb@Mb@III I)IYM(\?)\(?I +yM.?MGa=M9MA M@)Mv@IM@IyM@ImIm4٢}^ }B=9Q > G٣yڼ > 5Nusing accuracyPremultiplier from config1=,595d?=,5Y51 i5B=.?=:E?E~@5E5;5;5,5I M]@M EZjFNOT Ignoring new targets: 345.00 m.BjJj ProNav: ac range: 345.000000 m, nav range: 273.635132 m, bearing: 330.410173 deg, approach rate: 0.041457 m/s, LOS rate: -0.139755 deg/s, cmd heading: 56.688712 deg, new cmd heading: 56.500449 deg. 2jӿHeadingCmd: 0.986119 target range: 345.000000 and range: 345.00 m. jIr|?jjjihhhhBfffrf bf-8?ɛUBU@t; Q]}IY ]أ<ɚYiYI]{j=IeIr|?ie=9ie#=)Ir|?)*F-?2F):F1BF5]0JF1zKMk3IKM9KIKMKMBKepA:Ka !$?IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003592G s[4=Ga B J J J J J :J 9J J O >MEw,;!AF$N?YFP?FP =9F =yFH Ó?/?Y?.?Sѕ@>I??ɨF$N?FҊ;FCybBb$IInInn4٢vG vT=9vC:Q z>xx zG٣zJGy~s ~> Nusing accuracyPremultiplier from config ,59=d? ,5YѲ1 iB?~@EC::֌,5 ]@!ZjAMFNOT Ignoring new targets: 345.00 m.BjU&JjU&e ProNav: ac range: 345.000000 m, nav range: 273.648956 m, bearing: 330.358187 deg, approach rate: 0.038770 m/s, LOS rate: -0.145784 deg/s, cmd heading: 56.500448 deg, new cmd heading: 56.344501 deg. 2jeȻmHeadingCmd: 0.983397 target range: 345.000000 and range: 345.00 m. jm{?jijijqiqhqhqhyhyfyfyfrfbfbg@ɛB`& 隭I A<ɚiI@=I{?i^9i =){?)*Fu?2Fq:FqBFu_0JFqMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252104G](=G!B1OM1>jHa bHe <Hm >Im C Im <%IIm WBIm 5 =&Ii .Ii 6Im H<:Im FBI-˕CJI-˕CRI)ZI-6 =bI-6 =jI-˭4 I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503968zwKw,H0!ABeL?YBՉ?BY =9BFؽ=yBH@.?@x????7@O*`?@>?ɨBeL?Bߊ;BCyB$Ii-e>I-<I=I= 4٢M MD=9MQ U>QQ UG٣Qy}Dl }> Nusing accuracyPremultiplier from config,59%d?,5Y1 iB8?~@E:C:,5;B E@ EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 345.00 m.Bj Jj E ProNav: ac range: 345.000000 m, nav range: 273.663361 m, bearing: 330.298302 deg, approach rate: 0.033586 m/s, LOS rate: -0.139627 deg/s, cmd heading: 56.344502 deg, new cmd heading: 56.164855 deg. 2jEEHeadingCmd: 0.980262 target range: 345.000000 and range: 345.00 m. jMmz?jIjIjIiIhIhIhqhqfqfyfyrfybf}`@ɛ%B% !% I! -<ɚ)i)I-tQ=Imz?i=:iBX=) mz?)*F2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]>]R=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756005G {=G B O >zK JK +9K K K !_Rw,|I!A>FK?Y>?>\q =9>ͺ=y>H?}Q?@)??`-@X-M?Z?ɨ>FK?>K;>CyJBJ$I=Mb@Mb@Mb@999 9)9Y=S㥛?Mb?~jty=$?=<=ļ9 9)=@I99y=@ImIm4٢}eֽ }G=9l8Q > G٣y/O > Nusing accuracyPremultiplier from config5,59@0d?5,5Y1 iB=%?=:=|?=~@E<<,5A E@ME ]"$?I]iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010049Zj1=FNOT Ignoring new targets: 345.00 m.BjE JjE  ProNav: ac range: 345.000000 m, nav range: 273.660980 m, bearing: 330.243380 deg, approach rate: -0.005379 m/s, LOS rate: -0.124114 deg/s, cmd heading: 56.164854 deg, new cmd heading: 56.000088 deg. 2j[HeadingCmd: 0.977386 target range: 345.000000 and range: 345.00 m. j5z?jjjihhhhfBfffrfbfv@ɛ5B5d{ 9=I9 =<ɚ9i9I=1=IE5z?J;g3K;g3 K;/.K3K3"K3J}J}J}/JyJ}̝:J}:J}(N3JyiV! :i:<)5z?)*F}?2Fy:FyBFyJFyu Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:22:13:24.2757  TRx dataTimestamp_ set to:1736374405.498601 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263296G = U %YY y] : BG B O >Xw,Wc!ABI?YB?B=9Bn=yBH ? v?@? h???ɨBI?B݉;BCyRӅBR$IIZIZb4٢b bW=9b0Q f>dd fG٣fJGyj݁ j> nNusing accuracyPremultiplier from configlr,59n:d?r,5Yn1 inBtv?z~@nEn4;n4;na,5| ~@Zj!-FNOT Ignoring new targets: 345.00 m.Bj-$-Jj-$-= ProNav: ac range: 345.000000 m, nav range: 273.657532 m, bearing: 330.192431 deg, approach rate: -0.010245 m/s, LOS rate: -0.151372 deg/s, cmd heading: 56.000089 deg, new cmd heading: 55.847240 deg. 2j=ϻEHeadingCmd: 0.974718 target range: 345.000000 and range: 345.00 m. jE"y?jAjAjIiIhIhIhQhQfQfQfQrfYbf]  @ɛBG% 隕_I $<ɚiIN=I"y?il+:i<<)"y?)EE*F?2F:FBF0JFH >I  I %II )BI 6 =&I .I 6I {<:I & F IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511684G:^<GBO>^w,}}!A Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:13:24.2757 LVL= 20464, 29857, 22514, 31283, AGC= 71, IDX= 65, 0.02,-1.067,-2.645,-1.445,-1.854, PHS= 0.875,-0.744, 0.405, RAW= 133.6, -7.5, CAL= 139.1, -19.0, ROT= 10.9, 19.0 UYgot valid direction response: 22:13:24.2757 LVL= 20464, 29857, 22514, 31283, AGC= 71, IDX= 65, 0.02,-1.067,-2.645,-1.445,-1.854, PHS= 0.875,-0.744, 0.405, RAW= 133.6, -7.5, CAL= 139.1, -19.0, ROT= 10.9, 19.0 ]PDAT read: Bearing 10.9, 19.0 (Local) ]~Local bearing/azimuth received: Bearing 10.9, 19.0 (Local) yuBu~$I)y }AAAUDAT read: Range 10 to 50 : 355.5 m (Round-trip 474.0 ms) speed 0.5 m/s ],DAT read: user:2405> BDAT read: Tx time:22:13:25.3976 $Ping request sent.)\>;@  O`@)ɩIB>iɩ>j??$Ϋ)LDs>I>iĿc :publishing transmit ping timeء Fpublishing direction and range info9M ?mŠ2Q?y )Ii )Iij??$Ϋ)Ii=Mb@Mb@Mb@999 9)9Y=X9v?I +{Gzy=?=94=ף=zA =@)=A@I=@9y=@I}I}44٢C =9Q > G٣y > Nusing accuracyPremultiplier from config,59Id?,5YT1 ikB?:h~?@E;; ,5 @zKBoHKKKK   kë?k= k kX!A:kCBkCZk#-@"24kg@)BT ld9q@M ?mŠ2Q?JkĿRkc*$!Uk@œ]ڧo@H ?@SտjQ?"k*kZCk E?ke= 2ksCk!!o?k8> kkCkCkJ@= addTargetRange:: Added new target pos. range: 355.500000 m, deltaT: 3.778952 s, deltaX: 10.500000 m, approachRate: 2.778548 m/s, rangeRepo size: 4 m Added new target pos. range: 355.500000 m, bearing: 331.556904 deg, lat: 36.905792 deg, lon: -122.124061 deg, deltaT: 3.778952 s, deltaX: 10.500000 m, approachRate: 2.778548 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 355.50 m.BjuJjy ProNav: ac range: 355.500000 m, nav range: 266.016785 m, bearing: 331.764854 deg, approach rate: 0.000000 m/s, LOS rate: -0.151372 deg/s, cmd heading: 55.847240 deg, new cmd heading: 55.587564 deg. 2jHeadingCmd: 0.970186 target range: 355.500000 and range: 355.50 m. j^x?jjjihhhh-Bfffrf8v@bf ?ɛmBm qu'ҾIy }<ɚiI =I^x?i~C:i̯=)^x?) )I)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:13:25.3968 *F ?2F :F BF _0JF G r<GYBiO>vfw,!! -G٣)yM U> ]Nusing accuracyPremultiplier from configYe,59]HTd?e,5Y]j1 i][Bae{?e@]E]:] :]9,5 @EZjFNOT Ignoring new targets: 355.50 m.Bj!%Jj!%Will construct direction to contact in vehicle frame from tetrahedron phase data.5 ProNav: ac range: 355.500000 m, nav range: 265.995697 m, bearing: 331.716790 deg, approach rate: -0.063334 m/s, LOS rate: -0.144368 deg/s, cmd heading: 55.587563 deg, new cmd heading: 55.443357 deg. 2j5(ƻ=HeadingCmd: 0.967669 target range: 355.500000 and range: 355.50 m. j=*w?j9j9j9i9h9hAhahafififirfibfm?ɛBxBr bھI <)*w?)*F?2F:FBF0JFGU<GBOEQ>ZHRH?AHI I$IIBI5 =&I.I6I<:IF F #$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.JU JU JU 0JQ JU \:JU 9JU ـ3JQ JQ ae JQ ae JU 8;ae JU 8;am lw,!AFF?YF<?F<9Fa=yFH\?R' ??_? 1 ?t?ɨFF?F;FCyrBvd$II-I-4٢El EI=9ERQ E>II MG٣MJGyUG U> mNusing accuracyPremultiplier from configa,59e_d?,5Ye1 ieKBr{?@eEeQ I sw,!A2Will construct direction to contact in vehicle frame from tetrahedron phase data.0i06checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208999xE?YB}?<9~=yH ~??@?Հ?@I Bķ??ɨxE? ;Cy%B%[$Ii-=I-]>Mb@Mb@Mb@ )Y`"?{Gz G٣yj6 > Nusing accuracyPremultiplier from config,59ld?,5Y51 i9B?:v?@E';;,5 @ Zj1=FNOT Ignoring new targets: 355.50 m.Bj= Jj= M ProNav: ac range: 355.500000 m, nav range: 265.941772 m, bearing: 331.606424 deg, approach rate: -0.074938 m/s, LOS rate: -0.140352 deg/s, cmd heading: 55.283353 deg, new cmd heading: 55.112227 deg. 2jU]HeadingCmd: 0.961890 target range: 355.500000 and range: 355.50 m. j]i>v?jYjYjYiahahahaheBfiffrfbf`?ɛeBeB:i aI <ɚiI;!=Ii>v?iPwj:i31<)i>v?)*F}?2Fy:FyBF}_5JFy%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463187G <Ga Bi O >Oyw,!AZJD?YZ|?Z]<9Z=yZH?>:???a@* ? &?ɨZJD?Z}܈;ZCynBnT$IIzIz4٢=  =b=9=Q =>AA EG٣AyMMR M> UNusing accuracyPremultiplier from configQ],59Uwd?],5YU1 iU,Baet?e@UEU!;U"";U˩,5i m @uEZjFNOT Ignoring new targets: 355.50 m.Bj Jj  ProNav: ac range: 355.500000 m, nav range: 265.916901 m, bearing: 331.561271 deg, approach rate: -0.070808 m/s, LOS rate: -0.128557 deg/s, cmd heading: 55.112226 deg, new cmd heading: 54.976756 deg. 2jtHeadingCmd: 0.959525 target range: 355.500000 and range: 355.50 m. juu?jjjihhhhfffrfbf b?ɛBoX I wv<ɚiI "O"=I uu?iΤs:i,<)uu?) }$$?I}iHI I$IIBI4 =&I.I6I<:I- FuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713828*F?2F:FBF_0JFJ!J!J-J-J)J)J-̝:J-U:J)J)J-;J-;J-e;J-e;G<GBO >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965053 } nManaging dock network, ignoring radio surface power off$ڀw,"Ay=B=Q$IMb@Mb@Mb@ )Y㥛 ?:vQy?Լu @)I@yIIE4٢ =?=9EQ E>AI MG٣MJGyM U> ]Nusing accuracyPremultiplier from configQ],59Ud?e,5YU51 iUBe?e:e r?e@UEUr;U;U,5q u+@qZjFNOT Ignoring new targets: 355.50 m.BjJj ProNav: ac range: 355.500000 m, nav range: 265.884155 m, bearing: 331.506689 deg, approach rate: -0.074819 m/s, LOS rate: -0.124728 deg/s, cmd heading: 54.976756 deg, new cmd heading: 54.812991 deg. 2j3HeadingCmd: 0.956667 target range: 355.500000 and range: 355.50 m. j$t?jjjihhhhBfffrfbf/@ɛBlm I d<ɚi I P"=I$t?iT:i0<)$t?)!zKJK 9KKK*F2F:FBF^0JF"G=Gp= iIi}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216771Gm<GI Ba O} >w,@i"A @J~@?YJZy?J+$=9J~=yJHC?:K`¸?t??u#C@k?`|?ɨJ~@?J;HyZBZE$I)\ ^AIbIb4٢jY j^=9n;Q n>pp rG٣pyr  v> zNusing accuracyPremultiplier from configx~,59z d?,5Yzz1 izBn?@zEz;z;z,5  @Zj1FNOT Ignoring new targets: 355.50 m.BjJj ProNav: ac range: 355.500000 m, nav range: 265.854767 m, bearing: 331.462065 deg, approach rate: -0.082133 m/s, LOS rate: -0.124727 deg/s, cmd heading: 54.812992 deg, new cmd heading: 54.679105 deg. 2j2HeadingCmd: 0.954330 target range: 355.500000 and range: 355.50 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468768 jOt?jjjihhhhfffrf bf 5@ɛ}B}X }*X=}.Iy }<ɚiI]#=IOt?io݄:iRy<)Ot?)*Fm?2Fi:FiBFm_0JFi QIQjHqbHu4<H>I I$IIͅBI5 =&I.I6II<:I FGHn< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721510G B O >JE JE JA JA JE :JE 9JA JA JE ;JE ;JE :;JE :;,w,B7"A>??Y>$x?>=9>z=y>H b?2 2?]??e@{??ɨ>??>;>CyJBNF$IIVIV 4٢^; ^L=9b:Q >    G٣ y D  > 5Nusing accuracyPremultiplier from config)E,59-=d?E,5Y-u1 i-BIMbm?M@-E-/;-;-U,5Q ]@]EZjFNOT Ignoring new targets: 355.50 m.BjP JjP  ProNav: ac range: 355.500000 m, nav range: 265.820160 m, bearing: 331.410979 deg, approach rate: -0.083682 m/s, LOS rate: -0.123545 deg/s, cmd heading: 54.679107 deg, new cmd heading: 54.525830 deg. 2jHeadingCmd: 0.951655 target range: 355.500000 and range: 355.50 m. js?jjjihhhhfffrf bf@]r@ɛB2 I 氂<ɚ i I @$=Is?i:i6q<)s?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974434*F?2F:FBF`0JFGm<GqBO>zK% BoHK% h9K! K% K% RK5 ?JK5 ? E %$?IE iw,'Q"A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226259yލBލC$I=Mb@Mb@Mb@999 9)9Y=I +?QMby=9?===A 9)=n@I=@9y=@UBAUAAI]I]4٢e4 m2=9mQ m>qq uG٣uJGy} }> Nusing accuracyPremultiplier from config,59d?,5YKp1 iBo?:@w,j"A^T=?Y^u?^G=9^=y^HhV?`@Jh?m4?@V?ZkWN??ɨ^T=?^;^CyjBjF$IIvIv\4٢zbE< ~e=9~HQ > G٣y ̼  > Nusing accuracyPremultiplier from config%,599d?%,5Yk1 iB!%h?-@E';+;`,51 5@5EZjY]FNOT Ignoring new targets: 355.50 m.BjevJjevu ProNav: ac range: 355.500000 m, nav range: 265.747650 m, bearing: 331.311587 deg, approach rate: -0.100037 m/s, LOS rate: -0.133293 deg/s, cmd heading: 54.359727 deg, new cmd heading: 54.227614 deg. IHI I$IIȅBI&I.I6Iz<:I& FBICJICRIZI5 =bI5 =jIl42j=EHeadingCmd: 0.946450 target range: 355.500000 and range: 355.50 m. jEJr?jAjAjAiIhIhIhyhyfffrfbf@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.729502ɛ~B䙝 I x<ɚiI%=IJr?iEW:iM>7<)MJr?)IJ J J J J \:J 9J J J h;J i;J 8;J 8;E3=*FE ?2FI :FI BFU _0JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: Range 10 to 50 : 353.4 m (Round-trip 471.3 ms) speed 0.7 m/s - ,DAT read: user:2406> 5 BDAT read: Tx time:22:13:29.3477 5 $Ping request sent.5 w?- `i⋹??ɨ6. G٣yA > Nusing accuracyPremultiplier from config,59d?,5Yne1 iB?:up?@Et;;,5 2@ addTargetRange:: Added new target pos. range: 353.399994 m, deltaT: 4.032802 s, deltaX: -2.100006 m, approachRate: -0.520731 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 355.50 m.Bj Jj  ProNav: ac range: 355.500000 m, nav range: 265.707581 m, bearing: 331.245639 deg, approach rate: -0.076260 m/s, LOS rate: -0.125531 deg/s, cmd heading: 54.227614 deg, new cmd heading: 54.029741 deg. 2jMHeadingCmd: 0.942997 target range: 355.500000 and range: 353.40 m. j>hq?j!j!j)i)h)h)h1h5!Bf1f1f1rf=`fv@bf=?ɛ|BEWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:13:29.3469 am QUPIQ ]q<ɚYiYI]H&=Ie>hq?iew:ier2<)e>hq?)iE]-tY=*F?2F:FBFo0JFGQd<GaBqO|>) hC) E 5tA] A {Y 5tAy B Will construct direction to contact in vehicle frame from tetrahedron phase data."רw,D"Ay~B~S$II I 4٢]V< %S=9%Q %>)) -G٣-JGy- 5> =Nusing accuracyPremultiplier from config1U,595d?],5Y5`1 i5BYYe@5E5;5 ;5W,5i m@iZjFNOT Ignoring new targets: 355.50 m.BjoJjo ProNav: ac range: 355.500000 m, nav range: 265.678192 m, bearing: 331.196842 deg, approach rate: -0.074989 m/s, LOS rate: -0.124527 deg/s, cmd heading: 54.029740 deg, new cmd heading: 53.883332 deg. 2j쪻HeadingCmd: 0.940442 target range: 355.500000 and range: 353.40 m. jp?jjjihhhhfffrfbfz?ɛ5zB5 yI 3l<ɚiI&=Ip?i:iˏ[<)p?)E!E!*E!"E! &$?IZH ?ARH @AHI I$IIͅBI&I.I6Ic<:I F]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F9BF9JF9"GE=GE=G] <<Gq Gu qAGQ Bi O >Ww,o"AFWill construct direction to contact in vehicle frame from tetrahedron phase data.NW:?YNjs?N<9N=yNH`d? ??}?@X ? ?ɨNW:?N?;NCy^B^`$IuMb@Mb@Mb@qqq q)qYu\(\?~jtxMb`yu?uĻuuA u@)un@Iu@qyu@II 4٢5= 2=99Q > G٣yQ > Nusing accuracyPremultiplier from config],59d?e,5YZ1 iBe?e:ep?e@E<ε<\,5i uc@uEZjFNOT Ignoring new targets: 355.50 m.BjsJjs ProNav: ac range: 355.500000 m, nav range: 265.643158 m, bearing: 331.137359 deg, approach rate: -0.073344 m/s, LOS rate: -0.124542 deg/s, cmd heading: 53.883332 deg, new cmd heading: 53.704862 deg. 2j񪻝HeadingCmd: 0.937327 target range: 355.500000 and range: 353.40 m. jo?jjjihh!h!h%8Bf!f)f)rf)bf-~?ɛwB$G 隽0ӾI ze<ɚiIʔ'=Io?i~ޙ:i$A<)o?)*Fm?2Fi:FiBFm3JFi iIizK&~JKh9KKKEWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu 5[<J J J /J J <:J :J (N3J a @a @a @a @G) B9 OU >:vw,T"A2ݸ:?Y2 5s?2VH<92=y2H?`???LQ=?`?ɨ2ݸ:?2;2CyRBRb$IIZIZm4٢b+< b[=9b Q f>dd fG٣dyj j> UNusing accuracyPremultiplier from configl],59nd?],5YnU1 inBaep?e@nEnh;n ;n,5i mC@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 355.50 m.BjJj ProNav: ac range: 355.500000 m, nav range: 265.614838 m, bearing: 331.089156 deg, approach rate: -0.077513 m/s, LOS rate: -0.131947 deg/s, cmd heading: 53.704862 deg, new cmd heading: 53.560236 deg. 2jHeadingCmd: 0.934802 target range: 355.500000 and range: 353.40 m. j7Oo?jjjihhhhfffrfbf/5?ɛuBg  ϾI  `<ɚiI1(=I7Oo?i:iW_<)7Oo?)!*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gܸ<<GBO> u ($?Iq H I  I $II ݅BI 4 =&I .I 6I `<:I  Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757763נw,"AvA9?Yv,q?v<9v;=yvH`h?@ǹ? ?@?#[`|?U?ɨvA9?v;vCymBmt$Ii,>I>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012140]Mb@Mb@Mb@YYY Y)YY]T㥛 ?{Gz?Mb`?y]!?]#<];]3A ]@)]@I]@Yy]@IuIuW4٢2= =9%kQ > G٣JGy > Nusing accuracyPremultiplier from config,59d?,5YZM1 iB !?:u?@%E;;,59B Y@EZjFNOT Ignoring new targets: 355.50 m.BjJj  ProNav: ac range: 355.500000 m, nav range: 265.573242 m, bearing: 331.004573 deg, approach rate: -0.068187 m/s, LOS rate: -0.138678 deg/s, cmd heading: 53.560236 deg, new cmd heading: 53.306449 deg. 2j XHeadingCmd: 0.930373 target range: 355.500000 and range: 353.40 m. j,n?jjjihhhhRBf!f!f!rf!bf-`-~@ɛqB43 I Y<ɚiIS(=I,n?i;:i I<) ,n?)) *F ?2F :F BF 0JF G qA G qA Y I] izK k3IK K K K  BK :K pAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265811GT;f<GBO?`ňw,G#AJJJ0JJ:J:Jـ3Jfr8?Yf\p?f<9f7=yfH??? h?R`[W?@?ɨfr8?f;dɮlllillipp)p pIp t)vwAɯttt|ɰ|i|II i  ) wAɱ!%twAI!)!i!))I11ɲ1 1)9I=xA=Ļ9 9AAAiAAiAEwA)I III I)IIQQQQiQIYYIYiY YY)Ya aaaaiiIi)iiiiy}DžB}$III4٢= x=9~Q ? G٣y ? Nusing accuracyPremultiplier from config,59 e?,5YH1 iBt?@)E::,5 m@iZjFNOT Ignoring new targets: 355.50 m.BjQJjQ ProNav: ac range: 355.500000 m, nav range: 265.550903 m, bearing: 330.960046 deg, approach rate: -0.063734 m/s, LOS rate: -0.127048 deg/s, cmd heading: 53.306450 deg, new cmd heading: 53.172860 deg. 2jbHeadingCmd: 0.928041 target range: 355.500000 and range: 353.40 m. j m?jjjihhhhfffrfbf S@ɛ=nBE 5 AEIa eU<ɚiiiIm,)=Im m?iuq:iu=<)u m?)q*F-?2F):F1BF505JF1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518572Ge ܸ<<G9 BI Om > I jH5 <bH5 <H9 I9  I= $II= BI9 &I9 .I9 6I= [<:I=  Fˈw,[0#AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769821y޽΅B޽$III4٢?= G=9Q > G٣y > Nusing accuracyPremultiplier from config,59e?,5YRC1 iB@-E[;;,5  @Zj9=FNOT Ignoring new targets: 355.50 m.BjE!JjE!U ProNav: ac range: 355.500000 m, nav range: 265.523346 m, bearing: 330.904620 deg, approach rate: -0.070377 m/s, LOS rate: -0.141563 deg/s, cmd heading: 53.172859 deg, new cmd heading: 53.006564 deg. 2jUN»]HeadingCmd: 0.925139 target range: 355.500000 and range: 353.40 m. j]l?jYjYjaiahahahahifififirfqbful@ɛElBE AE-IA MQ<ɚIiiIm^)=Iul?iu:i}rl<)}l?)y*Fe?2Fa:FaBFe^0JFaM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022254G =<G B O >p҈w, G٣JGy > Nusing accuracyPremultiplier from config,59e?,5Y=1 iB7(?:~?@1E];;Y,5 $@EzK 2KK K K K Zj15FNOT Ignoring new targets: 355.50 m.Bj= Jj= M ProNav: ac range: 355.500000 m, nav range: 265.504395 m, bearing: 330.843309 deg, approach rate: -0.043495 m/s, LOS rate: -0.140724 deg/s, cmd heading: 53.006564 deg, new cmd heading: 52.822619 deg. 2jM'UHeadingCmd: 0.921929 target range: 355.500000 and range: 353.40 m. jUl?jQjYjYiYhYhYhaheBfafafirfibfmD @ɛiB 隝I MM<ɚiI[*=Il?iX:iȋ<)l?)EEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274794*F%?2F):F)BF-_0JF1"G]=G]=JEJEJAJAJE<:JE:JAJAG `j<GY Bi O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:22:13:32.2021 ] TRx dataTimestamp_ set to:1736374413.564652e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526845)؈w,y>d#A6}y6?Y6n?65<96u=y6H ?@W?? n?|??ɨ6}y6?6);6CyBޅBF$IININ4٢Vd%= Vq=9VQ V?XX ^G٣\y^ӹ ^? fNusing accuracyPremultiplier from configdj,59f&e?j,5Yf81 idhj|?j@f5Ef:f:fP,5p r@p~B*** querying acoustic contact ***j|j|ZjFNOT Ignoring new targets: 355.50 m.BjJj ProNav: ac range: 355.500000 m, nav range: 265.488037 m, bearing: 330.795303 deg, approach rate: -0.046444 m/s, LOS rate: -0.136314 deg/s, cmd heading: 52.822620 deg, new cmd heading: 52.678591 deg. 2jHeadingCmd: 0.919415 target range: 355.500000 and range: 353.40 m. j^k?jjjihhhhfffrfbf @ɛ-fB-&f )-I) 5MJ<ɚ1i1I5S*=I=^k?i=:ie@<)e^k?)a*F5?2F1:F1BF1JF1 IHI I$IIBI5 =&I.I6IE<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777772Gp<G J9 J= AABi O >ވw,-}#A6#6?Y6"n?6>m{<96r=y6H`? $???WVm`/?8?ɨ6#6?68;6CyB߅BB$IJAAHININ4٢V; ZK=9b޻Q f>hh jG٣hynS r> vNusing accuracyPremultiplier from configtz,59v\3e?z,5YvD21 ivBxz|?~@v9Evz:v:v,5 @EZj FNOT Ignoring new targets: 355.50 m.%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:13:32.2021 LVL= 24848, 31793, 28834, 32755, AGC= 71, IDX= 222,-0.25,-1.381,-2.838,-1.692,-2.094, PHS= 0.800,-0.698, 0.399, RAW= 135.0, -7.5, CAL= 140.7, -18.6, ROT= 9.3, 18.6 Ygot valid direction response: 22:13:32.2021 LVL= 24848, 31793, 28834, 32755, AGC= 71, IDX= 222,-0.25,-1.381,-2.838,-1.692,-2.094, PHS= 0.800,-0.698, 0.399, RAW= 135.0, -7.5, CAL= 140.7, -18.6, ROT= 9.3, 18.6 PDAT read: Bearing 9.3, 18.6 (Local) ~Local bearing/azimuth received: Bearing 9.3, 18.6 (Local) DAT read: Range 10 to 50 : 337.6 m (Round-trip 450.2 ms) speed 0.5 m/s ,DAT read: user:2407> BDAT read: Tx time:22:13:33.2977 $Ping request sent.-@)j  -)@)-6I-6&>i-6>))-rW3[?_wp?iĶ-)-"/>I-C>i-Ŀ-P\))]:publishing transmit ping time]Fpublishing direction and range info)9-\? ÕŰG?y)))) )))I)i))))jIiihih!h)h)f)f)f1rf5u@bf5 ?) )))I)i)))-rW3[?_wp?iĶ-))I)i))))ɛubBu\ix quႾIq };nF<ɚyiyI} *=Ij?i_:irf<)j?)*F?2F:FBFJF %*$?I!zK K ]9K K K BK qA:K qA Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:13:33.2969 G P<G ?G >Je Je Ja Ja Je :Je 9Ja Ja G B O >Bw,M#AJ(5?YJln?JV<9J=yJH` ? x`ꚸ?`?@ ?^`݊`3? n?ɨJ(5?J;JCyjBj$IUMb@Mb@Mb@QQQ Q)QYU@5^I ?L7A`?Mb?yUb0?U+=QUIA U$@)U`@IU3@QyU@IuIuF4٢< '=99Q > G٣JGyA > Nusing accuracyPremultiplier from config,59Be?,5Y*1 iB41?:?@>E;;,5 @Ekq5?kU\? k kj#A:k̨CBkCZk@"AUU|@##xk+Jxp@\? ÕŰG?JkĿRkP\*Li@Ug]aOcl@jpX? \]UڿVg?"k *kLCk#w,l#AZ_5?YZXm?Z<9Z=yZH &?u@.?S?@?m x1?`?ɨZ_5?ZcL;XyfBf$IrWill construct direction to contact in vehicle frame from tetrahedron phase data.pipIzIz]4٢N<  h=9 ;Q  > G٣y* > %Nusing accuracyPremultiplier from config!-,59%Le?-,5Y%C%1 i%B)-?-@%BE%:%":%',59 =@9ZjamFNOT Ignoring new targets: 337.60 m.Bjm2-Jjm2-} ProNav: ac range: 337.600006 m, nav range: 265.447784 m, bearing: 330.613292 deg, approach rate: -0.024973 m/s, LOS rate: -0.151419 deg/s, cmd heading: 52.342127 deg, new cmd heading: 52.184476 deg. 2jϻHeadingCmd: 0.910791 target range: 337.600006 and range: 337.60 m. j)i?jjjihhhhfffrfbf?ɛE]BE蓻 AEaII MA<ɚIiIIM+=I})i?i}:i}<)})i?)*F?2F:FBF1JFG5l o<Will construct direction to contact in vehicle frame from tetrahedron phase data.G B) OE >% w,#A +$?Iy B $IMb@Mb@Mb@ )YQ?~jt?Mb?y5?=< @)I`@y@IId4٢Ł= ==9Q > G٣y > Nusing accuracyPremultiplier from config,59tYe?,5Y'1 iBu7?: ? @GE;';,5 @EZjAEFNOT Ignoring new targets: 337.60 m.BjM0JjM0] ProNav: ac range: 337.600006 m, nav range: 265.448669 m, bearing: 330.546536 deg, approach rate: 0.002049 m/s, LOS rate: -0.154587 deg/s, cmd heading: 52.184476 deg, new cmd heading: 51.984207 deg. 2j]/ԻeHeadingCmd: 0.907296 target range: 337.600006 and range: 337.60 m. jeDh?jajajaiihihihihuBfqfqfyrfybf}x[?ɛYB(@ 隭>I u><ɚiI*+=IDh?iL:i~Y<)Dh?)zKK+9KKKRK?JKWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFY5JFGZ<GG ~GG B tA O >  Y% tAyM ,B Will construct direction to contact in vehicle frame from tetrahedron phase data.v5w,#A2G5?Y2m?2%<;92j=y2H)?xb?Р??JgV??ɨ2G5?2Aw;2Cy^B^$IIjIjv}4٢rh r\=9rˈQ r>tt vG٣vJGyz| z> eNusing accuracyPremultiplier from configxm,59zgde?m,5Yz 1 izBqu?u@zLEzI I%II8BI5 =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JJJJJ\:J:JJJaJaJ@;aJ@;aG 7ͤ<G B O >w,c|$AJ4?YJ7^m?J:9J=yJH3?`p^?7?T?{~\b??ɨJ4?J;JCyVBV$II^I^#4٢fu = fL=9jk:Q j>hh nG٣lyn} n> ~Nusing accuracyPremultiplier from configt ,59vRpe?,5Yvl1 ivB!-x?-@vPEv Hw,Z$A2,Z4?Y2ol?2y 92m=y2H`DA? g`??#?  >F??ɨ2,Z4?21;0y^B^$I]Mb@Mb@Mb@YYY Y)YY]1Zd?K?~jth?y]";?]^=]D;]A ]@)]X@I]A@Yy]@I}I}4٢[ ?=9Q >  G٣ y E  > Nusing accuracyPremultiplier from config,59~e?%,5Y 1 iB% I iGA BI Om >jH <bH 4<H I C I #%II BBI &I .I 6I +<:I Fcq w,{04$A6C4?Y6Ŀl?696@+=y6HC?@fy=? O?!$?@]^? 6? ?ɨ6C4?6;4yRBR$IiV8>IV;IZIZW4٢b fX=9fHQ f>hh jG٣jJGyjy n>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750394 zNusing accuracyPremultiplier from configtz,59v_e?~,5Yv1 ivB|~?@vZEv$;v$;v,5  @ Zj15FNOT Ignoring new targets: 337.60 m.Bj=:Jj=:U ProNav: ac range: 337.600006 m, nav range: 265.447083 m, bearing: 330.298498 deg, approach rate: -0.004199 m/s, LOS rate: -0.163220 deg/s, cmd heading: 51.414457 deg, new cmd heading: 51.240095 deg. 2jUໝUHeadingCmd: 0.894308 target range: 337.600006 and range: 337.60 m. jed?jjjihhhhfffrf bf `I}@J ـ3K |3 K S}-KK"KJ]J]JYJYJ]:J]9JYJYJ];J];J]:;J]:;ɛKBp3 隝@DI z4<ɚiIO+=Ied?iM:i<)ed?)E1Will construct direction to contact in vehicle frame from tetrahedron phase data.յ>յ<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007817*F?2F:FBFR0JF I G5 <G BO5>`Hw,Q$AB3?YB4^l?B-x9BҌ=yBH :M?r`ܵ??,? ア o? "?O?ɨB3?B;BCyNBN$I-Mb@Mb@Mb@))) )))Y-Zd;O?Mb?~jthy-j!! %G٣!y-? -> 5Nusing accuracyPremultiplier from config1=,595%e?=,5Y5?0 i5BE=?E:Eg?E@5`E5;5o;5,,5I M@U۹EZjFNOT Ignoring new targets: 337.60 m.Bj6Jj6 ProNav: ac range: 337.600006 m, nav range: 265.446472 m, bearing: 330.217293 deg, approach rate: -0.001199 m/s, LOS rate: -0.159580 deg/s, cmd heading: 51.240096 deg, new cmd heading: 50.996483 deg. 2j ۻHeadingCmd: 0.890057 target range: 337.600006 and range: 337.60 m. jc?jjjihhhhBfffrfbfd @ɛGBp| =I 1<ɚiID+=Ic?i :iX<)c?)E2_.=*Fu?2Fq:FqBFu^0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506266G 9f<G B O >mw,k$A63?Y6al?62ǻ96=y6H`L?bNu??`*? + x?A? o?ɨ63?6K;6CyB؅BB$IIJIJ{4٢Rΰ Re=9RһQ V>TT VG٣TyZi9 Z> bNusing accuracyPremultiplier from config\f-59^0e?f-5Y^:0 i^Bdfh?f@^dE^:^":^G-5h n@luB*** querying acoustic contact ***jqjq -$?IZjFNOT Ignoring new targets: 337.60 m.BjB/JjB/ ProNav: ac range: 337.600006 m, nav range: 265.446350 m, bearing: 330.160440 deg, approach rate: -0.000329 m/s, LOS rate: -0.153222 deg/s, cmd heading: 50.996484 deg, new cmd heading: 50.825925 deg. 2jOһHeadingCmd: 0.887080 target range: 337.600006 and range: 337.60 m. jc?jjjihhhhfffrfbf f @H>I I%II=BI&I.I6I<:I- FɛCB BVI .<ɚiI:>+=I%c?i%jO:i%K<)%c?))EQEQ*EY"EY5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:13:36.1663 LVL= 23728, 25025, 25282, 31571, AGC= 71, IDX= 79, 0.40,-2.708, 2.039, 3.136, 2.805, PHS= 0.857,-0.719, 0.328, RAW= 130.7, -6.8, CAL= 135.7, -18.6, ROT= 14.3, 18.6 Ygot valid direction response: 22:13:36.1663 LVL= 23728, 25025, 25282, 31571, AGC= 71, IDX= 79, 0.40,-2.708, 2.039, 3.136, 2.805, PHS= 0.857,-0.719, 0.328, RAW= 130.7, -6.8, CAL= 135.7, -18.6, ROT= 14.3, 18.6 PDAT read: Bearing 14.3, 18.6 (Local) ~Local bearing/azimuth received: Bearing 14.3, 18.6 (Local) DAT read: Range 10 to 50 : 348.3 m (Round-trip 464.4 ms) speed 0.5 m/s ,DAT read: user:2408> BDAT read: Tx time:22:13:37.2477 $Ping request sent.=I@= =@)9I=r>i999=z`M[8?@\γ?;u@&)=@>I==i=SHǿ=p995:publishing transmit ping time5Fpublishing direction and range info99=|a]qɀ?{%*Vc?y9999 9)9JJJ1JJ :J9J3JJ;J;J<;J<;I9i99999 9)9I9i999=z`M[8?@\γ?;u@&)9I9i9999*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:13:37.2469 G <G1 G1 G BO5>C"w,$A 513?Y wk? 09 p=y H ^?Xb?Sx?;?`J2}?`r?f?ɨ 513? m; Cy%ӅB%$I)) )Mb@Mb@Mb@ )YZd;?V-? G٣JGyG > Nusing accuracyPremultiplier from config -59e?-5Y0 iB:?:j?@jE;;-5 R@%ֹEkΣ?kekc? k kv$A:k&CBkCZkO@"WDiI@Fj}GiuCq@|a]qɀ?{%*Vc?JkSHǿRkp*|(Xg@3}a.kp@nPͻ(?yttڿul?"k *k:Ck.8.?k+l}? 2kLCk E?kuv? kk]Ckj@ I addTargetRange:: Added new target pos. range: 348.299988 m, deltaT: 3.783646 s, deltaX: 10.699982 m, approachRate: 2.827955 m/s, rangeRepo size: 4 U Added new target pos. range: 348.299988 m, bearing: 322.845870 deg, lat: 36.905650 deg, lon: -122.124161 deg, deltaT: 3.783646 s, deltaX: 10.699982 m, approachRate: 2.827955 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 348.30 m.Bj]Jjiu ProNav: ac range: 348.299988 m, nav range: 256.729034 m, bearing: 326.616898 deg, approach rate: 0.000000 m/s, LOS rate: -0.153222 deg/s, cmd heading: 50.825924 deg, new cmd heading: 50.589452 deg. 2jy}HeadingCmd: 0.882953 target range: 348.299988 and range: 348.30 m. j}- b?jjjihhhhBfffrfu@bf`N?ɛ ?B  &  WI  V+<ɚiI+=I- b?i:i=s=)- b?)!*F?2F:FBF_0JFzKK9KKK]Will construct direction to contact in vehicle frame from tetrahedron phase data.G +V<G B O >i(w,^J$A @Ja3?YJk?J=9J+=yJHY? (`v?{?`8?"@?`? ?ɨJa3?J;HyrʅBv$II~I~y4٢ i@  Z=9 ⵻Q  > G٣y ; > %Nusing accuracyPremultiplier from config!5-59%e?5-5Y%0 i%B15?5@%nE%1;%B;%-5A E@AZjiuFNOT Ignoring new targets: 348.30 m.Bju^GJju^G ProNav: ac range: 348.299988 m, nav range: 256.737762 m, bearing: 326.556022 deg, approach rate: 0.024991 m/s, LOS rate: -0.174301 deg/s, cmd heading: 50.589452 deg, new cmd heading: 50.406832 deg. 2j>ﻝHeadingCmd: 0.879765 target range: 348.299988 and range: 348.30 m. jJ8a?jjjihhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ;BȠٻ dcI F(<ɚiI+=IJ8a?i&[:i1T=)J8a?)*F?2F:FBF0JF .$?IiZHRHH>I I %II.BI&I.I6I<:IH FG$3=GBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J |:J :J ـ3J J ;J ;J A;J A;>.w,!;$Ay5…B5$IIEdIE?14٢U@ UE=9]Q ]>YY ]G٣Yye e> uNusing accuracyPremultiplier from configiu-59me?}-5Ym0 imByy}@msEm!*;mG;m -5 b@ZjFNOT Ignoring new targets: 348.30 m.Bj9Jj9m ProNav: ac range: 348.299988 m, nav range: 256.747772 m, bearing: 326.488557 deg, approach rate: 0.024119 m/s, LOS rate: -0.162555 deg/s, cmd heading: 50.406830 deg, new cmd heading: 50.204444 deg. 2ju߻uHeadingCmd: 0.876233 target range: 348.299988 and range: 348.30 m. j}P`?jyjyjyiyhyhyhhfffrfbfY ?ɛ]7B] Y]TjIY }%<ɚiI*=IP`?iU+;in=Will construct direction to contact in vehicle frame from tetrahedron phase data.)P`?)1*F2F:FBFo0JFG%rA G%rA iIiG5 H=G= ?G= 4?G B9 O] >5w,2$A Will construct direction to contact in vehicle frame from tetrahedron phase data.zKK+9KKKnXC1'B3?YBU2l?B+e9B`-=yBH&Q?cg? ?A.?`+@#? 79? ?ɨB3?BX@;@yB o$Iip=I=Mb@Mb@Mb@ )Y(\?I +?~jtyz4?94= @)@II@y@IId4٢` C=9zQ > G٣JGyII; > Nusing accuracyPremultiplier from config-59e?-5Y0 iB4?:|?@xE.;1;@-5 z@ӹEZjFNOT Ignoring new targets: 348.30 m.Bj_*Jj_* ProNav: ac range: 348.299988 m, nav range: 256.748383 m, bearing: 326.422558 deg, approach rate: 0.001377 m/s, LOS rate: -0.148951 deg/s, cmd heading: 50.204445 deg, new cmd heading: 50.006449 deg. 2jr̻%HeadingCmd: 0.872777 target range: 348.299988 and range: 348.30 m. j%Sn_?j)j)j)i)h)h)h1h5TBf1f1f1rf9bf=?ɛ2B 隵SI )"<ɚyiyI}r*=ISn_?i;i .=)Sn_?)*FM?2FI:FQBFU1JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.G5 =G B O5 > U /$?IY ;w,$AHDID IF$IIFBIF6 =&ID.ID6IF,<:IF FBImCJImCRIiZIm5 =bIijIm4>h2?Y>j?>#[9>9=y>H Tr?bN ?h?O?@󐲿`z?? ?ɨ>h2?>;>CyfBj_$IIrIrƕ4٢zU zY=9zm:Q ~>|| ~G٣y] >  Nusing accuracyPremultiplier from config -59 e?-5Y 0 i Bw{?@ |E < < -5 J@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 348.30 m.Bj6Jj6% ProNav: ac range: 348.299988 m, nav range: 256.747864 m, bearing: 326.363285 deg, approach rate: -0.001400 m/s, LOS rate: -0.159925 deg/s, cmd heading: 50.006448 deg, new cmd heading: 49.828628 deg. 2j-ۻ-HeadingCmd: 0.869674 target range: 348.299988 and range: 348.30 m. j-^?j1j1j1i1h9h9h9h9fAfAfArfAbfEŻ?ɛ/B& zI b<ɚiIA*=I^?iI9 ;iÓ$=) ^?) 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.*FE?2FA:FABFE5JFIJmJmJiJiJm :Jm:JiJiJm;Jm;JmI;JmI;G,=GBO k> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243424Bw, %Ay]B]Y$I Ii Mb@Mb@Mb@    ) Y V-?~jtx?Zd;Oy -? ; j A @) @I +@ y @I%I%4٢56 58=9=Q =>99 EG٣AyE E> MNusing accuracyPremultiplier from configIU-59MFe?]-5YMS0 iMB]-?]:]n?]@MEM;MJ;Ml-5e7B m@mιEZjFNOT Ignoring new targets: 348.30 m.BjP5JjP5 ProNav: ac range: 348.299988 m, nav range: 256.731781 m, bearing: 326.296007 deg, approach rate: -0.037891 m/s, LOS rate: -0.158516 deg/s, cmd heading: 49.828627 deg, new cmd heading: 49.626782 deg. 2jٻHeadingCmd: 0.866151 target range: 348.299988 and range: 348.30 m. j]?jjjihhhh-Bfffrfbf+<@ɛ*BS MI Z<ɚiIg*=I ]?i ;i h73=) ]?) EE*F?2F:FBF_0JF"G=G=EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.493698zK}mNKyKyK}K}G -=)Q U mCGi B iGO > |uA ZA m HYm |uAym BHw,)$%A6/?Y6F>h?6uD96 =y6H? z ? 5??'?VI?X?ɨ6/?6e;6CyBBBV$I)H HIZIZK4٢zR ~a=9~};Q ~> G٣JGy h  > Nusing accuracyPremultiplier from config%-59f?%-5Y&0 iB!%Zk?-@E;;-51 5@1ZjQ]FNOT Ignoring new targets: 348.30 m.Bje,Jje,u ProNav: ac range: 348.299988 m, nav range: 256.716278 m, bearing: 326.240962 deg, approach rate: -0.042571 m/s, LOS rate: -0.151162 deg/s, cmd heading: 49.626782 deg, new cmd heading: 49.461637 deg. 2ju{ϻ}HeadingCmd: 0.863268 target range: 348.299988 and range: 348.30 m. j})\?jjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744278frfbf +@ɛ&B, I <ɚiI*=I)\?i;i=))\?)*F?2F:FBFJF 0$?IjHbH<H>I I$IIBI&I.I6I<:I= FG&/=GBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996002_Nw,>v>%A2\.?Y2Zf?2|>929=y2H?@ w? l? S?h ڇ??`}?ɨ2\.?2X;0yVBVI$III4٢]{C ]5=9eT:Q m>yy }G٣yy?E > Nusing accuracyPremultiplier from config-59f?-5Y0 iBi?@E::-5 n@˹EZjFNOT Ignoring new targets: 348.30 m.Bj,Jj, ProNav: ac range: 348.299988 m, nav range: 256.695618 m, bearing: 326.172407 deg, approach rate: -0.045490 m/s, LOS rate: -0.150957 deg/s, cmd heading: 49.461638 deg, new cmd heading: 49.255957 deg. 2j3ϻHeadingCmd: 0.859679 target range: 348.299988 and range: 348.30 m. j\?jjjihh h h fffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252878ɛU!B}@r 隍RI 9<ɚiIE*=I\?i;iX=)\?)!*F?2F:FBFJFGqA GqA IG s=] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:13:40.1132 e TRx dataTimestamp_ set to:1736374421.381553m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502449G zK >`JK 9K K K B O >+Vw,Y%Ay5B5?$IMb@Mb@Mb@ )Y!rh?I +yl'?9̼A )@Iy@I-I-44٢E E@=9EQ M>II UG٣QyU U> ]Nusing accuracyPremultiplier from configYe-59]"f?e-5Y]+0 i]Bm'?m:m8_?m@]E][;];]?"-5q u@yZjFNOT Ignoring new targets: 348.30 m.BjN&JjN& ProNav: ac range: 348.299988 m, nav range: 256.665955 m, bearing: 326.111271 deg, approach rate: -0.070538 m/s, LOS rate: -0.145395 deg/s, cmd heading: 49.255957 deg, new cmd heading: 49.072529 deg. 2jǻHeadingCmd: 0.856477 target range: 348.299988 and range: 348.30 m. jB[?jjjihhhhBfffrfbf $ @ɛBD  I x<ɚ i I b*=IB[?ii;iq =)B[?)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.752475GOK=Ga Bi O >  2$?I H >I  I $II BI &I .I 6I m<:I  F~R\w,s%A2*?Y2sc?2G~!92a#=y2H-? Mհ?@??o갿/?d?S?ɨ2*?2;2CyRBR9$IiV=IV< V=Va=IZIZn4٢bؼ bg=9f;Q f>dh jG٣jJGyjT j> rNusing accuracyPremultiplier from configlr-59ns/f?v-5Yn0 inBtv[?v@nEn:nP:nX%-5x ;@B*** querying acoustic contact ***j!j!Zj)-FNOT Ignoring new targets: 348.30 m.Bj5;%Jj5;% ProNav: ac range: 348.299988 m, nav range: 256.638123 m, bearing: 326.059881 deg, approach rate: -0.078227 m/s, LOS rate: -0.144456 deg/s, cmd heading: 49.072529 deg, new cmd heading: 48.918343 deg. 2jFƻHeadingCmd: 0.853786 target range: 348.299988 and range: 348.30 m. jZ?jjjihhh1h1f9f9f9rf9bf=@UWill construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: Range 10 to 50 : 346.0 m (Round-trip 461.4 ms) speed 0.4 m/s m,DAT read: user:2409> uBDAT read: Tx time:22:13:41.1977 u$Ping request sent.u Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:22:13:41.1969 :cw,֋%A PIPyB6$IMb@Mb@Mb@ )Y)\(?y&1/$yG!?`e 3@)I@yII44٢-6 -6=95Q 5>99 =G٣9y= => MNusing accuracyPremultiplier from configAM-59E@f?U-5YE&0 iEBU"?U:UM?U@EEE;E5;EF)-5e8B e]@mȹE addTargetRange:: Added new target pos. range: 346.000000 m, deltaT: 4.029791 s, deltaX: -2.299988 m, approachRate: -0.570746 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 348.30 m.BjBJjB ProNav: ac range: 348.299988 m, nav range: 256.588654 m, bearing: 325.997289 deg, approach rate: -0.110022 m/s, LOS rate: -0.139234 deg/s, cmd heading: 48.918344 deg, new cmd heading: 48.730534 deg. 2jHeadingCmd: 0.850508 target range: 348.299988 and range: 346.00 m. jY?jjjihhhhBfffrfu@bfi?ɛB#7  I  <ɚiI*=IY?i%;ik=)Y?)!*F2F:FBF.1JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.G:^<GABIOeU>zKeKe9KaKeKeBKuqA:KupAJJJJJ\:J:JJa@a@a@a@Wdiw,d%A6O(?Y6`?6Ec96Q=y6H`5o?`d@x?Ÿ?OQ?LUL?ɱ?n?ɨ6O(?6L;6CyRBR8$IbWill construct direction to contact in vehicle frame from tetrahedron phase data.IZIZ4٢eQ; eX=9m9:Q m>qq G٣y=ݼ > Nusing accuracyPremultiplier from config-59Nf?-5Y0 iBK?@EM<';,-57B D@%ŹEZjamFNOT Ignoring new targets: 348.30 m.BjmJjm ProNav: ac range: 348.299988 m, nav range: 256.544159 m, bearing: 325.943828 deg, approach rate: -0.111687 m/s, LOS rate: -0.134217 deg/s, cmd heading: 48.730534 deg, new cmd heading: 48.570123 deg. 2j9HeadingCmd: 0.847709 target range: 348.299988 and range: 346.00 m. jnY?jjjihhhhfffrfbf``d?ɛ-B- 1 15I1 5#_<ɚ1i1I5*=I=nY?i=(;iE<)EnY? 3$?Ii)I*F?2F :F BF T5JF ZHaRHeAAHm>Ii Im$IIm݅BIm8 =&Ii.Im.D6Im<:Im) FuWill construct direction to contact in vehicle frame from tetrahedron phase data.G <G B O >Kpw,>%AN&?YN(^?N9N]=yNHm?@Nc`?z?F~?6wς? V??ɨN&?N;LyfBf:$I)h hjAhIrIrb4٢v4< zR=9z :Q z>x| ~G٣~JGyn >  Nusing accuracyPremultiplier from config -59 \f?-5Y 0 i B7I?@ E : 4; /-5) -#@-¹EZjQUFNOT Ignoring new targets: 348.30 m.Bjr$Jjr$ ProNav: ac range: 348.299988 m, nav range: 256.498535 m, bearing: 325.890817 deg, approach rate: -0.123715 m/s, LOS rate: -0.143772 deg/s, cmd heading: 48.570124 deg, new cmd heading: 48.411064 deg. 2jVŻHeadingCmd: 0.844932 target range: 348.299988 and range: 346.00 m. j~MX?jjjihhhhfff rf bf ';?ɛu Bu1 y}턾Iy }+<ɚyiyI}*=I~MX?ir\+;iAA<)~MX?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FyBF}s4JF IGuHn<Gi Bq O >} Will construct direction to contact in vehicle frame from tetrahedron phase data.%xvw,`"%AzK>BoHK>9K<K>K>RKB?JKB ?JRJPJPJPJR:JPJPJPybBfM$IMb@Mb@Mb@ )YX9v?J +~jty?HDA @)@Iy@IyIxV4٢E= >=9Q > G٣y > Nusing accuracyPremultiplier from config-59lf?-5Y0 iBz?:FK?@E;;3-5 -@Zj9EFNOT Ignoring new targets: 348.30 m.BjUJjUm ProNav: ac range: 348.299988 m, nav range: 256.450684 m, bearing: 325.832370 deg, approach rate: -0.110251 m/s, LOS rate: -0.134689 deg/s, cmd heading: 48.411063 deg, new cmd heading: 48.235689 deg. 2jm߸uHeadingCmd: 0.841872 target range: 348.299988 and range: 346.00 m. juW?jyjyjyiyhyhyhhBfffrfbf@e?ɛMBUx QU`IQ UK;ɚQiQI]I*=I]W?ie.;ie(<)eW?)a*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G ؿ<G G ? m 4$?Ii G B O >Ha Ia  Ia Ia Ie 7 =&Ia .Ia 6Ie [<:Ie F|w,f%AyB L$III4٢-ǻ -T=9)Q ->11 5G٣1y9 => ENusing accuracyPremultiplier from configAM-59Ezf?M-5YE0 iEBIIU@EEEw;E;E7-5Y ]B@eEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 348.30 m.BjJj ProNav: ac range: 348.299988 m, nav range: 256.407928 m, bearing: 325.779882 deg, approach rate: -0.111771 m/s, LOS rate: -0.137238 deg/s, cmd heading: 48.235691 deg, new cmd heading: 48.078200 deg. 2j^HeadingCmd: 0.839123 target range: 348.299988 and range: 346.00 m. jV?jjjihhhhfffrfbf@ɛB YI   ;ɚ i I *=IV?iT1;i<)V?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJFG<GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264739 Y Ia 7w,&Ay5B5M$IiE=IEp; Mp=IMb@Mb@Mb@ )YQ?Qy(?hA @)@I3@yQ@II٢ m; ==9Q > G٣JGyy }> Nusing accuracyPremultiplier from config-59^f?-5YR0 iBY?:yR?@E@;;;-5 6@ZjFNOT Ignoring new targets: 348.30 m.BjJj ProNav: ac range: 348.299988 m, nav range: 256.366913 m, bearing: 325.719566 deg, approach rate: -0.091918 m/s, LOS rate: -0.135192 deg/s, cmd heading: 48.078200 deg, new cmd heading: 47.897224 deg. 2jHeadingCmd: 0.835964 target range: 348.299988 and range: 346.00 m. jV?jjjihhhhBf f f rfbf`@ɛ=B=N 9=LII MD3;ɚIiIIU*=IUV?iU}5;i]<)]V?)Y*F2F:FBFJF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516975zKyJK9KKKR|unf_]YQG=8732/& BKpA:KqAJJJ/JJ|:J9J(N3JG <G B O >𳉉w,d(&AJ?YJȊW?J\VWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7700609JB =yJH O?[??4?v+q?P8?.?ɨJ?J ;HyjBna$IIzIzQ4٢= [=9g[!) -G٣)y5~ 5> Nusing accuracyPremultiplier from config-59f?-5Y0 iK?@E::U>-5 5@EZj9=FNOT Ignoring new targets: 348.30 m.BjEJjEu ProNav: ac range: 348.299988 m, nav range: 256.325531 m, bearing: 325.668459 deg, approach rate: -0.107974 m/s, LOS rate: -0.133371 deg/s, cmd heading: 47.897224 deg, new cmd heading: 47.743879 deg. 2ju}HeadingCmd: 0.833288 target range: 348.299988 and range: 346.00 m. j}[RU?jyjyjyiyhyhhhfffrfbf`@ 5$?IɛBz 隕 "I V ;ɚiI]*=I[RU?i6;i&;)[RU?)jHbH<H>I I$IIBI&I.I/D6I<:ID FBIJIRIZI7 =bI7 =jId5*F2F:FBF`0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020736G :^<G G G B O >Xw,B&A2ͥ?Y2 "V?2P92P=y2Hgq?`w~??`V?`j?j?Y?ɨ2ͥ?29Љ;2CyBB@ININ4٢VB; VP=9Vo';Q Z>XX ZG٣Xy^f ^> bNusing accuracyPremultiplier from config`f-59bf?j-5Yb0 i`hjI?j@bEb';b';bA-5l n+@pZj FNOT Ignoring new targets: 348.30 m.BjJj- ProNav: ac range: 348.299988 m, nav range: 256.284241 m, bearing: 325.618750 deg, approach rate: -0.112243 m/s, LOS rate: -0.135149 deg/s, cmd heading: 47.743879 deg, new cmd heading: 47.594729 deg. 2j-5HeadingCmd: 0.830685 target range: 348.299988 and range: 346.00 m. j5T?j1j1j1i1h1h9h9h9f9fAfArfAbfE: @ɛmBua y}Iy }{;ɚyiyI*=IT?i-B7;i-;)-T?)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277222*F2F:FBF0JFGR< IGBO5O>M Will construct direction to contact in vehicle frame from tetrahedron phase data.I iI U BDAT read: Rx Time:22:13:44.0604 ] TRx dataTimestamp_ set to:1736374425.412898] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526055sĖw,kb\&A>?Y>GU?>\39>=y>H@???o?Mkf?@u??ɨ>?>YI;>CyVBVt$I)X XXXzK^gNK\K\K^K^    Mb@Mb@Mb@ )Y?{GztMbp?y ?ף;zA @)@Iy@II4٢S= ;=9ć:Q > G٣JGy%" > Nusing accuracyPremultiplier from config-59)f?-5Yx0 iB ?:R?@E;d;`E-5 /@Eec~GZjAmFNOT Ignoring new targets: 348.30 m.BjJj aYy*B ProNav: ac range: 348.299988 m, nav range: 256.244415 m, bearing: 325.558481 deg, approach rate: -0.084135 m/s, LOS rate: -0.127345 deg/s, cmd heading: 47.594729 deg, new cmd heading: 47.413894 deg. 2jʮ HeadingCmd: 0.827529 target range: 348.299988 and range: 346.00 m. jS?jjjihh!hIhM*BfIfIfQrfQbfUO @ɛB: 隥ֽI K,;ɚiI*=IS?i7;i ;) S?) *F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781464GuO;GABi 6$?IiO5 >H >I  I $II BI &I .I 6I x<:I FDw,C }BDAT read: Tx time:22:13:45.1478 $Ping request sent.FM @4QO @)VhI>iVh>?bctؼ?zar͑)u=I6L=imٿz:publishing transmit ping time؁Fpublishing direction and range info9r.QW3]\m`2?y )Ii )Ii?bctؼ?zar͑)IiJJJ0JJ\:J9Jـ3JJh;aJi;aJ8;aJ8;a Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:13:45.1470 y B |$II I 4٢5 ۚ< 5 <95 æ:Q 5 >9 9 = G٣9 yE Ի E > M Nusing accuracyPremultiplier from configI U -59M f?U -5YM C0 iM BQ U Q?] @M EM ':M H:M VK-5y } @ I k@?kBF@ k kZz&A:kCBkCZkС@" ,I7¤ufzGxBr@r.QW3]\m`2?JkmٿRkz*aUa@9̡cISq@'6ax?),jݿ2=g?"k*kCkwzד?k~@ 2kCkGB O51?{iw,ZH&ANȘ?YN S?NOP9Nv=yNHz?a_?~?Ś?AGj?J??ɨNȘ?N;NCɮTVpwAXiXXiXX)X XI\ \)\ɯ\\``ɰ`i`I``Idid dd)dh jwAhhɱhhlIl)lil)lIppɲp p)pItvףt ttv9xAtizHFxixx)x xIx |)||||5xAiII i   )   EAI)iy%΅B%$IMb@Mb@Mb@ )YNbX9?YY eG٣eJGymʻ m> Nusing accuracyPremultiplier from configq-59uf?-5Yu}0 iuB%?:`?@uEu6I I$IIBI&I.I6I<:ID FIk*=ISQ?i9;i~;)SQ?)!*F ?2F :F BF 4JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.J J J J J ܫ:J :J J J ;J ;J @;J @;G *;GBO>w,5c&A6?Y6rS?6G96h~=y6H԰? g@? Æ? ?Aq? ?1?ɨ6?6;4yލׅBލ$Ii%=Ip>I[IK!4٢/= G=9 G٣yTk; > Nusing accuracyPremultiplier from config-59zf?-5YHx0 iBa?@E::NS-5 @ZjFNOT Ignoring new targets: 343.80 m.BjO>JjO>5 ProNav: ac range: 343.799988 m, nav range: 246.648788 m, bearing: 323.795089 deg, approach rate: -0.043203 m/s, LOS rate: -0.166383 deg/s, cmd heading: 46.904559 deg, new cmd heading: 46.724742 deg. 2j5_仝=HeadingCmd: 0.815501 target range: 343.799988 and range: 343.80 m. j=P?j9j9j9i9h9hAhAhAfIfIfIrfIbfU%?ɛ}ՅB}; y}@;Iy U;ɚiIL*=IP?i4n:;iN>C<)P?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247709*FM?2FI:FIBFM_0JFQ YIYGE&;G B! OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499251Զw,J)&AzKFKK9KKKRK?JK>y޽B޽$IEMb@Mb@Mb@AAA A)AYEL7A`?㥛 ?~jt?yE+'?E=EDqq }G٣yy} }> Nusing accuracyPremultiplier from config-59zf?-5YZr0 iB<(?:No?@Et;;W-5 (@EZjFNOT Ignoring new targets: 343.80 m.Bj.Jj. ProNav: ac range: 343.799988 m, nav range: 246.647797 m, bearing: 323.730120 deg, approach rate: -0.002329 m/s, LOS rate: -0.152560 deg/s, cmd heading: 46.724740 deg, new cmd heading: 46.529834 deg. 2jfѻHeadingCmd: 0.812099 target range: 343.799988 and range: 343.80 m. jO?jjjihhhhoBfffrfbf W?ɛ υB D<  x,=I  )S;ɚiI *=IEO?iM4<;iM'k<)MO?)I*F2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752100 M 8$?II G= P<GI GM pAG B1 Ha Ia  Ie %IIe )BIa &Ia .Ie .D6Ie <:Ie F FO >޼w,&A2?Y28VS?2"Bo92gw=y2H@|?@`??@X?@?@-?m?R?!?ɨ2?2ey;0y||II]4٢-N -a=95:Q 5>19 =G٣=JGy=K E> MNusing accuracyPremultiplier from configAM-59Ekg?U-5YENm0 iEBQU#o?U@EEE* ;E ;E2Z-5a e$@eEZjFNOT Ignoring new targets: 343.80 m.Bj.Jj. ProNav: ac range: 343.799988 m, nav range: 246.647049 m, bearing: 323.674758 deg, approach rate: -0.002055 m/s, LOS rate: -0.152181 deg/s, cmd heading: 46.529834 deg, new cmd heading: 46.363747 deg. 2jлHeadingCmd: 0.809200 target range: 343.799988 and range: 343.80 m. j'O?jjjihhhhfffrfbf?ɛ ˅B 0< @N=I u;ɚiIr)=I'O?i%=;i%Å<)%'O?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004176*F?2F:FBF0JFJ5J5J5/J1J5|:J5:J5(N3J1J5;J5;J5C;J5C;GLc<GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255327Éw,'A ,I0mt?YmYS?mp9m=ymH(?_k?? B?Z˴p? 匽?`,?ɨmt?mOa;mCyލBލ$I) UMb@Mb@Mb@QQQ Q)QYUZd;O?B`"۹? G٣y8 > Nusing accuracyPremultiplier from config-59g?-5Yf0 iBu,?:=y?@E;;^-5 @EZjFNOT Ignoring new targets: 343.80 m.Bj2Jj2 ProNav: ac range: 343.799988 m, nav range: 246.658295 m, bearing: 323.604882 deg, approach rate: 0.025162 m/s, LOS rate: -0.156339 deg/s, cmd heading: 46.363748 deg, new cmd heading: 46.154130 deg. 2jֻHeadingCmd: 0.805542 target range: 343.799988 and range: 343.80 m. j7N?jjjihhhh ZBf f frfbf`4v@ɛ=ŅB=>< 9Ed=IA E{;ɚAiAIE)=IU7N?iU?;iUmǞ<)U7N?)Y*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509279zK-RIK)K)K-K-BK1:K1G c<G B O >ɉw,)'A $$~ƹ?Y~6S?~9~=y~H`l?@P\ ??C?ߴ7r??@3?ɨ~ƹ?%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761475~3D;|yeBaIuIu4٢F S=9HQ >    G٣ y  > Nusing accuracyPremultiplier from config%-59"g?%-5Ya0 iB!%y?%@E7:7:}a-59 =@9UB*** querying acoustic contact ***jYjYZjaeFNOT Ignoring new targets: 343.80 m.Bjm{2Jjm{2} ProNav: ac range: 343.799988 m, nav range: 246.668228 m, bearing: 323.544264 deg, approach rate: 0.025572 m/s, LOS rate: -0.156041 deg/s, cmd heading: 46.154129 deg, new cmd heading: 45.972283 deg. 2j}-ֻHeadingCmd: 0.802368 target range: 343.799988 and range: 343.80 m. jgM?jjjihhhhfffrfbf@ɛBPN< X=I ,v;ɚiIf|)=IgM?i*B;i<)gM?) U9$?IUi*FM?2FI:FIBFMQ5JFIjHbH<HIC I%II8BI8 =&I.I6Ib<:I FGE7ͤ<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013027GI BY O >JK cw3 K S}.KK"KJM JM JI JI JM ̝:JM :JI JI JM ;JM ;JM @;JM @;|Љw,C'A68&?Y6zS?6ۛ96D=y6H@s?@e?Ɗ?Ã?z{s???ɨ68&?6;6CyV܅BV$IIbIb<4٢j j`=9j]Q j>ll nG٣lyrw; r> vNusing accuracyPremultiplier from configtz-59v-g?z-5Yv[0 ivBxzy?~@vEv:v ;vd-5 @Zj15FNOT Ignoring new targets: 343.80 m.Bj=2Jj=2M ProNav: ac range: 343.799988 m, nav range: 246.678207 m, bearing: 323.487239 deg, approach rate: 0.027359 m/s, LOS rate: -0.156332 deg/s, cmd heading: 45.972282 deg, new cmd heading: 45.801215 deg. 2jMֻUHeadingCmd: 0.799382 target range: 343.799988 and range: 343.80 m. jULL?jQjQjQiQhhhhfffrfbf@Y @ɛ5B5>< Q]=IY ];ɚYiYI]G)=IeLL?ie)D;ie<)eLL?)i5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:13:48.0081 ETRx dataTimestamp_ set to:1736374429.194102Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266677*F?2F:FBF5JF aIaG_<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515383׉w,h]'Ay=BE$IiM8>IM4< M=Mp=Mb@Mb@Mb@ )YB`"?"~j?y.?S= @)Iy@IIy4٢< 8=9Q  >    G٣ JGy > Nusing accuracyPremultiplier from config%-59;g?%-5YT0 iB-$1?-:-|?-@Er;;h-5zK5BHK59K1K5K5 V@EZjFNOT Ignoring new targets: 343.80 m.BjI1JjI1 ProNav: ac range: 343.799988 m, nav range: 246.694717 m, bearing: 323.416115 deg, approach rate: 0.035982 m/s, LOS rate: -0.154996 deg/s, cmd heading: 45.801213 deg, new cmd heading: 45.587857 deg. 2jԻHeadingCmd: 0.795658 target range: 343.799988 and range: 343.80 m. j%AK?j!j!j!i!h!h!h)h-XBfIfQfQrfQbfU7 @ɛB5R< 隥H=I -;ɚiI()=IAK?iH;ib<)AK?)*FE?2FA:FABFEV0JFI=Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: Range 10 to 50 : 342.0 m (Round-trip 456.1 ms) speed 0.4 m/s M,DAT read: user:2411> ]BDAT read: Tx time:22:13:49.0978 ]$Ping request sent.eH >I C I I I &I .I /D6I %<:I FBIJIRIZIbIjI%5,݉w,BBw'ARO?YRT?R)»9R =yRHK?@Rnٴ? ?y?`N0Ux?@M?`?ɨRO?R2;RCy^ۅB^$II~I~t4٢    [=9uPQ > G٣y; %> -Nusing accuracyPremultiplier from config!--59%Gg?5-5Y%KO0 i%B15|?5@%E%:%:%k-5A E@EEu addTargetRange:: Added new target pos. range: 342.000000 m, deltaT: 3.780035 s, deltaX: -1.799988 m, approachRate: -0.476183 m/s, rangeRepo size: 4 Zjy}FNOT Ignoring new targets: 343.80 m.Bj?Jj? ProNav: ac range: 343.799988 m, nav range: 246.709274 m, bearing: 323.356362 deg, approach rate: 0.040819 m/s, LOS rate: -0.167545 deg/s, cmd heading: 45.587855 deg, new cmd heading: 45.408608 deg. 2j廝HeadingCmd: 0.792530 target range: 343.799988 and range: 342.00 m. j:J?jjjihhhhfffrf`u@bfj?ɛBS"Z< @=I 8];ɚiIU(=I:J?iK;iV=):J?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:13:49.0970 J J @A*F?2F:FBF_0JFG5><G B O5 >U Will construct direction to contact in vehicle frame from tetrahedron phase data. ] ;$?IY <w,A'Ah(?YS?~ɻ9=yH 5?@g`i???@봿`7y?/?m?ɨh(?i;CyхB$ImMb@Mb@Mb@iii i)iYm rh?? G٣JGyT > Nusing accuracyPremultiplier from config-59{Vg?-5YH0 iBE.-?E:Ey?E@E<<o-5I Md@MEZjFNOT Ignoring new targets: 343.80 m.Bj+Jj+ ProNav: ac range: 343.799988 m, nav range: 246.723175 m, bearing: 323.284705 deg, approach rate: 0.029161 m/s, LOS rate: -0.150312 deg/s, cmd heading: 45.408607 deg, new cmd heading: 45.193649 deg. 2jPλ-HeadingCmd: 0.788778 target range: 343.799988 and range: 342.00 m. j5[I?j1j9j9i9h9h9hAhEGBfAfAfIrfIbfM@gw,衫'AN= ?YN~S?N9N6$=yNH?+nl?6?q?ݲo`? 3? L?ɨN= ?N;NCZWill construct direction to contact in vehicle frame from tetrahedron phase data.Z>Z @y^҅B\)` `ddIjIj_v4٢rT; re=9r"Q r>tt zG٣xyz z> ~Nusing accuracyPremultiplier from config|-59~ag?-5Y~MC0 i~B  y?@~E~@:;~F;~r-5) 5Z@1B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 343.80 m.Bj-/Jj-/= ProNav: ac range: 343.799988 m, nav range: 246.734192 m, bearing: 323.228809 deg, approach rate: 0.030162 m/s, LOS rate: -0.153024 deg/s, cmd heading: 45.193651 deg, new cmd heading: 45.025972 deg. 2j= һeHeadingCmd: 0.785851 target range: 343.799988 and range: 342.00 m. je-I?jijijiiihihihqhqfqfqfqrfybf}? IiɛBh\< d=I ;ɚiIC(=IE-I?iET;iE/=)E-I?)AZHYRH]?AHm>Ii Im %IIm.BIm6 =&Ii.Ii6Iml<:Im F*FU?2FQ:FQBFQJFYeWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.G H=G B O >]Ew,T'A:;7?Y:|S?:Z9:6=y:H@ɪ?zq˱??`? Ak??v?ɨ:;7?:*;8ymƅBm$IIfI44٢O` ?=9<ʷQ > G٣y: > Nusing accuracyPremultiplier from config-59og?u-5Y<0 iBq}y?}@E<<v-5 @ZjFNOT Ignoring new targets: 343.80 m.Bj A7Jj A7u ProNav: ac range: 343.799988 m, nav range: 246.748077 m, bearing: 323.161004 deg, approach rate: 0.032811 m/s, LOS rate: -0.160215 deg/s, cmd heading: 45.025973 deg, new cmd heading: 44.822569 deg. 2j}ۻHeadingCmd: 0.782301 target range: 343.799988 and range: 342.00 m. jDH?jjjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508683ih)h)h1h1f1f1f1rf9bf=g?ɛB!A< <$?I 隅8=I ?;ɚiIy'=I]DH?i]Z;i]ʶ!=)]DH?)a*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759615J J J /J J |:J J (N3J G5 =G B O%>Ww,'A6F?Y6 T?60G 96=y6H?zű?@K?`~?1(?"??ɨ6F?6~;6CyBBF$IzKR:IKRh9KPKRKRRKZ ?JKZ?%Mb@Mb@Mb@!!! !)!Y%v/?Mb?Qy%x)?%=%u%A !)%@I%@!y% @IUIU#4٢m ̼ m4=9m-̺Q u>qq uG٣uJGy}Nr; }> Nusing accuracyPremultiplier from config -59^g? -5Yc60 iB N*? : Am?@E;;z-59 =z@EEZjFNOT Ignoring new targets: 343.80 m.Bjf2Jjf2 ProNav: ac range: 343.799988 m, nav range: 246.747940 m, bearing: 323.088989 deg, approach rate: -0.000297 m/s, LOS rate: -0.155968 deg/s, cmd heading: 44.822570 deg, new cmd heading: 44.606528 deg. 2jֻ HeadingCmd: 0.778531 target range: 343.799988 and range: 342.00 m. j MG?j jjih9h9hAhEBfAfIfIrfIbfUW?ɛB9C< 隽ȅ=I v;ɚ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011845iI'=IMG?i `;i`4=)%MG?)! I*F?2F:FBF`0JFH>I I$II$BI&I.I6IR<:I FG #=G B O >tw,4'A6?Y6R|S?6rԻ96=y6H?l`Rܱ?|? Ώ? "z? ι??ɨ6?6;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263714yFBJz$IiN=INe> N=Na=IRIR4٢Z ZY=9^ǥ;Q ^>AA MG٣Iy]λ ]> Nusing accuracyPremultiplier from config-59eg?-5Y00 iBl?@E;;!~-5 @Zj!-FNOT Ignoring new targets: 343.80 m.Bj-2Jj-2e ProNav: ac range: 343.799988 m, nav range: 246.747482 m, bearing: 323.029402 deg, approach rate: -0.001202 m/s, LOS rate: -0.156449 deg/s, cmd heading: 44.606528 deg, new cmd heading: 44.427766 deg. 2jeֻmHeadingCmd: 0.775411 target range: 343.799988 and range: 342.00 m. jmRF?jijijiiihihqhyhyfyfyfyrfbf A@ɛBoC< s=I ;ɚiIu'=IRF?ied;i~5=)RF?)1*F?2F:FBF1JFG4=GaBiO[>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515657 =$?I i\w,=~(A6?Y6R?696g=y6H?^Y4?t?̥?s@Vw?`i??ɨ6?6;6CyRBR}$IMb@Mb@Mb@ )YS㥛? rh? G٣yo > Nusing accuracyPremultiplier from config-59Қg?-5Y+0 iBo&?:`?@EG;CE;-5 @EZjFNOT Ignoring new targets: 343.80 m.Bj1Jj1- ProNav: ac range: 343.799988 m, nav range: 246.734756 m, bearing: 322.967283 deg, approach rate: -0.031710 m/s, LOS rate: -0.154797 deg/s, cmd heading: 44.427765 deg, new cmd heading: 44.241398 deg. 2j-xԻ=HeadingCmd: 0.772158 target range: 343.799988 and range: 342.00 m. j='E?jAjAjAiAhAhAhIhMBfIfIfQrfQbfUK@ɛBP< |=I ;ɚiIC6'=I 'E?ici;i3=)'E?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767857*F2F:FBFQ5JFJ J J 0J J :J 9J ـ3J zKBoIK 9KKKBK!:K!G '2=G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0208079 w,b0(A PIP?Y;/P?O9B=yH@0?W&?y??@(?@ )p?@~?Y?ɨ?;Cy5B5q$IIEIE44٢UOC UP=9]z;Q ]>YY ]G٣aye,ļ e> mNusing accuracyPremultiplier from configiu-59mg?u-5Ymo&0 imBy}2^?}@mEmC ;mu ;m(-5 [@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 343.80 m.Bj$,Jj$, ProNav: ac range: 343.799988 m, nav range: 246.720474 m, bearing: 322.908143 deg, approach rate: -0.036343 m/s, LOS rate: -0.150499 deg/s, cmd heading: 44.241399 deg, new cmd heading: 44.063970 deg. 2jλ5HeadingCmd: 0.769061 target range: 343.799988 and range: 342.00 m. j54D?j1j9j9i9h9h9hAhAfAfAfArfIbfM @jHQbHUp<H]>IY I]$II]BI]5 =&IY.IY6I][<:I] FɛB*'H<  =I $;ɚiI'=I4D?isjn;i I=)4D?)*F?2F:FBFB4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271672G.P2=G B O >>nw,1J(Ay=B9)A AIMAIUIU4٢e eJ=9eQ m>iq uG٣uJGy} }> Nusing accuracyPremultiplier from config-59g?-5Y!!0 iB@E::-5 e@EZjFNOT Ignoring new targets: 343.80 m.Bj,Jj, ProNav: ac range: 343.799988 m, nav range: 246.705978 m, bearing: 322.846909 deg, approach rate: -0.035794 m/s, LOS rate: -0.151210 deg/s, cmd heading: 44.063968 deg, new cmd heading: 43.880257 deg. 2jϻHeadingCmd: 0.765855 target range: 343.799988 and range: 342.00 m. jD?jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:13:51.9546  TRx dataTimestamp_ set to:1736374433.225209 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525324hhfff9rf9bf=  @ >$?IɛB0M< AMp=II U;ɚQiYI]&=ID?it;i+=)D?)*FY2FY:FYBFe25JFa Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775614JI JM JM /JI JI JM :JM (N3JI G =Ga Bi O >w,uxd(AB?YBQ-M?BC*9Bp=yBHB? ??(?xHe?@5ŷ??ɨB?BV;BCyRBRn$IzKvKtKtKvKv  RK ?JK>Mb@Mb@Mb@ )Y}?5^I?y&1|?QyM"?`;uMA @)@I@y(@IIƕ4٢C A=9P;Q > G٣y > Nusing accuracyPremultiplier from config-59g?-5Y0 iB["?:P?@ E;d;d-5 @Zj FNOT Ignoring new targets: 343.80 m.Bj JjU ProNav: ac range: 343.799988 m, nav range: 246.677368 m, bearing: 322.785115 deg, approach rate: -0.063418 m/s, LOS rate: -0.136990 deg/s, cmd heading: 43.880257 deg, new cmd heading: 43.694854 deg. 2jU}HeadingCmd: 0.762619 target range: 343.799988 and range: 342.00 m. j;C?jjjihhhh؄Bfffrfbf@ɛB]\< Т=I ;ɚ i I &=I;C?i7x;i =)5;C?)9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 339.5 m (Round-trip 452.7 ms) speed 0.6 m/s ,DAT read: user:2412> BDAT read: Tx time:22:13:53.0478 $Ping request sent.H%>I! I%$II%BI%6 =&I!.I%.D6I%<:I%) Fw,{/~(A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&JDAT read: TxSync time:22:13:53.0470 ^U?Y^K?^P9^Ժ=y^Ha?{ G??H?군a? IR??ɨ^U?^;\y5B=b$IIMIM4٢]F ]S=9]:Q ]>aa eG٣aym_ m> uNusing accuracyPremultiplier from configq}-59ug?}-5YuO0 iuBy}/O?@uEu7 ;ui ;uȏ-58B "@E addTargetRange:: Added new target pos. range: 339.500000 m, deltaT: 4.032162 s, deltaX: -2.500000 m, approachRate: -0.620015 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 343.80 m.Bj=4Jj=4 ProNav: ac range: 343.799988 m, nav range: 246.650009 m, bearing: 322.728330 deg, approach rate: -0.075912 m/s, LOS rate: -0.157576 deg/s, cmd heading: 43.694855 deg, new cmd heading: 43.524482 deg. 2jIػHeadingCmd: 0.759646 target range: 343.799988 and range: 339.50 m. j!xB?jjjih1h1h9h9f9f9f9rfE8u@bfE K?ɛBET< 隍Ѝ=I <ɚiIv^&=I!xB?i{;iP=)!xB?)*FM?2FI:FIBFM`0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm,= U ?$?IQ GQ Ba O} >%w,C(Ay~Bk$Ii  G٣JGy > Nusing accuracyPremultiplier from config-59g?-5Y0 iBy!?:??@Ef;;m-5 @Zj%FNOT Ignoring new targets: 343.80 m.Bj%E%Jj%E%5 ProNav: ac range: 343.799988 m, nav range: 246.605530 m, bearing: 322.668066 deg, approach rate: -0.106626 m/s, LOS rate: -0.144493 deg/s, cmd heading: 43.524482 deg, new cmd heading: 43.343656 deg. 2j=Sƻ=HeadingCmd: 0.756490 target range: 343.799988 and range: 339.50 m. j=LA?jAjAjAiAhAhAhQhUBfQfQfQrfYbf],4?ɛ }B {l<  h=I <ɚiI%&=ILA?i;i=)LA?)!MWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMAE]rAEY*F?2F:FBFd0JFGy =GYBiO_>zK:LKKKK   Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 +w,(Ar?YrzI?r+L9r⵹=yrH`"?`ۓ??}? i?.?M?ɨr?ru;rCy~B~x$II I t4٢P= U=9% Q %>!! -G٣)y-vü -> 5Nusing accuracyPremultiplier from config1=-595g?E-5Y5J0 i5BAE=?E@5E57 ;5z ;5Ɩ-5I M @UE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 343.80 m.Bj$Jj$ ProNav: ac range: 343.799988 m, nav range: 246.562775 m, bearing: 322.612840 deg, approach rate: -0.111493 m/s, LOS rate: -0.144038 deg/s, cmd heading: 43.343656 deg, new cmd heading: 43.177950 deg. 2jŻHeadingCmd: 0.753597 target range: 343.799988 and range: 339.50 m. j@?jjjihhhhfffrfbf@q?H>IC I$IIBI: =&I.I6IT<:I FBIJIRIZI6 =bIjI5ɛxB< @=I <ɚiI%u%=I%@?i-̞;i-5<)-@?))*F2F:FBF0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.Gq=GGrA*J"J=JJJ0JJJJـ3JJ;aJ;aJ@;aJaGBO>n2w,(A6s?Y6H?6p96x=y6H@?@t@梯?? W?`Nb?? ?ɨ6s?6Pf;4yVBVz$IIboIbD4٢j2< jO=9j;Q j>ll nG٣lyr] r> vNusing accuracyPremultiplier from configtz-59vh?z-5Yv 0 ivB|~EI X<<ɚiIi%=I(@?i2;i}<)(@?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509201 @$?Ii*FY2Fa:FaBFeP5JFaG5<GB9O-N>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760766 |uA5 ZA m - Ym |uAyu aB8w,(A>@ ?Y>WF?>ck9>&=y>H@?@PK`-?b??ڰ L~M?\??ɨ>@ ?>)p;= ?=9L;Q > G٣JGy= > Nusing accuracyPremultiplier from config-59h?-5Y0 iB#?:9?@!ES;f;-5 H@EZjFNOT Ignoring new targets: 343.80 m.Bj%Jj% ProNav: ac range: 343.799988 m, nav range: 246.465820 m, bearing: 322.493718 deg, approach rate: -0.114355 m/s, LOS rate: -0.137389 deg/s, cmd heading: 43.007338 deg, new cmd heading: 42.820515 deg. 2jHeadingCmd: 0.747359 target range: 343.799988 and range: 339.50 m. jR??jjjih!h)hYh]BfafifrfbfP?ɛMnBMRt< QU*>IQ UM<ɚQiQIUS%=I]R??i]C;i]<)eR??)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014301 I*F=?2F9:F9BFES5JFAH>I I$II BI8 =&I.I6I\<:I FGe N<Gy B O > ?w,s(AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264690j$ ?YjfD?j!z 9j=yjH0?`G![L?@<9?U? 尿 D?@z?z?ɨj$ ?j݈;hyvυBv$III4٢o= R=95;Q >!! %G٣!y% -> 5Nusing accuracyPremultiplier from config)5-59-$h?M-5Y-0 i-BQU7?U@-%E-Z;-;-[-5Y ]@aZjFNOT Ignoring new targets: 343.80 m.Bj0Jj0 ProNav: ac range: 343.799988 m, nav range: 246.417389 m, bearing: 322.437355 deg, approach rate: -0.132205 m/s, LOS rate: -0.153887 deg/s, cmd heading: 42.820515 deg, new cmd heading: 42.651393 deg. 2j8ӻHeadingCmd: 0.744407 target range: 343.799988 and range: 339.50 m. jy>?jjjihhhJJAAJJJ/JJ|:J9J(N3JJ;J;J:;J:;h1f1f9f9rf9bf=ɰ@ɛejBmi< imI>Ii m# <ɚqiqIu%=Iy>?i;i=<)y>?)*FM?2FI:FIBFM^0JFIG%[Y<GBO J>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516716 A$?IVFw,f)AyU؅BU$IMb@Mb@Mb@ )YJ +?:vy(?ԼMA @)@Iyz@II]4٢'= :=9Q > %G٣!y% %> 5Nusing accuracyPremultiplier from config)5-59-6h?=-5Y-/ i-B=(?=:=z:?=@-)E-;-<;-/-5A M@MEZjy}FNOT Ignoring new targets: 343.80 m.BjH-JjH- ProNav: ac range: 343.799988 m, nav range: 246.363892 m, bearing: 322.371310 deg, approach rate: -0.122688 m/s, LOS rate: -0.151496 deg/s, cmd heading: 42.651393 deg, new cmd heading: 42.453218 deg. 2jϻHeadingCmd: 0.740948 target range: 343.799988 and range: 339.50 m. j̮=?jjjihhhhBfffrfbf @ɛeB< e>I = <ɚiI$=I̮=?i};i<)̮=?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770267*F}?2F:FBFJFzKLNK9KKKG<GGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020708 I 3Lw,#-3)Ay%ۅB%$Ii-4>I)H>I I$IIBI9 =&I.I6Iz<:I FIIy4٢_e< Q=9Q > G٣JGy > Nusing accuracyPremultiplier from config-59Fh?-5Y;/ i@-E: :-5 @B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 343.80 m.Bj%,Jj-,= ProNav: ac range: 343.799988 m, nav range: 246.316299 m, bearing: 322.312192 deg, approach rate: -0.121598 m/s, LOS rate: -0.151078 deg/s, cmd heading: 42.453218 deg, new cmd heading: 42.275828 deg. 2j=]ϻMHeadingCmd: 0.737852 target range: 343.799988 and range: 339.50 m. jMI J<ɚiIf$=ISw,M)A6.?Y6o[@?6d:96=y6H1b?۾`Ū?V?FH?dSZ??ɨ6.?6Z;6CyBBF$IIRIR4٢Z= Z]=9^$[;Q ^>\` bG٣`yb4 b> jNusing accuracyPremultiplier from configdj-59fVh?j-5Yf / ifBlnN6?U@f1EfI <ɚiI& $=I%c%e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780215GYw,f)AJ~?YJS??J:9Jܸ=yJHx?॥`?`4? ]?@Y2sYl?:?ɨJ~?JVT;JCyjBn$IMb@Mb@Mb@ )YuV?   G٣ y= > Nusing accuracyPremultiplier from config-59jh?-5Y/ iB(?:"8?@6E;M;-5 y@EZjFNOT Ignoring new targets: 343.80 m.Bj1Jj1  ProNav: ac range: 343.799988 m, nav range: 246.209122 m, bearing: 322.186472 deg, approach rate: -0.130053 m/s, LOS rate: -0.155594 deg/s, cmd heading: 42.109274 deg, new cmd heading: 41.898589 deg. 2j ջHeadingCmd: 0.731268 target range: 343.799988 and range: 339.50 m. jg4;?jjjihhh!h%Bf!f!f)rf)bf-n@ɛUXBU< Q]>IY ]<<ɚYiYI]1#=Ieg4;?im̊;im <)mg4;?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:13:55.9021 LVL= 24240, 32753, 32754, 32755, AGC= 71, IDX= 223, 0.23,-1.941, 3.000,-2.666,-2.345, PHS= 0.492,-0.890,-0.323, RAW= 114.1, 12.0, CAL= 122.5, 9.0, ROT= 27.5, -9.0 Ygot valid direction response: 22:13:55.9021 LVL= 24240, 32753, 32754, 32755, AGC= 71, IDX= 223, 0.23,-1.941, 3.000,-2.666,-2.345, PHS= 0.492,-0.890,-0.323, RAW= 114.1, 12.0, CAL= 122.5, 9.0, ROT= 27.5, -9.0  PDAT read: Bearing 27.5, -9.0 (Local)  ~Local bearing/azimuth received: Bearing 27.5, -9.0 (Local) DAT read: Range 10 to 50 : 337.5 m (Round-trip 450.0 ms) speed 0.4 m/s 5C$?I5i*FE?2FI:FIBFMj0JFI,DAT read: user:2413> BDAT read: Tx time:22:13:56.9979 $Ping request sent.ة9ح Tտ&ҿS|Ȗ?yحCةح^ة ٩)٩I٭Gi٭m>٭ c٭B`٭?٭PwV> ڭu@)ڭ| >Iڭ >iڭ| ککۭxLv#?:Ϲ>l??)ۭnӽIۭUiۭTۭ.۩۩m:publishing transmit ping time؉uFpublishing direction and range infoGBة9ح Tտ&ҿS|Ȗ?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭxLv#?:Ϲ>l??)۩I۩i۩۩۩۩H}>Iy I}%II}3BI}: =&Iy.Iy6I}<:I}3 FO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:22:13:56.9971 5`w,C)AyvBv$I)x xI~I~d4٢Ia= Y=9Q >! %G٣%JGy% M> ]Nusing accuracyPremultiplier from configQ]-59Uyh?e-5YU/ iUBaae@U:EU;U[;U-5 @EJJJJJ:J:JJJ;J;JxE;JyE;kU7i?k[A k kGp)A:kCBkCZk9@"j\\N`Xd8r@ Tտ&ҿS|Ȗ?JkTRk.*%t5@I?Wec1r@T{?x2$d/ދVY?"k**k@kD8i?kp{A 2kCk.8.?k+l}? kLCkiCk@ addTargetRange:: Added new target pos. range: 337.500000 m, deltaT: 4.032586 s, deltaX: -2.000000 m, approachRate: -0.495960 m/s, rangeRepo size: 4  Added new target pos. range: 337.500000 m, bearing: 270.763814 deg, lat: 36.905402 deg, lon: -122.124164 deg, deltaT: 11.844783 s, deltaX: -6.299988 m, approachRate: -0.531879 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 337.50 m.BjJj ProNav: ac range: 337.500000 m, nav range: 233.932938 m, bearing: 319.679566 deg, approach rate: 0.000000 m/s, LOS rate: -0.155594 deg/s, cmd heading: 41.898590 deg, new cmd heading: 41.718194 deg. 2jHeadingCmd: 0.728120 target range: 337.500000 and range: 337.50 m. jf:?jjjih h h h fffrfu@bf ?ɛTB= 隍>I <ɚiI;#=If:?i֋;i?B<)f:?)EqAErAPExceeded connect timeout, disconnecting.*Fu?2Fq:FqBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.ե=եR= I G ᜆ<GY Bq O >4[fw,)A~j?Y~>?~\99~G=y~H6?}?`;?@n?9@k;@? ?ɨ~j?~d;|yB$IMb@Mb@Mb@ )Yn??{Gzt?yV.?<ף;A )@Iy@IIk4٢< ?=9-Q > G٣yE > Nusing accuracyPremultiplier from config-59Zh?-5YA/ iBu.?:!G?@?E; ;ö-5  |@ ZjFNOT Ignoring new targets: 337.50 m.BjsBJjsB ProNav: ac range: 337.500000 m, nav range: 233.907455 m, bearing: 319.609308 deg, approach rate: -0.061652 m/s, LOS rate: -0.170003 deg/s, cmd heading: 41.718194 deg, new cmd heading: 41.507398 deg.  Will construct direction to contact in vehicle frame from tetrahedron phase data.2jW黝HeadingCmd: 0.724441 target range: 337.500000 and range: 337.50 m. jt9?jjjihhh!h%4Bf!f)f)rf)bf-@N?ɛPB* = 隭 >I r5!<ɚiIM"=It9?igɌ;i\<)t9?)E,=zKEMKAKAKEKEBKUqA:KUpA*F ?2F :F BF `0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. E$?I ZHq RHu @AH I  I )%II GBI &I .I 6I <:I " FG 7ͤ<G G nAGBO>mw,)A6ӿ?Y6<=?6&1C:967=y6H?`Ek`ב?`??/$fH@+׼??ɨ6ӿ?6;6CyjBn$IIvaIv+4٢~_< ~3=9q;:Q >   G٣ y ٻ  > Nusing accuracyPremultiplier from config-59h?%-5Y/ iB!%[F?%@CE::-559B 50@5EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 337.50 m.BjmDJjmD} ProNav: ac range: 337.500000 m, nav range: 233.879410 m, bearing: 319.533468 deg, approach rate: -0.063557 m/s, LOS rate: -0.171889 deg/s, cmd heading: 41.507398 deg, new cmd heading: 41.279853 deg. 2j}뻝HeadingCmd: 0.720469 target range: 337.500000 and range: 337.50 m. jp8?jjjihhhhfffrfbf?ɛKB= )-T>I) 5N&<ɚ1i1I50P"=I=p8?iEۍ;iE5<)Ep8?)AE- =Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF&2JFJUJUJU/JQJU|:JU:JU(N3JQJU;JU;JU-Y;JU.Y; -nManaging dock network, ignoring radio surface power offG.<G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483179 y Iy Btw,Uk)Ab?YbZ  G٣JGy2 > %Nusing accuracyPremultiplier from config!--59%h?--5Y%w/ i%B15Jjd> ProNav: ac range: 337.500000 m, nav range: 233.853668 m, bearing: 319.466234 deg, approach rate: -0.063722 m/s, LOS rate: -0.166454 deg/s, cmd heading: 41.279853 deg, new cmd heading: 41.078129 deg. 2jx仝HeadingCmd: 0.716949 target range: 337.500000 and range: 337.50 m. j7?jjjihAhIhyhfffrfbf`"?ɛ5GB5F= 15>I9 =e,<ɚ9i9I=!=IE7?iE;iE|w,)A^?Y^W~:?^,:9^=y^H?@,`ò?`M? ?)EQ???ɨ^?^4x;^CH>I IB%II\BI&I.I6ID<:I FBICJICRIZI: =bI9 =jI5yޅ Bޅ$I-Mb@Mb@Mb@))) )))Y-V-?~jt?y&1|?y-h1?-=-`;-zA -@)-@I))y-@IMIM]4٢]֙ ]<9e2:Q e>aa mG٣iym u> }Nusing accuracyPremultiplier from configq-59uKh?-5Yu/ iuB1?:'H?@uOEua;u`;u-5 @|EZjFNOT Ignoring new targets: 337.50 m.BjAJjA ProNav: ac range: 337.500000 m, nav range: 233.816605 m, bearing: 319.353682 deg, approach rate: -0.055787 m/s, LOS rate: -0.169436 deg/s, cmd heading: 41.078131 deg, new cmd heading: 40.740426 deg. 2j軝HeadingCmd: 0.711055 target range: 337.500000 and range: 337.50 m. j6?jjjihhhhOBfffrfbf@ɛ-AB- = 15>I1 5 4<ɚ1i1I5!=I=6?i="L;i=<)E6?)AMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.243055J J *F ?2F :F BF JF G% <G B O->F탊w,lx*A NG$?ILR'a?YRh8?R !;;9R=yRHA? y?&??=@dg+s??ɨR'a?Rn2;RCɮXZtwAXiXXi\\)\ \I\ `)`ɯbף``dɰdidIdWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503046dI)i) 11)15C 5wA55Fɶ9=C9I9)=sFi9)ECIAEɷA A)iIimĻi iqqqiqqiyy)y yIÁ ɅC)(xACOuAiGaIFICi/uA νkF)C  xA-C-́AI-))i))y=B=$IImImi4٢}< }s=9}F;Q }? G٣yy ? Nusing accuracyPremultiplier from config-59bh?-5Y/ iBF?@SEh;;-5 @wEZj%FNOT Ignoring new targets: 337.50 m.Bj-=Jj-=5 ProNav: ac range: 337.500000 m, nav range: 233.796646 m, bearing: 319.296515 deg, approach rate: -0.057852 m/s, LOS rate: -0.165721 deg/s, cmd heading: 40.740425 deg, new cmd heading: 40.568909 deg. 2j=w㻝}HeadingCmd: 0.708061 target range: 337.500000 and range: 337.50 m. j}C5?jjjihhhhfffrfbf@ɛ>B(*= 6>I p9<ɚiI%M =Im}C5?imf;iw<)}C5?)*F?2F:FBF0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755050 % Y! y% BJSK[m3 K[(.KSKS"KSJ= J= J= 0J9 J= :J= 9J= ـ3J9 aM @aU @aU @aU @G G B O >Jkw,l+*A6>Y6Bt8?6';96=y6H ?`q`Dz???`U߳ p@ S?#?ɨ6>6Bވ;6CzKrBoHKrh9KpKrKr%(&% "yޥBޥ$I) -Mb@Mb@Mb@))) )))Y-oʡ?~jt?MbP?y--?-D=-:-A )))I-@)y-f@IEIE4٢MI UB=9U(;Q U>YY ]G٣]JGyez e> mNusing accuracyPremultiplier from configiu-59m;h?u-5YmE/ imBu}-?}:}uJ?}@mXEmS;m;m-5 ,@ZjFNOT Ignoring new targets: 337.50 m.BjAJjA ProNav: ac range: 337.500000 m, nav range: 233.777054 m, bearing: 319.227008 deg, approach rate: -0.047704 m/s, LOS rate: -0.169253 deg/s, cmd heading: 40.568909 deg, new cmd heading: 40.360372 deg. 2jP I~i}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007235HeadingCmd: 0.704421 target range: 337.500000 and range: 337.50 m. jT4?jjjihhhhSBfffrfbf]@ɛ5:B== 9=v>I9 =><ɚ9iAIEj, =IET4?iM_ݑ;iM1<)T4?)jHbH<H>IC IH%IIaBI&I.I6I'<:I F*F%?2F):F)BF-_5JF1GMqA GMrAGm Ӕ<- Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:22:13:59.8488 5 TRx dataTimestamp_ set to:1736374441.0490105 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260241GA BI Om >Ew,?VE*AV(>YV=8?Va;9V'=yVH ]?@wF?@?P?5u??ɨV(>V;VCy=B=$IIMIM]4٢eN}; eK=9eW;Q e>ii mG٣iymD u> }Nusing accuracyPremultiplier from configy-59}jh?-5Y})/ i}B=J?@}\E}:}3:}6-5 $@tEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 337.50 m.Bj<Jj< ProNav: ac range: 337.500000 m, nav range: 233.758362 m, bearing: 319.160288 deg, approach rate: -0.046257 m/s, LOS rate: -0.165126 deg/s, cmd heading: 40.360373 deg, new cmd heading: 40.160197 deg. 2j⻝HeadingCmd: 0.700928 target range: 337.500000 and range: 337.50 m. jo3?jjjihhhhfffrfbf 2^ @ɛ-6B-&*= 15>I1 5C<ɚ1i1I5}=IEo3?iE.Ē;iE<)Eo3?)I*F?2F:FBFc0JF H$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510729Gp<G B O= >ow,1_*Ay޽B$I Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:13:59.8488 LVL= 25280, 32753, 32754, 32755, AGC= 68, IDX= 229, 0.28,-1.204,-2.681,-2.017,-1.717, PHS= 0.600,-0.918,-0.303, RAW= 113.7, 9.4, CAL= 122.9, 6.3, ROT= 27.1, -6.3 UYgot valid direction response: 22:13:59.8488 LVL= 25280, 32753, 32754, 32755, AGC= 68, IDX= 229, 0.28,-1.204,-2.681,-2.017,-1.717, PHS= 0.600,-0.918,-0.303, RAW= 113.7, 9.4, CAL= 122.9, 6.3, ROT= 27.1, -6.3 ]PDAT read: Bearing 27.1, -6.3 (Local) e~Local bearing/azimuth received: Bearing 27.1, -6.3 (Local) mDAT read: Range 10 to 50 : 335.0 m (Round-trip 446.7 ms) speed 0.8 m/s u,DAT read: user:2414> }BDAT read: Tx time:22:14:00.9479 }$Ping request sent.} G @)z0=I*>iz0/HVa?ze}ڜ?)p߽I/w(i d:publishing transmit ping timeyFpublishing direction and range info9])ҿs-«ҿ xh' ?y )IiJuJuJqJqJu,:Ju:JqJq )Ii/HVa?ze}ڜ?)IiMb@Mb@Mb@ )YFx?X9v?Mb`y+?}=zA ~@)@I@yp@I=I=F4٢ML M=9UQ U>QQ ]G٣]JGy} }> Nusing accuracyPremultiplier from config-59f i?-5Y@/ i,?:O?@bE;;-5 %@!k Em?kD@ k k|c*A:kCzKuLKu 9KqKuKuRK?JK?BkRCZkW@"~!#ކX^zoXqȉs@])ҿs-«ҿ xh' ?Jk Rkd*"v4E)@ĴCo9dRHPr@``_?޿}T?"k!*krNAkfLm?k8b@ 2kCkwzד?k8b@ kCkOCkNt@ addTargetRange:: Added new target pos. range: 335.000000 m, deltaT: 3.793844 s, deltaX: -2.500000 m, approachRate: -0.658962 m/s, rangeRepo size: 4  Added new target pos. range: 335.000000 m, bearing: 274.559268 deg, lat: 36.904983 deg, lon: -122.124261 deg, deltaT: 3.793844 s, deltaX: -2.500000 m, approachRate: -0.658962 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 335.00 m.BjJj!m ProNav: ac range: 335.000000 m, nav range: 207.553879 m, bearing: 308.778257 deg, approach rate: 0.000000 m/s, LOS rate: -0.165126 deg/s, cmd heading: 40.160198 deg, new cmd heading: 39.880393 deg. 2jquHeadingCmd: 0.696044 target range: 335.000000 and range: 335.00 m. j}/2?jyjyjyiyhyhyhhI FZK<ɚiI&%=I /2?i ';i a<) /2?))  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:14:00.9471 *F ?2F :F BF 2JF H >I  I <%II WBI &I .I -D6I V<:I FG%7ͤ<GBO5?nGw,+*AV`>YV7?V\<9V=yVH?5@?~ ??` ???ɨV`>V2;VCybBb$IIziIz:4٢  e=9;Q >5Will construct direction to contact in vehicle frame from tetrahedron phase data.11 5G٣1y= => MNusing accuracyPremultiplier from configAM-59Eri?M-5YE/ iAQUDO?U@EfEE:E:E -5Y ]@]qEZjFNOT Ignoring new targets: 335.00 m.Bj'eJj'e ProNav: ac range: 335.000000 m, nav range: 207.586029 m, bearing: 308.712130 deg, approach rate: 0.097419 m/s, LOS rate: -0.200341 deg/s, cmd heading: 39.880392 deg, new cmd heading: 39.682043 deg. 2j~ HeadingCmd: 0.692582 target range: 335.000000 and range: 335.00 m. jM1?jjjihhhhfffrfbf ?ɛu/Bu,= quV>Iq } I$?I}iWill construct direction to contact in vehicle frame from tetrahedron phase data.bfw,ך*A9>YK7?P<9)=yH$? ???3 ݁`Z?@?ɨ9>X;CyMBU$IMb@Mb@Mb@ )Yy&1?A`"?{Gzy`%?Y=#A @)@Iv@y@IIt4٢%K %-=95:Q 5>19 =G٣9y=%r => MNusing accuracyPremultiplier from configAM-59E9-i?U-5YE/ iEBU%?U:UL?U@EjEEp;E;E-5Y ew@aZjFNOT Ignoring new targets: 335.00 m.Bj^KJj^K ProNav: ac range: 335.000000 m, nav range: 207.623489 m, bearing: 308.629291 deg, approach rate: 0.080416 m/s, LOS rate: -0.177797 deg/s, cmd heading: 39.682043 deg, new cmd heading: 39.433574 deg. 2j HeadingCmd: 0.688246 target range: 335.000000 and range: 335.00 m. j00?jjjihhhhBfffrfbf@?ɛ+B$= >I T<ɚiIka=I00?iI;i^(<)00?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFJJJJJܫ:J :JJG N<zK% BoHK% 9K! K% K% BK1 :K1 G B O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.6w,3*AZHYRHYHe>Ia Ie#%IIeBBIa&Ia.Ia6Ie<:Ie/ Fyޅ؅Bޅ$II_Ib(4٢[ \=9Q > G٣JGy > Nusing accuracyPremultiplier from config -59T;i? -5Ye/ iB   @nE: :Y-5:B @lEZjAEFNOT Ignoring new targets: 335.00 m.BjMJJjMJ] ProNav: ac range: 335.000000 m, nav range: 207.653519 m, bearing: 308.563586 deg, approach rate: 0.081016 m/s, LOS rate: -0.177242 deg/s, cmd heading: 39.433575 deg, new cmd heading: 39.236487 deg. 2j]G󻝊eHeadingCmd: 0.684806 target range: 335.000000 and range: 335.00 m. jepO/?jajajiiihihihihqfqfqfyrfybf}?ɛ5(B5^= 9=˯>I9 =X<ɚ9i9I==IEpO/?iE;iEtJ<)MpO/?)I*F?2F :F BF JF GrA GWill construct direction to contact in vehicle frame from tetrahedron phase data.GM Vv<G! B1 OM >w,k*A28>Y2[6?2*<92 y=y2H .? ?'? ? I䳿*^ `?0?ɨ28>2g;2CyrɅBv$I) I I k4 EJ$?IA٢Mߗ MU=9U;Q U>QY ]G٣Yye$ e> mNusing accuracyPremultiplier from configiu-59mJi?u-5Ym/ imBq}L?}@mrEm6;m;m-5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 335.00 m.BjIJjI ProNav: ac range: 335.000000 m, nav range: 207.684555 m, bearing: 308.495305 deg, approach rate: 0.080276 m/s, LOS rate: -0.176581 deg/s, cmd heading: 39.236486 deg, new cmd heading: 39.031676 deg. 2j_򻝊HeadingCmd: 0.681231 target range: 335.000000 and range: 335.00 m. j,e.?jjjihhhhfffrfbf?ɛ%B= 3>I! %\<ɚ!i!I%=I5,e.?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.i5v;iW=),e.?)*Fm?2Fi:FiBFiJFiGm<GI BY O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.) i) - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000042J J J J J L:J :J J 1ùw,^*Af >Yf6?fH<9f=yfH>?``?i?? ?@Y?ɨf >fN;fCyzBz$IMb@Mb@Mb@ )Y)\(?+?MbyG!?=A h@)@I@yp@II]4٢0 B=9;Q >AA EG٣AyM1 M> UNusing accuracyPremultiplier from configQ]-59UZi?]-5YU/ iUB]!?]:evF?e@UwEU3;U<;U-5i m@miEZjFNOT Ignoring new targets: 335.00 m.BjFJjF ProNav: ac range: 335.000000 m, nav range: 207.712997 m, bearing: 308.420146 deg, approach rate: 0.065682 m/s, LOS rate: -0.173541 deg/s, cmd heading: 39.031676 deg, new cmd heading: 38.806231 deg. 2j3HeadingCmd: 0.677297 target range: 335.000000 and range: 335.00 m. jNc-?jjjihhhhBfffrfbfl@ɛ"BH = K>I &a<ɚ iIw`=INc-?i]a;i;=)Nc-?)zKjIK9KKKRKJK? 5K$?I9*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252865HiIi Im$IIm$BIm; =&Ii.Ii6ImK<:Im FG:^<G B O >%w,r+A6>Y6s5?6j<96/=y6HWJ?@]G??`,?h<<@s?h?ɨ6>6d;6CyBBBs$IIJIJt4٢Vk V_=9V;Q V>XX ZG٣XyZʻ ^> bNusing accuracyPremultiplier from config`f-59bgi?f-5Yb/ ibBdfE?j@bzEb:b*:b-5l nh@rWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504474lZjFNOT Ignoring new targets: 335.00 m.BjPEJjPE- ProNav: ac range: 335.000000 m, nav range: 207.735870 m, bearing: 308.359148 deg, approach rate: 0.064693 m/s, LOS rate: -0.172505 deg/s, cmd heading: 38.806232 deg, new cmd heading: 38.623260 deg. 2j-컝5HeadingCmd: 0.674103 target range: 335.000000 and range: 335.00 m. j5,?j1j1j9i9h9h9hAhAfAfAfIrfIbfM >@ɛ=B== 9=m>IA Eld<ɚAiAIE =IM,?iM;iM=)M,?)Q*F2F:FBFc1JF I!G5$3=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756315G B! Om >Ɗw,r+AjK>Yjv4?j?n<9jB=yjH`^?ɐm? ?B?MM?@?ɨjK>jЉ;jCy5B=g$Iie=IeR=II٢3 0=9 g;Q > G٣JGy > Nusing accuracyPremultiplier from config-59yi?-5Y-/ iBD?@E3:U:-5 @fEZjFNOT Ignoring new targets: 335.00 m.BjLEJjLE5 ProNav: ac range: 335.000000 m, nav range: 207.765274 m, bearing: 308.278663 deg, approach rate: 0.063026 m/s, LOS rate: -0.172492 deg/s, cmd heading: 38.623258 deg, new cmd heading: 38.381839 deg. 2j=컝=HeadingCmd: 0.669889 target range: 335.000000 and range: 335.00 m. j=}+?jAjAjAiAhAhAhIhIfififqrfqbfu @ɛB= W>I h<ɚWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008202i I =I}+?i18;i =)}+?)*F2F:FBF1JFG += I zK] BoIK] +9KY K] K] G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259783̊w,6+AZ>YZ3?Z5<9ZT=yZHal? 矵? ?Q?@rF@?+?ɨZ>Z$;ZCyfBfU$IjH~<bH~<H>I I$IIBI: =&I.I6I<:IF FBICJICRIZIbI: =jI4 Mb@Mb@Mb@    ) Y Zd;O?V-?QQ UG٣Qy]ػ ]> eNusing accuracyPremultiplier from configam-59ei?m-5YeΔ/ ieBu?u:u@?u@eEet;e;e-5y }@yZjFNOT Ignoring new targets: 335.00 m.BjBJjBm ProNav: ac range: 335.000000 m, nav range: 207.785934 m, bearing: 308.211969 deg, approach rate: 0.052578 m/s, LOS rate: -0.169712 deg/s, cmd heading: 38.381838 deg, new cmd heading: 38.181776 deg. 2ju軝uHeadingCmd: 0.666398 target range: 335.000000 and range: 335.00 m. ju *?jyjyjyiyhyhyhhɄBfffrfbfCV @ɛB5= >I Fl<ɚi I H=I- *?i-f#;i-5X =)- *?)1*F?2F:FBFV5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:14:03.7959 TRx dataTimestamp_ set to:1736374445.080765checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513046*JmR="Jm=JuJuJqJqJuܫ:Ju :JqJqJu;aJu;aJuR;aJuR;aG! G B O% >Iӊw,P+A2LJ>Y2f2?2 <92A=y2H@!?c?|?k?F``??ɨ2LJ>2;2CyBBBM$I JL$?IHIRIR4٢Z Zg=9Zǐ;Q ^>\\ ^G٣\ybQ b> jNusing accuracyPremultiplier from configdj-59fi?j-5Yf/ ifBln??n@fEf@:f:f5-5p vd@vcE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 335.00 m.Bj?Jj%?5 ProNav: ac range: 335.000000 m, nav range: 207.803619 m, bearing: 308.152403 deg, approach rate: 0.049722 m/s, LOS rate: -0.167459 deg/s, cmd heading: 38.181775 deg, new cmd heading: 38.003092 deg. 2j5廝=HeadingCmd: 0.663279 target range: 335.000000 and range: 335.00 m. j=)?j9jAjAiAhAhAhIhIfIfIfQrfQbfU @ɛ%B%{ = )- |>I) -n<ɚ)i)I-^=I5)?i5h;i5н=)=)?)9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.763981*F?2F:FBF^0JFGM8 = 5 Y9 y= BGQ BY O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 22:14:03.7959 LVL= 30192, 32753, 32754, 32755, AGC= 62, IDX= 414,-0.19, 2.686, 1.342, 1.945, 1.928, PHS= 0.846,-0.539, 0.014, RAW= 113.4, -5.4, CAL= 118.4, -17.1, ROT= 31.6, 17.1 5 Ygot valid direction response: 22:14:03.7959 LVL= 30192, 32753, 32754, 32755, AGC= 62, IDX= 414,-0.19, 2.686, 1.342, 1.945, 1.928, PHS= 0.846,-0.539, 0.014, RAW= 113.4, -5.4, CAL= 118.4, -17.1, ROT= 31.6, 17.1 = PDAT read: Bearing 31.6, 17.1 (Local) = ~Local bearing/azimuth received: Bearing 31.6, 17.1 (Local) M DAT read: Range 10 to 50 : 332.9 m (Round-trip 443.9 ms) speed 0.4 m/s U ,DAT read: user:2415> ] BDAT read: Tx time:22:14:04.8979 ] $Ping request sent.] i uX? B`e< V?  A@) ΘI 0 ?i Θ> qar?tq%ul) I H=i \Ϳ B  :publishing transmit ping timeY  Fpublishing direction and range info 9 k2& ӿ}Fs?y  ) I i ) I i qar?tq%ul) I i tڊw,>j+AJ>YJ1?J<9Je=yJHe?`Nȵ?z?@/}?~(#??ɨJ>J^=;JCyBJ$I)  Mb@Mb@Mb@    ) Y l?99 =G٣=JGyEԻ E> mNusing accuracyPremultiplier from configi}-59mi?}-5Ym8/ imB}?}:}*?@mEmA6;m4;mx-5 N$?I|i @`EzKK9KKKk5*ӆ?k5F9: k1 k5]e+A:k5sCBk5FCZk5K@"5 " i7YIY ems<ɚaiaIma=I(?i;;i- =)(?)H>I I$IIBI&I.I6Is<:I F*FM?2FI:FIBFU 5JFQGu += Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B9 OU >{w,5+AN!>YN00?NL<9N=yNH;?`/ ?Z?? O)@R.??ɨN!>N0n;NCyZBZK$IIbuIbaO4٢n; nc=9r;Q r>pp rG٣tyvlb v> ~Nusing accuracyPremultiplier from config|-59~i?-5Y~̈/ i~B~)? @~E~:~:~-5;B @]EJ1J5@AJ=J=J9J9J=|:J=:J9J9J=;J=;J=mN;J=nN;ZjY]FNOT Ignoring new targets: 332.90 m.Bje_Jje_} ProNav: ac range: 332.899994 m, nav range: 186.376938 m, bearing: 298.546063 deg, approach rate: 0.104906 m/s, LOS rate: -0.195692 deg/s, cmd heading: 37.741651 deg, new cmd heading: 37.549522 deg. 2j}MHeadingCmd: 0.655363 target range: 332.899994 and range: 332.90 m. j'?jjjihhhhfffrfbf`?ɛ=B=~= AE:>IA E>v<ɚaiaIm@=Im'?iuȚ;iu<=)u'?)q*F?2F:FBF_0JF yIyuWill construct direction to contact in vehicle frame from tetrahedron phase data.GEQ =G B) OE >w,+A>YL/? <9=yH@?@ҷ? L?ڛ?@8:?? ?ɨ>;騵CyBMb@Mb@Mb@ )Yd;O? G٣JGys > Nusing accuracyPremultiplier from config-59 i?-5YR/ iB? : ,? @E7!;;-5 @ZjAMFNOT Ignoring new targets: 332.90 m.BjM`JJjM`J] ProNav: ac range: 332.899994 m, nav range: 186.424713 m, bearing: 298.463667 deg, approach rate: 0.102615 m/s, LOS rate: -0.176931 deg/s, cmd heading: 37.549522 deg, new cmd heading: 37.302397 deg. 2j]򻝊mHeadingCmd: 0.651050 target range: 332.899994 and range: 332.90 m. jm0&?jijijiiqhqhqhqhu˄BfyfyfyrfybfF~?ɛ B= 隵>I y<ɚiIU=Ie0&?ie.;imQ =)m0&?)q*F]?2FY:FYBFYJFY mO$?IqzK K 9K K K   } Will construct direction to contact in vehicle frame from tetrahedron phase data.G :^<Gy B ZH RH H I  I $II ͅBI &I .I 6I <:I $ FO5 >w,+Abc2>Ybq/?b<9b.Y=ybH? ̷?6?Я?P`r 6?`d?ɨbc2>b潋;bCyB M$Ii=I<I}jI};4٢H@< _=9;Q > G٣y > Nusing accuracyPremultiplier from config.596Jj>6 ProNav: ac range: 332.899994 m, nav range: 186.461929 m, bearing: 298.398651 deg, approach rate: 0.091221 m/s, LOS rate: -0.159329 deg/s, cmd heading: 37.302395 deg, new cmd heading: 37.107389 deg. 2jڻHeadingCmd: 0.647646 target range: 332.899994 and range: 332.90 m. j#%?jj!j!i!h)h)h)h)f1f1f1rf1bf5 A?ɛ%B%w = )-o>I) -S}<ɚ)i)I-=I5#%?i5۫;i= =)=#%?)9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FYBFYJFYJJJJJL:J&:JJJM;JO;J\;J\; I G AC =G G pAG B O >dw,A+AzWill construct direction to contact in vehicle frame from tetrahedron phase data.z>zN?yBI$III_v4٢% %P=9%Q ->)) -G٣)y5 => ENusing accuracyPremultiplier from configAM.59E1i?M.5YE}/ iExBI@EEEڸIY ]B<ɚYiaIe=Im$?im;imb=)m$?)q*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G% =G B O5 >Mw,A +A: s>Y:5,?:?<9:=y:H? k??? qK? ?ɨ: s>:;:CyFBFP$IMb@Mb@Mb@ )Y7A`?MbMbp?y?;dA ~@)@Iy@I5I54٢E< EI=9MG;Q M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configam.59eMi?m.5YeOy/ ierBm?m:m%?u@eEe3;eM;e.5y }K@}WE P$?IZjyFNOT Ignoring new targets: 332.90 m.Bj!MJj!M ProNav: ac range: 332.899994 m, nav range: 186.537430 m, bearing: 298.257495 deg, approach rate: 0.088883 m/s, LOS rate: -0.179338 deg/s, cmd heading: 36.901890 deg, new cmd heading: 36.684007 deg. 2j(HeadingCmd: 0.640257 target range: 332.899994 and range: 332.90 m. j#?jjjihhhhBfffrfbf&@ɛEBMN= Im>Ii uv<ɚqiqIu=I}#?i}0s;i}6<)}#?)zKqkKKh9KKKRK?JK? Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222274HyIy IyIyI}; =&Iy.Iy6I}<:I}) F*F2F:FBF0JFG {=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475327+w,,Af{>Yf:*?fC<9f=yfH+?&? ?r?Tyǻ?@.?ɨf{>fn,;fCJrJrJpJpJr:Jr:JpJpJr;Jr;JrmN;JrnN;yB[$I)  IIW4٢%;= %L=9-;Q ->)1 5G٣5JGyE M> eNusing accuracyPremultiplier from configam.59emj?m.5Yeu/ ielBqu#?u@eEe2;e;ej .5 @ZjFNOT Ignoring new targets: 332.90 m.Bj[Jj[ ProNav: ac range: 332.899994 m, nav range: 186.571747 m, bearing: 298.185136 deg, approach rate: 0.090861 m/s, LOS rate: -0.191549 deg/s, cmd heading: 36.684007 deg, new cmd heading: 36.466970 deg. 2juHeadingCmd: 0.636469 target range: 332.899994 and range: 332.90 m. j"?jjjihQhQhQhQfYfYfYrfYbf] @ɛBB= >I q<ɚiI=I"?i,;i4<)"?)*Fm?2Fi:FqBFuO5JFq IG==GE?GE?GB O%N>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726988w,A!,Ay5B5g$ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.978132Mb@Mb@Mb@ )Y-?Mb`?Mb?y5?;< @)@I@y(@IIF4٢!= 0=9 Q  >   G٣y > Nusing accuracyPremultiplier from config-.59Lj?-.5Yp/ ihB58?5:5*?5@E~C;@;r.5=I ]<ɚiIl=I !?i;ii=) !?)*F?2F:FBFP5JF Q$?IzK BoJK K K K  BK pA:K qA% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231005G <jHY bH] <He >Ia  Ie $IIe ؅BIa &Ia .Ia 6Ie S<:Ie FG B! OE >R2w,r;,Ay5B=y$IIMIM]4٢U= ]k=9YQ ]?aa eG٣ayi m? uNusing accuracyPremultiplier from configq}.59u'j?}.5Yuqm/ iudByy}@uEu" ;u ;uz.5 3@REZjFNOT Ignoring new targets: 332.90 m.Bj TJj T ProNav: ac range: 332.899994 m, nav range: 186.659271 m, bearing: 298.034172 deg, approach rate: 0.108014 m/s, LOS rate: -0.185382 deg/s, cmd heading: 36.208557 deg, new cmd heading: 36.014188 deg. 2jsHeadingCmd: 0.628566 target range: 332.899994 and range: 332.90 m. j ?jjjihhh h f f f rfbfO @ɛ=B=== 9E>IA E <ɚAiAIEJ>=IM ?iMn;iMR=)M ?)Q*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:14:07.7439 TRx dataTimestamp_ set to:1736374449.112756checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483347Gsc=GBO> I {i"w,3U,A2>Y28F%?2U' =92x=y2H? f?2>?@}?$`V&??ɨ2>2;2CyFÅBJ$IiV=IV=I^Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734198I^F4٢BX= P=9> %G٣%JGy%J %> -Nusing accuracyPremultiplier from config)5.59-7j?5.5Y-i/ i-_B9=%?=@-E-o;-;-.5I M@UOEZjq}FNOT Ignoring new targets: 332.90 m.BjWJjW ProNav: ac range: 332.899994 m, nav range: 186.697586 m, bearing: 297.960753 deg, approach rate: 0.098361 m/s, LOS rate: -0.188438 deg/s, cmd heading: 36.014187 deg, new cmd heading: 35.793979 deg. 2jRHeadingCmd: 0.624723 target range: 332.899994 and range: 332.90 m. j?jjjihhhhfffrfbf j@ɛB #:= G>I %<ɚ!i)I-=IE?iM;iM.<)U?)*F-?2F1:F1BF1JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.չiսADAT read: 22:14:07.7439 LVL= 22224, 32753, 32754, 32755, AGC= 69, IDX= 236, 0.18, 1.542,-0.165, 0.599, 0.915, PHS= 0.715,-1.033,-0.319, RAW= 114.0, 8.4, CAL= 123.4, 5.3, ROT= 26.6, -5.3  Ygot valid direction response: 22:14:07.7439 LVL= 22224, 32753, 32754, 32755, AGC= 69, IDX= 236, 0.18, 1.542,-0.165, 0.599, 0.915, PHS= 0.715,-1.033,-0.319, RAW= 114.0, 8.4, CAL= 123.4, 5.3, ROT= 26.6, -5.3  PDAT read: Bearing 26.6, -5.3 (Local)  ~Local bearing/azimuth received: Bearing 26.6, -5.3 (Local) % DAT read: Range 10 to 50 : 331.2 m (Round-trip 4time:22:14:08.8480 % R#Rx 1: Read range and direction messages.G- =] `direction in FSK: [-0.275639,-0.297731,0.913991]] Fpublishing direction and range infoع9ؽ:ѿ0~ӿM3j??yؽCعؽVع ٹ)ٹIٽEiٽ= 7?ٽX9ٽSٽ?ٽQ > ڽ @)ڽq=Iڽ,>iڽqڹڹ۽zz?0.cpĻ?)۽Ѩ׽I۽shi۽T۽۹۹ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G B O >J5 J5 J1 J1 J5 :J5 :J1 J1 aE @aE @aE @aE @9w,o,A> ER$?IAYt#? =9T=yH`? ?K??`͹?`!?ɨ>w;Cy޽˅B$IMb@Mb@Mb@ )YMbX9??y&1?y!?<`e<zA @)@I`@yf@IIHo4٢ =  .=9;Q > G٣y'x > -Nusing accuracyPremultiplier from config!5.59%KKj?5.5Y%d/ i%\B=!?=:=,?=@%E%K;%-J;%.5A E@Ik˟n?k܃> k kFzg,A:kCBknCZk B@"8tVa׼xXiůkr@:ѿ0~ӿM3j??JkTRk*4J\'@iE?b6]ddr@J3r?nGݿWn?"k*k:Ak#n?kx> 2kCk#n?kkCk%Ck@ addTargetRange:: Added new target pos. range: 331.200012 m, deltaT: 4.032993 s, deltaX: -1.699982 m, approachRate: -0.421519 m/s, rangeRepo size: 4  Added new target pos. range: 331.200012 m, bearing: 274.407943 deg, lat: 36.903953 deg, lon: -122.124261 deg, deltaT: 4.032993 s, deltaX: -1.699982 m, approachRate: -0.421519 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 331.20 m.BjJj ProNav: ac range: 331.200012 m, nav range: 165.503998 m, bearing: 274.047505 deg, approach rate: 0.000000 m/s, LOS rate: -0.188438 deg/s, cmd heading: 35.793979 deg, new cmd heading: 35.525852 deg. 2jHeadingCmd: 0.620043 target range: 331.200012 and range: 331.20 m. j%?jjjihhhhBfffrf@3t@bfV? Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:14:08.8472 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.239250zK^ LK 9KKK RK- ?JK- ?ɛMBM5= QUm>IQ U<ɚQiQIU=I]%?i];ies<)e%?)H->I) I-$II-BI-< =&I).I)6I-߰<:I-a FBIJIRIZI; =bI; =jIE 5*F}?2Fy:FyBFyJFyG]<GQBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.490115'"w, ,A6>Y6@f#?6m{=96lV=y6H@$? a5? ?? w@}O6=ƈ;4y ݅B $II{IZ4٢-= -m=95xQ 5?11 =G٣9y=J' =? ENusing accuracyPremultiplier from configAM.59EYj?U.5YEa/ iEZBQU,?U@EEE ;E: ;E.5Y ]@eLEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 331.20 m.BjPJjP ProNav: ac range: 331.200012 m, nav range: 165.627869 m, bearing: 273.985561 deg, approach rate: 0.365355 m/s, LOS rate: -0.182567 deg/s, cmd heading: 35.525853 deg, new cmd heading: 35.340159 deg. 2jHeadingCmd: 0.616802 target range: 331.200012 and range: 331.20 m. j?jjjihhhhfffrfbfT?ɛB6[= 2>I  q<ɚiI=I?i;i<<)?) %S$?I!*FE?2FA:FABFEp0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.743217G}<GY Bi O >) S(w,%,A6tARA ~YtAyB@B QU@mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.994520y5B=$I)I IJJJJJJ:JJ5Mb@Mb@Mb@111 1)1Y5V-?I +?~jt?y5-?594=5<1 5@)5+@I5@1y5\@IMQIM4٢]< ]!=9]Q ]>ai mG٣mJGym u> }Nusing accuracyPremultiplier from configy.59}oj?.5Y}=[/ iy.?:13?@}E};} ;}u!.5 @ZjYeFNOT Ignoring new targets: 331.20 m.BjePJjeP ProNav: ac range: 331.200012 m, nav range: 165.832321 m, bearing: 273.888872 deg, approach rate: 0.386582 m/s, LOS rate: -0.182596 deg/s, cmd heading: 35.340160 deg, new cmd heading: 35.050453 deg. 2jHeadingCmd: 0.611746 target range: 331.200012 and range: 331.20 m. j`?jjjihhhh@Bfffrfbf ?ɛ%B-A= iu>Iq ug<ɚqiqIu=I}`?i};i$<)`?) I*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.246212zK5 KK5 9K1 K5 K5  ZH RH H I  I $II BI : =&I .I 6I P<:I FG <G ?G >G B O >0w, ,AF>YF<"?F"=9FE=yFH?n? ?@ҫ?9ymá`?@n?ɨF>FƲ;DyZB^$IIfMIf{4٢n(= np=9r|Q r?pp vG٣tyv v? ~Nusing accuracyPremultiplier from config|.59~~j?.5Y~SW/ i| 2? @~E~:~:~n$.5 @IEZj9=FNOT Ignoring new targets: 331.20 m.BjEfJjEfU ProNav: ac range: 331.200012 m, nav range: 165.968658 m, bearing: 273.824373 deg, approach rate: 0.426797 m/s, LOS rate: -0.201745 deg/s, cmd heading: 35.050454 deg, new cmd heading: 34.857117 deg. 2jUt ]HeadingCmd: 0.608371 target range: 331.200012 and range: 331.20 m. j];?jYjYjYiYhahahahafififirfqbfu`|?ɛ]B]*qj= Ye{?Ia es<ɚaiaIeI=I;?i;ih<);?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.499055*F?2F:FBFM1JFG <*J]4="J]a=GBO@> mT$?Ii Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.750232'6w,,A6>>Y6"?69=960=y6H@??@?t? 2F`U?J?ɨ6>>6;+;6CyRBR$IIZIZHo4٢bd< bL=9f#;Q f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlr.59npj?v.5YnR/ iltv1?v@nEn@:ln'.5z=B z@~FEZjFNOT Ignoring new targets: 331.20 m.BjoOJjoO ProNav: ac range: 331.200012 m, nav range: 166.128265 m, bearing: 273.748630 deg, approach rate: 0.382524 m/s, LOS rate: -0.181355 deg/s, cmd heading: 34.857116 deg, new cmd heading: 34.630108 deg. 2jHeadingCmd: 0.604409 target range: 331.200012 and range: 331.20 m. j?jjjihhhhfff!rf!bf-A?ɛB\= 隽?I  <ɚiI=I?i];i g<) ?)1E9*F2F:FBF1JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.002173JSK[ـ3 K[KSKS"KSJyJ}JyJyJyJ}:JyJyG% <G B O% > a Ia RY2!?2\=92=y2H ?৳@?e??*`?{?ɨ2>2;2CyBBF$IiJi>IJ=EMb@Mb@Mb@AAA A)AYEV-?V-?Mb?yEh1?Eh=Ey G٣JGyR > Nusing accuracyPremultiplier from config.59j?.5YM/ iYBb2?:!;?@E;;+.5 J@DEZjFNOT Ignoring new targets: 331.20 m.Bj`Jj` ProNav: ac range: 331.200012 m, nav range: 166.312027 m, bearing: 273.668065 deg, approach rate: 0.447396 m/s, LOS rate: -0.195931 deg/s, cmd heading: 34.630108 deg, new cmd heading: 34.388681 deg. 2jwHeadingCmd: 0.600196 target range: 331.200012 and range: 331.20 m. jm?j j j i h h hhiBfffrfbf% *@ɛMBMUo= IM ?II MDg<zK.JK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.264241ɚ i I h=Im?i;i=)m?)HM>II IM$IIM$BII&II.II6IM<:IM F*F?2F:FBF 5JFG<G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=6.518208Jy J} BA>Cw,9 -AyB$II%I%v}4٢5>; 5M=9=Q =>9A EG٣AyE E> UNusing accuracyPremultiplier from configI].59Mmj?].5YMH/ iMXBaae@MEMA;MB;M/.5i mB@uAEB*** querying acoustic contact *** U$?IzijjZjYeFNOT Ignoring new targets: 331.20 m.BjeKJjeKu ProNav: ac range: 331.200012 m, nav range: 166.483093 m, bearing: 273.593348 deg, approach rate: 0.406873 m/s, LOS rate: -0.177528 deg/s, cmd heading: 34.388681 deg, new cmd heading: 34.164762 deg. 2j}󻝊}HeadingCmd: 0.596288 target range: 331.200012 and range: 331.20 m. j}N?jjjihhhhfffrfbfyv@ɛB}i= v ?I -<ɚiIw=IN?i п;i=)N?)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.770134G$3=G B O >kIw,'-AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.022998m!{>Ymй ?m>=9m =ymH `?`ØS$? ?+?` 7 D?`@?ɨm!{>m0;mCyޝBޝ$IJ-J)J-/J)J- :J)J-(N3J)Mb@Mb@Mb@ )Y9v?{Gz?y&1|?y4?ף=`; @)n@I@yG@II4٢ /=9!:Q > %G٣!y%k %> -Nusing accuracyPremultiplier from config)5.59-j?=.5Y-B/ i-SBE'6?E:E'=?E@-E-J;-SI;-/3.5I Mf@QZjq}FNOT Ignoring new targets: 331.20 m.Bj fJj f  ProNav: ac range: 331.200012 m, nav range: 166.690857 m, bearing: 273.504426 deg, approach rate: 0.470509 m/s, LOS rate: -0.201126 deg/s, cmd heading: 34.164763 deg, new cmd heading: 33.898330 deg. 2j  HeadingCmd: 0.591637 target range: 331.200012 and range: 331.20 m. ju?jj9j9i9hAhAhAhMrBfIfIfIrfIbfU! @ V$?Iɛ ߄B b=  ?I1 5r<ɚ1i1I=+=I=u?iE;iE_=)Mu?)IEEqA*F%?2F):F)BF-V3JF)G5pA G1Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:14:11.6912 TRx dataTimestamp_ set to:1736374452.907524checking for new query: numPingsReceived=0, elapsed TxPingTime=7.278138zKM KM 9KI KM KM jHU <bHU <H] >IY  I] %II] .BIY &IY .IY 6I] <:I]  FG5 AC =G= ?G= >G B O5 >BPw,A-AR>YR)` ?R=9R=yRH?@i ~/?@?`?('RB;RCy^B^$I)` `IjIjt4٢rN ry=9rTp9Q r?tt vG٣vJGyzˆ z? Nusing accuracyPremultiplier from config.59j?.5Y>/ iOB!%EZjaeFNOT Ignoring new targets: 331.20 m.BjmWJjmW} ProNav: ac range: 331.200012 m, nav range: 166.837234 m, bearing: 273.441842 deg, approach rate: 0.441275 m/s, LOS rate: -0.188503 deg/s, cmd heading: 33.898331 deg, new cmd heading: 33.710744 deg. 2j}^HeadingCmd: 0.588363 target range: 331.200012 and range: 331.20 m. j?jjjihhhhfffrfbf I @ɛބB= M ?II U<ɚQiQI]=Im?imן;iu5=)u?)q*F?2F!:F!BF%_0JF!MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.528220 IGEk =G B) OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: 22:14:11.6912 LVL= 27552, 32753, 32754, 32755, AGC= 63, IDX= 220, 0.29, 2.337, 0.657, 1.342, 1.743, PHS= 0.681,-1.039,-0.404, RAW= 111.4, 10.1, CAL= 120.7, 7.5, ROT= 29.3, -7.5 fVw,Z-AYgot valid direction response: 22:14:11.6912 LVL= 27552, 32753, 32754, 32755, AGC= 63, IDX= 220, 0.29, 2.337, 0.657, 1.342, 1.743, PHS= 0.681,-1.039,-0.404, RAW= 111.4, 10.1, CAL= 120.7, 7.5, ROT= 29.3, -7.5 PDAT read: Bearing 29.3, -7.5 (Local) ~Local bearing/azimuth received: Bearing 29.3, -7.5 (Local) DAT read: Range 10 to 50 : 329.2 m (Round-trip 439.0 ms) speed 0.2 m/s b,DAT read: user:2417> fBDAT read: Tx time:22:14:12.7980 f$Ping request sent.j M@)M >IM?iM IIM⚅%?â¿4M h?)MIM65iMcM%II:publishing transmit ping timedFpublishing direction and range infoI9M!?~ӿc; п_Wg?yIIII I)IIIiIIIII I)IIIiIIIM⚅%?â¿4M h?)IIIiIIII>Y+?V=9~-=yHk?$?@W?`?z᯿`ɩ l;騩}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:14:12.7972 yB$I} Mb@Mb@Mb@y y y y )y Y} v?333333?Mbpy} 8?} =} } A } @)} AI} @y y} @I I 4٢ {  <9 3Q  u>  G٣ y <  u>  Nusing accuracyPremultiplier from config  .59 j? .5Y \5/ i ?B 9? : ~:? @ E ; 5; k<.5 >B @ ;EkMoQh?kM= kI kM[Z-A:kMCBkMpCZkMa@"M 9Y)KTOWr@M!?~ӿc; п_Wg?JkMcRkM%*MxFz+b"}r@M Փ ܿU?"kM>*kMkM h?kM > 2kMeCkMfLm?kMx> kMCkM{CkMxE@m  addTargetRange:: Added new target pos. range: 329.200012 m, deltaT: 3.795021 s, deltaX: -2.000000 m, approachRate: -0.527006 m/s, rangeRepo size: 4 }  Added new target pos. range: 329.200012 m, bearing: 267.468675 deg, lat: 36.903930 deg, lon: -122.124109 deg, deltaT: 3.795021 s, deltaX: -2.000000 m, approachRate: -0.527006 m/s, posRepo size: 4 Zjy FNOT Ignoring new targets: 329.20 m.Bj Jj  ProNav: ac range: 329.200012 m, nav range: 153.483612 m, bearing: 272.640819 deg, approach rate: 0.000000 m/s, LOS rate: -0.188503 deg/s, cmd heading: 33.710744 deg, new cmd heading: 33.298139 deg. 2j HeadingCmd: 0.581162 target range: 329.200012 and range: 329.20 m. j ?j j j i h h h h sBf f f rf @3t@bf ?ɛe ڄBe D= a e ?Ii m e<ɚi ii Im =Iu ?i ;i J)=) ?) *F-?2F):F1BF5[5JF1"G==G==-Will construct direction to contact in vehicle frame from tetrahedron phase data.HIII IM%IIM)BIM; =&II.II6IMl<:IM FzKiKm9KiKmKmRKu?JKu?Gu{=GIBYOu#?`w,צ-AR >YR&?R=9R=yRH@G?z@0ȶ???`5{$?@?ɨR >R);RC)CI%uA%|%xF !-3C)-ףi))i-َC5 xA)5Ļ 5FI1 5C)5$xA5ף=sF99=tAi=žI=FAIAiEtA E%EkF)AI IIIIUCQIQ)QiQQeWill construct direction to contact in vehicle frame from tetrahedron phase data.yхB-$IIE}IE]4٢M7 U@=9UQ U>JeJeJaJaJe|:Je:JaJaJe;amJe;auJe@;auJe@;auQq }G٣}JGy}$ }> Nusing accuracyPremultiplier from config.59g k?.5Y// i5B:?@EC;C;&@.5 @9EZjFNOT Ignoring new targets: 329.20 m.BjrJjr ProNav: ac range: 329.200012 m, nav range: 153.678711 m, bearing: 272.551057 deg, approach rate: 0.462286 m/s, LOS rate: -0.212419 deg/s, cmd heading: 33.298139 deg, new cmd heading: 33.029199 deg. 2jHeadingCmd: 0.576468 target range: 329.200012 and range: 329.20 m. jm?jjjihhh9h9fAfAfArfAbfE!*?ɛׄBe+c= 隵>I  <ɚiI[=Im?iK`;ie3=)m?) Y$?I*F?2F:FBF@5JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.G ~,=G B O >YN!?N =9N=yNH`?~ݵ? ??@@ .?W?ɨN >N9;LɳVYCVxwATiTTiZ&CZwA)X ZnFIX ^C)^pwAɴ\^vF\bَCɵbxwAi`I``IffCifCuA fIf3hF)dfC f`uAjjnvFɶhjCjwAIh)hil)nَCInAlɷl llyB$Ii=I= =R=I{IZ4٢!߽ m=9Q ?! %G٣!y% 8 %? 5Nusing accuracyPremultiplier from config)5.59-k?=.5Y-+/ i--B9=:?E@-E-;-;- C.5a e@e6EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 329.20 m.BjjJjj ProNav: ac range: 329.200012 m, nav range: 153.834595 m, bearing: 272.479635 deg, approach rate: 0.448454 m/s, LOS rate: -0.205263 deg/s, cmd heading: 33.029200 deg, new cmd heading: 32.815151 deg. 2j HeadingCmd: 0.572732 target range: 329.200012 and range: 329.20 m. j?jjjihhhhfff!rf!bf%&?ɛmքBmf= iu>Iq uG<ɚiI=I?iȭ;i@=)?)*F?2F:FBF^0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode. 9 I9 G 4=G B O >._mw,-AjqQ>Yj?j =9jc=yjH`?i-t?@"??aX] и??ɨjqQ>j ;jCuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478956ZHRHAAH>I I$IIBI: =&I.I6I_<:I FBIyJIyRIyZI}: =bI}: =jI}4yBr$IzKKKKKBK:KMb@Mb@Mb@ )YM?Q?~jtyn2?u=D @)@I@y3@IwIR4٢L 4=94κQ > G٣y[ > Nusing accuracyPremultiplier from configM.590k?U.5Y&/ iB]3?]:]4?]@E<.<.G.5e?B e@m3EZjFNOT Ignoring new targets: 329.20 m.BjgJjg ProNav: ac range: 329.200012 m, nav range: 154.034698 m, bearing: 272.384545 deg, approach rate: 0.426996 m/s, LOS rate: -0.202645 deg/s, cmd heading: 32.815152 deg, new cmd heading: 32.530257 deg. 2j HeadingCmd: 0.567760 target range: 329.200012 and range: 329.20 m. jX?jjjihhh!h%LBf!f!f!rf)bf-!?ɛuԄBuP= q隥>I  <ɚiIF=IX?i';iPD=)X?)!*F?2F:FBF_0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730969J% J! J% 0J! J% :J! J% ـ3J! J% ;J% ;J! J! G Г>=G ?G 5? = Z$?IE yiG B O >xtw, -A6(>Y6?6b=96V=y6H l?vM ʂ? v?b?dL[K h]??ɨ6(>6ˇ;6Cy%B%X$II=I=҅4٢E Er=9Mk;Q M?QQ UG٣QyUxL ]? eNusing accuracyPremultiplier from configYm.59]?k?m.5Y]("/ i]Bqu3?u@]E]+;],;] J.5y }@yZjFNOT Ignoring new targets: 329.20 m.Bj1qJj1q ProNav: ac range: 329.200012 m, nav range: 154.175598 m, bearing: 272.317278 deg, approach rate: 0.442088 m/s, LOS rate: -0.210867 deg/s, cmd heading: 32.530258 deg, new cmd heading: 32.328640 deg. 2jHeadingCmd: 0.564241 target range: 329.200012 and range: 329.20 m. jr?jjjihhhhfffrfbf ?ɛ҄Bn_= !%7>I! %ǝ<ɚ!i!I-=I-r?i5;i5B=)5r?)1*F?2F:FBFm0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984045|uAGA= MYU|uAyUBGB! OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235584zw, -Ay]B]8$I)a aimAMb@Mb@Mb@ )YDl?/$?~jtyO-?,=A 3@)MAI@yI5I5#4٢E E<=9MQ M>II MG٣UJGyU U> eNusing accuracyPremultiplier from configYm.59]Rk?m.5Y]G/ i]Bu-? }[$?Iy}:.?@]E];]5;]M.5 @0EZjFNOT Ignoring new targets: 329.20 m.BjfJjf ProNav: ac range: 329.200012 m, nav range: 154.351608 m, bearing: 272.229524 deg, approach rate: 0.404728 m/s, LOS rate: -0.201557 deg/s, cmd heading: 32.328641 deg, new cmd heading: 32.065681 deg. 2jS HeadingCmd: 0.559652 target range: 329.200012 and range: 329.20 m. jVE?jjjihhhhBfffrfbf @ɛЄB%L.?= !%>I! %<ɚ!i)I-=I5VE?i5J;i5S=)5VE?)1*F?2F:FBFo0JFH%>I! I%$II%BI%9 =&I!.I!6I%+<:I% F=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.486990zKuk3IKus9KqKuKuG@A=G B O >vw,e.A>\>Y>n?>j=9>ܽ=y>H CN? L?2.? G?EYwj??ɨ>\>>1;>CyJmBJ$IIRIRt4٢Z  Zg=9^^;Q ^>\` bG٣`yb6 b> fNusing accuracyPremultiplier from configdj.59fbk?n.5Yf^/ ifBlnJ+?n@fEf;ft;fP.5p v$@tZj9=FNOT Ignoring new targets: 329.20 m.BjMfJjMf ProNav: ac range: 329.200012 m, nav range: 154.492722 m, bearing: 272.157838 deg, approach rate: 0.397190 m/s, LOS rate: -0.201589 deg/s, cmd heading: 32.065682 deg, new cmd heading: 31.850822 deg. 2jY %HeadingCmd: 0.555902 target range: 329.200012 and range: 329.20 m. j%O?j!j!j!i)h)h)hQhQfQfQfQrfYbf]!@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738960ɛτB9= >I U<ɚiIi=IO?iݚ;i6=)O?)JJ@AJJJJJ:J:JJJ4;J5;JC;JC;*F2F:FBF1JF iIiG}R`U=GA BQ Om >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990842w, A .A2>Y2J?2A =920=y2Hi?`R??`c? : ٶ??ɨ2>2QR;2Cy^[B^$IIfIfW4٢n nH=9ro';Q r>pp rG٣tyvRn v> ~Nusing accuracyPremultiplier from configx~.59zuk?~.5Yz/ izB)?@zEzX ;zz ;zT.5  I@ -EZj9=FNOT Ignoring new targets: 329.20 m.BjEjJjEjU ProNav: ac range: 329.200012 m, nav range: 154.655045 m, bearing: 272.074647 deg, approach rate: 0.400899 m/s, LOS rate: -0.205245 deg/s, cmd heading: 31.850822 deg, new cmd heading: 31.601514 deg. 2jU ]HeadingCmd: 0.551550 target range: 329.200012 and range: 329.20 m. jei2 ?jajajaiahahahihifififqrfqbfu @ɛ=̈́B=71= 9=n>IA E?<ɚAiAIE3\=IMi2 ?iM;imd5=)ui2 ?)q*F ?2F :F BF P5JF G7=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246944GBOEQ> U\$?IUxi؍w,Q:.A2J>Y2?2!=92[=y2H;? o ش?`?`B? 멿@2_?@?ɨ2J>2u;2CyRABR#IiV>IV4< Va=Vp=jHb<bHb<HdId Ift$IIfBIf: =&Id.Id6Ifl<:If FWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:14:15.6021  TRx dataTimestamp_ set to:1736374456.940972 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496270zK5BHK59K1K5K5Mb@Mb@Mb@ )YE?{Gzt?Zd;Oy&?ף;jA )@I@y=@II44٢ֽ -=9V:Q > G٣ JGy `  > Nusing accuracyPremultiplier from config.59]k?.5YH/ iB%&?%:%b?%@ED;;X.5) 5@1MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 329.20 m.BjegJjegu ProNav: ac range: 329.200012 m, nav range: 154.820404 m, bearing: 271.978639 deg, approach rate: 0.349692 m/s, LOS rate: -0.202816 deg/s, cmd heading: 31.601513 deg, new cmd heading: 31.313798 deg. 2ju0 }HeadingCmd: 0.546529 target range: 329.200012 and range: 329.20 m. j}Q ?jyjyjyiyhyhhh˄Bfffrfbf% @ɛ˄B6= 隽dk>I Z<ɚiI]=IQ ?i;i1=)Q ?)*FE?2FA:FABFE@5JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746806*J R="J %=J J J /J J :J :J (N3J J ;J ;J @;J @;G /7=G B O- > Y Ia ”w,S.A:g>Y:t?:%=9:=y:H? ͉Ӵ??z?m`??ɨ:g>: c;8yF$BF#IIRIR4٢V2 Zx=9ZJ;Q Z?\\ ^G٣\y^p b? fNusing accuracyPremultiplier from config`j.59bCk?j.5Yb / ibBhj?n@bEb>+;b+;b[.5r@B r@r(EZj  FNOT Ignoring new targets: 329.20 m.Bj>hJj>h% ProNav: ac range: 329.200012 m, nav range: 154.934448 m, bearing: 271.911764 deg, approach rate: 0.346510 m/s, LOS rate: -0.203042 deg/s, cmd heading: 31.313798 deg, new cmd heading: 31.113322 deg. 2j%X -HeadingCmd: 0.543030 target range: 329.200012 and range: 329.20 m. j- ?j)j)j1i1h1h1h9h9f9f9f9rfAbfE @ɛuʄB6h= 2>I ~<ɚiIQf=I% ?i%8;i%9&=)% ?))*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:14:15.6021 LVL= 21920, 32753, 30434, 32755, AGC= 70, IDX= 41,-0.12, 2.568, 0.894, 1.524, 1.942, PHS= 0.714,-1.001,-0.421, RAW= 109.4, 9.4, CAL= 119.0, 7.0, ROT= 31.0, -7.0 UYgot valid direction response: 22:14:15.6021 LVL= 21920, 32753, 30434, 32755, AGC= 70, IDX= 41,-0.12, 2.568, 0.894, 1.524, 1.942, PHS= 0.714,-1.001,-0.421, RAW= 109.4, 9.4, CAL= 119.0, 7.0, ROT= 31.0, -7.0 mPDAT read: Bearing 31.0, -7.0 (Local) m~Local bearing/azimuth received: Bearing 31.0, -7.0 (Local) }DAT read: Range 10 to 50 : 300.0 m (Round-trip 400.0 ms) speed 0.3 m/s ,DAT read: user:2418> BDAT read: Tx time:22:14:16.6980 $Ping request sent.nҿ|˿=_o?yCU v)IFi6? P׾f?'> @)5=Ic ?i5]?|^G1ǿ4R?)$=IY(im|:publishing transmit ping timeؑFpublishing direction and range info9{>nҿ|˿=_o?y )Ii )Ii]?|^G1ǿ4R?)IiG /=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:14:16.6972 A욋w,Wm.A6}>Y67;?6g'=96=y6H`?;Z޽?~?3?B)??ɨ6}>6%;4yNBN#IMb@Mb@Mb@ )Y/$?{Gzt{Gzy?ףף `@)I@y@II44 ]$?I٢ k  6=9 :Q  > G٣y > %Nusing accuracyPremultiplier from config!-.59%k?-.5Y%4 / i%B-?-:5?5@% E%;%F;%n_.59 =@9kMHf?kM 6: kI kMf\.A:kMCBkMCZkMܒ@"M8ͩحU7aPAyq@M{>nҿ|˿=_o?JkMmRkM|*M4`, Ů\a|ODq@MYy:u_ؿx?"kM*kMKekMf?kM4<: 2kMlCkIkM > kIkMCkM @addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 300.000000 m, deltaT: 4.033905 s, deltaX: -29.200012 m, approachRate: -7.238647 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 329.20 m.Bj(ZJj(Z ProNav: ac range: 329.200012 m, nav range: 155.075378 m, bearing: 271.825066 deg, approach rate: 0.310320 m/s, LOS rate: -0.190729 deg/s, cmd heading: 31.113322 deg, new cmd heading: 30.853468 deg. 2jHeadingCmd: 0.538495 target range: 329.200012 and range: 329.20 m. j ?jjjihhhhBfffrfr@bfM?ɛȄB: = >I <ɚiI=I ?i;i}=) ?)*F2F:FBFJFH>IC I/$II|BI9 =&I.I6Is<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.==zKk3IK9KKKG '=G B O >ҡw,.A2>Y2L ?2#=929=y2H?T=?X_? ?-z?`?ɨ2>2;0y>B>#I)@ @DFAIJIJ 4٢Rؽ Rd=9R1Q V>TT VG٣VJGyZT Z> Nusing accuracyPremultiplier from config\%.59^ k?%.5Y^/ i^B)-?5@^ E^{<^"{<^b.5Y ]@]%EZjFNOT Ignoring new targets: 329.20 m.BjTJjT ProNav: ac range: 329.200012 m, nav range: 155.187180 m, bearing: 271.755814 deg, approach rate: 0.300164 m/s, LOS rate: -0.185795 deg/s, cmd heading: 30.853467 deg, new cmd heading: 30.645861 deg. 2jHeadingCmd: 0.534871 target range: 329.200012 and range: 329.20 m. j=Q?j9j9jAiAhIhI}Will construct direction to contact in vehicle frame from tetrahedron phase data.hhfffrfbf H?ɛDŽB= QU=IQ ]i<ɚYiYI]=IeQ?ie!;ie%=)eQ?)i ^$?I*Fe?2Fa:FaBFaJFaG "=- Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bq O >w,+.A2-~>Y2X?2$=92Ϊ=y2H ?`( T ?2;2CyBBB#IINxINT4٢V(] VJ=9V9Q V>XX ZG٣Xy^=O ^> bNusing accuracyPremultiplier from config`f.59bk?f.5Yb/ ibBhjW?j@bEb:bC:bf.5l n@lZj  FNOT Ignoring new targets: 329.20 m.BjiJji% ProNav: ac range: 329.200012 m, nav range: 155.313217 m, bearing: 271.677130 deg, approach rate: 0.327448 m/s, LOS rate: -0.204257 deg/s, cmd heading: 30.645860 deg, new cmd heading: 30.410001 deg. 2j%- -HeadingCmd: 0.530755 target range: 329.200012 and range: 329.20 m. j-?j)j)j)i1h1h1h9h9f9f9f9rfAbfE?ɛńB= 隭X=I M <ɚIiIIU=IU?i]x*;i]eV=)]?)Y*Fe?2Fi:FiBFu`0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ:J 9Jـ3Ja@a@a@a@ IG =G B O >'w,\.AZH0RH2@AH6>I4 I6#II6IBI4&I4.I46I6<:I6) FF >YF?FB)=9F-=yFH?@1u?`?`?@5&y??ɨF >F؇;FCnWill construct direction to contact in vehicle frame from tetrahedron phase data.yUBUu#I-Mb@Mb@Mb@))) )))Y-`"?Zd;OQy-?-j-u-A -@)-MAI-@)y-@I9I9٢M⧽ M3=9U#;Q U>YY ]G٣YyeA% e> uNusing accuracyPremultiplier from configa}.59e~k?}.5Ye. iepB}?}:}/?@eEe%H;e*;ej.5 @"EzK K +9K K K =B*** querying acoustic contact ***j9j9ZjIFNOT Ignoring new targets: 329.20 m.BjRJjRU ProNav: ac range: 329.200012 m, nav range: 155.443039 m, bearing: 271.589406 deg, approach rate: 0.272042 m/s, LOS rate: -0.183671 deg/s, cmd heading: 30.410000 deg, new cmd heading: 30.147051 deg. 2jHeadingCmd: 0.526165 target range: 329.200012 and range: 329.20 m. jŲ?jjyjyiyhyhyhhBfffrfbf??ɛ=ÄB=< AEL=IA E<ɚAiAIE=IMŲ?iMl;iM=)UŲ?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F ?2F :F BF ^0JF _$?I Gm s=GiBO>Cw,E.A2[>Y2 ?23=92"ԯ=y2H !?? u?%?#x@~`2|;2Cy>؄BBf#Iij>Ij> n=lIrIr(4٢ze z:=9~;Q ~>|| G٣JGyx  > Nusing accuracyPremultiplier from config .59 }k?.5Y . i ]BO?@ E a: a: m.5) -@-EZjQUFNOT Ignoring new targets: 329.20 m.Bj]1fJj]1fu ProNav: ac range: 329.200012 m, nav range: 155.566193 m, bearing: 271.505106 deg, approach rate: 0.294237 m/s, LOS rate: -0.201251 deg/s, cmd heading: 30.147051 deg, new cmd heading: 29.894351 deg. 2ju uHeadingCmd: 0.521755 target range: 329.200012 and range: 329.20 m. j}?jyjyjyiyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998672hyhhhfffrfbf"@ɛB<  5=I <ɚiIb=I?iE;i=)?)*F}?2Fy:FBF0JFGAG9ByO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253730J5 J5 J1 J1 J5 :J5 :J1 J1 I II 1bw,.A6 >Y6' ?68;=96=y6H =?@`}?`?C;?@qd??ɨ6 >6;6CyR΄BRY#I5Mb@Mb@Mb@111 1)1Y5i|?5?l~jthy5?55D1 5I@)5dAI5@1y5(@IMIM4٢I F=9;Q > G٣y+x > Nusing accuracyPremultiplier from config.59l?.5Y. iOB?:>@E7;D;q.5 ,@Zj!-FNOT Ignoring new targets: 329.20 m.Bj-VJj-V= ProNav: ac range: 329.200012 m, nav range: 155.674362 m, bearing: 271.424906 deg, approach rate: 0.252631 m/s, LOS rate: -0.187175 deg/s, cmd heading: 29.894351 deg, new cmd heading: 29.653922 deg. 2j=tEHeadingCmd: 0.517559 target range: 329.200012 and range: 329.20 m. jE~?jAjIjIiIhIhIhQhUwBfQfQfYrfYbf]t@ɛB< 2-=隕I I#IIBI&I.I.D6It<:I FBIÔCJIÔCRIZI9 =bI9 =jI4*F=?2F9:F9BF=m1JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502462zKKs9KKKG =GBO >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y iY e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754537oQËw, /A2$>Y2 ?27A=92۰=y2H]?`]` ?y?\?KTv9 ?@U?ɨ2$>2=;0y@@IRIRƕ4٢5: 5K=9=;Q =>9A EG٣AyE E> UNusing accuracyPremultiplier from configIU.59Ml?].5YM. iMBBY]+>]@M EM:M:M u.5eAB m*@mEZjFNOT Ignoring new targets: 329.20 m.BjTJjT a$?I ProNav: ac range: 329.200012 m, nav range: 155.771332 m, bearing: 271.351901 deg, approach rate: 0.247048 m/s, LOS rate: -0.185880 deg/s, cmd heading: 29.653922 deg, new cmd heading: 29.435042 deg. 2j"HeadingCmd: 0.513738 target range: 329.200012 and range: 329.20 m. j\?j j j i h h hhfffrfbf`@ɛB < =I >G<ɚiIl=I\?i;i<)\?)*F5?2F1:F1BF53JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006337) G AC =I ZAG B O > Y y  Buɋw,'/A6>Y6 ?62F=96=y6H`6;6CybʄBfT#IllIvIv4٢ܹ N=9 E;Q  >! %G٣%JGy-y -> Nusing accuracyPremultiplier from config.59(l?.5Y. i3B>@$E < <x.5 t@ ZjI}FNOT Ignoring new targets: 329.20 m.BjTJjT%Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:14:19.5181 ]TRx dataTimestamp_ set to:1736374460.726034mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268802 ProNav: ac range: 329.200012 m, nav range: 155.874313 m, bearing: 271.273491 deg, approach rate: 0.244531 m/s, LOS rate: -0.186063 deg/s, cmd heading: 29.435042 deg, new cmd heading: 29.199968 deg. 2jbHeadingCmd: 0.509636 target range: 329.200012 and range: 329.20 m. jzw?jJ!J%J!J!J!J%:J!J!jjiiihqhyhhfffrfbf2 @ b$?Iwiɛ-B5K< 15`^Ћw,aB/A2>Y2?2K=92r=y2Hd?`J?+??@mp?P?ɨ2>2;2CyB̄BBV#IMb@Mb@Mb@ )Ygfffff?L7A`堿Mbp?y3?+;A )AI@yz@I-I-t4٢=< =>=9E0;Q E>AA MG٣IyM} M> UNusing accuracyPremultiplier from configQ].59U:l?e.5YUD. iU(Ber?e:e>e@U(EU;UZ8;UF|.5q uY@EMB*** querying acoustic contact ***jIjIzKUBHKUh9KQKUKUZjy}FNOT Ignoring new targets: 329.20 m.BjOJjO ProNav: ac range: 329.200012 m, nav range: 155.977264 m, bearing: 271.195399 deg, approach rate: 0.239805 m/s, LOS rate: -0.181779 deg/s, cmd heading: 29.199967 deg, new cmd heading: 28.965849 deg. 2jHeadingCmd: 0.505549 target range: 329.200012 and range: 329.20 m. jk?jjjihhhhzBfffrfbf@= @ɛ]B]@< Y]=IY e׺<ɚaiaIeG=Imk?im;im<)}k?)iWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:14:19.5181 LVL= 23264, 30001, 24402, 32755, AGC= 70, IDX= 92,-0.22, 3.031, 1.312, 1.833, 2.271, PHS= 0.849,-0.911,-0.441, RAW= 105.0, 6.4, CAL= 115.2, 4.4, ROT= 34.8, -4.4 Ygot valid direction response: 22:14:19.5181 LVL= 23264, 30001, 24402, 32755, AGC= 70, IDX= 92,-0.22, 3.031, 1.312, 1.833, 2.271, PHS= 0.849,-0.911,-0.441, RAW= 105.0, 6.4, CAL= 115.2, 4.4, ROT= 34.8, -4.4 PDAT read: Bearing 34.8, -4.4 (Local) ~Local bearing/azimuth received: Bearing 34.8, -4.4 (Local) EDAT read: Range 10 to 50 : 311.9 m (Round-trip 415.9 ms) speed 0.4 m/s U,DAT read: user:2419> *J}4="JyBDAT read: Tx time:22:14:20.5981 $Ping request sent.5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:22:14:20.5973 G<GBO?؋w,c/Ay-фB-]#II=I=#4٢Mw< M=9MQ U>QQ UG٣UJGy] e> mNusing accuracyPremultiplier from configiu.59mQl?u.5Ym. imBqy}@m-Em;m/;mԀ.5BB @Ek=\@h?k=rgi-8 k9 k=gN/A:k=CBk=ښCZk=m@"=`\QFmG!r@=s?@ͿVǺ¿K˖?Jk=T$Rk=⥿*=8 2k=OCk= h?k=4<: k=eCk=Bk=@ addTargetRange:: Added new target pos. range: 311.899994 m, deltaT: 7.813229 s, deltaX: -17.300018 m, approachRate: -2.214196 m/s, rangeRepo size: 4  Added new target pos. range: 311.899994 m, bearing: 262.178517 deg, lat: 36.903809 deg, lon: -122.123670 deg, deltaT: 7.813229 s, deltaX: -17.300018 m, approachRate: -2.214196 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 311.90 m.Bj]JjY ProNav: ac range: 311.899994 m, nav range: 117.529228 m, bearing: 264.893516 deg, approach rate: 0.000000 m/s, LOS rate: -0.181779 deg/s, cmd heading: 28.965849 deg, new cmd heading: 28.684072 deg. 2jHeadingCmd: 0.500632 target range: 311.899994 and range: 311.90 m. jc)?jjjihhhhfffrf`f~s@bf_?-Will construct direction to contact in vehicle frame from tetrahedron phase data.J-J-J)J)J-|:J-9J)J)ɛ]B]< Y]_=IY eC<ɚaiaI2=Ic)?i6;i=)c)?) c$?IE .=H >I  I #II BI &I .I -D6I t<:I  F*FE ?2FA :FA BFE _0JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data.G-<GBO5?zw,5 /A:>Y:5?:J=9:=y:H?O߿@???gRZ\@O? ?ɨ:>:W;:CyBلBFg#IzKFk3IKF9KDKFKFRKN?JKN ?mMb@Mb@Mb@iii i)iYmx?{Gz{Gz?ymK?mףm# G٣yc > Nusing accuracyPremultiplier from config.59\jl?.5Y. i Bg?:>@2E;:ԅ.5 @ZjFNOT Ignoring new targets: 311.90 m.Bj GJj G5 ProNav: ac range: 311.899994 m, nav range: 117.712479 m, bearing: 264.755105 deg, approach rate: 0.334527 m/s, LOS rate: -0.252278 deg/s, cmd heading: 28.684073 deg, new cmd heading: 28.269493 deg. 2j="-UHeadingCmd: 0.493396 target range: 311.899994 and range: 311.90 m. jU^>jQjQjQiYhYhYhYh]BfafafarfibfmKU?ɛBD< 9==IA Ex<ɚAiAIEj=IM^>iM;iM6<)M^>)QeWill construct direction to contact in vehicle frame from tetrahedron phase data.EYEY*Ea"Ea d$?I*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge :^<Ga Bi O >w,d/A6b>Y6-?6H=96=y6H?`{6߿ts?Ў?H?w.o??ɨ6b>6;4y@@IJIJHo4٢Vr VF=9VQ Z>XX ^G٣\y^S ^> bNusing accuracyPremultiplier from config`f.59b|l?f.5Yb. ibBh5N>5@b6EbJijjjihhh h f ffrfbf?ɛEBEb< IM=IQ Uv<ɚYiIR=I >iva;MWill construct direction to contact in vehicle frame from tetrahedron phase data.i}<)>) IJ1K5H >I  I #II BI &I .I .D6I <:I 9 Fw,,/ARWill construct direction to contact in vehicle frame from tetrahedron phase data.y~B~#I A Mb@Mb@Mb@ )Y\(\?y&1|?I +?y?`;9<A v@)AI@y\@IIh4٢ 7=  6=9 Q  > G٣JGy %> -Nusing accuracyPremultiplier from config!-.59%el?5.5Y%. i%B5?5:=F?=@%;E%";%n ;%Z.5A E@EEZjimFNOT Ignoring new targets: 311.90 m.BjuJju ProNav: ac range: 311.899994 m, nav range: 118.002373 m, bearing: 264.547899 deg, approach rate: 0.364278 m/s, LOS rate: -0.248257 deg/s, cmd heading: 27.970347 deg, new cmd heading: 27.648649 deg. 2j`*HeadingCmd: 0.482560 target range: 311.899994 and range: 311.90 m. j>jjjihhhḧ́BfffrfbfS?ɛBO = |>I ><ɚiI]=I>i;i=)>)*F?2F:FBFA5JFzKeKaKaKeKeBKq:KupAUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQG%< e$?I G B O >ѻw,x /A26>Y2?2fI=92)=y2H@? ؼ޿yӶ?@t? ?4V`< )T??ɨ26>2┉;0yBBB#IIJIJF4٢R< Rd=9VC:Q V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b.59^Kl?f.5Y^(. i^Bdf'?f@^>E^:^:^|.5h n@l}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 311.90 m.BjJj ProNav: ac range: 311.899994 m, nav range: 118.127014 m, bearing: 264.461747 deg, approach rate: 0.331752 m/s, LOS rate: -0.229064 deg/s, cmd heading: 27.648648 deg, new cmd heading: 27.390467 deg. 2j4HeadingCmd: 0.478054 target range: 311.899994 and range: 311.90 m. jy>jjjihhhhfffrfbf@ɛBR= >I +.<ɚiI=Iy>i"t;i5b<)5y>)1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF4JFG+=GyBO^>m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492991w,/A (I,:>Y?I=9&=yHF?Wr޿??5?5 /@?@?ɨ:>;y5B5#IMb@Mb@Mb@ )YMbX9?:v?/$?y!?<<rA @)AI@yAIEIE#4٢]x< ]1=9]bQ ]>aa eG٣aym(4 u> }Nusing accuracyPremultiplier from configq.59ucl?.5Yu2. tIiuB"?:q ?@uCEu&;u7%;u.5CB @ EZjFNOT Ignoring new targets: 311.90 m.BjJj ProNav: ac range: 311.899994 m, nav range: 118.301025 m, bearing: 264.348106 deg, approach rate: 0.391787 m/s, LOS rate: -0.255487 deg/s, cmd heading: 27.390467 deg, new cmd heading: 27.050049 deg. 2jV/HeadingCmd: 0.472112 target range: 311.899994 and range: 311.90 m. j>jjjihhhhBfffrfbf8@ɛ%B-?= )->I) -1<ɚ)i1I52=I5>i=~#;i=.y=)=>)9EIEMrA*F?2F:FBF]0JF"G=G=H>I I#IIBI&I.I6Iu<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741469Ge s=Gm ?Gm ?G9 BA O] >zK BoHK +9K K K w,4 0AB}>YBv>BG=9Boo=yBH?4޿2?o?M ?`??ɨB}>Bk3;@yVBZ#IIbIbF4٢j= jh=9jߐQ j>ll nG٣nJGyrA r> vNusing accuracyPremultiplier from configtz.59vl?z.5Yv2. ivB|~] ?~@vFEv;vs;v.5 @ Zj)5FNOT Ignoring new targets: 311.90 m.Bj5݌Jj=݌] ProNav: ac range: 311.899994 m, nav range: 118.433281 m, bearing: 264.261397 deg, approach rate: 0.376106 m/s, LOS rate: -0.246307 deg/s, cmd heading: 27.050049 deg, new cmd heading: 26.790214 deg. 2j] )uHeadingCmd: 0.467577 target range: 311.899994 and range: 311.90 m. juOf>jqjyjyihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993559ɛB= 隝3>I KK<ɚiI=IOf>i;i8C=)Of>)JJJ/JJJJ(N3JJh;a Ji;aJA;aJA;a ]f$?IY*FM?2FI:FIBFM_0JFIGm+=GI BQ O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245412`w,%0A:=>Y:6>:;F=9:N=y:H!?ݿ%?_W?0?8Ĩ ??ɨ:=>:=H;:CyJ BJ#IIVIV)4٢Z= ZL=9^Q ^>`` bG٣`yf3 f> jNusing accuracyPremultiplier from configdn.59fl?n.5Yf. ifBpr>?r@fJEf;f@;f.5t v@vEZj%FNOT Ignoring new targets: 311.90 m.Bj%DJj-D= ProNav: ac range: 311.899994 m, nav range: 118.583458 m, bearing: 264.162488 deg, approach rate: 0.372862 m/s, LOS rate: -0.245263 deg/s, cmd heading: 26.790213 deg, new cmd heading: 26.493864 deg. 2j=R(EHeadingCmd: 0.462405 target range: 311.899994 and range: 311.90 m. jE^>jAjAjAiAhIhIhIhIfQfQfQrfQbf]@P@ @ɛBe = 隅VD>I ku<ɚiI5!=I^>iE;iy =)^>)*F5?2F1:F1BF5m0JF1-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:22:14:23.4162 MTRx dataTimestamp_ set to:1736374464.760229]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503875 eg$?IiGusc=G1BAO]>jH} <bH} 4<H >I  I #II +BI &I .I 6I <:I 3 FBIIJIIRIIZIM8 =bIM8 =jIMˈ4 w,qt?0ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.749607y%B%#IMb@Mb@Mb@ )YMbX?:v?I +?y*?T=9< A @)I+@yAIeIe҅4٢M< M=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configYu.59]l?}.5Y]. i]B\+?:?@]PE];];].5DB R@EZjFNOT Ignoring new targets: 311.90 m.BjHJjH ProNav: ac range: 311.899994 m, nav range: 118.800201 m, bearing: 264.030896 deg, approach rate: 0.413402 m/s, LOS rate: -0.250531 deg/s, cmd heading: 26.493863 deg, new cmd heading: 26.099815 deg. 2j+HeadingCmd: 0.455528 target range: 311.899994 and range: 311.90 m. j:>jjjihhhh(BffAfArfIbfM@ɛBzKK9KKKq=  S>I E<ɚiIP=I:>i)*Fu?2Fy:FyBF}_0JFyGqA G=Will construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 22:14:23.4162 LVL= 21888, 32753, 27554, 32755, AGC= 66, IDX= 424,-0.29,-0.053,-1.825,-1.387,-0.899, PHS= 0.934,-0.879,-0.491, RAW= 101.7, 5.3, CAL= 111.9, 3.5, ROT= 38.1, -3.5 Ygot valid direction response: 22:14:23.4162 LVL= 21888, 32753, 27554, 32755, AGC= 66, IDX= 424,-0.29,-0.053,-1.825,-1.387,-0.899, PHS= 0.934,-0.879,-0.491, RAW= 101.7, 5.3, CAL= 111.9, 3.5, ROT= 38.1, -3.5 PDAT read: Bearing 38.1, -3.5 (Local) ~Local bearing/azimuth received: Bearing 38.1, -3.5 (Local) DAT read: Range 10 to 50 : 310.4 m (Round-trip 413.9 ms) speed 0.4 m/s ,DAT read: user:2420> BDAT read: Tx time:22:14:24.4981 $Ping request sent.=w,-Z0AFч>YFP>Fu{>=9F%I=yFH@C?ݿ@?@e?;?`F!@<ͧ@x??ɨFч>F)u;FCyf Bf#I) II4٢-  U=9]Q ] ?aa eG٣eJGyeKܼ e ? Nusing accuracyPremultiplier from config.594m?.5Y. iBg?@SE:":{.5 @kg?kyS6 k kP0A:k3CBkCZk曏@"%a5k>Oxmjjjihhhhfffrf`ffs@bf@+?%Will construct direction to contact in vehicle frame from tetrahedron phase data.%=%4=-JDAT read: TxSync time:22:14:24.4973 ɛMBM_'= IMzL>II Uld<ɚQiQIUy`=I+>i>)~G 6Yy_B*F5?2F1:F9BF=0JF9Ga=GBOh> Will construct direction to contact in vehicle frame from tetrahedron phase data. h$?I hw, t0A^>Y^>^7=9^N=y^HT?Fݿ`[?@? SK?f3`O:? ?ɨ^>^ ;^Cy~ B~#IMb@Mb@Mb@ )Y/$?MbX9? rh?y,?ʡ=C< A @)IX@y=AII{4٢#< >=9Q > G٣yq# >  Nusing accuracyPremultiplier from config .59  m?.5Y . i BE-?:?@ XE f; ; '.5! %}@-EEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 310.40 m.Bj]3Jj]3u ProNav: ac range: 310.399994 m, nav range: 119.346458 m, bearing: 262.900389 deg, approach rate: 0.463047 m/s, LOS rate: -0.253888 deg/s, cmd heading: 25.847695 deg, new cmd heading: 25.539506 deg. 2ju=.}HeadingCmd: 0.445748 target range: 310.399994 and range: 310.40 m. j}%9>jyjyjyiyhhhh:Bff f rf bf -?ɛUB$= 隝S>I <ɚiI2p=I%9>i)H>IC I#II:BI7 =&I.I6Iʰ<:I] F*Fu?2Fq:FqBFu81JFy5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.G #=Gq B O >zK k3IK ]9K K K T#w,0AyB#IIIv}4٢UǼ UU=9]Q e>iq uG٣yWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.989143y5 5> =Nusing accuracyPremultiplier from config9E.59=t'm?E.5Y=. i=BIIM@=\E= ;=:=.5Q U@QJeJeJaJaJe̝:Je:JaJaJe;Je;JeA;JeA; i$?IZjFNOT Ignoring new targets: 310.40 m.BjJj ProNav: ac range: 310.399994 m, nav range: 119.529999 m, bearing: 262.800111 deg, approach rate: 0.441306 m/s, LOS rate: -0.240738 deg/s, cmd heading: 25.539507 deg, new cmd heading: 25.239138 deg. 2j7%HeadingCmd: 0.440506 target range: 310.399994 and range: 310.40 m. j>jjjihhhhfffrfbf?ɛB "= M>I n$<ɚiI$=I>ii)*F?2F:FBFP5JF"G=G=M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243553G ߣ=G B O >u)w,ͬ0A6E2>Y6*>6'=96V=y6H`?Y%ݿ+?`v? U?Lfि ??ɨ6E2>6;6CyNBR#IIZkIZ=4٢fi fU=9f,Q j>ll nG٣nJGyrc r> ~Nusing accuracyPremultiplier from configx.59zx8m?.5Yz. izB  ? @z`Ez9n;zQ;z.5 @EZjFNOT Ignoring new targets: 310.40 m.BjɂJjɂU ProNav: ac range: 310.399994 m, nav range: 119.690445 m, bearing: 262.712378 deg, approach rate: 0.418783 m/s, LOS rate: -0.228685 deg/s, cmd heading: 25.239139 deg, new cmd heading: 24.976296 deg. 2jU}HeadingCmd: 0.435919 target range: 310.399994 and range: 310.40 m. j}0>jyjyjyiyhhhhfffrfbf`5$?ɛB $= 隝J>I Ll<ɚiI=I0>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495699 I*F?2F:FBF4JFG= J%=ZH RH H >I  I #II ?BI 6 =&I .I 6I <:I F FG B) OM >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744643`c0w,Ϡ0A2R>Y28K>2$=92N&=y2Hn?`Tܿ@T?A?`b?io -?`,?ɨ2R>2j;2CyB#IMb@Mb@Mb@ )Y|?5^? ףp= ?y&1|?y2?Q=`;+ A @)EAI@y\AII4٢ "=9Q >1 5G٣1y= => ENusing accuracyPremultiplier from configAM.59EQm?M.5YE. iEBMn4?U:U ?U@EfEE8;E;E`.5]EB ]@]EZjFNOT Ignoring new targets: 310.40 m.BjJj ProNav: ac range: 310.399994 m, nav range: 119.931999 m, bearing: 262.583324 deg, approach rate: 0.496876 m/s, LOS rate: -0.264930 deg/s, cmd heading: 24.976296 deg, new cmd heading: 24.589917 deg. 2j5HeadingCmd: 0.429175 target range: 310.399994 and range: 310.40 m. jԼ>jjjihhhhNBfffrfbf?ɛB= ;>I K<ɚiI=I Լ>i wX)zKBoHK9KKK*F2F:FBFr3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002274 k$?IJJJJJ :J:JJJ;J;J@;J@;G ,=G pAG pAGi By O >#6w,]0A25>Y2.>2T%=924L=y2H }?ܿeѳ? u?r?H\'|??ɨ25>2;2C)ǩIǭuAƭƵwF DZDZǵxADZiDZǹiȽCȹ)ȹ ȹIȹ C)SuAi/]IFIi+uA ̽)C xAI)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248329y޽߄B޽n#IIIt4٢ J=9':Q > G٣yU, > Nusing accuracyPremultiplier from config.59dm?.5Yg. iB  ? @jE};;ϴ.5 ^@Zj9=FNOT Ignoring new targets: 310.40 m.BjEJjEU ProNav: ac range: 310.399994 m, nav range: 120.116280 m, bearing: 262.484622 deg, approach rate: 0.469936 m/s, LOS rate: -0.251315 deg/s, cmd heading: 24.589917 deg, new cmd heading: 24.294269 deg. 2jUy,]HeadingCmd: 0.424015 target range: 310.399994 and range: 310.40 m. j]~>jYjYjaiahahahihifififqrfybf}@ɛEBE= AE`>IA M$<ɚIiIIM=IU~>iU)YEaEa*F?2F:FBF_0JFG  G  Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500734G% 7= l$?I GY B O >=w,Q0AV{>YV>VB6"=9Vl=yVH ?ssܿam?H?@? c%lEj#? ?ɨV{>Vs;VCɳdhhihhij3Ch)l lIl l)ntwAɴllppɵrtwAipIppItivluA v$v$hF)tx z\uAxz`vFɶx~C|I|)|i|)IDɷ  yޭلBޭf#I) AAMb@Mb@Mb@ )YB`"?+?Mb`y.?= A @)IMAy3AI I :4٢ J=9%~Q %>)) -G٣-JGy-/@ 5> =Nusing accuracyPremultiplier from config1E.595xm?E.5Y5e. i5BE/?M:Mr?M@5oE5 ;5;5X.5Q U@UEuB*** querying acoustic contact ***jqjqH>I I#II0BI&I.I/D6Ig<:I FZjyFNOT Ignoring new targets: 310.40 m.Bj[Jj[ ProNav: ac range: 310.399994 m, nav range: 120.297768 m, bearing: 262.384369 deg, approach rate: 0.448131 m/s, LOS rate: -0.247170 deg/s, cmd heading: 24.294269 deg, new cmd heading: 23.993969 deg. 2j%)%HeadingCmd: 0.418774 target range: 310.399994 and range: 310.40 m. j-i>j)j)j)i)h)h)h1h5%Bf1f1f9rfYbf]@ɛBJ= 隭8=I do<ɚiI=Ii>i')]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752558*F?2F:FBFJFG Г>=G zK BHK 9K K K RK >JK ?B O >/Cw,1A2w>Y2>2A=92a=y2H9?>ܿ@0;?@??D ?`??ɨ2w>2~);2CbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004301 IyÄBK#III4٢% %]=9%ʺQ ->)) -G٣)y5" 5> =Nusing accuracyPremultiplier from config9E.59={m?E.5Y=. i=BIM?M@=sE=:=:=.5Q U-@UEZjy}FNOT Ignoring new targets: 310.40 m.BjJj򍻝 ProNav: ac range: 310.399994 m, nav range: 120.463547 m, bearing: 262.292555 deg, approach rate: 0.448765 m/s, LOS rate: -0.248201 deg/s, cmd heading: 23.993968 deg, new cmd heading: 23.718905 deg. 2jV*HeadingCmd: 0.413973 target range: 310.399994 and range: 310.40 m. jD>jjjihhhhfffrfbf*@ɛuBuG= qu=Iq }<ɚyiyI}=ID>i )*Fe?2Fa:FaBFe`0JFauWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:14:27.2947 }TRx dataTimestamp_ set to:1736374468.536717checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257535G G ?G ?Ga Bq O >#Jw,*1AFr>YFc>FLP=9FpY=yFH@ ?ۿ?C?w?@I4̨@߶? -?ɨFr>FBӈ;FCyB5#II%I%4٢= =Z=9=ںQ =>AA EG٣AyMS U> ]Nusing accuracyPremultiplier from configYe.59]̜m?e.5Y]. i]BamD?m@]wE]:]:]ݾ.5uFB uR@}EZjFNOT Ignoring new targets: 310.40 m.BjJj ProNav: ac range: 310.399994 m, nav range: 120.631355 m, bearing: 262.199144 deg, approach rate: 0.445831 m/s, LOS rate: -0.247828 deg/s, cmd heading: 23.718904 deg, new cmd heading: 23.439063 deg. 2j*HeadingCmd: 0.409089 target range: 310.399994 and range: 310.40 m. jt>jjjihhhhfffrfbf) @ɛB6<  1=I  $<ɚ i I!=It>ik1 )*F?2F:FBF0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508609 m$?IuiJJJJJ̝:J9JJa@a@a@a@GM==GIBYOu>jH <bH <H >I  I #II BI &I .I 6I <:I F} Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:14:27.2947 LVL= 20976, 30753, 22802, 32755, AGC= 66, IDX= 223, 0.21, 0.659,-1.229,-0.856,-0.365, PHS= 1.112,-0.817,-0.494, RAW= 99.0, 2.3, CAL= 109.2, 0.0, ROT= 40.8, -0.0  Ygot valid direction response: 22:14:27.2947 LVL= 20976, 30753, 22802, 32755, AGC= 66, IDX= 223, 0.21, 0.659,-1.229,-0.856,-0.365, PHS= 1.112,-0.817,-0.494, RAW= 99.0, 2.3, CAL= 109.2, 0.0, ROT= 40.8, -0.0  PDAT read: Bearing 40.8, -0.0 (Local)  ~Local bearing/azimuth received: Bearing 40.8, -0.0 (Local)  DAT read: Range 10 to 50 : 294.3 m (Round-trip 392.4 ms) speed 0.4 m/s  ,DAT read: user:2421>  BDAT read: Tx time:22:14:28.3981  $Ping request sent. Y6l>6=96=y6H`?ۿ? ??H QAXȶ? ?ɨ6n>6K_;4y]B]#Iie=Ie%=Mb@Mb@Mb@ )YK7?A`"?{GzyI,?Y=# A +@)AI@yAII٢ 0=9ߺQ > %G٣%JGy% %> 5Nusing accuracyPremultiplier from config)=.59-xm?E.5Y-ߧ. i-BE,?E:E?E@-|E-6;-4;-.5Q U{@UEk֤Yj?k3 k kB1A:k&CBkCZkg:@"qѥ[Dx7+u0r@b!¿v-f'?Jkw4Rksൿ* y)$H\_aTr@Kա2jſuOy?"kD*k$kSj?k_+3 2k#Ckk=4>8 kkDBk#@ addTargetRange:: Added new target pos. range: 294.299988 m, deltaT: 3.779240 s, deltaX: -16.100006 m, approachRate: -4.260118 m/s, rangeRepo size: 4 zKeBoHKeh9KaKeKe  Added new target pos. range: 294.299988 m, bearing: 258.239478 deg, lat: 36.903791 deg, lon: -122.123372 deg, deltaT: 3.779240 s, deltaX: -16.100006 m, approachRate: -4.260118 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 294.30 m.BjJj ProNav: ac range: 294.299988 m, nav range: 94.634537 m, bearing: 259.871113 deg, approach rate: 0.000000 m/s, LOS rate: -0.247828 deg/s, cmd heading: 23.439063 deg, new cmd heading: 23.060807 deg. 2jHeadingCmd: 0.402487 target range: 294.299988 and range: 294.30 m. j>j9j9j9i9h9hAhAhEBfAfIfIrfMdr@bfM ?PExceeded connect timeout, disconnecting.ɛBn < !i <Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAJDAT read: TxSync time:22:14:28.3973 i+cL=)>) n$?I*F?2F:FBFe0JFGu Г>=G} qAG} rAG B O >aWw,a1ArWill construct direction to contact in vehicle frame from tetrahedron phase data.ue>YuW>u=9ud=yuH? JDۿ? ?x?U }b ?E?ɨue>uA;uCyޅBލ"IIyIxV4٢ K=9Q > G٣yG > Nusing accuracyPremultiplier from config .59zm? .5Y@. iB]?@ES;;w.5 h@ZjaFNOT Ignoring new targets: 294.30 m.BjûJjû ProNav: ac range: 294.299988 m, nav range: 94.811844 m, bearing: 259.744494 deg, approach rate: 0.480307 m/s, LOS rate: -0.342356 deg/s, cmd heading: 23.060807 deg, new cmd heading: 22.681666 deg. 2jjHeadingCmd: 0.395870 target range: 294.299988 and range: 294.30 m. jq>jjjihhhhfffrfbfW;?ɛIMp<< QUPIIQ Uh<ɚQiQIU10=I]q>iYi])ED=)eq>)*F?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data. ) I) G- {H=J J J /J J :J 9J (N3J G B1 O >^w,z1Ay~gB~"IMb@Mb@Mb@ )YˡE?/$?/$y'?< A A@)EAIAyAII4٢# J=9Q > G٣y > Nusing accuracyPremultiplier from config.59m?.5Y. iB(?:>@E ;;.5 @EH>I Im#II߄BI5 =&I.I6IM<:I FBICJICRIZI6 =bI6 =jI5B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 294.30 m.BjJj ProNav: ac range: 294.299988 m, nav range: 94.972672 m, bearing: 259.619389 deg, approach rate: 0.384028 m/s, LOS rate: -0.298224 deg/s, cmd heading: 22.681667 deg, new cmd heading: 22.306991 deg. 2jL%HeadingCmd: 0.389330 target range: 294.299988 and range: 294.30 m. j%RV>j!j!j!i!hQhQhQhUȄBfYfYfYrfYbf]?Will construct direction to contact in vehicle frame from tetrahedron phase data.> @T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ5B5< 1=LŽI9 =J<ɚ9i9I=h=IERV>iE )E*F}?2Fy:FBFW5JFGrA GpAzK vKK K K K G ߛC= e nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247748G B % o$?I! O >ew,K1ANŵ_>YNd>N=9NQ=yNH?ڿ?1?? 򴠿 ??ɨNŵ_>Ne;NCyZRBZ"I)\ \`bAIf~IfT_4٢jֽ Q=9 Q > G٣JGy%>~ %> -Nusing accuracyPremultiplier from config)5.59-Vm?5.5Y-. i-B1=>=@-E- ;- ;-c.5EEB E7@AZjFNOT Ignoring new targets: 294.30 m.BjJj- ProNav: ac range: 294.299988 m, nav range: 95.129326 m, bearing: 259.496722 deg, approach rate: 0.379275 m/s, LOS rate: -0.296498 deg/s, cmd heading: 22.306991 deg, new cmd heading: 21.939603 deg. 2j5{KEHeadingCmd: 0.382918 target range: 294.299988 and range: 294.30 m. jE >jAjIjIiIhIhQhYhYfafifirfqbf}`{?ɛ8< 隭 I b<ɚiI=I >i)*F=?2F9:F9BF=4JF9GYW=)y cCWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504697~GGB!UtAmAO> YtAy B(kw,dͮ1A6Z>Y6>6=96'W=y6H`?Şڿ7?@2? ?`@?h?ɨ6Z>6ƈ;6CyR7BR"IIZIZ.4٢f fR=9fq;Q j>hh jG٣hynf n> rNusing accuracyPremultiplier from configpv.59rn?v.5Yr. irxBxz>z@rEr :r :r.5~FB @EZj!-FNOT Ignoring new targets: 294.30 m.Bj-˻Jj-˻E ProNav: ac range: 294.299988 m, nav range: 95.284447 m, bearing: 259.374616 deg, approach rate: 0.453477 m/s, LOS rate: -0.356383 deg/s, cmd heading: 21.939604 deg, new cmd heading: 21.573885 deg. 2jEtMHeadingCmd: 0.376535 target range: 294.299988 and range: 294.30 m. jM=>jQjQjQiQhQhQhYhYfafafarfabfe@p?ɛ B rG< ?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751839 iQ<ɚAiAIE2=IU=>iQiu_=)u=>)y p$?IJ1J5AAJEJEJAJAJE\:JE 9JAJA*F?2F:FBF^0JFZHRHAAH>IC I.#IIBI&I.I6I<:I- FG'\=GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005772rw,1A6Q>Y6>6 =96Q=y6H`| ?(ڿ?@i?`8?}o ?@?ɨ6Q>6>;6CyN.BR"IeMb@Mb@Mb@aaa a)aYeMb?:vye#?eԼe̼e A e@)eAIeMAaye AI}I}b4٢D$ ?=9 ;Q > G٣y > Nusing accuracyPremultiplier from config.59n?.5Y7. icBU#?:>@ED\;[;.5 x@EZjFNOT Ignoring new targets: 294.30 m.BjJj ProNav: ac range: 294.299988 m, nav range: 95.432777 m, bearing: 259.237087 deg, approach rate: 0.345173 m/s, LOS rate: -0.319537 deg/s, cmd heading: 21.573885 deg, new cmd heading: 21.161949 deg. 2j K[ HeadingCmd: 0.369346 target range: 294.299988 and range: 294.30 m. j >jjjihhhhvBf!f!f!rf!bf%`R@ɛQ] EF< Y]|PIY ]$<ɚYiaIeA)=Ie>iiim?\=)m>)iEyE}pA*F-?2F):F)BF-_0JF)"G==G==zK]BHK]+9KYK]K]EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255816 q$?IGmg\=GI BQ Om >=xw,1ANWill construct direction to contact in vehicle frame from tetrahedron phase data.N>N4=Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508076y%B%o"Ii-N>I-;I]I]\4٢e mL=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config.59*n?.5Y. iOB@EGD;|4;.5 h@ZjFNOT Ignoring new targets: 294.30 m.BjԶJjԶ ProNav: ac range: 294.299988 m, nav range: 95.571678 m, bearing: 259.109145 deg, approach rate: 0.347573 m/s, LOS rate: -0.319686 deg/s, cmd heading: 21.161949 deg, new cmd heading: 20.778686 deg. 2je[HeadingCmd: 0.362656 target range: 294.299988 and range: 294.30 m. j>jjjihhhhfffrfbf.@ɛ-B5d]; 15I1 57<ɚ9i9I==I=>iEr)A*F-?2F):F)BF)JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761669Gi I*JA "JA JI JM JM 0JI JI JM :JM ـ3JI G B OM >e~w,,b1A:@>Y:~O>:=9:u=y:H X?-ٿJٰ?l?`L?@zt`$??ɨ:@>:K;:CyFBF]"IMb@Mb@Mb@ )Y+?L7A`尿I +yv?+9 A A@)IdAyAI5I5 4٢EV EM=9Mc;Q M>II UG٣UJGyUu- U> eNusing accuracyPremultiplier from configYe.59]>n?m.5Y]. i]:Buv?u:uz>u@]E]8;H>I I"IItBI3 =&I.I6IM<:I F]R6;].5 M@EZjFNOT Ignoring new targets: 294.30 m.BjJj ProNav: ac range: 294.299988 m, nav range: 95.689758 m, bearing: 258.978668 deg, approach rate: 0.292519 m/s, LOS rate: -0.322831 deg/s, cmd heading: 20.778685 deg, new cmd heading: 20.387743 deg. 2j]HeadingCmd: 0.355833 target range: 294.299988 and range: 294.30 m. j/>jjjihhhhhBfffrfbf@ɛ BMT; QUۓIQ U,<ɚQiQI]==I]/>ieJ)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012018*FE?2FA:FABFEo0JFAGs=GBO k>zK K 9K K K RK ?JK ?] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:14:31.1920 m TRx dataTimestamp_ set to:1736374472.316591m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264756 r$?I ROw,gE2AU$R8>YU!>U/,=9UV=yUHCr?[ؿ?`?g?wq??ɨU$R8>U;UCymBmW"IIIV4٢μ D=9e:Q > G٣y䟼 > Nusing accuracyPremultiplier from config.59|Sn?.5Y. i%BC> @E < <+.5Q U@UEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 294.30 m.BjJj ProNav: ac range: 294.299988 m, nav range: 95.812119 m, bearing: 258.841712 deg, approach rate: 0.279427 m/s, LOS rate: -0.312358 deg/s, cmd heading: 20.387744 deg, new cmd heading: 19.977409 deg. 2j^VHeadingCmd: 0.348672 target range: 294.299988 and range: 294.30 m. j>jjjih!h!h!h!fIfIfIrfQbfUS @ɛB(; jI <ɚiIIM^=IM>iU=)Y*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516508G= ghs=GE ?GE >G B) OE >Kww,02A @6#0>Y6>6J=96ׄ=y6H ?9ؿ? w?@5?) !Ǵ?K?ɨ6#0>6ˈ;6CyRBRG"I)T TIZIZ4٢b f[=9fe;Q f>hh jG٣hyj n> ENusing accuracyPremultiplier from configAM.59Efn?M.5YE. iEBIU#>U@EEEX:EX:E.5]GB ]v@]ݸEZjFNOT Ignoring new targets: 294.30 m.BjȻJjȻ ProNav: ac range: 294.299988 m, nav range: 95.923996 m, bearing: 258.714891 deg, approach rate: 0.309733 m/s, LOS rate: -0.350694 deg/s, cmd heading: 19.977409 deg, new cmd heading: 19.597395 deg. 2jpHeadingCmd: 0.342039 target range: 294.299988 and range: 294.30 m. j>jjjihhhhfffrfbfZ%@ɛv: I H<ɚiIr=I>iiUJ=)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767826 =t$?IA*F?2F:FBF@5JFGy6c=GBOK>jHybH}p<H>I I"IIKBI&I.I6I@<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. < < DAT read: 22:14:31.1920 LVL= 16976, 32753, 22738, 32755, AGC= 60, IDX= 419, 0.10,-2.942, 1.371, 1.665, 2.226, PHS= 1.204,-0.808,-0.564, RAW= 96.4, 1.8, CAL= 105.6, -0.9, ROT= 44.4, 0.9  Ygot valid direction response: 22:14:31.1920 LVL= 16976, 32753, 22738, 32755, AGC= 60, IDX= 419, 0.10,-2.942, 1.371, 1.665, 2.226, PHS= 1.204,-0.808,-0.564, RAW= 96.4, 1.8, CAL= 105.6, -0.9, ROT= 44.4, 0.9  PDAT read: Bearing 44.4, 0.9 (Local)  ~Local bearing/azimuth received: Bearing 44.4, 0.9 (Local) % DAT read: Range 10 to 50 : 292.2 m (Round-trip 389.7 ms) speed 0.3 m/s - ,DAT read: user:2422> - BDAT read: Tx time:22:14:32.2982 5 $Ping request sent.5 Y203>2-=92]=y2H ?@~׿@??`?@Z뮿 /Z?@?ɨ2au&>2Oˆ;0yNBNI"IMMb@Mb@Mb@III I)IYMQ?~jty&1yM(?MĽM`eI M+@)MAIIIyM(AII4٢; ;=9@6:Q > G٣JGyD > Nusing accuracyPremultiplier from config.59|n?.5YT. iB? : j> @EV;T;I.5 e@ڸEk>i?k\X11 k kǜD2A:kCBkCZk@"{5%B&}࿩,tr@ML\=&y?Jk/HRk~*% 0ڕd@ȶCr@MI&+w?"kC*kMk 5i?k71 2kCkk`6 k#CkBk6@ addTargetRange:: Added new target pos. range: 292.200012 m, deltaT: 4.031566 s, deltaX: -2.099976 m, approachRate: -0.520883 m/s, rangeRepo size: 4  Added new target pos. range: 292.200012 m, bearing: 243.427944 deg, lat: 36.903791 deg, lon: -122.123168 deg, deltaT: 4.031566 s, deltaX: -2.099976 m, approachRate: -0.520883 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 292.20 m.Bj-Jj1= ProNav: ac range: 292.200012 m, nav range: 78.349144 m, bearing: 255.944076 deg, approach rate: 0.000000 m/s, LOS rate: -0.350694 deg/s, cmd heading: 19.597396 deg, new cmd heading: 19.127894 deg. 2jAEHeadingCmd: 0.333845 target range: 292.200012 and range: 292.20 m. jm>jijijiiihihihqhu\Bfqfqfyrf}@3Cr@bf}LN?ɛB;  I  &<ɚ i I ?I=I>iM)IzKK9KKK  BKqA:KqA )I1=Will construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:14:32.2974 *F2F:FBFB5JFJ%J%J!J!J%:J%:J!J!J%;a5J%;a5J%A;a=J%A;a=G M=G B O >Ήw,c2A:.>Y:H>::=9:#=y:H?Q7׿Yg?Yu?n?QFƢ`??ɨ:.>:[M;:CyDDRWill construct direction to contact in vehicle frame from tetrahedron phase data.ININ4٢Z!  Z]=9^Q ^>\` bG٣`yb b> jNusing accuracyPremultiplier from configdj.59fn?j.5Yf. ifBlnb>n@fEf ;f ;fz.5p vk@tZjFNOT Ignoring new targets: 292.20 m.BjJj%񻝊- ProNav: ac range: 292.200012 m, nav range: 78.450607 m, bearing: 255.797410 deg, approach rate: 0.291903 m/s, LOS rate: -0.421401 deg/s, cmd heading: 19.127894 deg, new cmd heading: 18.688474 deg. 2j55HeadingCmd: 0.326175 target range: 292.200012 and range: 292.20 m. j5v>j9j9j9i9h9h9hAhAfAfAfIrfIbfM V?ɛy}K9 隅I  1<ɚiII=Iv>iiG=)v>)*F12F1:F1BF5_0JF9G H=GBO$> %u$?I!UWill construct direction to contact in vehicle frame from tetrahedron phase data.w,֭}2A2>W>Y2$>25=92=y2H`\?ֿޯ?@5?V?魿`墿 c?@?ɨ2>W>2kG;2CyBBBC"IiF=IFR=H%>I! I%"II%2BI!&I!.I!6I%z<:I%- FmMb@Mb@Mb@iii i)iYmCl?1ZdMb`ym;?m"۽mmA mA@)iImAiymAIIr4٢| ==9:Q > G٣yG > Nusing accuracyPremultiplier from config.59n?.5Y. iB!?:^N>@E;E;A.5HB @׸EZjFNOT Ignoring new targets: 292.20 m.Bj&Jj&컝  ProNav: ac range: 292.200012 m, nav range: 78.569481 m, bearing: 255.618268 deg, approach rate: 0.274414 m/s, LOS rate: -0.412913 deg/s, cmd heading: 18.688473 deg, new cmd heading: 18.151878 deg. 2j HeadingCmd: 0.316810 target range: 292.200012 and range: 292.20 m. j4>jjjih!h!h!h%RBf)f)f)rf)bf-?ɛBG5; I <ɚiIb( =I4>ii `Z=)-4>)9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG F=G B O > I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.zK} !LK} 9Ky K} K} wRK ?JK ?JK m3 K (.KK"KJ= J9 J= /J9 J= \:J9 J= (N3J9 J= h;J= j;J9 J9 nw,2A^*d>Y^*>^!e=9^=y^H`?ൢֿ:??*?t,@6?@?ɨ^*d>^4;^CyuBuN"IIIk4٢98= H=9ܺQ > G٣JGy Nusing accuracyPremultiplier from config.59ƺn?.5YE. iBuH>@E;;.5KB [@ԸEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 292.20 m.BjJj컝% ProNav: ac range: 292.200012 m, nav range: 78.680969 m, bearing: 255.449328 deg, approach rate: 0.273753 m/s, LOS rate: -0.414234 deg/s, cmd heading: 18.151878 deg, new cmd heading: 17.645790 deg. 2j-$5HeadingCmd: 0.307977 target range: 292.200012 and range: 292.20 m. j5.>j1j1j1i1h1h9h9h9f9fAfIrfQbfUK?ɛB0Z^; 隕 I ,<ɚiIÙ =I.>iic=).>)*FM?2FQ:FQBFQJFQGM`hZ=GB!OEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ƫw,c2A6- >Y6T>6=96hУ=y6HW?@ֿ ?R??p3p?@?ɨ6- >6;6CynBn\"IIvIvK4٢b= W=9\;Q >    G٣ y% > -Nusing accuracyPremultiplier from config!-.59%n?-.5Y%. i%B15??>5@%E%3:%v:%*.5A E@AZjimFNOT Ignoring new targets: 292.20 m.BjuJju컝 ProNav: ac range: 292.200012 m, nav range: 78.784111 m, bearing: 255.290760 deg, approach rate: 0.269390 m/s, LOS rate: -0.413613 deg/s, cmd heading: 17.645790 deg, new cmd heading: 17.170719 deg. 2j퍼HeadingCmd: 0.299686 target range: 292.200012 and range: 292.20 m. jdp>jj w$?Ijihhhhfffrfbf?ɛB; I %<ɚiI!=Idp>iiS_=)dp>)EE-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758165*Fu?2Fq:FqBFuo0JFqZH9RH=?AHM>II IM"IIM(BIM2 =&II.II6IM<:IM9 FBIƖCJIƖCRIZI3 =bI3 =jIh5GGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007473w,C2A^i>Y^->^˺=9^z=y^H)?ӏտ@ul?@ ? ?I֣X?`~?ɨ^i>^ڊ;^CynBn_"I)p pMb@Mb@Mb@ )Yףp= ?Zd;OI +?y?j94<+ A n@)\AIdAyAII4٢^@< ==9U<;Q > G٣y > Nusing accuracyPremultiplier from config.59 n?.5Y. iB{ ?:wL> @E;;.5 @ҸEZj9EFNOT Ignoring new targets: 292.20 m.BjE'JjE'黝U ProNav: ac range: 292.200012 m, nav range: 78.903481 m, bearing: 255.114760 deg, approach rate: 0.276923 m/s, LOS rate: -0.407679 deg/s, cmd heading: 17.170720 deg, new cmd heading: 16.643536 deg. 2j]䋼]HeadingCmd: 0.290484 target range: 292.200012 and range: 292.20 m. j]b>jajajaiahahahihmBfifqfyrfybf}`{{@ɛBɴ; )-I) -?<ɚ1i1I5|!=I=b>i9i=a=)=b>)9 Iti*F?2F:FBF0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%Ai%A-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260025zK-ѴMK-h9K)K-K-qH-zX=10,++)(**((&%%%$1KbuJJJJJ:J:JJJ;J;JC;JC;G _=G B O > iG |uA ZA = Y= |uAyE B!ٸw,2A6=Y6>6!=96=y6H(?@տjy?`B?`?@3r`5??ɨ6=6G;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511603yJBJm"IIVIV4٢^|= ^_=9^;Q b>`` bG٣bJGyf˼ f> nNusing accuracyPremultiplier from configlr.59nn?r.5Yn. inBtvC>v@nEnw;nU;n%.5zLB u@}ϸEZj UFNOT Ignoring new targets: 292.20 m.Bje׻Jje׻ ProNav: ac range: 292.200012 m, nav range: 79.004089 m, bearing: 254.964254 deg, approach rate: 0.252745 m/s, LOS rate: -0.377612 deg/s, cmd heading: 16.643535 deg, new cmd heading: 16.192602 deg. 2jHeadingCmd: 0.282614 target range: 292.200012 and range: 292.20 m. jв>jj)j)i)h)h1h1h1f1f9f9rf9bf=@@ɛuBu; quyIy }<ɚyiyI}!=Iв>iis\=)в>)*F]?2Fa:FaBFe0JFa }x$?Iy5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763423G a=G B O >w,2A6a=Y6t>6$=967W=y6H`+=?Կp??@2?EP? i?ɨ6a=6=N;6CyFBF{"IHf>IfC If"IIf7BId&Id.If0D6If<:If FMb@Mb@Mb@ )Y~jt?y&1{Gz?y$?`eף< A )AIzAyAII4٢Q= <=9:Q > G٣yg > Nusing accuracyPremultiplier from config.59o?.5Y„. iBO%?:w>@EV;;.5 "@ZjFNOT Ignoring new targets: 292.20 m.Bj^Jj^- ProNav: ac range: 292.200012 m, nav range: 79.140099 m, bearing: 254.786342 deg, approach rate: 0.336583 m/s, LOS rate: -0.439525 deg/s, cmd heading: 16.192603 deg, new cmd heading: 15.659798 deg. 2j-Җ5HeadingCmd: 0.273315 target range: 292.200012 and range: 292.20 m. j5>j1j9j9iAhAhAhIhMBfIfIfQrfYbf]@ɛB; 隍`I 0<ɚiIX"=I>iiݟc=)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016444*F ?2F :F BF B5JF "G=GG5`hZ=G B O5 > y Iy E Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:22:14:35.0903 M TRx dataTimestamp_ set to:1736374476.352618M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268516J% J% J% 0J! J% \:J% 9J% ـ3J! J% i;J% j;J% 8;J% 8;zK5 TNK5 9K1 K5 K5 pbZUVUQRPOMLKFCDCB?>;862-*+++)(&'($##! Ōw,13AB7=YBF>B)&=9B=yBH}R? Կ`Fj?)I?G?@tä;˴?`+?ɨB7=Bcm;BCyZ(BZ"Iib,>Ib4<IfIf4٢h= %T=9-:Q ->19 =G٣9yM M> eNusing accuracyPremultiplier from configYu/59]#o?u/5Y]9. i]By}To>}@]E]iz;]k;]X/5 B@̸EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 292.20 m.BjJj滝 ProNav: ac range: 292.200012 m, nav range: 79.260796 m, bearing: 254.626750 deg, approach rate: 0.305530 m/s, LOS rate: -0.403372 deg/s, cmd heading: 15.659798 deg, new cmd heading: 15.181764 deg. 2jjHeadingCmd: 0.264972 target range: 292.200012 and range: 292.20 m. ja>jjjihhhhfffrfbfE @ɛ-B- < )5AI1 5)<ɚ1i1I5l"=I=a>i9iEXb=)Ea>)A*F?2F:FBFp4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519526GDb=G B O >-̌w,r33A:=Y:,>:*&=9:t=y:Hf?@ӿ_O?`?`\?) դ`Gƴ?,?ɨ:=: %;:CyF0BJ"IIPIP٢ZD= ZN=9^9Q ^>\\ ^G٣^JG jy$?Ihyjt n> rNusing accuracyPremultiplier from configlv/59n8o?v/5Yn. inBtv!g>z@nEn;nS;n/5| ~@~ɸEZj!%FNOT Ignoring new targets: 292.20 m.Bj-Jj-= ProNav: ac range: 292.200012 m, nav range: 79.381859 m, bearing: 254.464930 deg, approach rate: 0.311473 m/s, LOS rate: -0.415697 deg/s, cmd heading: 15.181764 deg, new cmd heading: 14.697056 deg. 2j=EHeadingCmd: 0.256512 target range: 292.200012 and range: 292.20 m. jEU>jIjIjIiIhQhQhQhQfYfYfYrfYbf]@)@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:14:35.0903 LVL= 19248, 32753, 26658, 27379, AGC= 63, IDX= 417, 0.06, 1.045,-0.762,-0.663,-0.048, PHS= 1.181,-0.667,-0.618, RAW= 91.3, 1.2, CAL= 99.1, -2.2, ROT= 50.9, 2.2 Ygot valid direction response: 22:14:35.0903 LVL= 19248, 32753, 26658, 27379, AGC= 63, IDX= 417, 0.06, 1.045,-0.762,-0.663,-0.048, PHS= 1.181,-0.667,-0.618, RAW= 91.3, 1.2, CAL= 99.1, -2.2, ROT= 50.9, 2.2  PDAT read: Bearing 50.9, 2.2 (Local) ~Local bearing/azimuth received: Bearing 50.9, 2.2 (Local) DAT read: Range 10 to 50 : 290.9 m (Round-trip 387.9 ms) speed 0.1 m/s %,DAT read: user:2423> -BDAT read: Tx time:22:14:36.1982 -$Ping request sent.-ii+d=)U>)*F?2F:FBF]0JFjH<bH<HI I"IIPBI1 =&I.I6IO<:I FGb=} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:14:36.1974 G B O >^ ӌw,L3Ay9B "IMb@Mb@Mb@ )YNbX9?~jth?X9v?y%?D;< A )IAyAII4٢&)= <=9Q > G٣y > Nusing accuracyPremultiplier from config/59Oo?/5Ym. iB%?:>@Er;; /5 8@k_h?k D. k k63A:ksCBknCZk X@"]@Ɛ? P ;8@lsUr@ (g?|`?Jk]|@Rk=<*:r3.~=1Z#r@0@M'~T?"k*kk}h?k_'. 2k)Ck}h?k_+3 k)Ck}YBk@U addTargetRange:: Added new target pos. range: 290.899994 m, deltaT: 3.784429 s, deltaX: -1.300018 m, approachRate: -0.343518 m/s, rangeRepo size: 4 e Added new target pos. range: 290.899994 m, bearing: 193.894462 deg, lat: 36.903810 deg, lon: -122.122878 deg, deltaT: 3.784429 s, deltaX: -1.300018 m, approachRate: -0.343518 m/s, posRepo size: 4 ZjamFNOT Ignoring new targets: 290.90 m.BjmJji} ProNav: ac range: 290.899994 m, nav range: 54.373032 m, bearing: 249.045539 deg, approach rate: 0.000000 m/s, LOS rate: -0.415697 deg/s, cmd heading: 14.697056 deg, new cmd heading: 14.149574 deg. 2jyHeadingCmd: 0.246957 target range: 290.899994 and range: 290.90 m. j5|>jjjihhh)h5Bf1f1f1rf5`f.r@bf=@O?ɛBkiV< 隝I 㳻<ɚiI#= z$?II5|>ii_=)5|>)Will construct direction to contact in vehicle frame from tetrahedron phase data.zKueNKu 9KqKuKu       *F?2F:FBF_0JFGqA GqAG c=G B O >&5ٌw,f3A"Will construct direction to contact in vehicle frame from tetrahedron phase data."%="=yFB%"I)) )-A)I5I54٢M5= UQ=9QQ ]>aa eG٣ayi m> }Nusing accuracyPremultiplier from configy/59}oco?/5Y}Z}. i}B@}E}pJ;}v\;} /5MB v@ƸEZjFNOT Ignoring new targets: 290.90 m.BjJj ProNav: ac range: 290.899994 m, nav range: 54.533176 m, bearing: 248.838461 deg, approach rate: 0.408552 m/s, LOS rate: -0.526733 deg/s, cmd heading: 14.149574 deg, new cmd heading: 13.530190 deg. 2j-HeadingCmd: 0.236146 target range: 290.899994 and range: 290.90 m. j-Zq>j)j)j)i1h1hhhfffrfbf?ɛ B b<  I1 5<ɚ1i1I5|#=IZq>iiH=)Zq>)*F?2F:FBFJF!G{= {$?IGBOj>Will construct direction to contact in vehicle frame from tetrahedron phase data.*JC="J4=JJJJJJ9JJa@a@a@a@!w,v3AH">I  I""II"oBI &I .I 6I :I F=YFߕ>F=9F7c=yFH?1ҿկ?t? ?4U`) ??ɨF=Fuv;Dy^RB^"IMMb@Mb@Mb@III I)IYM!rh?i|?5?Mb?yMl'?Mq=M=M A MA)M AIMAIyM3AIewIeR4٢l= @=9Q > G٣JGy T  > Nusing accuracyPremultiplier from config/59Eyo?/5Yz. iBM(?%:%>%@E;;/5) -@-øEZjQ]FNOT Ignoring new targets: 290.90 m.Bj]Jj] ProNav: ac range: 290.899994 m, nav range: 54.723068 m, bearing: 248.624348 deg, approach rate: 0.453450 m/s, LOS rate: -0.509514 deg/s, cmd heading: 13.530190 deg, new cmd heading: 12.890108 deg. 2j֮HeadingCmd: 0.224975 target range: 290.899994 and range: 290.90 m. j_f>jjjihhhhBfffrfbf@?ɛBM< ˽I ><ɚi!I%1$=MWill construct direction to contact in vehicle frame from tetrahedron phase data.IU_f>iQiU3~=)U_f>)Y*F?2F:FBF`0JFG% q؃= I G! B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.,Gw,T3AzK;MK9KKKRK?JK?Z=YZf[>Z<=9Z=yZHS?`)ѿ??`?|Β% ?A?ɨZ=Z ;ZCy VB "II=I=%x4٢M< MV=9M>Q U>QQ UG٣Qy] ]> Nusing accuracyPremultiplier from configq/59uo?/5Yu@x. iuB(>@uEur^jYjYjYiYhYhYhahafafafirfibf 2?ɛMBUp< QUĸIQ ]P<ɚYiYI]$=I \>ii=) \>)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.*F]?2Fa:FaBFaJFaG} =GQ Ba |$?I O >қw,v3AB0f=YB(Ս>Bg =9B=yBH?@Aѿ@v?[}??鰿k?`?ɨB0f=B;BCyRUBR"IIZIZ4٢b bM=9f.;Q f>dh jG٣hyjč j> rNusing accuracyPremultiplier from configlr/59no?v/5Ynu. inBxz>z@nEni@;nB;n/5~NB ~@EZj)-FNOT Ignoring new targets: 290.90 m.Bj5Jj5E ProNav: ac range: 290.899994 m, nav range: 55.069023 m, bearing: 248.230905 deg, approach rate: 0.488658 m/s, LOS rate: -0.554913 deg/s, cmd heading: 12.312271 deg, new cmd heading: 11.713540 deg. 2jEjMHeadingCmd: 0.204440 target range: 290.899994 and range: 290.90 m. jMXQ>jIjIjIiIhQhQhQhQfYfYfYrfYbf]@eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003854ɛJAJEJE/JAJAJE:JE(N3JAU3< QUtIQ ]<ɚiI$=IXQ>ii=)XQ>)*F}?2Fy:FBFj2JFZHRHH>I I#IIBI2 =&I.I6In<:I' FGI@=G?G> Will construct direction to contact in vehicle frame from tetrahedron phase data. > %=% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255910G B O >yw,3Ay~LB~"IMb@Mb@Mb@ )YuV?Cl?~jt?yr(?;=<A A)+ AIyAIIQ4٢X ==9Q > G٣JGy > Nusing accuracyPremultiplier from config/59o?/5Yr. iB*?:>@E;;H/5 @EZjFNOT Ignoring new targets: 290.90 m.Bj%Jj% ProNav: ac range: 290.899994 m, nav range: 55.279678 m, bearing: 248.026530 deg, approach rate: 0.487450 m/s, LOS rate: -0.471115 deg/s, cmd heading: 11.713540 deg, new cmd heading: 11.102774 deg. 2jHeadingCmd: 0.193780 target range: 290.899994 and range: 290.90 m. jAnF>jjjihhhh3Bfffrf ~$?Isibf @ɛMBMd{< qu۽Iq uM<ɚqiqI}%=I}AnF>iyih=)AnF>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509557*F%?2F!:F!BF%X5JF!zK8oLKh9KKKBKpA:KGe 6=GA BI Oe >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759748Тw,j3A:D5=Y:>:+$=9:x=y:H?ޅп?@?`m? >`~>?f?ɨ:D5=:;:CyNCBN"II^I^b4٢jC nZ=9r;Q v>tx zG٣xy} }> Nusing accuracyPremultiplier from config/59o?/5Yo. iB>@E;0</5OB @EZjFNOT Ignoring new targets: 290.90 m.BjqJjq ProNav: ac range: 290.899994 m, nav range: 55.473038 m, bearing: 247.836438 deg, approach rate: 0.455917 m/s, LOS rate: -0.446649 deg/s, cmd heading: 11.102774 deg, new cmd heading: 10.534506 deg. 2jDHeadingCmd: 0.183862 target range: 290.899994 and range: 290.90 m. jFF<>jjjihhh h f f f1rf1bf5@@ɛQb< 隵pI v<ɚiIx%=IFF<>iiǖ=)FF<>)*Fe?2Fa:FaBFe5JFa $?IG]&=G1BAOew>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011431JqJuJu0JqJqJu:Juـ3JqH >I  I #II BI 1 =&I .I 6I O<:I  Fw,O4ABICJICRIZI1 =bI1 =jI4>J=Y> >>Ō$=9>o5=y>H_?(пW?`?? .'? ?ɨ>J=> ;>CyJ94< A A)A AIAyAII:4٢w <=9a9Q > G٣yha > Nusing accuracyPremultiplier from config/59o?/5Yl. iB.,?:>@E;Y;b"/5 +@ EZjFNOT Ignoring new targets: 290.90 m.BjCJjC ProNav: ac range: 290.899994 m, nav range: 55.679554 m, bearing: 247.645105 deg, approach rate: 0.516253 m/s, LOS rate: -0.476522 deg/s, cmd heading: 10.534506 deg, new cmd heading: 9.962657 deg. 2jHeadingCmd: 0.173881 target range: 290.899994 and range: 290.90 m. j 2>jjjihhhhiiB=) 2>)*Fa2Fa:FaBFe_0JFa IG =Gy B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515508O >zKU KKQ KQ KU KU RK] ?JK] ?w,G4A2I4=Y2 ߁>2#0%=925œ=y2H l?SϿ]1? ?`6?p? ?ɨ2I4=2*;2Cy)B"III4٢E$ E4=9E9Q E>II MG٣MJGyUA U> eNusing accuracyPremultiplier from config)i mhCY/59]=o?/5GY]i. i]B!-> uYqyuB@]E]2=]x2=]W&/5 o@E B*** querying acoustic contact ***j j ZjyFNOT Ignoring new targets: 290.90 m.BjJj ProNav: ac range: 290.899994 m, nav range: 55.905762 m, bearing: 247.435599 deg, approach rate: 0.451153 m/s, LOS rate: -0.416152 deg/s, cmd heading: 9.962657 deg, new cmd heading: 9.336708 deg. 2j͎HeadingCmd: 0.162956 target range: 290.899994 and range: 290.90 m. j&>jjjihhhhfffrfbf.@ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772584ɛW:< 2Iy }u<ɚyiyI}T&=I&>ii=)&>)*F 2F :F BF P5JF "G- =G- = $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.GDAT read: 22:14:38.9887 LVL= 18720, 32753, 23170, 29555, AGC= 62, IDX= 433, 0.18,-1.084,-2.767,-2.841,-2.136, PHS= 1.141,-0.583,-0.707, RAW= 86.6, 1.7, CAL= 93.0, -1.6, ROT= 57.0, 1.6 EYgot valid direction response: 22:14:38.9887 LVL= 18720, 32753, 23170, 29555, AGC= 62, IDX= 433, 0.18,-1.084,-2.767,-2.841,-2.136, PHS= 1.141,-0.583,-0.707, RAW= 86.6, 1.7, CAL= 93.0, -1.6, ROT= 57.0, 1.6 UPDAT read: Bearing 57.0, 1.6 (Local) U~Local bearing/azimuth received: Bearing 57.0, 1.6 (Local) eDAT read: Range 10 to 50 : 289.8 m (Round-trip 386.4 ms) speed 0.3 m/s e,DAT read: user:2424> mBDAT read: Tx time:22:14:40.0982 m$Ping request sent.ui J ? }? 4 \w? < ?) I ~?i < G BAO}?|w,<4A?C26mv{"?)SjIi @::publishing transmit ping timeq>Fpublishing direction and range info9!킼l=? 0W?y )Ii )Ii?C26mv{"?)Iie]e&=9eo=yeH ? 2οWM?@?W?B૿ܤ`!? N?ɨe]IC I"II~BI0 =&I.I6Iv<:I1 FWill construct direction to contact in vehicle frame from tetrahedron phase data.)IuAAwF i)i11)1 1I1 9)=(xA99YaeuAie|IeFaIiimtA mNmvkF)iq u xAqqqq}΁AI}ף)yiyyyޥBޥt"Iip=I= Mb@Mb@Mb@ ) Y ~jt?X9v?Mbpy $? =  A) AI 3A y QAI I ƕ4٢- b - <9- :Q - s>Q Y ] G٣Y y] ڇ ] q> u Nusing accuracyPremultiplier from configi  /59m @p? /5Ym c. im B '? : 0> @m Em ;m ;m ,/5 PB @ Ekw?g?k+ k k"94A:kCBkCZk@"?ڿN#@ \H@b9nq@!킼l=? 0W?Jk @Rk*~w;X'N68@|"Zq@Ŏ0\4bD?NC?"kA*kk#/g?klt+ 2kǰCkk71 k#Ck BkZ@ } $?Iy  addTargetRange:: Added new target pos. range: 289.799988 m, deltaT: 4.036248 s, deltaX: -1.100006 m, approachRate: -0.272532 m/s, rangeRepo size: 4  Added new target pos. range: 289.799988 m, bearing: 138.402761 deg, lat: 36.903810 deg, lon: -122.122674 deg, deltaT: 4.036248 s, deltaX: -1.100006 m, approachRate: -0.272532 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 289.80 m.Bj Jj M  ProNav: ac range: 289.799988 m, nav range: 40.171783 m, bearing: 236.978891 deg, approach rate: 0.000000 m/s, LOS rate: -0.416152 deg/s, cmd heading: 9.336707 deg, new cmd heading: 8.454267 deg. 2jI U HeadingCmd: 0.147555 target range: 289.799988 and range: 289.80 m. jU >jQ jQ jQ iQ hQ hY hY h] BfY fa fa rf r@bf ?ɛ )< 0\I ԝ<ɚ i I '=I >i i '=) >)  Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ *F2F:FBF`0JFzK=FJK=9K9K=K=G=GBO%?pw,6f4A2=b29!=92yl=y2H?fͿ Lp?/??f%`?`?ɨ2=b<2,;2Cɳ8>|wA"II5I54٢e#a mR=9uzhQ u>yy }G٣}JGy > Nusing accuracyPremultiplier from config/59<1p?/5Y`. iB>@E;;E0/5  @ EZjyFNOT Ignoring new targets: 289.80 m.BjJj ProNav: ac range: 289.799988 m, nav range: 40.391277 m, bearing: 236.779816 deg, approach rate: 0.574121 m/s, LOS rate: -0.517881 deg/s, cmd heading: 8.454267 deg, new cmd heading: 7.860310 deg. 2jHeadingCmd: 0.137188 target range: 289.799988 and range: 289.80 m. j{ >jjjihhhhfffrfbf@P?ɛ  `} ܙI mװ<ɚiI\~'=I{ >ii%=)%{ >)!*F?2F:FBF0JF $?IU Will construct direction to contact in vehicle frame from tetrahedron phase data.G =G B OE > w,4AH>I I"IIUBI/ =&I.I1D6I`<:I" F55 =95Pl=y5H#?q̿!D?]?`, ? .@*`? ?ɨ5<5Z;5CymσBu "IMb@Mb@Mb@ )Y~jt?/$?~jty=X A ) AIAyAIIi4٢-ҽ -/=9-(Q ->11 =G٣9y=/ E> MNusing accuracyPremultiplier from configAM/59E]Hp?U/5YE*^. iEBU&?U:]ݸ>]@EEE;EM;E:4/5a e@aZjFNOT Ignoring new targets: 289.80 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BjJj ProNav: ac range: 289.799988 m, nav range: 40.628746 m, bearing: 236.536064 deg, approach rate: 0.540734 m/s, LOS rate: -0.551796 deg/s, cmd heading: 7.860310 deg, new cmd heading: 7.133368 deg. 2jXUHeadingCmd: 0.124501 target range: 289.799988 and range: 289.80 m. jUA=jQjYjYiYhYhYhaheʄBfafafarfibfm`?ɛeǺ Q=I s8<ɚiIm(=IA=iiOb=)A=)IEYE]nA*F?2F:FBF0JFG  G nA I G% =U Will construct direction to contact in vehicle frame from tetrahedron phase data.G J J J J J <:J 9J J J ;a% J ;a- J 8;a- J a- B9 OU >&&w,4AzKRJQJKR+9KPKRKRj_j;Yj[f>jxZ=9j+h=yjH#,?A4̿r?V?)?`f ??ɨj_j;j R;jCyMBM"I)Q QI]I]s4٢m mk=9ud$Q u?qq uG٣qy}a }? Nusing accuracyPremultiplier from config/59Zp?/5Y\. i}Bh>@E'::B7/5QB @EZjFNOT Ignoring new targets: 289.80 m.BjJj% ProNav: ac range: 289.799988 m, nav range: 40.810318 m, bearing: 236.350235 deg, approach rate: 0.524141 m/s, LOS rate: -0.534041 deg/s, cmd heading: 7.133368 deg, new cmd heading: 6.578381 deg. 2j%@-HeadingCmd: 0.114814 target range: 289.799988 and range: 289.80 m. j-#=j)j)j)i1h1h1h1h9f9f9f9rfAbfE?ɛ  隽̾I !<ɚiI(=I#=iiE=)#=)*F?2F:FBF 5JFG,=GaBqWill construct direction to contact in vehicle frame from tetrahedron phase data.Oa> $?I X,w,&ǵ4A2G@Y2\>2A%=92qa=y2HXX ZG٣ZJGyf*ȼ j> =Nusing accuracyPremultiplier from config1=/595-np?E/5Y5Y. i5mBAE>E@5 E5:5:5:/5I M@QmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 289.80 m.BjJj ProNav: ac range: 289.799988 m, nav range: 41.014332 m, bearing: 236.139860 deg, approach rate: 0.520810 m/s, LOS rate: -0.534378 deg/s, cmd heading: 6.578381 deg, new cmd heading: 5.950420 deg. 2j^HeadingCmd: 0.103854 target range: 289.799988 and range: 289.80 m. j=jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ15H 1=I9 =8 <ɚ9i9I=K)=IE=iAiE?=)E=)IJJBA*F?2F:FBF^0JFZH RH @AH->I) I-y"II-BI)&I).I)6I- <:I- FG =GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245849+3w,}4A2@Y2`wS>2 )=92_]=y2H K?@fɿT?49?I?@Ц洫??ɨ2@2Ȉ;2CyR~BR!I]Mb@Mb@Mb@YYY Y)YY]K7A?Q?Qy] "?]<]] A ]3A)]+ AIYYy]zAI}I}ݜ4٢(ؽ ;=9 ;Q > G٣y > Nusing accuracyPremultiplier from config/59p?/5Y X. iVBi"?:S>@E;p;]>/5 +@EZjFNOT Ignoring new targets: 289.80 m.BjI%JjI%- ProNav: ac range: 289.799988 m, nav range: 41.214767 m, bearing: 235.894290 deg, approach rate: 0.474094 m/s, LOS rate: -0.578024 deg/s, cmd heading: 5.950420 deg, new cmd heading: 5.217337 deg. 2j-XƼ5HeadingCmd: 0.091060 target range: 289.799988 and range: 289.80 m. j5}=j1j9j9i9h9h9hAhEtBfAfAfArfIbfMf@ }$?Iyɛ15a 9=I9 =~<ɚ9i9I=*=IE}=iAiM=)M}=)I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497736JJJJJ\:J:JJJi;Jj;J@;J@;zKUFJKUh9KQKUKUE]-|,=*F?2F:FBF@5JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data. > < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750989GU =G)B9O}>P:w,4AJ@YJ@<>J .=9JEE=yJHn?Rǿw?Y?p? ;ѥ?`?ɨJ@JR;JCyVTBV!IiZC>IZ4<I^I^-4٢j< j7=9nNG;Q n>ll nG٣pyrQ r> zNusing accuracyPremultiplier from configtz/59vp?~/5YvTV. iv<B|~n>~@vEv<;v^;vDB/5RB @ EZjFNOT Ignoring new targets: 289.80 m.BjM"JjM" ProNav: ac range: 289.799988 m, nav range: 41.423248 m, bearing: 235.630379 deg, approach rate: 0.450640 m/s, LOS rate: -0.567581 deg/s, cmd heading: 5.217337 deg, new cmd heading: 4.429641 deg. 2j¼HeadingCmd: 0.077312 target range: 289.799988 and range: 289.80 m. jU=jjjihhhhff f rf bf #@ɛQU t Y隝I #<ɚiIo*=IU=iið=)U=) M$?IIEXR=*FM?2FI:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003287G%s=*J"Ja=GBO]v>H >I  I ""II уBI &I .I 6I &<:I FqAw,f5AyCBs!I}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:14:42.8873 TRx dataTimestamp_ set to:1736374484.168830checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255077Mb@Mb@Mb@ )YRQ?&1L7A`堿y"?P+ A) AI3AyQAII4٢I ;=9Q > G٣JGy > Nusing accuracyPremultiplier from config /59Lp? /5YU. i B M#?:=@E;Q;F/5) -@-EZjFNOT Ignoring new targets: 289.80 m.Bj2@Jj2@u ProNav: ac range: 289.799988 m, nav range: 41.603531 m, bearing: 235.339842 deg, approach rate: 0.418881 m/s, LOS rate: -0.672126 deg/s, cmd heading: 4.429641 deg, new cmd heading: 3.561876 deg. 2ju漝}HeadingCmd: 0.062166 target range: 289.799988 and range: 289.80 m. j}D~=jyjyjyiyhyhhh3Bfffrfbf @ɛ6 %I! %8r<ɚ!i!I%+=I5D~=i1i5t=)5D~=)9EAEA*EA"EA AII5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506144*Fm ?2Fi :Fi BFm 4JFi J J J J J ,:J 9J J J ;J ;J N>;J O>;zK BoHK 9K K K RK ?JK ?G (==GBO>^KIw,&5Ay5%B5O!IIUIU4٢e& m-=9qQ u>yy }G٣yy > Nusing accuracyPremultiplier from config/59p?/5YT. iB@E BDAT read: Tx time:22:14:43.9982 $Ping request sent.Iۚ?i| #?(?BjE#0JjE#0U ProNav: ac range: 289.799988 m, nav range: 41.800987 m, bearing: 235.026422 deg, approach rate: 0.389902 m/s, LOS rate: -0.615961 deg/s, cmd heading: 3.561876 deg, new cmd heading: 2.626146 deg. 2jU]Ӽ]HeadingCmd: 0.045835 target range: 289.799988 and range: 289.80 m. j]^;=jYjYjY)?CiYhhhhfffrf r@bf?I iӳ@0:publishing transmit ping timeFpublishing direction and range info9)ȿB2o ?Ct?y )Ii )Ii#?(?)Iiɛ9Eɼ AE9.IA E<ɚAiAIMl -=IU^;=iyi} =)^;=)*FU?2FQ:FQBFU_0JFQ $?IG--=GBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:14:43.9974 -Pw,@5A 6@Y6`2>6t0=96M(=y6HѢ?`U8¿ܨ? ]q? ?z 3?x?ɨ6@6T;6Cy^B^4!I)` `jH bH <H >IC I!IIBI. =&I.I6I <:I FBICJICRIZI/ =bI/ =jI@5IjIj4٢m)ؽ uK=9,:Q > G٣y > %Nusing accuracyPremultiplier from config]/59p?e/5Y@T. iBim7=@ Eʃ<<M/5SB .@Ek5~^?k5%0& k1 k5+5A:k5LCBk5KCZk5 @"5#K8q|X@D)p@5)ȿB2o ?Ct?Jk5ӳ@Rk50*5<Sa!L[S@5p@5^B$ȿ s?.?"k5RB*k5 ak5V]^?k5$!& 2k5Ck1k5_'. k5Ck5Ak5tY@ addTargetRange:: Added new target pos. range: 288.600006 m, deltaT: 3.780896 s, deltaX: -1.199982 m, approachRate: -0.317380 m/s, rangeRepo size: 4  Added new target pos. range: 288.600006 m, bearing: 125.231463 deg, lat: 36.903810 deg, lon: -122.122361 deg, deltaT: 3.780896 s, deltaX: -1.199982 m, approachRate: -0.317380 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 288.60 m.BjJj ProNav: ac range: 288.600006 m, nav range: 25.069992 m, bearing: 194.906557 deg, approach rate: 0.000000 m/s, LOS rate: -0.615961 deg/s, cmd heading: 2.626146 deg, new cmd heading: 1.842044 deg. 2jAMHeadingCmd: 0.032150 target range: 288.600006 and range: 288.60 m. jMr=jIjIjQiQhQhQhQhYfYfYfYrfYbfe \?ɛ  z=8I <ɚiI.=Ir=iif=)r=)Will construct direction to contact in vehicle frame from tetrahedron phase data.=%=*F]?2FY:FYBFe`0JFa $?I G L=Gy B O >VVw,JZ5A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:9@Y:*>:)=9:r?=y:H`ű?@"]%?@?? ,@r4?@?ɨ:9@:B;:CyJBJ!IJKcw3 K.-KK"KJ%J!J!J!J%̝:J!J!J!J%;J%;J!J!Mb@Mb@Mb@ )Y%C?V-:vyZ$?Լ A) AIAyAII 4٢ D=9vQ > G٣JGy > Nusing accuracyPremultiplier from config/59p?/5YT. iB%'?:J9@$Ej!;;aQ/5 \@ E%B*** querying acoustic contact ***j!j!Zj1FNOT Ignoring new targets: 288.60 m.Bj Jj  ProNav: ac range: 288.600006 m, nav range: 25.316774 m, bearing: 194.730562 deg, approach rate: 0.701060 m/s, LOS rate: -0.495092 deg/s, cmd heading: 1.842044 deg, new cmd heading: 1.319222 deg. 2j㩼HeadingCmd: 0.023025 target range: 288.600006 and range: 288.60 m. jq<jjjihhhhBfff rf bf ?zK)K-s9K)K-K-BK=qA:K9ɛBaQ BI t<ɚiIl/=Iqˀ\w,qt5A I>Ѿ@Y>=>&=9>̊6=y>HѾ@>ᇇ;>CyFBJ!IIRIR4٢Zk Z^=9^Q ^>\` bG٣`yb' b> jNusing accuracyPremultiplier from configdj/59f q?j/5YfT. ifBlnwn@f(Ef ;f ;fT/5p v@tZj FNOT Ignoring new targets: 288.60 m.BjLJjL- ProNav: ac range: 288.600006 m, nav range: 25.543976 m, bearing: 194.563221 deg, approach rate: 0.619427 m/s, LOS rate: -0.452171 deg/s, cmd heading: 1.319222 deg, new cmd heading: 0.821675 deg. 2j-)5HeadingCmd: 0.014341 target range: 288.600006 and range: 288.60 m. j5@j<j1j1j1i9hhhhfffrfbf@ B?ɛ &( 5>GI1 =<ɚ9i9I=/=IE@j=)E@j<)I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227670*F2F:FBFN1JFH>I I!IIRBI&I.I6I<:IF FGu,A=Gi By O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478335jcw,T5Ay||i=IMb@Mb@Mb@ )YMb?MbX9ĿMby#?!+ A A) AIAyAII49Q > G٣y > Nusing accuracyPremultiplier from config/59#q?/5YU. iB(?:@-EvA;;?;hX/5 @EZj%FNOT Ignoring new targets: 288.60 m.Bj%Jj%5 ProNav: ac range: 288.600006 m, nav range: 25.810160 m, bearing: 194.327425 deg, approach rate: 0.606151 m/s, LOS rate: -0.531412 deg/s, cmd heading: 0.821675 deg, new cmd heading: 0.121621 deg. 2j=Z=HeadingCmd: 0.002123 target range: 288.600006 and range: 288.60 m. j= ;jAjAjAiAhAhAhIhMBfIffrfbfF? $?IɛMBM IMFIQ UM<ɚQiQIU1=I] ;iYi]`=)] ;)a}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730486EQO=JJJJJJ :JJJJJS;JS;zKe BHKa Ka Ke Ke RKu >JKu ?*F ?2F :F BF `0JF G 1=-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983139GBO>jw,v5AF͸@YF=FJ"=9F &=yFH?N`???+Tpؤ??ɨF͸@Fr;DyZBZ!IIbIb4٢j~ j<9nQ n>lp rG٣rJGyr& r> 5Nusing accuracyPremultiplier from config)5/59-b=q?5/5Y-(W. i-B9=!=@-1E- :-:-\/5ETB E7@EEZjq}FNOT Ignoring new targets: 288.60 m.Bj}!Jj! ProNav: ac range: 288.600006 m, nav range: 26.092520 m, bearing: 194.059766 deg, approach rate: 0.602870 m/s, LOS rate: -0.565295 deg/s, cmd heading: 0.121621 deg, new cmd heading: 359.327387 deg. 2jHeadingCmd: 6.271446 target range: 288.600006 and range: 288.60 m. j@jjjihhhhfffrfbf@ɛ GI Y6{<ɚiI532=IV@iiLJ=)@)EHu= m$?Ii*F]?2FY:FYBF]u2JFaG5o=GBOL>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235290JJ@AZHY RH] ?AHe >Ia  Ie `!IIe 4BIe , =&Ia .Ie 2D6Ie :<:Ie  Fqw,zn5Ae8@Ye+=ee"=9e&=yeH@?@jT`ö?"?o?`ZV wˤ?`?ɨe8@eq;eCy}B}!I5Mb@Mb@Mb@111 1)1Y5Q?S㥛ĿMbp?y5(?5$5;5A A 5EA)5A AI5EA1y5G AUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486419I]I]-4٢m= u4=9u8Q u>yy }G٣yy}k }> Nusing accuracyPremultiplier from config/59Vq?/5YX. iB-?:0.@6E&;$;i`/5 @EZjFNOT Ignoring new targets: 288.60 m.Bj (Jj ( ProNav: ac range: 288.600006 m, nav range: 26.370304 m, bearing: 193.793760 deg, approach rate: 0.620527 m/s, LOS rate: -0.587954 deg/s, cmd heading: 359.327400 deg, new cmd heading: 358.537842 deg. 2jɼHeadingCmd: 6.257666 target range: 288.600006 and range: 288.60 m. j>@jjjihhh h Bf f frfbfW@ɛ=B=E 9E CIA p<ɚiI O3=I Ѽii=)>@) e$?IaEMj{=*F 2F :F BF j0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739878zKm BoHKm 9Ki Km Km    GMS=GIBiO?ېyw,?5A 88nYN@Yn'=n X=9n.*=ynH'?`o @+?ۤ??r@ĩ>@?`?ɨnYN@n;nCyEBM$!IImIm4٢= &=9.Q > GWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990503٣!y-j -> 5Nusing accuracyPremultiplier from config1=/595rq?=/5Y5FZ. i5yBAEKE@5<E5;5;5d/5MUB M"@UEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 288.60 m.Bj/Jj/ ProNav: ac range: 288.600006 m, nav range: 26.677952 m, bearing: 193.483510 deg, approach rate: 0.616642 m/s, LOS rate: -0.614684 deg/s, cmd heading: 358.537830 deg, new cmd heading: 357.617897 deg. 2jҼUHeadingCmd: 6.241610 target range: 288.600006 and range: 288.60 m. jUD@jQjYjYiYhYhYhahafafafarfibfmM@ɛ~B$h =I ?c<ɚiI4=I (K*i i-=)-D@)1E9E9*E9"E9 $?I *Fm ?2Fi :Fi BFm `0JFq  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:14:46.7862  TRx dataTimestamp_ set to:1736374487.948607 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243824GM =*J 4="J J J J J J :J :J J a @a @a @a @G! B1 OM >jw,n6AJW@YJ<J] =9J)=yJH`?@+M?@? H?x`8?u?ɨJW@J;HyVBV;!II^I^4٢fn= f`=9jQ j>hh nG٣nJGHv>IvC Ivf!IIv9BIv+ =&It.It6It:Iv Fy[ > Nusing accuracyPremultiplier from config /59 q?/5Y [. i oB!%}Y%@ @E  3; 3; g/5) -@)ZjEFNOT Ignoring new targets: 288.60 m.BjU&Jj}& ProNav: ac range: 288.600006 m, nav range: 26.900217 m, bearing: 193.256370 deg, approach rate: 0.574905 m/s, LOS rate: -0.582658 deg/s, cmd heading: 357.617886 deg, new cmd heading: 356.942130 deg. 2jǼEHeadingCmd: 6.229815 target range: 288.600006 and range: 288.60 m. jEZ@jAjIjIiqhyhyhhfffrfbf& @ɛE}BE; A隅3I Y<ɚiI}5=IyZii=)Z@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.Urw,E6AVWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.749599y(BR!IeMb@Mb@Mb@aaa a)aYeFx?㥛 ¿/$?ye+?ee G٣y > Nusing accuracyPremultiplier from config/59q?/5YL]. ijB/?:@@EE[;;9l/5 @EZjFNOT Ignoring new targets: 288.60 m.Bj.Jj.  ProNav: ac range: 288.600006 m, nav range: 27.207342 m, bearing: 192.968216 deg, approach rate: 0.658873 m/s, LOS rate: -0.611195 deg/s, cmd heading: 356.942134 deg, new cmd heading: 356.087496 deg. 2j ѼHeadingCmd: 6.214899 target range: 288.600006 and range: 288.60 m. jt@jjjihhhh`Bf!f!f!zK-uMK-}9K)K-K- rf9bf= *@ɛe|BeYA )I iP<ɚiIm6=Iًii(=)t@)*F?2F:FBFJ5JFG]=G1]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:14:46.7862 LVL= 14368, 23825, 19218, 26019, AGC= 62, IDX= 423, 0.17,-1.111,-2.288, 3.009,-2.027, PHS= 1.004,-0.214,-1.250, RAW= 62.7, 4.8, CAL= 63.3, 5.0, ROT= 86.7, -5.0 BYgot valid direction response: 22:14:46.7862 LVL= 14368, 23825, 19218, 26019, AGC= 62, IDX= 423, 0.17,-1.111,-2.288, 3.009,-2.027, PHS= 1.004,-0.214,-1.250, RAW= 62.7, 4.8, CAL= 63.3, 5.0, ROT= 86.7, -5.0  PDAT read: Bearing 86.7, -5.0 (Local)  ~Local bearing/azimuth received: Bearing 86.7, -5.0 (Local) % DAT read: Range 10 to 50 : 287.8 m (Round-trip 383.8 ms) speed 0.0 m/s OE > ,DAT read: user:2426>  BDAT read: Tx time:22:14:47.8998  $Ping request sent. i]?]"[]]?]= ]i?)]¸=I]?i]¸YY]6?7XH꿼trz;?)]I] i]f?]"{YY :publishing transmit ping timeء  Fpublishing direction and range infoY9],W=|"$U\?~u?yYYYY Y)YIYiYYYYY Y)YIYiYYY]6?7XH꿼trz;?)YIYiYYYY  $?I {w,9|56A2z@Y28 ;2=92;3=y2H?@F?$a? *?\`b??ɨ2z@2>;0ynABnq!I ra=pIvIv4٢%n> %|=9-QQ - ?11 5G٣1y}a }? Nusing accuracyPremultiplier from config/59q?/5Y^. ihBWZ@IE::$o/5VB D@Ekh?k k kl!-6A:kCBkCZk'?"8ɰA+rfc@lXm@,W=|"$U\?~u?Jkf?Rk"{*`g_;H8.b@yLn@d;>P,?J_p?"kwC*kkoh?k"f 2k4Ckoh?klt+ kǰCkPBk@ addTargetRange:: Added new target pos. range: 287.799988 m, deltaT: 4.031523 s, deltaX: -0.800018 m, approachRate: -0.198441 m/s, rangeRepo size: 4 5 Added new target pos. range: 287.799988 m, bearing: 100.784370 deg, lat: 36.903801 deg, lon: -122.122024 deg, deltaT: 4.031523 s, deltaX: -0.800018 m, approachRate: -0.198441 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 287.80 m.Bj=Jj9m ProNav: ac range: 287.799988 m, nav range: 36.578762 m, bearing: 139.244398 deg, approach rate: 0.000000 m/s, LOS rate: -0.611195 deg/s, cmd heading: 356.087486 deg, new cmd heading: 355.413206 deg. 2jiuHeadingCmd: 6.203131 target range: 287.799988 and range: 287.80 m. ju @jqjqjqiyhyhyhyhyfffrfq@Will construct direction to contact in vehicle frame from tetrahedron phase data.bf@} ?ɛ{BT` EIAJmJmJiJiJm\:Jm9JiJi }H<ɚyiyI}=7=Iii&=) @)*FY2FY:FYBF]W0JFYjHbHH>IC I!IIRBI* =&I.I3D6I<:I FG dL=e Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >w,XO6A2@Y2D@27<92:=y2Hz?@?g?y`F?gTM?%?ɨ2@2C;2CynPBn!IMb@Mb@Mb@ )Y|?5^?sh|?Q?y-?<A A)nAIAy AIEIEW4٢U= U9=9UM Q ]>YY ]G٣]JGyeY e> mNusing accuracyPremultiplier from configiu/59msq?u/5Ym_. imkB}I/?}:}}@mMEm ;mV;mr/5UB S@ $?IZjFNOT Ignoring new targets: 287.80 m.Bj3<Jj3< ProNav: ac range: 287.799988 m, nav range: 36.827377 m, bearing: 139.498337 deg, approach rate: 0.618852 m/s, LOS rate: 0.627835 deg/s, cmd heading: 355.413210 deg, new cmd heading: 356.169838 deg. 2jp<HeadingCmd: 6.216336 target range: 287.799988 and range: 287.80 m. j:@jjjihhhhBfffrfbf@7?ɛ-zB- 15I1 5̱A<ɚ1i1I5n7=I=%i=OzK] KK] 9KY K] K]  ֙w,hAi6Aj|@Yj@j|<9jaI=yjH]?@?7֘? Rw?@q`ꮙ ;?w?ɨj|@j5;jCy~`B!III4٢-= -_=9-#Q 5>11 5G٣1y=uڼ => ENusing accuracyPremultiplier from configAM/59Elq?M/5YE`. iEnBQUU@EQEE;E;E$v/5]VB ]`@]EZjFNOT Ignoring new targets: 287.80 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BjM2!<JjM2! Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J |:J 9J J w,6A6B@Y6mR@6Ѕ<96X=y6H?ܘ?ƕ?`@0?B :}??ɨ6B@6;6CHB>I@ IB!IIBBIB) =&I@.I@6IBv<:IBD FBIMCJIMCRIIZIM+ =bIM+ =jIM6yqB!I)! !-A-AI-I-)4٢E= EI=9EλQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam/59eq?m/5Yea. ierBimVu@eVEe;e;ey/5y }[@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 287.80 m.Bj<Jj< ProNav: ac range: 287.799988 m, nav range: 37.276447 m, bearing: 139.933395 deg, approach rate: 0.581024 m/s, LOS rate: 0.551271 deg/s, cmd heading: 356.792881 deg, new cmd heading: 357.467049 deg. 2j*<HeadingCmd: 6.238977 target range: 287.799988 and range: 287.80 m. j@jjjih!hqhyhfffrfbf5?ɛxB< I 2<ɚi I T9=I 5iiL<)@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJF yIyG {=G B O >㦍w,6A6@Y66@6gJ<96lf=y6HM?TO? ؓ?q ?-'㨕@Ӭ? +?ɨ6@6 ;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.721716yJBJ!I5Mb@Mb@Mb@111 1)1Y5HzG?:vl?y5=*?5T5=5A 5rA)5X AI5 A1y5 AII4٢= A=9SQ > G٣JGy) > Nusing accuracyPremultiplier from config/59ar?/5Ya. i|B *? : Z @ZE;:e}/5ZB @EZjAMFNOT Ignoring new targets: 287.80 m.BjM/<JjM/<] ProNav: ac range: 287.799988 m, nav range: 37.502048 m, bearing: 140.192779 deg, approach rate: 0.537659 m/s, LOS rate: 0.614451 deg/s, cmd heading: 357.467048 deg, new cmd heading: 358.240470 deg. 2je5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974326 e $?Ia w,6A2@Y2@2w<92Nv=y2H??_?-?ѢR?n@î??ɨ2@2;2CyRBR!IIZIZb4٢z{= z[=9zQ ~>|| G٣y} > Nusing accuracyPremultiplier from config %/59 J'r?%/5Y _b. i B!%$t%@ ^E _N; }0; /51 5L@1ZjQ]FNOT Ignoring new targets: 287.80 m.Bje*<Jje*ZHyRH}@AH>I I!IIBI&I.I6IX<:I/ FE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477974'w,6Ay~B!Ii ]>I <Mb@Mb@Mb@ )YJ +?&1?Q?y(?P=\=A )nAI Ay AIIQ4٢= ==9Q > G٣y > $?I =Nusing accuracyPremultiplier from configE/59p?r?E/5Yb. iBEr)?E:E=M@cE;A;r/5U[B U@UEZjyFNOT Ignoring new targets: 287.80 m.Bj{9<Jj{9< ProNav: ac range: 287.799988 m, nav range: 37.916977 m, bearing: 140.705192 deg, approach rate: 0.485484 m/s, LOS rate: 0.648648 deg/s, cmd heading: 358.909174 deg, new cmd heading: 359.769143 deg. 2j<HeadingCmd: 6.279156 target range: 287.799988 and range: 287.80 m. j@jjjihhhhBfffrfbf`%@ɛvBޑ 隭پI !<ɚiI:=IiiK)@)*Fe?2Fa:FaBFeP5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729974G- V<G B O- >zK jIK K K K BK) :K- pA0 w,lx6AZb@YZ@Zv{b<9Z=yZH`??t? Q?r3O@oM?@?ɨZb@Z;ZCy~B~!III4٢%R= %W=9%]Q %>)) -G٣-JGy5ɼ 5> =Nusing accuracyPremultiplier from config9E/59=Tr?E/5Y=a. i=BAE<M@=gE=3:=3:=Ň/5U\B U@U}EZjFNOT Ignoring new targets: 287.80 m.Bjh=<Jjh=< ProNav: ac range: 287.799988 m, nav range: 38.107563 m, bearing: 140.952476 deg, approach rate: 0.513067 m/s, LOS rate: 0.662367 deg/s, cmd heading: 359.769150 deg, new cmd heading: 0.507246 deg. 2jI<HeadingCmd: 0.008853 target range: 287.799988 and range: 287.80 m. j <jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984128ɛ9=* 9=ȾIA E <ɚAiAIELM;=IM  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:14:50.6879  TRx dataTimestamp_ set to:1736374491.982480 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236719>w,PT7AH>I I."II܃BI( =&I.I6I}<:IL FFv@YFZ@F5<9F=Ģ=yFH ??L}? ; `? o`ܹ`R??ɨFv@F ;FCyrBr!III4٢%{  %J=9%ܻQ ->19 =G٣9yM M> eNusing accuracyPremultiplier from configYm/59]]kr?u/5Y]a. i]Bq<@]kE]<]P<]V/5Y ]W@YB*** querying acoustic contact ***jjZjQ]FNOT Ignoring new targets: 287.80 m.Bjm"<Jj"< ProNav: ac range: 287.799988 m, nav range: 38.313374 m, bearing: 141.214500 deg, approach rate: 0.448878 m/s, LOS rate: 0.568410 deg/s, cmd heading: 0.507246 deg, new cmd heading: 1.289046 deg. 2j M2Ǎw,+/7A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6DAT read: Range 10 to 50 : 287.9 m (Round-trip 383.9 ms) speed 0.2 m/s :,DAT read: user:2427> >BDAT read: Tx time:22:14:51.7983 >$Ping request sent.> G٣y > MNusing accuracyPremultiplier from configIU/59Msr?U/5YM`. iMBU%?U:U:=U@MqEM;MQ;M/5a e@ezEzKFJKs9KKK '*('#"++)RKJK>  addTargetRange:: Added new target pos. range: 287.899994 m, deltaT: 3.778654 s, deltaX: 0.100006 m, approachRate: 0.026466 m/s, rangeRepo size: 4 Zj FNOT Ignoring new targets: 287.80 m.BjL<JjL< ProNav: ac range: 287.799988 m, nav range: 38.545219 m, bearing: 141.549568 deg, approach rate: 0.498871 m/s, LOS rate: 0.716638 deg/s, cmd heading: 1.289046 deg, new cmd heading: 2.288097 deg. 2j<%HeadingCmd: 0.039935 target range: 287.799988 and range: 287.90 m. j%#=j)j)j)i)h)h1h1h}HBfyfyfrf`fq@bf?ɛ uB a I ]+<ɚYiYI]<=Ie#=iaiev)e#=)i-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:22:14:51.7975 *F 2F :F BF 4JF I Gm ՒGIBYO>2΍w,><7AyB!I=Will construct direction to contact in vehicle frame from tetrahedron phase data.IEIEi4٢M@ UM=9UQ U>YY ]G٣]JGye e> mNusing accuracyPremultiplier from configiu/59m^r?u/5YmK`. imBqq}@muEm* ;m ;m/5]B @wEZjFNOT Ignoring new targets: 287.80 m.BjD<JjD< ProNav: ac range: 287.799988 m, nav range: 38.725182 m, bearing: 141.805607 deg, approach rate: 0.486292 m/s, LOS rate: 0.688648 deg/s, cmd heading: 2.288097 deg, new cmd heading: 3.052596 deg. 2jN<HeadingCmd: 0.053278 target range: 287.799988 and range: 287.90 m. j9Z=jjjihhhhfffrfbf m?ɛ  0A оI -E <ɚiIm<=I%9Z=i!i%ռ)%9Z=))*F2F:FBF_0JFjH<bHp<H!>IC IT"IIBI&I.I4D6Ih<:I= FG~FGaBiO8> Will construct direction to contact in vehicle frame from tetrahedron phase data. e $?Ia lՍw,"V7AyrBr!IMb@Mb@Mb@ )YV-?T㥛 ?:v?y|?>T<A )AInAyAII44٢ D=9Q > G٣y > Nusing accuracyPremultiplier from config/59jr?/5YD_. iB"?:>@yEP';$;/5 @tEZj FNOT Ignoring new targets: 287.80 m.BjA<JjA<- ProNav: ac range: 287.799988 m, nav range: 38.907124 m, bearing: 142.089059 deg, approach rate: 0.436636 m/s, LOS rate: 0.677062 deg/s, cmd heading: 3.052596 deg, new cmd heading: 3.898909 deg. 2j-T<5HeadingCmd: 0.068049 target range: 287.799988 and range: 287.90 m. j=,]=j9j9j9i9h9h9hAhE`BfAfAfIrfIbfM@I?ɛq}`< y}׾Iy }<ɚyiyI_<=I,]=ii"),]=)MWill construct direction to contact in vehicle frame from tetrahedron phase data.J-J-J)J)J-|:J-:J)J)J-;J-;J-@;J-@;EX=*F2F:FBFJFGrA GzKlLKKKK&%""#"   G BxG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Pۍw,3p7AR@YR@R9R<.=yRH?@h?@;p` ? y "w?]??ɨR@R;RCyrBr!Iiv=Iv> z=xI~I~F4٢ =Ƚ  U=9 Q > G٣y< %> -Nusing accuracyPremultiplier from config!-/59%r?5/5Y%C^. i%B15 >=@%}E%;%;%/5A E2@AZjimFNOT Ignoring new targets: 287.80 m.BjuA<JjuA< ProNav: ac range: 287.799988 m, nav range: 39.073994 m, bearing: 142.349960 deg, approach rate: 0.435218 m/s, LOS rate: 0.677556 deg/s, cmd heading: 3.898909 deg, new cmd heading: 4.678221 deg. 2j<HeadingCmd: 0.081650 target range: 287.799988 and range: 287.90 m. jM8=jjjihhhhfffrfbf C? $?IɛĬü 隥I P\<ɚiI ==IM8=ii賽)M8=)E^=*F?2F!:F!BF%o0JF!UWill construct direction to contact in vehicle frame from tetrahedron phase data.*J-R="J-%=G H #>I  I I I ' =&I GD.I 6I p<:I F FG B O >w,q7Ay=BE!III44٢% -:=9=Q =>AI UG٣UJGye e> Nusing accuracyPremultiplier from config/59nr?/5Y]. iB@EN;A;/5Will construct direction to contact in vehicle frame from tetrahedron phase data.^B @qEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 287.80 m.Bj=<Jj=< ProNav: ac range: 287.799988 m, nav range: 39.270325 m, bearing: 142.652502 deg, approach rate: 0.433112 m/s, LOS rate: 0.664076 deg/s, cmd heading: 4.678221 deg, new cmd heading: 5.581229 deg. 2j<HeadingCmd: 0.097411 target range: 287.799988 and range: 287.90 m. jR=jjjihhhhfff rf bf ? $?Iɛ !%I! %B;ɚ!i!I%"R==IER=iIiMi.н)MR=)YE} hW=] Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.*F5 ?2F1 :F1 BF5 _0JF1 JE JE JA JA JE :JE :JA JA JE ;JE ;JE I;JE I;"G =G =G LGI BQ Om >;w,7Azk@Yz-{@zc9zL>yzH ?`M?`1ː?f¿Zv?`?!?ɨzk@z6;xzK%MK9KKK !&)++///./-,,+*+-+('$#! Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268983yoB!I) mMb@Mb@Mb@iii i)iYm"~j?"~j?ymS#?mS=mm9A mA)mnAIiiym=AII4٢ <9 G٣yF= > Nusing accuracyPremultiplier from config/59 s?/5Ym[. iB%?:>@E:;+;/5 @nEZjFNOT Ignoring new targets: 287.80 m.Bj@<Jj@<  ProNav: ac range: 287.799988 m, nav range: 39.559719 m, bearing: 143.086013 deg, approach rate: 0.453140 m/s, LOS rate: 0.673829 deg/s, cmd heading: 5.581228 deg, new cmd heading: 6.872019 deg. 2j 8< HeadingCmd: 0.119939 target range: 287.799988 and range: 287.90 m. j Ģ=j j j i h h h h Bf f f rf bf @ɛ9 = t 9 = IA E ;ɚA iA IE |==IM Ģ=iI iM Ͻ)M Ģ=)Q Ey Ey *Ey "Ey M Will construct direction to contact in vehicle frame from tetrahedron phase data.I iI U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521314H$>I I5"IIBI&I.I6I.<:I FBI}ΜCJI}ΜCRIyZI}( =bI}( =jI}Δ|5*F?2F:FBF 5JFG₱ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775674GB!O=1?jw,=7A >@Y>{;>a9>|2>y>H?S f no?@? 7ƿk?3?Ӂ?ɨ>@>ڊ;<ɳDFxwADiDDiDD)H HIH NC)NpwAɴLLLLɵN|wAiPIPPIPiRluA RI RhF)TT V\uAV1VQvFɶX\\I\)\i\)`I`bDɷ` `)`IfuAfvfwF dddhih n$?Illipp)p pIp t)tttt9=GuAi=lgI=F9I9iE"uA ESA)AA AAIIIIII)QiQQy]DB]t!IMb@Mb@Mb@ )Y%C?{Gz?~jtxyZ$?ף=ĻA A)X AIAy3AIIE4٢ )  =9 ~Q  > G٣JGy6/= > ENusing accuracyPremultiplier from config!M/59%s?M/5Y%OZ. i%BM%?U:U>U@%E%N;%D;%/5]_B ]@]kEZjFNOT Ignoring new targets: 287.80 m.Bj84<Jj84< ProNav: ac range: 287.799988 m, nav range: 39.798546 m, bearing: 143.419723 deg, approach rate: 0.453775 m/s, LOS rate: 0.630245 deg/s, cmd heading: 6.872019 deg, new cmd heading: 7.867034 deg. 2jD<HeadingCmd: 0.137306 target range: 287.799988 and range: 287.90 m. j ڙ >j j j i h h hhBfffrfbf@ɛvB 隍I s;ɚiI٢==Iڙ >iiEƽ)ڙ >)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025239*F?2F:FBF\0JFGU2JJJ1JJJ:J3JJJJA;JA;G)B1O>  {Y y bBzK MK 9K K K w,>7A2u@Y2i<2קԼ92:]<>y2Hh?h61uz/?`kt?@uǿ@7?g?@s?ɨ2u@2;0y},BޅW!III"4٢ e=9:Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:14:54.5858 TRx dataTimestamp_ set to:1736374495.764688checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278128 G٣!y-.< -> UNusing accuracyPremultiplier from configQ]/59U&0s?]/5YUnY. iUBae< >e@UEU7:U:Ub/5m`B m=@mhEZjAEFNOT Ignoring new targets: 287.80 m.BjE4<JjM4< ProNav: ac range: 287.799988 m, nav range: 39.972660 m, bearing: 143.664317 deg, approach rate: 0.451677 m/s, LOS rate: 0.631745 deg/s, cmd heading: 7.867034 deg, new cmd heading: 8.597577 deg. 2j<HeadingCmd: 0.150056 target range: 287.799988 and range: 287.90 m. jI>jjjihhh $?Ihfffrfbf @ɛ9=# 9=%I9 Eܸ;ɚAiAIE==IMI>iIiM;̽)MI>)QEYE]qA*F?2F:FBF_0JFG qA G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532069GE kʽG! Ba O} >H &>I  I "II BI & =&I .I 6I :<:I Fߣw,8AJ@YJ><J9JoD>yJH?`jo@!?e?`ȿ@]?`q?Re?ɨJ@J7;Hy=B=>!IiE=IE<IMIM(4٢e(ʽ eN=9e2BQ e>ii mG٣iym< u> }Nusing accuracyPremultiplier from configy/59}eDs?/5Y}|X. i}Bs>@}E}/;}/;}/5 }@ZjFNOT Ignoring new targets: 287.80 m.BjC<JjC<} ProNav: ac range: 287.799988 m, nav range: 40.145382 m, bearing: 143.908679 deg, approach rate: 0.486256 m/s, LOS rate: 0.684981 deg/s, cmd heading: 8.597577 deg, new cmd heading: 9.327469 deg. 2j} <HeadingCmd: 0.162795 target range: 287.799988 and range: 287.90 m. j&>jjjihhhhfffrfbf9 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786444ɛz$ _/I ȱ;ɚiI ==I &>iiн)&>)9 $?I*F?2F:FBFJFG Jʽ Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:14:54.5858 LVL= 17888, 25137, 24530, 30851, AGC= 66, IDX= 434,-0.17, 0.114,-0.580,-1.838,-0.767, PHS= 0.969, 0.234,-1.074, RAW= 50.8, -1.5, CAL= 52.4, -4.5, ROT= 97.6, 4.5  Ygot valid direction response: 22:14:54.5858 LVL= 17888, 25137, 24530, 30851, AGC= 66, IDX= 434,-0.17, 0.114,-0.580,-1.838,-0.767, PHS= 0.969, 0.234,-1.074, RAW= 50.8, -1.5, CAL= 52.4, -4.5, ROT= 97.6, 4.5  PDAT read: Bearing 97.6, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 97.6, 4.5 (Local)  DAT read: Range 10 to 50 : 287.4 m (Round-trip 383.3 ms) speed 0.0 m/s % ,DAT read: user:2428> - BDAT read: Tx time:22:14:55.6999 - $Ping request sent.- 6qw,h#8A؁؅E؅1b م_)مxIمBiمbx?مo>مxمb?مPwּ څ j?)څ|٠Iڅ^ ?iڅ|٠=ځځۅ^QZ?Bңc r )ۅIۅRi G٣JGy > Nusing accuracyPremultiplier from config/59cs?/5YW. i BK)?:z=@E;A;/5 #@eEk;Mq?k_u k kK!8A:kCBkCZkO?"*?@;~h@0wŕi@:N$?+"?,?Jk?Rk}N*lM~~lc@2:5n@MZM?Lb?"keC*kk Jq?kVY 2kCkk$!& kCkBk|?5 addTargetRange:: Added new target pos. range: 287.399994 m, deltaT: 4.036387 s, deltaX: -0.500000 m, approachRate: -0.123873 m/s, rangeRepo size: 4 } Added new target pos. range: 287.399994 m, bearing: 92.348728 deg, lat: 36.903801 deg, lon: -122.121392 deg, deltaT: 7.815041 s, deltaX: -0.399994 m, approachRate: -0.051183 m/s, posRepo size: 4 ZjWill construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 287.40 m.BjJj ProNav: ac range: 287.399994 m, nav range: 86.271912 m, bearing: 112.349046 deg, approach rate: 0.000000 m/s, LOS rate: 0.684981 deg/s, cmd heading: 9.327469 deg, new cmd heading: 10.530723 deg. 2jHeadingCmd: 0.183796 target range: 287.399994 and range: 287.40 m. j4<>jjjihh)h)h-߄Bf)f1f1rf5`fq@bf55?ɛwBJ) =I4<>ii)4<>)  iIi*F 2F :F BF `0JF RK] ?JK] >G kʽeWill construct direction to contact in vehicle frame from tetrahedron phase data.GyBO>̀w,7B8A6u@Y6:=6G%96T>y6H ?@41N?C?ʿ {?`Wi?H?ɨ6u@6);6CyBBB IJK3 KKK"KJNJNJN0JLJN:JN:JNـ3JLaV@aV@aV@aV@IZIZ4٢b fh=9fQ f>ii uG٣qyu}i= u> Nusing accuracyPremultiplier from configy/59}ws?/5Y}V. i}'B{=@}E}O;}5P;}¶/5aB @bEjHbH<H'>IC I!IIBI&I.I6I<:In FB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 287.40 m.BjU+;Jj]+;} ProNav: ac range: 287.399994 m, nav range: 86.341042 m, bearing: 112.506108 deg, approach rate: 0.196536 m/s, LOS rate: 0.446169 deg/s, cmd heading: 10.530722 deg, new cmd heading: 11.001521 deg. 2j<HeadingCmd: 0.192013 target range: 287.399994 and range: 287.40 m. jD>jjjihhhhfffrfbf^D?ɛ xBPj JI u;ɚiIQ>=ID>i1i5+ٽ)5D>)a*F?2F:FBFJFGԽG ?G ?}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GBOu> $?I ۤw,[8A:@Y:af=:F[<9:=[>y:H f?@`ؠ?3?y˿I? *?@~ii mG٣iyuR< u> }Nusing accuracyPremultiplier from configy/59}*s?/5Y}V. i}&B;)?:<@}E};}:}F/5 )@ZjFNOT Ignoring new targets: 287.40 m.Bj~;Jj~;] ProNav: ac range: 287.399994 m, nav range: 86.436668 m, bearing: 112.670725 deg, approach rate: 0.244549 m/s, LOS rate: 0.420514 deg/s, cmd heading: 11.001521 deg, new cmd heading: 11.494812 deg. 2j]LjajijiiihihihqhĄBfffrfbfw?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989924ɛRb &UI J;ɚi!I%p>=I%oM>i)i-&ٽ)-oM>)1*F2F:FBF0JFzKK9KKKG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243516 $?I w,u8AB@YB=BɛN9Bl]>yBH ?@V @`R?F*?˿Щ?m? 7?ɨB@B ~;BCyfBf IIr|Ir[4٢zȍ zR=9z;Q z>|| ~G٣~JGyf< >  Nusing accuracyPremultiplier from config /59 գs?/5Y V. i 'B=@ E : ; ; /5! %@%_EZjIMFNOT Ignoring new targets: 287.40 m.BjU;Jj]; ProNav: ac range: 287.399994 m, nav range: 86.527611 m, bearing: 112.830197 deg, approach rate: 0.234400 m/s, LOS rate: 0.410599 deg/s, cmd heading: 11.494812 deg, new cmd heading: 11.972714 deg. 2j<HeadingCmd: 0.208963 target range: 287.399994 and range: 287.40 m. jxU>jjjihhhhfffrfbf?ɛyB u j\I %C;ɚ!i!I%>=I-xU>i)i-ؽ)-xU>)1E*F?2F:FBF3JFG GpAGehKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494287GYBaOY>JJJ1JJ :J:J3JHI I!IIMBI&I.I6I-<:I FY#w,8AeWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753324 IyޥBޥ IEMb@Mb@Mb@AAA A)AYE/$?yy }G٣yy > Nusing accuracyPremultiplier from config/59s?/5YV. i%B-?:@E;G:/5bB @\EZjFNOT Ignoring new targets: 287.40 m.Bj;Jj; ProNav: ac range: 287.399994 m, nav range: 86.665596 m, bearing: 113.028285 deg, approach rate: 0.282507 m/s, LOS rate: 0.404912 deg/s, cmd heading: 11.972714 deg, new cmd heading: 12.566007 deg. 2j<HeadingCmd: 0.219318 target range: 287.399994 and range: 287.40 m. j`>jjjihhh h Bf f frfbf ?ɛ=zB=c AE dIA Em:ɚAiAIE>=IM`>iIiU g)U`>)Q*F2F:FBF4JF! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002161G= rؽG B O% >)w,8Ay=B= II]I]פ4٢mY ur=9qQ u?yy }G٣yyy ? Nusing accuracyPremultiplier from config/59s?/5YW. i$B@E; ; ;/5 @YEZjFNOT Ignoring new targets: 287.40 m.BjV;JjV; ProNav: ac range: 287.399994 m, nav range: 86.761780 m, bearing: 113.165123 deg, approach rate: 0.284639 m/s, LOS rate: 0.404501 deg/s, cmd heading: 12.566008 deg, new cmd heading: 12.976062 deg. 2j͊<HeadingCmd: 0.226475 target range: 287.399994 and range: 287.40 m. jg>jjjihhhhfffrfbf`[@ɛ{B: 隵 iI :ɚiI>=Ig>iif)g>)zKK 9KKK  BKpA:KmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255997*F?2F:FBF2JF $?IGwGYByO^> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5056310w,wK8AJBJBJB0J@JB|:JB:JBـ3J@Z*@YZ=Z2^{9Zi>yZH?@+k>?!?`ٕͿf?@?a?ɨZ*@ZU;ZCyI5I5ݜ49e߼Q e>aa eG٣mJGym-= m> uNusing accuracyPremultiplier from configZHRH?AH(>I IM!II%BI&I.I6Id<:IC Fq/59us?/5YuV. iu&B ;@uEu5jjjihhhhfffrfbf |@ɛ]|B]Ux aeiIa eXk39ɚaiaIe(>=IRp>ii=Ž)Rp>)EErA*Fe?2Fa:FaBFe^0JFa"Gm>Gm=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760000 IGm ȇGA BI Om >6w,%8A>T@Y>=>O9>bn>y>H?Tf 䢿@Q??1ο?Gl??ɨ>T@>.;>CyZB^ IUMb@Mb@Mb@QQQ Q)QYUq= ףp? G٣yW< > Nusing accuracyPremultiplier from config/59 t?/5Y/W. i'B{-?:ۼ@EM;T:/5cB @VEZjFNOT Ignoring new targets: 287.40 m.Bjy;Jjy;} ProNav: ac range: 287.399994 m, nav range: 86.985168 m, bearing: 113.495422 deg, approach rate: 0.298442 m/s, LOS rate: 0.422228 deg/s, cmd heading: 13.468547 deg, new cmd heading: 13.965657 deg. 2j}<HeadingCmd: 0.243747 target range: 287.399994 and range: 287.40 m. jy>jjjihhhhBfffrfbfx+@Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009884ɛ%}B% )-mI) m{:ɚiiiIu>=Iuy>iqiy)}y>)y*Fe?2Fa:FiBFm_0JFiG=ٽGB!OEs>zK:KK9KKK   Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:14:58.4859  TRx dataTimestamp_ set to:1736374499.800679 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262637 $?I =w,8Ab?@Yb >bC9b^p>ybHܢ?`¿cʣ??%ο@1p?? ?ɨb?@b݈;bCyvBv I)| ~AAAI I b4٢ }= Q=9fQ >!! %G٣!y%0b= -> 5Nusing accuracyPremultiplier from config)=/59-Ut?=/5Y-8W. i-*B9=ҥ=@-E- ;-:-_/5MdB MA@MSEZjiuFNOT Ignoring new targets: 287.40 m.Bj};Jj}; ProNav: ac range: 287.399994 m, nav range: 87.092209 m, bearing: 113.654695 deg, approach rate: 0.274780 m/s, LOS rate: 0.408361 deg/s, cmd heading: 13.965657 deg, new cmd heading: 14.442877 deg. 2j <HeadingCmd: 0.252076 target range: 287.399994 and range: 287.40 m. j>jjjihhhhfffrfbf@& @ɛ~B܉ 隍mgI FɚiIC>=I>iiJ)>)*FE?2FA:FABFAJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513549JJJJJ :J:JJH)>I I;!IIBI% =&I.I6Ip<:IL FBI=ǝCJI=ǝCRI9ZI=& =bI=& =jI=Ǫ4GE@ƽG) BQ O >Dw,9AMWill construct direction to contact in vehicle frame from tetrahedron phase data. YIYۏ@Y > >DAT read: 22:14:58.4859 LVL= 19952, 30561, 30450, 32755, AGC= 65, IDX= 421, 0.27, 2.524, 1.688, 0.735, 1.634, PHS= 0.978, 0.101,-0.902, RAW= 57.8, -2.2, CAL= 61.3, -6.1, ROT= 88.7, 6.1 Ygot valid direction response: 22:14:58.4859 LVL= 19952, 30561, 30450, 32755, AGC= 65, IDX= 421, 0.27, 2.524, 1.688, 0.735, 1.634, PHS= 0.978, 0.101,-0.902, RAW= 57.8, -2.2, CAL= 61.3, -6.1, ROT= 88.7, 6.1 PDAT read: Bearing 88.7, 6.1 (Local) ~Local bearing/azimuth received: Bearing 88.7, 6.1 (Local) 9^n>yH৕? <ÿx ??%οb?@N?` ?ɨۏ@Ry;騉yB IDAT read: Range 10 to 50 : 286.4 m (Round-trip 381.9 ms) speed -0.2 m/s ,DAT read: user:2429> BDAT read: Tx time:22:14:59.5983  $Ping request sent. 99 eG٣eJGym< m> uNusing accuracyPremultiplier from configq}/59u6t?}/5YuAW. iu5B0?:u@uEu;u ;u/5 @PEkMJi?kMN" kI kMu9A:kM3CBkM6CZkM?"Mwr(@÷Ee@ gl@MuЪ?1Q?@ct5?JkM?RkMMl*MB)s?y\@='Zp@M| t+6P ?.sj j j i h hhhBf9f9f9rf=`fq@bfE?ɛB:Y u%=cI ɚiIV>=I.M>iiᴽ)%.M>)!Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:14:59.5975 )Y Y *F ?2F :F BF JF  1 m Yi ym BG ЭG G rAGBO>_Kw,S/9AzKVLKV+9KTKVKVf@Yf`>f*C9f`Qn>yfH ?Yſl`y??οÂ?7m?` ?ɨf@fӉ;fCyrĂBr II{IZ4٢%= %j=9-NQ ->11 5G٣1y="< =? ENusing accuracyPremultiplier from config9M/59=Jt?m/5Y=6W. i=>Bim;m@=E=;=6;=/5y }@yZjFNOT Ignoring new targets: 286.40 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BjW;JjW; ProNav: ac range: 286.399994 m, nav range: 117.609695 m, bearing: 107.596580 deg, approach rate: 0.215237 m/s, LOS rate: 0.339811 deg/s, cmd heading: 15.141023 deg, new cmd heading: 15.472634 deg. 2j5i<-HeadingCmd: 0.270048 target range: 286.399994 and range: 286.40 m. j-C>j)j)j)i)h1h1h1h1f9f9f9rf9bf=g?ɛB͑ $?I  v^I  :ɚiI>>=IC>ii?-)C>)A*F?2F:FBFJFG&GBOi> Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա jH9 bH= <HI II  IM G!IIM BII &II .II 6IM S<:IM 7 Fd@Rw,qI9A6D:@Y6@>'>6$96h>y6H@v?}ƿȦ?]?:2ο@??n?ɨ6D:@6ˊ;6CyBՂBB IiF%=IF<IJIJ4٢%n= %L=9%1Q %>)) -G٣)y-< 5> =Nusing accuracyPremultiplier from config1E/5951bt?E/5Y5W. i5IBAM<M@5E5 M;5L;5/5]eB ]@eNE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 286.40 m.Bj;Jj; ProNav: ac range: 286.399994 m, nav range: 117.689178 m, bearing: 107.725579 deg, approach rate: 0.201151 m/s, LOS rate: 0.326241 deg/s, cmd heading: 15.472634 deg, new cmd heading: 15.859362 deg. 2j_<HeadingCmd: 0.276798 target range: 286.399994 and range: 286.40 m. j{>jjjihhhhfffrfbf?ɛB烽  WI cɚiI>=I{>i i 7]) {>) *F?2F:FBF/1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. $?IG ] 5nManaging dock network, ignoring radio surface power offGBO>kXw,aQc9A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.201925>p@Y>2>>9>g>y>H`c?*ȿ`@ӧ ?`ޙ?@1οʶ???ɨ>p@>r;>CJ%J%J!J!J%|:J%:J!J!J%;a=J%;a=J%C;a=J%C;a=yEBE!IMb@Mb@Mb@ )Y(\?!rhMbP?y.?l罹: )\AI Ay(AII1h4٢h= ==9Z.Q  >    G٣ JGy< > %Nusing accuracyPremultiplier from config!-/59%b{t?5/5Y%V. i%YB=w0?=:=w\<=@%E% N;%xL;%l/5A E@EKEZj%FNOT Ignoring new targets: 286.40 m.BjU[;JjU[; ProNav: ac range: 286.399994 m, nav range: 117.776711 m, bearing: 107.864707 deg, approach rate: 0.191952 m/s, LOS rate: 0.304872 deg/s, cmd heading: 15.859363 deg, new cmd heading: 16.276429 deg. 2j;Q<HeadingCmd: 0.284077 target range: 286.399994 and range: 286.40 m. jr>jjjihhhh҄Bfff rf bf  ?ɛUBUd Y]OIY ]ɚYiYI]y==Imr>imq)qzKBoHK9KKKFRI6& ?~zvsmkhc^XTQG=;KkRK ?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.453957EmY= 1 I1 *F ?2F :F BF _0JF GEGM?GM>G!B9OU?`w,}9A6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706098>@Y><>>9>}`e>y>H-S?`tɿ b?:? ο@m? IP??ɨ>@>_;>CyNBR!IIZIZ44٢b = b1=9bQ f>dd fG٣dyj< j> nNusing accuracyPremultiplier from configlr/59nt?r/5YnV. inkBtv<v@nEn ;n ;nr/5zfB z@zHEZj)5FNOT Ignoring new targets: 286.40 m.Bj5+;Jj5+;E ProNav: ac range: 286.399994 m, nav range: 117.867287 m, bearing: 108.012476 deg, approach rate: 0.206121 m/s, LOS rate: 0.336014 deg/s, cmd heading: 16.276430 deg, new cmd heading: 16.719386 deg. 2jMfjQjQjQiQhQhQhYhYfYfYHI Im!II>BI&I.I6I<:I FfYrfYbf] 6?ɛ B @b UEIQ UDqɚYiYI]'<=Ieg>ie4%)aE5r.=*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.966866 E $?IA G #G B O >jfw,6#9AyfBf8!I)h jAeMb@Mb@Mb@aaa a)aYe|?5^? G٣y > Nusing accuracyPremultiplier from config/59t?/5Y7V. iB.?:B=@E1;;//5 7@ZjFNOT Ignoring new targets: 286.40 m.Bjz;Jjz;  ProNav: ac range: 286.399994 m, nav range: 117.936615 m, bearing: 108.149709 deg, approach rate: 0.163051 m/s, LOS rate: 0.322563 deg/s, cmd heading: 16.719386 deg, new cmd heading: 17.130835 deg. 2j _]< HeadingCmd: 0.298989 target range: 286.399994 and range: 286.40 m. j&>jjj!i!h!h!h)h-Bf)f)f)rf1bf59@ɛB{i :I NɚiIz<=I&>iiy)&>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215337JQJUJQJQJQJU:JQJQJQJQJUDG;JUDG;EU &=*F?2F:FBFo0JFzK mNK K K K }nbWQKD=7.#  BK :K qAe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466154 E $?IA GU 銝G)B9O]>c!nw,kD9AFx@YF O>F %ý9F b>yFH4?˰˿  ?#t?Ϳ/[?m??ɨFx@FZ4;FCyR-BRY!II^I^4٢f= f7=9fQ f>hh jG٣jJGyn"= n> rNusing accuracyPremultiplier from configlv/59nt?v/5Yn{U. inBtve=z@nEn ;n7 ;n/5~gB ~@~EEZj%FNOT Ignoring new targets: 286.40 m.Bj-;Jj-;= ProNav: ac range: 286.399994 m, nav range: 118.004204 m, bearing: 108.292784 deg, approach rate: 0.152049 m/s, LOS rate: 0.321681 deg/s, cmd heading: 17.130835 deg, new cmd heading: 17.559807 deg. 2jE\<]HeadingCmd: 0.306476 target range: 286.399994 and range: 286.40 m. je{>jijijiiihqhyhhfff rf bf t~@ɛUBUP QUm.IY ]>ɻɚYiYIe;=I{>i )EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717978ZHRH@AH*>I I!IIqBI&I.I5D6Im<:IJ F*F?2F:FBF0JFG G B O >uw, 9AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973535 |I|@Y`V>ƽ9-9^>yHq&?̿o໋?l?{Ϳ~Ѹ?:n?+?ɨ@A;騑yIB{!IMb@Mb@Mb@ )Y|?5^?Q:v?y<#A )IAy AIIF4٢= #=9mQ > G٣yr}< > Nusing accuracyPremultiplier from config/59t?/5YT. iB.?:!>@E];\;p/5 @BEB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 286.40 m.Bj5;Jj5; ProNav: ac range: 286.399994 m, nav range: 118.058815 m, bearing: 108.454478 deg, approach rate: 0.108707 m/s, LOS rate: 0.321713 deg/s, cmd heading: 17.559807 deg, new cmd heading: 18.044651 deg. 2j\<HeadingCmd: 0.314939 target range: 286.399994 and range: 286.40 m. j?>jjjihhhh Bf f f rf bf @ɛ}B}Ts= 隅!I S޻ɚiI:=I?>iЏ )*Fm?2Fi:FiBFm42JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:15:02.3838 TRx dataTimestamp_ set to:1736374503.584733checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223593JmJmJiJiJmL:Jm:JiJiJmO;JmQ;JmyE;JmzE;G aGi By O >Q{w,{9A2@Y2``>23ɽ92'\>y2H ?Ϳ .%r?V_?`CQͿr?#-? ?ɨ2@2;2CyFkBF!IiJ!>IJR=IRIRƕ4٢ZW> Z=9Z`Q ^?\\ ^G٣\yb< b? fNusing accuracyPremultiplier from configdj/59ft?j/5Yf'S. ifBln*+>n@fEf:f:f,/5rhB r@r?EZjFNOT Ignoring new targets: 286.40 m.Bj%5;Jj%5;5 ProNav: ac range: 286.399994 m, nav range: 118.091599 m, bearing: 108.555749 deg, approach rate: 0.104863 m/s, LOS rate: 0.323840 deg/s, cmd heading: 18.044651 deg, new cmd heading: 18.348375 deg. 2j5?^<=HeadingCmd: 0.320240 target range: 286.399994 and range: 286.40 m. j=q>j9j9j9i9h9hAhAhAfAfAfArfIbfM  @zKmNKm9KiKmKm  (_##Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474111ɛ5B5ׁM 15I9 ɚiIq:=Iq>im@) $?I*FM?2FQ:FQBFU74JFQG-G BO5p> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:15:02.3838 LVL= 16944, 27441, 21602, 26435, AGC= 67, IDX= 416,-0.20,-2.957, 2.038, 1.505, 2.197, PHS= 1.218,-0.112,-0.695, RAW= 72.7, -4.9, CAL= 80.9, -11.3, ROT= 69.1, 11.3  Ygot valid direction response: 22:15:02.3838 LVL= 16944, 27441, 21602, 26435, AGC= 67, IDX= 416,-0.20,-2.957, 2.038, 1.505, 2.197, PHS= 1.218,-0.112,-0.695, RAW= 72.7, -4.9, CAL= 80.9, -11.3, ROT= 69.1, 11.3  PDAT read: Bearing 69.1, 11.3 (Local)  ~Local bearing/azimuth received: Bearing 69.1, 11.3 (Local)  DAT read: Range 10 to 50 : 285.9 m (Round-trip 381.3 ms) speed 0.0 m/s  ,DAT read: user:2430>  BDAT read: Tx time:22:15:03.4984  $Ping request sent. ?--}?yؕ C*J- 4="J) ؑ ؕ 0Bؕ 1k ٕ bT)ٕ CgIٕ Ciٕ m?ٕ B`彩ٕ 1ٕ i?ٕ % ڕ {?)ڕ IIڕ ^?iڕ I>ڑ ڑ ە zDDŸ? n̉ ӵ)ە -QSIە ή=iە ?ە ۑ ۑ E :publishing transmit ping time M Fpublishing direction and range infoؑ 9ؕ Q(??>?--}?yؑ ؑ ؑ ؑ ّ )ّ Iّ iّ ّ ّ ّ ّ ڑ )ڑ Iڑ iڑ ڑ ڑ ە zDDŸ? n̉ ӵ)ۑ Iۑ iۑ ۑ ۑ ۑ H I  I !II BI &I .I 6I <:I X F1w,b1 :AbEF;YbVCh>b:˽9bZ>ybH ?pο f?`bR?@4Ϳ`n???ɨbEF;b=;bCy]mBe!III4٢; 8=9DQ  >    G٣ JGyʒ< %> ]Nusing accuracyPremultiplier from configQ]/59Uu?e/5YUQ. iUBaea3>e@UEU :U:U /5 @k/Ck?k.) k kj:A:kCBkCZkt@"/L~%@^cx͛[@fwp@Q(??>?--}?Jk?Rk *xz~<"movG@.Eq@AhDD?$"Zg?"k;B*kkk?kJ{}) 2k%Cki?kkkBk ?M addTargetRange:: Added new target pos. range: 285.899994 m, deltaT: 3.782102 s, deltaX: -0.500000 m, approachRate: -0.132202 m/s, rangeRepo size: 4  Added new target pos. range: 285.899994 m, bearing: 121.267212 deg, lat: 36.903836 deg, lon: -122.121029 deg, deltaT: 3.782102 s, deltaX: -0.500000 m, approachRate: -0.132202 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 285.90 m.BjJj ProNav: ac range: 285.899994 m, nav range: 116.954193 m, bearing: 106.906843 deg, approach rate: 0.000000 m/s, LOS rate: 0.323840 deg/s, cmd heading: 18.348376 deg, new cmd heading: 18.831481 deg. 2jHeadingCmd: 0.328671 target range: 285.899994 and range: 285.90 m. jG>jjjihhhhfffrf`fq@bf?ɛ]B]56 =隅!I nɚiI9=IG>ii)G>)Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:22:15:03.4976 Iri*F?2F:FBF4JFG G B O >tw,V$:A22ͽ92cY>y2HG?ϿI;?@??7Ϳ@???ɨ2<2g;0JWill construct direction to contact in vehicle frame from tetrahedron phase data.yZB^!IJ=J=J9J9J= :J=:J9J9J=;J=;J=C;J=C;Mb@Mb@Mb@ )Yoʡ?{GztQ?y-?ף<"A @)3AIAyfAI]~I]T_4٢= 6=9(Q > G٣y< > Nusing accuracyPremultiplier from config /59 'u?/5Y P. i AB%;-?%:-`>-@ E r; "w; /5A E'@Ejjjihhhh9Bfffrfbf `?ɛ}B}8 y}Iy w:ɚiIp8=I@>ii-В)@>)*Fm?2Fi:FiBFm_0JFizKNK9KKK{vmji^ZUPHFC?<8620/-*&#!! EWill construct direction to contact in vehicle frame from tetrahedron phase data.E=ER= $?IG G B O >ᎎw,j>:A66zѽ96%X>y6H?п~`?`n/?@+2Ϳ#? ?@0?ɨ6<6M;6CyBBB!I)D DHJ@AIJIJi4٢R > Vr=9VֻQ V?TX ZG٣XyZ< Z? nNusing accuracyPremultiplier from configd~/59f9u?}/5YfN. ifbByi>@fEf6jjjihhhhf f f rf bf؊?ɛB9 隅I  ɚiI?8=I >iy)Will construct direction to contact in vehicle frame from tetrahedron phase data.jHbH=H+>I IA"IIBI&I.I6If<:ID FBIqJIqRIqZIu% =bIu% =jIuĦ@4*F?2F:FBF`0JFGмG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I ͕w,qWX:AymBm!IEMb@Mb@Mb@AAA A)AYEB`"?y&1?S㥛?yE.?E`yy G٣JGy > Nusing accuracyPremultiplier from config059Uu?05YIL. iB!/?:э>@EQ;;G05jB @4EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 285.90 m.BjI;JjI; ProNav: ac range: 285.899994 m, nav range: 117.000946 m, bearing: 107.326462 deg, approach rate: 0.017077 m/s, LOS rate: 0.348460 deg/s, cmd heading: 19.597911 deg, new cmd heading: 20.090146 deg. 2j%o<HeadingCmd: 0.350639 target range: 285.899994 and range: 285.90 m. j>jjjih h h h OBfffrfbf t?ɛEBEԉ AEIA M|ɚIiIIMD7=IU>iQiUy~)U>)QqtAAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. .YtAyBEM#'=*F ?2F :F BF _0JF G ´zKenMKe9KaKeKeZzqg^VL>3,)&"uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750285GBO>#w,w:A Iz1\=Yz~>zX!ӽ9zX>yzH ?@IҿLp@??@_Ϳ5X??@?ɨz1\=ze;zCy5B5"IIEIE:4٢P= A=9Q > G٣y/= > Nusing accuracyPremultiplier from config059lu?05YJ. iB>@E:;05 @ZjYeFNOT Ignoring new targets: 285.90 m.Bj;Jj; ProNav: ac range: 285.899994 m, nav range: 117.000122 m, bearing: 107.467101 deg, approach rate: -0.001903 m/s, LOS rate: 0.324738 deg/s, cmd heading: 20.090146 deg, new cmd heading: 20.512059 deg. 2j^<HeadingCmd: 0.358003 target range: 285.899994 and range: 285.90 m. j*L>jjjihhhhfffrfbf`?ɛ]B}& 隅߾I ɚiIDN6=I*L>i )E]ط<*F?2F:FBF`0JFG@mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000851J J J J J :J :J J a@a@a@a@GB)O=>HIII IM"IIMBII&II.II6IM<:IMv F{w,ِ:A%]_}=Y%>%+ѽ9%V>y%HE? ҿXp?@?`!Ϳ ?`|? #?ɨ%]_}=%;!y=ʃBE"IiM>IMi> M=M=IeIe̍4٢m^= mP=9u;Q u>qy }G٣yy}@< > Nusing accuracyPremultiplier from config059Xu?05YG. iB>@E;;j05kB @1EZjFNOT Ignoring new targets: 285.90 m.BjU;Jj]; ProNav: ac range: 285.899994 m, nav range: 116.997810 m, bearing: 107.596981 deg, approach rate: -0.006033 m/s, LOS rate: 0.338955 deg/s, cmd heading: 20.512059 deg, new cmd heading: 20.901700 deg. 2jh<HeadingCmd: 0.364803 target range: 285.899994 and range: 285.90 m. jǺ>jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253790 M$?IQɛB^ ӾI 4ɚ i I f5=IǺ>i+)EIEI*EQ"EQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504596*F ?2F :F BF _0JF G̞G ?G ?GBO?w,j:A6 1=Y6D>67Mν96_T>y6H ~?`BEӿZM?i?@|̿ ~?'9?`'?ɨ6 1=6jl;6CyBσBB"I%Mb@Mb@Mb@!!! !)!Y%n?A`"?Zd;O?y%V.?%Y=%j<%GA %@)%AI%A!y%Q AII{4٢< =9+;Q > G٣JGy< > Nusing accuracyPremultiplier from config059ӝu?05YyD. i"B.?:>@ E;M; 05 @.EZj%FNOT Ignoring new targets: 285.90 m.Bj-!;Jj-!;zK5ONK5 9K1K5K5  Btjd[SNGC?:40,+%EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758427] ProNav: ac range: 285.899994 m, nav range: 116.978798 m, bearing: 107.773688 deg, approach rate: -0.035575 m/s, LOS rate: 0.330700 deg/s, cmd heading: 20.901699 deg, new cmd heading: 21.431890 deg. 2j]bjajajaiahihihihu?Bfqfqfqrfybf}`Y>@ IɛB& 隵ѾI <$$ɚiI e4=Ig>ii)o)g>)*F?2F:FBFj0JFG@GYBaO[> Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012573J J J J J :J :J J ZH RH ?AH ,>I  I "II ABI &I .I 6I <:I Z FQ첎w,B:AyԃB&"III҅4٢=< =S=9=Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]059Unu?e05YU B. iUKBaae@U EU+;UK,;Uw05mlB u|@u+EZjFNOT Ignoring new targets: 285.90 m.Bj6;Jj6; ProNav: ac range: 285.899994 m, nav range: 116.965729 m, bearing: 107.901580 deg, approach rate: -0.033626 m/s, LOS rate: 0.329093 deg/s, cmd heading: 21.431889 deg, new cmd heading: 21.815603 deg. 2ja<HeadingCmd: 0.380754 target range: 285.899994 and range: 285.90 m. j4>jjjihhhhfffrfbfkO @ɛ B   ξI  2)ɚiIS3=I4>ii*)4>)!*F?2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264407 $?IGtoGBO>w,q:AbWill construct direction to contact in vehicle frame from tetrahedron phase data.fBDAT read: Rx Time:22:15:06.2833 jTRx dataTimestamp_ set to:1736374507.621367jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518092y~ڃB~-"I A AMb@Mb@Mb@ )YB`"??{Gz?y.?L=#<A @)AI=Ay AII4٢< ?=9Q >   G٣y > -Nusing accuracyPremultiplier from config)5059-u?505Y-Q?. i-rB5U/?=:=>=@-E-=- =-<05A E@AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 285.90 m.Bj;Jj; ProNav: ac range: 285.899994 m, nav range: 116.951988 m, bearing: 108.044967 deg, approach rate: -0.029169 m/s, LOS rate: 0.304428 deg/s, cmd heading: 21.815604 deg, new cmd heading: 22.245807 deg. 2jP<HeadingCmd: 0.388263 target range: 285.899994 and range: 285.90 m. jZ>jjjihhhhBfffrf)bf-@% @ɛB)W 隕̾I /ɚiIG2=IZ>i+;ii)Z>)*F}?2Fy:FyBF0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768277 $?IzKwNKS9KKK  RK>JK?G NG G qAG B O >@w,:A:F)=Y:炣>:z½9:@S>y:H>?}Կӊ?ъ?@f̿Q?@?.?ɨ:F)=:1;:CyRكBV,"IIbIb:4٢jѻ j_=9nzpp rG٣rJGyrj= v> zNusing accuracyPremultiplier from configtz059vu?~05Yv<. ivB|~>~@vEvl;v;vi05  3@ (EZj)5FNOT Ignoring new targets: 285.90 m.Bj5t;Jj=t;M ProNav: ac range: 285.899994 m, nav range: 116.934105 m, bearing: 108.165738 deg, approach rate: -0.055517 m/s, LOS rate: 0.374978 deg/s, cmd heading: 22.245807 deg, new cmd heading: 22.608168 deg. 2jMjQjQjQiYhYhYhahafafafarfibfm@ɛB1 iϾI R3ɚiI2=I]M>iYi]K)]M>)YWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:15:06.2833 LVL= 16688, 31665, 27810, 32755, AGC= 65, IDX= 439,-0.39, 2.028, 0.472, 0.133, 0.751, PHS= 1.365,-0.231,-0.620, RAW= 79.4, -5.7, CAL= 88.2, -13.0, ROT= 61.8, 13.0 Ygot valid direction response: 22:15:06.2833 LVL= 16688, 31665, 27810, 32755, AGC= 65, IDX= 439,-0.39, 2.028, 0.472, 0.133, 0.751, PHS= 1.365,-0.231,-0.620, RAW= 79.4, -5.7, CAL= 88.2, -13.0, ROT= 61.8, 13.0 PDAT read: Bearing 61.8, 13.0 (Local) ~Local bearing/azimuth received: Bearing 61.8, 13.0 (Local) *F)2F):F)BF--5JF)EDAT read: Range 10 to 50 : 285.5 m (Round-trip 380.7 ms) speed 0.2 m/s HYIY I]"II][BIY&IY.IY6I]{<:I]S F*JmC="JiJKm3 KS}-KK"KJuJuJqJqJu,:Ju:JqJqJu;aJu;aJuJ;aJuJ;a,DAT read: user:2431> BDAT read: Tx time:22:15:07.3984 $Ping request sent.Z(?)BsԾ}h)5I=ihr?X:publishing transmit ping timeFpublishing direction and range info9R~O?*?-[?I?y )Ii )IiGBOI>Z(?)BsԾ}h)Ii I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:15:07.3976 .Ǝw,;A6y=Y>59kP>yH..? :տ7m?8~?@<̿`??R4?ɨ6y=;CyEBE6"IiM=IM<Mb@Mb@Mb@ )Y(\?{Gz?~jth?y'?ף<D;A )MAI&Ay AI I 4٢< =9%;Q ->)) -G٣)y5Q< 5> =Nusing accuracyPremultiplier from config9E059=u?E05Y=9. i=BM'?M:M>M@=E=;=;=005mB @%Eko?k!|, k k;A:kCBkčCZk@" di'@ lS@E[q@R~O?*?-[?I?Jkhr?RkX*ꕪ_I5P0@6Ty)q@M)gGz?AZ?"kA*kJk'.n?k~y, 2kCkk?kkkBk7?} addTargetRange:: Added new target pos. range: 285.500000 m, deltaT: 4.036630 s, deltaX: -0.399994 m, approachRate: -0.099091 m/s, rangeRepo size: 4  Added new target pos. range: 285.500000 m, bearing: 141.396745 deg, lat: 36.903886 deg, lon: -122.121029 deg, deltaT: 4.036630 s, deltaX: -0.399994 m, approachRate: -0.099091 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 285.50 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 285.500000 m, nav range: 115.303436 m, bearing: 105.736324 deg, approach rate: 0.000000 m/s, LOS rate: 0.374978 deg/s, cmd heading: 22.608167 deg, new cmd heading: 23.259043 deg. 2jHeadingCmd: 0.405947 target range: 285.500000 and range: 285.50 m. jE>jjjihhhhBfffrfq@bf3?ɛuB} y}T̾Iy ;ɚiI0=IE>iiqf)E>)EY *F ?2F :F BF o0JF }Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IGrzK5ܗLK59K1K5K5BKA:KAGBO?+Ύw,o;;AFܾ=YFNh>F379FϘM>yFH?;տwo?l?@c˿l~?hk?9?ɨFܾ=F<;FC)ǑIǕuAƕƾƕwF ǑǙǙǙiǙǙiȡȡ)ȥ` ȡIȡ ɩ)ɩȩȩȩɩɭuAiɵ IɵFɱIʱiʵtA ʵ1ɵhkF)ʹʹ ˹ʹʹʹЁAI)iyB8"III:4٢< (=9;Q > G٣y M<  > Nusing accuracyPremultiplier from config059v?05Y6. iB%U>%@ E ; ;m05-nB -@-"EZjFNOT Ignoring new targets: 285.50 m.Bj;Jj; ProNav: ac range: 285.500000 m, nav range: 115.275665 m, bearing: 105.892904 deg, approach rate: -0.060344 m/s, LOS rate: 0.340317 deg/s, cmd heading: 23.259043 deg, new cmd heading: 23.728885 deg. 2ji<HeadingCmd: 0.414147 target range: 285.500000 and range: 285.50 m. j >jjjihhhhfffrfbf?ɛB! 隝G;I CAɚiII%0=I >ii01e) >)5Will construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH4=HI I"IIeBI&I.I6IY<:I; FJJJJJ:J 9JJJ6;J7;JO>;JO>;*Fm?2Fi:FiBFu0JFqGe|kG! B1 OM >Վw,a6U;ANQm>YN?/>N9NJ>yNH?ֿ[?`=?[r˿? ?`@?ɨNQm>N =;Lɳ\^twA\i``idd)d hIh h)hɴhhhlɵnxwAilIlpIpirSuA r,rhF)pt v/uAvCvCvFɶtxxIx)xix)xI~A|ɷ| || $?IyޅBލ6"IWill construct direction to contact in vehicle frame from tetrahedron phase data.IIa4٢Q t=9*4 @$E::Z"05) -@)Zj!UFNOT Ignoring new targets: 285.50 m.Bjej;Jjuj; ProNav: ac range: 285.500000 m, nav range: 115.252838 m, bearing: 106.000852 deg, approach rate: -0.058562 m/s, LOS rate: 0.276992 deg/s, cmd heading: 23.728885 deg, new cmd heading: 24.052792 deg. 2j><HeadingCmd: 0.419800 target range: 285.500000 and range: 285.50 m. j>jjjih!h!h)h)f)f)f1rf1bf5?ɛB<$ 隽ҾI <GɚiIx/=I>iƜ;iP0)>)*F?2F:FBF`5JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.G eG B O >mmێw, o;A6L>Y6696K>y6H!?]5׿|O?'?U˿@ě? !?B?ɨ6L>6;6CyލBލ7"I) Mb@Mb@Mb@ )Yy&1?I +?Mbpy`%?9<A @)IAyAI5I5W4٢MB; M>=9U QQ ]G٣Yy]< ]> Nusing accuracyPremultiplier from configa059e|8v?05Ye1. ieBy%?: >@e(Eej9jAjAiAhAhIhQhUBfQfQfQrfYbf]`?ɛB92 隍SԾI KɚiI/=I>ii 7)>)EEpA $?IEWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.zK]JK9KKK &=?1% *F=?2F9:F9BF=^0JF9Gq UGBOm> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984843LPw,F;AHyIy IyIyIy&Iy.Iy6I}k<:I}H FBI9JI9RI9*J"R="J"=ZI9bI9jI=4JbJbJ`J`Jb :Jb:J`J`Jb;Jb;JbDG;JbDG;ə>YzE>:79dOJ>yH`4?׿Ȣmp??T˿? ?2F?ɨə>M;Cy޵B޽;"III4٢t< P=9  G٣y t<  > =Nusing accuracyPremultiplier from config=059Lv?E05Y /. iBAE >E@,E;D;)05MoB M@uEZjFNOT Ignoring new targets: 285.50 m.Bj;Jj; ProNav: ac range: 285.500000 m, nav range: 115.190552 m, bearing: 106.262539 deg, approach rate: -0.077316 m/s, LOS rate: 0.319830 deg/s, cmd heading: 24.463689 deg, new cmd heading: 24.838048 deg. 2j[<HeadingCmd: 0.433506 target range: 285.500000 and range: 285.50 m. jv>jjjihhhhf f f rfIbfU@@ɛBv* 隝`ԾI 9QɚiI|.=Iv>i ;i n9) v>)*F?2F:FBF_0JF Iqi]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.235718Gm JY1Ga Bq O >nzw,q;A)T VXCNGy%B5|uA-<"II }Y}|uAy}B @BMb@Mb@Mb@ )Yp= ף?{Gzt?~jtxy%?ף;ĻA I@)X@I AyAIIƕ4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488280٢ ; >=9Q > G٣JGy > Nusing accuracyPremultiplier from config 059av?05YT,. i1B!%?:>%@1E;;U-05 @EZj9=FNOT Ignoring new targets: 285.50 m.BjE;Jje;u ProNav: ac range: 285.500000 m, nav range: 115.164856 m, bearing: 106.400893 deg, approach rate: -0.056672 m/s, LOS rate: 0.305209 deg/s, cmd heading: 24.838048 deg, new cmd heading: 25.253196 deg. 2juvQ<}HeadingCmd: 0.440751 target range: 285.500000 and range: 285.50 m. j},>jyjyjyihhhhBfffrfbf;@ɛ=BeC%& ae־Ia mXWɚiiiIm%-=Iu,>iu@;iu&T)u,>)y*F?2F:FBFJF $?I e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739254G o5zK LK 9K K K gj YN7'xL&\muJn_GY Ba O} >yw,P½;AF.!>YF>FJ9F\C>yFH7? ؿX_???`#ʿ$?C? T?ɨF.!>F6g;FCyRBR>"II^I^)4٢j'< jn=9na-@4EzD;XD;\005=pB ={@=EZjy}FNOT Ignoring new targets: 285.50 m.Bj;Jj; ProNav: ac range: 285.500000 m, nav range: 115.142540 m, bearing: 106.511298 deg, approach rate: -0.069892 m/s, LOS rate: 0.345846 deg/s, cmd heading: 25.253197 deg, new cmd heading: 25.584472 deg. 2jYm<HeadingCmd: 0.446533 target range: 285.500000 and range: 285.50 m. j>jjjihhhhfffrfbf`[*@ɛB3i= 隕׾I [ɚiI%-=I>ii .@)>)*Fm?2Fi:FiBFmo0JFi"G=G=G]BDWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991462ZHRHAAHI I"II`BI&I.I6Ie<:ID FGQBaO}Y>5w,;A 0I4>&>Y>:>>x9>@>y>H??@Mؿzt?@? t?`ɿK?@?Z?ɨ>&>>D;>CyJBJJ"IIVIV4٢bu;= bL=9fZdh jG٣hyjV< j> rNusing accuracyPremultiplier from configlr059n2v?v05Yn'. inQBtv>v@n8En:n:n305x z@|Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:15:10.1815  TRx dataTimestamp_ set to:1736374511.400684 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244426ZjFNOT Ignoring new targets: 285.50 m.Bj;Jj;% ProNav: ac range: 285.500000 m, nav range: 115.116249 m, bearing: 106.637431 deg, approach rate: -0.063398 m/s, LOS rate: 0.304227 deg/s, cmd heading: 25.584471 deg, new cmd heading: 25.962952 deg. 2j%P<-HeadingCmd: 0.453139 target range: 285.500000 and range: 285.50 m. j->j)j)j)i)h)h1hQhQfYfYfYrfYbfe @ɛe„B.& оI SaɚiI6-=I>iT;iG)>) *F2F:FBFc0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496017J] JY J] /JY J] :JY J] (N3JY am @am @am @am @G UGy B O >Zw,^;A6)*>Y6v >6F96=>y6H`?SzؿՏ}?P??ɿ`Q??@`?ɨ6)*>6$;6CynBrV"IuMb@Mb@Mb@qqq q)qYuRQ?Mb~jthyu"?uuDu A u3@)uA@Iu AqyuAII44٢<= ==9};Q > G٣JGy< > Nusing accuracyPremultiplier from config059ݜv?05Y$. ibB"? : ̹>@=E<<705 K@E u$?IyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 285.50 m.Bj;Jj; Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:15:10.1815 LVL= 17200, 32033, 22226, 28467, AGC= 68, IDX= 421, 0.07,-1.995, 2.727, 2.597,-3.101, PHS= 1.194,-0.408,-0.588, RAW= 84.7, -2.4, CAL= 92.4, -8.1, ROT= 57.6, 8.1 UYgot valid direction response: 22:15:10.1815 LVL= 17200, 32033, 22226, 28467, AGC= 68, IDX= 421, 0.07,-1.995, 2.727, 2.597,-3.101, PHS= 1.194,-0.408,-0.588, RAW= 84.7, -2.4, CAL= 92.4, -8.1, ROT= 57.6, 8.1 ]PDAT read: Bearing 57.6, 8.1 (Local) ]~Local bearing/azimuth received: Bearing 57.6, 8.1 (Local) mDAT read: Range 10 to 50 : 284.2 m (Round-trip 379.0 ms) speed 0.4 m/s u,DAT read: user:2432> }BDAT read: Tx time:22:15:11.2984 }$Ping request sent.}   O?4Ș u⿂:Pn) nI (= ProNav: ac range: 285.500000 m, nav range: 115.096649 m, bearing: 106.773984 deg, approach rate: -0.042345 m/s, LOS rate: 0.295069 deg/s, cmd heading: 25.962953 deg, new cmd heading: 26.372674 deg. 2jJ<HeadingCmd: 0.460290 target range: 285.500000 and range: 285.50 m. j!>jjjihi ʒ? Q  :publishing transmit ping timeyFpublishing direction and range info 9 +# Vu?YC^?y     ) I i   hh h Bf f f rf@3q@bf?   ) I i    O?4Ș u⿂:Pn) I i    zKehOKe9KaKeKeN<1%  ]},{kXI9+#xHZ{cRB951+&#ɛ}ńB}$ 隥ɾI gɚiI,=I!>i!0;iU)!>)*F]?2Fa:FaBFep0JFaG I4G Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:15:11.2976 H +>I  I "II eBI &I .I 6I <:I V FGY Ba O} >w,ҏ YF}>Fr9F<>yFH؂?ڼؿ^Ʉ?2c? F?1ȿ *˰? T? d?ɨFI/>Ff;DybBb`"I||I~I~]4٢ =  Q=95);Q 5>99 =G٣9y=O< E> MNusing accuracyPremultiplier from configAu059Euv?u05YE". iEpBy}[>}@EAEE;E ;E ;05qB @Ek_m?k. k ks;A:kCBkCZkY@"rV\! nK@ iq@+# Vu?YC^?Jkʒ?RkQ*b:>vAaq@1`!ı?"kb*kk&m?k .H. 2klCk&m?kJ{}) k%CkRBky@= addTargetRange:: Added new target pos. range: 284.200012 m, deltaT: 3.779412 s, deltaX: -1.299988 m, approachRate: -0.343966 m/s, rangeRepo size: 4 m Added new target pos. range: 284.200012 m, bearing: 195.005476 deg, lat: 36.903945 deg, lon: -122.121760 deg, deltaT: 3.779412 s, deltaX: -1.299988 m, approachRate: -0.343966 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 284.20 m.BjJj ProNav: ac range: 284.200012 m, nav range: 52.522587 m, bearing: 120.755024 deg, approach rate: 0.000000 m/s, LOS rate: 0.295069 deg/s, cmd heading: 26.372673 deg, new cmd heading: 26.692713 deg. 2jHeadingCmd: 0.465876 target range: 284.200012 and range: 284.20 m. jC>jjjihhhhfffrfbfo?ɛ-DŽB-3 )-þI1 5kɚ1i1I5v,=I=C>i=;i=Z'W)=C>)A*F92F9:F9BF=P5JF9GS IIIGWill construct direction to contact in vehicle frame from tetrahedron phase data.BO-p>w,d[% G٣y > Nusing accuracyPremultiplier from config]Will construct direction to contact in vehicle frame from tetrahedron phase data.059v?05Y< . iB!?:>@EE<<>05 @Zj!%FNOT Ignoring new targets: 284.20 m.J5J5J50J1J5\:J5(:J5ـ3J1Bjmx<<Jjmx<<} ProNav: ac range: 284.200012 m, nav range: 52.574780 m, bearing: 121.041189 deg, approach rate: 0.120329 m/s, LOS rate: 0.659088 deg/s, cmd heading: 26.692712 deg, new cmd heading: 27.550288 deg. 2j})<HeadingCmd: 0.480843 target range: 284.200012 and range: 284.20 m. j1>jjjihhhh}Bfffrfbf?ɛʄB\% .þI QqɚiI,=I1>i)i-<;)-1>))*F?2F:FBF05JF 5 $?I1 G tLV Will construct direction to contact in vehicle frame from tetrahedron phase data.G ?G !?G B O >zK xNK 9K K K    ;+{[tQ9,)&$!+w,#2?Y2Y>2927>y2HZ?@iwٿ?*?&? ȿi??ml?ɨ2<>2Bq;2CyNBRq"IIVvIV&Q4٢^W= b\=9b dd fG٣fJGyf= j> nNusing accuracyPremultiplier from confighr059jv?r05Yj. ijBprT>r@jIEj ;j& ;jA05zrB z @zEZj%FNOT Ignoring new targets: 284.20 m.Bj-S<Jj5S< ProNav: ac range: 284.200012 m, nav range: 52.618263 m, bearing: 121.290427 deg, approach rate: 0.129192 m/s, LOS rate: 0.739884 deg/s, cmd heading: 27.550289 deg, new cmd heading: 28.297342 deg. 2j<HeadingCmd: 0.493882 target range: 284.200012 and range: 284.20 m. j>jjjihhhhfff rf bf @!f?ɛ̄B6z- 隝QI uɚiI+=I>iiȊ)>)*F2F:FBF_0JFjHM<bHM<mWill construct direction to contact in vehicle frame from tetrahedron phase data.HU*>IQ IU"IIUoBIU& =&IQ.IQ6IU<:IUe FG}mG9BAO]U>  I! w,YY2+>2Uwt929>y2HC?xٿ.?ћ?@?kȿE?-?1l?ɨ2efD>2;2CyBBB|"IiFC=IF< Ja=Jp=ININHo4٢Vn?= VL=9V;Q V>XX ZG٣Xy^P< ^>bWill construct direction to contact in vehicle frame from tetrahedron phase data. fNusing accuracyPremultiplier from configdj059f#v?j05Yf. ifBln(>n@fMEf ;f ;f{E05p rr@tZjFNOT Ignoring new targets: 284.20 m.Bj@<Jj%@<- ProNav: ac range: 284.200012 m, nav range: 52.665066 m, bearing: 121.562757 deg, approach rate: 0.115905 m/s, LOS rate: 0.673816 deg/s, cmd heading: 28.297342 deg, new cmd heading: 29.113548 deg. 2j57<5HeadingCmd: 0.508127 target range: 284.200012 and range: 284.20 m. j5?j9j9j9i9h9hAhAhAfAfIfIrfIbfM`y?ɛτBn]$ !%I) UdzɚQiQIUm+=I]?iYieg^)e?)aEiEmnA*F]?2Fa:FiBFiJFquWill construct direction to contact in vehicle frame from tetrahedron phase data.G憽J} J} J} /Jy J} |:J} :J} (N3Jy G B O >#w,%rY6T>6}f969>y6H@A7?`ڿ=???@L?ȿ`Ӭ?w?l?ɨ6H>6V;6CyB-BB"IEMb@Mb@Mb@AAA A)AYEv/?Zd;O~jth?yEx)?Ejqq }G٣yy} < > Nusing accuracyPremultiplier from config059w?05Y+. iB)?:>@QE;;8I05 \@ EZjFNOT Ignoring new targets: 284.20 m.BjI<JjI< ProNav: ac range: 284.200012 m, nav range: 52.723061 m, bearing: 121.864577 deg, approach rate: 0.135810 m/s, LOS rate: 0.706008 deg/s, cmd heading: 29.113548 deg, new cmd heading: 30.017931 deg. 2jC<HeadingCmd: 0.523912 target range: 284.200012 and range: 284.20 m. j?jjjihhhhBfffrfbfQ?ɛ-фB5O 15]I9 =5]~ɚ9i9I=^+=IE?iAiE)E?)I $?I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.GڋGABQOm5>zKQNK 9KKK RK?JK>HI II  IM "IIM ~BII &II .II 6IM ><:IM $ F} Will construct direction to contact in vehicle frame from tetrahedron phase data.m #w,&ŌY6>6]XZ96A=>y6H"?!gڿ@]?=?i?\3ȿG?*}?` i?ɨ6UO>6p;;6Cyr:Bv"II~I~4٢-= -O=9-K;Q ->11 5G٣5JGyE < E> MNusing accuracyPremultiplier from configIU059M`w?U05YM. iMBY]C>]@MVEM;M;ML05esB e@mEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 284.20 m.Bj+I<Jj+I< ProNav: ac range: 284.200012 m, nav range: 52.776440 m, bearing: 122.144049 deg, approach rate: 0.134504 m/s, LOS rate: 0.703497 deg/s, cmd heading: 30.017930 deg, new cmd heading: 30.855436 deg. 2jf<HeadingCmd: 0.538529 target range: 284.200012 and range: 284.20 m. j ?jjjihhhhfffrfbf@ɛӄBn I jɚiI'+=I ?i i )  ?) *F?2F:FBF0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G^G B1 O >5)w,Y6.B>6P96w`?>y6H?ڿ A+???z?uLȿ??f?ɨ6-T>6;6CyVGBZ"I\^AEMb@Mb@Mb@AAA A)AYE|?5^?/${Gzt?yE-?E,Eף;E&A E@)En@IAAyE\AI}I}4٢s= C=9;Q > G٣yE< > Nusing accuracyPremultiplier from config059.w?05Y . iB).? : r> @ZEЗ;;cP05=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759183 @ZjFNOT Ignoring new targets: 284.20 m.BjC<JjC<  ProNav: ac range: 284.200012 m, nav range: 52.832962 m, bearing: 122.450401 deg, approach rate: 0.126539 m/s, LOS rate: 0.685105 deg/s, cmd heading: 30.855434 deg, new cmd heading: 31.773424 deg. J=J=J=0J9J= :J=:J=ـ3J92jM $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010367zK LK ػ9K K K   0w,SyY2ز>2vVI92OB>y2H @?ۿ`I?m?_?`}ȿ6(?E?2Ɍ;2CyNYBR"IIZIZ4٢b1= bZ=9b;Q f>dd fG٣dyjS< j> nNusing accuracyPremultiplier from configlr059nAw?r05Yn. inBpv>v@n^En2;nB;nS05ztB z@zEZjFNOT Ignoring new targets: 284.20 m.Bj\<Jj\< ProNav: ac range: 284.200012 m, nav range: 52.881832 m, bearing: 122.717406 deg, approach rate: 0.141269 m/s, LOS rate: 0.771119 deg/s, cmd heading: 31.773422 deg, new cmd heading: 32.573643 deg. 2jM=HeadingCmd: 0.568517 target range: 284.200012 and range: 284.20 m. jZ?jjjihhh!h)f)f1fQrfQbf]@+p @ɛׄB| 隥|I mɚiI*=IZ?ii@ν)Z?)*F?2F:FBF_5JFZHRH@AH (>I  I #II BI &I .I 6I K<:I - FMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263217BIJIRIZI& =bIjI,5J9J9G׼G B O > I H6w,[xx zG٣zJGy~ ~> Nusing accuracyPremultiplier from config 059Ww? 05Y. iB  @cE::2W05uB @EZjAEFNOT Ignoring new targets: 284.20 m.BjMM<JjMM M.YIyMBUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.766658SrY2H>2y=92dK>y2H@?dۿ"??W?5Cɿ ?:?XV?ɨ2ik>2j;2CyBwBB"IiF=IF4< J=J=Mb@Mb@Mb@ )Ykt? G٣y= > Nusing accuracyPremultiplier from config059+nw?05Y . iB_0?:>@gE5;;Z05 @ZjFNOT Ignoring new targets: 284.20 m.BjP<JjP< ProNav: ac range: 284.200012 m, nav range: 52.989578 m, bearing: 123.322237 deg, approach rate: 0.123242 m/s, LOS rate: 0.729449 deg/s, cmd heading: 33.459321 deg, new cmd heading: 34.386132 deg. 2jN<HeadingCmd: 0.600151 target range: 284.200012 and range: 284.20 m. j?jjjihhh h Bf f  $?If!rf!bf%@ɛUۄBU? Y]GIY ]jtɚYiYI]I*=Ie?iaie)m?)iEyWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:15:14.0790 LVL= 17296, 32753, 24050, 31043, AGC= 63, IDX= 410,-0.19, 2.608, 0.936, 0.935, 1.566, PHS= 1.130,-0.584,-0.635, RAW= 88.5, 1.0, CAL= 95.7, -2.6, ROT= 54.3, 2.6 Ygot valid direction response: 22:15:14.0790 LVL= 17296, 32753, 24050, 31043, AGC= 63, IDX= 410,-0.19, 2.608, 0.936, 0.935, 1.566, PHS= 1.130,-0.584,-0.635, RAW= 88.5, 1.0, CAL= 95.7, -2.6, ROT= 54.3, 2.6  PDAT read: Bearing 54.3, 2.6 (Local)  ~Local bearing/azimuth received: Bearing 54.3, 2.6 (Local) DAT read: Range 10 to 50 : 282.2 m (Round-trip 376.3 ms) speed 0.0 m/s ,DAT read: user:2433> %BDAT read: Tx time:22:15:15.1985 %$Ping request sent.-H '>I C I ;#II BI ' =&I .I 4D6I Q<:I / Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:22:15:15.1977 fYCw,1 =A2yu>Y2m>2G892aP>y2H?`]ܿ ?g??ɿ??@M?ɨ2yu>2ʊ;0*J>C="J>a=JFJFJF/JDJF\:JF9JF(N3JDJFj;aJJFk;aJJF8;aJJF8;aNyRBR#IIZIZ_v4٢E= EN=9EQ;Q E>II MG٣IyUV< U> }Nusing accuracyPremultiplier from configy059}w?05Y} . i}B>@}lE}n:}:}b^05 @Ek1n?ki1 k kIw,k'=A2>Y2>2%x<92XY>y2H|?ܿ 4i?q? ȼ?+ʿ㌧? ???ɨ2>2<;2CyNBR#IMb@Mb@Mb@ )Y(\?+{Gz?yz4?#<A @)I@I3AyfAII{4٢== B=9Q > G٣JGy< > Nusing accuracyPremultiplier from config059Bw?05Y. iB4?:>@pE|4;2; b05vB (@ EWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 282.20 m.Bj<Jj< ProNav: ac range: 282.200012 m, nav range: 33.229733 m, bearing: 153.095383 deg, approach rate: 0.443188 m/s, LOS rate: 0.934625 deg/s, cmd heading: 35.295877 deg, new cmd heading: 36.474852 deg. 2j[ =HeadingCmd: 0.636606 target range: 282.200012 and range: 282.20 m. j"?jjjihhhIhMDŽBfIfIfQrfQbfUgy?ɛ߄Bۼ 隕I ɚiI)=I"?ii)"?)*FU?2FY:FYBF]_0JFY $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.GU cG] ?G] *?Gy B O >ekPw,rA=AzK"KK"ػ9K K"K" :>Y:>: >9:&T_>y:HdS?ݿ5ˮ??%?@\:˿?@^?V5?ɨ:>:b;:CyFBF$#IINyINxV4٢Vo= V_=9VGQ Z>XX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config`f059bw?f05Yb/. ibBhj|>j@buEbU:b3:b=e05Y ]+@YZjFNOT Ignoring new targets: 282.20 m.Bj[<Jj[< ProNav: ac range: 282.200012 m, nav range: 33.392204 m, bearing: 153.441338 deg, approach rate: 0.446779 m/s, LOS rate: 0.946704 deg/s, cmd heading: 36.474853 deg, new cmd heading: 37.507551 deg. 2jm"=HeadingCmd: 0.654630 target range: 282.200012 and range: 282.20 m. jٕ'?jjjihhhhfffrfbf @e?ɛB]+Ѽ I [ɚiI )=Iٕ'?ii!)ٕ'?)E!E%pAjH<bHH$>I Ig#IIڄBI( =&IHD.I6I<:If F*F?2F:FBFJFG GrA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245452GkGJJAAJJJ0JJ:J:Jـ3JJ6;J7;JZ;JZ;BO l> I [Vw,[=ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497218F>YFB>FF?9Fd>yFH'?@!޿@4?fD?`S?˿` ?*W?x+?ɨF>Fb9;FCyRBR.#IIZjIZ;4٢E= EA=9EQ M>QQ UG٣QyU< ]> eNusing accuracyPremultiplier from configam059ew?m05Ye- ieBimI>u@eyEej;e;eh05wB @EZjFNOT Ignoring new targets: 282.20 m.Bj<Jj< ProNav: ac range: 282.200012 m, nav range: 33.579029 m, bearing: 153.841006 deg, approach rate: 0.456788 m/s, LOS rate: 0.971746 deg/s, cmd heading: 37.507550 deg, new cmd heading: 38.699702 deg. 2j&=HeadingCmd: 0.675437 target range: 282.200012 and range: 282.20 m. jt,?jjjihhhhfffrfbf?ɛB0ʼ $ܽI aɚiI1?)=I%t,?i!i%q)%t,?))*F?2F:FBF0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750044GmGI BQ Ou >\w,~u=A6w>Y6u?6 <96j>y6H`"?I޿@?A?@? 3$̿u? ?`"?ɨ6w>6;6CyBBB@#IMMb@Mb@Mb@III I)IYM9v?{Gzy&1?yM4?MףM`e G٣JGy< > Nusing accuracyPremultiplier from config059w?05Y]- i0B5?:}>@~E9;8;l05 @EZjFNOT Ignoring new targets: 282.20 m.Bj<Jj< ProNav: ac range: 282.200012 m, nav range: 33.753597 m, bearing: 154.236652 deg, approach rate: 0.423803 m/s, LOS rate: 0.955542 deg/s, cmd heading: 38.699702 deg, new cmd heading: 39.880323 deg. 2j#=HeadingCmd: 0.696043 target range: 282.200012 and range: 282.20 m. j/2?jjj i h h h hBfffrfbf`~|?ɛMBM QUdIQ UtɚQiQI](=I]/2?iYiel)e/2?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002602*F?2F:FBF1JFG`GGpAGaBiO9>zKKKh9KKKH (>I  I #II BI &I .I 5D6I <:I ` F= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253324ڪcw,a=AJ.J.J./J,J. :J.:J.(N3J,J.;J.;J.yE;J.zE;FP>YF?F99F4/p>yFHi?Sj߿??@?o̿ =?`ŷ?`y?ɨFP>F ";Dy^ÄB^L#IIfIf@4٢nK= nT=9n{:Q n>pp rG٣pyv = v> 5Nusing accuracyPremultiplier from configx=059zw?=05Yz - iz@B9=>=@zEz.&G}]>Will construct direction to contact in vehicle frame from tetrahedron phase data.յ*?յ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509597G# G B O >iw,3=ARП>YRd?R:9R"{v>yRH7?`n;?R&҉;RCyfӄBj_#IMb@Mb@Mb@ )Y9v?~jth rh?yDC<A p@)v@IAyIIW4٢j= <=9Q > G٣y = > Nusing accuracyPremultiplier from config059ax?05Y- iUB 5?:?@Ew;o;s05 xB P@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761496 E=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 282.20 m.BjM{<JjU{ ]$?IY Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013525Qpw,x =A:_>Y:|x ?:,<zK>K>]9K<K>K>9: 7|>y:H`F?,~Զ?`[?J?ݙͿs?@-?b?ɨ:_>:[;8ynڄBnh#IIvIv4٢~= ~Y=9cQ > G٣ y \-=  > Nusing accuracyPremultiplier from config%059x?%05Yg- ihB!% ?-@E`;|;v05I M@MEZjq}FNOT Ignoring new targets: 282.20 m.Bj}<Jj}< ProNav: ac range: 282.200012 m, nav range: 34.240166 m, bearing: 155.396917 deg, approach rate: 0.396563 m/s, LOS rate: 0.968939 deg/s, cmd heading: 42.248234 deg, new cmd heading: 43.343979 deg. 2j>&=HeadingCmd: 0.756495 target range: 282.200012 and range: 282.20 m. jA?jjjihhhhfffrfbfpR @ɛB I VxɚiIr'=IA?ii#)A?)ZH1RH5?AHM,>IMC IM#IIMBIM& =&IMGD.II6IM<:IMm F*Fu?2Fq:FqBFu^0JFq-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:22:15:17.9775 =TRx dataTimestamp_ set to:1736374519.218182=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267980JcKkm3 Kk(.KcKc"KcJJJ0JJ:JJـ3JJ6;J7;JJG1nGG>Ga By O > I II _vw,=A:r>Y:?:?9:΀>y:H?zQU?/?@?@ο|? ?p?ɨ:r>:;:CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.517466yZۄBZi#I)` `IfIf4٢n;; nM=9rKQ r>pp vG٣vJGyv)= v> zNusing accuracyPremultiplier from configx059z,x?05Yz}- iz|B?@zEz^;z;zyz05 yB @EZjAMFNOT Ignoring new targets: 282.20 m.BjM<JjM5Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 22:15:17.9775 LVL= 19920, 32753, 29682, 32755, AGC= 64, IDX= 427, 0.32, 2.076, 0.494, 0.723, 1.172, PHS= 0.992,-0.631,-0.452, RAW= 95.8, 1.2, CAL= 104.7, -2.0, ROT= 45.3, 2.0 uYgot valid direction response: 22:15:17.9775 LVL= 19920, 32753, 29682, 32755, AGC= 64, IDX= 427, 0.32, 2.076, 0.494, 0.723, 1.172, PHS= 0.992,-0.631,-0.452, RAW= 95.8, 1.2, CAL= 104.7, -2.0, ROT= 45.3, 2.0 }PDAT read: Bearing 45.3, 2.0 (Local) ~Local bearing/azimuth received: Bearing 45.3, 2.0 (Local) DAT read: Range 10 to 50 : 281.1 m (Round-trip 374.9 ms) speed 0.3 m/s ,DAT read: user:2434> BDAT read: Tx time:22:15:19.0985 $Ping request sent.  G٣y > %Nusing accuracyPremultiplier from config!-059%Bx?-05Y%- i%B-Y5?5:5?5@%E%;%;%W~05=zB =s@=Eke&kyw?ke46 ka ke=A:keCBkeCZke7ٕ@"ell@5K@ rq@e꽿=:E?( ?JkeZD@Rke*e<@<2Q ITWp@eN脁 yҿHTP?"keL*kekem"xw?keB6 2keȧCke#p n?ke .H. kakeBkeO\@ addTargetRange:: Added new target pos. range: 281.100006 m, deltaT: 3.783239 s, deltaX: -1.100006 m, approachRate: -0.290758 m/s, rangeRepo size: 4  Added new target pos. range: 281.100006 m, bearing: 268.302712 deg, lat: 36.903953 deg, lon: -122.122348 deg, deltaT: 3.783239 s, deltaX: -1.100006 m, approachRate: -0.290758 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 281.10 m.BjJj ProNav: ac range: 281.100006 m, nav range: 32.185516 m, bearing: 196.962320 deg, approach rate: 0.000000 m/s, LOS rate: 0.979665 deg/s, cmd heading: 44.512384 deg, new cmd heading: 45.821955 deg. 2jHeadingCmd: 0.799744 target range: 281.100006 and range: 281.10 m. jL?jjjihhhhSBfffrfq@bf`j?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:15:19.0977 ɛB◼ `I ՌɚiIa#'=I L?i i dn;)L?)*F?2F:FBFJFH- .>I)  I- #II- 0BI- % =&I) .I) 6I- 8<:I- " FBIɜCJIRIZI' =bI' =jIɎ5G= UcM Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ GU rAG B9 O >Aw,A>ARK?JK?ye݄Bel#II`I(*4٢׼ L=9Q > G٣y > Nusing accuracyPremultiplier from config059xVx?05Y- iB@E;";ׁ05 @EZjFNOT Ignoring new targets: 281.10 m.Bj :;Jj :; ProNav: ac range: 281.100006 m, nav range: 32.456509 m, bearing: 197.107176 deg, approach rate: 0.683575 m/s, LOS rate: 0.362345 deg/s, cmd heading: 45.821953 deg, new cmd heading: 46.252883 deg. 2jx<%HeadingCmd: 0.807265 target range: 281.100006 and range: 281.10 m. j%N?j)j)j)i)h)h)h1h1f1f1f1rf9bf=?ɛeBeD imIi m ɚiiiIm&=Iu4L?iu6;i}t9)}N?)y $?Ioi*F?2F:FBFl0JFGU#GBOK>MWill construct direction to contact in vehicle frame from tetrahedron phase data.) ~G sA = HY= sAyE B@w,+>A:U>Y:4?:ZV9:>y:H`?aE`I`?? ,?Ͽ@fҪ? %?`?ɨ:U>:fy;:CyN߄BNn#IiRxx zG٣zJGyM> U> ]Nusing accuracyPremultiplier from configYe059] ix?e05Y]c- i]Bam$?m@]E]:]:]@05q u@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 281.10 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 281.100006 m, nav range: 32.715988 m, bearing: 197.270726 deg, approach rate: 0.664342 m/s, LOS rate: 0.415413 deg/s, cmd heading: 46.252883 deg, new cmd heading: 46.739629 deg. 2j<HeadingCmd: 0.815760 target range: 281.100006 and range: 281.10 m. jP?jjjihhhhfffrfbfC?ɛ-B- 15I1 5qFɚ1i9I=Nd&=I=P?iAiE)EP?)AEQEQJ%J%J!J!J%,:J%:J!J!a5@a5@a5@a5@*F2F:FBF0JF"G>G>G4GBOA> Im Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247359T'w,D>A6 >Y6Q"?6K:\96>y6HR?@˭ ?@? ? Ͽ@䃫?v%?=?ɨ6 >6xD;6Cy^܄B^k#IIjhIjV84zKnBIKn9KlKn Kn#1:<:9;=GS\ee_cdb^YU٢zm zJ=9z[Q z> G٣y'= > Nusing accuracyPremultiplier from config 059 {x?05Y - i B )?@ E  ; P ; 05%{B -@-EZjIUFNOT Ignoring new targets: 281.10 m.Bj]D;Jj]D;m ProNav: ac range: 281.100006 m, nav range: 32.976616 m, bearing: 197.440521 deg, approach rate: 0.663516 m/s, LOS rate: 0.428854 deg/s, cmd heading: 46.739630 deg, new cmd heading: 47.244976 deg. 2jm(IC I#II:BI$ =&I.I6D6IC<:I+ FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499877G1GB!OM> $?I Pw, ^>AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751416>s>Y>%'?>'e9>>y>HU?@}(?2w?~$?@Ͽ ?j7??ɨ>s>>;>CyN˄BNU#IIEIE#4٢UN UD=9UݲQ ]>aa eG٣aym2== m> uNusing accuracyPremultiplier from configq}059u׎x?}05Yu- iuB-?@uEu;u ;uT05 @ZjFNOT Ignoring new targets: 281.10 m.Bj;Jj; ProNav: ac range: 281.100006 m, nav range: 33.250462 m, bearing: 197.626242 deg, approach rate: 0.657461 m/s, LOS rate: 0.442214 deg/s, cmd heading: 47.244975 deg, new cmd heading: 47.797531 deg. 2j<HeadingCmd: 0.834224 target range: 281.100006 and range: 281.10 m. jU?jjjihhhhfffrfbf@Y*?ɛB%.j !%I! %#ɚ!i!I-ۄ%=I-U?i)i5C )5U?)*F2F:F BF L5JFGMdH3GyBO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003586J5 J5 J1 J1 J5 :J5 :J1 J1 {w,x>A Iÿ́BX#I)! !-only read 2 of 4 data items for water velocity. Device response is::WS,-2768,-32768,V  @ @ @  @ II4٢5< B=9Q > G٣JGy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config059Ox?05Y- iB+: r:  @EuE;>N05 @EZjFNOT Ignoring new targets: 281.10 m.Bj;Jj;5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255455M ProNav: ac range: 281.100006 m, nav range: 33.527348 m, bearing: 197.810705 deg, approach rate: 0.615940 m/s, LOS rate: 0.406954 deg/s, cmd heading: 47.797531 deg, new cmd heading: 48.346333 deg. 2jM?@?;97654744531/,)" GqBO>H I  I #II 5BI &I .I 6I v<:I P F Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507590*J9 "J= %=ew,n>AR>YR1?Rri9R~>yRH`5?@l@)?@s?P?`LϿ?ϒ?V?ɨR>RVڈ;P $?IniyBI#II-I-d4٢5= ==9UغQ U>YY ]G٣Yye~= e> mbBottom track data is 0.9 s old, using for 20.0 s. uNusing accuracyPremultiplier from configiu059mx?}05Ym- imB} :y}D:}8?}@mEm5;m q?mG05}B @۷EZjFNOT Ignoring new targets: 281.10 m.Bj <Jj < ProNav: ac range: 281.100006 m, nav range: 33.863487 m, bearing: 198.056436 deg, approach rate: 0.684821 m/s, LOS rate: 0.495659 deg/s, cmd heading: 48.346333 deg, new cmd heading: 49.076165 deg. 2j<HeadingCmd: 0.856541 target range: 281.100006 and range: 281.10 m. j@F[?jjjihhhhfffrfbf W@ɛB`˼ HI Pɚi!I%$=I%@F[?i)i-)-@F[?)1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759508*F?2F:FBFO5JFG ,G B O >Ѫw,t`>AFgp>YF47?F*m9Fю>yFH??@?? DϿ ??.?ɨFgp>F ;FCɳLNxwALiPPiPP)P PIP VC)TɴTTTXɵXiXIXXI\i^duA ^n\)\` bOuAb%`ɶ``bwAId)did)dIdhɷh h)lInuAn/ݾnwF lllpippipr$xA)p pIt t)ttxx|~?uAi~xiI~F|IiuA YkF)    Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011485%́AI%)!i!!y5B58#I        Mb@Mb@Mb@ )Yx&?ˡE?Mb`?y7)?'=;A @)+@IAyAJmJmJiJiJm :Jm:JiJiI]I]:4٢Ҡ r=9=Q ? G٣y= ? Nusing accuracyPremultiplier from config059x?05Y- i1BT:)?:HF?E@EI:<9<=05I M@ImB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 281.10 m.Bj<Jj< ProNav: ac range: 281.100006 m, nav range: 34.064377 m, bearing: 198.223470 deg, approach rate: 0.578377 m/s, LOS rate: 0.478070 deg/s, cmd heading: 49.076166 deg, new cmd heading: 49.574302 deg. 2j < HeadingCmd: 0.865235 target range: 281.100006 and range: 281.10 m. j ]?j j j i h hhh Bfffyrfybf} @ɛB I ɚiI9&$=I]?ii Ȅ) ]?)  }$?Iy*F?2F:FBF]0JFG' GaBiO>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:15:21.8754 TRx dataTimestamp_ set to:1736374522.996814checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264599Dw,%>A6('?Y6ty6H?l ^[?w?`q?`ο? ?@?ɨ6('?6Ԉ;6CzK>MK>9K<K> K>y]B]2#Iie?>Iea=IIW4٢0߼ [=9Q > G٣JGyLi= > Nusing accuracyPremultiplier from config059Vx?05Y - iEBK?@E'::u05 @طEZj%FNOT Ignoring new targets: 281.10 m.Bj%<Jj-<= ProNav: ac range: 281.100006 m, nav range: 34.280499 m, bearing: 198.410324 deg, approach rate: 0.602665 m/s, LOS rate: 0.517764 deg/s, cmd heading: 49.574302 deg, new cmd heading: 50.131311 deg. 2j=Q )-#II MuɚIiIIU#=IU%_?iYi]ѽ)]%_?)Y5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516713*F?2F:FBF_0JF"G{>G>GIGyBO]> qIq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767346ݷw,">AyuBu!#III)4٢5k ,=9Q >! G٣y > Nusing accuracyPremultiplier from config059 x?05Yp- iaB@E;";05 @ ZjIMFNOT Ignoring new targets: 281.10 m.BjUX <JjUX < ProNav: ac range: 281.100006 m, nav range: 34.593384 m, bearing: 198.676160 deg, approach rate: 0.578783 m/s, LOS rate: 0.487299 deg/s, cmd heading: 50.131311 deg, new cmd heading: 50.921550 deg. 2j6<HeadingCmd: 0.888749 target range: 281.100006 and range: 281.10 m. j c?jjjihhhhfffrfbf@ɛ-B5 1=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 22:15:21.8754 LVL= 32336, 32753, 32754, 32755, AGC= 66, IDX= 422, 0.14,-0.082,-1.434,-1.073,-0.788, PHS= 0.794,-0.599,-0.288, RAW= 102.3, 1.5, CAL= 112.6, -1.8, ROT= 37.4, 1.8 }Ygot valid direction response: 22:15:21.8754 LVL= 32336, 32753, 32754, 32755, AGC= 66, IDX= 422, 0.14,-0.082,-1.434,-1.073,-0.788, PHS= 0.794,-0.599,-0.288, RAW= 102.3, 1.5, CAL= 112.6, -1.8, ROT= 37.4, 1.8 PDAT read: Bearing 37.4, 1.8 (Local) ~Local bearing/azimuth received: Bearing 37.4, 1.8 (Local) DAT read: Range 10 to 50 : 279.6 m (Round-trip 372.8 ms) speed 0.5 m/s ,DAT read: user:2435> BDAT read: Tx time:22:15:22.9985 $Ping request sent.Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:15:22.9977 GIBQOm?Rw,l[?AF.?YFK?F|h9Fc>yFH`\?@d??`EG?-l̿o?`>??ɨF.?FO;DybBb#IMb@Mb@Mb@ )YMb?Mb?Mbpy#?=A @)@Iy\AIUIU4٢ep e4=9";Q > G٣JGyk> > Nusing accuracyPremultiplier from config059xx?05YZ- irBG#?:X?@E;K;05~B @շEkUU ?kUx8 kQ kU#>A:kŰCBkU֊CZkUa&@"Uw:dB]?|=H9q@U7$p}c8?JkURkUT*U JA@xTZ o@U'fZr?&A:ؿl.E?"kUE*kUBkU˄?kUY8 2kUCkU'.n?kU4 1 kU]CkUEBkU @ addTargetRange:: Added new target pos. range: 279.600006 m, deltaT: 4.032283 s, deltaX: -1.500000 m, approachRate: -0.371998 m/s, rangeRepo size: 4 zK&~JKKK K Added new target pos. range: 279.600006 m, bearing: 288.537818 deg, lat: 36.903976 deg, lon: -122.122659 deg, deltaT: 4.032283 s, deltaX: -1.500000 m, approachRate: -0.371998 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 279.60 m.BjJj ProNav: ac range: 279.600006 m, nav range: 49.394302 m, bearing: 232.023086 deg, approach rate: 0.000000 m/s, LOS rate: 0.487299 deg/s, cmd heading: 50.921550 deg, new cmd heading: 51.534115 deg. 2j!%HeadingCmd: 0.899440 target range: 279.600006 and range: 279.60 m. j%Af?j)j)j)i)h)h)h1h5Bf1f1fYrf]yq@bf]T?ɛB o 隭QI GɚiIa"=IAf?ii)Af?)H->IC I#IIBI&I.I5D6I<:Ik F*F?2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.GmGABQOm> 9 I9 wƏw,!?A6[?Y66Q?6Ai96X>y6H $?@X`? `L??˿3?AU??ɨ6[?6]ى;6Cy^B^#I)` `IfIf̍4٢n2P rg=9rxOQ r>pt vG٣tyv= v? ~Nusing accuracyPremultiplier from configx059zpy?05Yz- izB  ^? @zEzJ0;z/;z05 %@!ZjIMFNOT Ignoring new targets: 279.60 m.BjUJjUe ProNav: ac range: 279.600006 m, nav range: 49.613739 m, bearing: 232.012818 deg, approach rate: 0.674225 m/s, LOS rate: -0.031410 deg/s, cmd heading: 51.534115 deg, new cmd heading: 51.503446 deg. 2jetmHeadingCmd: 0.898905 target range: 279.600006 and range: 279.60 m. jmf?jijijqiqhqhqhyhyfyfyfrfbf@ ?ɛBh 隽fgI \ĕɚiI<"=If?i;i?c)f?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFGGBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.̏w,5?A>i?Y>1U?>d9>ڂ>y>H`mn?C@p]?@:?n?@Zʿ@0?`z'??ɨ>i?>;<JJJJJHJHJJ,:JJ:JHJHyJBR"ImMb@Mb@Mb@iii i)iYmCl?~jt?:vym;?m11 5G٣1y='= => ENusing accuracyPremultiplier from configAM059Ey?M05YEW- iEBMW?U:U^?U@EEE[;E;E05]B ]@]ϷE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 279.60 m.BjfJjf󹝊 ProNav: ac range: 279.600006 m, nav range: 49.891582 m, bearing: 232.000881 deg, approach rate: 0.622609 m/s, LOS rate: -0.026600 deg/s, cmd heading: 51.503448 deg, new cmd heading: 51.467837 deg. 2j HeadingCmd: 0.898283 target range: 279.600006 and range: 279.60 m. je?jjjihhhhBfffrfbfͫ?ɛ B I yɚiIb}"=I e?i z;i *) e?) *F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GWdڽGGnAGBO`>zKu jIKq Kq Ku Ku jH bH H ,>I  I #II BI % =&I .I 6I Z<:I 9 FBI˞CJIRIZI$ =bI$ =jI05ъӏw,wN?A~Will construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498191y}B}#IIxIT4٢ < S=9Q > G٣y > Nusing accuracyPremultiplier from config059 y?%05Ye- iB)15@Et;;059 Eh@AZjFNOT Ignoring new targets: 279.60 m.BjJj빝 ProNav: ac range: 279.600006 m, nav range: 50.136868 m, bearing: 231.990453 deg, approach rate: 0.609299 m/s, LOS rate: -0.025777 deg/s, cmd heading: 51.467839 deg, new cmd heading: 51.436708 deg. 2jHeadingCmd: 0.897740 target range: 279.600006 and range: 279.60 m. jHe?jjjihhhhfffrfbfb??ɛ BM! 隵I OrɚiI7"=IHe?ihp;i.1)He?) $?Imi*F]?2FY:FaBFe_1JFaG5憽GBO5q>Will construct direction to contact in vehicle frame from tetrahedron phase data.թiխAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750549I m |uA ZA Y |uAy B=ُw,Ch?Aӌ%?Y ^?uL9~>yH@?@?|_??ɿ [?`t? K?ɨӌ%?;騥CyB"Ii->I-> =a=eMb@Mb@Mb@aaa a)aYezG?{GztI +ye ?eףe9eA e@)e@IezAaye\@II(4٢ /=9\R G٣JGy= > Nusing accuracyPremultiplier from config059/y?05Y- iB&?:H^?@E8;6;05 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002376I M@QZjFNOT Ignoring new targets: 279.60 m.BjJj蹝 ProNav: ac range: 279.600006 m, nav range: 50.407501 m, bearing: 231.978415 deg, approach rate: 0.575420 m/s, LOS rate: -0.025457 deg/s, cmd heading: 51.436707 deg, new cmd heading: 51.400787 deg. 2jċHeadingCmd: 0.897113 target range: 279.600006 and range: 279.60 m. j2e?jjjihh!h)h-`Bf)f1f1rf1bf5 Jm@ɛB I [ɚiI"=I}2e?i;if)2e?) I*F5?2F1:F1BF50JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255758G deGq B O >1Fw,%X?A6m(?Y6#`?6:96Ӡu>y6Hg?@}&(? ??ǿ@U?`?. ?ɨ6m(?6T;6CyBBB"IIJIJЬ4٢R; Vh=9VDXX ZG٣Xy^m= b> fNusing accuracyPremultiplier from config`f059b:y?j05Yb- ibBhja?j@bEbL:b7:b05rB r@r̷EZj  FNOT Ignoring new targets: 279.60 m.BjJJjJ% ProNav: ac range: 279.600006 m, nav range: 50.615837 m, bearing: 231.971812 deg, approach rate: 0.627707 m/s, LOS rate: -0.019812 deg/s, cmd heading: 51.400787 deg, new cmd heading: 51.381060 deg. 2j%Y-HeadingCmd: 0.896769 target range: 279.600006 and range: 279.60 m. j-e?j)j)j)i)h)h1h1h9fAfAfArfAbfEH@ɛB% I zɚiI!=Ie?i;i%Bܻ)%e?)!zKJK9KKKBK!:K!*F2F:FBF4JFH5+>I1 I5#II5BI5& =&I1.I16I5(<:I5 FGT[GBWill construct direction to contact in vehicle frame from tetrahedron phase data. ?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506500OB>JEJEJAJAJE\:JE:JAJAJEj;aMJEk;aUJEA;a]JEA;a] Q IQ |ow,/?Aj<*?Yj]c?j(9j@xj>yjH+? ^ M??m?Pƿ`7?Q?@h#?ɨj<*?j@[;jC%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758391y޽B޽#III.4٢-`~< -4=9-11 UG٣Qy]߫< ]> eNusing accuracyPremultiplier from configam059e#Iy?m05Ye6- ieBimkc?m@eEe@:e:e05 x@ZjAMFNOT Ignoring new targets: 279.60 m.BjmXJjmX} ProNav: ac range: 279.600006 m, nav range: 50.885193 m, bearing: 231.966135 deg, approach rate: 0.564688 m/s, LOS rate: -0.011840 deg/s, cmd heading: 51.381061 deg, new cmd heading: 51.364118 deg. 2j}HeadingCmd: 0.896473 target range: 279.600006 and range: 279.60 m. jAe?jjjihhhhfffrfbf@ɛB 20 隕)I  ɚaiaIm!=IAe?i6;iF:)EAe?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010398*F?2F:FBF2JFG +G B O > U $?IQ w,%?AyzBz #IAMb@Mb@Mb@ )Y/$?L7A`堿< P=9Q > G٣JGy > Nusing accuracyPremultiplier from config059Uy?05Y- iBx?:V?@EqF;D;05 @ɷE%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 279.60 m.Bj=PJj=PM ProNav: ac range: 279.600006 m, nav range: 51.105949 m, bearing: 231.949225 deg, approach rate: 0.596314 m/s, LOS rate: -0.045480 deg/s, cmd heading: 51.364119 deg, new cmd heading: 51.313609 deg. 2jMUHeadingCmd: 0.895591 target range: 279.600006 and range: 279.60 m. jU{Ee?jQjQjQiQhQhYhYh]H% *>I!  I% m#II% ߄BI! &I! .I! 6I% O<:I% / F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514374w,B?A2:.?Y2f?24^92R>y2H???F? 4dÿ ??PO?ɨ2:.?2*;2CJrJrJr/JpJr :Jr9Jr(N3JpJr;Jr;JrZ5;JrZ5;y~B~#IIUIU4٢< M=9 G٣y= > Nusing accuracyPremultiplier from config059Iby?05YZ- iBY?@E;;05  @ ZjamFNOT Ignoring new targets: 279.60 m.BjJj ProNav: ac range: 279.600006 m, nav range: 51.333950 m, bearing: 231.934995 deg, approach rate: 0.558222 m/s, LOS rate: -0.034685 deg/s, cmd heading: 51.313610 deg, new cmd heading: 51.271109 deg. 2jnHeadingCmd: 0.894850 target range: 279.600006 and range: 279.60 m. je?jjjihhhhfffrfbf @ IɛmBg (+=隵I VɚiI!=Ie?i`N;iU<)e?)*Fa2Fa:FaBFiJFiG5b(UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:15:25.7925 LVL= 19952, 28001, 26290, 21811, AGC= 72, IDX= 100,-0.09,-1.681,-2.941,-2.284,-2.818, PHS= 1.224,-0.077, 0.531, RAW= 117.8, -27.8, CAL= 125.1, -32.9, ROT= 24.9, 32.9 Ygot valid direction response: 22:15:25.7925 LVL= 19952, 28001, 26290, 21811, AGC= 72, IDX= 100,-0.09,-1.681,-2.941,-2.284,-2.818, PHS= 1.224,-0.077, 0.531, RAW= 117.8, -27.8, CAL= 125.1, -32.9, ROT= 24.9, 32.9 GBO>%PDAT read: Bearing 24.9, 32.9 (Local) -~Local bearing/azimuth received: Bearing 24.9, 32.9 (Local) 5DAT read: Range 10 to 50 : 292.3 m (Round-trip 389.8 ms) speed 0.3 m/s =,DAT read: user:2436> EBDAT read: Tx time:22:15:26.8986 E$Ping request sent.Ei]?YY]RHL?W4NR&1ݿ)]dnI] >i]ж7]l=~YYm:publishing transmit ping timeAmFpublishing direction and range infoY9]5GYDT?Rֿ ?yYYYY Y)YIYiYYYYY Y)YIYiYYY]RHL?W4NR&1ݿ)YIYiYYYYuw,W?A.?Y2g? 9 F>yH`V?T,?Z?O?@d@?͗?`2d?ɨ.?;Cy5B5"#IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:15:26.8978 Mb@Mb@Mb@ )Y> ףp=?~jt:vy?DTA @)~@Iv@y@II4٢ad= +=9^" G٣y; > Nusing accuracyPremultiplier from config059qy?05Y- iBy?:-7S?5@E<<$05=B = @=ķEkZ?kes- k kP?A:k&CBk$CZky@":F^@ ~!=Zsٛn@5GYDT?Rֿ ?Jkж7Rkl=~*cgg@0Ke Wڣk@ۋA?0\v/s?"k/S*kGe=E Will construct direction to contact in vehicle frame from tetrahedron phase data.G !G ?G 6?Gi By O >#9w,"S @A6X;/?Y6g?696j9>y6H@?`PO?@^)?GU?@| ?G ?@w?ɨ6X;/?6;6CyBBB;#IiJR=IJp=ININn4٢V= Vo=9VHIC Is#IIBI' =&IHD.I4D6I/<:I F j}b?jjjihhhhfffrfbf s?ɛEBEY AEDIA MIɚIiIIMt&"=IUb?iQiU<<)Ub?)YmWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJL:J9Jـ3JJO;JP;J:;J:;*F?2F:FBF`0JFGO;GB IO> Will construct direction to contact in vehicle frame from tetrahedron phase data.qZw,F #@AJ:/?YJLg?J):9J->yJH ;??)?Md?þƔ?`?[?ɨJ:/?JK;JCyV„BVK#II^I^F4٢f= jI=9j;Q j>ll nG٣lyrR r> vNusing accuracyPremultiplier from configtz059v/y?z05Yvӂ- ivBxzS?z@vEvv:v:v05 @Zj)-FNOT Ignoring new targets: 292.30 m.Bj5 Jj5 E ProNav: ac range: 292.299988 m, nav range: 41.409824 m, bearing: 261.261375 deg, approach rate: 0.523663 m/s, LOS rate: -0.487842 deg/s, cmd heading: 50.763766 deg, new cmd heading: 50.224812 deg. 2jEfUHeadingCmd: 0.876588 target range: 292.299988 and range: 292.30 m. jUh`?jQjQjQiQhQhYhYhYfafafarfabfm ?ɛB 隝^,I JAɚiIK"=Ih`?ii<)h`?)Er=*F5?2F9:F9BF9JF9}Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G Qd<G G qAG B O >_w,=@Ay~ЄB~\#IMb@Mb@Mb@ )Y-?v/y??xivA @)I@y\@IxIT4٢u= 6=9Q > G٣y > Nusing accuracyPremultiplier from config059y?05Y}- iB?:O?@EA;;05   @ E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 292.30 m.BjEJjEU ProNav: ac range: 292.299988 m, nav range: 41.626209 m, bearing: 261.053824 deg, approach rate: 0.480005 m/s, LOS rate: -0.458014 deg/s, cmd heading: 50.224813 deg, new cmd heading: 49.605423 deg. 2jU*eHeadingCmd: 0.865778 target range: 292.299988 and range: 292.30 m. je]?jajajaiahahihihm,Bfi}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.fqfrfbf@C1?ɛBE I TɚiIp"=I]?ii *=)]?)E#'=*F-?2F):F)BF50JF1G9 G=rAG<GBOk>jH5<bH54<H=(>I9 I=#II=BI=( =&I9.I96I=k<:I=A FzKmLKiKiKmKm  - Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731989J J J J J \:J :J J J i;J k;J I;J I;,w,W@A I 5@.?Y5!f?5F95>y5H[?N?@F?@Ǜ?@<i܈?`c?f?ɨ5@.?5S;5CyB~#III4٢ > F=9 G٣JGy% %> 5Nusing accuracyPremultiplier from config1=0595y?=05Y53y- i5B9E N?E@5E5:5:5805I M]@QZjFNOT Ignoring new targets: 292.30 m.BjJj ProNav: ac range: 292.299988 m, nav range: 41.825050 m, bearing: 260.863755 deg, approach rate: 0.476669 m/s, LOS rate: -0.453473 deg/s, cmd heading: 49.605424 deg, new cmd heading: 49.037948 deg. 2jHeadingCmd: 0.855874 target range: 292.299988 and range: 292.30 m. j[?jjjihhhhfffrfbf?ɛ}BŇڼ 隍I rɚiIq"=I[?ii1=)[?)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982652E+=*F ?2F :F BF n0JF - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235215Ge N<GABIOm>1w,{u@A9E,?Yd?C495>yHP ?nܸ?'? ?㴿f?~;?@Խ?ɨ9E,?(;CyB#IMb@Mb@Mb@ )YMb?~jtI +?y ? I94<IA -@)@I@y@IIפ4٢.= -=9i G٣y%( %> 5Nusing accuracyPremultiplier from config)5059-y?=05Y-ms- i-B= ?=:=T?=@-E-;-;-X05MB M=@MEZjiuFNOT Ignoring new targets: 292.30 m.BjuJj} ProNav: ac range: 292.299988 m, nav range: 42.073494 m, bearing: 260.642364 deg, approach rate: 0.531051 m/s, LOS rate: -0.470430 deg/s, cmd heading: 49.037948 deg, new cmd heading: 48.377727 deg. 2jmHeadingCmd: 0.844351 target range: 292.299988 and range: 292.30 m. j]'X?jjjihhhhQBfffrfbf#@ɛBLǼ xjI dɚiI"=I]'X?ii'<=)]'X?)EE*E"EuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487030*F%?2F!:F!BF%0JF!G#=G B O >H &>I  I #II !BI ' =&I .I 6I ><:I FBI˜CJI˜CRIZI' =bI' =jIˉ{5x#w,@AzK>>LK>s9K<K>K>y%B%#II5I5E4٢e> mW=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from config059y?05Yn- iB@E::05 @EZjFNOT Ignoring new targets: 292.30 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738587 ProNav: ac range: 292.299988 m, nav range: 42.273888 m, bearing: 260.466079 deg, approach rate: 0.526911 m/s, LOS rate: -0.461322 deg/s, cmd heading: 48.377728 deg, new cmd heading: 47.851396 deg. 2jL HeadingCmd: 0.835164 target range: 292.299988 and range: 292.30 m. j VU?j jjihh!h)h)fffrfbf '^@ɛB& @I ]tɚ i I #5#=I5VU?i9i=V]=)=VU?)9EI*F?2F:FBF4JF"G=G= $?IG.P2= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991637G B O >) cC 1 I Y y B)w,u@Ar5*?YrTb?rxo;9rE=yrH@?O??!?@ٱ*mX??ɨr5*?r;rCy-B#I =II̍4٢-= -N=9-11 =G٣=JGy= E> UNusing accuracyPremultiplier from configI059M[y?05YMi- iMBR?@MEMдM0w,X@AWill construct direction to contact in vehicle frame from tetrahedron phase data."BDAT read: Rx Time:22:15:29.7108 "TRx dataTimestamp_ set to:1736374531.060629&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495478~(?Y~ Ea?~O;9~|=y~H c?7 s ? ?oJ? aYz9B?A?ɨ~(?~;|yuBBu#IMb@Mb@Mb@ )YˡE?y&1Zd;O?y'?`ej<A Z@)~@I@yz@I=I=#4٢Eݺ= M9=9M;Q U>QQ UG٣Qy]N ]> eNusing accuracyPremultiplier from configam059eVy?m05Ye7d- ieBu(?u:uZ?u@eEe;e;e05y }$@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 292.30 m.BjR JjR  ProNav: ac range: 292.299988 m, nav range: 42.729881 m, bearing: 260.080115 deg, approach rate: 0.597605 m/s, LOS rate: -0.483726 deg/s, cmd heading: 47.300040 deg, new cmd heading: 46.699762 deg. 2jHeadingCmd: 0.815065 target range: 292.299988 and range: 292.30 m. jP?jjjihhhhpBfffrfbf} @ɛB| =I ֧ɚiIe#=I%P?i!i%yq=)%P?))*F?2F:FBF_0JFZHRH@AHI I#IINBI( =&I.I6I/<:I FzKUBHKUػ9KQKUKUWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746360G '\=G B O > I (6w,R&@Ay~KB~#III4٢%1I= %_=9-Q ->)) -G٣1y5 5> ENusing accuracyPremultiplier from config9E059=y?E05Y=q_- i=BIIM@= E=U:=:=-05UB U@UEZjFNOT Ignoring new targets: 292.30 m.BjJj ProNav: ac range: 292.299988 m, nav range: 42.935596 m, bearing: 259.914717 deg, approach rate: 0.562569 m/s, LOS rate: -0.450146 deg/s, cmd heading: 46.699762 deg, new cmd heading: 46.205958 deg. 2jwHeadingCmd: 0.806446 target range: 292.299988 and range: 292.30 m. j@sN?jjjihhhhfffrfbf@ɛ B4h ȭ=I TɚiI $=I@sN?iiL=)@sN?) EErAuPExceeded connect timeout, disconnecting.]Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 306.0 m (Round-trip 408.1 ms) speed 0.4 m/s ,DAT read: user:2437> BDAT read: Tx time:22:15:30.7986 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:15:30.7978 J] J] JY JY J] |:J] :JY JY (=w,1@A:%?Y:,o^?:+<9:Ƿ=y:H? ]Q G٣JGyEԼ > Nusing accuracyPremultiplier from config059z?05YQY- iB5?: _?@E+;w;05 @5 addTargetRange:: Added new target pos. range: 306.000000 m, deltaT: 4.028565 s, deltaX: 13.700012 m, approachRate: 3.400718 m/s, rangeRepo size: 4 Zj1=FNOT Ignoring new targets: 292.30 m.BjExJjExU ProNav: ac range: 292.299988 m, nav range: 43.199039 m, bearing: 259.713388 deg, approach rate: 0.614513 m/s, LOS rate: -0.466760 deg/s, cmd heading: 46.205957 deg, new cmd heading: 45.605675 deg. 2jU*eHeadingCmd: 0.795969 target range: 292.299988 and range: 306.00 m. jeK?jijijiiihihihqhuBfqfqfyrf s@bfB?ɛ)5L:\ 15t=I1 ]ɚYiYI]d$=IeK?iiim݃=)mK?)i*Fu?2Fq:FqBFu`0JFyMWill construct direction to contact in vehicle frame from tetrahedron phase data.G 4q=Gi Bq O >H (>I  I /$II |BI ' =&I .I 5D6I G<:I & FDw,AA>C%?zKBBoHKB+9K@KBKB3652-*% L4V" 6D:3,&'+3@KPUY>̿]?>b?<9>O̤=y>H@ù? Hಛ?@`?Ю?~,쇿`}?`?ɨ>C%?>v;hh jG٣hyj n> rNusing accuracyPremultiplier from configpv059rEz?v05YrT- irBtv^?z@rEr:r:r!05| ~@~EZj!%FNOT Ignoring new targets: 292.30 m.Bj-Jj-= ProNav: ac range: 292.299988 m, nav range: 43.425255 m, bearing: 259.541835 deg, approach rate: 0.616502 m/s, LOS rate: -0.465094 deg/s, cmd heading: 45.605675 deg, new cmd heading: 45.093712 deg. 2j=EHeadingCmd: 0.787034 target range: 292.299988 and range: 306.00 m. jE {I?jAjAjAiAhIhIhIhIfQfQfQrfQbfU@?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ!B-* d>I ӥɚi I $=I  {I?ii6=) {I?)9*J4="JR=*F?2F:FBF0JF U$?IUjiG=GB O5P> unManaging dock network, ignoring radio surface power offm Will construct direction to contact in vehicle frame from tetrahedron phase data.%0Jw,Z*AANB$?YN;\?NpI<9N=yNH`(?5?@K?@?פd# ?)?ɨNB$?NƊ;NCy^uB^&$IIf}If]4٢=  F=9m:Q >! %G٣!y- -> ENusing accuracyPremultiplier from config9U059=e z?U05Y=&N- i=Bae]?e@=E=q;=Ρ;=05uB @EZjFNOT Ignoring new targets: 292.30 m.BjJjE ProNav: ac range: 292.299988 m, nav range: 43.681244 m, bearing: 259.348498 deg, approach rate: 0.569856 m/s, LOS rate: -0.427863 deg/s, cmd heading: 45.093711 deg, new cmd heading: 44.517120 deg. 2jMђHeadingCmd: 0.776970 target range: 292.299988 and range: 306.00 m. jF?jjjihhhh fff!rf)bf5?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ$ &>I sɚiIx%=IF?ii=)%F?)!J5J1J5/J1J5:J1J5(N3J1*F?2F:FBF0JF"G=G= E$?IAG I@=G G pAG B O >Qw,uDAAWill construct direction to contact in vehicle frame from tetrahedron phase data.:Y"?Y:Z?:ko<9:P=y:H??\@?@#?@?x٢ /퍿`W?]?ɨ:Y"?:;:CyllipIrp?uY=u G٣JGyQ > Nusing accuracyPremultiplier from config059=0z?05YG- iB>?:l?@EG;;m05B  @EZjFNOT Ignoring new targets: 292.30 m.BjJj ProNav: ac range: 292.299988 m, nav range: 43.960999 m, bearing: 259.167710 deg, approach rate: 0.722970 m/s, LOS rate: -0.464236 deg/s, cmd heading: 44.517121 deg, new cmd heading: 43.978225 deg. 2jLHeadingCmd: 0.767565 target range: 292.299988 and range: 306.00 m. j!D?jjjihhhhBfffrfbf ?ɛ"B%& !%&>I! %툣ɚ)i)I-E%=I5!D?i1i5͞=)5!D?)9*F?2F:FBFP5JFjHibHm<Hu'>Iq Iua$IIuBIq&Iq.Iq6Iu#<:Iu FGmԍ=GyBO^>zK4NKs9KKKSRSSRRNJHIJHB8  Will construct direction to contact in vehicle frame from tetrahedron phase data.J) J) ) I) {CWw,:w^AA: ?Y:VY?:.<9:=y:H*?{^[??%?fϠұ??ɨ: ?:h;8yJwBJ)$IIVIV.4٢^@; ^<9^j`` bG٣`yfO f> jNusing accuracyPremultiplier from configh=059j>z?=05YjA- ijBAEj?E@j!EjwpUB?jjjihhhhfffrfbf@zu?ɛL6 )>I ɚiI%=I>UB?iit=)>UB?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF_0JFG=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264314J= J= J9 J9 J= |:J= :J9 J9 {k]w,sIxAA b$?I`yyyMb@Mb@Mb@ )fAYT㥛 ?{Gz?y&1|?yA?ף=`;`@ @)I~@y@I5I54٢Ed: E4=9MQ M>II UG٣QyU ]> eNusing accuracyPremultiplier from configam059elOz?m05YeR:- iauB?u:us?u@e'Ee;eA;e05y @ZjFNOT Ignoring new targets: 292.30 m.BjJj컝 ProNav: ac range: 292.299988 m, nav range: 44.525837 m, bearing: 258.821725 deg, approach rate: 0.711824 m/s, LOS rate: -0.412656 deg/s, cmd heading: 43.493982 deg, new cmd heading: 42.946952 deg. 2jHeadingCmd: 0.749566 target range: 292.299988 and range: 306.00 m. j??jjjihhhhBfffrfbfF@ɛGT )>I \Xɚi!I%%=I%??i)i-F=)-??))E9*F?2F:FBFJFG G=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510921G=G ?G+?G B O >He %>Ia  Ie $IIe BIe ( =&Ia .Ie 4D6Ie 2<:Ie  F6Sdw,#AA6?Y6A"U?6N@<96==y6H‡? Y?໩? ?@}Ěǖ/??ɨ6?6H;6CyRpBR!$I)T TIZIZ4٢fl ff=9jQhh nG٣nJGyn0 n> vNusing accuracyPremultiplier from configpv059r\z?z05Yr4- irBxzo?z@r+Er :r*:r05zK~_MK~9K|K~K~  q@EZj1=FNOT Ignoring new targets: 292.30 m.BjEJjE黝M ProNav: ac range: 292.299988 m, nav range: 44.769722 m, bearing: 258.675542 deg, approach rate: 0.683766 m/s, LOS rate: -0.407611 deg/s, cmd heading: 42.946952 deg, new cmd heading: 42.510801 deg. 2jUދUHeadingCmd: 0.741953 target range: 292.299988 and range: 306.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762708 jU=?jjjihhhhfffrfbf vG@ɛ1Uo> QU>IY ]hɚYiYI]wV&=Ie=?iaieÞ=)e=?)i Iii*F?2F:FBFJFG=GBO=>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014851^}jw,?AA2V?Y2R?2a<92v=y2H?@Sf?w?(?旿 ˮ??ɨ2V?2#;0yNeBR$IIZIZ4٢b}f bK=9b_;Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr059n@lz?r05Yn,.- inBtvm?v@n0En2;nT:nM05zB z5@zEZjyFNOT Ignoring new targets: 292.30 m.BjJj廝 ProNav: ac range: 292.299988 m, nav range: 45.045338 m, bearing: 258.508617 deg, approach rate: 0.667339 m/s, LOS rate: -0.401697 deg/s, cmd heading: 42.510800 deg, new cmd heading: 42.013102 deg. 2j׉HeadingCmd: 0.733267 target range: 292.299988 and range: 306.00 m. jb;?jjjihhhhff f rf bf  @ɛI- 隝>I AɚiI(&=Ib;?iim=)b;?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:15:33.6070 TRx dataTimestamp_ set to:1736374534.845772checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274660*F?2F:FBFJF $?IG- 뜮=G1 G5 qAG B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518783kqw,oAA2@.?Y2P?2<92bf=y2H -?8o?`$H?`?9eC`Ƭ?Z?ɨ2@.?2U;2CyBXBB$IMb@Mb@Mb@ )AYMb?333333?Mbpy@?=@ $@)Iy@I-I-4٢=g =B=9Ew;Q E>AA EG٣AyM U> ]Nusing accuracyPremultiplier from configQ]159U|z?e15YU'- iUBexA?e:e(j?e@U5EU;U;U15B @EZjIMFNOT Ignoring new targets: 292.30 m.BjU8JjU8黝e ProNav: ac range: 292.299988 m, nav range: 45.331631 m, bearing: 258.331472 deg, approach rate: 0.663240 m/s, LOS rate: -0.407790 deg/s, cmd heading: 42.013101 deg, new cmd heading: 41.485039 deg. 2jeHeadingCmd: 0.724051 target range: 292.299988 and range: 306.00 m. j`[9?jjjihhhhBfffrfbf @ɛ  F =I *͞ɚiIS'=I`[9?ii=)E`[9?)A*F?2F:FBFn0JFZH RH H%&>I! I!I!I%) =&I!.I!6I%D<:I%" FBIJIRIZI( =bI( =jI<5"G=G=G56=GBOm>zKeBHKe9KaKeKeWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 303.1 m (Round-trip 404.2 ms) speed 0.4 m/s ,DAT read: user:2438> BDAT read: Tx time:22:15:34.6986 $Ping request sent.;a% J O>;a- I Rww,AAR?YRN?RU<9RV=yRH&+? Y@0?o?.? 吿`8@֪??ɨR?R#;RCyGB#Ii=III4Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:15:34.6978 ٢%. 50=9Uͅ;Q ]>y G-G٣JGtAy >A HYtAyB  Nusing accuracyPremultiplier from config 159z? 15Y- iBg?@;E ;:E15 @!=B*** querying acoustic contact ***j9j9U addTargetRange:: Added new target pos. range: 303.100006 m, deltaT: 3.779142 s, deltaX: -2.899994 m, approachRate: -0.767368 m/s, rangeRepo size: 4 ZjQUFNOT Ignoring new targets: 292.30 m.Bj]hJj]hu ProNav: ac range: 292.299988 m, nav range: 45.663395 m, bearing: 258.124145 deg, approach rate: 0.708589 m/s, LOS rate: -0.439595 deg/s, cmd heading: 41.485039 deg, new cmd heading: 40.867602 deg. 2juؖ}HeadingCmd: 0.713274 target range: 292.299988 and range: 303.10 m. j}#6?jyjyjyiyhhahihifqfqfqrfur@bf})?ɛ~q ,T==I x3ɚiI(=I%#6?i!i%I7=)%#6?))*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G5 p= } $?Iy G B O= >\-~w,vAAN-q?YNyK?N<9N^ J=yNH`(]? ?@? `?ٽ>??ɨN-q?Nډ;NC)IuAwF xAii)Ļ I )uAiIFIiuA ) Iף)iy 3B #IMb@Mb@Mb@ )Y1Zd? G٣y > ]Nusing accuracyPremultiplier from config]159rz?e15Yc- iBeI!  I% a$II% BI% ( =&I! .I% 5D6I% <:I%  FGm J= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005817zK BoHK h9K K K qw Ga Bi O >ޅw,BAJ.J.J,J,J.:J.:J,J,J.;J.;J.L;J.L; LILɳpr|wApittix|)| |I ) lwAɴ ɵiII!i%CuA %D%gF)!! %SuA--4vFɶ)))I)i)IA鷑ɷ y%B%#II5I54٢U UH=9eQ e>iq uG٣qy} }> Nusing accuracyPremultiplier from config159[z?15Y,- iB@EE);; 15B A@EZjFNOT Ignoring new targets: 292.30 m.Bj JjU ProNav: ac range: 292.299988 m, nav range: 46.214249 m, bearing: 257.779779 deg, approach rate: 0.729174 m/s, LOS rate: -0.450062 deg/s, cmd heading: 40.341184 deg, new cmd heading: 39.840710 deg. 2jUo]HeadingCmd: 0.695352 target range: 292.299988 and range: 303.10 m. j]2?jYjYjYiYhYhYhhfffrfbf@͂?ɛ!B] I ɚiII)=I52?i1i5=)52?)a*F?2F:FBF0JFGrA GnAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258280G Υ=G B O >w,h2BAFc?YF?H?F?<9F/8=yFH?Ҁ@4?ɋ??иӆ?Q?ɨFc?FP;FCyB#I%Will construct direction to contact in vehicle frame from tetrahedron phase data.->-?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513639)Y Y $?IMb@Mb@Mb@ )YM?:v?{Gzyn2?T=ף3@ h@)I@Ih@y@II҅4٢, 4=9d:Q > G٣JGy > Nusing accuracyPremultiplier from config159z?15Y - izB3?:[?@JEt;;15 @EZj9EFNOT Ignoring new targets: 292.30 m.BjMJjM黝] ProNav: ac range: 292.299988 m, nav range: 46.490658 m, bearing: 257.594054 deg, approach rate: 0.611898 m/s, LOS rate: -0.408702 deg/s, cmd heading: 39.840709 deg, new cmd heading: 39.286865 deg. 2j]>eHeadingCmd: 0.685685 target range: 292.299988 and range: 303.10 m. je/?jajijiiihihihqhuTBfqfqfqrfybf}p?ɛ!%, )-tI1 5ɚ1i1I5*=I=/?i9i=Щ=)=/?)AEE p*= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761660*F ?2F :F BF _0JF H+>IC I/$II|BI' =&I.I6IB<:I& FG=GBO?6w,MSBA6; ?Y6ȷE?65=96d<=y6H@?Eq?Q? ?Ć@ @?T?ɨ6; ?6;6CynBn#IIvIv4٢~̽ ~A=9;Q >  G٣ y {  > %Nusing accuracyPremultiplier from config%1592z?%15Y - iiB)-Y?-@OE2;12;?15=B =@=EZjaeFNOT Ignoring new targets: 292.30 m.Bjm6Jjm6컝} ProNav: ac range: 292.299988 m, nav range: 46.749840 m, bearing: 257.418133 deg, approach rate: 0.611897 m/s, LOS rate: -0.413026 deg/s, cmd heading: 39.286866 deg, new cmd heading: 38.762043 deg. 2j}HeadingCmd: 0.676525 target range: 292.299988 and range: 303.10 m. j0-?jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013094zK3OK9KKKuaV4 RK?JK?ɛ B׼ νI @8ɚi!I%(*= $?I hiJJJJJJJ:J9JJJ;J;J:;J:;I0-?ii烩=)0-?)E^S=*F?2F:FBF0JFGť=GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264955͚w,PmBA2': ?Y2pB?2 =92==y2H+?{? ?0?݄Y ??ɨ2': ?2!;2Cy>ЄB>\#IIFIF?4٢NN RQ=9R-;Q R>TT VG٣TyV V> ^Nusing accuracyPremultiplier from configXb159Zz?b15YZ- iZYB`bV?b@ZSEZ:Z:Z15d j@hvB*** querying acoustic contact ***jtjtZjFNOT Ignoring new targets: 292.30 m.Bj Jj  ProNav: ac range: 292.299988 m, nav range: 46.986885 m, bearing: 257.254757 deg, approach rate: 0.606525 m/s, LOS rate: -0.415917 deg/s, cmd heading: 38.762044 deg, new cmd heading: 38.274403 deg. 2j%HeadingCmd: 0.668014 target range: 292.299988 and range: 303.10 m. j%+?j!j!j!i!h)h)h)h)f1f1f1rf9bf=;@ɛae| aeIa m3ɚiiiIm?+=Iu+?iqiu=)u+?)yEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522028 !I)*F?2F:FBF2JF"G=G=G =G B O >Gw,!BAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768976:~Q?Y:??:a=9:z==y:H@qj?'??q?Ǒ IN<Mb@Mb@Mb@ )Y%C? G٣JGy"м >  Nusing accuracyPremultiplier from config 159 z?15Y , i EBr$?:C?@ XE ; ; 15-B -I@-EZjI]FNOT Ignoring new targets: 292.30 m.Bj]Jj]M ProNav: ac range: 292.299988 m, nav range: 47.226353 m, bearing: 257.063109 deg, approach rate: 0.537018 m/s, LOS rate: -0.427600 deg/s, cmd heading: 38.274403 deg, new cmd heading: 37.702394 deg. 2jUUHeadingCmd: 0.658031 target range: 292.299988 and range: 303.10 m. jUt(?jYjYjYiYhYhYhaheBfafafrfbf@ɛB* OI ϡɚiI,=It(?i i #=) t(?)H,>I I#IIDBI% =&IGD.I6IF<:I+ F*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.{>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021301zKmNKm9KiKmKm  $?I *J- C="J- p=J5 J5 J1 J1 J5 :J5 :J1 J1 J5 ;J5 ;J5 C;J5 C;G ^=Ga Bq O >>⧐w,BAB,T?YBv`` bG٣`yf f> jNusing accuracyPremultiplier from confighn159ja{?n15YjI, ij5Bpr@?r@j\Ej;j@;j15vB v@tZjamFNOT Ignoring new targets: 292.30 m.Bj}Jj}ﻝ ProNav: ac range: 292.299988 m, nav range: 47.420753 m, bearing: 256.905321 deg, approach rate: 0.519096 m/s, LOS rate: -0.419603 deg/s, cmd heading: 37.702395 deg, new cmd heading: 37.230982 deg. 2j HeadingCmd: 0.649803 target range: 292.299988 and range: 303.10 m. j Y&?jjjihhhhfff!rf)bfM @ɛuBus u5Qy=u4iIy }&ɚyiyI}v-=IY&?ii=)Y&?) EWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:22:15:37.4640 UTRx dataTimestamp_ set to:1736374538.624654Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278042*F?2F:FBF_0JFG=G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535905  I $w,ںBA:3?Y:=9?:=9:<=y:H`?@E*٭?@6??E`s??ɨ:3?:$;8yFBJ#IMMb@Mb@Mb@III I)IYMS?MbMbyM/?MMM@ I)MI@IIIyM@IeIe4٢m u@=9u{:Q u>yy }G٣yy > Nusing accuracyPremultiplier from config1599{?15Y, i$BJ?:R3?@`EW;;z"15B @EZjFNOT Ignoring new targets: 292.30 m.BjNJjN ProNav: ac range: 292.299988 m, nav range: 47.630409 m, bearing: 256.717082 deg, approach rate: 0.501954 m/s, LOS rate: -0.448695 deg/s, cmd heading: 37.230982 deg, new cmd heading: 36.668768 deg. 2juHeadingCmd: 0.639991 target range: 292.299988 and range: 303.10 m. juo#?jqjqjqiqhyhyhyh}߃Bfffrfbf@C @ɛ%Bm  imIq uɚqiqIuW.=I}o#?iyi}=)}o#?)*F?2F:FBFJFGqA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788359GE =GI GI ZH RH ?AH )>I  I #II BI & =&I HD.I 6I <:I FG B) OE >`w,^BA6>Y6V6?6D=96<=y6H 4?`m?`?;?&<@ ??ɨ6>6S;6CyrBr"I)t tIzIz\4٢ ֽ  Q=9 @:Q > G٣JGy > -Nusing accuracyPremultiplier from config!-159%!{?-15Y%, i%B15/?5@%dE% ;% ;%%159 E@EEZjamFNOT Ignoring new targets: 292.30 m.BjmUJjmU ProNav: ac range: 292.299988 m, nav range: 47.821499 m, bearing: 256.542669 deg, approach rate: 0.489187 m/s, LOS rate: -0.444709 deg/s, cmd heading: 36.668769 deg, new cmd heading: 36.147637 deg. 2jHeadingCmd: 0.630895 target range: 292.299988 and range: 303.10 m. j[!?jjjihhhhfffrfbf``"@ɛ3.Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:15:37.4640 LVL= 29936, 32753, 30322, 32755, AGC= 66, IDX= 511, 0.13, 3.088, 1.315, 1.914, 2.417, PHS= 0.759,-1.055,-0.506, RAW= 107.2, 10.0, CAL= 116.6, 8.0, ROT= 33.4, -8.0 %Ygot valid direction response: 22:15:37.4640 LVL= 29936, 32753, 30322, 32755, AGC= 66, IDX= 511, 0.13, 3.088, 1.315, 1.914, 2.417, PHS= 0.759,-1.055,-0.506, RAW= 107.2, 10.0, CAL= 116.6, 8.0, ROT= 33.4, -8.0 -PDAT read: Bearing 33.4, -8.0 (Local) -~Local bearing/azimuth received: Bearing 33.4, -8.0 (Local) zK5K59K1K5K5MDAT read: Range 10 to 50 : 270.9 m (Round-trip 361.2 ms) speed 0.0 m/s $?I,DAT read: user:2439> BDAT read: Tx time:22:15:38.5487 $Ping request sent. S>@)5>I;?i5NY?4{̿yL/?)oeI`2i^&7ě]:publishing transmit ping time]Fpublishing direction and range info9^,ҿ]~?ƿ@fi?y )Ii )IiNY?4{̿yL/?)Ii*F?2F:FBF`0JFG := Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >:w,*BAF7>YF0?F;=9F1;=yFH@>?W1?c?? 3v? B?ɨF7>F;FCynoBn"IIzIzF4٢ =Ƚ  J=9 ޱQ  > G٣yeP e> uNusing accuracyPremultiplier from configq}159u2{?}15Yu, iuB*?@uhEu;u;u)15B k@Ek /,u?k M6 k  k WBA:k sCBk CZk @" 3 uTZ77H6ްo@ ^,ҿ]~?ƿ@fi?Jk ^&Rk 7ě* DR }E0qVo@ ﷯2I°տ<@s ?"k *k Bk mGnu?k ^6 2k CCk k B6 k Ck Bk Ғ@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 270.899994 m, deltaT: 4.040302 s, deltaX: -32.200012 m, approachRate: -7.969704 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 292.30 m.BjJj ProNav: ac range: 292.299988 m, nav range: 48.020435 m, bearing: 256.355062 deg, approach rate: 0.476241 m/s, LOS rate: -0.447258 deg/s, cmd heading: 36.147639 deg, new cmd heading: 35.587168 deg. 2jyHeadingCmd: 0.621113 target range: 292.299988 and range: 303.10 m. jG?jjj i h h h hfffrf`fp@bf@\?ɛ]B]2 Y]IY eɚaiaIe֫0=ImG?iqiu#z=)uG?)yWill construct direction to contact in vehicle frame from tetrahedron phase data. IgiJJJJJ|:J:JJaM@aM@aM@aU@E`T=*F?2F:FBF_0JF"GG=G5 x= Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! O= >vw,U CA6 >Y6.?6i; =96Z?=y6H`?@9?'??L `s?`D?ɨ6 >6 ;6CyBgBB"IMMb@Mb@Mb@III I)IYM +?Mb{GzyM?M@M#M3@ M~@)IIM;@IyMf@IeIe 4٢u1 u6=9})Q }>y G٣y > Nusing accuracyPremultiplier from config159D{?15Y, iBH?:\?@lE;;U-15 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 292.30 m.BjUJjU ProNav: ac range: 292.299988 m, nav range: 48.213322 m, bearing: 256.150391 deg, approach rate: 0.444502 m/s, LOS rate: -0.469771 deg/s, cmd heading: 35.587167 deg, new cmd heading: 34.975636 deg. 2j3HeadingCmd: 0.610440 target range: 292.299988 and range: 303.10 m. jE?jjjihhhh Bf f f rfbf ?ɛMBMd6 IMHII U4ɚQiQIU>1=I]E?iYi]=)]E?)aE%=u=H->I Ia#IIԄBI' =&IGD.I6I<:I FBIUÝCJIUÝCRIQZIU' =bIU' =jIU&5*F?2F:FBF0JFG=GqBO]> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. $?IzKjIK9KKK$00Ȑw,s$CA2.>Y2,?2.C=92pI=y2H?q?[?g ?@O (??ɨ2.>20;0yRUBR"Iib=Ib??)1 5XCIv~GIv4 -Y1y5;B}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230988٢ <=9{Q > G٣JGy/ > Nusing accuracyPremultiplier from config 159W{?515Y, iB9=?=@pE<<A115MB M @EZjFNOT Ignoring new targets: 292.30 m.Bj1Jj1 ProNav: ac range: 292.299988 m, nav range: 48.410107 m, bearing: 255.939908 deg, approach rate: 0.420840 m/s, LOS rate: -0.448305 deg/s, cmd heading: 34.975637 deg, new cmd heading: 34.346779 deg. 2jՙ%HeadingCmd: 0.599464 target range: 292.299988 and range: 303.10 m. j%v?j!j!j!i1h9h9h9h9fAfAfArfAbf II?ɛB27 þI ˮɚiI3=Iv?ii=)v?)5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485031EU (z= I Jm Jm Ji Ji Jm :Jm :Ji Ji *F 2F :F BF _0JF G=)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9M159=7m{?M15Y=, MtIi=BM?M:U?U@=uE=(;=C&;=515Y YaZjFNOT Ignoring new targets: 292.30 m.BjW JjW  ProNav: ac range: 292.299988 m, nav range: 48.635113 m, bearing: 255.687234 deg, approach rate: 0.429685 m/s, LOS rate: -0.480287 deg/s, cmd heading: 34.346778 deg, new cmd heading: 33.592309 deg. 2jΤHeadingCmd: 0.586296 target range: 292.299988 and range: 303.10 m. j?jjjihhhhBfffrfbf _?ɛB: 隕)¾I QܱɚiI,\4=I?ii=)?)EE*E"EjHbHH/>IC I5#IIBI$ =&I.I6IP<:I5 FEWill construct direction to contact in vehicle frame from tetrahedron phase data.E_?E4=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.986055 $?IzK= vLK= +9K9 K= K= :;9:74.+*'),-*+)&$$" *F ?2F :F BF JF Gq؃=GBO%>ϋِw, hCA2>Y2)%?2¢=92ب`=y2H?@=#?SN?)?Ƙ` ?d?ɨ2>2},;2CyBGBB"IIRIR34jWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.238684٢ռ <9էQ > G٣JGyL > Nusing accuracyPremultiplier from config159A{?15Y, iB ?@yE;;3:15 B @EZjQ]FNOT Ignoring new targets: 292.30 m.Bj]UJj]U ProNav: ac range: 292.299988 m, nav range: 48.832047 m, bearing: 255.458124 deg, approach rate: 0.402421 m/s, LOS rate: -0.466281 deg/s, cmd heading: 33.592308 deg, new cmd heading: 32.907785 deg. 2jHeadingCmd: 0.574349 target range: 292.299988 and range: 303.10 m. j?jjjihh hhfafifirfibfu`N@ɛ-B5&<@ 15)ξI DɚiIͳ5=I?iiS=)?)*Fy2F:FBFJFGe=GaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493015B $?I O= >JKcw3 K.-KK"KJ J J J J |:J J J jw,#CA:>Y:#?:<9:4j=y:H?@;?%?? >??ɨ:>:q;:CyFLBF"ILL%Mb@Mb@Mb@!!! !)!Y%n?p= ףMbP?y%?%%:%`@ !)!I%~@!y%@I5I5פ4٢M< MP=9MEAQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configau159eݑ{?u15Ye, ieBu?u:u?u@e}EeI;eH;e=15 @EZjFNOT Ignoring new targets: 292.30 m.Bj3Jj3 ProNav: ac range: 292.299988 m, nav range: 48.992702 m, bearing: 255.268595 deg, approach rate: 0.422912 m/s, LOS rate: -0.497282 deg/s, cmd heading: 32.907787 deg, new cmd heading: 32.341083 deg. 2jHeadingCmd: 0.564458 target range: 292.299988 and range: 303.10 m. jX?jjjihhhhBfffrfbf@ɛB3;S DȾI ܆ɚiI6=IX?iiGE=)X?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742894*Fq2Fy:FyBF}0JFy"G=G=H0>I I#IIBI% =&I.I6I<:I FGU=GU?GU;?G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993953  I w,QCA*J,"J.=zKfMMKfh9KdKfKf r>Yra ?r<9rq=yrHt?A?`?`?%q ҝ*?`I?ɨr>rf";rCyII49-Q ->)) 5G٣1y5NԼ 5> ENusing accuracyPremultiplier from config9E159=#{?M15Y=, i=BIM?M@=E=:=:=A15Q YYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 292.30 m.Bj^ Jj^  ProNav: ac range: 292.299988 m, nav range: 49.157578 m, bearing: 255.072009 deg, approach rate: 0.413086 m/s, LOS rate: -0.490882 deg/s, cmd heading: 32.341082 deg, new cmd heading: 31.753325 deg. 2jqHeadingCmd: 0.554200 target range: 292.299988 and range: 303.10 m. j ?jjjihhhhfffrfbf@ @ɛByO ƾI ɚiI7=I ?ii) ?)*F?2F:FBF_5JFG =GaBiO8>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:15:41.3120  TRx dataTimestamp_ set to:1736374542.661465checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248044 w,czCAF >YF?Fl<9Fv=yFH?e?w?@? 2OcԮ? ?ɨF >F;FCyllI5I5פ4٢U9 U<9$Q > G٣JGyҼ > -Nusing accuracyPremultiplier from config=159{?E15Y, iBmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501677 $?IG?@E<x<D15B U@]EJJJJJJ:JJZjFNOT Ignoring new targets: 292.30 m.BjMJjU黝 ProNav: ac range: 292.299988 m, nav range: 49.334538 m, bearing: 254.858580 deg, approach rate: 0.340232 m/s, LOS rate: -0.408877 deg/s, cmd heading: 31.753324 deg, new cmd heading: 31.115361 deg. 2jMHeadingCmd: 0.543065 target range: 292.299988 and range: 303.10 m. jW ?jjjihhhhfffrfbf . @ɛMBMZ< QUUľIQ UYaɚQiQIU>8=I}W ?iyi窂=)W ?)*F?2F:FBF0JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 22:15:41.3120 LVL= 23920, 32753, 22466, 31219, AGC= 67, IDX= 426,-0.06, 0.430,-1.456,-1.091,-0.500, PHS= 1.019,-0.909,-0.594, RAW= 98.8, 5.5, CAL= 108.4, 4.0, ROT= 41.6, -4.0 E Ygot valid direction response: 22:15:41.3120 LVL= 23920, 32753, 22466, 31219, AGC= 67, IDX= 426,-0.06, 0.430,-1.456,-1.091,-0.500, PHS= 1.019,-0.909,-0.594, RAW= 98.8, 5.5, CAL= 108.4, 4.0, ROT= 41.6, -4.0 M PDAT read: Bearing 41.6, -4.0 (Local) U ~Local bearing/azimuth received: Bearing 41.6, -4.0 (Local) e DAT read: Range 10 to 50 : 269.3 m (Round-trip 359.1 ms) speed 0.4 m/s e ,DAT read: user:2440> m BDAT read: Tx time:22:15:42.3987 m $Ping request sent.m ýi < N  :publishing transmit ping timei  Fpublishing direction and range info 9 ÁCɿJa:F+iP?y  ) I i ) I i P2?6/׿ƟW?) I i G% Pă=G% qAG% rAG B O >~ w,CAFx>YF?FL"<ZHdRHfAAHr1>Ip Ir #IIrBIr# =&Ip.Ir6D6Ir*<:Ir F9F x=yFHO?&!?b2?@L?Sm#? m?ɨFx>Fk;FCyލSBލ"Ii=I<Mb@Mb@Mb@ )Y333333?)\(Mb?y?Ga<QA )I@y@IEIEݜ4٢>< !=9Q > G٣y| > Nusing accuracyPremultiplier from config 159{? 15Y, iBA?:U?@E@;;&I15=B Eg@EEkus?kuko1 kq kuc|CA:kuCBkuCZku@"u"0<.KüG%{xp@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:15:42.3979 uÁCɿJa:F+iP?Jku<RkuN*uv|A8^xH$q{zp@uT+Co[ǿWIT?"kuD*ku ku2s?kuU1 2kuCkqkqkqkuBku?@ $?I addTargetRange:: Added new target pos. range: 269.299988 m, deltaT: 7.819968 s, deltaX: -33.800018 m, approachRate: -4.322271 m/s, rangeRepo size: 4  Added new target pos. range: 269.299988 m, bearing: 243.728689 deg, lat: 36.904208 deg, lon: -122.123155 deg, deltaT: 15.627675 s, deltaX: -23.000000 m, approachRate: -1.471748 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 269.30 m.Bj=Jj9M ProNav: ac range: 269.299988 m, nav range: 92.797264 m, bearing: 261.857200 deg, approach rate: 0.000000 m/s, LOS rate: -0.408877 deg/s, cmd heading: 31.115360 deg, new cmd heading: 30.598544 deg. 2jIUHeadingCmd: 0.534045 target range: 269.299988 and range: 269.30 m. jU2?jQjqjqiqhyhyhyh}ȃBfffrfp@bf?ɛB|G  I o߿ɚiI9=I 2?i i =) 2?zK&`KK+9KK K  ) *F?2F:FBF0JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iQ G] q؃=G! B1 OM >xw,CA:,X>Y:`(?:<9:#f=y:H???`F?(HS??ɨ:,X>:\;:CyjTBj"IIrIr4٢z~; ~l=9~6Q ~? G٣yZ  ? Nusing accuracyPremultiplier from config 159 {?15Y , i B4>@ E * ; * ; L15-B -`@-~EZjQ]FNOT Ignoring new targets: 269.30 m.Bj]Jjem ProNav: ac range: 269.299988 m, nav range: 92.918739 m, bearing: 261.756012 deg, approach rate: 0.377440 m/s, LOS rate: -0.313993 deg/s, cmd heading: 30.598544 deg, new cmd heading: 30.295381 deg. 2ju}WuHeadingCmd: 0.528754 target range: 269.299988 and range: 269.30 m. j}n\?jyjyjyiyhyhyhhfffrfbf{?ɛ BX I ɚiI:=In\?iiyO=)n\?)*F?2F:FBF_0JFGem=G)B9OU2>Will construct direction to contact in vehicle frame from tetrahedron phase data. I w,8DA2Ì>Y2?2^<92%r=y2H ?bj???=xڋh???ɨ2Ì>2$;0yBZBB"IMb@Mb@Mb@ )YS?Qy&1?y/?`e< Q@)I@y@I-I-_v4٢E< EF=9EQ E>II MG٣MJGyUX U> Nusing accuracyPremultiplier from config159{?15Y, iBi?:?@En;;O15 @Will construct direction to contact in vehicle frame from tetrahedron phase data.Zj9EFNOT Ignoring new targets: 269.30 m.BjMMJjMM} ProNav: ac range: 269.299988 m, nav range: 93.083832 m, bearing: 261.629205 deg, approach rate: 0.381530 m/s, LOS rate: -0.292534 deg/s, cmd heading: 30.295379 deg, new cmd heading: 29.915636 deg. 2j}HHeadingCmd: 0.522126 target range: 269.299988 and range: 269.30 m. j?jjjihhhh߃BfffrfbfD?ɛ BpM= I xWļɚiI^;=I?i;ir[=)?)H2>I I#IIBI&I.I6I<:I F*F?2F:FBF5JF"G%=G%= $?I fi Will construct direction to contact in vehicle frame from tetrahedron phase data. > =J J J J J :J :J J J i;a J j;a J a J a G zK KK 9K K !K  G B O >,w,y DA2(>Y2L?2 <92{=y2Hb?yI=?U?d?@p?@&?ɨ2(>2D=;2Cy>aB>"I)@ BADDIJIJ%x4٢R= RU=9R"Q R>TT VG٣TyZr Z> ^Nusing accuracyPremultiplier from config\b159^s{?b15Y^, i^B`f?f@^E^ ;^. ;^S15h j@j{EUB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 269.30 m.BjJj ProNav: ac range: 269.299988 m, nav range: 93.223763 m, bearing: 261.520446 deg, approach rate: 0.368417 m/s, LOS rate: -0.285915 deg/s, cmd heading: 29.915634 deg, new cmd heading: 29.589852 deg. 2j8DHeadingCmd: 0.516440 target range: 269.299988 and range: 269.30 m. jo5?jjjihhhhfffrfbf ?ɛM BUOG y}`I ">ƼɚiI?<=Io5?iA3;iFP=)o5?)*F2F:FBF_0JFG s=MWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.GBOI> w,wg:DA 0I0RWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758122@>Y?҅ <9=yH??@??տ0??ɨ@>.͉;yޅmBޅ"II%I%.4٢D= *=9?Q > G٣yT > -Nusing accuracyPremultiplier from config-159#|?515Y, iB15F?5@E::BW15=B E@ExEZjFNOT Ignoring new targets: 269.30 m.BjgJjg ProNav: ac range: 269.299988 m, nav range: 93.405327 m, bearing: 261.377409 deg, approach rate: 0.378950 m/s, LOS rate: -0.297957 deg/s, cmd heading: 29.589851 deg, new cmd heading: 29.161583 deg. 2j|LHeadingCmd: 0.508966 target range: 269.299988 and range: 269.30 m. jK?jjjihhhhfffrfbf?ɛ-B-<4 15)I1 5ȼɚ1i1I5r ==I=K?i-u;i-jJ=)-K?)1*F2F:FBFJFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007688G '\=G G jH bH H 3>I  I "#II BI &I .I 6I ̯<:I FBI˞CJI˞CRIZI# =bI$ =jIQ5G B O >w,o/TDAN@[>YN ?NN;9NC=yNH @9?@i?N?,?-Ize??ɨN@[>NU;NCyZnBZ"IMMb@Mb@Mb@III I)IYM?~jtxy&1?yM ?MĻIMA M~@)MI@IM@IyM@IeIe(4٢u< ug=9u϶Q u> G٣JGyռ > Nusing accuracyPremultiplier from config159$|?15Y, iB ?: ?@E ;;vZ15! -@)ZjqFNOT Ignoring new targets: 269.30 m.BjJj ProNav: ac range: 269.299988 m, nav range: 93.551903 m, bearing: 261.269396 deg, approach rate: 0.408075 m/s, LOS rate: -0.300241 deg/s, cmd heading: 29.161581 deg, new cmd heading: 28.838055 deg. 2j NHeadingCmd: 0.503319 target range: 269.299988 and range: 269.30 m. j?jjjihhhhBfffrfbf@ ]$?IYɛeBm< iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259625mI gTʼɚiIǯ==I?id;i<=)?)JJJJJ :JJJJ;J;JJ*F=?2FA:FABFM`0JFIGQ GQzKLK9KK"KGM=GBOj>= .~G] |uAu ZA YY |uAy Be Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5114385w, nDA6ʥ>Y6a ?6M;96=y6Hq_?K??`Q?;`$o$??ɨ6ʥ>6̊;4yvrBv"Iiz >Iz%=II\4٢̂< Q=9һQ > G٣y%, %> 5Nusing accuracyPremultiplier from config)5159-5|?=15Y-, i-B9=?=@-E-};-;-]15MB M@MuEZjquFNOT Ignoring new targets: 269.30 m.Bj}嬻Jj}嬻 ProNav: ac range: 269.299988 m, nav range: 93.702522 m, bearing: 261.156982 deg, approach rate: 0.405709 m/s, LOS rate: -0.302314 deg/s, cmd heading: 28.838056 deg, new cmd heading: 28.501358 deg. 2jyOHeadingCmd: 0.497443 target range: 269.299988 and range: 269.30 m. jʰ>jjjihhhhfffrfbf@ɛB; aI ̼ɚiIE>=Iʰ>i;i!3=)ʰ>)*FU?2FQ:FYBF]Z1JFY M$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767197G]sJ=G9BO] >!w,DA6>Y6Xz ?6O:96=y6H~?T-?^?o? S??ɨ6>6_6;6CyFxBF"I%Mb@Mb@Mb@!!! !)!Y%p= ף?I +?y&1?y%%?%9IQ UG٣QyUm ]> eNusing accuracyPremultiplier from configYe159]H|?m15Y], i]BmA%?m:m?m@]E];]:]_a15y }>@yZjFNOT Ignoring new targets: 269.30 m.BjJj ProNav: ac range: 269.299988 m, nav range: 93.878258 m, bearing: 261.035805 deg, approach rate: 0.427000 m/s, LOS rate: -0.293883 deg/s, cmd heading: 28.501358 deg, new cmd heading: 28.138513 deg. 2jIHeadingCmd: 0.491110 target range: 269.299988 and range: 269.30 m. jr>jjjihhhhBfffrfbf+@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015591ɛBM- IM II MμɚIiIIU>=I]r>i];i]0=)]r>)aHqIq Iu;#IIuBIq&Iq.Iq6Iu<:Iu F*F?2F:FBF0JF 1 I1  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:15:45.1602  TRx dataTimestamp_ set to:1736374546.445066 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271512G% s[4=G- ?G- ?J J J J J |:J :J J J ;J ;J J;J J;G B OM >zK BHK 9K K #K (w,ȡDA2Ν>Y2c?2ں92=y2HΠ?~ ݠ?K%?`? `[\[?q?`?ɨ2Ν>2ĉ;2CyNyBLIVIVh4٢^; ^S=9bQ b>`` bG٣dyf f> jNusing accuracyPremultiplier from confighn159jZ|?n15YjB, ijBpr?r@jEj ;j. ;jd15vB vD@vrE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 269.30 m.Bj%eJj%e- ProNav: ac range: 269.299988 m, nav range: 94.042389 m, bearing: 260.921431 deg, approach rate: 0.425790 m/s, LOS rate: -0.296192 deg/s, cmd heading: 28.138513 deg, new cmd heading: 27.795994 deg. 2j5FK=HeadingCmd: 0.485132 target range: 269.299988 and range: 269.30 m. j=,c>j9j9j9i9h9hAhAhAfAfIfIrfIbfM? @ɛ%B%a8 !-I) -ϼɚ)i)I-o?=IU,c>iQiU)*=)],c>)Y*F ?2F :F BF 5JF"G=G=-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520294G-4=G B1 O} > % $?I% ei6.w,DABWill construct direction to contact in vehicle frame from tetrahedron phase data.ZDAT read: 22:15:45.1602 LVL= 27824, 32753, 32754, 32755, AGC= 67, IDX= 424, 0.40,-1.077,-2.803,-2.592,-2.032, PHS= 1.043,-0.723,-0.563, RAW= 94.7, 2.9, CAL= 103.5, 0.8, ROT= 46.5, -0.8 bYgot valid direction response: 22:15:45.1602 LVL= 27824, 32753, 32754, 32755, AGC= 67, IDX= 424, 0.40,-1.077,-2.803,-2.592,-2.032, PHS= 1.043,-0.723,-0.563, RAW= 94.7, 2.9, CAL= 103.5, 0.8, ROT= 46.5, -0.8 jPDAT read: Bearing 46.5, -0.8 (Local) r~Local bearing/azimuth received: Bearing 46.5, -0.8 (Local) EDAT read: Range 10 to 50 : 268.0 m (Round-trip 357.4 ms) speed 0.4 m/s ,DAT read: user:2441> BDAT read: Tx time:22:15:46.2487 $Ping request sent.qq }G٣}JGy} }> Nusing accuracyPremultiplier from config1592u|?15Y, iBs*?:?@Ef;;i15}B @mEkB;ar?kBI/ k@ kBeDA:kBCBkBCZkB{@"BX!C}r@e$p@BkH3¿=`]m?ߨ ?JkB<@RkB*B3 -X=K#=p@B:wbQvۨILջ0QY?"kB*kBkBfr?kB/ 2kBCkBmGnu?kBU1 k@kBYBkB\@} addTargetRange:: Added new target pos. range: 268.000000 m, deltaT: 3.784119 s, deltaX: -1.299988 m, approachRate: -0.343538 m/s, rangeRepo size: 4  Added new target pos. range: 268.000000 m, bearing: 224.797631 deg, lat: 36.904159 deg, lon: -122.122675 deg, deltaT: 3.784119 s, deltaX: -1.299988 m, approachRate: -0.343538 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 268.00 m.BjJj ProNav: ac range: 268.000000 m, nav range: 54.402424 m, bearing: 247.738063 deg, approach rate: 0.000000 m/s, LOS rate: -0.296192 deg/s, cmd heading: 27.795994 deg, new cmd heading: 27.256487 deg. 2jHeadingCmd: 0.475715 target range: 268.000000 and range: 268.00 m. j>jjjihhhh!Bfffrfp@bf`d?5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:15:46.2479 ɛB! 隵PzI ѼɚiI1@=I>iN;iQVM=)>)*F 2F :F BF 0JF Hm 5>Ii  Im N#IIm ńBIi &Ii .Ii 6Im <:Im FG؛*= IGBO?6w,8DAWill construct direction to contact in vehicle frame from tetrahedron phase data.:>Y:m?:@\9:=y:H?߿?;?? s?`=0?@?ɨ:>:#;:CyJBJ"IIRIRq4٢ZZU< ^c=9^Q ^>\` bG٣`yb b>J)J)J5J5J51J1J5 :J5 :J53J1J5;J5;J5R;J5R; UNusing accuracyPremultiplier from configIU159M|?U15YM|, iMBYe?e@MEM2;M 3;Ml15 @Zj  FNOT Ignoring new targets: 268.00 m.BjJj% ProNav: ac range: 268.000000 m, nav range: 54.601269 m, bearing: 247.588206 deg, approach rate: 0.581993 m/s, LOS rate: -0.437015 deg/s, cmd heading: 27.256486 deg, new cmd heading: 26.808562 deg. 2jEMHeadingCmd: 0.467898 target range: 268.000000 and range: 268.00 m. jMH>jIjIjQiQhQhQhQhYfYfYfrfbf`?zKKh9KK$K  RK ?JK?ɛB3 BqI X@ӼɚiIC@=IH>iijS<=)H>)*F2F:FBF)5JFG7=GIBaOY>Will construct direction to contact in vehicle frame from tetrahedron phase data.KY6D2?6h>96=y6H?IS߿`6?Ea? P? :̇? ?e?ɨ6k>6;6CyB{BF"IININ4٢Vڷ VL=9ZQ Z>XX ZG٣ZJGy^D ^> fNusing accuracyPremultiplier from config`j159b|?j15Yb, ibBln ?n@bEbqF;bF;bBp15rB rB@vjEZjFNOT Ignoring new targets: 268.00 m.Bj0Jj0񻝊- ProNav: ac range: 268.000000 m, nav range: 54.808807 m, bearing: 247.431591 deg, approach rate: 0.560973 m/s, LOS rate: -0.421724 deg/s, cmd heading: 26.808561 deg, new cmd heading: 26.340506 deg. 2j-5HeadingCmd: 0.459729 target range: 268.000000 and range: 268.00 m. j5a>j1j1j1i1h1h9h9h9fAfAfArfAbfMb?ɛuB 3 uI ԼɚiI%@=I%a>i!i-J=)-a>)) e$?Ia]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGrA GpAG Will construct direction to contact in vehicle frame from tetrahedron phase data. i AmCw,EAyzB"Ii%=I%7? -=-=HI IZ#IIτBI&I.I6I9<:I) FMb@Mb@Mb@ )YK7A`?Zd;O?y&1|?y+?j<=`;A Q@)@II@y@IId4٢-٨ -4=9-Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU159Mj|?U15YM, iMB]l+?]:]?]@MEM%;M";M9t15a eU@iZjFNOT Ignoring new targets: 268.00 m.Bjb߻Jjb߻ ProNav: ac range: 268.000000 m, nav range: 55.060318 m, bearing: 247.253964 deg, approach rate: 0.555605 m/s, LOS rate: -0.390597 deg/s, cmd heading: 26.340505 deg, new cmd heading: 25.810074 deg. 2jHeadingCmd: 0.450471 target range: 268.000000 and range: 268.00 m. j>jjjihhhhBfffrfbf'P?ɛB* qI kiּɚiIgA=I>ii k=) >) *F12F1:F9 U$?IQBF9JFQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.JmJmJm0JiJm,:Jm:Jmـ3JiJm;Jm;JmyE;JmzE;zK /LK +9K K %K Gm 'K=G! B1 OM >Jw,)EAZ!I>YZA>Z9Z=yZH[!?x޿`?|??[ᴿ`!? 6L?P?ɨZ!I>Z;ZCWill construct direction to contact in vehicle frame from tetrahedron phase data.ymvBm"II}I}E4٢G 6=9]Q > G٣y > Nusing accuracyPremultiplier from config159|?15YO, iBt?@E::'x15B @gEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 268.00 m.BjJjờ  ProNav: ac range: 268.000000 m, nav range: 55.307468 m, bearing: 247.075391 deg, approach rate: 0.549219 m/s, LOS rate: -0.395054 deg/s, cmd heading: 25.810074 deg, new cmd heading: 25.276764 deg. 2j HeadingCmd: 0.441163 target range: 268.000000 and range: 268.00 m. j>jjjihhh!h!f)f)f)rf)bf- ʂ?ɛUB]Eb, Y]sIY ])ؼɚYiYIeA=Ie>iaieeN=)e>)i*F?2F:FBFJFG̨i= 5$?I9GBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.Pw,CEA2ژ>Y2p>2Ɨ927=y2H`-=?޿???ܴ?@??ɨ2ژ>2 ;0)ǙIǝuAƝ^ƝcwF Ǚǥ@CǥxAǡiǡǡiȩȩ)ȩ ȩIȩ ɱ)ɱȱȱȱɱɵCuAiɽScIɽ|FɹIʹiʽuA ʽ/ݽɽKkF) ΁AI)iypB"ImMb@Mb@Mb@iii i)iYm?y&1?{Gzt?ym,?m`e=mף;i i)m@Imv@iym@IIQ4٢' J=9Q > G٣JGy > Nusing accuracyPremultiplier from config159?|?15Yj, iBe-?:A?@Ej;b;{15B  @dEZjFNOT Ignoring new targets: 268.00 m.BjJjໝ ProNav: ac range: 268.000000 m, nav range: 55.533554 m, bearing: 246.916175 deg, approach rate: 0.559788 m/s, LOS rate: -0.392611 deg/s, cmd heading: 25.276763 deg, new cmd heading: 24.801074 deg. 2jHeadingCmd: 0.432860 target range: 268.000000 and range: 268.00 m. j>jjji!h!h!hhBfffrfbf-"@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230169ɛ-B-'0 154yI1 5ټɚ1i1I5wB=I=>i9ieCU=)e>)a*F2F:FBFJF"G=G=jH<bH<HI Ia#IIԄBI&I.I6I<:I F ! I) G- l=G B O= >Ww,du]EAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482033: 1>Y:)>:7p9:*A=y:HVV?ݿ?`? 9?`pҴ ?`.?K?ɨ: 1>:;8ɳFfCFtwADiDDiHH)H HIH L)NpwAɴLLLPɵPiPIPPIPiR`uA VVVgF)TT VOuAVVV&vFɶTXZwAIX)XiX)\I\^ɷ\ \\y=lB="I)A AIMIM4٢] ]c=9]Q e>aa eG٣aym/ > Nusing accuracyPremultiplier from config159|?15Y, iB?@E*:;~15 Q@zK RIK 9K K &K ZjIMFNOT Ignoring new targets: 268.00 m.BjUsػJjUsػe ProNav: ac range: 268.000000 m, nav range: 55.737076 m, bearing: 246.772178 deg, approach rate: 0.536879 m/s, LOS rate: -0.378470 deg/s, cmd heading: 24.801074 deg, new cmd heading: 24.370668 deg. 2jeށHeadingCmd: 0.425348 target range: 268.000000 and range: 268.00 m. jD>jjjihhhhfffrfbf @ɛEBE7 IM*|II MXۼɚIiIIMzfB=IUD>iQi]|vX=)]D>)i*F5?2F1:F1BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.734908G W=GBO >,]w,_BwEA2>Y2f>2a92*u=y2H@Vn?`OZݿ@?@&V?BR?@ƴ?@g??ɨ2>2 f;2CyޅeBޅ"III\4٢ W=9ϪQ > G٣y > Nusing accuracyPremultiplier from config159|?15Yc, iB?@E::&15 $?I @aEZj15FNOT Ignoring new targets: 268.00 m.Bj=1Jj=1滝M ProNav: ac range: 268.000000 m, nav range: 55.945919 m, bearing: 246.623743 deg, approach rate: 0.568426 m/s, LOS rate: -0.402499 deg/s, cmd heading: 24.370668 deg, new cmd heading: 23.927035 deg. 2jMUHeadingCmd: 0.417606 target range: 268.000000 and range: 268.00 m. j]e>jYjYjYiYhahahahafafifirfibfm@ɛBiiy]=)e>)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986789*F5?2F9:FAJ]J]J]1JYJ]:J]:J]3JYam@am@am@am@BFm 2JFqG8U=Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:15:49.0084  TRx dataTimestamp_ set to:1736374550.225024 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239441cdw, EAH6>IC III" =&I.I6I<:I FBIAJIARIAZIAbIE# =jIE)4yޝiBޥ"IMb@Mb@Mb@ )Y rh?{Gz?Mbp?yC+?#=; )@I`@y3@II(4٢< 7=9Q > G٣JGy   > Nusing accuracyPremultiplier from config159}?15Y[, iB+?: ?%@E;s;15-B -@-^EZjY]FNOT Ignoring new targets: 268.00 m.BjeJje绝} ProNav: ac range: 268.000000 m, nav range: 56.188927 m, bearing: 246.444257 deg, approach rate: 0.549523 m/s, LOS rate: -0.404122 deg/s, cmd heading: 23.927035 deg, new cmd heading: 23.390924 deg. 2j}HeadingCmd: 0.408249 target range: 268.000000 and range: 268.00 m. j>jjjihh)h)h-Bf)f1f1rf1bf5 @ɛB:. 隭|tI x޼ɚiIB=I>iiY=)>) $?IdieWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.490324*F}?2Fy:FyBF}_1JFyGqA GrAzK BoHK K K 'K  !')q q G '\=G ?G -? NG ! M jYQ yU 2BG B Ou >Vjw,!ZEA}Bx>Y}>}ڼ9}f=y}H?ܿvφ? N??@V?@??ɨ}Bx>};}CWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:15:49.0084 LVL= 16016, 29681, 26034, 30195, AGC= 64, IDX= 422,-0.14, 2.216, 0.233, 0.410, 1.030, PHS= 1.275,-0.750,-0.622, RAW= 93.2, 1.0, CAL= 101.5, -2.4, ROT= 48.5, 2.4 Ygot valid direction response: 22:15:49.0084 LVL= 16016, 29681, 26034, 30195, AGC= 64, IDX= 422,-0.14, 2.216, 0.233, 0.410, 1.030, PHS= 1.275,-0.750,-0.622, RAW= 93.2, 1.0, CAL= 101.5, -2.4, ROT= 48.5, 2.4 PDAT read: Bearing 48.5, 2.4 (Local) ~Local bearing/azimuth received: Bearing 48.5, 2.4 (Local) DAT read: Range 10 to 50 : 266.7 m (Round-trip 355.6 ms) speed 0.1 m/s ,DAT read: user:2442> BDAT read: Tx time:22:15:50.0987 $Ping request sent.؉9؍rqUfܪ?l?y؍YC؉؍>؍s ٍe)ٍuIٍ@iٍ33?ٍ@ٍd;ٍ5?ٍ5< ڍ?)ڍ+Iڍ8X?iڍ+=ډډۍ:?VCܿK-v?)ۍ+Iۍiۍj,@ۍۉۉ5:publishing transmit ping time=Fpublishing direction and range info؉9؍rqUfܪ?l?y؉؉a mG٣iy > Nusing accuracyPremultiplier from config159%}?15؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍ:?VCܿK-v?)ۉIۉiۉۉۉۉY, i'B?@E[;};ȉ15B $@\Ek+1s?k ,. k kEA:kYCBkoCZkr@"17%=+@H)p@rqUfܪ?l?Jkj,@Rk* ƞ_= :6HhMp@ y,2xXU}k|?"kб*kk+A7zs?k0. 2k*Ck2s?k/ kCkj&Bk̖}@ addTargetRange:: Added new target pos. range: 266.700012 m, deltaT: 3.780065 s, deltaX: -1.299988 m, approachRate: -0.343906 m/s, rangeRepo size: 4  Added new target pos. range: 266.700012 m, bearing: 217.113784 deg, lat: 36.904108 deg, lon: -122.122436 deg, deltaT: 3.780065 s, deltaX: -1.299988 m, approachRate: -0.343906 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 266.70 m.BjuJjq ProNav: ac range: 266.700012 m, nav range: 41.604240 m, bearing: 227.024728 deg, approach rate: 0.000000 m/s, LOS rate: -0.404122 deg/s, cmd heading: 23.390924 deg, new cmd heading: 22.850894 deg. 2jHeadingCmd: 0.398823 target range: 266.700012 and range: 266.70 m. j2>jjjihhhhfffrf@3p@bf '?ɛ߄BK`2 |lR=%}I! %ɚ!i!I%;C=I2>iiul=)2>) I*F?2F:FBF0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:22:15:50.0979 G] {=G B! J= J9 J= 0J9 J= :J9 J= ـ3J9 OU >=qw,4EAy WB"IMb@Mb@Mb@ )Yx&?Mb?~jth?y7)?=D;A ;@)Iv@y=@IIm4٢5D 5Z=9=Q =>99 EG٣AyE M> ]Nusing accuracyPremultiplier from configQ]159U97}?]15YU, iU/Bej)?:?@UEU(kJj>E ProNav: ac range: 266.700012 m, nav range: 41.833416 m, bearing: 226.924297 deg, approach rate: 0.586735 m/s, LOS rate: -0.255714 deg/s, cmd heading: 22.850893 deg, new cmd heading: 22.551254 deg. 2jE~/MHeadingCmd: 0.393594 target range: 266.700012 and range: 266.70 m. jM>jIjIjIiIhQhQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.h1h5Bf1f9f9rf9bf=?ɛ܄B< 隍܄I *ɚiIzC=I>i};ix=)>)ZHQRHU?A*Fm?2Fq:FqBFu85JFqHYI]C I]Z#II]τBIY&IY.IY6I]5<:I]& F } $?Iy G x}=M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739717G B O >_ww,LEA6<$j>Y6 >696M=y6H Z?ۿ߸t??? H? k?*?ɨ6<$j>6];4yUB"II-I-F4٢=T =Q=9=N>Q =>AA EG٣AyMp M> }Nusing accuracyPremultiplier from configy159}J}?15Y}9, i}:B>@}E}:} ;}j15 @ZjFNOT Ignoring new targets: 266.70 m.BjqJjq ProNav: ac range: 266.700012 m, nav range: 42.081646 m, bearing: 226.811674 deg, approach rate: 0.711169 m/s, LOS rate: -0.320757 deg/s, cmd heading: 22.551254 deg, new cmd heading: 22.215382 deg. 2j"\HeadingCmd: 0.387732 target range: 266.700012 and range: 266.70 m. j>jjjihhhhfffrfbf`?ɛلBC I (ɚiIRC=I>iib=)>zKF5LK9KK(K'&$"!  )*F?2F:FBF_0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992685GE Š}=GI GM pAG B) OM >}w,EA6x6c>Y6ѓ>6z 96 =y6H?Pzۿgd?#?ⲿ`w?'?`?ɨ6x6c>6;4 @IDyJYBJ"I)L NAIRIRr4٢Z< ZT=9^bQ ^>`` bG٣bKGyff f> jNusing accuracyPremultiplier from confighn159jR]}?n15Yj, ijEBpr)>r@jEj);j);j15t v@vVEZj%FNOT Ignoring new targets: 266.70 m.Bj%Jj%5 ProNav: ac range: 266.700012 m, nav range: 42.320328 m, bearing: 226.702299 deg, approach rate: 0.625553 m/s, LOS rate: -0.285041 deg/s, cmd heading: 22.215382 deg, new cmd heading: 21.889111 deg. 2j5C=HeadingCmd: 0.382037 target range: 266.700012 and range: 266.70 m. j=\>j9jAjAiAhAhAhIhIfIfIfIrfQbfU?ɛքB; 隝L{I  ɚiIC=I\>i4;i)\>)uWill construct direction to contact in vehicle frame from tetrahedron phase data.u>u=}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243393JuJuJqJqJu|:Ju9JqJqEA*F?2F:FBFJF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496188G= TSw,6VFA>J`>Y>i>>U9>m1=y>H?`[ۿrA?? nƳ ? _?@o?ɨ>J`>>;>Cy%TB%"IMb@Mb@Mb@ )Y rh?y&1?{Gzt?yC+?`e<ף;zA )@IQAy@IIk4٢^ *=9ŻQ > G٣y > Nusing accuracyPremultiplier from config159u}?15YX, iTBN+?:> @EW;;15B @SE U$?IQZjFNOT Ignoring new targets: 266.70 m.BjJj ProNav: ac range: 266.700012 m, nav range: 42.620934 m, bearing: 226.552816 deg, approach rate: 0.608853 m/s, LOS rate: -0.300630 deg/s, cmd heading: 21.889110 deg, new cmd heading: 21.443834 deg. 2jQNHeadingCmd: 0.374266 target range: 266.700012 and range: 266.70 m. j>jjjihh!h!h%Bf)f)f)rf)bf-@?ɛ҄B1 隭{I ɚiIC=I>i#;i2w=)>)eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747449EXR=*FU?2FQ:FQBFQJFQzKE'MKE+9KAKE)KE ).>UF9531/.,-,,(%!G= va=G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998981Zyw,% 0FAm ?R>Ym>mG9mc=ymH`?@Lڿ.Gv`l??Z?%?b?ɨm ?R>mP;iyޅYBޅ"III4٢< O=91Q > G٣y > Nusing accuracyPremultiplier from config159}?15YU|, i`B>@E ;" ;d15 @ZjFNOT Ignoring new targets: 266.70 m.Bj Jj  ProNav: ac range: 266.700012 m, nav range: 42.868164 m, bearing: 226.426159 deg, approach rate: 0.650994 m/s, LOS rate: -0.331582 deg/s, cmd heading: 21.443835 deg, new cmd heading: 21.066061 deg. 2jc%HeadingCmd: 0.367672 target range: 266.700012 and range: 266.70 m. j%?>j!j!j!i!h)h)hhfffrfbf8@ɛ΄B-eg7 )-XjI) 5?ɚ9i9I=C=I=?>iE;iEX=)E?>)AE E *E "E  IIIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251071EEpA*FU ?2FY :FY BFa JFa JSK[3 KSKSKS"KSJ= J= J9 J9 J= :J= :J9 J9 G x=GiBqO>~w,ũNFA6I>Y6>696첒=y6H`:?` ڿy?#?¼??N??ɨ6I>6͋;6Cy>^BB"IiF=IF4<JWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503066Mb@Mb@Mb@ )YJ +?{Gz?I +?y(?#<94<A h@)@I@y=@II4٢< )=9Q > G٣KGyZ > Nusing accuracyPremultiplier from config159}?15Yx, isB(?:>@ED;;15 B @PE-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 266.70 m.Bj=DJjEDU ProNav: ac range: 266.700012 m, nav range: 43.163979 m, bearing: 226.269978 deg, approach rate: 0.611135 m/s, LOS rate: -0.320450 deg/s, cmd heading: 21.066060 deg, new cmd heading: 20.600738 deg. 2jU[]HeadingCmd: 0.359551 target range: 266.700012 and range: 266.70 m. j]>jYjajaiahihihihifqfqfqrfqbfu@H 7>I  I I I &I .I 6I <:I  Fɛ=ʄB=+ imWIi m2ɚiiiIm D=Iu>iu ;iu?\=)u>)y*F5?2F1:F9BF9JF9 $?IGf=GBOi>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754928J9 J9 w,YihFAzK"zMK"]9K K"*K"RK& ?JK& ?B@?>YB4>B.C9BM=yBHZ?zٿN}}\? D?鵴?9B??ɨB@?>BR;@yV[BV"IIfIf4٢r N r\=9vpQ v>xx zG٣xy;׼ > Nusing accuracyPremultiplier from config 159 ڴ}?%15Y .v, i B!%>-@ E ws; Z; ߢ155B =@EMEZj)]FNOT Ignoring new targets: 266.70 m.BjmJjm񬻝 ProNav: ac range: 266.700012 m, nav range: 43.391506 m, bearing: 226.148000 deg, approach rate: 0.567039 m/s, LOS rate: -0.302396 deg/s, cmd heading: 20.600738 deg, new cmd heading: 20.236729 deg. 2jOHeadingCmd: 0.353198 target range: 266.700012 and range: 266.70 m. jOִ>jjjihhhhfffrfbf0@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007253ɛńB / DTI ɚiID=IOִ>iK;iL+O=)Oִ>)*F?2F:FBFo0JF IG W=G pAG qAG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:15:52.8562 m TRx dataTimestamp_ set to:1736374554.004648m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260068w,MFAF97>YF>FI 9F͖=yFHt?`ؿ] ?]?@??+?ɨF97>F;FCy]dB]"III4٢u= }3=9}7Q > G٣KGye8 > Nusing accuracyPremultiplier from config159}?15Yr, iB>@E;c;#15 .@Zj)5FNOT Ignoring new targets: 266.70 m.Bj=ûJj=ûm ProNav: ac range: 266.700012 m, nav range: 43.688503 m, bearing: 225.987117 deg, approach rate: 0.634062 m/s, LOS rate: -0.341136 deg/s, cmd heading: 20.236729 deg, new cmd heading: 19.757372 deg. 2jmjuHeadingCmd: 0.344831 target range: 266.700012 and range: 266.70 m. ju>jqjqjqiqhyhyhyhyfffrfbf @ɛ B G7(  :I  >ɚiID=I>iicR=)5>)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512098*F5?2F1:F1BF5p0JF1"G==G==H I  I I I &I .I 6I <:I  FG} ˦w,ЀFA6->Y6j>6"96@=y6H?@tؿ`T?z? A?'??ɨ6->6;6CyBbBB"I)D FAMb@Mb@Mb@ )Y~jt?y&1|?~jt?y$?`;D<hA Q@)Iv@y@I-I-ݜ4٢= =]=9=Q E>AA EG٣AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765234yμ > ENusing accuracyPremultiplier from config1]1595}?]15Y5bp, i5B$?:>@5E5A<5@<5Q15 X@J J J J J :J :J J J 6;aMJ 8;aMJ A;aUJ A;a]JEZj%FNOT Ignoring new targets: 266.70 m.Bj%[Jj%[5 ProNav: ac range: 266.700012 m, nav range: 43.903454 m, bearing: 225.867637 deg, approach rate: 0.525882 m/s, LOS rate: -0.290878 deg/s, cmd heading: 19.757372 deg, new cmd heading: 19.400694 deg. 2j5GEHeadingCmd: 0.338606 target range: 266.700012 and range: 266.70 m. jE]>jAjAjAiAhAhIhIhMBfIfQfQrfQbf@ɛB\) 46I "ɚiI%%D=I]>i;i;FF=)]>)!zK-2KK-9K)K-+K-*F?2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:15:52.8562 LVL= 15792, 30801, 22162, 29555, AGC= 64, IDX= 414,-0.10, 1.578,-0.099,-0.245, 0.532, PHS= 1.134,-0.583,-0.780, RAW= 84.7, 2.5, CAL= 90.3, -0.4, ROT= 59.7, 0.4  Ygot valid direction response: 22:15:52.8562 LVL= 15792, 30801, 22162, 29555, AGC= 64, IDX= 414,-0.10, 1.578,-0.099,-0.245, 0.532, PHS= 1.134,-0.583,-0.780, RAW= 84.7, 2.5, CAL= 90.3, -0.4, ROT= 59.7, 0.4  PDAT read: Bearing 59.7, 0.4 (Local)  ~Local bearing/azimuth received: Bearing 59.7, 0.4 (Local)  DAT read: Range 10 to 50 : 264.9 m (Round-trip 353.3 ms) speed 0.3 m/s  ,DAT read: user:2443>  BDAT read: Tx time:22:15:53.9488  $Ping request sent.% kw,QFA7?9K b#嵦?)Iq5il@[}.:publishing transmit ping timeQ.Fpublishing direction and range info9ȿe ? bq?y )Ii )Ii7?9K b#嵦?)Iiv%>YҸ>v"9=yH@?׿ ?v;Cy-eB-"IIeIe4٢- l< -<=95Q 5>11 =G٣9y=5 => U$?IQ mNusing accuracyPremultiplier from configAu159E}?u15YEm, iEBqu>u@EEE;E;Eۭ15B =@EEkfl?kG* k kFA:ksCBkCZk6@"{q@(uJ@*0p@ȿe ? bq?Jkl@Rk[}*%pJBӰd/@ڞn}1p@-z^ɿ V?&sXlL?"k {A*kSk׋l?kC* 2kCk+A7zs?kkkl3Bkn{@u addTargetRange:: Added new target pos. range: 264.899994 m, deltaT: 4.033553 s, deltaX: -1.800018 m, approachRate: -0.446261 m/s, rangeRepo size: 4  Added new target pos. range: 264.899994 m, bearing: 163.468853 deg, lat: 36.904099 deg, lon: -122.122436 deg, deltaT: 4.033553 s, deltaX: -1.800018 m, approachRate: -0.446261 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 264.90 m.BjJj ProNav: ac range: 264.899994 m, nav range: 44.855591 m, bearing: 224.806302 deg, approach rate: 0.000000 m/s, LOS rate: -0.290878 deg/s, cmd heading: 19.400693 deg, new cmd heading: 19.068583 deg. 2jHeadingCmd: 0.332810 target range: 264.899994 and range: 264.90 m. jf>jjjihhhAhAfAfAfArfM`fp@bfM~?ɛBz& 'I 1ɚiI(D=If>i ;i9J@=)f>)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JFGu'HF=GiBO>ֳw,3FA2Will construct direction to contact in vehicle frame from tetrahedron phase data.yޝgBޝ"I5Mb@Mb@Mb@111 1)1Y5?/$? rh?y5f&?5<5C<5zA 5;@)5@I5@1y5@IMIM_v4٢]a< ]H=9eQ e>ai mG٣iym m> }Nusing accuracyPremultiplier from configy159}~?15Y}j, i}B&?:B>@}E}H;};}o15ZHRH@AHI IZ#IIτBI&I.I6I-<:I" FBI]ŸCJI]ŸCRIYZI]" =bI]" =jI]Ÿ3 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 264.90 m.BjJj  ProNav: ac range: 264.899994 m, nav range: 45.103607 m, bearing: 224.684371 deg, approach rate: 0.640391 m/s, LOS rate: -0.313099 deg/s, cmd heading: 19.068584 deg, new cmd heading: 18.704809 deg. 2j VHeadingCmd: 0.326461 target range: 264.899994 and range: 264.90 m. j%>jjjihhhhBf!f!f!rf!bf%?ɛBL$ I %ɚiI*D=I-%>i-;i5Y=)5%>)1 U$?I]ci*F?2F:FBF1JFGrA GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J= J= J= 1J9 J= |:J= :J= 3J9 J= ;J= ;J= nN;J= oN;G gpF=G B O > G tA A Y tAy Bw,FAzKbBoHKb9K`Kb,Kb  "$+-27;<ADFF9.*'%&''%##%$$%$#&'(*/6<AGLSX\Nf>YNJo>N7+9NIÊ=yNH?LB׿ X??ju?Q??ɨNf>NeV;NCyzoBz"Ii~a=I~p>II4٢e#= b=9ǻQ >!! %G٣%KGy- -> 5Nusing accuracyPremultiplier from config1=1595~?=15Y5h, i5B9E>E@5 E5 ;5X ;515MB M@MBEZjquFNOT Ignoring new targets: 264.90 m.Bj}}Jj}} ProNav: ac range: 264.899994 m, nav range: 45.322071 m, bearing: 224.574300 deg, approach rate: 0.615455 m/s, LOS rate: -0.308597 deg/s, cmd heading: 18.704809 deg, new cmd heading: 18.376192 deg. 2jSHeadingCmd: 0.320725 target range: 264.899994 and range: 264.90 m. j6>jjjihhhhfffrfbfU?ɛB|! I XɚiI!#D=I6>i;i==)6>)mWill construct direction to contact in vehicle frame from tetrahedron phase data.qiquchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.992068*F}?2Fy:FyBF}_0JFyGEP=GBO--> 9I9 Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243669w,GA2'>Y2>2.92İ=y2H?`% ׿t.? H?`= ٥???ɨ2'>2G;2CyLLIZIZa4٢rd; rN=9rQ v>| G٣y > %Nusing accuracyPremultiplier from config!-159%/~?-15Y%e, i%B)5>5@%E%:%3:%15 @Zj5FNOT Ignoring new targets: 264.90 m.BjEJjM ProNav: ac range: 264.899994 m, nav range: 45.564278 m, bearing: 224.452252 deg, approach rate: 0.532051 m/s, LOS rate: -0.266677 deg/s, cmd heading: 18.376192 deg, new cmd heading: 18.011998 deg. 2j7HeadingCmd: 0.314369 target range: 264.899994 and range: 264.90 m. j>jjjihhhhfffrfbf7?ɛEBE IMIQ U#ɚQiQIU D=Im>im*)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497370*F?2F:F)BF)JF)"G5=G5=H8>I Ia#IIԄBI&I.I6I#<:I F - $?I1 G= Z=G B) OE > Ǒw,GA6>Y6f>6"+96D=y6H?`ֿ݉??@b?@??ɨ6>6W;6CyBrBB"IMMb@Mb@Mb@III I)IYMJ +?Q?Q?yM(?M\=Mu G٣yOq > Nusing accuracyPremultiplier from config159AD~?15Yb, iB(?:>@E?;Q>;15B @?EZjFNOT Ignoring new targets: 264.90 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748216Bj뾻Jj뾻  ProNav: ac range: 264.899994 m, nav range: 45.820744 m, bearing: 224.329991 deg, approach rate: 0.704209 m/s, LOS rate: -0.333828 deg/s, cmd heading: 18.011998 deg, new cmd heading: 17.647272 deg. 2j eHeadingCmd: 0.308003 target range: 264.899994 and range: 264.90 m. j>jjjihhhhBf!f!f!rf)bf-7T?ɛUBU QU۽IY ]lgɚYiYI]D=Im>iiiu L=)u>)qJJJ0JJL:J :Jـ3JJP;JQ;JR;JR;*F?2F:FBFm0JFGM=GiBO_>zK NK9KK-Kchffd`YWUQLFB?<7532.+(%"$"!#  ! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999658/͑w,K7GAB_i>YBF->BC'9B֛=yBH? Lֿ@_(?`?1ߵI?q?w?ɨB_i>B{;@yrqBr"I)t tI~I~4٢   S=9 ;Q  > G٣KGy鄼 > %Nusing accuracyPremultiplier from config!-159% X~?-15Y%X`, i% B15n>5@%E%;%;%#159 =@Ejjjihhhhfffrfbf a?@ $?IɛBh pͽI  ɚiIC=I>i{)*Fi2Fi:FiBFm^1JFiWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251810G5PK=GBO >ԑw,&QGA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503519:j>Y:->:{%9:<=y:H?տ/N`?`???3?ɨ:j>:S;:CyJhBJ"I%Mb@Mb@Mb@!!! !)!Y%K7A?S㥛?Mb?y% "?%/<%YY ]G٣Yye e> mNusing accuracyPremultiplier from configau159ehl~?u15Ye], ieB}5"?}:}y>}@eEe!;eM ;e15 5@ZjY]FNOT Ignoring new targets: 264.90 m.jHU<bHU<HiIi Imm#IIm߄BIi&Ii.Ii6ImA<:Im1 FBjeJj ProNav: ac range: 264.899994 m, nav range: 46.301311 m, bearing: 224.094447 deg, approach rate: 0.558210 m/s, LOS rate: -0.277573 deg/s, cmd heading: 17.305628 deg, new cmd heading: 16.944329 deg. 2j~>HeadingCmd: 0.295734 target range: 264.899994 and range: 264.90 m. j}j>jjjihhhhBfffrfbf@ɛmBmb im۽Iq uTɚiI]C=I}j>i) I*Fe?2Fa:FaBFeo1JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756377J J J 1J J :J :J 3J J ;J ;J A;J A;GE ^J=GM ?GM >G! B) OE >Y@ڑw,PjGA>Y=Y> >>%9>![=y>H'?@gտP@C?@? ?Z?3?ɨ>Y=>2X;>CzKNNKN+9KLKN.KN   yTTIbIb4٢f1: jS=9j9Q j>ll nG٣lyrp r> vNusing accuracyPremultiplier from configtz159v~?z15YvY[, iv*Bxz>~@vEv ;v ;v!15B ?@9E%B*** querying acoustic contact ***j!j!Zj)-FNOT Ignoring new targets: 264.90 m.Bj5ZJj5Z ProNav: ac range: 264.899994 m, nav range: 46.528252 m, bearing: 223.979943 deg, approach rate: 0.621117 m/s, LOS rate: -0.311859 deg/s, cmd heading: 16.944328 deg, new cmd heading: 16.602497 deg. 2jVHeadingCmd: 0.289768 target range: 264.899994 and range: 264.90 m. j\>jjjihhhhfffrfbf@ɛ=B= 9= ʽI9 E1lɚAiAIE{C=IM\>iM()quWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009195*F ?2F :F BF 5JF  $?IG-'HF=G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.% =% %=% BDAT read: Rx Time:22:15:56.7043 - TRx dataTimestamp_ set to:1736374558.036950- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261009&w,EԄGA2B=Y2h>2^"92Am=y2H@IIv= v=va=II4٢-) -E=95H:Q 5>1Y eG٣eKGyuL > Nusing accuracyPremultiplier from config159˔~?15YX, i:B>@#E::15B n@6EZjFNOT Ignoring new targets: 264.90 m.BjJju ProNav: ac range: 264.899994 m, nav range: 46.777805 m, bearing: 223.852684 deg, approach rate: 0.499927 m/s, LOS rate: -0.253576 deg/s, cmd heading: 16.602496 deg, new cmd heading: 16.222762 deg. 2ju.}HeadingCmd: 0.283141 target range: 264.899994 and range: 264.90 m. j}>jyjyjyiyhyhhhfffrfbf y @ɛB I +ɚiIEEC=IM>iM=)M>)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516146*F?2F:FBFP5JFHqIq IqIqIq&Iq.Iu7D6Iuf<:IuL F $?I G B=G B O >Pw,⮞GA6-=Y6>6"96z=y6H O?`Կ@z _? 55?(6 @??x?ɨ6-=6n;4yB]BB"IMMb@Mb@Mb@III I)IYMw/?I +?Mb`?yM&?M94 G٣y > Nusing accuracyPremultiplier from config159~?15YqV, iFB&?:>@'E!;;a15 @ZjFNOT Ignoring new targets: 264.90 m.BjGJjGWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 22:15:56.7043 LVL= 16720, 32753, 27954, 32755, AGC= 63, IDX= 427,-0.11,-0.831,-2.272,-2.644,-1.736, PHS= 0.993,-0.489,-0.912, RAW= 77.8, 4.8, CAL= 81.9, 3.8, ROT= 68.1, -3.8 =Ygot valid direction response: 22:15:56.7043 LVL= 16720, 32753, 27954, 32755, AGC= 63, IDX= 427,-0.11,-0.831,-2.272,-2.644,-1.736, PHS= 0.993,-0.489,-0.912, RAW= 77.8, 4.8, CAL= 81.9, 3.8, ROT= 68.1, -3.8 EPDAT read: Bearing 68.1, -3.8 (Local) E~Local bearing/azimuth received: Bearing 68.1, -3.8 (Local) MDAT read: Range 10 to 50 : 263.5 m (Round-trip 351.4 ms) speed 0.0 m/s U,DAT read: user:2444> eBDAT read: Tx time:22:15:57.7988 e$Ping request sent.ejjjih!h!h!h%ɃBf)f)9_꜖ÿĹ#*???y )Ii )IiG0?4alVA=?)Iifqrf}xp@bf} P?ɛB  ̽I  ɚ iIhC=I#u>ii}$?=)#u>)*F?2F:FBF_0JFzKLK9KK/KBK%qA:K! Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:15:57.7980 GE @A=G B O% >3w,!GAJw=YJv=>JX 9Jqȟ=yJH%b?ZԿ@ysL?H? 8???ɨJw=JT;JCyjYBj"IIrIrq4٢~ ~R=9~@:Q ~> G٣y   > Nusing accuracyPremultiplier from config159ֽ~?15YAT, iQB%>%@+E: 5$?I1 ;15=B =K@=3Ekj6&h?kN ' k koԢGA:kCBk؂CZk8#@"A)D-6?_T@n@_꜖ÿĹ#*???Jkw@Rk~A*lmsPpZP\F@WpVWo@(;Xzeп' Ź?qs?"k2B*kk<)h?ks' 2kvCkfr?k0. kk.Bk(n@ addTargetRange:: Added new target pos. range: 263.500000 m, deltaT: 3.782637 s, deltaX: -1.399994 m, approachRate: -0.370111 m/s, rangeRepo size: 4  Added new target pos. range: 263.500000 m, bearing: 146.474998 deg, lat: 36.904080 deg, lon: -122.122344 deg, deltaT: 3.782637 s, deltaX: -1.399994 m, approachRate: -0.370111 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 263.50 m.BjJj ProNav: ac range: 263.500000 m, nav range: 43.704796 m, bearing: 213.884037 deg, approach rate: 0.000000 m/s, LOS rate: -0.395657 deg/s, cmd heading: 15.829925 deg, new cmd heading: 15.360218 deg. 2jHeadingCmd: 0.268086 target range: 263.500000 and range: 263.50 m. jB>jjjihhhhfffrfbf?ɛ B X  D̽I  VɚiIOC=IB>ii'B=)B>)!*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ,:Jz:Jـ3Ja@a@a@a@G!G B) O >bw,eGABWill construct direction to contact in vehicle frame from tetrahedron phase data.>_-=Y>>>w&9>/L=y>H@t?ӿJ{?8X? @ͤ?'ߴ??ɨ>_-=>H;qq }G٣}KGy}! }> Nusing accuracyPremultiplier from config159Z~?15Y6R, iYB $?:>@0E7;I;l15 @0EZHRHHI Ig#IIڄBI&I.I6I8<:I+ FZjiuFNOT Ignoring new targets: 263.50 m.Bj}Jj} ProNav: ac range: 263.500000 m, nav range: 43.960037 m, bearing: 213.782452 deg, approach rate: 0.592074 m/s, LOS rate: -0.234276 deg/s, cmd heading: 15.360218 deg, new cmd heading: 15.057233 deg. 2j HeadingCmd: 0.262798 target range: 263.500000 and range: 263.50 m. j>jjjihhhhBfffrfbf]?ɛ5B=\m 9=нI9 =ɚ9iAIEC=IE>iM)Q 9I9*F?2F :F BF JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ@AG) G B O >w,-AGA6ԥ=Y6>6t$968X=y6Hn?wӿ ?`jo?`¶@ᜤ??@?ɨ6ԥ=6;6Cy^PB^"IIjIj 4٢rqx rT=9r{:Q v>tt vG٣tyz z> ]Nusing accuracyPremultiplier from configQ]159U~?e15YUQP, iU`Bae^>e@U4EUK ;UK ;U15i u@qB*** querying acoustic contact ***jjzKk3IK9KK0K!   RK?JK?ZjFNOT Ignoring new targets: 263.50 m.BjEJjE ProNav: ac range: 263.500000 m, nav range: 44.203384 m, bearing: 213.683614 deg, approach rate: 0.641843 m/s, LOS rate: -0.259254 deg/s, cmd heading: 15.057232 deg, new cmd heading: 14.762356 deg. 2j1HeadingCmd: 0.257652 target range: 263.500000 and range: 263.50 m. j>jjjihhhhfffrfbfX?ɛB 4ɽI ɚiIC=I%>i% ))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF0JF =$?I9Gc9=GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502727J J J J J :J 9J J tw,HAFմ=YF>FK%9F=yFH?›ҿ9t?@?@I?A'??ɨFմ=FZ;FCyRJBR"IIZIZF4٢b bL=9f)ٹQ f>dh jG٣hyjQ j> vNusing accuracyPremultiplier from configpv159r2~?v15YrN, irgBxz_>z@r8Er:r7:rM15~B c@+EZj!-FNOT Ignoring new targets: 263.50 m.Bj-]Jj-]E ProNav: ac range: 263.500000 m, nav range: 44.441238 m, bearing: 213.585474 deg, approach rate: 0.615087 m/s, LOS rate: -0.252430 deg/s, cmd heading: 14.762356 deg, new cmd heading: 14.469514 deg. 2jE=-MHeadingCmd: 0.252541 target range: 263.500000 and range: 263.50 m. jMM>jIjIjIiIhIhQhQhQfQfYfrfbf?ɛ-}B5Y Q]X˽IY eiRɚiiiImʝC=IM>iI; )*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754733HI IT#IIʄBI&I.I6I=<:I/ FBIJIRIZIbIjIǶ3G/=G B O > - $?I) w,HA6Y=Y6Α>696X=y6H`6?@iҿR?Ж?`? +? ?ɨ6Y=6$ ;4yPR"IiVV>IV{> Vp=V=uMb@Mb@Mb@qqq q)qYuK7A?MbMbyu "?uuq u@)qIu`@qyqII4٢r: ==9Ώ;Q > G٣KGy > Nusing accuracyPremultiplier from config159?15YL, ijBN"?:r>@<EWH;F;15B i@(EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006972Zj FNOT Ignoring new targets: 263.50 m.Bj7Jj7% ProNav: ac range: 263.500000 m, nav range: 44.697674 m, bearing: 213.465623 deg, approach rate: 0.591567 m/s, LOS rate: -0.274896 deg/s, cmd heading: 14.469515 deg, new cmd heading: 14.112030 deg. 2j%<-HeadingCmd: 0.246301 target range: 263.500000 and range: 263.50 m. j-n6|>j)j)j1i1h1h1h9h=Bf9f9fIrfIbfM5=@ɛwBE I ɚiIC=I%n6|>i%5K ))) c~G=|uAeZA Y|uAy~B*F2F:FBF_5JFzK%MK9KK1K(U"DYfG &= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260565G B O5 > w,9HA dIh=1c=Y=m>=9=K=y=H?@ѿ@3q?ê? :ߵ:??(?ɨ=1c==;=CyUIBU"IIeIe34٢u- }L=9};Q }> G٣y > Nusing accuracyPremultiplier from config159i'?15YPK, ilBTi>@@Ew;Dw;15 @ZjFNOT Ignoring new targets: 263.50 m.BjJj ProNav: ac range: 263.500000 m, nav range: 44.935947 m, bearing: 213.352617 deg, approach rate: 0.596767 m/s, LOS rate: -0.281528 deg/s, cmd heading: 14.112030 deg, new cmd heading: 13.774813 deg. 2j5AHeadingCmd: 0.240416 target range: 263.500000 and range: 263.50 m. j/v>jjjihhh h f ffrfbfl@ɛrB6G DI vɚiIC=I/v>i; )*F?2F:FBF 5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510897JJJJJ|:J:JJG #=G B) OU >}w,SHA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762739>OF=Y>‰>>39>=y>H?@#ѿ@7@q?o?뵿ภ?*?@?ɨ>OF=>J;>Cy LB"IjHbH<HI IH#IIBI&I.I6D6I <:I FMb@Mb@Mb@ )Y%C? rhI +yZ$?C94v@ );@I3@y@II"4٢;< C=98;Q > G٣y  > Nusing accuracyPremultiplier from config%159>?%15Y#J, ioB%K%?%:%1)>-@EEP;;>15B S@%EZjFNOT Ignoring new targets: 263.50 m.Bj-xJj-x= ProNav: ac range: 263.500000 m, nav range: 45.184662 m, bearing: 213.213030 deg, approach rate: 0.565364 m/s, LOS rate: -0.315555 deg/s, cmd heading: 13.774813 deg, new cmd heading: 13.358365 deg. 2j=XEHeadingCmd: 0.233147 target range: 263.500000 and range: 263.50 m. jE4n>jAjAjaiahihihihmBfqfqfqrfqbf}`@ $?IbiɛkBf 隭@yI ɚiI؉C=I4n>iP )*FU?2FQ:FQBF]4JFY Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015043G} e=GQ Ba O >Bw, mHA6;$=Y6{>6966=y6H?@cпUv|??`( 6{?v?o?ɨ6;$=6;6CyRGBR"I)T TIZIZ4٢f f`=9fnM:Q f>hh jG٣jKGyj黼 n> ENusing accuracyPremultiplier from config9M159=.R?M15Y=#I, i=rBIM >M@=HE=;=;=15zK}NK}]9KyK}2K}npqmbZOPQF1{yvqpspmnmjkliigfa_YWTOOMHHECB<9:5342 @"EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 263.50 m.BjBûJjBû  ProNav: ac range: 263.500000 m, nav range: 45.405796 m, bearing: 213.087550 deg, approach rate: 0.604623 m/s, LOS rate: -0.341416 deg/s, cmd heading: 13.358364 deg, new cmd heading: 12.983763 deg. 2j Oj-HeadingCmd: 0.226609 target range: 263.500000 and range: 263.50 m. j-L h>j)j1j1i1hQhQhYhYfYfYfarfabfe @ɛgBB6 PI FɚiI-C=IL h>iiL=)L h>)}Will construct direction to contact in vehicle frame from tetrahedron phase data.yiyBDAT read: Rx Time:22:16:00.5538 TRx dataTimestamp_ set to:1736374561.828160checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272527*F?2F:FBF_0JF $?IGi GA B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518894J J J J J :J :J J !w,AcHAf=YfR>f9f$=yfH@?@&п5s?@@?4:?$? ?ɨf=f蕈;dyTB"IMb@Mb@Mb@ )Y~jt?ktMbpy$? @ @)$@I@y(@II4٢B8= =9e:Q > G٣y] > Nusing accuracyPremultiplier from config159)p?15YG, ixB&?:=@NE:f;d;Y15B @EZjFNOT Ignoring new targets: 263.50 m.Bj%λJj%λ- ProNav: ac range: 263.500000 m, nav range: 45.727764 m, bearing: 212.889629 deg, approach rate: 0.592522 m/s, LOS rate: -0.361671 deg/s, cmd heading: 12.983763 deg, new cmd heading: 12.394202 deg. 2j56x5HeadingCmd: 0.216320 target range: 263.500000 and range: 263.50 m. j5]>j9j9j9i9h9hAhAhE|BfAfIfIrfIbfM7@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:16:00.5538 LVL= 16496, 27073, 20066, 28531, AGC= 65, IDX= 436, 0.37, 0.544,-0.621,-1.308,-0.248, PHS= 0.880,-0.326,-1.062, RAW= 67.9, 6.0, CAL= 69.4, 7.3, ROT= 80.6, -7.3 %Ygot valid direction response: 22:16:00.5538 LVL= 16496, 27073, 20066, 28531, AGC= 65, IDX= 436, 0.37, 0.544,-0.621,-1.308,-0.248, PHS= 0.880,-0.326,-1.062, RAW= 67.9, 6.0, CAL= 69.4, 7.3, ROT= 80.6, -7.3 -PDAT read: Bearing 80.6, -7.3 (Local) -~Local bearing/azimuth received: Bearing 80.6, -7.3 (Local) =DAT read: Range 10 to 50 : 263.1 m (Round-trip 350.8 ms) speed 0.1 m/s E,DAT read: user:2445> MBDAT read: Tx time:22:16:01.6488 M$Ping request sent.MI?iwH7>I I;#IIBI&I.I6IJ<:I7 F́,j?\";j?)hI׽i̬?!:publishing transmit ping timeIFpublishing direction and range info9Aꅳ#Ŀ/? 8om!?y )Ii )Ií,j?\";j?)Iiɛ_B I FyɚiI%wC=I%]>i)i-==)-]>))E9 $?I *F ?2F :F BF 4JF G qA G rAG ^S=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:16:01.6480 GBO>*)w,~sHAPExceeded connect timeout, disconnecting.)qIuuAu۹uTwF qy}xAyiyyiȁȁ)ȁ ȁIȁ ɉ)ɉȉȉȉɑɕ uAiɕףIɕtFɑIʑiʕtA ʝə)ʙʙ ˙ʡʡʡˡ˥́AI˥)ˡi˩y޵]B޵"IIIЬ4٢O = 2=9Q > G٣y > Nusing accuracyPremultiplier from config159?15Y G, i~B @SEL:7:\15 e@k5/[Gg?krM# k kՕHA:kCBkCZko@"rD| ^@FOLڞl@Aꅳ#Ŀ/? 8om!?Jk̬?Rk!zKOK 9KK3K21/+,,,'%"  *Rk5KS$U@D<-&m@>| ҿb[?%2?"kB*kekI{g?k5=# 2kkCk׋l?kC* kCkmBk9@- addTargetRange:: Added new target pos. range: 263.100006 m, deltaT: 3.796962 s, deltaX: -0.399994 m, approachRate: -0.105346 m/s, rangeRepo size: 4 ] Added new target pos. range: 263.100006 m, bearing: 130.201092 deg, lat: 36.903910 deg, lon: -122.121904 deg, deltaT: 3.796962 s, deltaX: -0.399994 m, approachRate: -0.105346 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 263.10 m.BjmJji ProNav: ac range: 263.100006 m, nav range: 59.415863 m, bearing: 166.147145 deg, approach rate: 0.000000 m/s, LOS rate: -0.361671 deg/s, cmd heading: 12.394202 deg, new cmd heading: 11.865405 deg. 2jHeadingCmd: 0.207090 target range: 263.100006 and range: 263.10 m. jT>jjjihhhhfffrfqp@bf?ɛXB)  `ii(>=)T>)!}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFX4JF ! I! G zc =G B O>0w,:HA:#fH:u9:=y:H`?`Ϳtp? ?Z? ??.?ɨ:#fH<:l;:CɳFYCFxwADiDDiDH)H HIH H)JlwAɴHLLLɵLiLILLIPiR7uA RMbP)TT V"uAVLTɶTXXIX)XiX)\I\\ɷ\ \Will construct direction to contact in vehicle frame from tetrahedron phase data.\yefBe"Iim%=Im<I}I}4٢tP=  ^=9 ;:Q  > G٣ KGy[` > ENusing accuracyPremultiplier from configAM159EQ?M15YEiF, iEBIM!=M@EWEE:E3:E15UB @EZj!-FNOT Ignoring new targets: 263.10 m.Bj]t;Jj]t; ProNav: ac range: 263.100006 m, nav range: 59.643456 m, bearing: 166.225062 deg, approach rate: 0.625765 m/s, LOS rate: 0.213416 deg/s, cmd heading: 11.865405 deg, new cmd heading: 12.098264 deg. 2jw<HeadingCmd: 0.211155 target range: 263.100006 and range: 263.10 m. j8X>jjjihhh!h!fQfYfarfbf A?ɛeRBeN imP$=Ii m3ɚiiiIu2DC=I}8X>i} )*F5?2F9:F9BF=]0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.GE ‹9=ZHQ RHU AAH] 5>IY  I] A#II] BI] ! =&IY .IY 6I] :<:I] + FG) B9 OU > M $?II P7w,HA>X"l>>p9>r=y>HQ"?~Ϳ`6y;?`` ?M??a?ɨ>X"<>̍;>Cy}wBޅ"I5Mb@Mb@Mb@111 1)1Y5%C?MbX9{Gzt?y5Z$?5ʡ5ף;5QA 5@)5;@I5@1y5@IMIMq4٢]= eF=9e:Q e>ii mG٣iym u> }Nusing accuracyPremultiplier from configy159}k?15Y}E, i}B%?:=@}[E} ;};}.15B @EZjFNOT Ignoring new targets: 263.10 m.Bji};Jji}; ProNav: ac range: 263.100006 m, nav range: 59.891506 m, bearing: 166.311185 deg, approach rate: 0.640764 m/s, LOS rate: 0.221550 deg/s, cmd heading: 12.098264 deg, new cmd heading: 12.355560 deg. 2j <HeadingCmd: 0.215645 target range: 263.100006 and range: 263.10 m. j\>jjjihhhhBfffrfbf?ɛ%MB%ü )-=I) -ɚ)i1I5'C=I5\>i=7;)9-Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J 9JJJ;aJ;aJO>;aJP>;a*FE?2FA:FABFE_0JFI %nManaging dock network, ignoring radio surface power offGM Г>=GM qAGM rAG! B1 zKE 1MKE 9KA KE 4KE (.0OY  Will construct direction to contact in vehicle frame from tetrahedron phase data.]K=w,HANS;YNi>N9Ny=yNH &?k9Ϳ ź?1 ?̵J?@F?@%?ɨNS;N忎;NCy=B=#IIeIeF4٢uO= uY=9uDQ u> G٣y» > Nusing accuracyPremultiplier from config159C?15YD, iB)=@_E:: $?I15 @-B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 263.10 m.BjEh;JjEh;U ProNav: ac range: 263.100006 m, nav range: 60.125690 m, bearing: 166.391228 deg, approach rate: 0.597909 m/s, LOS rate: 0.203568 deg/s, cmd heading: 12.355559 deg, new cmd heading: 12.594753 deg. 2j] <]HeadingCmd: 0.219820 target range: 263.100006 and range: 263.10 m. j]ya>jajajaiahahahihifififqrfqbfu@?ɛHB 隥D>I ɚiI*B=Iya>ir)*F-?2F):F)BF50JF1G '=GBOE>Will construct direction to contact in vehicle frame from tetrahedron phase data.%>%!?%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.)Dw,yvIAyB#I) AeMb@Mb@Mb@aaa a)aYeMb?)\( rh?ye#?eGaeC G٣ KGy > Nusing accuracyPremultiplier from config259Q?25YC, iBH 6>I C I Z#II τBI # =&I .I 6I -<:I  F#?:>@cE\< <R25 @EZjFNOT Ignoring new targets: 263.10 m.Bjr;Jjr; ProNav: ac range: 263.100006 m, nav range: 60.382595 m, bearing: 166.487920 deg, approach rate: 0.565973 m/s, LOS rate: 0.212109 deg/s, cmd heading: 12.594754 deg, new cmd heading: 12.883591 deg. 2jjQjQjQiQhQhQhyh}Bfyffrfbf @ $?IɛAB>Ν 隥<2>I .|ɚiIB=IAf>iI)*Fm?2Fi:FiBFmo0JFi= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254731*J R="J a=JK KKK"KJ J J J J |:J :J J J ;J ;J I;J I;G5 ;<G B! OE >YJw,g+IA>@Y> ^>> 9>6=y>H@9?@˿@ Ԣ?? W???ɨ>@>;>CyJBJ(#IIRIR(4٢Za= Zn=9^L;Q ^?\\ bG٣`yb b? jNusing accuracyPremultiplier from configdj259f?n25Yf6C, ifBln>n@fgEf ;fB;fQ25vB v@zEZjFNOT Ignoring new targets: 263.10 m.BjɅ;Jj%Ʌ;5 ProNav: ac range: 263.100006 m, nav range: 60.587120 m, bearing: 166.561898 deg, approach rate: 0.648929 m/s, LOS rate: 0.233932 deg/s, cmd heading: 12.883590 deg, new cmd heading: 13.104776 deg. 2j5 <5HeadingCmd: 0.228721 target range: 263.100006 and range: 263.10 m. j=5j>j9j9j9i9h9h9hAhAfAfIfIrfIbfM@@ɛ}=B}P }d-=}0R>I ɚiIކB=I 5j>i Z)*F2F:FBFD5JFzKOQLK 9KK5K.+&%&$"  BKpA:KGub<G1B9OU5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506280 I&Qw,DIA2@Y2X>2 92t=y2HD?%˿!? %? ַ2???ɨ2@2ӯ;2CyNÄBRL#IIVIVQ4٢^> bM=9b7:Q b>dd fG٣dyf| j> nNusing accuracyPremultiplier from confighr259j?r25YjcB, ijBpr=r@jkEjL ;j~ ;j25t z5@xWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758497Zj)-FNOT Ignoring new targets: 263.10 m.Bj5o;Jj5o;E ProNav: ac range: 263.100006 m, nav range: 60.825500 m, bearing: 166.645858 deg, approach rate: 0.595814 m/s, LOS rate: 0.209029 deg/s, cmd heading: 13.104777 deg, new cmd heading: 13.355667 deg. 2jEtjIjQjQiQhQhQhhfffrfbff@ɛ-8B5T8 QUc>IQ ]گɚYiYI](8B=Ieݱn>ieK )i*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010280G- =<jH1 bH1 H= 5>I9  I= #II= BI9 &I9 .I9 6I= 5<:I= & FBIJIRIZIbIjIDg5GY G] qAGQ Bi O > $?I PWw,^IA6ɘ@Y6S>6 96Ľ=y6H N?Lyʿj[.?*?.@ G٣ KGy#P > Nusing accuracyPremultiplier from config259?25Y@, iB%?:R>@oE$;@#; 25B @EZj FNOT Ignoring new targets: 263.10 m.Bj;Jj; ProNav: ac range: 263.100006 m, nav range: 61.077465 m, bearing: 166.756581 deg, approach rate: 0.581941 m/s, LOS rate: 0.254671 deg/s, cmd heading: 13.355667 deg, new cmd heading: 13.686460 deg. 2j.<HeadingCmd: 0.238874 target range: 263.100006 and range: 263.10 m. jUt>jjjihhhhBfffrfbf @ɛ-2BM, QU˙>IQ UXɚQiQI]A=I]Ut>ie )qEy5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:16:04.4029 ETRx dataTimestamp_ set to:1736374565.618072uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267541JJJJJ:J:JJJ6;J8;JL;JL; ~G1I }zYyy}w B*F?2F:FBF^0JF"G=G=G:GYBaO{>zK MK 9K K 6K  RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514380z]w,xIAf_u@YfN>f) 9f6Q=yfH8U? Hɿ?.?MA?`?`?ɨf_u@f;fCyEBEv#IIUIUn4٢e> eM=9mF̸Q m>iq uG٣qyu 2 u> $?I Nusing accuracyPremultiplier from config2593?25Y?, iB~M>@tE ;? ;25B (@ EZjFNOT Ignoring new targets: 263.10 m.Bj;Jj;E ProNav: ac range: 263.100006 m, nav range: 61.311562 m, bearing: 166.857351 deg, approach rate: 0.591057 m/s, LOS rate: 0.253457 deg/s, cmd heading: 13.686460 deg, new cmd heading: 13.987613 deg. 2jE-jIjIjIiIhIhQhqhqfyfyfyrfybf @ɛ-B и>I /ɚiIb|A=I 1y>i- )1=Will construct direction to contact in vehicle frame from tetrahedron phase data.EqDAT read: 22:16:04.4029 LVL= 14128, 31921, 25330, 29619, AGC= 62, IDX= 427,-0.16,-2.690, 2.665, 1.602, 2.773, PHS= 0.909,-0.061,-1.174, RAW= 57.7, 3.7, CAL= 57.8, 3.3, ROT= 92.2, -3.3 Ygot valid direction response: 22:16:04.4029 LVL= 14128, 31921, 25330, 29619, AGC= 62, IDX= 427,-0.16,-2.690, 2.665, 1.602, 2.773, PHS= 0.909,-0.061,-1.174, RAW= 57.7, 3.7, CAL= 57.8, 3.3, ROT= 92.2, -3.3 PDAT read: Bearing 92.2, -3.3 (Local) ~Local bearing/azimuth received: Bearing 92.2, -3.3 (Local) DAT read: Range 10 to 50 : 262.4 m (Round-trip 349.9 ms) speed 0.2 m/s ,DAT read: user:2446> }BDAT read: Tx time:22:16:05.4989 }$Ping request sent.i=9h?=#y=E=.?= A= =^ ?)=k=I=?i=k99=+J"?аGfDO?)=I=i='V?= 0h99 :publishing transmit ping timey Fpublishing direction and range info99=| R+~?eyQl4?y9999 9)9I9i99999 9)9I9i999=+J"?аGfDO?)9I9i9999G G ?G >G BO>JEew,TIARZ@YRRK>RD6 9R)=yRH FZ?@ɿw;?/?`:o`㥡? 3? ?ɨRZ@jWill construct direction to contact in vehicle frame from tetrahedron phase data.nJDAT read: TxSync time:22:16:05.4981 R;RCH2>I I#IIBI&I.I6I<:Ik FyMBM#I IMb@Mb@Mb@ )YL7A`?{Gz?Q?y+'?#=<hA Z@)$@I@y@II44٢%?= %=9-Q ->)) 5G٣1y5˻ 5> Nusing accuracyPremultiplier from config259N?25YL=, iB'?:}>@yE;;25 a@k 2m?kw[ k kJIA:k3CBkLCZkM?"@8c@ mɻi@| R+~?eyQl4?Jk'V?Rk 0h*.ି9M%`@}eXԟk@&hD̿n\l?#X?"kC*kikCm?k  2kCkks' kvCkBk- @M addTargetRange:: Added new target pos. range: 262.399994 m, deltaT: 3.779140 s, deltaX: -0.700012 m, approachRate: -0.185231 m/s, rangeRepo size: 4 } Added new target pos. range: 262.399994 m, bearing: 114.403246 deg, lat: 36.903910 deg, lon: -122.121567 deg, deltaT: 3.779140 s, deltaX: -0.700012 m, approachRate: -0.185231 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 262.40 m.BjJj ProNav: ac range: 262.399994 m, nav range: 74.343643 m, bearing: 143.852048 deg, approach rate: 0.000000 m/s, LOS rate: 0.253457 deg/s, cmd heading: 13.987614 deg, new cmd heading: 14.399714 deg. 2jHeadingCmd: 0.251322 target range: 262.399994 and range: 262.40 m. jU>jjjihhhhBfffrf`ffp@bf`?ɛE&BED= AE>II MĮɚIiIIM@=IuU>i} )yEuS,=*F2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G |JE JE JE /JA JE |:JE 9JE (N3JA JE ;JE ;JE O>;JE P>;G B O >cgkw,ԯIA2AQ@Y2J>2}p9251=y2H[?oɿN?*?Q2@-?`Q??ɨ2AQ@2^;0yBBB#IDFAIJIJ<4٢f= f|=9jOQ j ?ll rG٣r KGyrnl r? vNusing accuracyPremultiplier from configtz259v`?z25Yv;, ivB|~>~@v|Ev ;v ;vm25B @  E%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 262.40 m.Bj=;Jj=;M ProNav: ac range: 262.399994 m, nav range: 74.478737 m, bearing: 143.978681 deg, approach rate: 0.448310 m/s, LOS rate: 0.419472 deg/s, cmd heading: 14.399714 deg, new cmd heading: 14.778919 deg. 2jM<HeadingCmd: 0.257941 target range: 262.399994 and range: 262.40 m. j>jjjihhhhfffrfbf-?ɛ]"B]8; YeS>Ia e|ɚaiaIe@=Im>iiim ))m>)EE*E"EzKKK9KK7KWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. $?I*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966956G ؼG B O >ܡrw,_ IA:[@Y:`gK>:9: =y:H@yY? ɿ=?`!? ٢?a?@K?ɨ:[@:{;:CyB#II%vI%&Q4٢5#= =:=9==DQ =>AA EG٣AyE<; M> UNusing accuracyPremultiplier from configI]259MJw?]25YM:, iM3BY],>e@MEM:M:M@25i m@mEZjFNOT Ignoring new targets: 262.40 m.BjA;JjA; ProNav: ac range: 262.399994 m, nav range: 74.660324 m, bearing: 144.147956 deg, approach rate: 0.414145 m/s, LOS rate: 0.385125 deg/s, cmd heading: 14.778919 deg, new cmd heading: 15.285496 deg. 2j'<HeadingCmd: 0.266782 target range: 262.399994 and range: 262.40 m. j>jjjihhhhfffrfbf@?ɛB P: >I rɚ i I@=IU>iQi]"G@)]>)*F=?2F9:F9BF9JF9mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.221375ZHqRHqH},>I}C I}#II}DBI}% =&Iy.I}5D6I}]<:I}; FGGGmAGB $?IO>xw,IA2z@Y2 KO>292>y2HR?!!ʿFk?j?Ҵks? ?`\?ɨ2z@2؈;2CyrBr#IMb@Mb@Mb@ )Y%C?~jt?l?yZ$?==A p@);@Iyz@ItIM4٢= D=98Q > G٣y< > Nusing accuracyPremultiplier from config259?25Y7, iRBr&?:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475156>@E;<;25 ~@Zj1=FNOT Ignoring new targets: 262.40 m.BjEc;JjEc;5 ProNav: ac range: 262.399994 m, nav range: 74.813644 m, bearing: 144.318513 deg, approach rate: 0.362873 m/s, LOS rate: 0.402839 deg/s, cmd heading: 15.285495 deg, new cmd heading: 15.796103 deg. 2j5;<=HeadingCmd: 0.275694 target range: 262.399994 and range: 262.40 m. jE'>jAjAjIiihqhqhh@Bfffrfbf@l7?ɛB@׎; >I fɚiI-b?=I-'>i1i5-O)5'>)1*F?2F:FBFl0JFzKKK]9KK8K Up?mZ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726900G% ,& $?I G B O5 >~w,IA6@Y6R>6-96 >y6HM? ʿ@wF?`? @$?"? ?ɨ6@6W&;6CyBBB#IiF >IFp>ININ#4٢~ < ~V=9<:Q >  G٣  KGy z<  > Nusing accuracyPremultiplier from config259Q?25Yf5, ioB!%>%@E@::? 25-B -4@-EZjQ]FNOT Ignoring new targets: 262.40 m.Bj];Jj];m ProNav: ac range: 262.399994 m, nav range: 74.953888 m, bearing: 144.474108 deg, approach rate: 0.372164 m/s, LOS rate: 0.412130 deg/s, cmd heading: 15.796103 deg, new cmd heading: 16.262006 deg. 2jmkjyjyjyiyhyhyhhfffrfbf?ɛB;<  ?I ɚiI>=IQ>iia)Q>)*F?2F:FBF3JF"G=G=G%:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979793JJJ0JJ:J9Jـ3Ja@a@a@a@GBO@>څw,~JAH(>IC I$IIhBI' ="Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230996&IHD.I6Iq<:IF FJ@YJ W>J9Jm>yJHE?˿Pvྐྵ? -?@j¿`&?C??ɨJ@J ;JCy=BE#I IMb@Mb@Mb@ )Y(\?!rh?S㥛?y'?l=/<A C@)$@Iy@IIt4٢%<< -9=9-:Q ->11 5G٣1y=w4< => MNusing accuracyPremultiplier from configAM259EG?U25YE2, iEBUL*?U:U>]@EEEc;E$;E$25eB e@eEZjFNOT Ignoring new targets: 262.40 m.Bj;Jj;% ProNav: ac range: 262.399994 m, nav range: 75.113838 m, bearing: 144.661347 deg, approach rate: 0.351667 m/s, LOS rate: 0.410787 deg/s, cmd heading: 16.262006 deg, new cmd heading: 16.822508 deg. 2j%<-HeadingCmd: 0.293608 target range: 262.399994 and range: 262.40 m. j-S>j)jIjIiIhQhQhQhUMBfYfYfYrfYbf]@ɛm BmO; im?Iq uv ݼɚqiqIu/>=I}S>iyi}co)}S>)*F=?2F9:F9BF=O1JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483767*JuC="JuR=Ge NGA BI Om >w,e2JAz@Yz`3]>zh^9z>yzH 8II UG٣QyUr< U> eNusing accuracyPremultiplier from configYe259]ʀ?m25Y]*0, i]Bim7>m@]E]:]z:]a'25y }n@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 262.40 m.Bj;Jj; ProNav: ac range: 262.399994 m, nav range: 75.248703 m, bearing: 144.819577 deg, approach rate: 0.371623 m/s, LOS rate: 0.435223 deg/s, cmd heading: 16.822508 deg, new cmd heading: 17.296335 deg. 2jX<HeadingCmd: 0.301878 target range: 262.399994 and range: 262.40 m. j>jjjihhhhfffrfbf`/@ɛ  B J< k?I U ڼɚiI==I>iiٽx)>)zKNK9KK9KLA3'" BK:KoAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735051*FQ2FQ:FQBF]4JFY $?IG%`GBO J> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986969J J J J J <:J :J J 풒w,0HLJA2G:Y2%c>292#>y2H1?̿0L?$??Ŀ?@\? ?ɨ2G:2Bi;2Cyn Bn#I)p pIvIvQ4٢,V N=9!Q  >    G٣ KGyFp< > Nusing accuracyPremultiplier from config%259߀?%25Y-, iB)->-@E:':*255B 50@5EZjY]FNOT Ignoring new targets: 262.40 m.Bje;Jje;u ProNav: ac range: 262.399994 m, nav range: 75.390816 m, bearing: 144.986912 deg, approach rate: 0.360202 m/s, LOS rate: 0.423330 deg/s, cmd heading: 17.296336 deg, new cmd heading: 17.797380 deg. 2jC<HeadingCmd: 0.310623 target range: 262.399994 and range: 262.40 m. j >jjjihhhhfffrfbf@ɛB< a?I jּɚiI==I >ii") >)*F]?2FY:FaBFe_0JFiG GjH!bH%4<H-#>I) I-)$II-wBI)&I).I-4D6I-4<:I- F]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYeBDAT read: Rx Time:22:16:08.2514 mTRx dataTimestamp_ set to:1736374569.401252mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.240553 }$?IyGmGBO>0w,fJAyB#IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491773Mb@Mb@Mb@ )Yw/?MbX?{Gz?y&?=ף<IA @);@I@y@II4٢fѼ 2=9Q > G٣y > Nusing accuracyPremultiplier from config259?25Y*, iB(?:>@E;t;.25 @EZjFNOT Ignoring new targets: 262.40 m.Bj;Jj;- ProNav: ac range: 262.399994 m, nav range: 75.559685 m, bearing: 145.176269 deg, approach rate: 0.367391 m/s, LOS rate: 0.411044 deg/s, cmd heading: 17.797380 deg, new cmd heading: 18.364162 deg. 2j- <5HeadingCmd: 0.320515 target range: 262.399994 and range: 262.40 m. j5>j1j1j9i9h9h9h9hEFBfAfAfArfAbfM @ɛB;  ?I fҼɚiIS<=I>ii)>)*F]?2FY:FYBF]^0JFazK- LK- 9K) K- :K- RKM ?JKM >u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745333 $?I G G B O >?w,JAB' oB!9Bo +>yBH`X?R9ο8W??#?@mſ9? D?ه?ɨB' o@zEzjjjihhhhfffrfbfˆ@ɛ-B5ZN'< =s==D>I9 Eg#мɚAiIIM;=I]^>iYie*)e^>)i*F?2F:FBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:16:08.2514 LVL= 15088, 23281, 17666, 25907, AGC= 67, IDX= 427, 0.45,-0.657,-1.687,-2.841,-1.845, PHS= 1.275, 0.204,-0.999, RAW= 58.1, -4.9, CAL= 63.5, -10.2, ROT= 86.5, 10.2 -Ygot valid direction response: 22:16:08.2514 LVL= 15088, 23281, 17666, 25907, AGC= 67, IDX= 427, 0.45,-0.657,-1.687,-2.841,-1.845, PHS= 1.275, 0.204,-0.999, RAW= 58.1, -4.9, CAL= 63.5, -10.2, ROT= 86.5, 10.2 5PDAT read: Bearing 86.5, 10.2 (Local) =~Local bearing/azimuth received: Bearing 86.5, 10.2 (Local) JIJMJM1JIJIJM9JM3JIGe憽DAT read: Range 10 to 50 : 261.3 m (Round-trip 348.4 ms) speed 0.1 m/s ,DAT read: user:2447> BDAT read: Tx time:22:16:09.3489 $Ping request sent.wˁ?% A܍?)K6I,>?iK6>\CJT?Qdf !޹)VTIa=iuݺ?(m :publishing transmit ping timeة Fpublishing direction and range info9v?X|' ?6C?y )G!B)OER>Ii )Ii\CJT?Qdf !޹)IiH% >I% C I% "$II% rBI% + =&I! .I% 3D6I% y<:I% ? FBI˜CJI˜CRI˔CZI' =bI' =jI@6/)w,0יJAWill construct direction to contact in vehicle frame from tetrahedron phase data.:ꎻ:1 :q.>y:H?BϿf? v?Ս?jEƿdc?ٮ??ɨ:ꎻ<:%M;:CyPP !I-aiMb@Mb@Mb@ )Yv/?V-?yx)?m=A @)Q@IyIIƕ4٢ <=93Q > G٣KGy< >  Nusing accuracyPremultiplier from config 5259 ?525Y  &, i  B=*?=:=ڨ>=@ E ; ; 525EB E@EEkccz?kKD k kjJA:kCBkCZk?"gR1@ `K&qc@8A(j@v?X|' ?6C?Jkuݺ?Rk(m*;P4Rdh>c]@o#m@ot.Ldsz?X[6ϋ?"kB*k̤ky,Wz?k9. 2kǕCkk5=# kkCkBkڐ @% addTargetRange:: Added new target pos. range: 261.299988 m, deltaT: 4.035652 s, deltaX: -1.100006 m, approachRate: -0.272572 m/s, rangeRepo size: 4 ] Added new target pos. range: 261.299988 m, bearing: 100.046753 deg, lat: 36.903910 deg, lon: -122.121077 deg, deltaT: 4.035652 s, deltaX: -1.100006 m, approachRate: -0.272572 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 261.30 m.BjeJja ProNav: ac range: 261.299988 m, nav range: 106.762741 m, bearing: 125.841075 deg, approach rate: 0.000000 m/s, LOS rate: 0.396881 deg/s, cmd heading: 18.792033 deg, new cmd heading: 19.327456 deg. 2jHeadingCmd: 0.337328 target range: 261.299988 and range: 261.30 m. j9>jjjihhhh/BfffrfTp@bf?ɛB; 隕>I oS̼ɚiIj ;=I9>iiI{)9>)E)E-rA)= SC*F2F:FBFJF"GG=i5tAAWill construct direction to contact in vehicle frame from tetrahedron phase data. 6Y5tAyBu@u4BG ␽G B O >_w,CJAyքBc#III4٢% %T=9-Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9E259=3?M25Y=#, i= BIIM@=E=:=&:=925UB U@]EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 261.30 m.Bj^;Jj^;- ProNav: ac range: 261.299988 m, nav range: 106.836693 m, bearing: 125.970756 deg, approach rate: 0.197936 m/s, LOS rate: 0.346857 deg/s, cmd heading: 19.327456 deg, new cmd heading: 19.716223 deg. 2j- n<5HeadingCmd: 0.344113 target range: 261.299988 and range: 261.30 m. j5/>j1j9j9i9h9h9hAhAfAfAfArfIbfMnX?ɛB< 隅A>I #ɼɚiI:=I/>ii)/>)Will construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.zKKK]9KK;K+N Y UZf* 6 % Mu  $?I*F-?2F1:F1BF50JF1G GBO J> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979792JM JM JM 0JI JM \:JM 9JM ـ3JI :w,JA27%=Y2a>2;7925>y2Hw?`пh??`]?@Dǿ?m?@yw?ɨ27%=2P*;0yBńBBN#IIJIJi4٢f  fR=9fNQ f>hh jG٣hyj8= n> vNusing accuracyPremultiplier from configtz259vjH?z25Yv!, iv# Bxz˱>z@vEv;v[;vm<25 @Zj)-FNOT Ignoring new targets: 261.30 m.Bj5;Jj5; ProNav: ac range: 261.299988 m, nav range: 106.908546 m, bearing: 126.103859 deg, approach rate: 0.193704 m/s, LOS rate: 0.358580 deg/s, cmd heading: 19.716224 deg, new cmd heading: 20.115258 deg. 2jv<HeadingCmd: 0.351077 target range: 261.299988 and range: 261.30 m. jm>jjjihhhhfffrfbf@?ɛ-B-x?; 1U>IQ Uv0ǼɚQiYI]l9=I]m>iaie~)em>)iZHRH@AH>I I $II^BI. =&I.I6I<:IJ FEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.232118E  $?I*F5?2F1:F1BF5j0JF1G9 G=pAGU VGY G] nAG1 BA Ou >w,JABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.484961znR=Yz<>zkA9zl=>yzH!?@nѿ%s?+?19?SFȿ _0? \?>k?ɨznR=zt;zCyލBލ?#IUMb@Mb@Mb@QQQ Q)QYUK7? G٣KGyU< > Nusing accuracyPremultiplier from config259Yc?25Y, i/ BS,?:>@E8;;@25B i@EZjFNOT Ignoring new targets: 261.30 m.Bj:;Jj:;  ProNav: ac range: 261.299988 m, nav range: 107.020813 m, bearing: 126.271986 deg, approach rate: 0.225844 m/s, LOS rate: 0.337862 deg/s, cmd heading: 20.115257 deg, new cmd heading: 20.619096 deg. 2j g<HeadingCmd: 0.359871 target range: 261.299988 and range: 261.30 m. jA>jjjihhhh%؃Bf!f!f)rf)bf-`?ɛ]B]: Y].>IY ];ļɚaiaIe9=ImA>iiim|)mA>)qEe =*F2F:FBF?1JFG(~GBO>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735836  $?IzKPK 9KK<K .;;<><Hw,&KAFy=YF->F|B9FF-C>yFHz?`ҿ!? ?^?@ȿ~@vEv:v]:vC25B Y@EZj)-FNOT Ignoring new targets: 261.30 m.Bj55;Jj55;E ProNav: ac range: 261.299988 m, nav range: 107.098167 m, bearing: 126.390427 deg, approach rate: 0.223085 m/s, LOS rate: 0.341328 deg/s, cmd heading: 20.619096 deg, new cmd heading: 20.974156 deg. 2jE@jjIjIjIiIhQhQhQhQfYfafarfibfu -#?ɛuB}R; y}>Iy }ɚiI,|8=IGm>im)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989506JJJ/JJ:J 9J(N3J*F?2F:FBFo1JFH >I  I #II :BI / =&I .I 6I I<:I  FM Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240697 I G `Y|G ?G >G B O >9ǒw,KKAyMBM#IMb@Mb@Mb@ )Yy&1?Zd;Oy`%?LjvA )@I@y(@II4٢{ 3=9Q > G٣y > -Nusing accuracyPremultiplier from config!-259%?-25Y%, i%6 B5%?5:5Y>5@%E%;%;%G259 =@@AZjimFNOT Ignoring new targets: 261.30 m.BjuJ;JjuJ;} ProNav: ac range: 261.299988 m, nav range: 107.220337 m, bearing: 126.535194 deg, approach rate: 0.266341 m/s, LOS rate: 0.315245 deg/s, cmd heading: 20.974157 deg, new cmd heading: 21.407953 deg. 2jYXjIjIjIiIhIhQhQhUŃBfQfYfYrfbf`{@ɛB 隕>I WɚiI7=IM>iU)E5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492669*F?2F:FBF@5JF"G=G=G !rGi By O >jb͒w,l#8KA288=Y2>2E92[H>y2H@t?ҿ? ??@<ɿ?`B?@cZ?ɨ288=2T;2CyVBV#IiZ?>IZR=IbIb?4٢j j`=9j`Q n>ll nG٣nKGyr,= r> zNusing accuracyPremultiplier from configx~259z ?~25Yz2, ixi>@zEz:z:zJ25  @E-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 261.30 m.BjE~;JjE~;U ProNav: ac range: 261.299988 m, nav range: 107.314781 m, bearing: 126.651085 deg, approach rate: 0.258849 m/s, LOS rate: 0.317351 deg/s, cmd heading: 21.407952 deg, new cmd heading: 21.755317 deg. 2jUY<]HeadingCmd: 0.379702 target range: 261.299988 and range: 261.30 m. j]Jh>jYjYjYiahahahahifqfqfqrfqbf}&@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743914  $?IzK%LK%ػ9K!K%=K%:61.,+$!! ɛmރBm; qu>Iq uϼɚqiqI}#7=I}Jh>iyi'i)Jh>)*F?2F!:F!BF%_0JF)G 1|GBOH>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E >E =E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996038CԒw,LQKAJb=YJd>Jp4D9J'I>yJH'r?ӿ? ov??ɿ`'?S? ;Y?ɨJb=Jh;JCy-B5#IIeIe4٢ @=9:Q > G٣y< > Nusing accuracyPremultiplier from config259渁?25Ys, i5 B_v>@E!;e";N25’B @EZj FNOT Ignoring new targets: 261.30 m.Bj;Jj; ProNav: ac range: 261.299988 m, nav range: 107.423225 m, bearing: 126.787850 deg, approach rate: 0.252439 m/s, LOS rate: 0.318043 deg/s, cmd heading: 21.755317 deg, new cmd heading: 22.165190 deg. H%>IC I#IIBI+ =&I.I4D6ID<:I" F2jUEZjYjYjYiYhYhYhahafffrfbf- @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:16:12.1007 TRx dataTimestamp_ set to:1736374573.432992checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249187ɛڃB 9 ߸>I ɚiI_6= $?II >i e)*F}?2F:FBF^0JFG 憽G G qAGy B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501756}ڒw,lKAJ0J2J20J0J0J2:J2ـ3J0J2;a:J2;a:J2A;a:J2A;a:B=YBڡ>BA9B\I>yBH@^a? Կ"? ?@@?ɿ2??`X?ɨB=BU;BCyRBV #IMb@Mb@Mb@ )Y%C?/$y&1yZ$?` A b@)Iy@yyII4٢컼 +=9٧:Q > G٣yAf< > Nusing accuracyPremultiplier from configM259ҁ?M25Y, i/ BU%?U:UI>U@E1<0<R25]ÒB ]]@]EZj  FNOT Ignoring new targets: 261.30 m.Bj0;Jj0;E ProNav: ac range: 261.299988 m, nav range: 107.557709 m, bearing: 126.937688 deg, approach rate: 0.265848 m/s, LOS rate: 0.295830 deg/s, cmd heading: 22.165190 deg, new cmd heading: 22.614132 deg. 2jEKjIjQjQiQhQhQhYh]BfYfYfrfbf@ @ɛMփBM*: IMe>II U/DɚQiQIU5=I>i>)Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I`iDAT read: 22:16:12.1007 LVL= 16688, 32753, 26994, 32755, AGC= 64, IDX= 436, 0.22, 0.379,-0.807,-1.529,-0.759, PHS= 1.226,-0.000,-0.772, RAW= 67.5, -5.2, CAL= 75.2, -11.4, ROT= 74.8, 11.4 Ygot valid direction response: 22:16:12.1007 LVL= 16688, 32753, 26994, 32755, AGC= 64, IDX= 436, 0.22, 0.379,-0.807,-1.529,-0.759, PHS= 1.226,-0.000,-0.772, RAW= 67.5, -5.2, CAL= 75.2, -11.4, ROT= 74.8, 11.4 %PDAT read: Bearing 74.8, 11.4 (Local) %~Local bearing/azimuth received: Bearing 74.8, 11.4 (Local) 5DAT read: Range 10 to 50 : 260.7 m (Round-trip 347.7 ms) speed -0.3 m/s =,DAT read: user:2448> EBDAT read: Tx time:22:16:13.1989 E$Ping request sent.Eڙڙ۝S Ac?twJ\xr)۝PjzKmMKm9KiKm>KmI۝%׻=i۝ 0?۝ϊۙۙ:publishing transmit ping timeAFpublishing direction and range infoؙ9؝bX?%84L?9J?yؙؙؙؙ ٙ*F?2F:FBF_0JFG GrA)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝S Ac?twJ\xr)ۙIۙiۙۙۙۙGm deG! B1 Om >$Vw, KA6=Y6>6A96}H>y6H1S?9gԿ@/?6?!?,ɿ`:? ?Z?ɨ6=6c;6CyX\)` `IfIf4٢K  =9%:Q %?!) -G٣-KGy-<< -? Nusing accuracyPremultiplier from config12595)ぜ?25Y5, i5* BO>@5E5c<5B<5U25! %c@)kHu!z?k7$ k k{KA:kYCBksCZk'(?"ӚmbA,@WA^@%; l@bX?%84L?9J?Jk 0?Rkϊ**s8b50+Q@۱CU@o@2O7\a_?v?"kB*kӨk0z?k X$ 2k&CkCm?kkkeBk!$ @ addTargetRange:: Added new target pos. range: 260.700012 m, deltaT: 3.780896 s, deltaX: -0.599976 m, approachRate: -0.158686 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:22:16:13.1981 U Added new target pos. range: 260.700012 m, bearing: 106.604547 deg, lat: 36.903924 deg, lon: -122.121077 deg, deltaT: 3.780896 s, deltaX: -0.599976 m, approachRate: -0.158686 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 260.70 m.Bj]JjY ProNav: ac range: 260.700012 m, nav range: 106.698540 m, bearing: 126.356104 deg, approach rate: 0.000000 m/s, LOS rate: 0.295830 deg/s, cmd heading: 22.614133 deg, new cmd heading: 22.905431 deg. 2jHeadingCmd: 0.399775 target range: 260.700012 and range: 260.70 m. jU>jjjihhhhfffrf@3Kp@bf ?ɛ=ӃB=\; 9=>IA EIɚAiAIE5=ImU>imd;im_)mU>)q*F?2F:FBF`0JF!G- |[H )>I  I #II BI ( = I % Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BQ &I .I 5D6I 3<:I  FO >w,wKAZ#=YZh$>ZNE9Z I:>yZH ii mG٣iyu< u> Nusing accuracyPremultiplier from configy259}?25Y}, i}& B$?:>@}E};}*;}Y25ĒB @EZj9=FNOT Ignoring new targets: 260.70 m.BjE;JjE;u ProNav: ac range: 260.700012 m, nav range: 106.834427 m, bearing: 126.491433 deg, approach rate: 0.326231 m/s, LOS rate: 0.324477 deg/s, cmd heading: 22.905430 deg, new cmd heading: 23.310893 deg. 2ju^<}HeadingCmd: 0.406852 target range: 260.700012 and range: 260.70 m. j}N>jyjyjyihhhhBfffrfbf?ɛσBEp; IM>II MɲɚIiIIMAa4=IUN>iQiUZ)]N>)Y*F]?2FY:FYBF]y0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.*JR="Jp=JJJJJ|:J:JJJ;J;JyE;JzE;G bGY B O >ʩw,NKA6}l=Y6ӭ>6d|F96W<>y6HS#?@|տy?`I?`?`S"ȿ@ͨ?.j?@k?ɨ6}l=6p;4yBBF!#IININ4٢VŽ= Vk=9VYQ V?XX ZG٣Xy^< ^? bNusing accuracyPremultiplier from config`f259b ?f25Yb, ib" Bdjc>j@bEbj:b:b\25p r0@pB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 260.70 m.Bj;Jj;- ProNav: ac range: 260.700012 m, nav range: 106.938889 m, bearing: 126.597164 deg, approach rate: 0.313978 m/s, LOS rate: 0.317481 deg/s, cmd heading: 23.310893 deg, new cmd heading: 23.627771 deg. 2j-Y<5HeadingCmd: 0.412382 target range: 260.700012 and range: 260.70 m. j5#>j1j1j1i1h1h1 $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.h1h1f9f9f9rf9bfE I?ɛ̃Bl< 隭s>IzKk3IK9KK?K  BK:KmA WɚiI3=I#>iA<;i]M)#>)*F2F:FBFk2JF"GG= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250032G |[Ga Bi O >w,Z)KA6>Y6 >6D96@7>>y6H?`ֿ[??@s? Gȿ)?@?i?ɨ6>6I';6CyBBB"#IiF=IF5?INyINxV4٢V; VJ=9V:Q V>XX ZG٣XyZW< ^> Nusing accuracyPremultiplier from config259#?%25Y, i B!%$>%@EL ;~ ;1`25-ŒB 15߶EZjaeFNOT Ignoring new targets: 260.70 m.Bje;Jjm;} ProNav: ac range: 260.700012 m, nav range: 107.061714 m, bearing: 126.723809 deg, approach rate: 0.296350 m/s, LOS rate: 0.305216 deg/s, cmd heading: 23.627771 deg, new cmd heading: 24.007266 deg. 2j}wQ<HeadingCmd: 0.419006 target range: 260.700012 and range: 260.70 m. j>jjjihhhhfffrfbf@7?ɛɃB< \>I ɚiI2=I>iiYC)>)H,>IC I#IIBI& =&IGD.I6I <:I FBIJIÛCRIZI+ =bI+ =jIg6*F2F:F!BF%S0JF) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503678GNGBO >i |uA ZA jY |uAy 2Bѽw, KAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754121JK|3 KL.KK"KJ0J0J0J0J0J0J0J0J0J0J0J0R >YR@>Rx+?9R'?>yRH?@9oֿy?yG?B_?dȿ6?#? g?ɨR >Ro;PyuBu<#IMb@Mb@Mb@ )Yx&1?Q:vyA ?T`A @)I@y@IIƕ4٢5= 5=9=+;Q =>99 EG٣EKGyEK< E> UNusing accuracyPremultiplier from configIU259M>?]25YM:, iM B]5#?]:]1>]@MEM;Mo;Md25i m@mܶEZjFNOT Ignoring new targets: 260.70 m.Bj ;Jj ; ProNav: ac range: 260.700012 m, nav range: 107.208534 m, bearing: 126.878963 deg, approach rate: 0.288381 m/s, LOS rate: 0.304333 deg/s, cmd heading: 24.007266 deg, new cmd heading: 24.472080 deg. 2jP<HeadingCmd: 0.427118 target range: 260.700012 and range: 260.70 m. jB>jjjihAhAhAhEBfIfIfIrfIbfU` ?ɛŃB0< 隥>I 0ɚiI 2=IB>iJ;i7K)B>) }$?Iy*Fy2Fy:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006627zKLKh9KK@KRK ?JK"?G {TBG B O >w,9LA6I>Y6r>6;96?>y6H`?sֿ!?l?tS?@Uȿ{? '?`Nh?ɨ6I>6p;4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258104)IuA绾8wF 3CwAii  (xA)  I );uAi(\ImFI!i%uA %ҽ- eR=9m;Q m>ii uG٣qyuF4< u> }Nusing accuracyPremultiplier from configy259}jS?25Y}, i} B^6>@}E} ;}~ ;}h25ƒB d@ٶEZjFNOT Ignoring new targets: 260.70 m.Bj;Jj; ProNav: ac range: 260.700012 m, nav range: 107.320297 m, bearing: 126.997484 deg, approach rate: 0.285723 m/s, LOS rate: 0.302683 deg/s, cmd heading: 24.472079 deg, new cmd heading: 24.827267 deg. 2jO<HeadingCmd: 0.433318 target range: 260.700012 and range: 260.70 m. j>jjjihhhhfffrfbf 0@ɛ5ƒB5g< 15?I1 =Xvɚ9i9I=(F1=I>id;iBSR)>) *F?2F:FBFZ0JFHU />IQ  IU #IIU BIU % =&IQ .IQ 6IU Z<:IU ; F ! I) G _N Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515438G B O >iw,!LAɳnfCllilliprwA)p pIp p)vpwAɴttttɵv|wAitIxxI|i~\uA ~1gF) KuA  vFɶ   wAI)i)IDɷ y5B5r#I)9 99=AMb@Mb@Mb@ )YMb?RQ~jth?y ?½D;A @)@I@yIIn4٢_= Q=9Q  >   G٣KGy > Nusing accuracyPremultiplier from config%259g?-25Y, i B-X"?-:-X>-@E^;E;yk255ǒB =F@=ֶEZjFNOT Ignoring new targets: 260.70 m.Bj;Jj; ProNav: ac range: 260.700012 m, nav range: 107.424942 m, bearing: 127.117599 deg, approach rate: 0.259204 m/s, LOS rate: 0.297232 deg/s, cmd heading: 24.827266 deg, new cmd heading: 25.187254 deg. 2jKjAjIjIiIhIhQhQh]ɃBfYfYfrfbf@@ɛBG< ?I zɚ9iAIE^0=IMR>iM5;iUi)UR>)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763021J%J%J%1J!J%:J%:J%3J!J%;J%;J%L;J%L;*F2F:FBF_0JFG lSG B O &w,[;LAB>YB>Bl89B,=>yBH` ? ׿L?`H?@B?ȿ@??@k?ɨB>Bᎌ;BC b$?I`]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014059yޝBޝ#III4٢=9= =X=9E;Q E>AA EG٣IyMV< M> ]Nusing accuracyPremultiplier from configQ]259U{?]25YUS , iU# Bae_>e@UEU:U:Un25}ȒB }@}ӶEzKJQJK]9KKAKBK:KqAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 260.70 m.BjZ;JjZ; ProNav: ac range: 260.700012 m, nav range: 107.524826 m, bearing: 127.233615 deg, approach rate: 0.270249 m/s, LOS rate: 0.313605 deg/s, cmd heading: 25.187255 deg, new cmd heading: 25.534976 deg. 2j9W<HeadingCmd: 0.445669 target range: 260.700012 and range: 260.70 m. j.>jjjihhhhfffrfbfp@ɛ%B%< !%?I! -eɚ)i)I-/=I5.>i1i5uc)5.>)9*F?2F:FBFJFGNaGABIOeU> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:16:15.9502  TRx dataTimestamp_ set to:1736374577.225179 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267733w,"7ULA6yB>Y6ڙ>6896͵;>y6H?C׿`7?`y#?@^6;6CyrBr#IIzIzW4٢>  `=9 Q  > G٣y < > %Nusing accuracyPremultiplier from config!-259%?-25Y% , i%( B)-b>-@%E%;%;%q259 =f@9ZjimFNOT Ignoring new targets: 260.70 m.Bju;Jju; ProNav: ac range: 260.700012 m, nav range: 107.620995 m, bearing: 127.345514 deg, approach rate: 0.267231 m/s, LOS rate: 0.310665 deg/s, cmd heading: 25.534975 deg, new cmd heading: 25.870369 deg. 2j4U<HeadingCmd: 0.451523 target range: 260.700012 and range: 260.70 m. j .>jjjihhhhfffrfbf @ɛBo< E<+?I XɚiI~.=I .>i S;in) .>) jHbHp<H1>IC I#II!BI&I.I6D6Iί<:I F $?I*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520119GnDjG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.8w,oLADAT read: 22:16:15.9502 LVL= 16320, 29169, 23170, 32755, AGC= 64, IDX= 415,-0.45, 2.518, 1.146, 0.686, 1.412, PHS= 1.194,-0.219,-0.729, RAW= 75.2, -2.9, CAL= 82.4, -8.5, ROT= 67.6, 8.5 Ygot valid direction response: 22:16:15.9502 LVL= 16320, 29169, 23170, 32755, AGC= 64, IDX= 415,-0.45, 2.518, 1.146, 0.686, 1.412, PHS= 1.194,-0.219,-0.729, RAW= 75.2, -2.9, CAL= 82.4, -8.5, ROT= 67.6, 8.5 PDAT read: Bearing 67.6, 8.5 (Local) ~Local bearing/azimuth received: Bearing 67.6, 8.5 (Local) 6DAT read: Range 10 to 50 : 260.3 m (Round-trip 347.1 ms) speed 0.1 m/s :,DAT read: user:2449> >BDAT read: Tx time:22:16:17.0490 >$Ping request sent.>IIMM?\ه1)$cƩ)MNHIMlIN=iMw?M0II:publishing transmit ping time<Fpublishing direction and range infoI9Mې:sn zLr?#?yIIII I)IIIiIIIII I)IIIiIIIMM?\ه1)$cƩ)IIIiIII%>Y%>%69% <>y%HO?v׿@?j? I.?ǿ`Cݦ? Y?;n?Iɨ%>%ߋ;%Cy=$BE#IiYI]4< ae=Mb@Mb@Mb@ )Y}?5^I?Mb:v?yM"?@T< 5@)@I@yII4٢= =9MS:Q > G٣KGy6< > Nusing accuracyPremultiplier from config2593?25Y< , i; B"?:˜>@E;<;v25=ɒB EO@EѶEkM fy?kM/5( kI kM͕nLA:kM&CBkMACZkM @"M'N=j:VV@!nxn@ $?IMې:sn zLr?#?JkMw?RkM0*MeVW[jijijqiq}Will construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:16:17.0482 hhhh BfffrfDp@bf=z?ɛB< 7?I 蓼ɚiIQ-=I% >i%);i%y)% >))zK K 9K K BK RK% ?JK% ?*F ?2F :F BF `0JF G-tlGB5Will construct direction to contact in vehicle frame from tetrahedron phase data.OE>JMJMJM0JIJM\:JM:JMـ3JIaU@aU@aU@a]@ߢ#w,[@LA61">Y66S>6996:>y6H@?׿??`!?ǿw? 6?`o?ɨ61">6;6CyBDBB#IINnINB4٢VC> Vt=9ZºQ Z?XX ZG٣Xy^%a< ^? bNusing accuracyPremultiplier from config`f259bM?f25Yb, ibF Bhj>j@bEb ;b:by25l nO@nζEZjFNOT Ignoring new targets: 260.30 m.Bj ;Jj ;% ProNav: ac range: 260.299988 m, nav range: 90.038857 m, bearing: 108.493009 deg, approach rate: 0.012827 m/s, LOS rate: 0.438267 deg/s, cmd heading: 26.415347 deg, new cmd heading: 26.821204 deg. 2j%c<-HeadingCmd: 0.468118 target range: 260.299988 and range: 260.30 m. j-5>j)j)j)i)h1h1h1h1f9f9f9rf9bf=Ɵ?ɛB >@= {H?I 4ɚiIr,=I5>ii )5>)*F?2F:FBF0JFGuԡwG)B9OU2>H2>I I#IISBI$ =&I.I6I<:I F IWill construct direction to contact in vehicle frame from tetrahedron phase data.)w,QLAV a'>YV">V^`=9V(>yVH ?ؿ%?? ,?஧ſ 㩧?`?a?ɨV a'>Vb0;VCyj_Bn $IMb@Mb@Mb@ )Y~jt?{Gzt?y&1?y$?ף;`<A )@Iy@II4٢Z= ;=9 Q > G٣yb+< > Nusing accuracyPremultiplier from config259#҂?25Y, i` B$?:>@ES;;}25ʒB @˶EZjFNOT Ignoring new targets: 260.30 m.Bj;Jj; ProNav: ac range: 260.299988 m, nav range: 90.022011 m, bearing: 108.670589 deg, approach rate: -0.037135 m/s, LOS rate: 0.391532 deg/s, cmd heading: 26.821205 deg, new cmd heading: 27.354027 deg. 2jZ<HeadingCmd: 0.477418 target range: 260.299988 and range: 260.30 m. jp>jjjihhhh0BWill construct direction to contact in vehicle frame from tetrahedron phase data.Aifffrfbf%:?ɛ BC= 0W?I XxɚiI%+=Ip>iiw)p>)E#= $?I *FY 2FY :FY BFe _0JFa  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK 9K K CK    BK qA:K G 1|GYBiO?J2w,LAF*>/>YF>Fi?9FO[,>yFH?Eؿ6ڕ?`(i??@ƿ?ek?c?ɨF*>/>F":;FCyRkBR$ITVAIZtIZM4٢bK= b+=9f|Q f>dd jG٣jKGyjR< j> nNusing accuracyPremultiplier from configlr259n ꂜ?v25Yn, in} Btv>v@nEn ;n ;nŁ25x z@|UB*** querying acoustic contact ***jQjQZjq}FNOT Ignoring new targets: 260.30 m.Bj};Jj;E ProNav: ac range: 260.299988 m, nav range: 90.002190 m, bearing: 108.865637 deg, approach rate: -0.041882 m/s, LOS rate: 0.412230 deg/s, cmd heading: 27.354027 deg, new cmd heading: 27.939278 deg. 2jMt<}HeadingCmd: 0.487632 target range: 260.299988 and range: 260.30 m. j}>jjjihhhhfffrfbf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JJJJJJ9JJɛ]Be"= ae^?Ia eɚaiaImv)=Im>iqiu)u>)Euu<*F ?2F :F BF o0JF GlGBO>ZHRHH4>I IH$IIBI&I.I6I1<:I F $?I } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744123sj8w,jLLA6o8>Y6*0>61>96K0>y6Hn?aٿ@p;?`?@?zƿ2Ч?`?`(~?ɨ6o8>6 ;6CybBb5$IUMb@Mb@Mb@QQQ Q)QYU?~jt?X9v?yUf&?U=U G٣y< > Nusing accuracyPremultiplier from config259A?25Y+ i B&?:>@E!;n ;25˒B @ȶEZj  FNOT Ignoring new targets: 260.30 m.Bj;Jj; ProNav: ac range: 260.299988 m, nav range: 89.968857 m, bearing: 109.042354 deg, approach rate: -0.079395 m/s, LOS rate: 0.421074 deg/s, cmd heading: 27.939278 deg, new cmd heading: 28.469610 deg. 2j}<HeadingCmd: 0.496888 target range: 260.299988 and range: 260.30 m. j)h>jjjihhhh]Bfffrfbf@?ɛBD= 隥j?I xɚiI$}(=I)h>ii,))h>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993469E#<EEqA*F5 ?2F1 :F1 BF5 _0JF1  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249816GGaByO?'@w,>MAzKLKKKDKt5/hM>Y5>5H395::>y5H ,?3ڿi?`$?? 3cǿ|? ? q?ɨ5/hM>5;5CyMBUD$IiYI]=IeIe]4٢uq?= u =9uƦ;Q }>yy }G٣yz&= > Nusing accuracyPremultiplier from config259?25Y+ i B>@E: ;25̒B @ŶEZjFNOT Ignoring new targets: 260.30 m.Bjo;Jjo; ProNav: ac range: 260.299988 m, nav range: 89.924522 m, bearing: 109.248582 deg, approach rate: -0.088080 m/s, LOS rate: 0.409920 deg/s, cmd heading: 28.469610 deg, new cmd heading: 29.088575 deg. 2j<HeadingCmd: 0.507691 target range: 260.299988 and range: 260.30 m. j?jjjih!h)h9h9f9f9fArfAbfE D@ɛ-B-޿== )-ur?I) 5T jɚ1i1I5'=I]?iYi]A{)]?)YEaEa*Ei"EiWill construct direction to contact in vehicle frame from tetrahedron phase data.յAiյAJJJJJ|:J:JJchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507814*F?2F:FBFJFHi Ii  Im $IIm ÅBIm " =&Ii .Ii 6Ii :Ii BI5˞CJI5˞CRI5˓CZI5$ =bI5$ =jI5ə5 $?I G ڋe Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752048G B)O>DHw,q"MAjV>YjJ>jq=.9jr>>yjH?`ڿ@?@?y?`ǿť?3?k?ɨjV>j3;jCy-B-[$IMb@Mb@Mb@ )Yq= ףp?kt?X9v?y+? = @)@I@yII٢:= %=99;Q > G٣KGy< >  Nusing accuracyPremultiplier from config 259 /?25Y  + i  B-?:8 ?@  E ; ; D25! %@)ZjQUFNOT Ignoring new targets: 260.30 m.Bj]I;Jj]I;m ProNav: ac range: 260.299988 m, nav range: 89.855156 m, bearing: 109.456057 deg, approach rate: -0.139780 m/s, LOS rate: 0.418404 deg/s, cmd heading: 29.088574 deg, new cmd heading: 29.711451 deg. 2jmxeNw,aY:>:'9:B>y:H@T?=,ۿ`?0? V?ȿ ? n?f?ɨ:_>:ɏ;:Cy^Bbb$IIjIj#4٢rc< r^=9r*;Q r>xx zG٣xy~8< ~>  Nusing accuracyPremultiplier from config 259vA?25Y+ i Br?@EU;w;|25%͒B %v@%¶E E$?IE_iZjQ]FNOT Ignoring new targets: 260.30 m.Bje;Jje;u ProNav: ac range: 260.299988 m, nav range: 89.802208 m, bearing: 109.610325 deg, approach rate: -0.143321 m/s, LOS rate: 0.417824 deg/s, cmd heading: 29.711453 deg, new cmd heading: 30.174520 deg. 2j}_<HeadingCmd: 0.526645 target range: 260.299988 and range: 260.30 m. j0?jjjihhhhfffrfbf@D# @ɛBHx= t<?I  NɚiI_$=I0?iiYS)0?Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:16:19.7991 TRx dataTimestamp_ set to:1736374581.004796checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254646)zK-8MK-+9K)K-EK-woibYQHA:5.'    *FM?2FI:FIBFMU5JFQ"G]=G]>GyG?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506857J J J /J J \:J 9J (N3J G B O >MUw,Y6>6.!96D>y6H?@"ۿmg?? 8? ~*ȿ $?i?2c?ɨ6g>6l;4yBBBg$I)D DIJIJ4٢R< RN=9Vk;Q V>TT VG٣XyZ< Z> bNusing accuracyPremultiplier from config\b259^XT?f25Y^+ i^ Bhja?j@^E^2;^2;^25rΒB rI@rE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 260.30 m.BjD;JjD; ProNav: ac range: 260.299988 m, nav range: 89.744270 m, bearing: 109.775464 deg, approach rate: -0.141168 m/s, LOS rate: 0.402627 deg/s, cmd heading: 30.174519 deg, new cmd heading: 30.670242 deg. 2j(<HeadingCmd: 0.535297 target range: 260.299988 and range: 260.30 m. j4 ?jjjihhhhfffrfbfH{ @ɛuB`j= 隕+?I ?ɚiI#=I4 ?iit)4 ?)jHbH<H2>I I$IIBI# =&I.I6I<:I F 5$?I1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757231*F=?2F9:F9BFE1JFAG  G B O > [w, 8pMAWill construct direction to contact in vehicle frame from tetrahedron phase data.J(J(.mDAT read: 22:16:19.7991 LVL= 18576, 30913, 27538, 32755, AGC= 62, IDX= 434, 0.21,-1.638, 3.068, 2.839,-2.799, PHS= 1.249,-0.369,-0.648, RAW= 82.2, .8990 2unknown deviceResponse_: 22:16:19.7991 LVL= 18576, 30913, 27538, 32755, AGC= 62, IDX= 434, 0.21,-1.638, 3.068, 2.839,-2.799, PHS= 1.249,-0.369,-0.648, RAW= 82.2, .8990 6JDAT read: TxSync time:22:16:20.8982 :checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016402^ o>Y^0>^>>9^D>y^Hz?ܿ???4ȿ`?q?1c?ɨ^ o>^LK;^CyjBjc$IIrIr4٢z zD=9~=;Q ~>|| ~G٣KGy< > Nusing accuracyPremultiplier from config 259 3h?25Y + i ; BX?%@ E b; ; 251 5@1ZjQ]FNOT Ignoring new targets: 260.30 m.Bj];Jje;u ProNav: ac range: 260.299988 m, nav range: 89.681763 m, bearing: 109.949891 deg, approach rate: -0.156313 m/s, LOS rate: 0.436493 deg/s, cmd heading: 30.670240 deg, new cmd heading: 31.193871 deg. 2juǕ<}HeadingCmd: 0.544436 target range: 260.299988 and range: 260.30 m. j}$` ?jyjyjyiyhhhhfIfQfQrfQbfUg@ɛ}B}Ds= 隭?I J2ɚiIn!=I$` ?iibj)$` ?)*F?2F:FBF_0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.261458G G B O >zK B NK 9K K FK RK ?JK ? _bw,(MA^,w>Y^>^9^JE>y^H?`Spܿ)?`=??ȿ`? ?%b?ɨ^,w>^Iv;\yjBj`$IIv{IvZ4٢z ~K=9~h ;Q ~> G٣y -<  > Nusing accuracyPremultiplier from config259E{?}25Y+ iX BZ?@Er<r<25ϒB @EZjFNOT Ignoring new targets: 260.30 m.Bj/;Jj/; ProNav: ac range: 260.299988 m, nav range: 89.620148 m, bearing: 110.118184 deg, approach rate: -0.147256 m/s, LOS rate: 0.402486 deg/s, cmd heading: 31.193870 deg, new cmd heading: 31.699085 deg. 2j<HeadingCmd: 0.553253 target range: 260.299988 and range: 260.30 m. j ?jjjihhhhff f rf bf @ɛ5B=s|= 9=?I9 =K?%ɚ9iAIEr =IE ?iIiM̆)M ?)IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.513647E=*<*F?2F:FBF4JFGrA GH.>IC I$IIBI$ =&I.I6I<:I F  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.769156G] 憽Gq Gq GQ BY Ou >iw,0MA:j>Y::c>:^9:&W;>y:H9v?`rݿ G8?(??ƿ ? E?q?ɨ:j>:S;8yJBNV$IiRC=IRl>-only read -1 of 1 data item for BIT error. Device response is::TS,25010814172681,35.0, +10.9, 0.0,1493.1,  @ @ @  @ IjI;4٢- -6=95;Q 5>19 =G٣9y=W< => MbBottom track data is 0.4 s old, using for 20.0 s. MNusing accuracyPremultiplier from configA]259EY?]25YE+ iEy B]+:Ye~:eN?e@E"EEIr;E?>EB25mВB uC@uEZjFNOT Ignoring new targets: 260.30 m.BjO;JjO; ProNav: ac range: 260.299988 m, nav range: 89.549042 m, bearing: 110.305420 deg, approach rate: -0.162765 m/s, LOS rate: 0.428931 deg/s, cmd heading: 31.699086 deg, new cmd heading: 32.261220 deg. 2j/<HeadingCmd: 0.563065 target range: 260.299988 and range: 260.30 m. j$?jjjihhhhf ffrfbf@ɛBc= .?I -ɚiI\ =I%$?i!i% t)%$?))Ev<EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.018494JeJeJe0JaJe<:Je9Jeـ3JaJe;a}Je;a}Je3;a}Je3;a*F?2F:FBF_0JFG Gy B O > I @ow,MA6r>Y6 >6/v96o=>y6HL?ݿ`.??z?ƿ@M??o?ɨ6r>6);6CyFBFA$IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.269423INlINm?4٢^? S=9P:Q %>!! %G٣%KGy-I< -> =bBottom track data is 0.8 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from config1e2595?e25Y5+ i5 Bm :imN:m?m@5&E5N;5 [?525q uV@ZjFNOT Ignoring new targets: 260.30 m.Bj;Jj; ProNav: ac range: 260.299988 m, nav range: 89.483429 m, bearing: 110.472612 deg, approach rate: -0.160931 m/s, LOS rate: 0.410380 deg/s, cmd heading: 32.261220 deg, new cmd heading: 32.763151 deg. 2jь<HeadingCmd: 0.571825 target range: 260.299988 and range: 260.30 m. jc?j!j!j!i!h!h!h)h)f)f)f)rf1bfu E_@ɛBzv= x?I I_ ɚiI=Ic?iiz)c?)EE*E"EzKJKKKGKBKpA:K*F5?2F1:F1BF5^0JF1]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.522255GU b:G1 BA O] >$vw,DMAZH(RH*?AH.+>I, I,I,I.% =&I.HD.I.5D6I.V<:I.4 F~Q>Y~>~P 9~M @>y~H`#?;޿?e??@ǿ@?)??@k?ɨ~Q>~!;~C $?IyޭBޭ7$IIIQ4٢5z  5(=9E8;Q M>QY ]G٣aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.775784yY< -> ]bBottom track data is 1.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configA259E?25YE^+ iE B9&:?@E,EEz|w, OMAyjB$I)          Mb@Mb@Mb@ )YB`"?~jt?y.?=A @)p@IQ@y@II4٢ L=9Q > G٣y > Nusing accuracyPremultiplier from config259̃?25Y+ i B T: /? : ? @0E;F; 25 f@Zj9EFNOT Ignoring new targets: 260.30 m.BjE<JjE<] ProNav: ac range: 260.299988 m, nav range: 89.337463 m, bearing: 110.841296 deg, approach rate: -0.177212 m/s, LOS rate: 0.460810 deg/s, cmd heading: 33.396582 deg, new cmd heading: 33.870087 deg. 2je }%=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.277832GEzKk3IK9KKHKG! B) OE >Vփw,7NA6u>Y6l?6ݼ96C>y6H_?%߿? k?I?Kƿ?AI?#h?ɨ6u>6;6CyJWBJ$IIVIV%x4٢bս f_=9fYhh jG٣jKGyjJ= n>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.529557 zNusing accuracyPremultiplier from configtz259vc݃?~25Yv+ iv B)-N?-@v4EvIUC IU$IIUBIU( =&IQ.IU4D6IUD<:IU" FGur !I)G1BAO]v>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792813Xw,@)NARp>YR S?R9RvD>yRH ?ೂ߿#?@? +-? @ƿ 4?f? qg?ɨRp>R;PyfHBf#IMb@Mb@Mb@ )Yw/?{Gz?Qy&?#=u )I@y@IIQ4٢w <=9 G٣yɋ< > Nusing accuracyPremultiplier from config259D?25Y+ i BE'?:?@8EM;w;!25ӒB @EZjFNOT Ignoring new targets: 260.30 m.Bj2;Jj2; ProNav: ac range: 260.299988 m, nav range: 89.212166 m, bearing: 111.175533 deg, approach rate: -0.145530 m/s, LOS rate: 0.423491 deg/s, cmd heading: 34.340924 deg, new cmd heading: 34.873477 deg. 2jQ<HeadingCmd: 0.608657 target range: 260.299988 and range: 260.30 m. j?jjjihhhh݃Bfffrfbfi@ɛ]B]v{\= Y]Z?IY eUɚaiaIeL'=I?ii鐂)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.033598JJJ1JJ̝:J 9J3JJ;J;JO>;JO>;*F]?2Fa:FaBFeo2JFaGmqA GmqAG G G $?I ^iGy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:16:23.6472  TRx dataTimestamp_ set to:1736374585.036832 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.286686r萓w,CNA>YH?9?D>yH?߿+$?7?w?LYƿD?`L`?`h?ɨ>J ;騥Cy޽7B޽#IiV>Ip< a=a=IUIU4٢u }?=9 G٣zKBHK9KKIKyYo< > Nusing accuracyPremultiplier from config259?25Yh+ i Bv?@=En::25 @Zj9EFNOT Ignoring new targets: 260.30 m.BjEX;JjEX;] ProNav: ac range: 260.299988 m, nav range: 89.150154 m, bearing: 111.353268 deg, approach rate: -0.145914 m/s, LOS rate: 0.418503 deg/s, cmd heading: 34.873477 deg, new cmd heading: 35.407037 deg. 2j]<]HeadingCmd: 0.617969 target range: 260.299988 and range: 260.30 m. je>3?jajajaiahahahihififqfqrfqbfu@ɛBx(U= 隥R?I ɚiIj-=I>3?ii)>3?)*FE?2FA:FABFEP5JFAG-( Will construct direction to contact in vehicle frame from tetrahedron phase data.G)]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549140BiO>jH <bH 4=H- (>I)  I- $II- ȅBI- ) =&I) .I- 5D6I- c<:I- 9 FBI˝CJI˝CRI˔CZI% =bI& =jI6 w,]NA6)>Y6e ?6b96ųE>y6H?`Cu?`&R?`?0ƿ ?^?f?ɨ6)>6$ ;6C R!$?IPyn&Bn#IIvIv4٢=: EN=mWill construct direction to contact in vehicle frame from tetrahedron phase data.95A G٣KGy< > Nusing accuracyPremultiplier from config 259 n?%25Y + -DAT read: 22:16:23.6472 LVL= 17600, 30401, 21730, 28259, AGC= 62, IDX= 416, 0.24,-1.321,-2.983,-3.055,-2.513, PHS= 1.280,-0.423,-0.546, RAW= 86.6, -3.6, CAL= 94.8, -10.2, ROT= 55.2, 10.2 5Ygot valid direction response: 22:16:23.6472 LVL= 17600, 30401, 21730, 28259, AGC= 62, IDX= 416, 0.24,-1.321,-2.983,-3.055,-2.513, PHS= 1.280,-0.423,-0.546, RAW= 86.6, -3.6, CAL= 94.8, -10.2, ROT= 55.2, 10.2 =PDAT read: Bearing 55.2, 10.2 (Local) =~Local bearing/azimuth received: Bearing 55.2, 10.2 (Local) i  Bae?e@ BE D<< 8< Ե25q u@uEDAT read: Range 10 to 50 : 258.0 m (Round-trip 344.1 ms) speed 0.4 m/s ,DAT read: user:2451> BDAT read: Tx time:22:16:24.7490 $Ping request sent.im ף?muؾ%FNOT Ignoring new targets: 260.30 m.m m\w?m m?)mK6ImϢv?imK6>iimKꔥ?XZXۏ 4ɯ)mzIms~=imD/?mV ii=:publishing transmit ping timeؙ=Fpublishing direction and range infoiBj-9;Jje9;u ProNav: ac range: 260.299988 m, nav range: 89.084778 m, bearing: 111.536461 deg, approach rate: -0.141685 m/s, LOS rate: 0.397312 deg/s, cmd heading: 35.407038 deg, new cmd heading: 35.957004 deg. 2juU<9m5և=$?Б?yiiNGi)i i]ZAmHeadingCmd: 0.627568 target range: 260.299988 and range: 260.30 m. Yy B jN ?jjjihhhhfffrf p@bf?)iIiiiiiii i)iIiiiiimKꔥ?XZXۏ 4ɯ)iIiiiiiieT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ɛeB0= 隍6K?I wɚiI:=IN ?i;iR)N ?) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.178824J- J) J- 0J) J- \:J) J- ـ3J) J- i;J- k;J) J) *FU ?2FQ :FQ BFU 0JFQ "G] =G] =GmHGm?Gm?G!B1OM?w,}NA LILZfh>YZ ?ZJ|19ZD>yZHQI?v`"3??u?Gſl/?m?`h?ɨZfh>ZQ;XyzBz#I)| |mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.430009}Mb@Mb@Mb@yyy y)yY}jt?Q:vy} ?}u}Լ}A }@)yI}@yy}@IxIT4٢ >  =94 G٣y\< E> UNusing accuracyPremultiplier from configI]259M,/?}25YM + iM B ?:?@MFEM=;M;M25 @kQ Ѓ?kز, k k bNA:kCBkCZkR@" 5>HE@o@5և=$?Б?JkD/?RkV *<0Ĉ {"&Op@E r 4k'W8ඩ?"k*k񀑿k'aσ?k񱗆, 2k0Cky,Wz?k X$ k&CkBkd?M addTargetRange:: Added new target pos. range: 258.000000 m, deltaT: 7.815262 s, deltaX: -2.299988 m, approachRate: -0.294294 m/s, rangeRepo size: 4 } Added new target pos. range: 258.000000 m, bearing: 262.987915 deg, lat: 36.904286 deg, lon: -122.121247 deg, deltaT: 7.815262 s, deltaX: -2.299988 m, approachRate: -0.294294 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 258.00 m.BjJj ProNav: ac range: 258.000000 m, nav range: 73.871780 m, bearing: 113.872255 deg, approach rate: 0.000000 m/s, LOS rate: 0.397312 deg/s, cmd heading: 35.957005 deg, new cmd heading: 36.525959 deg. 2jHeadingCmd: 0.637498 target range: 258.000000 and range: 258.00 m. j3#?jjjihhhhBfffrfbfҷ?ɛEBE[P= AEwE?II MIOɚIiIIME=I]3#?iaie)e3#?)azK-BoHK-h9K)K-JK-*F ?2F :F BF _5JF GVGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.682214|w,܄NA6|D>Y6?696?>y6H ?㤷? ??HĿ?`H?Yp?ɨ6|D>6;6CyfBf#IInInF4٢߽  s=9 ?-25Y%5+ i% B)- ?-@%JE%3:%T ;%25EԒB E@EEZjamFNOT Ignoring new targets: 258.00 m.BjmB<JjmB< ProNav: ac range: 258.000000 m, nav range: 73.845802 m, bearing: 114.032315 deg, approach rate: -0.084119 m/s, LOS rate: 0.518467 deg/s, cmd heading: 36.525960 deg, new cmd heading: 37.006296 deg. 2j<HeadingCmd: 0.645882 target range: 258.000000 and range: 258.00 m. jX%?jjjihhhhfffrfbf?ɛB&Vm= rIC IN$IIBI' =&I.I6I<:I F*Fm?2Fq:FqBFu_0JFq "$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.934027GGBO>Nūw,^NA63>Y6hG?6>96GD>y6H`?`@~1?CN?g?`/Ŀv?yb?i?ɨ63>6 s;6CyFBF#IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.185944*J|"J~%=eMb@Mb@Mb@aaa a)aYe`"?X9vye?eLeezA a)aIe@aye@I}wI}R4٢p B=9;Q > G٣KGy< > Nusing accuracyPremultiplier from config259P?25Y+ i B?:[>@NE;;25ՒB *@EZjFNOT Ignoring new targets: 258.00 m.Bj<Jj<% ProNav: ac range: 258.000000 m, nav range: 73.826393 m, bearing: 114.226008 deg, approach rate: -0.046172 m/s, LOS rate: 0.460888 deg/s, cmd heading: 37.006296 deg, new cmd heading: 37.587508 deg. 2j%&<HeadingCmd: 0.656026 target range: 258.000000 and range: 258.00 m. jN'?jjjihhh h iBf ffrfbfD?ɛB^:= 7<隍:?I ơɚiI=IN'?iivmx)N'?)EEmA #$?I*F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437832G G B O >w,`;NA'"TFailed to parse incomplete device message.65>Y6?6m 96_F>y6H %?@+Ժ?~?@_J?@wĿA?T?f?ɨ65>6z;6Cy^B^#IIfIf.4٢r rV=9rCXtt vG٣tyv< z> ~Nusing accuracyPremultiplier from configx259zoa?25Yz(+ iz B? @zQEz ;z ;z25 m@Zj1FNOT Ignoring new targets: 258.00 m.Bj<Jj< ProNav: ac range: 258.000000 m, nav range: 73.807892 m, bearing: 114.401625 deg, approach rate: -0.048486 m/s, LOS rate: 0.460355 deg/s, cmd heading: 37.587508 deg, new cmd heading: 38.114474 deg. 2j<HeadingCmd: 0.665223 target range: 258.000000 and range: 258.00 m. jL*?jj!j!i!h)h)hYhYfYfafarfabfe>]?ɛBqO= c9?I >ǺɚiI>=IL*?ii)L*?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.692354JKـ3 K.KK"KJJkJJJ̝:J:JJa%@a%@a%@a%@*Fm?2Fi:FqBFu_0JFqZHRHH)>I I$IIhBI&I.I6IQ<:I/ F y Iy G لyG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942062븓w,QkNA>YF?|;9E>yHB?E/ػ??:? 9Ŀo?@g?ɨ>];CyB#IMb@Mb@Mb@ )YI +?+Qy9? @)I@yII(4٢ +=9u<yy }G٣yy}< > Nusing accuracyPremultiplier from config259,w?25Yƴ+ i B?:<>@VE-;;825֒B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 258.00 m.Bj<Jj< ProNav: ac range: 258.000000 m, nav range: 73.798225 m, bearing: 114.625186 deg, approach rate: -0.019499 m/s, LOS rate: 0.451013 deg/s, cmd heading: 38.114474 deg, new cmd heading: 38.785211 deg. 2jÚ<HeadingCmd: 0.676930 target range: 258.000000 and range: 258.00 m. jCK-?jjjihh h h dBf ffrfbfe@ɛEBE?>= IM9?II M`ɚIiIIM{=IUCK-?iQiUc)]CK-?)Y*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194629G= wG1 BA Oe > = $$?I9 ]w,&7NAF>YFP}?Ff<9FE>yFH@?_,??d)?ÿ@̀ҍ?g?ɨF>FD;DyVBV#IItIt٢~ r=9.\-@YE:: 251 =@9ZjaeFNOT Ignoring new targets: 258.00 m.Bjm<Jjm<} ProNav: ac range: 258.000000 m, nav range: 73.791626 m, bearing: 114.771306 deg, approach rate: -0.020511 m/s, LOS rate: 0.454192 deg/s, cmd heading: 38.785212 deg, new cmd heading: 39.223604 deg. 2j}ڛ<HeadingCmd: 0.684581 target range: 258.000000 and range: 258.00 m. j@/?jjjihhhhfffrfbf=@ɛBbc= 7?I ιɚiIy=I@/?iiR)@/?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446029E3|<zKuKqKqKuLKu*F?2F:FBF_0JF"GG= Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J <:J 9J J  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.699701G 0Gq By O >Ɠw,#OA69>Y6?6ELE<960F>y6H`? v ? ?`?6ÿa֛?f?ɨ69>6h7;6CyBBB#IDDININ4٢Ra< VL=9VX\ ^G٣\yb_'< b> fNusing accuracyPremultiplier from configdj259f񖄜?j25Yf+ ifm Bhn>n@f]Ef;f[;f25rגB r@rEZjFNOT Ignoring new targets: 258.00 m.Bj;Jj; ProNav: ac range: 258.000000 m, nav range: 73.783134 m, bearing: 114.953039 deg, approach rate: -0.020325 m/s, LOS rate: 0.435048 deg/s, cmd heading: 39.223604 deg, new cmd heading: 39.768849 deg. 2jH<HeadingCmd: 0.694097 target range: 258.000000 and range: 258.00 m. j]1?jjjihhhhfffrfbf`b@H(>IC I#IIIBI&I.I6I|<:IN FɛuBu8J= qu:?Iy }Ju9ɚyiyI}k=I]1?iiݚ)]1? %$?I))E<Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950409*F?2F:FBF0JFG% G B O >9C̓w,n3OA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:22:16:27.4954 6TRx dataTimestamp_ set to:1736374588.8166666checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203006*J<"J>R=F>YF[?FUv}<9FE>yFHu?@;? ??2ÿw? g?ɨF>Fd{;DyE BE#IMb@Mb@Mb@ )Y@5^I ?|?5^{Gzyb?ҽףA @)I@yI5I5b4٢E#c= E=9M`;Q M>II UG٣QyU5 < U> ]Nusing accuracyPremultiplier from configYe259]ĭ?e25Y]+ i]S Bm?m:m(>m@]bEY];]25q u@yZjFNOT Ignoring new targets: 258.00 m.Bj<Jj< ProNav: ac range: 258.000000 m, nav range: 73.786537 m, bearing: 115.183983 deg, approach rate: 0.006747 m/s, LOS rate: 0.457920 deg/s, cmd heading: 39.768848 deg, new cmd heading: 40.461611 deg. 2j"<HeadingCmd: 0.706188 target range: 258.000000 and range: 258.00 m. j4?jjjihhhhrBfffrfbf`\ @ɛ B H= C?I g :ɚiI=I4?ii%)%4?)!E)E)*E1"E1 IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.454083*F ?2F :F BF _0JF zK JK ]9K K MK GؙGGGBWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J:JJ-DAT read: 22:16:27.4954 LVL= 17568, 29457, 23410, 32755, AGC= 65, IDX= 428, 0.15,-0.527,-2.199,-2.107,-1.571, PHS= 1.132,-0.581,-0.539, RAW= 91.2, -0.1, CAL= 99.1, -4.5, ROT= 50.9, 4.5 5Ygot valid direction response: 22:16:27.4954 LVL= 17568, 29457, 23410, 32755, AGC= 65, IDX= 428, 0.15,-0.527,-2.199,-2.107,-1.571, PHS= 1.132,-0.581,-0.539, RAW= 91.2, -0.1, CAL= 99.1, -4.5, ROT= 50.9, 4.5 EPDAT read: Bearing 50.9, 4.5 (Local) E~Local bearing/azimuth received: Bearing 50.9, 4.5 (Local) UDAT read: Range 10 to 50 : 256.5 m (Round-trip 342.1 ms) speed 0.1 m/s U,DAT read: user:2452> ]BDAT read: Tx time:22:16:28.5991 ]$Ping request sent.]Yu?uo<9u`E>yuH`?^ֱ?? ?i¿#?f?ɨu>u;q)-CI))) )5C5CwA1i11i=YC=wA)= =zFI9 =&C)EvAAAAmCmKwAiiIiiIuCiuwA qq)quC }wAy}MFy}C}΁AI}ף)ЁiЁyޭBޭ#Ii=I=II4٢b0= $=9;Q >! %G٣%KGy%< -> 5Nusing accuracyPremultiplier from config)=259-Ä?=25Y-Z+ i-9 B9=p>=@-fE-t;-;-~25mؒB u@uEjH<bH<H'>I I#II:BI&I.I6I[<:I5 Fk??k3.  E&$?IE]ik kFzTOA:k@CBk~CZkF@"T~Y5zr%6@to@?vXX8?Jk&@Rkʖ*pMcc?z?qo@w?7쿿{?"k*kc?k3w@?k . 2kCk0z?kShG.( kCkm4Bk@ addTargetRange:: Added new target pos. range: 256.500000 m, deltaT: 3.776808 s, deltaX: -1.500000 m, approachRate: -0.397161 m/s, rangeRepo size: 4  Added new target pos. range: 256.500000 m, bearing: 272.648574 deg, lat: 36.904303 deg, lon: -122.121616 deg, deltaT: 3.776808 s, deltaX: -1.500000 m, approachRate: -0.397161 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 256.50 m.BjJj ProNav: ac range: 256.500000 m, nav range: 45.107082 m, bearing: 131.424675 deg, approach rate: 0.000000 m/s, LOS rate: 0.457920 deg/s, cmd heading: 40.461610 deg, new cmd heading: 41.201773 deg. 2jHeadingCmd: 0.719107 target range: 256.500000 and range: 256.50 m. j_8?j j j i h h hhf1f1f9rf=p@bf=@ ?ɛBE= I?I :ɚiI_|=I_8?iiE)_8?)Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:16:28.5983 *F?2F:FBFJFGE ԣGB O->Yܓw,>sOA>Will construct direction to contact in vehicle frame from tetrahedron phase data.JHJHb>Yb?b<9b-GF>ybHWD?@*=? C? '?@,¿ȟ?e?ɨb>b;bCym Bm#IMb@Mb@Mb@ )Ygfffff?(\µ:vy3?T )@IZ@y@IvI&Q4٢-< -=95;Q 5>11 5G٣9y=&< => Nusing accuracyPremultiplier from configA259E݄?25YE<+ iE B?:k>@ElEEmY=$ ?=#<9= ]>y=H?Ap? ? "_?Ŀc@lk?`??ɨ=>=X';=CɸM&CM?uAM+iM{hFIiU̎CUGuA)U UFIY ]fC)]wAɹ]YYeCɺe7uAieIejFaIu3Ciu uA uyuTF)y黅 C wAɻCwAI)1uFi)CIA鼝Dɼ yލBBލ#IIrIJ4٢b:> [=9X;Q > G٣KGy g=  > Nusing accuracyPremultiplier from config259턜?25Y+ i B>@oE&::25I Mj@IZjFNOT Ignoring new targets: 256.50 m.BjN<JjN< ProNav: ac range: 256.500000 m, nav range: 45.247990 m, bearing: 132.116306 deg, approach rate: 0.141613 m/s, LOS rate: 0.723404 deg/s, cmd heading: 42.474450 deg, new cmd heading: 43.272965 deg. 2j;<HeadingCmd: 0.755256 target range: 256.500000 and range: 256.50 m. jpXA?jjjihhhhfffrf bf *?ɛUBUi= QUa?IQ ]i`;ɚYiYI]af=IpXA?ii)pXA?)H&>I I#II?BI( =&I.I4D6I2<:I FBIĜCJIĜCRIēCZI' =bI' =jI4 '$?I*F?2F:FBFj0JFGkGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240620)  ~G tA A e Ye tAye B" w, VOAy}MB}#I-only read 1 of 4 data items for bottom velocity. Device response is::BS, -63, ++4,A  @ @ @  @ I I m4٢]= Z=9%Q %>!! %G٣!y- -> =bBottom track data is 0.4 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E2595'?E25Y5ٟ+ i5 BE+:AM:IM@5sE5?';5>525]ڒB ]@]EZjFNOT Ignoring new targets: 256.50 m.Bj#O<Jj#O< ProNav: ac range: 256.500000 m, nav range: 45.301327 m, bearing: 132.383411 deg, approach rate: 0.144820 m/s, LOS rate: 0.724381 deg/s, cmd heading: 43.272964 deg, new cmd heading: 44.073280 deg. 2j<HeadingCmd: 0.769224 target range: 256.500000 and range: 256.50 m. jD?jjjihhhhfffrfbf@ ?ɛ~B= eg?I ~;ɚiI=ID?iiܽ)D?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.492911*F?2F:FBF1JFG G"GG ($?IG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744712Iw,)OA6O>Y6.%?6)<96ia>y6H@?@x_i?H?/?`0]ĿU?7?ɨ6O>6b;6Cy~`B~ $II I פ4٢}= }V=9} ;Q }> G٣yC= > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config259v?25Y+ i B :o:$?@vET;B?25 @ZjFNOT Ignoring new targets: 256.50 m.BjaK<JjaK< ProNav: ac range: 256.500000 m, nav range: 45.352642 m, bearing: 132.655859 deg, approach rate: 0.134112 m/s, LOS rate: 0.711230 deg/s, cmd heading: 44.073281 deg, new cmd heading: 44.889642 deg. 2j<HeadingCmd: 0.783472 target range: 256.500000 and range: 256.50 m. jH?jjjih h h h fffrfbf@?ɛE}BEI= AEq?II MOL;ɚIiIIM!@=IUH?iQiUн)UH?)YzK9MK 9KKOK RK>JK>*F?2F:FBF?5JFGBO$>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.996653H I  I $II ^BI ' =&I .I 5D6I ?<:I F I 0w,)OA22>Y2'?23<92qb>y2H @a? E?]x??;Ŀ%` ?4?ɨ22>2v;2CyBpBB!$IIJIJ4٢ =  R=9;Q > G٣y=< E> UbBottom track data is 1.2 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]259MB?]25YM+ iM Be9aeB:e ?e@MzEMQ:;M?M25mےB m@mEZjFNOT Ignoring new targets: 256.50 m.BjK<JjK< ProNav: ac range: 256.500000 m, nav range: 45.405136 m, bearing: 132.937446 deg, approach rate: 0.133052 m/s, LOS rate: 0.712885 deg/s, cmd heading: 44.889642 deg, new cmd heading: 45.733360 deg. 2j<HeadingCmd: 0.798198 target range: 256.500000 and range: 256.50 m. jVL?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248794jjjihhhhfffrfbfu.@ɛ {B X>=  `z?I  ;ɚiIN=I-VL?i1i=߽)=VL?)A*F?2F:FBF[0JFGABIOm5>} Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J :J J J ;a J ;a J J;a J J;a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503274Hw,OA2S>Y2<&)?2/<92€d>y2HA?E? G?&?zĿ`qP?s1?ɨ2S>2<{;0yfBf<$I jp=h e e ee ee  e e eMb@Mb@Mb@aaa a)aYeףp= ?11 5G٣5 KGy=An< => ENusing accuracyPremultiplier from configAM259E1?U25YEŕ+ iE BUT:U?U:U$?U@E~EE#;E";Ey25Y eT@eEZjFNOT Ignoring new targets: 256.50 m.Bjg^<Jjg^< ProNav: ac range: 256.500000 m, nav range: 45.435226 m, bearing: 133.276525 deg, approach rate: 0.069066 m/s, LOS rate: 0.777764 deg/s, cmd heading: 45.733362 deg, new cmd heading: 46.749813 deg. 2jq=HeadingCmd: 0.815938 target range: 256.500000 and range: 256.50 m. jSP?jjjihhhhBfffrfbf @ɛzB*0= ?I ;ɚiI* =ISP?iiR)SP?)*Fm?2Fi:FiBFm]0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752923GYBiO9>zK KK 9K K PK .w,PAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006093F>YF8*?Fx~<9F%d>yFH ?_'?`?#?ÿR?1?ɨF>F:;FCyfBfJ$IIlIl٢vz= va=9z6;Q z>xx ~G٣|y~o< >  Nusing accuracyPremultiplier from config 259@?25Y1+ i B%?@EH::25) -@1B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 256.50 m.Bj%Q<Jj%Q<5 ProNav: ac range: 256.500000 m, nav range: 45.459915 m, bearing: 133.558545 deg, approach rate: 0.064242 m/s, LOS rate: 0.733438 deg/s, cmd heading: 46.749814 deg, new cmd heading: 47.595351 deg. 2jU<]HeadingCmd: 0.830696 target range: 256.500000 and range: 256.50 m. j]wT?jYjYjYiYhahahahafififirfibfm`@ɛyB-˥= 15!?I1 =;ɚAiAIET =IUwT?iYi]= )]wT?)Y }*$?IHI I5$IIBI( =&I.I4D6I<:I F*FE?2FA:FABFE_0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:16:31.3442 TRx dataTimestamp_ set to:1736374592.596672checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257793G 8uĽG B O >/X w,/PA2a>Y2t-?2<92e>y2H@[? Hcm?` ?s?ÿ`a? /?ɨ2a>2;2CyBBB_$IUMb@Mb@Mb@QQQ Q)QYURQ?S㥛?y&1?yU"?U/ G٣y< > Nusing accuracyPremultiplier from config259Q?25Y+ i B"?:5?@E;;W25ݒB @EZjFNOT Ignoring new targets: 256.50 m.Bj*q<Jj*q< ProNav: ac range: 256.500000 m, nav range: 45.474442 m, bearing: 133.897078 deg, approach rate: 0.036200 m/s, LOS rate: 0.843366 deg/s, cmd heading: 47.595350 deg, new cmd heading: 48.610512 deg. 2j= HeadingCmd: 0.848413 target range: 256.500000 and range: 256.50 m. j 1Y?j j j i hhhhjBf!f!f!rf!bf-  @ɛxB襪= ?I <ɚiIТ =I1Y?iiE)1Y?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.510331JQJUJQJQJQJU :JQJQJQJQJUcW;JUdW;*Fm?2Fq:FqBFqJFqGMrWͽGB)OER> ]+$?IY Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:16:31.3442 LVL= 18288, 32753, 27250, 32755, AGC= 63, IDX= 432,-0.03, 2.710, 0.990, 1.247, 1.761, PHS= 1.037,-0.724,-0.517, RAW= 96.2, 2.5, CAL= 105.4, 0.3, ROT= 44.6, -0.3 % Ygot valid direction response: 22:16:31.3442 LVL= 18288, 32753, 27250, 32755, AGC= 63, IDX= 432,-0.03, 2.710, 0.990, 1.247, 1.761, PHS= 1.037,-0.724,-0.517, RAW= 96.2, 2.5, CAL= 105.4, 0.3, ROT= 44.6, -0.3 - PDAT read: Bearing 44.6, -0.3 (Local) - ~Local bearing/azimuth received: Bearing 44.6, -0.3 (Local) = DAT read: Range 10 to 50 : 255.7 m (Round-trip 341.0 ms) speed 0.2 m/s E ,DAT read: user:2453> E BDAT read: Tx time:22:16:32.4491 M $Ping request sent.M ?ٿ_I"!?) ԾI 21i G@ ׶  :publishing transmit ping timeI  Fpublishing direction and range info 9 '¿-e?}2'?y  ) I i ) I i Sk>?ٿ_I"!?) I i @w,PsIPAy~B~d$II I t4٢%< %P=9-Q ->)1 5G٣5!KGy5 > Nusing accuracyPremultiplier from config259zb?25Y+ i B@E';g3<25 c@k }?k1 k kdFPA:kCBk}CZkRH@"0"B.l}z?dǦo@'¿-e?}2'?JkG@Rk׶*]: )@?N]hf"n@{f(?XhοNk4?"kt*kIAkYA@?k1 2keCk'aσ?k, kkHEAk) @- addTargetRange:: Added new target pos. range: 255.699997 m, deltaT: 3.779897 s, deltaX: -0.800003 m, approachRate: -0.211647 m/s, rangeRepo size: 4 ] Added new target pos. range: 255.699997 m, bearing: 281.613233 deg, lat: 36.904545 deg, lon: -122.122111 deg, deltaT: 3.779897 s, deltaX: -0.800003 m, approachRate: -0.211647 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 255.70 m.BjmJj ProNav: ac range: 255.699997 m, nav range: 12.330234 m, bearing: 247.173089 deg, approach rate: 0.000000 m/s, LOS rate: 0.843366 deg/s, cmd heading: 48.610511 deg, new cmd heading: 49.738129 deg. 2jHeadingCmd: 0.868094 target range: 255.699997 and range: 255.70 m. jk;^?jjjihhhhfffrf`fo@bfKY?zK%BoHK%S9K!K%QK% ɛMwBM= IU?IQ U <ɚQiQIU =I]k;^?iYi]|)]k;^?)a*F?2F!:F!BF!JF!EWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:16:32.4483 GUrA GUrAGrOGBO> I II H $>I  I m$II BI ) =&I .I 6I <:I V FJjw,KcPA2K,>Y2v4?2Ai<92?h>y2H`d?@? @? _?ÿk`\?Q)?ɨ2K,>2D;2CyBBBq$IIJ}IJ]4٢j[= nP=9nhQ n>pp rG٣pyv_= v> zNusing accuracyPremultiplier from configx~259zq?~25Yz+ iz B| w,}PA>9>Y>n7?>Z<9>k>y>H@N?Z?O? T?ȣÿ&?0?`$?ɨ>9>> ;>C J,$?IJ\iyNBN{$I-Mb@Mb@Mb@))) )))Y-Q?~jt?V-?y-(?-=-<-`A ))-h@I-@)y-f@IIII٢]= ]==9]}Q ]>aa eG٣iyma= m> uNusing accuracyPremultiplier from configq}259u?}25YuZ+ iu B=*?:Q?@uEuRzK- KK- h9K) K- RK- BK9 :K= nA Will construct direction to contact in vehicle frame from tetrahedron phase data.H%w,PAy]B]z$I ==IxIT4٢  G=9Q > G٣"KGy > Nusing accuracyPremultiplier from config259?25Yz+ i B@E::25ߒB Z@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 255.70 m.BjJj- ProNav: ac range: 255.699997 m, nav range: 13.075890 m, bearing: 245.881665 deg, approach rate: 0.661384 m/s, LOS rate: -0.993040 deg/s, cmd heading: 47.098461 deg, new cmd heading: 45.939381 deg. 2j-`*5HeadingCmd: 0.801793 target range: 255.699997 and range: 255.70 m. j5VBM?j1j1j1i9h9hAhAhAfIfIfQrfQbfUs?ɛy='= 隅?I A<ɚiI =IVBM?ii5a)VBM?) -$?IH'>I I$II҅BI( =&I.I5D6I4<:I F*F?2F:FBF05JF"G=G,>}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GmGA BY O > +w,aPA:y?Y:*@?:y<9:9,t>y:H.S?<% ?@?p?ÿ@ ^9? ?ɨ:y?:z;:CyNBN$I5Mb@Mb@Mb@111 1)1Y5oʡ?RQ?/$?y5-?5=5<5 A 5@)5@I5@1y5@IMIM4 ]nManaging dock network, ignoring radio surface power off٢eY = eN=9eF'Q e>ii mG٣iyu'= u> Nusing accuracyPremultiplier from configy359}!?35Y}t+ i} B.?:a?@}E}r;}{;}35 @ZjFNOT Ignoring new targets: 255.70 m.Bj@YJj@Y ProNav: ac range: 255.699997 m, nav range: 13.337080 m, bearing: 245.574068 deg, approach rate: 0.658010 m/s, LOS rate: -0.759740 deg/s, cmd heading: 45.939381 deg, new cmd heading: 45.034743 deg. 2jYHeadingCmd: 0.786005 target range: 255.699997 and range: 255.70 m. j7I?jjjihhhhBfqfqfyrfybf} ?ɛtB2= ?I hP<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751548JJJJJ:JJJJ;J;JJɚ i I-=I5G?i1i5_)57I?)9*F?2F:FBF3JFGU۽ I[iGBO`> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0033522w,=PA2& ?Y2v5E?2<92)v>y2H@k?`тWb?G? n?ÿϘJw??ɨ2& ?2T;0yrBrv$IIzIz4٢ \  P=9 4?Q  > G٣y-= > %Nusing accuracyPremultiplier from config!-359%1?-35Y%o+ i% B15f?5@%E%:%:%u35A E@E~EZjamFNOT Ignoring new targets: 255.70 m.BjmDJjmD ProNav: ac range: 255.699997 m, nav range: 13.597219 m, bearing: 245.299108 deg, approach rate: 0.663169 m/s, LOS rate: -0.687541 deg/s, cmd heading: 45.034743 deg, new cmd heading: 44.225699 deg. 2j뼝HeadingCmd: 0.771884 target range: 255.699997 and range: 255.70 m. j2E?jjjihhhhfffrfbf @ɛ0s= a?I q[^<ɚiI=IG?i;ih p:)2E?)*Fu?2Fq:FqBFu_0JFqzK-K-+9K)K-SK-RK=?JK=?GM8G!B1OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255322 y Iy ZH RH AAH *>I C I $II BI ' =&I .I 6I 8<:I  FBIJIRIZI( =bI( =jIɞ 58w,PAyB{$II-I-4EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507959٢M< MF=9UQ U>YY ]G٣]#KGye e> mNusing accuracyPremultiplier from configiu359m?u35YmDi+ im Byy}@mEm2;m3;m 35B b@{EZjFNOT Ignoring new targets: 255.70 m.Bj<Jj< ProNav: ac range: 255.699997 m, nav range: 13.870956 m, bearing: 245.021239 deg, approach rate: 0.662618 m/s, LOS rate: -0.659340 deg/s, cmd heading: 44.225700 deg, new cmd heading: 43.408603 deg. 2j?⼝HeadingCmd: 0.757623 target range: 255.699997 and range: 255.70 m. jA?jjjihhhhfffrfbfrV@iG |uAA Y|uAyBɛUsBUv= QU?IQ ]q<ɚYiYI]N=IA?ii C<)A?)*F=?2F9:F9BF9JF9GEpA GEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760215J J J J J ̝:J J J J ;J ;J J G deG% pAG! G B O% > ] .$?IY ?w, PA6X?Y6!M?6M'<96js>y6H fB?7 ???ÿnĖ 1?@?ɨ6X?6g;4yFBJg$IMb@Mb@Mb@ )YʡE?Q??y/?=< A @)~@IyI5I5ƕ4٢EB EJ=9EQ M>QQ UG٣QyU= ]> eNusing accuracyPremultiplier from configYe359]ʅ?m35Y]2c+ i]- B e2? :  v? @]E]d<]'<] 35 o@ZjYeFNOT Ignoring new targets: 255.70 m.BjJj ProNav: ac range: 255.699997 m, nav range: 14.147943 m, bearing: 244.824403 deg, approach rate: 0.647091 m/s, LOS rate: -0.450842 deg/s, cmd heading: 43.408605 deg, new cmd heading: 42.829678 deg. 2jHeadingCmd: 0.747519 target range: 255.699997 and range: 255.70 m. jf]??jjjihhhhBfffrfbf@u@ɛ!-@= -R<-?I) -}<ɚ)i1I5=I=f]??i9ie4`=)ef]??)aEWill construct direction to contact in vehicle frame from tetrahedron phase data.M]>M<Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013425*F2F:FBFJFGNGBOh>zK k3IK 9K K TK BK :K qA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:16:35.1922  TRx dataTimestamp_ set to:1736374596.376682 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264507SEw,XQA%ث?Y%((P?%\}<9% l>y%H@?.f!? x=??y¿3` G٣y< > %Nusing accuracyPremultiplier from config!-359%؅?-35Y%\+ i%= B)-5y?5@%E%:%G;%T35]B ]<@]xEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 255.70 m.BjJj /$?I ProNav: ac range: 255.699997 m, nav range: 14.441728 m, bearing: 244.638829 deg, approach rate: 0.702923 m/s, LOS rate: -0.434979 deg/s, cmd heading: 42.829678 deg, new cmd heading: 42.284299 deg. 2jBHeadingCmd: 0.738000 target range: 255.699997 and range: 255.70 m. jI I$IIBI& =&I.I6I<:I Fɛ-H= )-?I) 5<ɚ1i1I5=I=/Lw,2QA2v?Y2R?2j<92?Ya>y2H J?7 _?@z?@VS?!،@[?@~8?ɨ2v?2;2CyFBJF$I%Mb@Mb@Mb@!!! !)!Y%tV?&1?:v?y%2?%=%T<%E A !)%h@I%@!y%G@I=I=K4٢MJ MU=9MwķQ U>QQ UG٣U$KGy]5< ]> eNusing accuracyPremultiplier from configam359e兜?m35YeV+ ieE Bu4?:)v?%@eEe BDAT read: Tx time:22:16:36.2991 Bj  Jj  ໝ ProNav: ac range: 255.699997 m, nav range: 14.705956 m, bearing: 244.465769 deg, approach rate: 0.609052 m/s, LOS rate: -0.391738 deg/s, cmd heading: 42.284298 deg, new cmd heading: 41.774461 deg. 2jl%HeadingCmd: 0.729102 target range: 255.699997 and range: 255.70 m. j%l:?E$Ping request sent.MGBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:22:16:36.2983 Rw,QLQA2!e?Y2rT?2U<92sU>y2H?`CS?-?I4?v@7`K?@IL?ɨ2!e?2q;2Cy^B^4$IIjIj4٢%0 %M=9-;Q ->)) 5G٣1y5ܚ< U> eNusing accuracyPremultiplier from configam359e&?m35YeP+ ieL Bqu!Zw,}jQAfe?Yf/V?fm<9f+E>yfHn?a8\0?4?@S%?`%͗X?`e?ɨfe?fV;fCynB$III4٢%s %/=9-:Q ->)) -G٣)y52< 5> =Nusing accuracyPremultiplier from config9E359=?E35Y=I+ i=T BIMy?M@=E=7:=m ;=935}B E@sEZj =FNOT Ignoring new targets: 254.20 m.BjmJju ProNav: ac range: 254.199997 m, nav range: 35.693161 m, bearing: 266.299802 deg, approach rate: 0.571200 m/s, LOS rate: -0.538854 deg/s, cmd heading: 41.356133 deg, new cmd heading: 40.560171 deg. 2j縼HeadingCmd: 0.707909 target range: 254.199997 and range: 254.20 m. j~95?jjjihhhhfffrfbf?ɛ)Eu= IM}?II M <ɚIiIIM:=IU~95?iQiU=)]~95?)aEEhW<*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GF<GIBYO}> 0$?I `aw,PQAy~UB~#I) Mb@Mb@Mb@ )Yoʡ?#~j?y-?=`A @)I@y@EWill construct direction to contact in vehicle frame from tetrahedron phase data.I5I5k4٢e m8=9uQ }>y G٣%KGy > Nusing accuracyPremultiplier from config359h?35YC+ iK.?:%t?@E;; 35 @pEZjFNOT Ignoring new targets: 254.20 m.Bj3Jj3 ProNav: ac range: 254.199997 m, nav range: 35.952312 m, bearing: 266.045504 deg, approach rate: 0.644389 m/s, LOS rate: -0.627762 deg/s, cmd heading: 40.560170 deg, new cmd heading: 39.802820 deg. 2ji׼HeadingCmd: 0.694690 target range: 254.199997 and range: 254.20 m. j91?jjjihhhh6Bfffrfbf ?ɛ%= !%hq?I! %+=<ɚIiIIM]h=IU91?iQiUq=)U91?)YEaEa*E"EzKM KM 9KI KM VKM ,*  Will construct direction to contact in vehicle frame from tetrahedron phase data. i AJKm3 KS}-KK"KJ J J 0J J \:J :J ـ3J *FE ?2FA :FA BFE o0JFI GM rA GM rAG% =G B O >i1gw,o+QA DIDF/-?YFW?F<9F->yFHOK?``?y?$?@D噙 c?`?ɨF/-?F7\;FCyRhh jG٣hyjX< n? vNusing accuracyPremultiplier from configtHE(>IEC IE$IIEÅBIE& =&IA.IA6IE <:IE F}359v?}35Yv=+ ivR By}u?@vEv,/?jjjihhhhfffrfbf?ɛ= d?I <ɚ i I Z=IU>/?iQiU% >)U>/?)Y*F?2F:FBFP0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.G^=GBOe>[mw,)QA6kh?Y6V?6ȗ<96!: >y6H]? (@?f?\D?+رѝ[w? ޯ?ɨ6kh?6';6CyF0BF#IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.965098*J\"J^a=5Mb@Mb@Mb@111 1)1Y5E?)\(?y&1y5&?5Ga=5`e5A 5b@)5;@I5@1y5(@IMIM4٢UDc ]A=9]aa eG٣aym m> uNusing accuracyPremultiplier from configq}359u*?35Yu"8+ iuG BI'?:m?@uEu:;uZ8;u&35 9@ZjFNOT Ignoring new targets: 254.20 m.Bj&Jj& ProNav: ac range: 254.199997 m, nav range: 36.388420 m, bearing: 265.616086 deg, approach rate: 0.578314 m/s, LOS rate: -0.582344 deg/s, cmd heading: 39.221805 deg, new cmd heading: 38.522412 deg. 2jǼHeadingCmd: 0.672343 target range: 254.199997 and range: 254.20 m. j,?jjjihhhhكBfffrfbfGs@ɛsB,= ^?I X<ɚiI)-,?)) u1$?Iq*F?2F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217561G=G B O >sDtw,QA6u?Y6ET?6 =96,=y6HY?e?d? ?~? H@cv]~?@?ɨ6u?6WÉ;6CyBBB#IIJIJ4٢R RW=9RVTT VG٣V&KGyZ Z> ^Nusing accuracyPremultiplier from config\b359^7?b35Y^2+ i^< Bdf k?f@^E^Q;^i:^1*35jB nf@nmEZjFNOT Ignoring new targets: 254.20 m.BjJj ProNav: ac range: 254.199997 m, nav range: 36.597076 m, bearing: 265.404116 deg, approach rate: 0.525438 m/s, LOS rate: -0.530740 deg/s, cmd heading: 38.522414 deg, new cmd heading: 37.890155 deg. 2jHeadingCmd: 0.661308 target range: 254.199997 and range: 254.20 m. jzK)?jjjihhhhfffrfbf @ɛy= 隵[U?I <ɚiI)zK)?)zK < LK h9K K WK Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470164JJJJJ̝:J9JJ*Fe?2Fi:FiBFiJFiGE7E=GM ?GM>GB)OEQ> aIaZH1RH5@AHM'>II IMT$IIMBIM( =&II.II6IM<:IM Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721745 nzw,QA6OO?Y6R?6\=96=y6H ?A`.? t?o?ϐ᣿i??ɨ6OO?6Qlj;6Cy^B^#IIjIjK4٢K C=9M9!! -G٣)y= E> UNusing accuracyPremultiplier from configIU359ME?]35YM1-+ iM- BY]h?]@MEM;M;M-35mB mh@mjEZjFNOT Ignoring new targets: 254.20 m.Bj Jj E ProNav: ac range: 254.199997 m, nav range: 36.828156 m, bearing: 265.168379 deg, approach rate: 0.554567 m/s, LOS rate: -0.562194 deg/s, cmd heading: 37.890153 deg, new cmd heading: 37.187417 deg. 2jMeHeadingCmd: 0.649043 target range: 254.199997 and range: 254.20 m. jm'&?jijijihhhhffIfIrfIbfU@ɛtB̵= Q#<fM?I &<ɚiIE)U'&?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.iAJJAAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.974714*F?2F:FBF^0JFGe >GBO> U 3$?IU YiUw,[RA6P?Y6,O?6n4=96s=y6H?@ ?P1? ?@.@/? ?ɨ6P?6e;4yRBR#IMb@Mb@Mb@ )YZd;?~jt?~jty?<D@ @)I@y@IIݜ4٢ ?=94I G٣y^ > Nusing accuracyPremultiplier from config359T?35Y(+ i B?: X?@E;;135B e@hEWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:16:39.0394 -TRx dataTimestamp_ set to:1736374600.157336-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226744ZjAEFNOT Ignoring new targets: 254.20 m.BjMA&JjMA&] ProNav: ac range: 254.199997 m, nav range: 37.038555 m, bearing: 264.925140 deg, approach rate: 0.505785 m/s, LOS rate: -0.581405 deg/s, cmd heading: 37.187416 deg, new cmd heading: 36.461885 deg. 2j]ǼeHeadingCmd: 0.636380 target range: 254.199997 and range: 254.20 m. je"?jajajaiihihihihuBfqfqfqrfybf}I @ɛW= 隭=?I =<ɚiI)"?)*F?2F:FBFo0JFG >zK BoHK 9K K XK BK :K pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477447G B J J J J J :J :J J O% > 9 IA w,tRA:?Y:7QL?:cK=9:X=y:HxO? I??`(]?ڝ]??ɨ:?:5R;:Cy^B^r#IIfIf4Hz*>IzC Iz$IIzhBIz' =&Ix.Ix6Iz<:Iz FBICJICRIZI& =bI' =jI5٢-C -U=95Ti19 =G٣='KGy=, E> ]Nusing accuracyPremultiplier from configQm359U%b?m35YUb#+ iU BquyT?u@UEU;U;U435 2@B*** querying acoustic contact ***jjZj5FNOT Ignoring new targets: 254.20 m.Bj=$Jj=$} ProNav: ac range: 254.199997 m, nav range: 37.228664 m, bearing: 264.702013 deg, approach rate: 0.492797 m/s, LOS rate: -0.575429 deg/s, cmd heading: 36.461886 deg, new cmd heading: 35.795956 deg. 2j}tżHeadingCmd: 0.624757 target range: 254.199997 and range: 254.20 m. j?jjjihhhhfffrfbfי @ɛ]uB]= Y]6?IY ee<ɚaiaIeA)?)) 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.730834*FM?2FI:FQBFU0JFQGuqA GqG=ZA }YyBGM (>Ge qAGa GY Bi O >w,bN9RABWill construct direction to contact in vehicle frame from tetrahedron phase data.jEDAT read: 32= 65, IDX= 415,-0.18,-0.110,-1.905,-1.441,-0.960, PHS= 0.938,-0.898,-0.484, RAW= 102.4, 5.4, CAL= 112.6, 3.5, ROT= 37.4, -3.5 nunknown deviceResponse_: 32= 65, IDX= 415,-0.18,-0.110,-1.905,-1.441,-0.960, PHS= 0.938,-0.898,-0.484, RAW= 102.4, 5.4, CAL= 112.6, 3.5, ROT= 37.4, -3.5 rPDAT read: Bearing 37.4, -3.5 (Local) v~Local bearing/azimuth received: Bearing 37.4, -3.5 (Local) zDAT read: Range 10 to 50 : 252.1 m (Round-trip 336.2 ms) speed 0.4 m/s >9?Y>DH?>4a=9>PJ=y>Hษ?w?Յ?2?| o?:=??ɨ>9?>Q;>C,DAT read: user:2455> %BDAT read: Tx time:22:16:40.1491 %$Ping request sent.% I G٣y.  > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%359r?%35Y+ i B-+:)-:-ZP?-@E';>9835Y ]e@]eE addTargetRange:: Added new target pos. range: 252.100006 m, deltaT: 4.029794 s, deltaX: -2.099991 m, approachRate: -0.521116 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 254.20 m.Bj#$Jj#$M ProNav: ac range: 254.199997 m, nav range: 37.454521 m, bearing: 264.431892 deg, approach rate: 0.482857 m/s, LOS rate: -0.574003 deg/s, cmd heading: 35.795956 deg, new cmd heading: 34.990537 deg. 2jMļUHeadingCmd: 0.610700 target range: 254.199997 and range: 252.10 m. jUV?jQjQjQiYhYhYhYhafafafrf@3o@bf?ɛ= j-?I  <ɚiI)-V?))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:16:40.1484 E a<*F% ?2F! :F! BF% _0JF! G)>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK%QJK%9K!K%YK% 4,RK= ?JK=>GBO ?Ֆw,\RA6?Y6x??6g=96G?ɨ6?6h;6CyBBB=#IIJIJ4٢Rͽ R)=9VѭTX ZG٣XyZ Z> bbBottom track data is 0.9 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\j359^a?n35Y^r+ i^ Br :pr`:vqG?v@^E^;^q?^:35 @  =4$?IAZjFNOT Ignoring new targets: 254.20 m.Bj?&Jj?&= ProNav: ac range: 254.199997 m, nav range: 37.681355 m, bearing: 264.145180 deg, approach rate: 0.462745 m/s, LOS rate: -0.581376 deg/s, cmd heading: 34.990537 deg, new cmd heading: 34.135645 deg. 2j=ǼMHeadingCmd: 0.595779 target range: 254.199997 and range: 252.10 m.jH]<bH]<-%upFailed to parse device response: 67.11,10.0775,3.692.22  jM?jjjihhhhfffrfbf?ɛvB6= '= ?I <ɚiI)M?)QE]]<*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G- c>G BI O >gw,vRA6?Y6?;?6T=96" G٣(KGyF > Nusing accuracyPremultiplier from config3599?35Y$+ i BT:r?:z/?@E;A;>35B @bEWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj)=FNOT Ignoring new targets: 254.20 m.Bj=;Jj=;M ProNav: ac range: 254.199997 m, nav range: 37.864746 m, bearing: 263.869579 deg, approach rate: 0.438907 m/s, LOS rate: -0.656393 deg/s, cmd heading: 34.135646 deg, new cmd heading: 33.312907 deg. J]J]JYJYJ]\:J] 9JYJY2jU=ἝmHeadingCmd: 0.581420 target range: 254.199997 and range: 252.10 m. jm?jqjqjqiqhqhyhyh}'BfyffrfbfEX?ɛwB>= 隽g?I L<ɚiIC)?)I 55$?I1Eq*F ?2F :F BF `0JF "G G = Will construct direction to contact in vehicle frame from tetrahedron phase data.G >G G ?G B O >D棔w,[RA:f>Y:/7?:=9:C;y:H@>?`Ѯ?:? (?@c?52@Ipv?`?ɨ:f>:;8yFBJ#IIRIR4٢Z Z^=9^K`` bG٣`yb00 f> jNusing accuracyPremultiplier from configdj359fz?n35Yf+ if Blnd+?n@fEf ;f ;fB35t v@tZjFNOT Ignoring new targets: 254.20 m.Bj3Jj%3- ProNav: ac range: 254.199997 m, nav range: 38.016266 m, bearing: 263.637602 deg, approach rate: 0.411845 m/s, LOS rate: -0.628021 deg/s, cmd heading: 33.312906 deg, new cmd heading: 32.619784 deg. 2j-׼5HeadingCmd: 0.569323 target range: 254.199997 and range: 252.10 m. j5!?j1j9j9i9h9h9hAhAfAfAfIrfIbfM` +?ɛq}|[= y}R?Iy }j<ɚiI He+>Ia Ie#IIeBIa&Ia.Ia6Iet<:IeK FG B OM >Uw,ORA>Will construct direction to contact in vehicle frame from tetrahedron phase data.y-B-#I)1 111IEIE-4٢M U&=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu359mv?}35Ym + im Byy@mEmI;mI;mOF35B @\EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 254.20 m.Bjw/Jjw/ ProNav: ac range: 254.199997 m, nav range: 38.218948 m, bearing: 263.331618 deg, approach rate: 0.408630 m/s, LOS rate: -0.613623 deg/s, cmd heading: 32.619785 deg, new cmd heading: 31.706782 deg. 2jҼHeadingCmd: 0.553388 target range: 254.199997 and range: 252.10 m. jҪ ?jjjihh h h f f frfbf?ɛmxBu{= 隅g?I <ɚiI)Ҫ ?)-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.*Je4="Je=JmJmJiJiJm,:Jm:JiJiJm;a}Jm;a}JmnN;a}JmoN;a}  6$?I E y=*F ?2F :F BF o0JF G=GpAGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249200GBO ?d>w,RA)I !%GwA!i!!i!%wA)-t )I) ))))119=GwAi9I99IECiA AA)AEC EwAIIIIMҁAII)ЩiЩyB #IMb@Mb@Mb@ )YM?A`"yn?Y @)@I-@y@IIa4٢-Ǽ -=91Q 5>11 5G٣=)KGy9 => MNusing accuracyPremultiplier from configAM359Eˆ?U35YE+ iE BU?U:Uw?U@EEEf;E;EK35Y ]@aZjFNOT Ignoring new targets: 254.20 m.Bj95Jj95 ProNav: ac range: 254.199997 m, nav range: 38.430786 m, bearing: 262.986382 deg, approach rate: 0.391031 m/s, LOS rate: -0.633753 deg/s, cmd heading: 31.706783 deg, new cmd heading: 30.676901 deg. 2jxټHeadingCmd: 0.535413 target range: 254.199997 and range: 252.10 m. j ?jjjihhhh/Bfffrfbf@{c@ɛyB8u=  ?I <ɚiI)  ?) EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499638zKMBoIKM9KIKM[KM qIuXi*Fe ?2Fa :Fa BFe n0JFa ZH RH ?AH .>I  I g#II ڄBI & =&I GD.I 6I Y<:I ; FG= >G B! OE >cw,bRAZ±>YZ2U'?Z.|=9Z=tZ;yZH-L? hs?`?h?V?`%g>1k??ɨZ±>Z;ZC=Will construct direction to contact in vehicle frame from tetrahedron phase data.=>9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756016yލBލ#III4٢= 3=9;=Q > G٣yU} U> eNusing accuracyPremultiplier from configam359e,߆?m35YeQ+ ieg Biu?u@eEea:ea:e6O35}B }E@}YEZjFNOT Ignoring new targets: 254.20 m.Bj7Jj7U ProNav: ac range: 254.199997 m, nav range: 38.601807 m, bearing: 262.675608 deg, approach rate: 0.354911 m/s, LOS rate: -0.642075 deg/s, cmd heading: 30.676900 deg, new cmd heading: 29.748794 deg. 2jUSܼuHeadingCmd: 0.519214 target range: 254.199997 and range: 252.10 m. ju<?jqjjihh hIhQfffrfbf@/@ɛ  \r= ['= #?I  Uxm<ɚQiQIU;GBO?”w,<SAɸ|~tA~pi~lhF|i&uA)&1 FI C)wAɹ T   ɺ ;uAi = I IiKuA 1MF) ɻ%̎C)I)))i)))I11ɼ1 11Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:16:42.8869 TRx dataTimestamp_ set to:1736374604.192934checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261006y~B"I ]=]=]Mb@Mb@Mb@YYY Y)YY]@5^I ?y&1MbP?y]b?]`e]:]$@ ]@)]@I]@Yy]@II4٢ %=9Q  >    G٣ *KGy > Nusing accuracyPremultiplier from config-359?-35Y* iN B5?5:5 ?5@Em;Fk;fS35EB E@EVEZjimFNOT Ignoring new targets: 254.20 m.Bju;Jju; ProNav: ac range: 254.199997 m, nav range: 38.772919 m, bearing: 262.365296 deg, approach rate: 0.363746 m/s, LOS rate: -0.656739 deg/s, cmd heading: 29.748793 deg, new cmd heading: 28.822052 deg. 2j[ἝHeadingCmd: 0.503040 target range: 254.199997 and range: 252.10 m. j6?jjjihhhh1Bfffrfbf @ɛ6= ;?I <ɚiI)6?)*F?2F:FBF0JF"G=G=Go>GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511581zK% BHK% h9K! K% \K%  8$?I -@Ȕw,"SAH2>IC I;#IIBI% =&I.I6D6I\<:I? F>Y_?=9C)r;yyB"III4٢ļ %Z=9-99 EG٣AyU* U> mNusing accuracyPremultiplier from configiu359m{?}35Ym* im8 By}>@m Emb;mc;mV35 @ZjFNOT Ignoring new targets: 254.20 m.Bj<Jj< ProNav: ac range: 254.199997 m, nav range: 38.900318 m, bearing: 262.109514 deg, approach rate: 0.330232 m/s, LOS rate: -0.660838 deg/s, cmd heading: 28.822053 deg, new cmd heading: 28.057268 deg. 2j⼝HeadingCmd: 0.489692 target range: 254.199997 and range: 252.10 m. j%߸>j!j!j!i!h)h)h1h1f1f9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:16:42.8869 LVL= 21760, 32753, 27730, 32755, AGC= 64, IDX= 420, 0.06,-1.679, 2.576, 2.801,-2.852, PHS= 1.261,-0.808,-0.633, RAW= 94.4, 1.8, CAL= 103.0, -0.9, ROT= 47.0, 0.9 Ygot valid direction response: 22:16:42.8869 LVL= 21760, 32753, 27730, 32755, AGC= 64, IDX= 420, 0.06,-1.679, 2.576, 2.801,-2.852, PHS= 1.261,-0.808,-0.633, RAW= 94.4, 1.8, CAL= 103.0, -0.9, ROT= 47.0, 0.9 PDAT read: Bearing 47.0, 0.9 (Local) ~Local bearing/azimuth received: Bearing 47.0, 0.9 (Local) DAT read: Range 10 to 50 : 250.1 m (Round-trip 333.5 ms) speed 0.1 m/s ,DAT read: user:2456> %BDAT read: Tx time:22:16:44.0007 %$Ping request sent.%*?OO*?yzCU Rl)I@ish?NJ "B?= ?)I~Q?i<g?vTKMoۿR0x6c?)Iti=8@7M:publishing transmit ping time!MFpublishing direction and range info9O/>*?OO*?y )Ii )Iig?vTKMoۿR0x6c?)Iifrf@3Co@bf@?ɛq}{= y}>Iy }C<ɚyiyI=I߸>iiR=)߸>)*F?2F:FBF1JFGm 7=*J a="J p=J J J J J L:J :J J J O;J Q;J DG;J DG; Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:16:44.0000 G) BA O] >Δw,>SA 8I8yޅtBޅ"IMb@Mb@Mb@ )Y|?5^?y&1~jth?y ?D;h@ $@)`@I-@y@IIm4٢  ==9Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1}3595#?}35Y5* i5 B?:->@5 E5/<5.<5}Z35 v@SEk?F?k#* k k,SA:kzCBkaxCZkbY@@"Xb?̺tض @a|n@O/>*?OO*?Jk=8@Rk7*v-nj%!(r@?O|h>o@k\ɘ ;s?*?"kR?*k+ kA?kf* 2kCkkkCk*Bkt;@e addTargetRange:: Added new target pos. range: 250.100006 m, deltaT: 3.783838 s, deltaX: -2.000000 m, approachRate: -0.528564 m/s, rangeRepo size: 4  Added new target pos. range: 250.100006 m, bearing: 172.199922 deg, lat: 36.904584 deg, lon: -122.122357 deg, deltaT: 7.813632 s, deltaX: -4.099991 m, approachRate: -0.524723 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 250.10 m.BjJj ProNav: ac range: 250.100006 m, nav range: 39.041969 m, bearing: 261.827826 deg, approach rate: 0.000000 m/s, LOS rate: -0.660838 deg/s, cmd heading: 28.057268 deg, new cmd heading: 27.157251 deg. 2jHeadingCmd: 0.473983 target range: 250.100006 and range: 250.10 m. j>jjjihhhhUBfffrf bfm?ɛY]= ae>Ia ef<ɚaiaIen=I>ii=)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.EI *F ?2F :F BF o0JF G =GY Bi O >Rm֔w,ZSABH>YB ?B=9BؚB;BCyZsBZ"IIbIb4٢j" jZ=9n<;Q n>ll nG٣n+KGyr r>zWill construct direction to contact in vehicle frame from tetrahedron phase data. ~Nusing accuracyPremultiplier from configt~359v#?35Yvx* iv B_>@v EvU\;v:v]35 @=B*** querying acoustic contact ***j9j9ZjAUFNOT Ignoring new targets: 250.10 m.BjULJjULe ProNav: ac range: 250.100006 m, nav range: 39.158394 m, bearing: 261.581867 deg, approach rate: 0.340139 m/s, LOS rate: -0.716442 deg/s, cmd heading: 27.157250 deg, new cmd heading: 26.421609 deg. 2jeuHeadingCmd: 0.461144 target range: 250.100006 and range: 250.10 m. ju>jqjqjqiqhqhyhyhyfyffrfbf@b?ɛfG= >I r<ɚiI= 59$?I1zKJK9KK]K      %=JKGA=9640002332+&##!I>iia˭=)>)jHbHp<H6>I I#IIBI# =&I.I6Ie<:IJ FEEHo=*F?2F:FBFJ4JF tA%A UY]tAy]8BWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G N=G B O >0ܔw,ݵtSA^>Y^ ?P =9;Cy)-"IMb@Mb@Mb@ )YCl?~jtMb`?y?D;~@ Q@)QAIC@y@IIn4٢%Q: %+=9-;Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from config9E359=7?M35Y=T* i=BMe?M:Mr>U@= E=5;=;=a35]B ]@]QEZjFNOT Ignoring new targets: 250.10 m.Bj@Jj@ ProNav: ac range: 250.100006 m, nav range: 39.312168 m, bearing: 261.260295 deg, approach rate: 0.323397 m/s, LOS rate: -0.673637 deg/s, cmd heading: 26.421608 deg, new cmd heading: 25.460761 deg. 2j'缝HeadingCmd: 0.444374 target range: 250.100006 and range: 250.10 m. j>jjjihhhhsBfffrfbf?ɛy= >I 0><ɚiI=I>iiC=)> Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247894)J)J) )I)E5_'=*F ?2F :F BF Q5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499592G i=G ?G ?GBO>w,iɓSAFӞ>YFJ?Fw=9FjFQ;FCyRpBR"IIZIZ4٢bk bI=9f:Q f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlr359n7I?r35Yn* inBtv>v@n Enp;n2;nte35| @Zj!-FNOT Ignoring new targets: 250.10 m.Bj5?Jj5?E ProNav: ac range: 250.100006 m, nav range: 39.441246 m, bearing: 260.985792 deg, approach rate: 0.316219 m/s, LOS rate: -0.670282 deg/s, cmd heading: 25.460761 deg, new cmd heading: 24.640007 deg. 2jE漝MHeadingCmd: 0.430049 target range: 250.100006 and range: 250.10 m. jMj/>jIjQjQiQhQhQhYhYfYfYfYrfabfe m?ɛF= 隕P>I x<ɚiIIO=Ij/>ii=)j/>)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751299JJJJJ\:J9JJa@a@a@a@ :$?IzKOMK+9KK^K   Qd8 *F ?2F :F BF 3JF H=9>I=C I= #II=BI=" =&I9.I96I=1<:I=& FBIMǞCJIMǞCRIMǔCZIM% =bIM% =jIM5G5 =G) B1 M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003462Oe >w,QSA6>Y6^{?6=96q=y6H ]?q߿?x??C?*?1?ɨ6>6;6CyBmBB"II I 4٢f D=9;Q >!! %G٣%,KGy-L -> 5Nusing accuracyPremultiplier from config1=3595[?=35Y5)* i5BAE >E@5 E5J;5`a;5i35UB U@]KEZjyFNOT Ignoring new targets: 250.10 m.BjJ@JjJ@ ProNav: ac range: 250.100006 m, nav range: 39.571457 m, bearing: 260.704663 deg, approach rate: 0.312491 m/s, LOS rate: -0.672453 deg/s, cmd heading: 24.640006 deg, new cmd heading: 23.799459 deg. 2j漝HeadingCmd: 0.415379 target range: 250.100006 and range: 250.10 m. j>jjjihhhhfffrfbfϗ@ɛQ= >I <ɚiI=I>ii=)>)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256239GN= yIGBO>w,AcSAylB%"IMb@Mb@Mb@ )YDl?S㥛{Gzt?yO ?/ݼף;@ @)hAIy@I-I--4٢=; =:=9EQ E>AI MG٣Iy] ]> eNusing accuracyPremultiplier from configam359eAm?m35YeJ* ieBm| ?m:m>u@e Ee/#;e7!;el35y }"@yZjFNOT Ignoring new targets: 250.10 m.Bj6Jj6 ProNav: ac range: 250.100006 m, nav range: 39.714317 m, bearing: 260.423135 deg, approach rate: 0.325889 m/s, LOS rate: -0.639900 deg/s, cmd heading: 23.799459 deg, new cmd heading: 22.957979 deg. 2jۼHeadingCmd: 0.400692 target range: 250.100006 and range: 250.10 m. j'>jjjihhhhBfffrfbf`@ɛ xBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527491 = >I z$<ɚiIנ=I'>iiU=)'>)*F?2F:FBFJFG Ҵ=G B O >J J J J J J 9J J e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779437 ;$?I w,S@SAzK""MK"9K K"_K"  RK&?JK&?F1>YFЍ>FA=9F8(&=yFH?`޿D1?@?#;?Ƒ??`?ɨF1>F;FCybgBb"IIjIj4ZHpRHr@AHv>>IvC Iv"IIvBIv! =&It.Iv7D6Iv9<:Iv1 F٢% %^=9%;Q ->)) -G٣)y5v 5> ]Nusing accuracyPremultiplier from configYe359]|?e35Y]* i]Bim9>m@] E]:]:]+p35uB us@uHEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 250.10 m.Bj%0Jj-0e ProNav: ac range: 250.100006 m, nav range: 39.831535 m, bearing: 260.183091 deg, approach rate: 0.302724 m/s, LOS rate: -0.618105 deg/s, cmd heading: 22.957978 deg, new cmd heading: 22.240004 deg. 2jeԼmHeadingCmd: 0.388161 target range: 250.100006 and range: 250.10 m. jm>jijijiiihhhhfffrfbf `F@ɛ= ->I) 53<ɚ1i1I5C=Im>iqiuߵ=)u>)q*F?2F:FBFo0JFG%=GyBO]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032534w,R,SA ,,N<>YN75>Nl=9NQ/=yNH`)?Gjݿm{?`?"c??Rť?@?ɨN<>N;NCyZiBZ"I)\ \Mb@Mb@Mb@ )YGz?~jtxMbp?y?Ļ;I@ Q@)AIp@y@II4٢'< A=99IQ > G٣-KGyɼ > Nusing accuracyPremultiplier from config359?35Y'* irB?:>@ E;;s35 V@ =$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:16:46.7378 %TRx dataTimestamp_ set to:1736374607.994302-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286109ZjAMFNOT Ignoring new targets: 250.10 m.BjUq<JjUqjijijiiihihqhqhuBfqfyfyrfybf}z @ɛIM8= QU>IQ U15=ɚQiQIU=I]>iYi]4\=)]>)*F=?2F9:F9BF=0JF9G] IQ= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535585G9 BA Oe >Dw,TA><>Y>ۧ>>=9> w4=y>HR?ܿ`? H?`?H?] h?`?ɨ><>>;>CyFhBJ"IIRIR~4٢Zg Z]=9Z"Q ^>\\ ^G٣`ybH b> fNusing accuracyPremultiplier from configdj359f%?j35Yf* if\Bln>n@f! Ef ;f. ;fw35t vp@vEEZjFNOT Ignoring new targets: 250.10 m.Bj:Jj:- ProNav: ac range: 250.100006 m, nav range: 40.097389 m, bearing: 259.673912 deg, approach rate: 0.339773 m/s, LOS rate: -0.652217 deg/s, cmd heading: 21.429551 deg, new cmd heading: 20.717658 deg. 2j-߼5HeadingCmd: 0.361591 target range: 250.100006 and range: 250.10 m. j5">j1j1j9i9h9h9hAhAfAfAfArfIbfM`I !=ɚiIo=I">iix=)">)*F2F:F!BF%05JF!G =JJJJJm:J=9JJGB I WiO'>-Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 22:16:46.7378 LVL= 19728, 28609, 24242, 27795, AGC= 64, IDX= 430,-0.28, 2.401, 0.618, 0.544, 1.355, PHS= 1.135,-0.689,-0.813, RAW= 86.7, 3.9, CAL= 93.1, 2.2, ROT= 56.9, -2.2 eYgot valid direction response: 22:16:46.7378 LVL= 19728, 28609, 24242, 27795, AGC= 64, IDX= 430,-0.28, 2.401, 0.618, 0.544, 1.355, PHS= 1.135,-0.689,-0.813, RAW= 86.7, 3.9, CAL= 93.1, 2.2, ROT= 56.9, -2.2 mPDAT read: Bearing 56.9, -2.2 (Local) u~Local bearing/azimuth received: Bearing 56.9, -2.2 (Local) DAT read: Range 10 to 50 : 249.7 m (Round-trip 333.0 ms) speed 0.0 m/s ,DAT read: user:2457> BDAT read: Tx time:22:16:47.8507 $Ping request sent.I I"II~BI =&I.I8D6Ie<:IT F) w,.TABWill construct direction to contact in vehicle frame from tetrahedron phase data.FJDAT read: TxSync time:22:16:47.8500 y5eB5"IIMIM34٢ᄼ <=9Q > G٣y > Nusing accuracyPremultiplier from config359?35Y* iAB@$ E;5;z35B @BEk]Od?k]^]<( kY k]TA:k]yCBk]wCZk]A@"]lY6C &1D@(en@]`+ÿY?3 (@*?Jk]8@Rk]*]7*W7p6@tn@]@1C4{.? = Q?"k]A*k]Rk]-eJ?k]*( 2k]ߜCkYkYk]eCk] Bk]ߐ@- addTargetRange:: Added new target pos. range: 249.699997 m, deltaT: 3.800328 s, deltaX: -0.400009 m, approachRate: -0.105256 m/s, rangeRepo size: 4 = Added new target pos. range: 249.699997 m, bearing: 136.305119 deg, lat: 36.904584 deg, lon: -122.122357 deg, deltaT: 3.800328 s, deltaX: -0.400009 m, approachRate: -0.105256 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 249.70 m.BjEJjA- ProNav: ac range: 249.699997 m, nav range: 40.243523 m, bearing: 259.396086 deg, approach rate: 0.000000 m/s, LOS rate: -0.652217 deg/s, cmd heading: 20.717658 deg, new cmd heading: 19.859282 deg. 2j)5HeadingCmd: 0.346610 target range: 249.699997 and range: 249.70 m. j5v>j9j9j9i9h9h9hAhAfAfAfArfM`f6o@bfmx?ɛ|= F>I X=ɚiII:=Iv>ii=)v>)*F?2F:FBFA5JF >$?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.5Ai1GE 9=G B) OE >w,mHTA6k>Y6a>6h=96MQ6=y6H ?@ۿ`,\?ϴ?@H?J?\>?@?ɨ6k>6G;6CyBaBB"IiF G٣.KGyV > Nusing accuracyPremultiplier from config359?35Y* i*B?:>@( E@;;j~35 @ZjFNOT Ignoring new targets: 249.70 m.Bj-9JjM9] ProNav: ac range: 249.699997 m, nav range: 40.387062 m, bearing: 259.135237 deg, approach rate: 0.357514 m/s, LOS rate: -0.647385 deg/s, cmd heading: 19.859282 deg, new cmd heading: 19.079569 deg. 2j]%޼eHeadingCmd: 0.333001 target range: 249.699997 and range: 249.70 m. je&>jajajaiihihihihmǃBfqfqfqrfybf}r ?ɛyBV؆= 隥>I 0=ɚiI=I&>iivR=)&>)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm_0JFiGE{q=GB O5P>JK ـ3 K KK"KJ J I J J J ]:J H9J J E Will construct direction to contact in vehicle frame from tetrahedron phase data.f;w,bTAHBJ>IBC IB"IIByBIB =&I@.IB9D6IBW<:IBP F>c>Y>f>>r8=9>$QH? 8ۿ8j?6D??e?@cY??ɨ>c>>;<zKNNKN9KLKNaKNuJ BRKf ?JKf ?yf\Bj"IIrIr4٢z乼 zX=9zQ z>|| ~G٣|y >  Nusing accuracyPremultiplier from config 359 A҇?35Y z* i B>@ , E C ;  ; 35%B %M@%?EZjIMFNOT Ignoring new targets: 249.70 m.BjU]6JjU]6e ProNav: ac range: 249.699997 m, nav range: 40.519958 m, bearing: 258.892960 deg, approach rate: 0.350972 m/s, LOS rate: -0.637738 deg/s, cmd heading: 19.079570 deg, new cmd heading: 18.355164 deg. 2jeڼmHeadingCmd: 0.320358 target range: 249.699997 and range: 249.70 m. jm>jijijiiihqhqhqhyfyfyfyrfybf>I  =ɚiIVJ=I>ii6=)>)*FU?2FQ:FQBF]^0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm=GBO>iw,t|TA u?$?IyyޝPBޥ"IWill construct direction to contact in vehicle frame from tetrahedron phase data.EMb@Mb@Mb@AAA A)AYEQ?L7A`?~jtx?yE?E+=E;EA E@)EIAIE@AyE@II4٢Y 0=9Q > G٣y > Nusing accuracyPremultiplier from config359>懜?35Y* iB?:>@0 E3;;ƅ35 @B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 249.70 m.Bj-3Jj-3= ProNav: ac range: 249.699997 m, nav range: 40.693081 m, bearing: 258.600322 deg, approach rate: 0.372125 m/s, LOS rate: -0.626345 deg/s, cmd heading: 18.355164 deg, new cmd heading: 17.481056 deg. 2j=ּEHeadingCmd: 0.305102 target range: 249.699997 and range: 249.70 m. jET6>jAjAjAiAhIhIhIhMBfQfQfQrfQbfU 0?ɛw= 隍6>I ɦ=ɚiI7=IT6>iis,=)T6>)*F?2F:FBF_0JF!G] ~=Ge ?Ge 3? Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G9 BA O] >M%w,d?TA>[T>Y>r&>>=9>=y>H H?Rڿir?`j?@%?%? ??ɨ>[T>> ~;>Cy^JB^"I)` `dfAInIn4٢v  vn=9vQ z?xx zG٣z/KGy~0 ~? Nusing accuracyPremultiplier from config 3598? 35Y* iB>@3 E: :Ȉ35B @%=EZjiuFNOT Ignoring new targets: 249.70 m.Bj}N3Jj}N3 ProNav: ac range: 249.699997 m, nav range: 40.820122 m, bearing: 258.381754 deg, approach rate: 0.365603 m/s, LOS rate: -0.627047 deg/s, cmd heading: 17.481056 deg, new cmd heading: 16.827420 deg. 2j+׼HeadingCmd: 0.293694 target range: 249.699997 and range: 249.70 m. j _>jjjihhhhfffrfbf{?ɛzBk= >I  =ɚiIH=I _>ii=) _>) u@$?Iq*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001944Gd=GaBqHU>IC I"IItBI =&I.I:D6I3<:I? FzKNK9KKbK~i]tMN mZL:0' BK:KqAOj>) SCE c~G] |uAu ZA Y |uAy "Bw+w,TA6Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254644>J>Y>l>>-=9>E=y>H?ٿ`?n?D?X1?`Գ?`?ɨ>J>>u;>CyRFBR"II^I^4٢f fM=9f9Q f>hh jG٣hyjP n> Nusing accuracyPremultiplier from configy359}?35Y}* i}B->@}7 E}:}n:}r35 @ZjFNOT Ignoring new targets: 249.70 m.BjI5JjI5 ProNav: ac range: 249.699997 m, nav range: 40.974049 m, bearing: 258.115112 deg, approach rate: 0.367363 m/s, LOS rate: -0.633976 deg/s, cmd heading: 16.827421 deg, new cmd heading: 16.030555 deg. 2jټ=HeadingCmd: 0.279786 target range: 249.699997 and range: 249.70 m. j=@>j9j9j9iAhAhAhAhIfIfIfIrfIbfU`L@ɛy}py= y}>I r1 =ɚiI =I@>iiv=)@>)*Fm?2Fi:FiBFm0JFi"GqGu= YI]ViJJJ1JJ̈́:Jm9J3JJ;aJ;aJ;aJ;aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505838G=Gi Bq O >_2w,oTA:7-?>Y:<>:=9: =y:H7? ٿ`?6?Fi?/y?@ x?{?ɨ:7-?>:;:CyfEBj"IuMb@Mb@Mb@qqq q)qYuCl?i|?5?{Gzt?yud?uq=uף;uA u@)qIu@qyu@II4٢g :=9Q > G٣y7ռ > Nusing accuracyPremultiplier from config359c? 35Yi* iB !? : ? @; E;;35B %@%:EZjIMFNOT Ignoring new targets: 249.70 m.BjU7JjU7e ProNav: ac range: 249.699997 m, nav range: 41.141140 m, bearing: 257.846043 deg, approach rate: 0.400674 m/s, LOS rate: -0.642586 deg/s, cmd heading: 16.030555 deg, new cmd heading: 15.226682 deg. 2jeܼmHeadingCmd: 0.265756 target range: 249.699997 and range: 249.70 m. jm#>jijijiiqhqhqhyh}Bfyfyfyrfbf~@ɛ{BZC|= 隽p>I ܆ =ɚiI7 =I#>ii!=)#>)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}>}=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759494*Fm?2Fi:FqBFux2JFqG=Gi Bq O M A$?IQ % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0100698w,TAHZ>IC I"IIjBI =&I.I;D6I"<:I9 FBImCJImCRImCZIm =bIm =jIm 6b#>Yb$>b9P=9b=ybHs?@X׿? +??x?`}b??ɨb#>b ;bCyn7BzKnENKn 9KlKncKn$079634E`kx}umfn"IizR>Iz= ~=~=IIJ4٢욽 Y=9Q > G٣y%C %> -Nusing accuracyPremultiplier from config)5359-+?535Y-* i-B15>@-? E-g<-g<-i35 @7EZjFNOT Ignoring new targets: 249.70 m.Bj32Jj32% ProNav: ac range: 249.699997 m, nav range: 41.287231 m, bearing: 257.600962 deg, approach rate: 0.372795 m/s, LOS rate: -0.623180 deg/s, cmd heading: 15.226682 deg, new cmd heading: 14.494084 deg. 2j%ռ-HeadingCmd: 0.252969 target range: 249.699997 and range: 249.70 m. j-7>j)j)j)i)h1hQhQhYfYfYfYrfYbfe`= @ɛ|B%Nu= )- >IQ U =ɚQiQI]M =Ie7>iiiR=)7>)*Fa2Fa:FaBFe_5JFa}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:16:50.5871 TRx dataTimestamp_ set to:1736374611.772917checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264287G =G B O >)>w,TA lIpJYJYJeJeJe0JaJe:Je"9Jeـ3JaJe!;Je";Je;Je;yޅ.Bޅ"IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514277%Mb@Mb@Mb@!!! !)!Y%X9v?Dl?Mb?y%?%O=%YY ]G٣]0KGye e> uNusing accuracyPremultiplier from configiu359m@?}35Ym3* imB}?}:}>}@mC EmQ;mo;mP35B g@4EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 249.70 m.Bj?Jj? ProNav: ac range: 249.699997 m, nav range: 41.467464 m, bearing: 257.311163 deg, approach rate: 0.418606 m/s, LOS rate: -0.670154 deg/s, cmd heading: 14.494083 deg, new cmd heading: 13.628535 deg. 2j弝HeadingCmd: 0.237863 target range: 249.699997 and range: 249.70 m. jNs>jjjihhhhBfffrfbf! @ɛ15l= 15?>I1 ==ɚ9i9I= =IeNs>iaieN=)eNs>)i*F12F1:F9BF=@5JF9GA GAGÙ=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:16:50.5871 LVL= 13424, 29953, 25218, 30899, AGC= 59, IDX= 438, 0.16,-2.964, 1.761, 1.313, 2.382, PHS= 1.025,-0.574,-1.073, RAW= 76.8, 6.6, CAL= 80.7, 7.8, ROT= 69.3, -7.8 E Ygot valid direction response: 22:16:50.5871 LVL= 13424, 29953, 25218, 30899, AGC= 59, IDX= 438, 0.16,-2.964, 1.761, 1.313, 2.382, PHS= 1.025,-0.574,-1.073, RAW= 76.8, 6.6, CAL= 80.7, 7.8, ROT= 69.3, -7.8 M PDAT read: Bearing 69.3, -7.8 (Local) U ~Local bearing/azimuth received: Bearing 69.3, -7.8 (Local) ] DAT read: Range 10 to 50 : 249.1 m (Round-trip 332.2 ms) speed 0.4 m/s e ,DAT read: user:2458> m BDAT read: Tx time:22:16:51.7007 m $Ping request sent.m Iڕ Tњ?iڕ 'g ڑ ڑ ە 0?@Z!yu?)ە k@Iە 1iە :@ە LHۑ ۑ E :publishing transmit ping timei E Fpublishing direction and range infoؑ 9ؕ  Hǿq+?SùD?yؑ ؑ ؑ ؑ ّ )ّ Iّ iّ ّ ّ ّ ّ ڑ )ڑ Iڑ iڑ ڑ ڑ ە 0?@Z!yu?)ۑ Iۑ iۑ ۑ ۑ ۑ ZEw,MUA:>Y:>:Q0=9:::;:CybBbv"IIjIj 4٢} }Y=9*Q > G٣y > Nusing accuracyPremultiplier from config359Q?35Yv* iuB>@G E;;35B @1Ekx?k3[$ k kUA:kyCBkjwCZk @"TG\CT@wfl@ Hǿq+?SùD?Jk:@RkLH*T=OyGkO@Zm@(%ȿ3Z$?:KF_?"kX{B*k;kSx?k*cP$ 2kjQjQjQiQhQhYhYhYfYfafarfe@3#o@bfe|? B$?Iɛ}Bf= g>I =ɚiI =IKGe>ii-4=)-KGe>))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:16:51.7000 *F?2F:FBF_0JFH5\>I5C I5"II5[BI5 =&I1.I16I5<:I5$ FzKNK9KKdK]UNHB>4-*&&#   Eeu{ysnidea]VQLG?=><63/*%&G ea=Ga B O >Kw,Cr1UA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&=&Ue=9U) G٣y > Nusing accuracyPremultiplier from config359d?35Y* i_B_>@K E*:*:)35 @ZjFNOT Ignoring new targets: 249.10 m.Bj<Jj< ProNav: ac range: 249.100006 m, nav range: 12.595499 m, bearing: 183.865951 deg, approach rate: 0.607397 m/s, LOS rate: 1.119523 deg/s, cmd heading: 12.828799 deg, new cmd heading: 14.122759 deg. 2j @=HeadingCmd: 0.246489 target range: 249.100006 and range: 249.10 m. jg|>jjjihh!h!h!f!f)f)rf)bf5?ɛ]~B]`= Y]>IY e7=ɚaiaIe =Im/i>imZ1;iu=)ug|>)q*F?2F:F BF JF  =C$?IAJJJJJ:J9JJJm;Jo;J' ;J' ;Will construct direction to contact in vehicle frame from tetrahedron phase data.GeP=G! B1 OM >pRw,:KUA6z=Y6Y>6N=96qq }G٣}1KGy > Nusing accuracyPremultiplier from config359xw?35Y* iGB ?:->@O Ed.;-;35B @.EZjFNOT Ignoring new targets: 249.10 m.Bjo<Jjo< ProNav: ac range: 249.100006 m, nav range: 12.825745 m, bearing: 184.292684 deg, approach rate: 0.578075 m/s, LOS rate: 1.052151 deg/s, cmd heading: 14.122759 deg, new cmd heading: 15.379763 deg. 2j4=HeadingCmd: 0.268427 target range: 249.100006 and range: 249.10 m. jTo>jjjihhhhBfffrf bf @?ɛ5B5T= 9=o>I9 =˃=ɚ9i9I=߭ =IEo>iAiE~=)MTo>)IUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFGIQ=GaBqO9> ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.H% _>I!  I% "II% ABI%  =&I! .I! 6I% <:I% FKXw,eUA6=Y6>6v=96NIzIzt4٢ꮽ P=9Q %>!! %G٣!y-ϼ -> 5Nusing accuracyPremultiplier from config1E3595?E35Y5Ͼ* i50BAE>E@5S E5B2;52;535Q U@QZjy}FNOT Ignoring new targets: 249.10 m.Bj̍<Jj̍< ProNav: ac range: 249.100006 m, nav range: 13.054811 m, bearing: 184.689459 deg, approach rate: 0.582792 m/s, LOS rate: 0.991759 deg/s, cmd heading: 15.379762 deg, new cmd heading: 16.549030 deg. 2j(*=HeadingCmd: 0.288835 target range: 249.100006 and range: 249.10 m. j1>jjjihhhhfffrfbfS?ɛBK= PK>I &=ɚiIB =I1>ii<)1>)*F?2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.G=GqAGnAGBO>_w,UA jD$?IlJ=J=J9J9J=}:J=ľ9J9J9J=;J=;J=;J=;uHL=YuK>u=9u G٣yż > Nusing accuracyPremultiplier from config359l?35Y* iB"?:U>@X E<;;35B @ +E%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 249.10 m.Bj=D<JjED>jYjYjYiYhahahihmރBfififqrfqbfu?ɛB:= 隥>I %и=ɚ!i!I%?=I- >i)i- ;)->>)1*F2F:FBFo0JFG=GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.Xew,l˘UA6=Y60>64=96ɜ@[ E::35 %b@%(EZjAMFNOT Ignoring new targets: 249.10 m.BjMv<JjMvjijijiiihihqhqhqfqfyfrfbfJE@ɛBC/= 隽\=I =ɚiIϔ=I>iiؿ)>)EEqA*FU?2FQ:FQBFUP5JFQGY G]pA F$?IGMA=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239981GABIOm5>Hc>IC I"IIBI =&I.IbR/=9b|~=ybH x?ѿ˂?_?Ѷ?| պ??ɨb=b{3;bCy=B=!IIMIM 4٢ @=9ɺQ > G٣y͹ > Nusing accuracyPremultiplier from config359ň?35Yj* iBJ>@_ E;t;ɯ35 @ZjFNOT Ignoring new targets: 249.10 m.Bjf<Jjf<  ProNav: ac range: 249.100006 m, nav range: 13.787846 m, bearing: 185.769003 deg, approach rate: 0.600919 m/s, LOS rate: 0.806166 deg/s, cmd heading: 18.699880 deg, new cmd heading: 19.727718 deg. 2j P =HeadingCmd: 0.344314 target range: 249.100006 and range: 249.10 m. jI>jQjQjQiQhQhYhYhYfafafarfabfet@ɛBY= =I =ɚiI_=Ip>iq;i)I>)*Fi2Fi:FiBFm95JFiGM<G!B G$?IOh>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745239crw,UA67g=Y6>6q=963=y6H? ?ѿ`˹?p??*`ƨ`G?%?ɨ67g=6;6CybBb!IMMb@Mb@Mb@III I)IYMʡE?y&1?{GzyM?M`e=M#MA MQA)M AIM@IyM=AImIma4٢ E=9KQ > G٣y > Nusing accuracyPremultiplier from config359و?35Y* iB ]? : > @c EI;;j35B  @&EZjAEFNOT Ignoring new targets: 249.10 m.BjM:<JjM:<] ProNav: ac range: 249.100006 m, nav range: 14.034308 m, bearing: 186.045448 deg, approach rate: 0.593394 m/s, LOS rate: 0.653890 deg/s, cmd heading: 19.727719 deg, new cmd heading: 20.542432 deg. 2j]ajijijiiihqhqhyh}Bfyfyfrfbf@N@ɛB&= 隵l;I =ɚiI=I>iiۀ)>)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994975*F5?2F1:F1BF5_0JF1GM <G) B9 OU > I Jm Jm Ji Ji Jm :Jm 9Ji Ji au @au @au @au @ Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:16:54.4344  TRx dataTimestamp_ set to:1736374615.552620 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247885H d>I  I N"II BI  =&I FD.I 6I 9<:I T F&yw,|_UA62V=Y6(ʋ>6=96cc=y6H$?пm?/?`? /J??ɨ62V=61O;6CyFfBF!IIRIR~4٢ZH4 Z_=9ZQ ^>`` bG٣b3KGyf(; f> jNusing accuracyPremultiplier from configh~359j눜?~35Yjޱ* ijBպ>@jg Ejjjjihhhhfff rf bf @ @~G YySBɛUBU_= ]L=]Ia e=ɚiiI=I>i{k;io䇽)>)*F?2F:FBFJF"G=G>EWill construct direction to contact in vehicle frame from tetrahedron phase data.E4=E%=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.500377G*W<GBO>w,MVA >H$?I@JJAAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7511093 G=Yى>=9=yH@ݹ?п`"H??`o?v`ɰ?`"?ɨ3 G=#z;騹yMB!IMb@Mb@Mb@ )Yrh|?? G٣y > Nusing accuracyPremultiplier from config359)?35YG* iB?:>@l Es;;:35B @ EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 249.10 m.BjD<JjD< ProNav: ac range: 249.100006 m, nav range: 14.565764 m, bearing: 186.531325 deg, approach rate: 0.575786 m/s, LOS rate: 0.455553 deg/s, cmd heading: 21.228725 deg, new cmd heading: 21.972956 deg. 2jR< HeadingCmd: 0.383500 target range: 249.100006 and range: 249.10 m. j +Z>j j j i h h hQhuBfqfqfqrfybf}`@ɛB>< 隭4I zg=ɚiI=I+Z>ii!=)+Z>)*F?2F:FBF3JFU Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:16:54.4344 LVL= 14768, 27169, 23506, 27283, AGC= 65, IDX= 411,-0.41, 1.320, 0.065,-0.920, 0.325, PHS= 1.083,-0.213,-1.247, RAW= 63.7, 3.8, CAL= 64.9, 2.9, ROT= 85.1, -2.9  Ygot valid direction response: 22:16:54.4344 LVL= 14768, 27169, 23506, 27283, AGC= 65, IDX= 411,-0.41, 1.320, 0.065,-0.920, 0.325, PHS= 1.083,-0.213,-1.247, RAW= 63.7, 3.8, CAL= 64.9, 2.9, ROT= 85.1, -2.9  PDAT read: Bearing 85.1, -2.9 (Local)  ~Local bearing/azimuth received: Bearing 85.1, -2.9 (Local)  DAT read: Range 10 to 50 : 247.1 m (Round-trip 329.5 ms) speed 0.0 m/s  ,DAT read: user:2459>  BDAT read: Tx time:22:16:55.5492  $Ping request sent.  Fpublishing direction and range infoQ 9U 瞈\[[ N?T?yQ Q Q Q Q )Q IQ iQ Q Q Q Q Q )Q IQ iQ Q Q U Ai)?ˍv꿹ְ?)Q IQ iQ Q Q Q 9w,VA6?=Y6و>6İ=96%֜=y6H?Zrп@@e?%?9?(3??ɨ6?=6 ;6C qIuUiJ-}J-|J)J)J-[j:J-@9J)J)yU(BUS!Ii]=I]a=IeIe[4٢u6 uK=9}Q }>yWill construct direction to contact in vehicle frame from tetrahedron phase data.եAiաJDAT read: TxSync time:22:16:55.5484 y G٣y >  Nusing accuracyPremultiplier from config359x?35Y=* inB>@p E,3;;35EB M"@MEHmg>Ii Im "IImBIi&Ii.Ii6ImS<:Imi FBI-ŦCJI-ŦCRI-œCZI- =bI- =jI-ų5kQ|?kbѡ k kVA:kwCBkouCZk?"G%(i:icM`@~,j@瞈\[[ N?T?Jk?RkG*nB> [@L! ak@$Ehbÿݱ?-"j $^?"kB*kk|?k 2kPCk-eJ?k*( kjjjihhhhfffrf@3n@bf ?zKJ3KK 9KKhKɛ B-R< 15DI1 ==ɚ9i9I==IM[>iiim*=Ľ)m[>)q*F ?2F :F BF Y0JF G wG B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.0gw,4VA2 E=Y2@>2 ڨ=92@4=y2H@?`Kqп:? ? ?I`%?>?ɨ2 E=23;0)̅CÍˁˁ ́̍C̍CwẢỉ̉i͕fC͑)͕ ͑I͑ Α)ΕvA͙͙͙ΙΝKwAiΡIΡΡIϡiϡ ϡΡ)ϩϩ ЭwAϩϩϩбеЁAIб)бiбy޽B8!III 4٢ н C=9Q > G٣4KGyg; >  Nusing accuracyPremultiplier from config 359&-? 35Y@* iSB >@t E: ;j35 %@!ZjAMFNOT Ignoring new targets: 247.10 m.BjMs<JjMsjijqjyiyhh mJ$?Iqhhfffrf bf?*J54="J5=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB-< ! % frI! % =ɚ! i! I% 6=I- V>i) i- \޽)5 V>)1 Ee )=*F?2F:FBFP5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.GEGB!OU*?Ow,^VAN[p=YNj>N[=9N`}>yNH2? п`?? ?@}ソi޲2?`C?ɨN[p=Nr;NCɸTV;uAV7 iV^hFXiXZCuA)Z7 ZFIX \)^|wAɹ^`e\\`ɺbtAibIbjF`IdifuA fxid)dd jwAhhɻhhnwAIp)pip)rCIppɼp ttymBm!IJ=J9J9J9J=p:J9J9J9Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YZd;O?I +Zd;Oyj?94jvA I@) AI@y\AII4jHQbHU<H]k>I]C I]!II]vBI] =&IY.I]=D6I]<<:I]] F٢r =9bQ > G٣y< > Nusing accuracyPremultiplier from config359NL?35Y* i&B?:>@z E;;35  -A-EZjq}FNOT Ignoring new targets: 247.10 m.Bj}X<Jj}X< ProNav: ac range: 247.100006 m, nav range: 35.112389 m, bearing: 144.405795 deg, approach rate: 0.376139 m/s, LOS rate: 0.758629 deg/s, cmd heading: 23.511734 deg, new cmd heading: 24.967167 deg. 2j(=HeadingCmd: 0.435759 target range: 247.100006 and range: 247.10 m. j>jjjihhhhIBf f frfbf&^?zK%LK%9K!K%iK%ɛMBM#< IMII U=ɚQiQIU=I]>iiM)>)m Will construct direction to contact in vehicle frame from tetrahedron phase data.E QO=*F} ?2F :F BF v0JF Gu GIBYO>,w,H}VAyޥ˂Bޭ IIIr4 9IA٢M)R MA=9]Q e>iq uG٣u5KGy > Nusing accuracyPremultiplier from config359a?35Y* iB@~ EH <<35Will construct direction to contact in vehicle frame from tetrahedron phase data.թiթB AEZjYeFNOT Ignoring new targets: 247.10 m.BjeH<JjmH< ProNav: ac range: 247.100006 m, nav range: 35.279995 m, bearing: 144.739276 deg, approach rate: 0.354576 m/s, LOS rate: 0.702133 deg/s, cmd heading: 24.967167 deg, new cmd heading: 25.962752 deg. 2j<HeadingCmd: 0.453136 target range: 247.100006 and range: 247.10 m. ja>jjjihhhhfffrfbf?ɛMBM< IMþII U=ɚQiQIU=I]a>iYi]g )]a>)aE1E1*E1"E1M Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe ?2Fa :Fa BFe 0JFa GؽGaBqO ?65=96v0>y6H?@hѿ?`"V?M?`>¿y?t?ɨ6%=6\;4 zK$?Ixy-B- IMb@Mb@Mb@ )Yl?㥛 Zd;Oy?\ A @) AI`@yAII4٢, =9`Q > G٣yͺ< > Nusing accuracyPremultiplier from config 359V{? 35YT* iB?:r4>@ E;O;D35B AE=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 247.10 m.BjUS<JjUS<mWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.JJuJJJy:J9JJHn>IC I`!II4BI =&I.I6I<:I" F- ProNav: ac range: 247.100006 m, nav range: 35.496758 m, bearing: 145.092447 deg, approach rate: 0.457086 m/s, LOS rate: 0.740176 deg/s, cmd heading: 25.962753 deg, new cmd heading: 27.015668 deg. 2j-<-HeadingCmd: 0.471512 target range: 247.100006 and range: 247.10 m. j5j>j1j1j1i1h1h1h9h=?Bfafafarfibfmjc@ɛB< 隵XоI -j =ɚiI=Ij>ii )j>)*F?2F:FBFQ5JF"G=G >zKm$JK9KKjK  G=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502033w,VA6S=Y6>6.{=96T<>y6H?@ѿ` ?6?)?@ Ŀ zR]?f?ɨ6S=6;6CybBb IIj Ij4٢r r^=9v]Q v>tt vG٣tyz< z> ~Nusing accuracyPremultiplier from config|359~n?35Y~D* i~B  >> @~ E~;~D;~}35 AZjAEFNOT Ignoring new targets: 247.10 m.BjMA<JjMA<] ProNav: ac range: 247.100006 m, nav range: 35.650120 m, bearing: 145.343090 deg, approach rate: 0.416189 m/s, LOS rate: 0.677259 deg/s, cmd heading: 27.015667 deg, new cmd heading: 27.764318 deg. 2j]ejajijiiihihihqhqfqfqfrfbf:@ɛEBMݹ IMII U =ɚQiiImn=Iu>iyi})}>)y L$?I*FU?2FQ:FYBF]_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757559GGBOg>w,rVAnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005933yvBv I ]@] ]@] ]@]  ]@] IeIex4٢uD uA=9}Q }>yy G٣6KGy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=359-?=35Y * =tIiB=+:9E:AE@ E<f>{35MB MeAMEZjFNOT Ignoring new targets: 247.10 m.Bj4<Jj4< ProNav: ac range: 247.100006 m, nav range: 35.826763 m, bearing: 145.627784 deg, approach rate: 0.394355 m/s, LOS rate: 0.632440 deg/s, cmd heading: 27.764318 deg, new cmd heading: 28.614121 deg. 2j<HeadingCmd: 0.499411 target range: 247.100006 and range: 247.10 m. j>jjjihhh h f ffrfbf <@ɛa.D9 隕I  B =ɚiIaQ=I>ii,)>)*FE?2FA:FABFAJFA M$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:16:58.2829 TRx dataTimestamp_ set to:1736374619.584867checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259346JxJJ/JJZ:JJ(N3JZH RH AAH r>I  I !II BI =&I .I >D6I <:I 7 FG G ?G >Gi B O >ͺw,3PVA2%=Y2إ>2}K=926T>y2H[L? :Pӿ?VX?}?ƿ`~xM?`F?ɨ2%=2b;2CyNBN IIVIV 4zK^LK^9K\K^kK^٢fj fU=9jcQ j>ll nG٣lyn^= r> vbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpz359r洉?z35Yrˡ* irB~ :|~i:~KX>~@r Er5;rO?r35B A EZj)5FNOT Ignoring new targets: 247.10 m.Bj=P<Jj=P I  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J w,uWA2=Y2~>2c0=92a>y2H&?1Կl? A?@?ȿy?j3?ɨ2=2L;2CyBwBBx I=DAT read: 22:16:58.2829 LVL= 17552, 32753, 32754, 32755, AGC= 64, IDX= 442,-0.16,-2.635, 2.637, 1.589, 2.569, PHS= 1.167, 0.115,-0.982, RAW= 59.3, -3.3, CAL= 63.9, -7.8, ROT= 86.1, 7.8 EYgot valid direction response: 22:16:58.2829 LVL= 17552, 32753, 32754, 32755, AGC= 64, IDX= 442,-0.16,-2.635, 2.637, 1.589, 2.569, PHS= 1.167, 0.115,-0.982, RAW= 59.3, -3.3, CAL= 63.9, -7.8, ROT= 86.1, 7.8 MPDAT read: Bearing 86.1, 7.8 (Local) U~Local bearing/azimuth received: Bearing 86.1, 7.8 (Local) DAT read: Range 10 to 50 : 247.0 m (Round-trip 329.4 ms) speed 0.0 m/s ,DAT read: user:2460> BDAT read: Tx time:22:16:59.3993 $Ping request sent.VF?4.1FoT! )YV-?/$yh?A h@) AIAyAI%I%4٢5zN =6=9=SoQ =>AA EG٣AyE*= M> UNusing accuracyPremultiplier from config)I*i=i?r:publishing transmit ping timeرFpublishing direction and range infoI359Mʉ?35YM* iMiBT:?:R >@M EM6)qǕw,CY!WA N$?I^\v>Y^3>^$=9^dl>y^H4?տXϼ?l*?P? sɿsD? e!?ɨ^\v>^m݊;^CyfoBjo II~I~h4٢ # 5\=95ޓQ 5>99 =G٣=7KGyE#= E> MNusing accuracyPremultiplier from configIU359M܉?U35YM* iMNBQU>]@M EM~ ;M ;M35eB eAe EZjFNOT Ignoring new targets: 247.00 m.Bj<Jj< ProNav: ac range: 247.000000 m, nav range: 68.399368 m, bearing: 116.261866 deg, approach rate: 0.196684 m/s, LOS rate: 0.520140 deg/s, cmd heading: 30.472831 deg, new cmd heading: 30.993306 deg. 2j{<HeadingCmd: 0.540935 target range: 247.000000 and range: 247.00 m. jz ?jjjihhhhfffrfbf??ɛi I *=ɚiI7=Iz ?i i P) z ?) Hut>Iq Iu IIuBIq&Iq.Iq6Iu%<:IuU FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFGL>) y5tAA @Y5tAyBGBOL>zKk3IK+9KKlK= Will construct direction to contact in vehicle frame from tetrahedron phase data.Εw,;WA6RD>Y6Ϛ>6=<96nv>y6H? 7ֿ?@0E?? 6˿ &?L?ɨ6RD>6;6Cy^qB^q Iibtt vG٣tyv?= z> ~Nusing accuracyPremultiplier from config|359~? 35Y~* i~4B  -> @~ E~0;~51;~Q35 sA5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 247.00 m.BjM<JjM<] ProNav: ac range: 247.000000 m, nav range: 68.464348 m, bearing: 116.443979 deg, approach rate: 0.164943 m/s, LOS rate: 0.461835 deg/s, cmd heading: 30.993305 deg, new cmd heading: 31.539109 deg. 2j]yԕw,fTWA~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.193929y]oB]n IMb@Mb@Mb@ )Yoʡ?S㥻Mby ?/ݽ9A $@)IAyp AI I 4٢, 8=9Q >!! %G٣!y% -> 5Nusing accuracyPremultiplier from config)=359- ?=35Y-ǝ* i-B=?E:EC>E@- E-e";-;-235I MAM EZjy}FNOT Ignoring new targets: 247.00 m.Bj<Jj< ProNav: ac range: 247.000000 m, nav range: 68.531151 m, bearing: 116.643661 deg, approach rate: 0.150518 m/s, LOS rate: 0.449475 deg/s, cmd heading: 31.539109 deg, new cmd heading: 32.137547 deg. 2j<<HeadingCmd: 0.560906 target range: 247.000000 and range: 247.00 m. j?jjjih!h!h!h%Bf)fIfIrfIbfUu?ɛĽ I 0<ɚiI0=I?ii3)?) %Q$?I!*F92F9:FABFE_1JFAG%h G?G>GBO>jHu<bHqH}v>I}C I} II}BI} =&Iy.Iy6I})<:I}Z FBIUȨCJIUȨCRIQZIU =bIU =jIU 6Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4460874+ەw,^nWA6;>Y6>69N<96y>y6H l?@)ؿ ?'??2̿ZÉ=? ?ɨ6;>6g;4zK>BoHK<K<K>mK>y^{B^} IIfIf4٢"= \=9%$Q %>!) -G٣-8KGy-1= -> =Nusing accuracyPremultiplier from config1=3595*?E35Y5* i5BAEd>E@5 E5*:5 :5r35MB M2AUEZjq}FNOT Ignoring new targets: 247.00 m.Bj}<<Jj}<< ProNav: ac range: 247.000000 m, nav range: 68.581322 m, bearing: 116.812679 deg, approach rate: 0.135294 m/s, LOS rate: 0.455451 deg/s, cmd heading: 32.137546 deg, new cmd heading: 32.644217 deg. 2jI<HeadingCmd: 0.569749 target range: 247.000000 and range: 247.00 m. j?jjjihhhhfffrfbfO!?ɛ-  I <ɚiIs=I?iiv)?)*Fm?2Fi:FiBFm]0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.>R?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699827Gu!& GIBQO}> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J tJ J J J 9J J % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952474Ew,WAyUzBQ)Y YaeAMb@Mb@Mb@ )Y rh?+y ?x!A ;@)/ AI`Ay AIIs4٢4 ;=9Q >! %G٣!y% -> Nusing accuracyPremultiplier from config359z)?35YҚ* iB ?:͈>@ Ec;`;d35 6AZjFNOT Ignoring new targets: 247.00 m.Bj%;Jj%;E ProNav: ac range: 247.000000 m, nav range: 68.631607 m, bearing: 117.017143 deg, approach rate: 0.109762 m/s, LOS rate: 0.445970 deg/s, cmd heading: 32.644216 deg, new cmd heading: 33.257132 deg. 2jE R$?I ,;w,WA6]>Y6z>6;96>y6H`?"ڿa?k?k?@ YͿ{bA?F?ɨ6]>6';6CyRBR IIZIZ4٢bŀ= fc=9fQ f>hh jG٣hyj= n> rNusing accuracyPremultiplier from configpv359r8?v35YrU* irBtv>v@r Erj:rj:rh35~B ~AEZjFNOT Ignoring new targets: 247.00 m.Bj;Jj; ProNav: ac range: 247.000000 m, nav range: 68.664543 m, bearing: 117.174451 deg, approach rate: 0.091456 m/s, LOS rate: 0.436601 deg/s, cmd heading: 33.257130 deg, new cmd heading: 33.728818 deg. 2jѕ<HeadingCmd: 0.588679 target range: 247.000000 and range: 247.00 m. j?jjjihhhhfffrfbf @H%w>I! I% II%BI% =&I!.I!6I%1<:I%a FɛQUj Uo!=]IY ]z<ɚYiYI]=Ie?iaiea)e?)i}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454684*F?2F!:F!BF%^0JF!zKBHK9KKnK3][QV[_ir{yn`SD2"}sh_WOHD=<:5/)($$  BK:KqAGM#GUpAGQG) B9 Om >- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706208kiw,rWA^em>Y^ڹ>^S9^6>y^H+?@ۿ%???ZͿ{j?9?h?ɨ^em>^R;\yfBf IInIn4٢z; zG=9z[Q ~>|| ~G٣~9KGy = >  Nusing accuracyPremultiplier from config 359 K?35Y x* i B͡>@  E y); ); 35! -A)EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 247.00 m.Bj]f <Jj]f -Mw,hY26>292>y2H? ܿ@"?E? %?"RͿ@j]?$??ɨ2}>29;0yNBR I V=Vp=rWill construct direction to contact in vehicle frame from tetrahedron phase data.vBDAT read: Rx Time:22:17:02.1326 vTRx dataTimestamp_ set to:1736374623.377128zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.211545UMb@Mb@Mb@QQQ Q)QYUK7?~jt:v?yUI ?UUT G٣yF = > Nusing accuracyPremultiplier from config359{^?35Y* iB ?:%>@ ED;;35B AEZj15FNOT Ignoring new targets: 247.00 m.Bj=;Jj=;M ProNav: ac range: 247.000000 m, nav range: 68.721794 m, bearing: 117.568813 deg, approach rate: 0.045297 m/s, LOS rate: 0.445578 deg/s, cmd heading: 34.290435 deg, new cmd heading: 34.911369 deg. 2jmI I IIBI =&I.I6I'<:IZ FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.462031G G B O >Tww,WA6>Y6b>6ji96Z>y6HS?Eݿ ?+? J`? -Ϳ-?`?`?ɨ6>6;6CyRBR IIfIf4٢nӟ= ni=9nvQ n>pp rG٣pyv8= v>zK$OKs9KKoK ENusing accuracyPremultiplier from config9]359=m?e35Y=ޒ* i=Biu>>u@= E=<=<=359 =AAZjFNOT Ignoring new targets: 247.00 m.Bj%Z;Jj%Z;e ProNav: ac range: 247.000000 m, nav range: 68.736008 m, bearing: 117.733156 deg, approach rate: 0.035447 m/s, LOS rate: 0.409771 deg/s, cmd heading: 34.911368 deg, new cmd heading: 35.404283 deg. 2jm<HeadingCmd: 0.617921 target range: 247.000000 and range: 247.00 m. j0?jjjihhhhfffrfbf@<@Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 22:17:02.1326 LVL= 17504, 32753, 24434, 31107, AGC= 66, IDX= 439, 0.01,-2.853, 1.926, 1.503, 2.138, PHS= 1.381,-0.164,-0.637, RAW= 77.0, -6.4, CAL= 86.2, -13.9, ROT= 63.8, 13.9 -Ygot valid direction response: 22:17:02.1326 LVL= 17504, 32753, 24434, 31107, AGC= 66, IDX= 439, 0.01,-2.853, 1.926, 1.503, 2.138, PHS= 1.381,-0.164,-0.637, RAW= 77.0, -6.4, CAL= 86.2, -13.9, ROT= 63.8, 13.9 5PDAT read: Bearing 63.8, 13.9 (Local) 5~Local bearing/azimuth received: Bearing 63.8, 13.9 (Local) EDAT read: Range 10 to 50 : 246.8 m (Round-trip 329.1 ms) speed 0.2 m/s E,DAT read: user:2461> MBDAT read: Tx time:22:17:03.2493 U$Ping request sent.UF?ĎԪ忥#$艼)+?I=iƲ?::publishing transmit ping timeQFpublishing direction and range info9d./խ? t4?Fb`N?y )Ii )IiF?ĎԪ忥#$艼)IiɛB 2I <ɚiI=I0?ii̽)0?) IE L=*F= ?2F9 :FA BFE ^0JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data. i J yJ vJ J J ]:J ϣ9J J 5 JDAT read: TxSync time:22:17:03.2485 Gz۽GBO ?Uw,XAB>YBo?B|ͼ9Be}>yBH`?޿_? l??̿ޯ?@W??ɨB>B~͉;BCyfBf IlnAeMb@Mb@Mb@aaa a)aYeM?y&1?I +?yen?e`e G٣:KGyS= > Nusing accuracyPremultiplier from config459`?45Y* i B?:?@ EI;b;45B AEkP쉜?klZ( k kOWA:kvCBk%uCZk?"sx,@kWzS@vЌX7m@d./խ? t4?Fb`N?JkƲ?Rk:*6H w>I  I II ɂBI  =&I .I 6I ?<:I k FE Will construct direction to contact in vehicle frame from tetrahedron phase data. w,M-XA6y>Y6?6o96݂>y6H?߿ȹ?`C?C?`Ϳ!? 0,? ?ɨ6y>6;6CybBb IIjIj4٢Z< T=9 ZQ  >  G٣yM = > %Nusing accuracyPremultiplier from config!-459%@?-45Y%* i%B)-c ?-@% E%a:%:%l45=B =A=EZjamFNOT Ignoring new targets: 246.80 m.Bjmn <Jjmn < ProNav: ac range: 246.800003 m, nav range: 68.711555 m, bearing: 118.186404 deg, approach rate: -0.028974 m/s, LOS rate: 0.480603 deg/s, cmd heading: 36.043086 deg, new cmd heading: 36.592046 deg. 2j<HeadingCmd: 0.638652 target range: 246.800003 and range: 246.80 m. j~#?jjjihhhhfffrfbf4?ɛB׻ I M<ɚiI=I~#?ii )~#?)zKRIK9KKpKBKqA:KWill construct direction to contact in vehicle frame from tetrahedron phase data.E$=PExceeded connect timeout, disconnecting.*F?2F:FBFJFGrA G U$?I TiG o̽G B) ] Will construct direction to contact in vehicle frame from tetrahedron phase data.O >gw,JXA ,>Y  ? ,K9 P~>y H@]p?@-΁?bl? ~w?UͿ@QȢ?Bq?@O?ɨ ,> |; y%B% IMb@Mb@Mb@ )Y"~?A`"?Q?y?Y=<"A ~@)AIy AII4٢d=  =9&Q > G٣y< > Nusing accuracyPremultiplier from config459}?45Y* i<B}?}:}?@ E<|<45 ,AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 246.80 m.Bj<Jj< ProNav: ac range: 246.800003 m, nav range: 68.675903 m, bearing: 118.429935 deg, approach rate: -0.067049 m/s, LOS rate: 0.458234 deg/s, cmd heading: 36.592045 deg, new cmd heading: 37.322974 deg. 2j=< HeadingCmd: 0.651409 target range: 246.800003 and range: 246.80 m. j &?j j jihh9h9h=&BfAfAfArfAbfM `?ɛBPG: ھI ن<ɚiIL=I&?ii)&?)*E="E=E<*FM?2FI:FIBFIJFImWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.G%87GB O > I Ljw,cXAyÂB Ii =I <II\4٢%< %l=9-Q -?)) 5G٣5;KGy5 5? ENusing accuracyPremultiplier from config9E459=>?E45Y=* i=SBIIM@= E=:=:= 45UB UAUEZjFNOT Ignoring new targets: 246.80 m.Bj<Jj< ProNav: ac range: 246.800003 m, nav range: 68.652374 m, bearing: 118.595631 deg, approach rate: -0.072753 m/s, LOS rate: 0.512512 deg/s, cmd heading: 37.322974 deg, new cmd heading: 37.820220 deg. 2jݯ<HeadingCmd: 0.660087 target range: 246.800003 and range: 246.80 m. j|(?jjjihhhhfffrfbf?Hv>I I !IIBI =&I.I6I0<:I_ Fɛ B dhû  BؾI  Q<ɚiI=I|(?ii˓)|(?)Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761082JzJwJJJ`:J9JJJp;aJq;aJ:aJ:aEYEY*E]"E]1U|uAi jY|uAyGBzKBHK9KKqK*F?2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011758  nManaging dock network, ignoring radio surface power offGU G1 Ba O} >! w,QXA6>Y6Jo?6\+96r>y6HJ?@`>???@ ̿`Nz?? ?ɨ6>6 ;6Cy>͂BB IIJIJ"4٢RC= R@=9R&KQ R>TT VG٣TyZ0o= ^> bNusing accuracyPremultiplier from config`f459bNJ?f45Yb1* ibpBd V$?If.$?M@b EbH(&w,=ҙXA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519546yMЂBM IMb@Mb@Mb@ )Y1Zd?{Gz?Q?y"?ף=#A )IAIE Ay AAAII4٢9<  6=9 Q  > G٣y > -Nusing accuracyPremultiplier from config!5459%ي?545Y%{* i%B=?=:=O.?=@% E%{r;%a;%45EB EAMEZjiuFNOT Ignoring new targets: 246.80 m.Bju<Jj}< ProNav: ac range: 246.800003 m, nav range: 68.570259 m, bearing: 119.022443 deg, approach rate: -0.110189 m/s, LOS rate: 0.516943 deg/s, cmd heading: 38.430073 deg, new cmd heading: 39.101369 deg. 2jc<HeadingCmd: 0.682448 target range: 246.800003 and range: 246.80 m. j.?jj1j1i1h1h1h9h=,Bf9f9fArfAbfE@ @ɛB3 ;I i<ɚiI=I.?ii).?) I*FY2FY:FYBFYJFYHx>I I4!IIBI =&I.I6I<:I9 FBIƩCJIƩCRIZI =bI =jIƁ5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772095J{JuJ1JJd:J9J3JJ#;J$;Jf:Jh:Ge ?G9 BI Om >S,w,uXA:>Y:JW?:59:;Ih>y:H? ?7??@ʿy?P?F&?ɨ:>:A;8yJ؂BJ I)P PPPIVIV"4zK^KK^9K\K^rK^  BKfoA:KfpA٢f<4= f`=9jGٻQ j>hl nG٣n vNusing accuracyPremultiplier from configpz459r犜?z45Yrw* irBxzj5?z@r Er1;rN3;r45 vA Zj)5FNOT Ignoring new targets: 246.80 m.Bj5<Jj5 Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:22:17:05.9810 5 TRx dataTimestamp_ set to:1736374627.172920E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283031?3w,8XAyтB I}Mb@Mb@Mb@yyy y)yY}+?~jt? G٣y > Nusing accuracyPremultiplier from config459?45Yr* iB ?: 4?@ E55;;45B AEB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 246.80 m.Bj5<Jj5 I 0e9w,hXAZH4RH6?AHBy>I@ IBT!IIB*BI@&I@.I@6IB.<:IB_ FMe>YMZ?M#=9M2.d>yMH ?7]@F`?/?j BDAT read: Tx time:22:17:07.0993 $Ping request sent.>XT?0HdHϰ῝Bo㳿)KxID=ic?::publishing transmit ping timeFpublishing direction and range info9Ԝw?? Of 7? X?yɨMe>M̊;IŷB I )Ii )Ii>XT?0HdHϰ῝Bo㳿)IiIeIe4٢ <=9Q > G٣y= > Nusing accuracyPremultiplier from config459 ?45Yn* iB;?@ Ex<<45 AEk5?k+, k kZ,XA:kuCBktCZk^@"2?\D@Ku2In@Ԝw?? Of 7? X?Jkc?Rk:*3c-{I1-@|n@r]5Of8=,J?"kB*k kv *?k%., 2kACk̄?kkkyBk+?e addTargetRange:: Added new target pos. range: 245.699997 m, deltaT: 3.794725 s, deltaX: -1.100006 m, approachRate: -0.289878 m/s, rangeRepo size: 4 u Added new target pos. range: 245.699997 m, bearing: 269.730553 deg, lat: 36.904572 deg, lon: -122.121194 deg, deltaT: 3.794725 s, deltaX: -1.100006 m, approachRate: -0.289878 m/s, posRepo size: 4 Zjq}FNOT Ignoring new targets: 245.70 m.BjJj ProNav: ac range: 245.699997 m, nav range: 62.398998 m, bearing: 107.707898 deg, approach rate: 0.000000 m/s, LOS rate: 0.513439 deg/s, cmd heading: 40.369833 deg, new cmd heading: 41.094362 deg. 2jHeadingCmd: 0.717232 target range: 245.699997 and range: 245.70 m. j7?jjjihhh h f f f rf`fn@bf&?zK$LK 9KKsKɛ B .{  վI Z<ɚ1i1I5W=I=7?i9i=֐)E7?)A*F?2F:FBF%4JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.} =} = JDAT read: TxSync time:22:17:07.0985 G f X$?I Gi B O >@w,YAbB>Yb!?b@9brc>ybH ?`Ϸ??M?5=ʿ@0?*-?-?ɨbB>b;`yȂB Ii%=I%< %=%=IIII٢ү V=9SQ > G٣=KGy = > Nusing accuracyPremultiplier from config 459? 45Yi* iBb>?@ E::!45 B AEZj FNOT Ignoring new targets: 245.70 m.Bjq<Jjq<Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 245.699997 m, nav range: 62.298714 m, bearing: 107.907315 deg, approach rate: -0.272926 m/s, LOS rate: 0.543589 deg/s, cmd heading: 41.094362 deg, new cmd heading: 41.693553 deg. 2j<HeadingCmd: 0.727690 target range: 245.699997 and range: 245.70 m. j%I:?j!j!j)i)h1hahhfffrfbf@ʈ?ɛeBe`Ӕ ae۾Ia m<ɚiiiImN=II:?iiI)I:?)*F ?2F :F BF ^0JF - Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 $G B! O= > Gw,lYARĻ>YR5$?R=sD9Rfa>yRH@֏? ?0??1ɿ?n?&1?ɨRĻ>R;RCy^˂Bb IUMb@Mb@Mb@QQQ Q)QYUV-?Mb?Mbp?yU|?U=U;UA Uh@)UAIU AQyU AI}I}W4٢S< P=9LQ > G٣y= > Nusing accuracyPremultiplier from config459)?45Ywe* iBT ?:#>?@ E^;;a%45 AZjFNOT Ignoring new targets: 245.70 m. EZ$?IMSiBj^<Jj^< ProNav: ac range: 245.699997 m, nav range: 62.197849 m, bearing: 108.110598 deg, approach rate: -0.270887 m/s, LOS rate: 0.546836 deg/s, cmd heading: 41.693554 deg, new cmd heading: 42.304371 deg. 2j<HeadingCmd: 0.738351 target range: 245.699997 and range: 245.70 m. j=?j j j i hhhhBfYfYfarfibfm@?ɛ}B}Llٻ 隅ھI QE<ɚiI1=I=?iio)=?)H5x>I1 I5`!II54BI1&I1.I16I5/<:I1*Fm?2Fi:FiBFm`0JFqJ{JxJ1JJd:J9Will construct direction to contact in vehicle frame from tetrahedron phase data.թiխAJ3JJ#;J$;J&:J':"G=G=G ␽G B O >:,Mw,%@7YA2:p>Y2p'?2Z I92b>y2HUX? Kf?x?@?`ʿ@u!??Z.?ɨ2:p>2щ;2Cy>łBzKBFJKB9K@KBtKB   g75)_6`0yF%BKFpA:KFlA> IPPIRIR 4٢Z Z[=9^HQ ^>\\ bG٣`yb< b> fNusing accuracyPremultiplier from configdj459f8?j45YfDa* if&Bln@?n@f Efu ;f ;f(45r B r$AvEZj FNOT Ignoring new targets: 245.70 m.BjA<JjA<% ProNav: ac range: 245.699997 m, nav range: 62.099491 m, bearing: 108.305201 deg, approach rate: -0.265161 m/s, LOS rate: 0.525453 deg/s, cmd heading: 42.304371 deg, new cmd heading: 42.889082 deg. 2j%N<-HeadingCmd: 0.748556 target range: 245.699997 and range: 245.70 m. j-Y??j)j1j1i1h1h1h9h9f9f9fArfAbfE?%Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB4 隥I <ɚiId=IY??iiJ<)Y??) YIY*Fm?2Fi:FiBFmy0JFiG < Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi B O >Tw,QYA6 >Y6.*?6'!P96Q_>y6H` ?@=??`Y?`wɿ@G?`? 3?ɨ6 >6;4ybBb IMb@Mb@Mb@ )YQ?L7A`?~jty(?+=DA )I/ AyAII4٢7 <=9Q > G٣>KGy< > Nusing accuracyPremultiplier from config459H?45Y\* i1Bk?:9?@ E ;@;s,45 NAB*** querying acoustic contact ***jjZj9EFNOT Ignoring new targets: 245.70 m.BjM\<JjM\<] ProNav: ac range: 245.699997 m, nav range: 61.995358 m, bearing: 108.531601 deg, approach rate: -0.235028 m/s, LOS rate: 0.511838 deg/s, cmd heading: 42.889083 deg, new cmd heading: 43.569390 deg. 2j]jHE <bHE p<HM v>II  II II IM =&II .II 6IM &<:IM V FX@Zw,LjYABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.979547N>YN|,?NNML9N(\>yNH? @BU?? 8?;ɿ?DF?p9?ɨN>Nᘉ;LyZBZ IIfIfʴ4٢vI zW=93 ;Q >  G٣y%< %> Nusing accuracyPremultiplier from config14595W?45Y5|X* i5;B;?@5 E5& <5<5/45% B -hA-EZjFNOT Ignoring new targets: 245.70 m.Bj <Jj < ProNav: ac range: 245.699997 m, nav range: 61.902512 m, bearing: 108.731563 deg, approach rate: -0.223333 m/s, LOS rate: 0.481713 deg/s, cmd heading: 43.569391 deg, new cmd heading: 44.170154 deg. 2jL<HeadingCmd: 0.770915 target range: 245.699997 and range: 245.70 m. jZE?jjjihhhh f ffrfbf |@ɛ B e  5I  u<ɚiIU-=IZE?ii)ZE?)AEQEUpA*F2F:FBF_5JFGqA GzK]OKYKYK]uK]yxzvroni_ZTLHC;652038<DJT]aeficZVOGA;60,)&%"  5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232158G G B O > A IA &aw,ԄYA:>Y:.?:bF9:^[>y:H@?i?,?} ?@ȿѨ?.? T;?ɨ:>:d ;:CyJBN IIVIV4٢^ ^N=9^Gf;Q b>`` bG٣`yf< f> jNusing accuracyPremultiplier from confighn459jf?n45Yj>T* ijEBprw=?r@j Ej ;j ;j;345t vnAtZjFNOT Ignoring new targets: 245.70 m.Bj%#<Jj%#<5 ProNav: ac range: 245.699997 m, nav range: 61.807056 m, bearing: 108.934223 deg, approach rate: -0.268974 m/s, LOS rate: 0.571939 deg/s, cmd heading: 44.170154 deg, new cmd heading: 44.779050 deg. 2j5B<=HeadingCmd: 0.781542 target range: 245.699997 and range: 245.70 m. j=!H?j9j9j9i9hAhAhAhAfIfIfIrfIbfM@ɛBK 隥I s<ɚiI=I!H?ii\)!H?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487229JJ{JJJy:J-9JJa@a@a@a@*F ?2F:FBF_0JFG=fGB)OEQ>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735481Qgw,YA6+>Y60?63A96ҒX>y6HϠ?&0*? :`? ?vȿ`/$?`&?@?ɨ6+>6);6C IRiyB I}Mb@Mb@Mb@yyy y)yY}Cl?Mb?:vy}d?}<}T}jA };@)}zAI} Ayy}AII4٢& $=9q-;Q > G٣?KGy>< > Nusing accuracyPremultiplier from config459y?45Y O* iNBp?:e5?@ EA;E;745 B A޵EZjFNOT Ignoring new targets: 245.70 m.Bj <Jj < ProNav: ac range: 245.699997 m, nav range: 61.695850 m, bearing: 109.195718 deg, approach rate: -0.222667 m/s, LOS rate: 0.524530 deg/s, cmd heading: 44.779051 deg, new cmd heading: 45.564897 deg. 2j<HeadingCmd: 0.795258 target range: 245.699997 and range: 245.70 m. jK?jjjihhhhBfffrfbf@Hu>I IZ!II/BI =&I.I6I<:I5 Fɛ}B4OȻ 隥|I <ɚiI=IK?ii)K?))I MXCWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989854 5ZA }YygB*F?2F:FBF05JF"G=G^@BG zG B O >Lmw,YAzKNKػ9KKvK       fG*>Yfw5?f:9fRU>yfH B?fϹ??Z?ǿ??Uj?G?ɨfG*>fʼn;fCUWill construct direction to contact in vehicle frame from tetrahedron phase data.U)>U4=]BDAT read: Rx Time:22:17:09.8289 eTRx dataTimestamp_ set to:1736374630.948970echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.240824 -\$?I1)IIIQQ QQQQiYYiYY)Y aIa a)evAaaaiiiiIiiIu CiuwA qq)qy yyyyЁЅҁAIЁ)ЁiЁyލBލ III4٢m&; 2=9x;Q > G٣y = > Nusing accuracyPremultiplier from config459?45Y)J* iVB:?@ E ;~ ;;45 AZj9=FNOT Ignoring new targets: 245.70 m.BjM<JjM< ProNav: ac range: 245.699997 m, nav range: 61.589825 m, bearing: 109.435845 deg, approach rate: -0.228228 m/s, LOS rate: 0.517778 deg/s, cmd heading: 45.564899 deg, new cmd heading: 46.286479 deg. 2j<HeadingCmd: 0.807851 target range: 245.699997 and range: 245.70 m. j ZN?j j j i h h h1h1f9f9f9rf9bf=y @ɛBP 隍I 6<ɚiI=IZN?iip)ZN?)*Fm?2Fi:FiBFm5JFiJJJJJp:J9 Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494049JJGU GI Ba O >Tuw,:\YA:>Y:27?:89:YT>y:H{?(0? ?a?@Iǿ`p? S?YH?ɨ:>:'|;:Cɸ@BuABp=i@@iDF&uA)F-2 DID H)HɹJTJ~FHLɺN;uAiN= INjFLIPiROuA RRFF)PP VwATTɻTXXIX)XiX)\I^A\ɼ` ``ymBm IMb@Mb@Mb@ )Y +?MbQy?uA $@)AI AyAII4٢x< T=9q:Q > G٣y#< > Nusing accuracyPremultiplier from config 4598? 45YQF* iZB ? : o2?@ E1;90;>45 B yA۵E%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743501B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 245.70 m.Bj<Jj< ProNav: ac range: 245.699997 m, nav range: 61.510616 m, bearing: 109.634090 deg, approach rate: -0.199403 m/s, LOS rate: 0.499713 deg/s, cmd heading: 46.286478 deg, new cmd heading: 46.881956 deg. 2jy<HeadingCmd: 0.818245 target range: 245.699997 and range: 245.70 m. jyxQ?jjjih h h9hEvBfIfIfyrfbfr@ ]$?IɛBnn- kI %!ȳ<ɚ!i!I%=I-yxQ?i)iMݖ)MyxQ?)Q*FE?2FA:FABFE3JFIZH RH @AHU q>IU C IU G!IIU BIU =&IQ .IU =D6IU x<:IU FBIJIRIZI =bI =jIݩ5 Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 22:17:09.8289 LVL= 19952, 32753, 26994, 32755, AGC= 62, IDX= 416, 0.31,-1.116,-2.738,-2.612,-2.074, PHS= 1.046,-0.617,-0.540, RAW= 92.3, 1.4, CAL= 100.3, -1.7, ROT= 49.7, 1.7 5 Ygot valid direction response: 22:17:09.8289 LVL= 19952, 32753, 26994, 32755, AGC= 62, IDX= 416, 0.31,-1.116,-2.738,-2.612,-2.074, PHS= 1.046,-0.617,-0.540, RAW= 92.3, 1.4, CAL= 100.3, -1.7, ROT= 49.7, 1.7 = PDAT read: Bearing 49.7, 1.7 (Local) = ~Local bearing/azimuth received: Bearing 49.7, 1.7 (Local) E DAT read: Range 10 to 50 : 243.9 m (Round-trip 325.3 ms) speed 0.0 m/s } ,DAT read: user:2463>  BDAT read: Tx time:22:17:10.9494  $Ping request sent. i T?  q= ?3? +< ?G- RG5 qAG1 ) I ^?i < +8tdV? ݿpU?) I :żi z&@ ෿  :publishing transmit ping timeر  Fpublishing direction and range info 9 |7 w{*}^x?KqsD?y  G B O5 >{w,GYAA A)AIAiAAAAA A)AIAiAAAE+8tdV? ݿpU?)AIAiAAAAV?YVP+:?Vv49VQT>yVH?ݺ?@@?s2?neǿ௏?a?G?ɨV?V;TyB II I 4٢|< I=9;Q >!a eG٣e@KGym< m> uNusing accuracyPremultiplier from configq}459u⩋?}45Yu$B* iu]By4?@u!Eu;u;uB45 `AkEZh?kE0Ʒr/ kA kE%=YA:kEsCBkECrCZkEಒ@"EYʩ<ʩ0@ϳ]6n@E|7 w{*}^x?KqsD?JkEz&@RkE ෿*Ev%['obIm@E

uI?"kEK*kE.kE)?kEH\{/ 2kECkE)?kE( kECkE2AkE? addTargetRange:: Added new target pos. range: 243.899994 m, deltaT: 4.032275 s, deltaX: -1.800003 m, approachRate: -0.446399 m/s, rangeRepo size: 4  Added new target pos. range: 243.899994 m, bearing: 262.663055 deg, lat: 36.904701 deg, lon: -122.121652 deg, deltaT: 4.032275 s, deltaX: -1.800003 m, approachRate: -0.446399 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 243.90 m.BjJj ProNav: ac range: 243.899994 m, nav range: 18.274862 m, bearing: 110.959030 deg, approach rate: 0.000000 m/s, LOS rate: 0.499713 deg/s, cmd heading: 46.881957 deg, new cmd heading: 47.517387 deg. 2jzKTMK 9KKwK  2#`1Z:}kVG3#=HeadingCmd: 0.829335 target range: 243.899994 and range: 243.90 m. j=JOT?j9j9jAiAhAhAhIhIfIfIfIrfU|n@bfUZ?ɛBfC 隽I w<ɚiIZ=IJOT?ii")JOT?)]Will construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:22:17:10.9486 *F2F:FBF_0JFGrA GrA I G iG B O >̂w,M ZA6N?Y6By6H`V? 3E`_?~?@V?mǿ+??E?ɨ6N?6uӉ;6CbWill construct direction to contact in vehicle frame from tetrahedron phase data.JSK[(3 K[(.KSKS"KSJXJZ{JZ0JXJXJZ-9JZـ3JXy}łBލ IIIK4٢e< uF=9NQ > G٣y< >  Nusing accuracyPremultiplier from config=459?=45Y=* iaB9EX7?E@!E <y <FF45B HAصEZjFNOT Ignoring new targets: 243.90 m.Bj<Jj< ProNav: ac range: 243.899994 m, nav range: 18.191366 m, bearing: 111.691426 deg, approach rate: -0.202023 m/s, LOS rate: 1.780154 deg/s, cmd heading: 47.517387 deg, new cmd heading: 49.723509 deg. 2j=HeadingCmd: 0.867839 target range: 243.899994 and range: 243.90 m. j*^?jjjih!h!h!hIfIfQfQrfQbfU?ɛB = 隭DI <ɚiI.=Il\?iiĽ)*^?)*F2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.u=u:?G ę  ^$?I G B O >w,%ZAyȂB IMb@Mb@Mb@ )YbX9?:v    G٣ y > -Nusing accuracyPremultiplier from config!5459%Nj?=45Y%:* i%eBEo?E:E2?E@%!E%+;%τ;%I45Y ]3AYZjFNOT Ignoring new targets: 243.90 m.HUo>IUC IUM!IIU%BIU =&IQ.IQ6IUF<:IUg FBjm=Jjm= ProNav: ac range: 243.899994 m, nav range: 18.123320 m, bearing: 112.354951 deg, approach rate: -0.187124 m/s, LOS rate: 1.831464 deg/s, cmd heading: 49.723507 deg, new cmd heading: 51.720700 deg. 2j=HeadingCmd: 0.902696 target range: 243.899994 and range: 243.90 m. jg?jjjJJWill construct direction to contact in vehicle frame from tetrahedron phase data.ihhhhBfffrfbf*?ɛmBmF imIq uw<ɚqiqIuu=I}g?iyi}0)}g?)*FY2FY:FYBFYJFaG=0ԪGBO>zK rOK 9K K xK |vqmjd^^YVSROLJKGFCA>;:8756100/+,+('&)&$! BK :K qA} Will construct direction to contact in vehicle frame from tetrahedron phase data.#w,?ZAV ?YVj%B?Vq%;9VU>yVH4?2?(?i?2ǿb?f?E?ɨV ?V ;VCybׂBb IIjIj4٢r= r]=9rOQ v>tt vG٣vAKGyzh= z> ~Nusing accuracyPremultiplier from config|459~Ջ?45Y~c6* i~jB 7? @~ !E~j:~:~L45 _$?IB AյEZjFNOT Ignoring new targets: 243.90 m.Bj<Jj< ProNav: ac range: 243.899994 m, nav range: 18.055090 m, bearing: 113.001770 deg, approach rate: -0.177917 m/s, LOS rate: 1.692995 deg/s, cmd heading: 51.720699 deg, new cmd heading: 53.667700 deg. 2j<=HeadingCmd: 0.936678 target range: 243.899994 and range: 243.90 m. j"o?jjji!h!h!h!h)f)f)f)rf1bf5`i?ɛ}B}OL y}9Iy T)<ɚiI@b=I8l?iiF)"o?)*F%?2F):F)BF-2JF)JJJJJv:J"9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.GMVGýG B O >w,OYZA6 ?Y60ED?6396ōV>y6H@S?` j?`-?W?@ƿ"~? ?E?ɨ6 ?6U;6CyBBB IEMb@Mb@Mb@AAA A)AYE5^I ?~jtMbp?yE?EDE;EA E@)EhAIE AAyEAIUIU94٢mqI= mB=9uˇ;Q u>qy }G٣yy=< > Nusing accuracyPremultiplier from config459 勜?45Y1* ivB?:>?@!EN;;qP45 gAZjFNOT Ignoring new targets: 243.90 m.Bj=Jj= ProNav: ac range: 243.899994 m, nav range: 17.972288 m, bearing: 113.752271 deg, approach rate: -0.208511 m/s, LOS rate: 1.898559 deg/s, cmd heading: 53.667699 deg, new cmd heading: 55.928336 deg. 2jޢ=HeadingCmd: 0.976134 target range: 243.899994 and range: 243.90 m. jy?jjjihhhhBfffrf bf I?=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ=BE0 AE־IA Ews<ɚIiIIM=IMYw?iQiUr!)Uy?)Y*F 2F :F BF @5JF IQiGҽGBOI>jHbH<H n>I  I f!II 9BI  =&I .I 6I <:I ? F*J C="J  Will construct direction to contact in vehicle frame from tetrahedron phase data.2w,*sZA6 ?Y6qF?6s+-96BX>y6HM?.`? _?$&?Fƿǣ?`?@%B?ɨ6 ?6OY;6CyfBf!IInIn\4٢vȷ= vS=9v;Q z>xx zG٣xy~< ~> Nusing accuracyPremultiplier from config 459'? 45Y-* iBA?@!E:7:S45B %A%еE=B*** querying acoustic contact ***j9j9ZjIUFNOT Ignoring new targets: 243.90 m.BjU7=Jj]7=m ProNav: ac range: 243.899994 m, nav range: 17.897106 m, bearing: 114.445815 deg, approach rate: -0.193615 m/s, LOS rate: 1.793535 deg/s, cmd heading: 55.928335 deg, new cmd heading: 58.016730 deg. 2jmܙ=uHeadingCmd: 1.012583 target range: 243.899994 and range: 243.90 m. juR?jqjyjyiyhyhyhhfffrfbfs$@ɛB 隽ƾI i<ɚiI=IR?ii A)R?)*FU?2FQ:FQBFU\0JFQG-ӋzKmNNKiKiKmyKmRKu ?JKu?GBO )>EWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode. yIyw,ZAVWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.493733 F?Y :I? Q+J=J=J9J9J=:J=ľ9J9J99 9]>y HƗ?Q i?S?? ǿh?e?:?ɨ F? `; CyEBM!III4٢%< -+=9]u:Q ]> G٣BKGy< > Nusing accuracyPremultiplier from config459?45Y{(* iBC?@!E;;X45 AZjFNOT Ignoring new targets: 243.90 m.Bj%x<Jj%xEw,ZABؾ?YB,;L?B(9Bhd>yBHS?&??ߕ?@kǿ?@a>?@.?ɨBؾ?BH;BCyN BN,!I5Mb@Mb@Mb@111 1)1Y51Zd?Mb`?y&1?y5"?5;5`e<5&A 5@)5AI5A1y5AI]I]4٢u= j=9:Q ? G٣y = ? Nusing accuracyPremultiplier from config459?45Y$* iB-?:K?@!EQ;N;[45Y ]EA]͵EZjFNOT Ignoring new targets: 243.90 m.Bj<Jj<Hk>I I!IIRBI&I.I6I[<:Is F ProNav: ac range: 243.899994 m, nav range: 17.732420 m, bearing: 115.952895 deg, approach rate: -0.198171 m/s, LOS rate: 1.766395 deg/s, cmd heading: 60.672092 deg, new cmd heading: 62.556698 deg. 2j=HeadingCmd: 1.091820 target range: 243.899994 and range: 243.90 m. j?jjjihhhhBfffrfbf@ɛeBeۻ i隕DI ҝ<ɚiInv=I?ii.2`)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiձchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.996296*F?2F:FBF^0JFG]G1BAO]v>zK JK K K zK BK :K ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:17:13.6772 m TRx dataTimestamp_ set to:1736374634.980701m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249047,w,QZAV(?YVeO?Vg*9VYk>yVH? ސ?`l.?`=?:ǿU?"?!?ɨV(?VT;TyfBf9!IIrIr4 !I!٢Ma= MM=9M~Q M>QQ UG٣Qy]i = ]> eNusing accuracyPremultiplier from configam459e?m45Ye * ieBiuO?u@e!Ee:e:e^45y }@yZjFNOT Ignoring new targets: 243.90 m.Bj: =Jj: = ProNav: ac range: 243.899994 m, nav range: 17.650776 m, bearing: 116.677787 deg, approach rate: -0.219918 m/s, LOS rate: 1.961559 deg/s, cmd heading: 62.556699 deg, new cmd heading: 64.740316 deg. 2jF=HeadingCmd: 1.129932 target range: 243.899994 and range: 243.90 m. j?jjjihhhhfffrfbf @ɛB !%ϨI) -<ɚ)i)I-=I5T?i1i5J)=?)9*F?2F:FBF _0JF GYD$GBOA>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499892!Ww,ZA2̫?Y2(S?2),92q>y2H`ز??o?`){? n? x(ȿ??@?ɨ2̫?2K;2CyBBB>!I Mb@Mb@Mb@    ) Y -?S㥛?I +?y 5? /< 9< =A @) I  y GAI%I%4٢5_< 5L=9[Q > G٣CKGyU= > Nusing accuracyPremultiplier from config459,?45Y* iBu?:[?@#!E[;]Z;'b45 @Zj  FNOT Ignoring new targets: 243.90 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 22:17:13.6772 LVL= 20672, 32753, 25442, 32755, AGC= 63, IDX= 431,-0.19,-2.299, 2.451, 2.685,-3.115, PHS= 0.904,-0.671,-0.486, RAW= 96.2, 3.4, CAL= 105.3, 1.5, ROT= 44.7, -1.5 ]Ygot valid direction response: 22:17:13.6772 LVL= 20672, 32753, 25442, 32755, AGC= 63, IDX= 431,-0.19,-2.299, 2.451, 2.685,-3.115, PHS= 0.904,-0.671,-0.486, RAW= 96.2, 3.4, CAL= 105.3, 1.5, ROT= 44.7, -1.5 ePDAT read: Bearing 44.7, -1.5 (Local) e~Local bearing/azimuth received: Bearing 44.7, -1.5 (Local) uDAT read: Range 10 to 50 : 242.7 m (Round-trip 323.7 ms) speed 0.2 m/s },DAT read: user:2464> }BDAT read: Tx time:22:17:14.7994 $Ping request sent.?)PwGMN>G=WDZHyRHyGB!O=>HUg>IUC IU!IIUqBIU =&IQ.IUy6H`~P? a^n??@s?XȿzP??@?ɨ62?6@;6CyR+BRV!II^I^V4٢r= vO=9vQ v>xx zG٣xyz.= ~> -Nusing accuracyPremultiplier from config!-459%9?545Y%'* i%B15_?5@%'!E%B2;%T;%e45eB et@eʵEkMs?kM!{Ų1 kI kMZA:kMrCBkMqCZkM@"MO 0hC7GmN?Dabm@MDrxĿ##Hm?^?JkMG@RkMm*M>#@vR {l@MӦ7Ӥ?(ӿ4בXm?"kM*kMAkM!9y?kM1 2kM/CkMNH뉜?kM%., kIkMRAkM1@ addTargetRange:: Added new target pos. range: 242.699997 m, deltaT: 3.777124 s, deltaX: -1.199997 m, approachRate: -0.317701 m/s, rangeRepo size: 4 U Added new target pos. range: 242.699997 m, bearing: 277.551474 deg, lat: 36.904712 deg, lon: -122.122054 deg, deltaT: 3.777124 s, deltaX: -1.199997 m, approachRate: -0.317701 m/s, posRepo size: 4 ZjQ]FNOT Ignoring new targets: 242.70 m.Bj]JjYm ProNav: ac range: 242.699997 m, nav range: 21.540237 m, bearing: 251.017184 deg, approach rate: 0.000000 m/s, LOS rate: 1.862350 deg/s, cmd heading: 67.070197 deg, new cmd heading: 69.308760 deg. 2jiHeadingCmd: 1.209666 target range: 242.699997 and range: 242.70 m. jV֚?jjjihhhhfffrfbf@]?ɛ5 15II1 =<ɚ9i9I= =IEV֚?iAiA)EV֚?)I*F?2F:FBF0JFzKK 9KK{KRK?JK ?%Will construct direction to contact in vehicle frame from tetrahedron phase data. IGȣEG B O >djÖw,vS[A2s$?Y2h\?2D@92}>y2H? ?I??ȿ U?T??ɨ2s$?2ʈ;2CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yF(BFR!IIRIR.4٢Zq ZN=9Z Q Z>\\ ^G٣\ybb= b> fNusing accuracyPremultiplier from configdj459fxF?j45Yf** ifBhje?n@f+!Ef\ ;f ;fh45p r@pB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 242.70 m.Bj-_!Jj-_!M ProNav: ac range: 242.699997 m, nav range: 21.768618 m, bearing: 250.802851 deg, approach rate: 0.607688 m/s, LOS rate: -0.564326 deg/s, cmd heading: 69.308757 deg, new cmd heading: 68.672531 deg. 2jMHeadingCmd: 1.198562 target range: 242.699997 and range: 242.70 m. jyj?jjjih hh!h)fQfYfarfabfmj1?ɛB 䖾I f<ɚiII =I4?ii)yj?)*F?2F:FBF0JFGsPGGpAGBO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode. c$?I 7ɖw,$)([A:٨*?Y:,%c?:pL9:쯅>y:H`.? ;`g? ?@=4?ɿd? G?x?ɨ:٨*?:;:CyJ3BJ_!IMb@Mb@Mb@ )Y??Zd;O?y ?L=Hd>I I!IIBI =&IGD.I6I<:I FBI§CJI§CRIZI =bI =jI‰ 6j<A @)hAIvAy AIIt4٢U<= ]2=9]ԻQ ]>aa eG٣eDKGye,Y= e> Nusing accuracyPremultiplier from config459T?45Y * iB ?:t?@/!E+;3;l45B @ŵEZjFNOT Ignoring new targets: 242.70 m.BjJjM ProNav: ac range: 242.699997 m, nav range: 22.045902 m, bearing: 250.595346 deg, approach rate: 0.590457 m/s, LOS rate: -0.436306 deg/s, cmd heading: 68.672532 deg, new cmd heading: 68.057874 deg. 2jUUHeadingCmd: 1.187834 target range: 242.699997 and range: 242.70 m. jU ?jYjYjYiYhYhYhaheBfafafiJ}J}J}/JyJ}:J}9J}(N3JyJ};Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247299J};J};J};rfibf`6?ɛt mI<ÌI <ɚiI =I?ii) ?)EEmA*F?2F:FBF2JFGqA GnAGug]wGIBYO>zK= JK= h9K9 K= |K= M Will construct direction to contact in vehicle frame from tetrahedron phase data.M ?M ??U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501007zЖw,B[A2F1?Y2i?2[92(>y2HU?v?J?:u?=vʿm?`X??ɨ2F1?2Ή;2C PIRPiyV;BVi!II^|I^[4٢nD4= Ef=9M#Q M>QQ mG٣iyu= }> Nusing accuracyPremultiplier from config459K_?45Y* i(Bz?@3!E*::3p45 @ZjFNOT Ignoring new targets: 242.70 m.BjJj绝 ProNav: ac range: 242.699997 m, nav range: 22.268705 m, bearing: 250.447932 deg, approach rate: 0.618547 m/s, LOS rate: -0.405158 deg/s, cmd heading: 68.057876 deg, new cmd heading: 67.620066 deg. 2jHeadingCmd: 1.180193 target range: 242.699997 and range: 242.70 m. j?jjjihhhhfffrfbf@6?ɛ%B%0I !%cI! -B<ɚ)i)I-B =I5g\?i1i5p)5?)9*F?2F:FBF[0JFG:GaBqO9>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775208M֖w,[[A2o7?Y2o?2Gb92+>y2H?`+?̿?K?@ʿZ?`??ɨ2o7?2w;2CyB@BBp!I Mb@Mb@Mb@    ) Y )\(?V-? rh?y G!? m= C< =A @) AI  A y 3AI%I%4٢ < >=9쎻Q > G٣yo= > Nusing accuracyPremultiplier from config459j?45Y* iDB"?:O?@7!EU;o;s45 4@Zj FNOT Ignoring new targets: 242.70 m.Bj ȽJj Ƚ% ProNav: ac range: 242.699997 m, nav range: 22.522480 m, bearing: 250.309347 deg, approach rate: 0.614591 m/s, LOS rate: -0.331842 deg/s, cmd heading: 67.620068 deg, new cmd heading: 67.209007 deg. 2j%c%HeadingCmd: 1.173018 target range: 242.699997 and range: 242.70 m. j-x%?j)j)j)i)h1h9h9h= Bf9fAfArfAbfE@W4@ɛmBu9 qunIq }<ɚyiyI}nI =IR?ii"f:)x%?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.028069 d$?I*F 2F :F BF_0JFjH<bHHa>IC I!IIBI =&I.I;D6Ir<:Iz FG3G?G>GBO >J J J 0J J :J 9J ـ3J J S;J T;J ';J ';e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279222ܖw,Zu[Ayv?Bvn!II~I~4٢ S=9Q >!! %G٣%EKGy- -> 5Nusing accuracyPremultiplier from config1=4595u?=45Y5) i5_B99E@5;!E5 ;5 ;5,w45MB M^@MµEZjquFNOT Ignoring new targets: 242.70 m.Bj}?Jj}? ProNav: ac range: 242.699997 m, nav range: 22.759750 m, bearing: 250.182632 deg, approach rate: 0.616219 m/s, LOS rate: -0.325663 deg/s, cmd heading: 67.209007 deg, new cmd heading: 66.832831 deg. 2j_HeadingCmd: 1.166453 target range: 242.699997 and range: 242.70 m. jTN?jjjihhhhfffrfbf I@ɛƒBT I 2<ɚiI =I?ii1)TN?)zKBHK+9KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531381K}K  E]V< I*F2F:FBF\0JF"G>G?GzG B O >8w,[A2E?Y2~?2.}92>y2Ht?@j?@$?}#?@c˿`??Cf?ɨ2E?2ʉ;0y^BB^r!IIfIf 4٢n< rN=9r3Q r>tt zG٣xyz> z> Nusing accuracyPremultiplier from config| 459~? 45Y~) i~}B  <checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035391GBO > i Iq w,v[AZ$M?YZzЂ?Zd9Z>yZHx?/?o\?'>?l?˿?*?VL?ɨZ$M?Zz;ZCyttH=\>I=C I=!II=BI= =&I9.I=:D6I=T<:I=_ FMb@Mb@Mb@ )YT㥛 ?)\(?Mb?y!?Ga=<|!A x@)~AI AyQAII(4٢Tk ==9Q > G٣y= > Nusing accuracyPremultiplier from config459?45Y}) iB!?:?@C!E;;o~45 7@EJIJMBAJUJUJQJQJU:JUm9JQJQJU;JU;JU;JU;ZjiuFNOT Ignoring new targets: 242.70 m.BjuFJj}F ProNav: ac range: 242.699997 m, nav range: 23.277239 m, bearing: 250.006225 deg, approach rate: 0.581460 m/s, LOS rate: -0.173598 deg/s, cmd heading: 66.551581 deg, new cmd heading: 66.309509 deg. 2jGHeadingCmd: 1.157319 target range: 242.699997 and range: 242.70 m. j #?jjjihhhh3Bfffrfbf fK @-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:22:17:17.5253 5TRx dataTimestamp_ set to:1736374638.784938=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288541ɛeăBe im%Ii mK<ɚiiiImr=Iu #?iqi}|ǽ)} #?)yEE*E"E*F ?2F :F BF JF zK }@LK K K ~K #" Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540680BK :K ] e$?IY G =GBO >%w,[ANC7T?YNY?N49N>yNH ?`H?6?? c˿ M@?YV?C?ɨNC7T?NpE;NCyZ=BZl!IIfIf.4٢z ~/=9~Q ~> G٣FKGy r= > =Nusing accuracyPremultiplier from config)M459-?U45Y-x) i-BYex?e@-H!E-;-s;-45B @EZjFNOT Ignoring new targets: 242.70 m.BjaJja ProNav: ac range: 242.699997 m, nav range: 23.570827 m, bearing: 249.939554 deg, approach rate: 0.605732 m/s, LOS rate: -0.135842 deg/s, cmd heading: 66.309512 deg, new cmd heading: 66.111991 deg. 2jt5HeadingCmd: 1.153872 target range: 242.699997 and range: 242.70 m. j5?j9j9j9i9h9h9hAhAfafafirfibfm h%@ɛŃBq [I 91<ɚiI=IE?iEaҼ;iE{3)M?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:17:17.5253 LVL= 22688, 32753, 28914, 32755, AGC= 69, IDX= 428, 0.27, 2.691, 1.068, 1.727, 1.935, PHS= 0.844,-0.820,-0.211, RAW= 111.2, 2.6, CAL= 122.0, -1.1, ROT= 28.0, 1.1 Ygot valid direction response: 22:17:17.5253 LVL= 22688, 32753, 28914, 32755, AGC= 69, IDX= 428, 0.27, 2.691, 1.068, 1.727, 1.935, PHS= 0.844,-0.820,-0.211, RAW= 111.2, 2.6, CAL= 122.0, -1.1, ROT= 28.0, 1.1 PDAT read: Bearing 28.0, 1.1 (Local) ~Local bearing/azimuth received: Bearing 28.0, 1.1 (Local) DAT read: Range 10 to 50 : 241.3 m (Round-trip 321.8 ms) speed 0.4 m/s ,DAT read: user:2465>  BDAT read: Tx time:22:17:18.6494  $Ping request sent. iڅnF<ځځۅU?-vlÿw0?)ۅ6Iۅ9iۅIۅہہU:publishing transmit ping time ]Fpublishing direction and range info؁9؅8ĿS}#пtq?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځ*F-?ۅU?-vlÿw0?)ہIہiہہہہ2F):FqBFyJFyG GqAGJ5GBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:22:17:18.6486 ULw,[A I"Oiy~:B~h!IMb@Mb@Mb@ )Y^I +??MbPyX?L=1$A C@)AIE AyAII4٢% Y %9=9-Q ->)Q ]G٣Yy] ]> eNusing accuracyPremultiplier from configam459e#?45Ye') ieB?:?@eL!Ee;e;eh45 @k0?k-M5 k kKr[A:kLqCBkoCZkJQ@"̽C|뾺OL~`l@8ĿS}#пtq?JkIRk*Лu@V@mz@[VXNh@T͛?01*ݿ^si?"k*kBkC꩜?k]Oa5 2kCkv *?kH\{/ kkZBk@ addTargetRange:: Added new target pos. range: 241.300003 m, deltaT: 3.804245 s, deltaX: -1.399994 m, approachRate: -0.368008 m/s, rangeRepo size: 4 ZH RH = Added new target pos. range: 241.300003 m, bearing: 308.533355 deg, lat: 36.904742 deg, lon: -122.122414 deg, deltaT: 3.804245 s, deltaX: -1.399994 m, approachRate: -0.368008 m/s, posRepo size: 4 Zj9=FNOT Ignoring new targets: 241.30 m.BjeJjau ProNav: ac range: 241.300003 m, nav range: 54.666275 m, bearing: 264.906770 deg, approach rate: 0.000000 m/s, LOS rate: -0.135842 deg/s, cmd heading: 66.111990 deg, new cmd heading: 65.937148 deg. 2jqHZ>I I!IIBI =&I.I6Iw<:Iv FHeadingCmd: 1.150820 target range: 241.300003 and range: 241.30 m. jN?jjjihhhh?Bfffrf)n@bf;?ɛ-ǃB- )-ÌI) 5`/<ɚ1i1I5=I=N?i= ;i=)=N?)a*J"J*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G0 GBO>`uw,[A6{a?Y6g2?696>y6H`?_yҀ?~?`;?8Gɿ?#?r]?ɨ6{a?6;4ybxx zG٣xy~> ~> Nusing accuracyPremultiplier from config 459? 45Y) iBq?@P!E::45 %@!ZjAMFNOT Ignoring new targets: 241.30 m.BjUgJjUg ProNav: ac range: 241.300003 m, nav range: 54.871399 m, bearing: 264.840823 deg, approach rate: 0.632962 m/s, LOS rate: -0.202736 deg/s, cmd heading: 65.937150 deg, new cmd heading: 65.740049 deg. 2j" HeadingCmd: 1.147380 target range: 241.300003 and range: 241.30 m. j\ݒ?jjjihhhhfffrfbf?ɛȃB I uօ<ɚiI=I\ݒ?i8;i)\ݒ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.zKsLK9KKK   RK?JK? AIA*F?2F:FBFQ5JFGmVٽG!BAOU2>J J J J J ]:J 9J J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data.bw,Օ\AyM?BMn!IMb@Mb@Mb@ )YGz?S㥫?Mbpy?/]="A @)AI AyAIIm4٢"=< ,=9Q >!! %G٣%GKGy- -> =Nusing accuracyPremultiplier from config9E459=K?E45Y=M) i=BEM?M:M ?M@=T!E=;=x;=45Q Uw@QuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 241.30 m.Bj;Jj; ProNav: ac range: 241.300003 m, nav range: 55.130550 m, bearing: 264.762091 deg, approach rate: 0.542222 m/s, LOS rate: -0.163957 deg/s, cmd heading: 65.740052 deg, new cmd heading: 65.504966 deg. 2j ờ=HeadingCmd: 1.143277 target range: 241.300003 and range: 241.30 m. j=V?jAjAjAiAhAhAhIhMBfIfIfQrfQbfUWK?ɛʃB 늾I <ɚiI=IV?i1;iQ׼)V?)EEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. %f$?I)*F2F:FBF2JF"G>G,>HU [>IQ  IQ IQ IQ &IQ .IQ 6IU r<:IU s F)y } SCG gɽ -G tA! ] Y] tAy] BG B O >φ w,X0\Ay@B p!II%I%4٢5^< 5n=91Q =?99 EG٣AyA E? MNusing accuracyPremultiplier from configIU459M6?U45YM) eWill construct direction to contact in vehicle frame from tetrahedron phase data.aiaechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495590iMBiim@MW!EM;Mڋ;M45uB un@}EZjFNOT Ignoring new targets: 241.30 m.Bj9Jj9 ProNav: ac range: 241.300003 m, nav range: 55.314854 m, bearing: 264.706565 deg, approach rate: 0.538687 m/s, LOS rate: -0.161750 deg/s, cmd heading: 65.504963 deg, new cmd heading: 65.338943 deg. 2j޻HeadingCmd: 1.140380 target range: 241.300003 and range: 241.30 m. j?jjjihhhhfffrfbfr?ɛ˃B 8  I  [:<ɚ iI\=I%?i%W ;i%;ļ)%?))*F?2F:FBF_0JFGQ½GIBQOu6>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748639zKU MKU 9KQ KU KU  '=IJG@;<;<=<7pw,;J\A2Ts?Y2?25I925>y2HC? B?k??Ŀw?? b?ɨ2Ts?2;2CyRABVq!II^I^ 4٢; M=9 Fz   G٣y.> > %Nusing accuracyPremultiplier from config%459?-45Y) i&B)-?-@[!E: :)455B =c@=EZjFNOT Ignoring new targets: 241.30 m.Bj# Jj#  ProNav: ac range: 241.300003 m, nav range: 55.535301 m, bearing: 264.657361 deg, approach rate: 0.551097 m/s, LOS rate: -0.122517 deg/s, cmd heading: 65.338942 deg, new cmd heading: 65.191916 deg. 2j*%HeadingCmd: 1.137814 target range: 241.300003 and range: 241.30 m. j%࣑?j!j!j!i!h!h)h)h)f)fQfQrfYbfe .?JJJJJ-:J9JJɛ̓B0#  I "G<ɚiI=I࣑?i';i'=)࣑?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999301*F?2F:FBFJFGA,[GBO%> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251090w,d\AN%:z?YN<[?N2J9Nu>yNHF?E?`@?O?V?"e?Y ?ɨN%:z?NƎ;NCyZHBZz!IMb@Mb@Mb@ )Y/$?l? G٣HKGy= > Nusing accuracyPremultiplier from config459߾?45Y) i2B^ ? : C? @_!E;;45 @Zj9=FNOT Ignoring new targets: 241.30 m.BjEJjEU ProNav: ac range: 241.300003 m, nav range: 55.766541 m, bearing: 264.606762 deg, approach rate: 0.541240 m/s, LOS rate: -0.117942 deg/s, cmd heading: 65.191915 deg, new cmd heading: 65.040747 deg. 2j]⡻eHeadingCmd: 1.135175 target range: 241.300003 and range: 241.30 m. jelM?jajajaiihihihqhuÃBfyfyfrfbf@ɛU΃B]$C Y]酾Ia e,}<ɚaiaIe=IlM?iG;i>#s=)lM?)jH<bH<HY>I I!IIBI =&I.I6IL<:IV FBIäCJIäCRIZI =bI =jI[5*F%?2F!:F!BF-]0JF)G5pA G5rAG޼GBOf>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503727w,~\A68}|?Y6|?6fv/96i>y6H`?@=&??@?: ?`?v$?ɨ68}|?6cj;6CyNRBN!II^I^\4٢b\= f]=9fٓhh jG٣hyn< n> rNusing accuracyPremultiplier from configpv459rÌ?v45Yr) ir:Bxzd?z@rb!Er ;r;r*45| ~W@|Zj)5FNOT Ignoring new targets: 241.30 m.Bj=Jj=M ProNav: ac range: 241.300003 m, nav range: 55.965061 m, bearing: 264.565531 deg, approach rate: 0.536166 m/s, LOS rate: -0.110962 deg/s, cmd heading: 65.040750 deg, new cmd heading: 64.917496 deg. 2jMMUHeadingCmd: 1.133024 target range: 241.300003 and range: 241.30 m. jU?jQjQjQiQhYhYhYhYfafafarfabfe=@ɛσB* 隕zI i@z<ɚiIj=I?i;iƇ=)?) INiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755950*FE?2FA:FABFEm0JFIzK]oMK]]9KYK]K]50//,& GmݼG)B1OM>J J J J J m:J 9J J } Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006985%w,+ٗ\AM}?Y1?`9<]>yHn?[%??Wx?`셻5?Fl?` G٣y-@< > Nusing accuracyPremultiplier from config459 ʌ?45Y) iDB?:?@f!E;M;G45  @ -B*** querying acoustic contact ***j1j1Zj9=FNOT Ignoring new targets: 241.30 m.BjEJjEU ProNav: ac range: 241.300003 m, nav range: 56.211727 m, bearing: 264.513791 deg, approach rate: 0.522973 m/s, LOS rate: -0.109216 deg/s, cmd heading: 64.917499 deg, new cmd heading: 64.762961 deg. 2jU蕻]HeadingCmd: 1.130327 target range: 241.300003 and range: 241.30 m. j]?jYjYjYiahhh h lBf f f rfbf`+ @ɛуB9 隅rI 8ev<ɚiI=I?i;ieA=)?) IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:17:21.4177 TRx dataTimestamp_ set to:1736374642.566032checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262322*FU?2FQ:FQBFU_0JFQG5"G5?G5>G BO5>H V>I C I !II BI  =&I .I 6I z<:I v F+w,f\AJ,J.AA2~?Y2?2L92/N>y2H1?w?@#?h?7~`??V?ɨ2~?2i;2CyBeBB!IiF]>IF< J=J=ININ4٢VӨ= Vv=9Z IMiWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765387zK LK h9K K K BK qA:K pAK2w,Ӆ\A2&X?Y2y2H ?T`ȟ? ?{?u,??l?ɨ2&X?21r;2CyNqBN!IIVIV34٢^M\= ^I=9b`` fG٣fIKGyfO~; f> nNusing accuracyPremultiplier from confighn459jӌ?r45Yj) ijOBtv?v@jl!Ejp;jcl;j45 B @EZj9=FNOT Ignoring new targets: 241.30 m.BjEDJjEDU ProNav: ac range: 241.300003 m, nav range: 56.598938 m, bearing: 264.435522 deg, approach rate: 0.538296 m/s, LOS rate: -0.107651 deg/s, cmd heading: 64.656866 deg, new cmd heading: 64.528963 deg. 2jU“]HeadingCmd: 1.126243 target range: 241.300003 and range: 241.30 m. j](?jYjYjYiahahahahafififirfibfu@ɛ=ӃBU8y: Y]DIY ]q<ɚYiaIeE=Iu(?i};i}6=)}(?)J3K;ـ3 K; .K3K3"K3JJJJJ:Ju9JJ*F 2F :F BF P5JF MWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:17:21.4178 LVL= 21552, 26897, 27522, 32755, AGC= 62, IDX= 132, 0.13,-2.787, 1.962, 2.725, 2.876, PHS= 0.709,-0.867,-0.154, RAW= 116.9, 4.6, CAL= 127.0, 0.8, ROT= 23.0, -0.8 Ygot valid direction response: 22:17:21.4178 LVL= 21552, 26897, 27522, 32755, AGC= 62, IDX= 132, 0.13,-2.787, 1.962, 2.725, 2.876, PHS= 0.709,-0.867,-0.154, RAW= 116.9, 4.6, CAL= 127.0, 0.8, ROT= 23.0, -0.8 PDAT read: Bearing 23.0, -0.8 (Local) ~Local bearing/azimuth received: Bearing 23.0, -0.8 (Local) DAT read: Range 10 to 50 : 273.1 m (Round-trip 364.2 ms) speed 0.3 m/s ,DAT read: user:2466> BDAT read: Tx time:22:17:22.4995 $Ping request sent.`direction in FSK: [-0.206966,-0.354303,0.911940]%:publishing transmit ping time%Fpublishing direction and range infoI9Myb}ʿ?POֿ3U.?yMCIM0TMi Mk)IIM>iM5?M]M-M@Ml= MA @)MdiMdIIMroC'? (W](?)M@`IMꤽiM]My6H>?=`)?@J??W܌??M?ɨ6_`?6);6CyNsBN!IMMb@Mb@Mb@III I)IYMK7?~jt?MbP?yMI ?M G٣y9 > -Nusing accuracyPremultiplier from config!5459%ٌ?]45Y%o) i%UB]l ?]:ei?e@%p!E%<%~;%45 j@k}U?k}D@4 ky k}W|\A:k}CBk}CZk}@"} @?BL|HC0X`ҟ!o@}yb}ʿ?POֿ3U.?Jk}]Rk}<*}*qC"[@TD9Y$hl@}vPTo?tGؿb_?"k}1*k}BZHQRHUAAH]S>IY I] "II]BI] =&IY.I]9D6I]9<:I]D Fk}k?k}IR4 2k}Ck}!9y?k}1 k}/Ck}Bk}@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 273.100006 m, deltaT: 4.031863 s, deltaX: 31.800003 m, approachRate: 7.887174 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 241.30 m.Bj8Jj8  ProNav: ac range: 241.300003 m, nav range: 56.838192 m, bearing: 264.383459 deg, approach rate: 0.500744 m/s, LOS rate: -0.108506 deg/s, cmd heading: 64.528964 deg, new cmd heading: 64.373433 deg. 2j HeadingCmd: 1.123528 target range: 241.300003 and range: 241.30 m. jϏ?jjjihhhhYBff!f!rf%q@bfM0?ɛԃB +; 隝CI +n<ɚiI!?w,1\A6*~?Y6?6C96>y6H\9?ѯ@?@?b? 6 ~? ??ɨ6*~?6A,;4 I!Will construct direction to contact in vehicle frame from tetrahedron phase data.yB!I) AII4٢= 6=9{ G٣y >  Nusing accuracyPremultiplier from config 459 ?45Y y) i YB,?@ t!E  ; e ; j45) -@)ZjQ]FNOT Ignoring new targets: 241.30 m.Bj]Jj]m ProNav: ac range: 241.300003 m, nav range: 57.070633 m, bearing: 264.332847 deg, approach rate: 0.583186 m/s, LOS rate: -0.126468 deg/s, cmd heading: 64.373433 deg, new cmd heading: 64.222214 deg. 2juuHeadingCmd: 1.120889 target range: 241.300003 and range: 241.30 m. juKy?jyjyjyiyhyhyhhfffrfbf ?ɛՃBf; I `l<ɚiI"<zK JK K K K IUKy?i];i]o=)]Ky?)Y*F?2F :F BF 5JF G=GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.4Ew, ]A-k}?Y-?-b9-h>y-H`?`d=?`6?f_?(BL?"??ɨ-k}?-E;-C)!I!!! )111i11i11)9 9I9 9)999AAAiAIYYIaiewA aa)ai iiiiqqIq)qiqqy}B}!I I%Mb@Mb@Mb@!!! !)!Y%(\?~jt?I +?y%z?%=%94<% A %@)%@I%v@!y%@I=I=K4٢Me= M*=9M_]QQ UG٣UJKGy]+> ]>Will construct direction to contact in vehicle frame from tetrahedron phase data.D?S? Nusing accuracyPremultiplier from config 459H猜? 45Y$) iaB ? : ? @y!E3;8;˱45! %:@!eB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 241.30 m.Bju<Jj< ProNav: ac range: 241.300003 m, nav range: 57.355991 m, bearing: 264.275428 deg, approach rate: 0.564339 m/s, LOS rate: -0.112988 deg/s, cmd heading: 64.222213 deg, new cmd heading: 64.050816 deg. 2jHeadingCmd: 1.117898 target range: 241.300003 and range: 241.30 m. jE?jjjihhhhNBfffrfbfd?ɛU׃B]1; Y]IY ]Pj<ɚYiYIeyIe C Ie ("IIe փBIe  =&Ia .Ia 6Ie <:Ie s FJ J J J J J J J 9J J J ;a J ;a J 8;a J 8;a u Will construct direction to contact in vehicle frame from tetrahedron phase data.u T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.G >=GyBO5>Mw,8]A6{?Y6?6;96%=y6H`G?ާ b?s? ?燠b}і??ɨ6{?6;6Cɸ@B7uABbiBPhF@iDJuA)J W JFIH H)LɹN`eLLLɺNuAiN 0IRjFPIPiRGuA R$R?F)PT TTTɻTXXIX)XiX)\I^āA\ɼ\ \\yޭBޭ!III-4٢= U=9 G٣ynɼ > Nusing accuracyPremultiplier from config 459쌜? 45Yז) ieBϡ?@|!E;8;45%B -'@)ZjFNOT Ignoring new targets: 241.30 m.BjJj ProNav: ac range: 241.300003 m, nav range: 57.562595 m, bearing: 264.232301 deg, approach rate: 0.558244 m/s, LOS rate: -0.116112 deg/s, cmd heading: 64.050816 deg, new cmd heading: 63.921899 deg. 2j_HeadingCmd: 1.115648 target range: 241.300003 and range: 241.30 m. j͎?jjjihhhhfffrfbf ?ɛQ]K; ]r=隅`ҽI bDi<ɚiI||VrTw,R]AVx?YV@?V <9V=yVH?T(? ?@/? 󓕿`V m?`?ɨVx?VF;T]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997995yޭBޭ!II-I-P4٢=h< =D=9EXAA MG٣MKKGyM~ M> ]Nusing accuracyPremultiplier from configQ]459U ?e45YUƐ) iUgBaeZ?e@U!EU:U;:U45mB u@uEZjFNOT Ignoring new targets: 241.30 m.BjJj ProNav: ac range: 241.300003 m, nav range: 57.799244 m, bearing: 264.180500 deg, approach rate: 0.584203 m/s, LOS rate: -0.127354 deg/s, cmd heading: 63.921896 deg, new cmd heading: 63.767131 deg. 2jͮHeadingCmd: 1.112946 target range: 241.300003 and range: 241.30 m. ju?jjjihhhhfffrfbfi@ɛ؃Bb;  @I  Uh<ɚiI h$?I%Li Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250299Zw,%l]AjH<bH<H N>I I A"II BI  =&I.I6I <:IBH~GN|uAZZA r Yr|uAyrB}Hu?Y}?}<9}=y}Hq?Erv??@fz?6`\YW?`X?ɨ}Hu?};yyB!I}Mb@Mb@Mb@yyy y)yY}V-?:v?I +?y}?}T=y}A }@)yI}@yy}=@II4٢U/= C=9) G٣ypм > Nusing accuracyPremultiplier from config459?45Y+) ihB ? : |? @!E;3;X45B M@EZj9EFNOT Ignoring new targets: 241.30 m.BjEJjEJ}J}JyJyJ}:J}9JyJyJ}Q;J}R;J}:;J}:; ProNav: ac range: 241.300003 m, nav range: 58.056927 m, bearing: 264.126938 deg, approach rate: 0.603665 m/s, LOS rate: -0.124921 deg/s, cmd heading: 63.767131 deg, new cmd heading: 63.607158 deg. 2jwHeadingCmd: 1.110154 target range: 241.300003 and range: 241.30 m. j?jjjihhhh Will construct direction to contact in vehicle frame from tetrahedron phase data. > %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754275^aw,\]A>r?Y>?>q<9>(=y>H@? Ub? wm?@$?<>^M??ɨ>r?>9ފ;QQ UGzK]K]9KYK]K]٣Qym m> }Nusing accuracyPremultiplier from configq}459u?45YuÄ) iugB&?@u!EuX ;uA;uj45 @ZjFNOT Ignoring new targets: 241.30 m.Bj%uJj%u- ProNav: ac range: 241.300003 m, nav range: 58.267982 m, bearing: 264.081163 deg, approach rate: 0.580374 m/s, LOS rate: -0.125421 deg/s, cmd heading: 63.607161 deg, new cmd heading: 63.470332 deg. 2j5&=HeadingCmd: 1.107766 target range: 241.300003 and range: 241.30 m. j=Iˍ?j9j9j9i9h9hAhAhAfAfIfIrfIbfMx@ɛ&< 隽8TI af<ɚiID=IIˍ?i;i^=)Iˍ?)Eu~M<}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006752*F% ?2F! :F! BF! JF! G f=G B1 Ou >gw,8]A2)p?Y2R?2wH=92=y2H@?8@? M?%?;#t?`(ڑ??ɨ2)p?2pO;0y>̃B>"IDD Mb@Mb@Mb@    ) Y {Gz?V-?y&1|?y #? m= `; zA Q@) v@I @ y IUIU\4 I٢= A=9c G٣y䵼 > Nusing accuracyPremultiplier from config%459?%45Y}) ibB-$?-:-ş?-@!E>;=; 45Y ]@YZjFNOT Ignoring new targets: 241.30 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:17:25.2664 TRx dataTimestamp_ set to:1736374646.596611checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259095BjJj5 ProNav: ac range: 241.300003 m, nav range: 58.534412 m, bearing: 264.023047 deg, approach rate: 0.632134 m/s, LOS rate: -0.137258 deg/s, cmd heading: 63.470332 deg, new cmd heading: 63.296779 deg. 2j5e=HeadingCmd: 1.104737 target range: 241.300003 and range: 241.30 m. j=h?j9jAjAiAhAhAhIhMWBfififqrfqbfu@U^ @ɛڃB 3J< 隽׼I |e<ɚ i I ]=Ih?ie;iz4K=)h?))HEL>IA IEZ"IIEBIA&IA.IA6IEy<:IEk FBIŢCJIŢCRIZI =bI =jI|6Emp=*F?2F:FBFJFJ J J J J :J b9J J J ;J ;J 0.;J 0.; Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս AiՍ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510551G z=G B O >-nw,x]AZm?YZ'!?ZZ)=9Z=yZH*'?``+x? !-?F?WÆ?)@?`?ɨZm?Z;Xyb҃Bb#"IInIn4٢v< zO=9zs|| ~G٣~LKGy~ ~>  Nusing accuracyPremultiplier from config459 ?45Yw) i[B?@!EE;;45! %S@!=B*** querying acoustic contact ***j9j9ZjIUFNOT Ignoring new targets: 241.30 m.BjUs$JjUs$m ProNav: ac range: 241.300003 m, nav range: 58.779026 m, bearing: 263.967846 deg, approach rate: 0.639770 m/s, LOS rate: -0.143773 deg/s, cmd heading: 63.296777 deg, new cmd heading: 63.131864 deg. 2juWŻ}HeadingCmd: 1.101859 target range: 241.300003 and range: 241.30 m. j} ?jyjyjyiyhyhyhhfffrfbfF @ɛ݀P< 隽I e<ɚiIN=Im ?im;imz6=)m ?)qEyEy*Ey"Ey IEWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: Range 10 to 50 : 272.0 m (Round-trip 362.7 ms) speed 0.4 m/s ],DAT read: user:2467> ]BDAT read: Tx time:22:17:26.3495 e$Ping request sent.euw,5]ARWill construct direction to contact in vehicle frame from tetrahedron phase data.VJDAT read: TxSync time:22:17:26.3487 yu΃Bu"III4٢u .=9Q > G٣y > -Nusing accuracyPremultiplier from config!5459%?545Y%#p) i%TB115@%!E% ;%` ;%45=B E@EE addTargetRange:: Added new target pos. range: 272.000000 m, deltaT: 7.813225 s, deltaX: 30.699997 m, approachRate: 3.929235 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 241.30 m.BjJj ProNav: ac range: 241.300003 m, nav range: 59.074486 m, bearing: 263.901797 deg, approach rate: 0.620546 m/s, LOS rate: -0.138027 deg/s, cmd heading: 63.131862 deg, new cmd heading: 62.934706 deg. 2jtHeadingCmd: 1.098418 target range: 241.300003 and range: 272.00 m. j?jjjihhhhfffrfq@bf@Ѯ?ɛeۃBmZL< q}ɼIy ae<ɚiIj=I?iqs;iSF=)?)! i$?I*F?2F:FBF0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH @AH J>I C I m"II BI  =&I .I 8D6I 7<:I 9 FG 5PK=G B) O] >{w,5]Ay~ՃB~&"Ii GJJJ1JJ:JJ3JJQ;JR;JJ٣y > Nusing accuracyPremultiplier from config459?45Yvi) iKBC+?:?@!E;;$45  =@EWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 241.30 m.BjJj ProNav: ac range: 241.300003 m, nav range: 59.335213 m, bearing: 263.849234 deg, approach rate: 0.634116 m/s, LOS rate: -0.127278 deg/s, cmd heading: 62.934709 deg, new cmd heading: 62.777712 deg. 2j HeadingCmd: 1.095678 target range: 241.300003 and range: 272.00 m. j +??j j j i h hhhiBfffrfbf`ڛ?ɛh W< 隝GI :e<ɚiI=I+??i;i P=)+??)*Fu?2Fy:FyBF}P5JFy IKiG .H=] Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,j ^AzKNKN9KLKNKNRKV?JKV>yr҃Br#"IIzIz4٢%*Y -U=9)Q ->11 5G٣5MKGy1 => ENusing accuracyPremultiplier from configAM459E{#?M45YEc) iEBBIIM@E!EE:E.:Eu45Q f@ZjFNOT Ignoring new targets: 241.30 m.Bj%Jj%] ProNav: ac range: 241.300003 m, nav range: 59.583668 m, bearing: 263.799582 deg, approach rate: 0.653384 m/s, LOS rate: -0.130029 deg/s, cmd heading: 62.777710 deg, new cmd heading: 62.629376 deg. 2j]ymHeadingCmd: 1.093089 target range: 241.300003 and range: 272.00 m. juV?jqjqjyiyhyhyhhfffrfbf`p?ɛ|P< `I |e<ɚiI!=IV?i?;iX=)V?)*F%?2F!:F!BF%2JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.GM CXP=Gu qAGu qAGI Bq O > I Ȉw,$^A:5h?Y:$Y?:__=9:=y:He?f?? !??X諿g?`??ɨ:5h?:j;:CyFуBF""IWill construct direction to contact in vehicle frame from tetrahedron phase data.EMb@Mb@Mb@AAA A)AYEHzG?Q?~jtxyAEu=EĻEA Ep@)EhAIE@AyE@I]I]t4٢m  mF=9u=Q u>qq }G٣yyW > Nusing accuracyPremultiplier from config459+?45YH\) i2B*?:?@!Ek;;45 v@ZjFNOT Ignoring new targets: 241.30 m.Bju8Jj}8 ProNav: ac range: 241.300003 m, nav range: 59.851231 m, bearing: 263.735736 deg, approach rate: 0.677422 m/s, LOS rate: -0.160923 deg/s, cmd heading: 62.629379 deg, new cmd heading: 62.438699 deg. 2jܻHeadingCmd: 1.089761 target range: 241.300003 and range: 272.00 m. jI}?jjjihhhh`Bfffrfbf?ɛN< *4=隕`I d<ɚiI =II}?i;i7=)I}?)H=K>I9 I=f"II= BI9&I9.I96I=r<:I=d F*F-?2F):F)BF-_0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm `hZ=GA BI Ou >bw,Ҭ>^ANTMf?YNd?Np=9N=yNH?ͫ@J?@?~ ?@$?`D@*?/?ɨNTMf?Nc;LyZ˃BZ"I)\ \IbIb94٢jQ nT=9r6tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|459~ 3?45Y~U) i~"B  ? @~!E~;~:~p45B @E5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 241.30 m.BjM2JjM2 ProNav: ac range: 241.300003 m, nav range: 60.100025 m, bearing: 263.675022 deg, approach rate: 0.643823 m/s, LOS rate: -0.156464 deg/s, cmd heading: 62.438700 deg, new cmd heading: 62.257313 deg. 2jֻHeadingCmd: 1.086595 target range: 241.300003 and range: 272.00 m. j?jjjihhhhfffrf bf ? aIiɛP?< 隝I Z[d<ɚiIK=I?i];iN =)?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF`0JFGc9=GaBiOZ>zKBHKKKKBcw|tld]UMGBKpA:KqAJ J J J J :J 9J J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265454eەw,X^AJvd?YJy?Jwb=9Jg=yJH9?@I@6?@~?;x?6?篿?'?ɨJvd?J;JCyB "III4٢-{D -E=9- 11 5G٣5NKGyE E> MNusing accuracyPremultiplier from configIU459M~;?]45YM%O) iMBY]?]@M!EM);M[;M45eB m@mEZjFNOT Ignoring new targets: 241.30 m.Bj\7Jj\7 ProNav: ac range: 241.300003 m, nav range: 60.367657 m, bearing: 263.608350 deg, approach rate: 0.646356 m/s, LOS rate: -0.160306 deg/s, cmd heading: 62.257311 deg, new cmd heading: 62.058181 deg. 2jܻHeadingCmd: 1.083120 target range: 241.300003 and range: 272.00 m. j?jjjihhhhfffrfbf@ɛ(< HOI :c<ɚiI=I?i >;i <) ?) *F?2F:FBFo0JF ej$?Ia=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515840GM~=G] ?G]?G! B1 OM >jH! bH! H- J>I)  I- Z"II- BI-  =&I) .I) 6I- `<:I- X Fw,^hr^A:b?Y:1?:=9:+=y:H2?`t>??(?? tճ? ?ɨ:b?:Y;:CyFBF"I%Mb@Mb@Mb@!!! !)!Y%/$? rh?y&1y%,?%C=%`e%A %@)% AI%p@!y%(@I=I=?4٢E8 MH=9M;Q M>QQ UG٣Qy]h ]> mNusing accuracyPremultiplier from configam459eC?m45YedH) ieBu,?u:uǚ?u@e!Ee{!;e ;e45 &@ZjFNOT Ignoring new targets: 241.30 m.Bj2Jj2 ProNav: ac range: 241.300003 m, nav range: 60.633236 m, bearing: 263.544270 deg, approach rate: 0.651092 m/s, LOS rate: -0.156410 deg/s, cmd heading: 62.058184 deg, new cmd heading: 61.866786 deg. 2jֻHeadingCmd: 1.079779 target range: 241.300003 and range: 272.00 m. j46?jjjihhhhfffrfbfy@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767448ɛp^< 隽xI ew,1%^A~_?Y~5?~=9~=y~H8?D ?a?"?@?vM!??ɨ~_?~N;~CyޕBޕ!Ii!>IR= ==II4٢' /=9( G٣yǼ > Nusing accuracyPremultiplier from config459NM?45Y@) iBU?@!E: :45 @ Zj)5FNOT Ignoring new targets: 241.30 m.Bj59Jj59E ProNav: ac range: 241.300003 m, nav range: 60.936817 m, bearing: 263.468290 deg, approach rate: 0.652432 m/s, LOS rate: -0.162477 deg/s, cmd heading: 61.866788 deg, new cmd heading: 61.639984 deg. 2jE߻MHeadingCmd: 1.075821 target range: 241.300003 and range: 272.00 m. jU~?jQjQjQiQhQhQhYhYfYfYfarfabfe @ɛڃBF< 隕pI |a<ɚiI=I~?i;i;<)~?)JuJuJqJqJu:Jub9JqJqEy 1=MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:17:29.1125 ]TRx dataTimestamp_ set to:1736374650.378142echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274781*F]?2FY:FYBF]o0JFYG F< I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523327w,S^AbQ^?YbО?b%=9bj=ybHUz?`0?`\O?? ?.n@*?`?ɨbQ^?bԳ;bCyvBz!I) XCM~Ga}AHN>IC I;"IIBI&I.I9D6I<:I F YyB5Mb@Mb@Mb@111 1)1Y5w/?Zd;? rhy5&?5y=5C1 5@)5 AI5@1y5@IMIM4٢]E e4=9e1;Q e>ii mG٣mOKGyu% u> }Nusing accuracyPremultiplier from configy459}V?45Y}u9) i}B'?:ٗ?@}!E} ;};}45B @EZjFNOT Ignoring new targets: 241.30 m.Bj L,JjL, ProNav: ac range: 241.300003 m, nav range: 61.222019 m, bearing: 263.394297 deg, approach rate: 0.583334 m/s, LOS rate: -0.150635 deg/s, cmd heading: 61.639985 deg, new cmd heading: 61.419042 deg. 2jλHeadingCmd: 1.071965 target range: 241.300003 and range: 272.00 m. j"6?jjjihhhhjBfffrfbf @ɛAE; AEDݽII MC_<ɚIiIIM}=IU"6?iU,;iU<<)U"6?)YEaEa*Ea"Ea]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:17:29.1125 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 173,-0.36,-0.800,-2.422,-1.678,-1.331, PHS= 0.619,-1.044,-0.350, RAW= 114.5, 10.7, CAL= 123.3, 7.6, ROT= 26.7, -7.6 Ygot valid direction response: 22:17:29.1125 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 173,-0.36,-0.800,-2.422,-1.678,-1.331, PHS= 0.619,-1.044,-0.350, RAW= 114.5, 10.7, CAL= 123.3, 7.6, ROT= 26.7, -7.6 PDAT read: Bearing 26.7, -7.6 (Local) ~Local bearing/azimuth received: Bearing 26.7, -7.6 (Local) DAT read: Range 10 to 50 : 269.1 m (Round-trip 358.8 ms) speed 0.3 m/s ,DAT read: user:2468> BDAT read: Tx time:22:17:30.1995 $Ping request sent. ]9 @)]>I]>i]YY]fM{L?0p緿,9莠?)]½I]?i]&}]莿YY:publishing transmit ping timeFpublishing direction and range infoY9] z~`ԿvVTӿ ?yYYYY Y)YIYiYYYYY Y)YIYiYYY]fM{L?0p緿,9莠?)YIYiYYYY*F} ?2F :F BF _0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:22:17:30.1987 G~<GGGBO?mw,^A6]?Y6y.?6P=96=y6H`?`A?`A?x?ދ?@䥲`??ɨ6]?6,;4y>B>!I)@ @IJIJg4٢R R/=9R:Q V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b459^``?b45Y^2) i^Bdfj?f@^!E^:^:^45l n@lzKz2MKz9KxKzKzk e?ke A4 k kT^A:kCBkCZkF@"xtfkU(9QTjO*۩9n@ z~`ԿvVTӿ ?Jk&}Rk莿*(jmM@䎻7 [a\=m@ں?[ Rxٿ"s?"kd*knkBky,?kW:T4 2kCky,?kIR4 kk8Bkt@ addTargetRange:: Added new target pos. range: 269.100006 m, deltaT: 3.778710 s, deltaX: -2.899994 m, approachRate: -0.767456 m/s, rangeRepo size: 4  Added new target pos. range: 269.100006 m, bearing: 298.545650 deg, lat: 36.905336 deg, lon: -122.122943 deg, deltaT: 11.591935 s, deltaX: 27.800003 m, approachRate: 2.398219 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 269.10 m.BjJjM ProNav: ac range: 269.100006 m, nav range: 123.110359 m, bearing: 298.560901 deg, approach rate: 0.000000 m/s, LOS rate: -0.150635 deg/s, cmd heading: 61.419042 deg, new cmd heading: 61.211154 deg. 2jImHeadingCmd: 1.068336 target range: 269.100006 and range: 269.10 m. jm=?jqjqjqiqhqhqhyhyfyfyfrfp@bf4?ɛ=كBEy; amIi uh]<ɚqiqI}=I=?i U k$?IY z%w,\^A6s]?Y6?6~=96=y6H?V( pN?=? ?? k?f?ɨ6s]?6 ;6CyR}BR!IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y)\(?Zd;O?QyG!?j<=u3A @)AI@y@IIJ4٢ 8=9ZQ > G٣PKGy6 >  Nusing accuracyPremultiplier from config 459 i?%45Y A+) i B%!?-:-?-@ !E ; G; 45=B E@EEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 269.10 m.BjӅJjӅ ProNav: ac range: 269.100006 m, nav range: 123.282875 m, bearing: 298.458218 deg, approach rate: 0.393689 m/s, LOS rate: -0.234000 deg/s, cmd heading: 61.211151 deg, new cmd heading: 60.903535 deg. 2j  5HeadingCmd: 1.062967 target range: 269.100006 and range: 269.10 m. j5O?j1j1j1i1h1h9h9h=OBf9fAfArfAbfEn?ɛ(: 隽*7I Z<ɚiI=IO?iI I"IIƒBI =&I.I6I<:I FBIáCJIáCRIZI =bI =jI,5)O?))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G E<G B O >f w,28_A:k]?Y:]?:=9:s=y:H@??@v5?p,?͙?_ ?`?ɨ:k]?:;:CyRmBV!IIbIb44٢f j]=9jQ j>ll nG٣lyrU» r> vNusing accuracyPremultiplier from configtz459vq?z45Yv%) ivyBxzS?z@v!Ev:v:v45 @EZjAEFNOT Ignoring new targets: 269.10 m.BjMVJjMV IIi ProNav: ac range: 269.100006 m, nav range: 123.425072 m, bearing: 298.373616 deg, approach rate: 0.407026 m/s, LOS rate: -0.241886 deg/s, cmd heading: 60.903533 deg, new cmd heading: 60.650022 deg. 2j& HeadingCmd: 1.058543 target range: 269.100006 and range: 269.10 m. j S~?j j j ihhhhfff!rf!bf%`y?ɛ؃B VI @nX<ɚiI =IS~?i\J J J J J m:J 9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498443Q9Ɨw,_Aye_Bm!Iip=I= =IIЬ4٢>n 8=9 Q  > G٣y > -Nusing accuracyPremultiplier from config!-459% {?545Y%) i%_B115@%!E%;%W;%459 E@AZjamFNOT Ignoring new targets: 269.10 m.Bj6Jj6 ProNav: ac range: 269.100006 m, nav range: 123.597801 m, bearing: 298.271320 deg, approach rate: 0.390897 m/s, LOS rate: -0.231177 deg/s, cmd heading: 60.650024 deg, new cmd heading: 60.343569 deg. 2jHeadingCmd: 1.053194 target range: 269.100006 and range: 269.10 m. jφ?jjjihhhhfffrfbf%?ɛ׃B+ !MoII U]U<ɚQiYI]$ =Iφ?iGa̗w,3_A6[?Y68?6ޑ=96l5=y6H`?b ?@'&?@k?@?7hM?`#?ɨ6[?6;6CyFJBF|!IMb@Mb@Mb@ )Y1Zd?Q?Mby"?\=A )IAI@y(AI5I54٢EPݽ EW=9E^ҺQ M>II MG٣IyU0 U>JJ Nusing accuracyPremultiplier from config459?45Y&) iIB r? : ? @!Er;{;545 @ZjYeFNOT Ignoring new targets: 269.10 m.Bjmm|Jjmm|Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002504 ProNav: ac range: 269.100006 m, nav range: 123.742958 m, bearing: 298.182377 deg, approach rate: 0.360591 m/s, LOS rate: -0.220689 deg/s, cmd heading: 60.343567 deg, new cmd heading: 60.077052 deg. 2jtHeadingCmd: 1.048542 target range: 269.100006 and range: 269.10 m. j6?jjjihhhh6Bfffrfbf`@@ɛփB,ϻ Z=隥I vQ<ɚiIP =I6?i3  m$?IE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254408Iӗw,M_A67[?Y6Ɖ?6=96 =y6HJ?`@*??௞?F%?N@??ɨ67[?6nґ;6Cyr?Bro!IIzIzx4٢O^ N=9 (i:Q  >    G٣ QKGy9 > Nusing accuracyPremultiplier from config%459?%45Y) i3B)-}?-@!Eu::}451 5@9ZjamFNOT Ignoring new targets: 269.10 m.BjmƀJjuƀ ProNav: ac range: 269.100006 m, nav range: 123.879608 m, bearing: 298.098415 deg, approach rate: 0.366868 m/s, LOS rate: -0.225166 deg/s, cmd heading: 60.077053 deg, new cmd heading: 59.825447 deg. 2jHeadingCmd: 1.044151 target range: 269.100006 and range: 269.10 m. j?jjjihhhhfffrfbf@ɛ :I &N<ɚiI =I?i7 I Hi.uٗw,*g_A6pY?Y6`?61=96 w=y6H`?@鿿??b???1? ?ɨ6pY?6+;4yF6BFc!I)H HLNAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759147Mb@Mb@Mb@ )Yn?Q?Mby?<A @)AI@yzAII4٢U U*=9]Q ]>YY ]G٣aye= e>HuM>Iq Iu!IIuqBIu =&Iq.Iq6Iu<:Iu F Nusing accuracyPremultiplier from config559䕍?55Y ) iB9?:Ə?@!E;3;55B |@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 269.10 m.BjuJjuU ProNav: ac range: 269.100006 m, nav range: 124.047424 m, bearing: 297.992872 deg, approach rate: 0.341171 m/s, LOS rate: -0.214279 deg/s, cmd heading: 59.825449 deg, new cmd heading: 59.509252 deg. 2jU]HeadingCmd: 1.038632 target range: 269.100006 and range: 269.10 m. j]?jYjYjYiYhYhahh,Bfffrfbf@ɛԃB bI  I<ɚiIH =I ?i +f]w,_A2)>X?Y2<]?2$=92?=y2HA?`2@? ? ? ;?? å?Ҿ?ɨ2)>X?2;2Cy>BBG!IIJIJ4٢R V=9VĺQ V ?XX ZG٣XyZ Z ? bNusing accuracyPremultiplier from config`f559b?f55Yb) ib Bdf?f@b!Eb:be:br55p r@pZj  FNOT Ignoring new targets: 269.10 m.BjmJjm% ProNav: ac range: 269.100006 m, nav range: 124.154953 m, bearing: 297.924760 deg, approach rate: 0.352849 m/s, LOS rate: -0.223312 deg/s, cmd heading: 59.509253 deg, new cmd heading: 59.305095 deg. 2j%A-HeadingCmd: 1.035069 target range: 269.100006 and range: 269.10 m. j-&}?j)j)j)i1h1h1 Ihhfffrfbfޢ @ɛae~| aeIa mFLE<ɚiiiImg=Iu&}?iuR|JK> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514282G k =Gi By O >6w,%A_AyUBU>!III4٢ *=9Q > G٣RKGy > Nusing accuracyPremultiplier from config559?55Y) iB  @!EH;V;55! %1A) Mn$?IIZjQeFNOT Ignoring new targets: 269.10 m.BjrJjrM ProNav: ac range: 269.100006 m, nav range: 124.322624 m, bearing: 297.819005 deg, approach rate: 0.337185 m/s, LOS rate: -0.212386 deg/s, cmd heading: 59.305098 deg, new cmd heading: 58.988263 deg. 2jUHeadingCmd: 1.029539 target range: 269.100006 and range: 269.10 m. jǃ?jjjihh!h1h1fIfQfrfWill construct direction to contact in vehicle frame from tetrahedron phase data.bf9@DAT read: 22:17:32.9617 LVL= 25184, 32753, 27202, 29971, AGC= 68, IDX= 184, 0.40, 1.755,-0.034, 0.765, 1.053, PHS= 0.790,-1.041,-0.292, RAW= 114.0, 6.9, CAL= 123.9, 3.6, ROT= 26.1, -3.6 Ygot valid direction response: 22:17:32.9617 LVL= 25184, 32753, 27202, 29971, AGC= 68, IDX= 184, 0.40, 1.755,-0.034, 0.765, 1.053, PHS= 0.790,-1.041,-0.292, RAW= 114.0, 6.9, CAL= 123.9, 3.6, ROT= 26.1, -3.6 PDAT read: Bearing 26.1, -3.6 (Local) ɛ҃B 2I 3><ɚiIq=Iǃ?~Local bearing/azimuth received: Bearing 26.1, -3.6 (Local) DAT read: Range 10 to 50 : 268.5 m (Round-trip 358.1 ms) speed 0.4 m/s ,DAT read: user:2469>  BDAT read: Tx time:22:17:34.0495 i IC I!IIMBI =&I.I8D6I<:Is Fy@C`b Bj)uIDiq=J?}??Ϣ= e @)=IZ;>iɘ?9QT:v?)BֽIiil͕}:publishing transmit ping time }Fpublishing direction and range info9P!ϿWOӿuw?y )Ii )Iiɘ?9QT:v?)IiE5 <|^=EA EA JK(3 K(.KK"KJ J J 0J J :J 9J ـ3J J 8;J 9;J 3;J 3;*F ?2F :F BF @5JF "G =G =m Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:22:17:34.0487 Ge[=GBO?w,#_A>S?Y>&?>4ȋ=9>S=y>H ?wi?q???u /? ?ɨ>S?> ;>CybBb6!Iij=Ij; n=np=eMb@Mb@Mb@aaa a)aYei|?5?:v?ye?e G٣y > Nusing accuracyPremultiplier from config559?55Y*( iB?:?@!Ex;(; 55B lAEkEO?kE 2 kA kEh_A:kE@CBkEUCZkEx=@"Ei^P7EV[@TP9?n@EP!ϿWOӿuw?JkElRkE͕*EPּP@3e% X83n@EZ$?`%Яֿ=G?"kEI*kEBkE6?kE2 2kECkE6?kAkAkECkE=@ addTargetRange:: Added new target pos. range: 268.500000 m, deltaT: 3.782438 s, deltaX: -0.600006 m, approachRate: -0.158629 m/s, rangeRepo size: 4  Added new target pos. range: 268.500000 m, bearing: 304.813746 deg, lat: 36.905417 deg, lon: -122.122943 deg, deltaT: 3.782438 s, deltaX: -0.600006 m, approachRate: -0.158629 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 268.50 m.BjJj Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 268.500000 m, nav range: 128.936432 m, bearing: 301.232965 deg, approach rate: 0.000000 m/s, LOS rate: -0.212386 deg/s, cmd heading: 58.988266 deg, new cmd heading: 58.620431 deg. 2jHeadingCmd: 1.023120 target range: 268.500000 and range: 268.50 m. j?jjjihh!hAhE&BfIfIfIrfMp@bfUR?ɛЃB@L AI A8<ɚiI=I?i G٣SKGyܻ >}NGtA YtAyB Nusing accuracyPremultiplier from config 559?55Y( iB]?:?@!E;; 55 %A!H=K>I9 I=Z!II=/BI= =&I9.I96I=[<:I=V FB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 268.50 m.BjmwJjmw ProNav: ac range: 268.500000 m, nav range: 129.117981 m, bearing: 301.098461 deg, approach rate: 0.292387 m/s, LOS rate: -0.216316 deg/s, cmd heading: 58.620433 deg, new cmd heading: 58.217495 deg. 2jtHeadingCmd: 1.016087 target range: 268.500000 and range: 268.50 m. j#?jjjihhh h *Bf f frfbf?ɛ]΃BZqQ 隍-ҾI r=0<ɚiI==I#?i??%L??@]?}>? =ݯ??ɨ6w Q?6_m;6CyBBB !IDFAIJIJy4٢VOX V/=9ZȧQ Z>\\ ^G٣\ybt b> fNusing accuracyPremultiplier from configdWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469418U559fˍ?U55Yf( ifBY]ۉ?]@f!EfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721200 ;w,"`A2O?Y2{ ?2q=92=y2Hbf?8?i?`"?`Z@:? ?ɨ2O?2;2CyRBV IIjIj&4٢r vG=9%Q  > G٣y%&[ %> -Nusing accuracyPremultiplier from config) }o$?I559-Ս? 55Y-( i-B9='?E@-!E-=-=-55 B AEZjFNOT Ignoring new targets: 268.50 m.BjtaJj ta% ProNav: ac range: 268.500000 m, nav range: 129.367828 m, bearing: 300.910794 deg, approach rate: 0.261602 m/s, LOS rate: -0.197107 deg/s, cmd heading: 57.930243 deg, new cmd heading: 57.655044 deg. 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5(?5==checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9748262j%EUHeadingCmd: 1.006270 target range: 268.500000 and range: 268.50 m. jUẁ?jQjYjYiYhYhYhahafafafrfbf`3@ɛ˃B% I "<ɚiI=I ẁ?i U IuC IuA!IIuBIu =&Iq.Iu9D6Iu}<:Ius FBI ƢCJI ƢCRI ZI  =bI  =jI 5*F?2F:FBFO5JFG 8<J @AJ J J J J J ݒ:J 9J J J ;J ;J p#;J q#;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225378ew,c<`ABeM?YB"?Bm=9B5=yBHӘ?0? K?@?L]hs@??ɨBeM?B1؉;BCyrBr IMb@Mb@Mb@ )Y9v?~jt?y&1|?y?=`; A )II@yAII4٢% -7=9-0Q ->11 5G٣5TKGy=> => ENusing accuracyPremultiplier from configAM559Eߍ?M55YE( iEBUQ?U:UJ?U@E!EE_;E;Ec55Y ]AaZjFNOT Ignoring new targets: 268.50 m.BjaJja ProNav: ac range: 268.500000 m, nav range: 129.501831 m, bearing: 300.813946 deg, approach rate: 0.364194 m/s, LOS rate: -0.262943 deg/s, cmd heading: 57.655041 deg, new cmd heading: 57.364799 deg. 2jt4HeadingCmd: 1.001205 target range: 268.500000 and range: 268.50 m. jy'?jjjihhhhBfffrfbf$@ɛɃBfO̼ pI <ɚiIz=Iy'?i <G B O >Mw,IR=IIg4٢] 4=9$TQ > G٣y > Nusing accuracyPremultiplier from config5593ꍜ?55Yk( iB?@!E::\"55 hAZj FNOT Ignoring new targets: 268.50 m.Bj}Jj}% ProNav: ac range: 268.500000 m, nav range: 129.638306 m, bearing: 300.713572 deg, approach rate: 0.301060 m/s, LOS rate: -0.221189 deg/s, cmd heading: 57.364799 deg, new cmd heading: 57.063996 deg. 2j-=HeadingCmd: 0.995955 target range: 268.500000 and range: 268.50 m. j=~?jAjAjAiIhQhQhQhQfYfYfYrfYbf]@ɛǃBFί I >b<ɚiI=Ie~?iml w,qq`A6J?Y6G?6mH=96]=y6H`? U?? ?5`٘? ?ɨ6J?6;6C)hIhhh llllippipp)p pIp t)ttttxxixIxxIxi| ||)|   ЁAI ) i  y˂B IMb@Mb@Mb@ )Y333333?:v?~jtx?y?<; @)I`@y\AII4٢y? c=9 Q > G٣y[O > Nusing accuracyPremultiplier from config5594?55Y|( iB?:?@!E;;%55 !B A EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 268.50 m.Bj5tJj5tE ProNav: ac range: 268.500000 m, nav range: 129.744797 m, bearing: 300.630791 deg, approach rate: 0.275614 m/s, LOS rate: -0.214071 deg/s, cmd heading: 57.063997 deg, new cmd heading: 56.815861 deg. 2jMuHeadingCmd: 0.991624 target range: 268.500000 and range: 268.50 m. ju}?jqjqjqiqhqhyhyhyfyffrfbf @*JQ"JUp=ɛeŃB4ּ I  4<ɚiI8=-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233501J5J5J1J1J5:J59J1J1J5;J5;J5';J5';I}?iA p$?I I"w,a`A6BGI?Y6?6^9=96K=y6H@?`qݻ??#?B4?V?ɨ6BGI?6ي;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.FBDAT read: Rx Time:22:17:36.8084 FTRx dataTimestamp_ set to:1736374658.188695Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.486424yǂB IIIa4٢ V  ,=9iQ > G٣UKGyջ > -Nusing accuracyPremultiplier from config)5559-JK>*F?2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.737873G G B O >(w,VԤ`A PIPR%DH?YR:`?Rv+=9RWd=yRH2?@$? 6? BDAT read: Tx time:22:17:37.8996 $Ping request sent. ڝa@)ڝ>IڝV?iڝڙڙ۝Pn?} ſR-z?)۝+I۝^4i۝ ۝ϖۙۙ:publishing transmit ping timeFpublishing direction and range infoؙ9؝*!eӿϰΌͿM[B?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝Pn?} ſR-z?)ۙIۙiۙۙۙMb@Mb@Mb@ )YV-?+?99 =Gۙ٣9yu u> Nusing accuracyPremultiplier from config559{ ?55Y( iBC?:F?@"Ef9;;-55HP>I I"!IIBI =&I.I6I<:I F % A!kQ!?klbš3 k ke`A:kCBkCZk @"yT'T NzO޺ran@*!eӿϰΌͿM[B?Jk Rkϖ*ddA@fZ٫ 3W+n@Qf?=ٿÛN?"kD*k BkP?kb˴3 2k]CkkkCkCkȧ@e addTargetRange:: Added new target pos. range: 266.000000 m, deltaT: 4.031069 s, deltaX: -2.500000 m, approachRate: -0.620183 m/s, rangeRepo size: 4  Added new target pos. range: 266.000000 m, bearing: 288.351839 deg, lat: 36.905417 deg, lon: -122.122943 deg, deltaT: 4.031069 s, deltaX: -2.500000 m, approachRate: -0.620183 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 266.00 m.BjJj ProNav: ac range: 266.000000 m, nav range: 130.025803 m, bearing: 300.416263 deg, approach rate: 0.000000 m/s, LOS rate: -0.236352 deg/s, cmd heading: 56.486207 deg, new cmd heading: 56.142212 deg. 2j%HeadingCmd: 0.979866 target range: 266.000000 and range: 266.00 m. j%z?j!j!j!i!h!h)h)h-,BfQfQfQrfUp@bf]`?ɛB似 :I <ɚiI=Iz?i@H  G٣VKGyó > Nusing accuracyPremultiplier from config559%?55Y-( iB? @ "E=;T;055#B AEZj9]FNOT Ignoring new targets: 266.00 m.BjeJjeu ProNav: ac range: 266.000000 m, nav range: 130.145447 m, bearing: 300.326827 deg, approach rate: 0.357588 m/s, LOS rate: -0.267058 deg/s, cmd heading: 56.142212 deg, new cmd heading: 55.874151 deg. 2jG7HeadingCmd: 0.975188 target range: 266.000000 and range: 266.00 m. jy?jjjihhhhfffrfbfG?ɛ%B% !%I! %;ɚ)i)I-{=I-y?i5 M Will construct direction to contact in vehicle frame from tetrahedron phase data.2P7w,`A^G?Y^'?^G=9^=y^H??n? ?A?72?@_?ɨ^G?^fK;^Cy]B] IIuIu~4٢ L=9OQ > G٣y\: > Nusing accuracyPremultiplier from config559?55Y( iB?@ "E:n:\4559 =A9ZjFNOT Ignoring new targets: 266.00 m.BjzJjz ProNav: ac range: 266.000000 m, nav range: 130.268219 m, bearing: 300.235550 deg, approach rate: 0.295363 m/s, LOS rate: -0.219385 deg/s, cmd heading: 55.874151 deg, new cmd heading: 55.600581 deg. 2jHeadingCmd: 0.970413 target range: 266.000000 and range: 266.00 m. jmx?jjjihhhhfffrfbf-?ɛBn I ;ɚiIsJ=I%mx?i%z=w,`A6#G?Y68.?6w<96<=y6H@>?w??`yy }G٣yyd: > Nusing accuracyPremultiplier from config559~(?55Yݷ( iB ?:?@"E-;;755 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 266.00 m.BjJj ProNav: ac range: 266.000000 m, nav range: 130.394821 m, bearing: 300.139981 deg, approach rate: 0.336161 m/s, LOS rate: -0.253514 deg/s, cmd heading: 55.600581 deg, new cmd heading: 55.314154 deg. 2j-HeadingCmd: 0.965414 target range: 266.000000 and range: 266.00 m. ja%w?jjjihhhh(Bff f rf bf @?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ɛ5B5u 15GI1 =;ɚ9i9I= =IEa%w?iMobDw,eaA:F?Y:R_?:{<9:W&=y:H`Y?A˹?p?-T?@ΘM?@?ɨ:F?:;v;:CyFBF IIRIR4٢Z ZW=9ZVQ ^>\\ ^G٣`yb& b> fNusing accuracyPremultiplier from configdj559fx2?j55Yfl( ifBlnq?n@f"EfX ;f ;f/;55p rArEZj FNOT Ignoring new targets: 266.00 m.BjJj- ProNav: ac range: 266.000000 m, nav range: 130.514145 m, bearing: 300.049533 deg, approach rate: 0.315383 m/s, LOS rate: -0.238844 deg/s, cmd heading: 55.314154 deg, new cmd heading: 55.043059 deg. 2j-#5HeadingCmd: 0.960683 target range: 266.000000 and range: 266.00 m. j5Lu?j1j1j1i1h1h9hAhAfAfAfIrfIbfM`!,?ɛuB} y}Iy }f;ɚiI=ILu?iHkG'=JQJQJQJQJQJQJQJQGBO >%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746704 q Iq 8Jw,J,aA)H HJWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004900zc~G |uA%ZA UYU|uAyUtBUtE?Y}?ʧ<9=yHj?9N? ?_x?@ &@T`r??ɨUtE?É;CyB IHI I!IIBI =&I.I6I<:I FMb@Mb@Mb@ )Y~jt? G٣WKGy%'> %> -Nusing accuracyPremultiplier from config)5559-??555Y-W( i-B5$?=:=?=@-"E-<;-w;-f?55E$B EAEEZjimFNOT Ignoring new targets: 266.00 m.BjuߋJjuߋ ProNav: ac range: 266.000000 m, nav range: 130.669250 m, bearing: 299.931451 deg, approach rate: 0.321636 m/s, LOS rate: -0.244570 deg/s, cmd heading: 55.043060 deg, new cmd heading: 54.689241 deg. 2j'HeadingCmd: 0.954507 target range: 266.000000 and range: 266.00 m. jZt?jjjihhhh%Bfffrfbf&@ɛBP ۼ ,I ;ɚiI`w=IZt?i ] r$?IY {Qw,i9FaA6 MD?Y6Z|?6<96v=y6H?=? ??Cr??ɨ6 MD?6F;4yNBN ITVAIZIZr4٢b  bx=9bSQ f?dh jG٣hynl_ n? rNusing accuracyPremultiplier from configpv559rH?v55Yr( iptzW?z@r"Er5;r;rHB55| ~A|Zj!%FNOT Ignoring new targets: 266.00 m.Bj-苻Jj-苻= ProNav: ac range: 266.000000 m, nav range: 130.774933 m, bearing: 299.850561 deg, approach rate: 0.319870 m/s, LOS rate: -0.244633 deg/s, cmd heading: 54.689239 deg, new cmd heading: 54.446767 deg. 2j='EHeadingCmd: 0.950275 target range: 266.000000 and range: 266.00 m. jE?Es?jAjAjAiAhIhIhQhQfYfYfYrfYbfe@ɛB( 隕I ;ɚiIH =I?Es?i%hzK BoHK +9K K K BK pA:K pAJ] J] JY JY J] :J] 9JY JY 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754707Ww, _aA yB?Y u{? G<9 %=y H?p ?@ޜ?X?@Ӧ@`T?1?ɨ yB? eʼn; Cy%B% II5I5"4٢E EC=9EQ M>II MG٣IyUDK U> ]Nusing accuracyPremultiplier from configYe559]+T?e55Y]g( iYim?m@]!"E];];]E55u%B uAu|EZjFNOT Ignoring new targets: 266.00 m.BjۊJjۊ] ProNav: ac range: 266.000000 m, nav range: 130.907837 m, bearing: 299.748085 deg, approach rate: 0.315210 m/s, LOS rate: -0.242796 deg/s, cmd heading: 54.446768 deg, new cmd heading: 54.139655 deg. 2je&eHeadingCmd: 0.944915 target range: 266.000000 and range: 266.00 m. jmq?jijijiiihihihhfffrf IEibf<@ɛ5B5B 15I1 =G;ɚ9i9I==IEq?iEl]w,cyaAy|~ IMb@Mb@Mb@ )Yx&1?l?~jtx?y!?=;` A 3@)I AyAII4٢q: B=9Q > G٣XKGy > Nusing accuracyPremultiplier from config559_?55Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:17:40.6562 TRx dataTimestamp_ set to:1736374661.968894checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260013YW( i !? : ? @%"E;a;I55 A=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 266.00 m.BjU舻JjU舻e ProNav: ac range: 266.000000 m, nav range: 131.040710 m, bearing: 299.646846 deg, approach rate: 0.314513 m/s, LOS rate: -0.239390 deg/s, cmd heading: 54.139655 deg, new cmd heading: 53.836250 deg. 2jeJ$mHeadingCmd: 0.939620 target range: 266.000000 and range: 266.00 m. jmp?jijijqiqhqhqhyh},BfyfyfyrfbfwU @ɛB 隽JI Ζ;ɚiI#Y =Ip?iadw,pѓaA]@@?Y]x?];.0<9]=y]H ?DtL?l?`?`0yW?` ?ɨ]@@?](;YyޭBޭ Ii>I4< =R=IIJ4٢  E=9FUQ > G٣yMҼ %> -Nusing accuracyPremultiplier from config)5559-j?555Y-m( i-B15?5@-)"E-e:-:->M55A ENAAZjimFNOT Ignoring new targets: 266.00 m.BjuJju󊻝 ProNav: ac range: 266.000000 m, nav range: 131.169098 m, bearing: 299.547085 deg, approach rate: 0.312987 m/s, LOS rate: -0.242962 deg/s, cmd heading: 53.836251 deg, new cmd heading: 53.537264 deg. 2j&HeadingCmd: 0.934402 target range: 266.000000 and range: 266.00 m. j4o?jjjihhhhfffrfbfӞ @ɛBV1 I ƀ;ɚiIM =I4o?i?Eþ ?)wIe#?iw?C/?9!O^ϿW׿)݈I^>ig-皿T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGiBqO\> Ibjw,aA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>T****** received valid address query ******>R****** received valid ping request ******>received new query, but waiting for acoustic response period to elapse5>?Y5Iow?5T;95j=y5H`".?@.l?4U?? xL@? _?ɨ5>?5@;5CyޕBޕ IH=Q>I9 I=!II=BI9&I9.I96I=x<:I=q FMb@Mb@Mb@ )YPn?+?Mb?y$?=< I@)I AypAII4٢ 'Y  <=9Q > G٣y? > %Nusing accuracyPremultiplier from config!-559%"w?-55Y%%( i%B5i$?5:5J?5@%."E%5;%;% Q55='B =A=wEZjamFNOT Ignoring new targets: 266.00 m.BjuƋJjuƋ ProNav: ac range: 266.000000 m, nav range: 131.305527 m, bearing: 299.440850 deg, approach rate: 0.314194 m/s, LOS rate: -0.244404 deg/s, cmd heading: 53.537263 deg, new cmd heading: 53.218893 deg. 2j'HeadingCmd: 0.928845 target range: 266.000000 and range: 266.00 m. jm?jjjihhhh$Bfffrfbf!@ɛB 隍V I q;ɚiIF!=Im?iGY Ba O > I qw,vaA65=?Y6 v?6;96I=y6HR? ?;?{>?ZZ?vݹ?@?ɨ65=?6Յ;6CyBBB IININ4٢R` Vz=9VQ Z?\\ ^G٣^YKGy^c b? fNusing accuracyPremultiplier from config`j559bo?j55Ybh( ibBhj?n@b1"Eb;b;:bS55p rApZj FNOT Ignoring new targets: 266.00 m.BjJj% ProNav: ac range: 266.000000 m, nav range: 131.407990 m, bearing: 299.360419 deg, approach rate: 0.311058 m/s, LOS rate: -0.243985 deg/s, cmd heading: 53.218894 deg, new cmd heading: 52.977789 deg. 2j-q'5HeadingCmd: 0.924637 target range: 266.000000 and range: 266.00 m. j5l?j1j1j9i9h9h9hAhAfAfAfIrfIbfM@ɛuB}N# y}Iy }Y;ɚyiyI"=Il?i}xzK5 BoHK5 ػ9K1 K5 K5 8Dq`J4  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsebww, DaA G٣yY > Nusing accuracyPremultiplier from config%559&?%55Y( iB)-ځ?-@6"E8;^;W559 =A9ZjaeFNOT Ignoring new targets: 266.00 m.Bjm鋻Jjm鋻} ProNav: ac range: 266.000000 m, nav range: 131.545746 m, bearing: 299.251311 deg, approach rate: 0.309201 m/s, LOS rate: -0.244640 deg/s, cmd heading: 52.977789 deg, new cmd heading: 52.650813 deg. 2j}'HeadingCmd: 0.918930 target range: 266.000000 and range: 266.00 m. j?k?jjjihh t$?IDihhfffrfbfM@ɛBnJ +I 8;ɚiI="=I?k?ibI5C I5 II5݂BI5 =&I1.I16I5N<:I5T FG!=GI BY Om >M~w,&aA6P:?Y62s?6:96`=y6H4?ʹ?t? q? QPa??ɨ6P:?6*;6CyNBN IJJJJJ:JJJJQ;aJS;aJ(;aJ(;aMMb@Mb@Mb@III I)IYMjt?Q?~jtx?yM ?M\=M;ME A M3@)M3AIMAIyMAIeIeg4٢u=ż uR=9uQ }>yy }G٣yy\ > Nusing accuracyPremultiplier from config559(?55Y}( iB!?:?@:"E;;-[55 AAtEB*** querying acoustic contact ***jjWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZjFNOT Ignoring new targets: 266.00 m.Bj7Jjm7} ProNav: ac range: 266.000000 m, nav range: 131.661301 m, bearing: 299.158049 deg, approach rate: 0.297541 m/s, LOS rate: -0.239928 deg/s, cmd heading: 52.650814 deg, new cmd heading: 52.371276 deg. 2j}$HeadingCmd: 0.914051 target range: 266.000000 and range: 266.00 m. jBi?jjjihhhhBfffrfbf@pG@ɛB-M )-I) -;ɚ1i1I5 #=I=Bi?i=5w,bbA29?Y28q?292=y2H?`? ?@?ҭࢽT?@??ɨ29?2J;2CyBBB IIJIJ=4٢R; RY=9V˻Q V>TX ZG٣ZZKGyZB Z> bNusing accuracyPremultiplier from config`f559b?f55YbZx( ibBdf?f@b="Eb:b :bx^55l n9AlZj  FNOT Ignoring new targets: 266.00 m.BjJj% ProNav: ac range: 266.000000 m, nav range: 131.772842 m, bearing: 299.067078 deg, approach rate: 0.297440 m/s, LOS rate: -0.242382 deg/s, cmd heading: 52.371275 deg, new cmd heading: 52.098592 deg. 2j%X&-HeadingCmd: 0.909292 target range: 266.000000 and range: 266.00 m. j-\h?j)j)j)i1h1h1h1h1fffrfbf`D@ɛBV  9=I9 =:ɚ9iAIEj#=IE\h?iMYY*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse }v$?IG=G B O >=,w,.bA&Will construct direction to contact in vehicle frame from tetrahedron phase data.*T****** received valid address query *******R****** received valid ping request ******.received new query, but waiting for acoustic response period to elapseHU>I I IIӂBI =&I.I:D6IS<:IZ FC7?Y"p?^]9N =yH`? `Jn?@??@gԫk?? ?ɨC7?{;y5{B5} I Mb@Mb@Mb@    ) Y Mb?y&1?y  ? `<   A `@) AI A y GAII4٢- 5'=95׍Q 5>99 =G٣9y=: E> MNusing accuracyPremultiplier from configIU559MK?]55YMq( iMB] ?]:]{?]@MB"EMk8;M6;Mb55m(B miAmqEZjFNOT Ignoring new targets: 266.00 m.Bj{Jj{ ProNav: ac range: 266.000000 m, nav range: 131.913132 m, bearing: 298.948873 deg, approach rate: 0.287687 m/s, LOS rate: -0.242141 deg/s, cmd heading: 52.098593 deg, new cmd heading: 51.744360 deg. 2j-&HeadingCmd: 0.903109 target range: 266.000000 and range: 266.00 m. j.2g?jjjihhhh Bfff!rf!bf%@@ɛmBuи quIq u_:ɚqiqI}#=I.2g?iq Y I] Ciw,HbAfL5?Yfmn?f9f =yfH@t?`-U? o??3@u?W??ɨfL5?f{;fCyruBvv II~I~m4٢= Eq=9E̴Q E?II MG٣IyMؠ U? ]Nusing accuracyPremultiplier from configQe559UZ?e55YUm( iUBaey?m@UF"EUp;U;Ue55u)B uAunEZjFNOT Ignoring new targets: 266.00 m.BjJj񊻝 ProNav: ac range: 266.000000 m, nav range: 132.009827 m, bearing: 298.866483 deg, approach rate: 0.285339 m/s, LOS rate: -0.242945 deg/s, cmd heading: 51.744359 deg, new cmd heading: 51.497374 deg. 2j&HeadingCmd: 0.898799 target range: 266.000000 and range: 266.00 m. jf?jjjihhhhfffrfbf@ɛB/ hI :ɚ i I c$=If?i!zK BHK h9K K K BK qA:K qA Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse?;w,nbbAfg4?Yfm?fb9f#=yfH@n;?xh?,? ?` =|?Z??ɨfg4?fc;fCyroBrn IIzIzʴ4٢ N=9 Q  >  G٣[KGys\ > %Nusing accuracyPremultiplier from config%5597ǎ?-55Yg( iB)-ox?-@J"E:P:*i551 =A9ZjYeFNOT Ignoring new targets: 266.00 m.BjmJjm} ProNav: ac range: 266.000000 m, nav range: 132.122116 m, bearing: 298.769973 deg, approach rate: 0.283137 m/s, LOS rate: -0.243143 deg/s, cmd heading: 51.497372 deg, new cmd heading: 51.208090 deg. 2j}&HeadingCmd: 0.893750 target range: 266.000000 and range: 266.00 m. jd?jjjihhhhfffrfbfŖ@ɛB I :ɚiIx$=Id? w$?Iiew,c|bA:)2?Y:uuk?:9:5=y:H@Cd?b[ ޱ?'t?JI?ZJ?? a?ɨ:)2?:A};8yRqBRq I-jonly read 0 of 1 data item for BIT error. Device response is::TS,25010814185107,35.0, +10.9, 03, 0  j@j j@j j@j  j@j InIn4٢v/< zL=9z,oQ z>JKـ3 KKK"KJJJJJJ9JJJJJ;J;!! %G٣!y-| -> =bBottom track data is 0.4 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E5595zӎ?E55Y5b( i5BE+:AE:Ev?M@5N"E56;5>5 l55U*B UAUkEuB*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 266.00 m.BjOJjO ProNav: ac range: 266.000000 m, nav range: 132.236099 m, bearing: 298.670983 deg, approach rate: 0.278707 m/s, LOS rate: -0.241838 deg/s, cmd heading: 51.208090 deg, new cmd heading: 50.911379 deg. 2j%HeadingCmd: 0.888571 target range: 266.000000 and range: 266.00 m. jgyc?jjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsefffrfbfs;@ɛB]] 隝I 8ɚiIf9%=Igyc?i(Mw,Sxx zG٣xyz[ ~> ebBottom track data is 0.8 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYm559]ߎ?m55Y]\( i]Bm :im]:mwu?u@]R"E]E5;]Q?]cn55y }AyZjFNOT Ignoring new targets: 266.00 m.BjJj ProNav: ac range: 266.000000 m, nav range: 132.349869 m, bearing: 298.571362 deg, approach rate: 0.279029 m/s, LOS rate: -0.244119 deg/s, cmd heading: 50.911380 deg, new cmd heading: 50.612777 deg. 2j'HeadingCmd: 0.883360 target range: 266.000000 and range: 266.00 m. j#b?jjjihhhhfffrfbf '@ɛ B # I EɚiI%=I#b?i]yw,bAWill construct direction to contact in vehicle frame from tetrahedron phase data."T****** received valid address query ******"R****** received valid ping request ******"received new query, but waiting for acoustic response period to elapseHI I IIɂBI =&I.I6I<:I FBIECJIECRIAZIE =bIE =jIE5}.?Y@f?MK9+=yHX?R&?@??u?s[?@3?ɨ}.?];CyiBh I        Mb@Mb@Mb@ )YCl?V-?MbP?y;?<: A ) AIAyAII4٢b #=9Q > G٣\KGyǼ > Nusing accuracyPremultiplier from config559?55YV( iBT:g?:r?@W"E ; ;r55 AZj)-FNOT Ignoring new targets: 266.00 m.Bj5ĊJj5ĊM ProNav: ac range: 266.000000 m, nav range: 132.482269 m, bearing: 298.453026 deg, approach rate: 0.271745 m/s, LOS rate: -0.242637 deg/s, cmd heading: 50.612778 deg, new cmd heading: 50.258127 deg. 2jM&UHeadingCmd: 0.877170 target range: 266.000000 and range: 266.00 m. jU3`?jQjQjQiQhYhYhYh]Bfafafarfibfm g @ɛB< 隕I aɚiI$%=I3`?i@p _w,(bAynoBno I v=v=IzIz4٢= =9Q ?    G٣ y ? %Nusing accuracyPremultiplier from config!-559%a?-55Y%Q( i%B))-@%Z"E%:%:%au55=+B =A=hEZjaeFNOT Ignoring new targets: 266.00 m.BjmaJjma ProNav: ac range: 266.000000 m, nav range: 132.567337 m, bearing: 298.377376 deg, approach rate: 0.272262 m/s, LOS rate: -0.241962 deg/s, cmd heading: 50.258127 deg, new cmd heading: 50.031326 deg. 2j&HeadingCmd: 0.873211 target range: 266.000000 and range: 266.00 m. jȊ_?jjjihhhhfffrfbf !@ɛB@3 Q I KɚiIN&=IȊ_?i  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezK k3IK 9K K K |w,bAF,?YFze?F\9F =yFH?``c?`?@S?* @(??X?ɨF,?Fd;FCyflBfj IIIy4٢-p -F=9-Q ->1 9IA1 UG٣Qy]`e ]> eNusing accuracyPremultiplier from configam559e=?m55YeRL( ieBiuPq?u@e^"Ee;e;ey55,B AfEZjFNOT Ignoring new targets: 266.00 m.Bj%Jj%U ProNav: ac range: 266.000000 m, nav range: 132.679855 m, bearing: 298.276295 deg, approach rate: 0.260304 m/s, LOS rate: -0.233646 deg/s, cmd heading: 50.031327 deg, new cmd heading: 49.728344 deg. 2jUY ]HeadingCmd: 0.867923 target range: 266.000000 and range: 266.00 m. j]90^?jYjYjYiahahahihififfrfbf@ !@ɛMBM QU IQ URݺɚYiYI]ڨ&=Ie90^?i Iy I} II}ĂBI} =&Iy.Iy6I}h<:I}k FGe <G9 BI Oe >w,]bA6q+?Y6c?68m96c=y6Hb!?\Rİ?`?P?MQҦ? ?^?ɨ6q+?6El;6CyRmBRl I*Jl"Jn4==Mb@Mb@Mb@999 9)9Y=ʡE?Mb?y=?====3 A 9)9I=7A9y9I]I]4٢mn; mH=9m*(Q u>qq uG٣u]KGy}u }> Nusing accuracyPremultiplier from config559?55YG( Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiB?:(q?@b"ER< <|55 AcEB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 266.00 m.BjgJjg ProNav: ac range: 266.000000 m, nav range: 132.788086 m, bearing: 298.179424 deg, approach rate: 0.272557 m/s, LOS rate: -0.243752 deg/s, cmd heading: 49.728343 deg, new cmd heading: 49.437969 deg. 2jH'HeadingCmd: 0.862855 target range: 266.000000 and range: 266.00 m. j\?j j jIiQhQhQhaheBfafifrfbf $"@ɛ{B ?  I  w ɚiI&=I\?iߦ!Řw,cA> *?Y>Tb?>w~9> =y>HB?` B԰?`? ?߲`?@?@?ɨ> *?>;`` fG٣dyfWa f> jNusing accuracyPremultiplier from confighr559jQ?r55YjB( ijBpro?r@jf"Ej;jZ;j55t z AxZjFNOT Ignoring new targets: 266.00 m.Bj%4Jj%4- ProNav: ac range: 266.000000 m, nav range: 132.889389 m, bearing: 298.087975 deg, approach rate: 0.271778 m/s, LOS rate: -0.245155 deg/s, cmd heading: 49.437968 deg, new cmd heading: 49.163831 deg. 2j5?(EHeadingCmd: 0.858071 target range: 266.000000 and range: 266.00 m. jE[?jAjAjAiAhAhIhIhQfafifqrfybfq#@ɛxB/ 隭I "ɚiIH'=I[?i;"C˘w,k1cAWill construct direction to contact in vehicle frame from tetrahedron phase data.=4=I=C I= II=ɂBI9&I9.I96I=<:I= Fy-nB-m IMb@Mb@Mb@ )YZd;?l?{Gzt?y?=ף; A 3@)IAyII4٢<< !=9Q > G٣y > Nusing accuracyPremultiplier from config559,? 55YH;( iB C? : q? @k"E ;;S55 AZjAMFNOT Ignoring new targets: 266.00 m.BjMMJjMM] ProNav: ac range: 266.000000 m, nav range: 133.028152 m, bearing: 297.965573 deg, approach rate: 0.272458 m/s, LOS rate: -0.240081 deg/s, cmd heading: 49.163831 deg, new cmd heading: 48.797015 deg. 2j]$eHeadingCmd: 0.851669 target range: 266.000000 and range: 266.00 m. jmZ?jijijiiihihihqhuBfqfqfyrfybf},s$@ɛEsBE AMzII MLVEɚIiIIM'=IUZ?iU`#Ҙw,rKcAv%?Yvr^?vH9vL=yvH"?@Z:?@n??@! ?zD?@?ɨv%?v&F;vCyrBr IIMIM34٢].< e{=9ewQ e ?ii mG٣m^KGymoK u ? }Nusing accuracyPremultiplier from configy559}17?55Y}7( i}Bim?@}n"E}:};},55-B A`EZjFNOT Ignoring new targets: 266.00 m.BjʊJjʊ ProNav: ac range: 266.000000 m, nav range: 133.114441 m, bearing: 297.886655 deg, approach rate: 0.265514 m/s, LOS rate: -0.242680 deg/s, cmd heading: 48.797016 deg, new cmd heading: 48.560415 deg. 2j&HeadingCmd: 0.847539 target range: 266.000000 and range: 266.00 m. jSX?jjjihhhhfffrfbf;%@ɛ-oB-}. )5UI1 5j~Yɚ1i1I5'=I=SX?i=##J J J /J J J m9J (N3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:2472>  BDAT read: Tx time:22:17:48.8497  $Ping request sent.    G٣ y > 5Nusing accuracyPremultiplier from config1=5595E?=55Y50( i5BAAE@5s"E5;5;5055Q ]AYZjFNOT Ignoring new targets: 266.00 m.BjJj ProNav: ac range: 266.000000 m, nav range: 133.236618 m, bearing: 297.775484 deg, approach rate: 0.260713 m/s, LOS rate: -0.237010 deg/s, cmd heading: 48.560415 deg, new cmd heading: 48.227211 deg. 2j%"HeadingCmd: 0.841724 target range: 266.000000 and range: 266.00 m. j3{W?jjjihhhhfffrfbf&@ɛjB< 隍I yɚiIA(=I3{W?iO$I! I% II%΂BI% =&I!.I!6I%<:I% F*F?2F:FBF1JFG e=G ?G ?G B O >&w,䢀cAB#?YBx\?BG9Bx=yBH ?3mM?VE?? ?8N??ɨB#?Bs;BCyR{BR~ IfWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502121EMb@Mb@Mb@AAA A)AYEK7A?Q?{Gz?yE "?E\=E#yy }G٣yy > Nusing accuracyPremultiplier from config559Q?55Y,( iBP"?:'j?@v"E;;p55/B A[EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 266.00 m.BjJj ProNav: ac range: 266.000000 m, nav range: 133.335083 m, bearing: 297.683364 deg, approach rate: 0.270332 m/s, LOS rate: -0.252723 deg/s, cmd heading: 48.227211 deg, new cmd heading: 47.951060 deg. 2jq-HeadingCmd: 0.836904 target range: 266.000000 and range: 266.00 m. jU?V?jjjihhhhBfffrfbf&@ !I%AiɛfB  隍I  ɚiIJM(=IU?V?iM%}Will construct direction to contact in vehicle frame from tetrahedron phase data.y}R=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754363IGw,qUcA6U #?Y6[?6b96^=y6H? !Nݭ?@C1?`\?^ߴ +?XX ZG٣Z_KGyZK! ^> bNusing accuracyPremultiplier from config`f559b ^?f55Yb'( ibBdf7i?f@bz"Eb:b :b55l nvAlZj  FNOT Ignoring new targets: 266.00 m.BjtJjt ProNav: ac range: 266.000000 m, nav range: 133.433945 m, bearing: 297.590440 deg, approach rate: 0.263338 m/s, LOS rate: -0.247338 deg/s, cmd heading: 47.951060 deg, new cmd heading: 47.672496 deg. 2j)HeadingCmd: 0.832042 target range: 266.000000 and range: 266.00 m. jU?jjjihhhhfffrfbf'@ɛ bB S [j5= fI  LAɚiI.v(=I]U?i]%`JK9KKKRK ?JK? %{$?I!G+=GBO >)Q ] SC NG tA A M FYM tAyM 'A Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261397H} [>Iy  I} II} ӂBIy &Iy .Iy 6I} <:I} F̥w,N cAU֥"?YU#"[?UK̼9U}=yUH?~?(??^t?@g??ɨU֥"?U;UCyޝ|Bޝ I5Mb@Mb@Mb@111 1)1Y5"~j?Q?I +?y5S#?1594<5/ A 53@)5AI5IA1y5zAIeIe4٢T =9 Q > G٣y8 > Nusing accuracyPremultiplier from config559p?55Y( iB#?:h?@"E;;w55 AXEZjFNOT Ignoring new targets: 266.00 m.BjJj ProNav: ac range: 266.000000 m, nav range: 133.578033 m, bearing: 297.455063 deg, approach rate: 0.265479 m/s, LOS rate: -0.249159 deg/s, cmd heading: 47.672497 deg, new cmd heading: 47.266811 deg. 2j*HeadingCmd: 0.824961 target range: 266.000000 and range: 266.00 m. j0S?jj j i h h hhBfffrfbfך(@ɛ\B I ڡɚiI˒(=I50S?i='w,2cA6 ?Y6$nY?6ȼ96-=y6H!?!?@ ??aRy? +??ɨ6 ?6G;6C) -G٣)y- 5> ENusing accuracyPremultiplier from config9E559=|?m55Y=( i= Bimf?u@="E=;=;=55y }AyZjFNOT Ignoring new targets: 266.00 m.BjꉻJjꉻ ProNav: ac range: 266.000000 m, nav range: 133.673279 m, bearing: 297.364551 deg, approach rate: 0.253945 m/s, LOS rate: -0.241152 deg/s, cmd heading: 47.266811 deg, new cmd heading: 46.995472 deg. 2j%HeadingCmd: 0.820226 target range: 266.000000 and range: 266.00 m. jPQ?jjj i h h hhfffrfbf%Z)@ɛUYBU{ QUݾIY ]꫻ɚYiYI]D(=IePQ?ie'V=)ePQ?)i*F%?2F!:F!BF-_0JF)Gz =GBOj>JJJJJ=:J59JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013995zK K h9K K K BK pA:K qA |$?I @w,cA>?Y>X?>&ļ9>.=y>H @?ĭ?@?.?k?`OY?]?ɨ>?>d; G٣`KGy9 > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268647559q?55Y( iBe?@"E<<551 5A1ZjY]FNOT Ignoring new targets: 266.00 m.BjexJjexu ProNav: ac range: 266.000000 m, nav range: 133.792282 m, bearing: 297.250516 deg, approach rate: 0.263851 m/s, LOS rate: -0.252613 deg/s, cmd heading: 46.995472 deg, new cmd heading: 46.653673 deg. 2ju]-ZHRH?AH^>I I II݂BI&I.I;D6IA<:IT FBIuĤCJIuĤCRIqĝHeadingCmd: 0.814260 target range: 266.000000 and range: 266.00 m. j[sP?jjjihhZIu =bIu =jIu߂5hh9fAfIfQrfybfa*@ɛSB^ ԾI j0ɚ!i!I%o(=I%[sP?i-(aa eG٣aye e> }Nusing accuracyPremultiplier from configy559}?55Y}3 ( i}(B&&?:we?@}"E};};}Ϣ551B ASEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 266.00 m.Bj֑Jj֑ ProNav: ac range: 266.000000 m, nav range: 133.949844 m, bearing: 297.100339 deg, approach rate: 0.267859 m/s, LOS rate: -0.255003 deg/s, cmd heading: 46.653672 deg, new cmd heading: 46.203681 deg. 2j/HeadingCmd: 0.806406 target range: 266.000000 and range: 266.00 m. jpN?jjjihhhhBfffrfbfn+@ɛ5NB5F 15;I9 =ǻɚ9i9I=(=IEpN?iE)^ w, +dA6l$?Y6U?6zǼ96yS=y6H{?`@_?@?T?d-?@P?j?ɨ6l$?69;6CyB% II5I54٢u< uq=9}Q }?yy G٣y+ ? Nusing accuracyPremultiplier from config559[?55Y( i3Bc?@"E;A;ĥ55 AZjFNOT Ignoring new targets: 266.00 m.BjuJju ProNav: ac range: 266.000000 m, nav range: 134.038132 m, bearing: 297.014535 deg, approach rate: 0.258271 m/s, LOS rate: -0.250839 deg/s, cmd heading: 46.203682 deg, new cmd heading: 45.946444 deg. 2j&,HeadingCmd: 0.801917 target range: 266.000000 and range: 266.00 m. jjJM?jjjih!h!h!h!f)f)f)rf)bf-`+,@ɛ}JB 隅˾I лɚiIC)=IjJM?iu*IC I IIBI =&I.I6Il<:Iz F*F?2F:FBF0JFGɓ%=Ga Bq O >J J @AJ J J J J ̈́:J 9J J J ;a J ;a J \ ;a J ] ;a  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526001VFw,XEdAJ(?YJtT?JYa eG٣eaKGye) e> uNusing accuracyPremultiplier from configi}559mӹ?}55Ym%( im>B}S!?}:}c?@m"Em;m;m552B APEZjFNOT Ignoring new targets: 266.00 m.Bj4Jj4m ProNav: ac range: 266.000000 m, nav range: 134.148926 m, bearing: 296.908163 deg, approach rate: 0.259198 m/s, LOS rate: -0.248647 deg/s, cmd heading: 45.946443 deg, new cmd heading: 45.627594 deg. 2j*HeadingCmd: 0.796352 target range: 266.000000 and range: 266.00 m. jK?jIjIjQiQhYhahqh}Bfyffrfbf-@ɛEB ,ɾI  ޻ɚi9I=4)=IEK?iE?+ BDAT read: Tx time:22:17:52.6497 $Ping request sent.?iBҽ+4-t?8Eq0׿C;t ?)QKľIơiBF:publishing transmit ping timeFpublishing direction and range info9 ))XͿԳkW*#?y )Ii )Ii+4-t?8Eq0׿C;t ?)IiG (=G qAG rAG B O >w,`dA 6Y?Y6vS?6ɼ96=y6Hۮ?wl^?@N?`O?) 8??!?ɨ6Y?6ވ;6CyN{BR~ IIZIZ94٢bI bX=9f*Q f>x| G٣y 3  > =Nusing accuracyPremultiplier from config1=5595Ə?E55Y5%' i5IBAEb?E@5"E5;:5:555i uAqWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:17:52.6489 kmd?km. ki kmhTdA:km`CBkm^CZkm+@"muGI dЄ~6Ak@m ))XͿԳkW*#?JkmBRkmF*mlj2}MHj@mg r?ybwѿ7<)?"kmo*kmϔkmn?kmR). 2km/Ckmy,?kmb˴3 kikmBkmh@ addTargetRange:: Added new target pos. range: 224.100006 m, deltaT: 14.619040 s, deltaX: -41.899994 m, approachRate: -2.866125 m/s, rangeRepo size: 4 5 Added new target pos. range: 224.100006 m, bearing: 252.763926 deg, lat: 36.905336 deg, lon: -122.122876 deg, deltaT: 14.619040 s, deltaX: -41.899994 m, approachRate: -2.866125 m/s, posRepo size: 4 Zj9MFNOT Ignoring new targets: 224.10 m.BjMJjIe ProNav: ac range: 224.100006 m, nav range: 124.954376 m, bearing: 294.373004 deg, approach rate: 0.000000 m/s, LOS rate: -0.248647 deg/s, cmd heading: 45.627593 deg, new cmd heading: 45.324631 deg. 2jimHeadingCmd: 0.791064 target range: 224.100006 and range: 224.10 m. ju,J?jqjqjqiqhqhqhyhyfyfyfrf@3l@bf?ɛBB ƾI YɚiIV)= ~$?I I,J?zK%BHK%9K!K%K%i%,E Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH H k>I C I I I  =&I FD.I  G٣y > Nusing accuracyPremultiplier from config559,Տ?55Y' iQB?:^?@"E>;%;553B AMEZj FNOT Ignoring new targets: 224.10 m.Bj fJjf ProNav: ac range: 224.100006 m, nav range: 125.067856 m, bearing: 294.264374 deg, approach rate: 0.280457 m/s, LOS rate: -0.268228 deg/s, cmd heading: 45.324630 deg, new cmd heading: 44.999039 deg. 2j8%HeadingCmd: 0.785381 target range: 224.100006 and range: 224.10 m. j%I?j!j)j)i)hhhhڂBfffrfbf@L?ɛm>Buo quɾIq uQ2ɚqiyI}.{)=I}I?iU-U Will construct direction to contact in vehicle frame from tetrahedron phase data.$w,YdAjS0?YjP?j)˼9j-=yjH?u;`:?oH?`?x?t?`?ɨjS0?j^;jCyvrBvr II~I~:4٢ I&  T=9Q > G٣%bKGy% %> 5Nusing accuracyPremultiplier from config)=559-[⏜?=55Y-' i-YB9=?]?E@-"E-:- :-55I MAIZjquFNOT Ignoring new targets: 224.10 m.Bj}ݓJj}ݓ ProNav: ac range: 224.100006 m, nav range: 125.170845 m, bearing: 294.164616 deg, approach rate: 0.267140 m/s, LOS rate: -0.258546 deg/s, cmd heading: 44.999038 deg, new cmd heading: 44.700013 deg. 2jp1HeadingCmd: 0.780162 target range: 224.100006 and range: 224.10 m. jG?jjjihhhhfffrfbf@.?ɛ]:BeP ae,ȾIa eɚaiI)=IG?iu|. +w,LdAB?YB:wO?Bȼ9BJ=yBH`9 ?`{!@?-? ?~? ??ɨB?B ;BCyRmBVl IIfIf4٢rɼ rN=9rq:Q r>tt vG٣tyvqC z> ~Nusing accuracyPremultiplier from configxu559z?}55Yz' izaB \?@z"Ez+I I II݂BI =&I.I=D6IU<:Iq F*F?2F:FBF@5JFG3=GBO>J J J J }J 0J J p:J S9J ـ3J J ;J ;J :J : Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742192 I t1w,*dA6?Y6N?6ֺ96A=y6H,?@(??@?T MZ?P??ɨ6?6/;6CyfqBfq IeMb@Mb@Mb@aaa a)aYeCl?V-?Mb`yed?e G٣yR > Nusing accuracyPremultiplier from config559U?55Y' ihB?:NZ?@"E;;/55 AHEZjFNOT Ignoring new targets: 224.10 m.BjҕJjҕ  ProNav: ac range: 224.100006 m, nav range: 125.384827 m, bearing: 293.954645 deg, approach rate: 0.265642 m/s, LOS rate: -0.261971 deg/s, cmd heading: 44.393194 deg, new cmd heading: 44.070645 deg. 2j 3HeadingCmd: 0.769178 target range: 224.100006 and range: 224.10 m. jD?jjjihhhh%݂Bf!f!f!rf!bf-)?ɛ2B I ɚiI0)=ID?i c08w,dA:N?Y:iL?:@X9:Y=y:HS?3 ?`?.? ʕ?+??ɨ:N?:,;:CyFcBF` IININm4٢VX ZZ=9Z<;Q Z>\\ ^G٣^cKGybi b> jNusing accuracyPremultiplier from configdj559f ?j55Yfq' ifmBlnX?r@f"Eft2;f 2;fw55t vAtZjFNOT Ignoring new targets: 224.10 m.BjRJjR- ProNav: ac range: 224.100006 m, nav range: 125.479759 m, bearing: 293.859864 deg, approach rate: 0.252950 m/s, LOS rate: -0.252353 deg/s, cmd heading: 44.070645 deg, new cmd heading: 43.786521 deg. 2j-0-5HeadingCmd: 0.764219 target range: 224.100006 and range: 224.10 m. j5ۣC?j1j1j1i9hAhAhAhAfIfIfQrfQbfUH@ɛ/B2 隅j˾I m ɚiIG*=IۣC?i)01M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498216ZHi RHm @AH} o>Iy  I} II} ӂBI} =&Iy .Iy 6I} ;<:I} ` FJ>w,dA˱?Y.K?9=yH Eo?@s?`?bL?r"?`ͷ?`?ɨ˱?o;CyE`BE\ I)I IMb@Mb@Mb@ )YzG?:v?Mby ?< A @)~AIyAII4٢ƀ 7=9d:Q > G٣y ^0 > Nusing accuracyPremultiplier from config559y?55Y' ipB3?:V?@"E;Q;555B AEEZjFNOT Ignoring new targets: 224.10 m.BjjJjj ProNav: ac range: 224.100006 m, nav range: 125.592072 m, bearing: 293.746101 deg, approach rate: 0.242605 m/s, LOS rate: -0.245520 deg/s, cmd heading: 43.786523 deg, new cmd heading: 43.445541 deg. 2j(HeadingCmd: 0.758268 target range: 224.100006 and range: 224.10 m. jB?jjjihhhhBfffrfbf`@ɛM*BM" IUʾIQ U\qɚQiQIUR*=I]B?i]C2U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002846j7Ew,"eA2R?Y2I?2!^92<=y2H`?E`?`Z?nl? <mK?Ν?s?ɨ2R?26;0y>_BB[ IIJIJ4٢R Rb=9V;Q V>TT ZG٣XyZr Z> ^Nusing accuracyPremultiplier from config\b559^&?f55Y^' i^rBdfZU?f@^"E^ ;^;^55h nAlZj FNOT Ignoring new targets: 224.10 m.Bj xJjx ProNav: ac range: 224.100006 m, nav range: 125.675217 m, bearing: 293.661128 deg, approach rate: 0.240492 m/s, LOS rate: -0.245614 deg/s, cmd heading: 43.445542 deg, new cmd heading: 43.190795 deg. 2j%(-HeadingCmd: 0.753822 target range: 224.100006 and range: 224.10 m. j-t@?j)j)j)i)h)h1h1h1f1f9f9rf9bf=ԍ@ɛ 'B ߏ  ǾI  ɚiI7*=It@?io3zK BoIK +9K K K RK >JK ?gZKw,V/eAy~WB~Q II-I-4٢Eq EB=9EQ E>II MG٣MdKGyM U> ]Nusing accuracyPremultiplier from configYe559])4?e55Y]>' i]uBaae@]"E]:] :]855u6B uABEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 224.10 m.BjۇJjۇ- ProNav: ac range: 224.100006 m, nav range: 125.777191 m, bearing: 293.557444 deg, approach rate: 0.233820 m/s, LOS rate: -0.237548 deg/s, cmd heading: 43.190797 deg, new cmd heading: 42.879999 deg. 2j-#5HeadingCmd: 0.748397 target range: 224.100006 and range: 224.10 m. j5??j1j1j9i9h9hAhQhQfQfYfarfabfeZ @ɛ#BC 隝˾I 1ɚiIf*=I??i(04IC I IIĂBI =&I.I6IK<:Il FBI§CJI§CRI”CZI =bI =jIb86*FU?2FQ:FYBF]o0JFaGqA GG=Gi B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 22:17:55.3507 LVL= 15664, 28145, 22178, 32755, AGC= 65, IDX= 429, 0.34,-2.245, 2.252, 2.485, 3.029, PHS= 1.097,-0.730,-0.547, RAW= 95.2, 2.1, CAL= 104.1, -0.4, ROT= 45.9, 0.4 5 Ygot valid direction response: 22:17:55.3507 LVL= 15664, 28145, 22178, 32755, AGC= 65, IDX= 429, 0.34,-2.245, 2.252, 2.485, 3.029, PHS= 1.097,-0.730,-0.547, RAW= 95.2, 2.1, CAL= 104.1, -0.4, ROT= 45.9, 0.4 E $?IA E PDAT read: Bearing 45.9, 0.4 (Local) M ~Local bearing/azimuth received: Bearing 45.9, 0.4 (Local) U DAT read: Range 10 to 50 : 222.6 m (Round-trip 296.9 ms) speed 0.4 m/s ] ,DAT read: user:2474> e BDAT read: Tx time:22:17:56.4497 e $Ping request sent.e F]? ?y ^C 0= m V) I i j? H: 1 ȭ? Q = Ǐ?) I KM?i ; >uX?#ڿ7?) tݾI >i @@ Bη N:publishing transmit ping timeؙNFpublishing direction and range info V?YV=G?V9V^=yVH`?h?^v?`? (Q?c? ?ɨV?Vp;T9 "uJh>F]? ?y  ) I i ) I i >uX?#ڿ7?) I i y=SB=M IiE=IE=}Mb@Mb@Mb@yyy y)yY}&1?:v?!! %G٣!y- -> ]Nusing accuracyPremultiplier from configQe559UC?e55YU7' iUvBe?e:exM?m@U"EU);U;UO55 Ak #?k 8f+ k  k YFeA:k ^CBk ]CZk J@" }#0=3@WSk@ "uJh>F]? ?Jk @@Rk Bη*  B9)iAook@ (K1WuĿ=x/Ɍ?"k *k Ik w?k RGl+ 2k QCk P?k 2 k k )Bk @ addTargetRange:: Added new target pos. range: 222.600006 m, deltaT: 3.786533 s, deltaX: -1.500000 m, approachRate: -0.396141 m/s, rangeRepo size: 4  Added new target pos. range: 222.600006 m, bearing: 250.181475 deg, lat: 36.905141 deg, lon: -122.122785 deg, deltaT: 3.786533 s, deltaX: -1.500000 m, approachRate: -0.396141 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 222.60 m.BjJj% ProNav: ac range: 222.600006 m, nav range: 111.081528 m, bearing: 284.841504 deg, approach rate: 0.000000 m/s, LOS rate: -0.237548 deg/s, cmd heading: 42.879999 deg, new cmd heading: 42.531887 deg. 2j!-HeadingCmd: 0.742321 target range: 222.600006 and range: 222.60 m. j->?j)j)j)i)h1h1h1h5Bf9f9f9rf=@3k@bfe`%?ɛB` 隽ɾI = #ɚiI +=I>?ivd5?)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:22:17:56.4489 *F?2F:FBF_0JFG m1=Gy B O >YXw,ceAB. ?YBzE?B 9B˸=yBH`?LC?Y??d?@M?@?ɨB. ?B ;BCyZQB^J IIfIf:4٢n'a np=9rQ v?tt zG٣xyzKj z? ~Nusing accuracyPremultiplier from config|559~N?55Y~' i~wB  6L? @~"E~2 ;~ ;~B557B ,A?E-Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjIMFNOT Ignoring new targets: 222.60 m.BjUJjU] ProNav: ac range: 222.600006 m, nav range: 111.179649 m, bearing: 284.757000 deg, approach rate: 0.323018 m/s, LOS rate: -0.277941 deg/s, cmd heading: 42.531885 deg, new cmd heading: 42.278601 deg. 2je>mHeadingCmd: 0.737901 target range: 222.600006 and range: 222.60 m. juibf_?ɛBE/ ZɾI &ɚiIoF+=IWill construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH H% r>I!  I% II% BI! &I! .I! 6I% <:I% Fַ^w,s}eAV(G ?YVtE?VZ9V=yVH ? Jՙ?T?T? +?͵?`?ɨV(G ?V8,;VCy``Mb@Mb@Mb@ )YGz?y&1?{Gzty?`e<ף A @)I Ay3AII4٢m: ?=9Q > G٣eKGy > Nusing accuracyPremultiplier from config559']?55Y' izB?:FL?@"EI;H;55 /A Will construct direction to contact in vehicle frame from tetrahedron phase data.ew, eA6 ?Y6GOE?6+96=y6H ?K??`I?>? U?y? ?ɨ6 ?6r;6CyBSBBL I)D DIJIJn4٢< V=9 BQ  >   G٣y > %Nusing accuracyPremultiplier from config%559i?-55Y' i}B)-K?-@"E:U:V559 E"AAZjamFNOT Ignoring new targets: 222.60 m.BjuJju ProNav: ac range: 222.600006 m, nav range: 111.415604 m, bearing: 284.554969 deg, approach rate: 0.291458 m/s, LOS rate: -0.249162 deg/s, cmd heading: 41.958829 deg, new cmd heading: 41.673158 deg. 2j*HeadingCmd: 0.727334 target range: 222.600006 and range: 222.60 m. j2:?jjjihhhhfffrfbf#?ɛBӁ ۾I ~0ɚiI+=I2:?i @8=)2:?)*F?2F:FBF_0JFGm{/=G!B1OM1>J{J{JJJd:J-9JJa@a@a@a@]Will construct direction to contact in vehicle frame from tetrahedron phase data. yIyzK +LK 9K K K  RK ?JK ?kw,`eAZ-L ?YZzC?Zh9Z.6=yZH@?@I?&??^ ?@?/?ɨZ-L ?Z;XyjVBjO IIrIr4٢z'_< zK=9~aL;Q ~>|| G٣ys >  Nusing accuracyPremultiplier from config 559 [w?55Y ' i BMJ?@ "E P ;  ; 55%8B %A-9EEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 222.60 m.Bj]֎Jj]֎m ProNav: ac range: 222.600006 m, nav range: 111.531746 m, bearing: 284.454719 deg, approach rate: 0.289647 m/s, LOS rate: -0.249753 deg/s, cmd heading: 41.673160 deg, new cmd heading: 41.372726 deg. 2jmg+uHeadingCmd: 0.722090 target range: 222.600006 and range: 222.60 m. ju8?jqjqjqihhhhfffrfbf?ɛU B}T y隅eI 5ɚWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Hs>I I IIBI =&I.I6Ir<:I FiIt+=I8?i%u~9\rw,>eA2F ?Y2B?2Ċ92b=y2H ;? ?m??`dX?ö?]?ɨ2F ?25;2CyB`BB\ IMb@Mb@Mb@ )YQ?MbP?{Gzty\?: A @)QAIAyAI]I]ļ4٢eF= mC=9m9;Q m>qq uG٣ufKGy}˂ }> Nusing accuracyPremultiplier from config559?55Yw' iB]?:B?@"E;;55 AZjFNOT Ignoring new targets: 222.60 m.BjJj ProNav: ac range: 222.600006 m, nav range: 111.646294 m, bearing: 284.349402 deg, approach rate: 0.273180 m/s, LOS rate: -0.250909 deg/s, cmd heading: 41.372727 deg, new cmd heading: 41.057102 deg. 2j2,HeadingCmd: 0.716582 target range: 222.600006 and range: 222.60 m. jq7?jjjihhhhBfffrfbf @#@ɛ5 B5 9=I9 =_:ɚ9i9I=5,=IEq7?iEO:oxw,eA6P?Y6>@?6@96 =y6Hc?8??E?*l㇐?*??ɨ6P?6};6CJ@J@JB1J@J@J@JB3J@yJ]BJX IiR4>IR4= R=Ra=IVIVʴ4٢b& bV=9bF;Q b>dd fG٣dyj瘼 j> rNusing accuracyPremultiplier from configpv559rޒ?v55Yr' irBtv@?v@r"Er:r:r55~9B I ~A 6E%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499420ZjFNOT Ignoring new targets: 222.60 m.BjJj ProNav: ac range: 222.600006 m, nav range: 111.749779 m, bearing: 284.253136 deg, approach rate: 0.257194 m/s, LOS rate: -0.239030 deg/s, cmd heading: 41.057100 deg, new cmd heading: 40.768573 deg. 2j $=HeadingCmd: 0.711546 target range: 222.600006 and range: 222.60 m. j='6?j9j9jAiAhAhAhIhIfQfyfyrfbf@ɛ}Ba 隅II >ɚiIUu,=I'6?ia;)w,eAz2?Yz~>?z\|9zy=yzH?Z)??i?@%t1?6Զ?c?ɨz2?z;zCy cB _ IMb@Mb@Mb@ )Yn?~jthMb`?yV?D; A )@I AyfAII4٢< :=9:Q > G٣yu > Nusing accuracyPremultiplier from config559?55YI' iBV?:=?@"E5;;55 AZjFNOT Ignoring new targets: 222.60 m.BjJj ProNav: ac range: 222.600006 m, nav range: 111.864479 m, bearing: 284.143170 deg, approach rate: 0.263960 m/s, LOS rate: -0.252804 deg/s, cmd heading: 40.768573 deg, new cmd heading: 40.439018 deg. 2j-HeadingCmd: 0.705794 target range: 222.600006 and range: 222.60 m. j4?jjj!i)h)h)h)h5Bf1f1f1rf1bf=@*JR="J4= $?I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003272ɛ5B5m 15I1 =Cɚ9i9I=v,=IM4?iM< Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:17:59.1488  TRx dataTimestamp_ set to:1736374680.372677 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257125酙w,BfAn#.?Yno!! -G٣-gKGy- -> 5Nusing accuracyPremultiplier from config1=5595Q?E55Y5' i5BAE5;?E@5"E56;56;555I M8AQZjFNOT Ignoring new targets: 222.60 m.BjJj= ProNav: ac range: 222.600006 m, nav range: 111.963303 m, bearing: 284.047227 deg, approach rate: 0.262328 m/s, LOS rate: -0.254457 deg/s, cmd heading: 40.439016 deg, new cmd heading: 40.151443 deg. 2jE.}HeadingCmd: 0.700775 target range: 222.600006 and range: 222.60 m. j}e3?jyjyjyiyhhhhfffrfbfM @ɛB 隽݉I ЋFɚiI*,=Ie3?it= ] %YY y] B{w,2fAm^u?Ym:?mn9m"=ymH@t? K?W?@A?P@Yۍ?}? *?ɨm^u?mۈ;mCyޱ޽s I) II4٢md; m6=9u@f:Q u>qy }G٣yy}v }> Nusing accuracyPremultiplier from config559?55Will construct direction to contact in vehicle frame from tetrahedron phase data.՝=՝%=DAT read: 22:17:59.1488 LVL= 16800, 32753, 29346, 31603, AGC= 63, IDX= 425,-0.07, 0.375,-1.422,-1.316,-0.665, PHS= 1.128,-0.710,-0.654, RAW= 91.5, 2.6, CAL= 99.3, 0.3, ROT= 50.7, -0.3 Ygot valid direction response: 22:17:59.1488 LVL= 16800, 32753, 29346, 31603, AGC= 63, IDX= 425,-0.07, 0.375,-1.422,-1.316,-0.665, PHS= 1.128,-0.710,-0.654, RAW= 91.5, 2.6, CAL= 99.3, 0.3, ROT= 50.7, -0.3 %PDAT read: Bearing 50.7, -0.3 (Local) -~Local bearing/azimuth received: Bearing 50.7, -0.3 (Local) H9I9 I= II=BI9&I9.I=>D6I=J<:I=o F]DAT read: Range 10 to 50 : 221.2 m (Round-trip 295.0 ms) speed 0.0 m/s ],DAT read: user:2475> eBDAT read: Tx time:22:18:00.2497 e$Ping request sent.eK3H|2@o"Jk@O7^Te?bl?Jk#&@Rk[*6J~8ѩ?7Tk@|;X#_9M}?"k*kkU?kv' * 2kCkw?kR). kQCk)BkÏ@ addTargetRange:: Added new target pos. range: 221.199997 m, deltaT: 3.777005 s, deltaX: -1.400009 m, approachRate: -0.370666 m/s, rangeRepo size: 4  Added new target pos. range: 221.199997 m, bearing: 223.292374 deg, lat: 36.904772 deg, lon: -122.122270 deg, deltaT: 3.777005 s, deltaX: -1.400009 m, approachRate: -0.370666 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 221.20 m.BjJj  ProNav: ac range: 221.199997 m, nav range: 64.581352 m, bearing: 257.410844 deg, approach rate: 0.000000 m/s, LOS rate: -0.254457 deg/s, cmd heading: 40.151445 deg, new cmd heading: 39.725055 deg. 2j UHeadingCmd: 0.693333 target range: 221.199997 and range: 221.20 m. jUF~1?jQjYjYiYhYhYhahafafafarfm`fk@bfm,?ɛ5B5 15I1 =g&Kɚ9i9I=$-=IEF~1?iE? G٣y] > Nusing accuracyPremultiplier from config559Ґ?55Y' iBq?:7?@"E;;55Q UAU.EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 221.20 m.Bj)׻Jj)׻ ProNav: ac range: 221.199997 m, nav range: 64.829330 m, bearing: 257.249222 deg, approach rate: 0.579452 m/s, LOS rate: -0.376218 deg/s, cmd heading: 39.725056 deg, new cmd heading: 39.242057 deg. 2j HeadingCmd: 0.684903 target range: 221.199997 and range: 221.20 m. j U/?j jjihhhh‚Bfffrf!bf%_?ɛB^ 隝fI *NɚiIHT-=IU/?ii+.=)U/?)*F?2F:FBFo0JF  I J |J J J J ;g:J 9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G s*=Gy B O >w,nfA6 >Y668?6M|96=y6H???` ?F`w?)ִ?@?ɨ6 >6ۈ;6CyfBj IIrIr4٢z= zl=9zGXQ z?|| ~G٣~hKGyH ?  Nusing accuracyPremultiplier from config 559 ߐ?55Y ' i B6?@ "E : ;  ; 55) -,A1zKUMKU9KQKUKUtgYOG:/*('!   ZjamFNOT Ignoring new targets: 221.20 m.BjmJjm} ProNav: ac range: 221.199997 m, nav range: 64.986465 m, bearing: 257.146730 deg, approach rate: 0.477014 m/s, LOS rate: -0.310384 deg/s, cmd heading: 39.242056 deg, new cmd heading: 38.935325 deg. 2jUHeadingCmd: 0.679550 target range: 221.199997 and range: 221.20 m. j-?jjjihhhhfffrfbf?ɛBUڼ z4I OɚiIq-=I-?ij? $?I ⡙w,fA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234071Fk.>YF7?F~9FL=yFH1(?l 塥?? ?`/? "?`?ɨFk.>F;FCyVBV IiZ=IZ@? XZ=EMb@Mb@Mb@AAA A)AYE`"?Mbp G٣y > Nusing accuracyPremultiplier from config559?55YA' iB?:5?@"E;;L55q uAqZjFNOT Ignoring new targets: 221.20 m.Bj_Jj_ ProNav: ac range: 221.199997 m, nav range: 65.187721 m, bearing: 257.015330 deg, approach rate: 0.446948 m/s, LOS rate: -0.290911 deg/s, cmd heading: 38.935326 deg, new cmd heading: 38.542351 deg. 2jGHeadingCmd: 0.672691 target range: 221.199997 and range: 221.20 m. jy5,?j j j i h1h9hAhMǂBfIfifqrfqbfu?ɛB8 I XLRɚiIK-=I-y5,?i-nA w,¡fA:I>Y:r6?:r9:j=y:H3?_y???@?E+ ?`ŵ? >?ɨ:I>:8;:CyJBJ IIRIR 4٢Z= ZX=9^yQ ^>   G٣ y   > Nusing accuracyPremultiplier from config559?%55YX' iB!%x4?%@"E%;X;55-;B 5JA5+EZjQ]FNOT Ignoring new targets: 221.20 m.BjeJje} ProNav: ac range: 221.199997 m, nav range: 65.371635 m, bearing: 256.895604 deg, approach rate: 0.514454 m/s, LOS rate: -0.333961 deg/s, cmd heading: 38.542351 deg, new cmd heading: 38.184189 deg. 2j1eHeadingCmd: 0.666440 target range: 221.199997 and range: 221.20 m. j͛*?jjjihhhhfffrfbfB?ɛBj ׽I /tSɚiI-=I͛*?iilK=)͛*?) I*JC="JuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738800*F?2F:FBF_0JFzK]5NKh9KKK96 Nv^PC6.&" G7=RK ?JK>GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990512H p>I  I !II BI =&I .I =D6I ,<:I V F6w,fA2^q>Y24?2Hl92w=y2HY?;@??`2+;0yRBV III?4٢< D=9;Q >9Y eG٣eiKGyuU }> Nusing accuracyPremultiplier from config559 ?55Y' iB=2?=@"Ef<<Y55y AZjq}FNOT Ignoring new targets: 221.20 m.Bj}Jj} ProNav: ac range: 221.199997 m, nav range: 65.571342 m, bearing: 256.764644 deg, approach rate: 0.421576 m/s, LOS rate: -0.275611 deg/s, cmd heading: 38.184190 deg, new cmd heading: 37.792512 deg. 2j&=HeadingCmd: 0.659604 target range: 221.199997 and range: 221.20 m. j(?jjjihhhhfffrfbf`x@ɛ=B= 9=I9 ETɚAiAIE-=I (?i ĩB<w,wfAyzɂBz I)| |Mb@Mb@Mb@ )Yjt?Mb`?~jt?y ?;D< A )QAI~AyAIIƕ4٢= @=9Q > G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494095 Nusing accuracyPremultiplier from config659u?65Y' iB ?:5?@"E;;65\Hw,RfA6>Y6=0?6O96z=y6H C?tZo?@f?`?@9n?G?A?ɨ6>60;6CyBׂBB IIRIRb4٢Z= Z]=9Z;Q Z>\\ bG٣`yb= b> fNusing accuracyPremultiplier from configdj659f-?j65Yfɏ' ifBlnb1?n@f"Ef ;f* ;f.65r=B v*Av&EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 221.20 m.Bj%HJj%H5 ProNav: ac range: 221.199997 m, nav range: 65.965820 m, bearing: 256.510355 deg, approach rate: 0.503385 m/s, LOS rate: -0.327469 deg/s, cmd heading: 37.395067 deg, new cmd heading: 37.031946 deg. 2j5`=HeadingCmd: 0.646329 target range: 221.199997 and range: 221.20 m. j=u%?j9j9jAiAhAhAhIhIfIfIfIrfQbfU A?@zKMK9KKKBKpA:KɛU݂By,b 隵,I u}UɚiI-=Iu%?iCI5C I5;!II5BI5 =&I1.I16I5a<:I5x FGel^=G9BIOeV> e $?Ia J% J% J! J! J% :J% 9J! J! J% !;J% ";J% ' ;J% ( ;61™w,1 gA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:22:18:02.9474 &TRx dataTimestamp_ set to:1736374684.152646*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251060B"*>YB]/?BhJ9BE=yBHw?7+ ?@77? ?_?@K? ?ɨB"*>Bd;BCy޽ۂB޽ I]Mb@Mb@Mb@YYY Y)YY]NbX9?I +?y&1?y]%?]9<]`e G٣jKGy*i > Nusing accuracyPremultiplier from config659RC?65Y܉' iB%?:C7?@"E;; 65>B A#EZjFNOT Ignoring new targets: 221.20 m.BjJj  ProNav: ac range: 221.199997 m, nav range: 66.245079 m, bearing: 256.338301 deg, approach rate: 0.528780 m/s, LOS rate: -0.324413 deg/s, cmd heading: 37.031947 deg, new cmd heading: 36.517975 deg. 2j ^HeadingCmd: 0.637359 target range: 221.199997 and range: 221.20 m. j)#?jjjihhhh%Bf!f!f!rf)bf-@G} @ɛUقBUkO Y]@;IY ]fUɚYiI$-=I)#?iiqJ=))#?)*F?2F:FBFJFGpA GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502102G cșw,"$gA6>Y6=h-?6UC96R=y6H?/@Y? ??ܲa?!õ??ɨ6>6p;6C)@I@@@ @DDDiDDiHH)H HIH N&C)NvALLLPPiPIPPITiT TT)TT TXXXXXI\)\i\\ybBb!IIvIv4٢-ֱ= -=9=}:Q E? I BDAT read: Tx time:22:18:04.0498 $Ping request sent.٘k@bfƢT~?P?Jk:@Rkh*fr80BǿH0Uk@7i켿XwUF]+?"k *kk"?k' 2kCkn?kRGl+ kC)Ii )IiCkw?d R\#e\?)Iik1Bk)@ addTargetRange:: Added new target pos. range: 220.100006 m, deltaT: 3.781917 s, deltaX: -1.099991 m, approachRate: -0.290855 m/s, rangeRepo size: 4  Added new target pos. range: 220.100006 m, bearing: 185.744493 deg, lat: 36.904705 deg, lon: -122.121971 deg, deltaT: 3.781917 s, deltaX: -1.099991 m, approachRate: -0.290855 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 220.10 m.BjJj ProNav: ac range: 220.100006 m, nav range: 44.472523 m, bearing: 238.428279 deg, approach rate: 0.000000 m/s, LOS rate: -0.324413 deg/s, cmd heading: 36.517975 deg, new cmd heading: 36.112510 deg. 2jHeadingCmd: 0.630282 target range: 220.100006 and range: 220.10 m. j=-Z!?j9j9j9i9hAhAhAhAfIfIfIrfM@3k@bfM`o?ɛՂBݏ) 8 =I Tɚ!i!I%-=I%-Z!?i-SE} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:18:04.0490 H g>I C I `!II 4BI  =&I .I Y)?99f=yH[9?@lP??B? Z@~7?`q??ɨ[>Ј;C $?IJeJeJe/JaJe=:Je9Je(N3JaJeԥ;Jeե;Je\ ;Je] ;Will construct direction to contact in vehicle frame from tetrahedron phase data.yޥ Bޥ !I) 5 Mb@Mb@Mb@1 1 1 1 )1 Y5 K7? rh?y&1?y5 I,?5 C =1 5 A 5 @)5 AI5 A1 y5 =AIM IM 4٢e X< e <9e S:Q e }>i i m G٣i yu 4 u > } Nusing accuracyPremultiplier from configy  659} rn? 65Y} A~' i} B ,? : 6? @} #E} #;} /;} 65 kA kb1?keJ#' k k:kBkZCZkM@"HW2mF9H@@d>٘k@bfƢT~?P?JkRk*`AM/198z,Q%Tk@DrMLm}?"kǿ*kkl#?kZRj' 2kCkl#?kv' * kCk Bkmz@Zj FNOT Ignoring new targets: 220.10 m.Bj Jj   ProNav: ac range: 220.100006 m, nav range: 44.904011 m, bearing: 238.252981 deg, approach rate: 0.713188 m/s, LOS rate: -0.286959 deg/s, cmd heading: 36.112511 deg, new cmd heading: 35.591684 deg. 2j D HeadingCmd: 0.621192 target range: 220.100006 and range: 220.10 m. j r?j j j i h h h h Bf f f rf bf ۥ? Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ-ЂB- 15(=I1 5rSɚ1i1I5-=IMr?iMF G٣kKGy > Nusing accuracyPremultiplier from config659?65Yy' iB@#E::A65?B AEZj)UNG]FNOT Ignoring new targets: 220.10 m.mtAA GYtAy BBj Jj ProNav: ac range: 220.100006 m, nav range: 45.166672 m, bearing: 238.147991 deg, approach rate: 0.635838 m/s, LOS rate: -0.252677 deg/s, cmd heading: 35.591685 deg, new cmd heading: 35.278551 deg. 2j%h-%HeadingCmd: 0.615727 target range: 220.100006 and range: 220.10 m. j%G?j)j)jIiIhIhQhQhYfaffrfbfE?ɛ͂B:ɻ =I -MRɚiI-=IG?iXHWill construct direction to contact in vehicle frame from tetrahedron phase data.Hc>IC I!IIMBI =&IGD.I6Iq<:I| FWw,jgA5J >Y5q&?5~Q95'=y5Hv?V@I?@`?\?A0?޴??ɨ5J >5t;5C iIiyMBM!IJuJuJu0JqJu]:Ju9Juـ3JqJu:;Ju;;Ju ;Ju ;Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YK7?:v?y&1|?yT=`; @)I~AyAI=I=4٢U\ U0=9ULQ ]>YY ]G٣Yye4ټ e> mNusing accuracyPremultiplier from configiu659mǓ?u65Ymt' imB},?}:}9?}@m#Em<;m:mP65-@B -3A-EmB*** querying acoustic contact ***jijiZjquFNOT Ignoring new targets: 220.10 m.BjJj􄻝 ProNav: ac range: 220.100006 m, nav range: 45.467445 m, bearing: 238.035576 deg, approach rate: 0.626142 m/s, LOS rate: -0.232473 deg/s, cmd heading: 35.278552 deg, new cmd heading: 34.943544 deg. 2jHeadingCmd: 0.609880 target range: 220.100006 and range: 220.10 m. j!?jjjihhhh"Bfffrfbf`'?ɛʂBٻ 隭,=I NPɚiI|-=I!?i=I-kw,gAJ>YJ$?JL9Jէ=yJH? ~-?6?{?`l`?`E??ɨJ>J;JCy B !III4٢5&< 5m=9=Nf:Q =?99 EG٣AyE M? UNusing accuracyPremultiplier from configQ]659U?]65YUo' iUBY]\8?]@U#EU:U*:US65mAB mAmEZjFNOT Ignoring new targets: 220.10 m.BjJj ProNav: ac range: 220.100006 m, nav range: 45.690025 m, bearing: 237.951467 deg, approach rate: 0.697835 m/s, LOS rate: -0.262417 deg/s, cmd heading: 34.943545 deg, new cmd heading: 34.692446 deg. 2j4HeadingCmd: 0.605497 target range: 220.100006 and range: 220.10 m. j?jjjihhhhfffrfbfk;?ɛ ȂB 4U =I OɚiIWg-=I?i%qIzK) K- h9K) K- K- xw,l˸gA2,>Y2#?26892=y2H?`- [? 4?༞?`.?@??ɨ2,>2;2Cy:B:!IH a>I  I !II WBI  =&I .I ;D6I <:I  F-Will construct direction to contact in vehicle frame from tetrahedron phase data.-?-4=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.239715BICJICRICZI =bI =jIql6I]I]44٢m mH=9uWG;Q u>qq uG٣}lKGy} }> Nusing accuracyPremultiplier from config659 ?65Y?k' i B6?@#EU::!65 FAEZjFNOT Ignoring new targets: 220.10 m.BjJj ProNav: ac range: 220.100006 m, nav range: 45.953281 m, bearing: 237.850530 deg, approach rate: 0.645101 m/s, LOS rate: -0.245925 deg/s, cmd heading: 34.692447 deg, new cmd heading: 34.391374 deg. 2j(HeadingCmd: 0.600243 target range: 220.100006 and range: 220.10 m. j?jjjihhhhfff rf bf  ]@ɛłB 隽L=I ~NɚiIS-=I?ibKrw,gA2>Y2q!?2!)%92M:=y2H? ä?`G??唲@ ?@ ??ɨ2>2Ј;2CyBBB!I=Mb@Mb@Mb@999 9)9Y=m?X9v?y=.?=}==9 =@)=hAI= A9y9IUIU4٢e eK=9e#=;Q m>ii mG٣iyug u> Nusing accuracyPremultiplier from config659ő?65Yqf' iBO/?:8?@ #EU;;j%65 iAZjFNOT Ignoring new targets: 220.10 m.Bj Jj  ProNav: ac range: 220.100006 m, nav range: 46.218151 m, bearing: 237.753043 deg, approach rate: 0.654782 m/s, LOS rate: -0.239614 deg/s, cmd heading: 34.391375 deg, new cmd heading: 34.100594 deg. 2j q$%HeadingCmd: 0.595168 target range: 220.100006 and range: 220.10 m. j-\?j)j)j)i)h)h)h1h=Bf9f9f9rfAbfEU@ɛm‚Bm imh=Ii  7MɚiIE-=I\?iKJm Jm Ji Ji Jm =:Jm H9Ji Ji a} @a} @a} @a} @ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992908w,؁gA67>Y6?696:ڪ=y6H@?@?г??+ ?`T?!?ɨ67>67;6Cy B  !III(4٢-6 -N=95):Q 5>19 =G٣9yE E> MNusing accuracyPremultiplier from configIU659M֑?U65YMa' iMBQU6?]@M$#EM ;M~ ;M(65mBB mAmEZjFNOT Ignoring new targets: 220.10 m.Bj抻Jj抻 ProNav: ac range: 220.100006 m, nav range: 46.478390 m, bearing: 237.656151 deg, approach rate: 0.655984 m/s, LOS rate: -0.242868 deg/s, cmd heading: 34.100594 deg, new cmd heading: 33.811548 deg. 2j&HeadingCmd: 0.590123 target range: 220.100006 and range: 220.10 m. jJ?jjjihhhhfff rf bf \@ɛBѻ 隽=I LɚiI9-=IJ?iLw,jhA J$?IHyB I}Mb@Mb@Mb@yyy y)yY}/$?:v?y&1|y},?}T=}`}dA }@)yI}~Ayy}AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496493II4 nManaging dock network, ignoring radio surface power off٢u: 4=9Q > G٣mKGy > Nusing accuracyPremultiplier from config659ꑜ?65Y\' iB,?:3?@)#E;:,65 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 220.10 m.BjÆJjÆ ProNav: ac range: 220.100006 m, nav range: 46.771458 m, bearing: 237.543466 deg, approach rate: 0.616707 m/s, LOS rate: -0.235640 deg/s, cmd heading: 33.811547 deg, new cmd heading: 33.475613 deg. 2j!HeadingCmd: 0.584260 target range: 220.100006 and range: 220.10 m. j ?jjjihhh!h%Bf!f)f)rf)bf- @ɛuBu y} =Iy }JɚyiI2-=I ?iN ~Local bearing/azimuth received: Bearing 61.9, -0.7 (Local) w,?8 hADAT read: Range 10 to 50 : 218.8 m (Round-trip 291.8 ms) speed 0.2 m/s ,DAT read: user:2477> BDAT read: Tx time:22:18:07.8498 $Ping request sent.Y?7 9=yH~D?J:@D?*F?`)?@U??(?ɨ<>;;騱yтB II I P4٢=1 =S=9EAG;Q E>AI MG٣IyM- M> }Nusing accuracyPremultiplier from configq}659u?65Yu!X' iuB/?@u.#EuX:uz:uG065CB AEkԜ>?kBp& k khA:kZCBkRYCZkYM<@"r]E$ =V2I@\H]j@F =;{??JkX@Rk*[EGJٸ!@&j@CS ɿzi2?lR?"k A*kj/k= D?k.n& 2kˋCk"?k' kkAkS@m addTargetRange:: Added new target pos. range: 218.800003 m, deltaT: 3.779634 s, deltaX: -1.300003 m, approachRate: -0.343949 m/s, rangeRepo size: 4 $?I Added new target pos. range: 218.800003 m, bearing: 168.576846 deg, lat: 36.904691 deg, lon: -122.121573 deg, deltaT: 3.779634 s, deltaX: -1.300003 m, approachRate: -0.343949 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 218.80 m.BjJj ProNav: ac range: 218.800003 m, nav range: 27.220394 m, bearing: 188.970210 deg, approach rate: 0.000000 m/s, LOS rate: -0.235640 deg/s, cmd heading: 33.475614 deg, new cmd heading: 33.198501 deg. 2j-HeadingCmd: 0.579423 target range: 218.800003 and range: 218.80 m. j-U?j)j1j1i1h1h9h9h9fAfifqrfuYk@bfu?ɛB JK KKK"KJ=J=J9J9J=̈́:J=9J9J9隅9=I VLJɚiI4-=IU?iNw,);hAH_>I Is!IICBI&I.I6I<:I FBWill construct direction to contact in vehicle frame from tetrahedron phase data.=J>Y=!?=Rg 9=u=y=HG_?5?i?\C?J ܌?@??ɨ=J>=E;9yޝȂBޥ Ii=Ip<II4٢= J=9 Q > G٣yZh > Nusing accuracyPremultiplier from config659 ?65YS' iB.?@2#Ej:& ;365 AZjiuFNOT Ignoring new targets: 218.80 m.BjuM<JjuM< ProNav: ac range: 218.800003 m, nav range: 27.454956 m, bearing: 189.252266 deg, approach rate: 0.601391 m/s, LOS rate: 0.716980 deg/s, cmd heading: 33.198500 deg, new cmd heading: 34.037375 deg. 2j<HeadingCmd: 0.594064 target range: 218.800003 and range: 218.80 m. j?jjjihhhhfffrfbfr?ɛ=B=$ 9EWill construct direction to contact in vehicle frame from tetrahedron phase data.w,YThAJ>YJ?J 9JM=yJHt?.`{C??[a?uï n??? ?ɨJ>Jj;JCyfBf ImMb@Mb@Mb@iii i)iYmuV?l?Mbymr(?m=mi m@)mQAImAiymGAII4٢: M=95~Q > G٣nKGyk9 > Nusing accuracyPremultiplier from config659?65YqO' iB(?:'?@6#E;;B765EB A EZjFNOT Ignoring new targets: 218.80 m.Bj;<Jj;< ProNav: ac range: 218.800003 m, nav range: 27.686003 m, bearing: 189.509334 deg, approach rate: 0.594707 m/s, LOS rate: 0.656162 deg/s, cmd heading: 34.037377 deg, new cmd heading: 34.802098 deg. 2j(<HeadingCmd: 0.607411 target range: 218.800003 and range: 218.80 m. jM?jjjih!h!h!h%Bf)f)f)rf)bf5L?ɛBuT I  Jɚi!I%G-=I%M?i)i-;)-M?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:F BF _0JF  5 $?I1 G= =G! B1 O] >J J J J J J "9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data.;w,ohAJ >YJ?J 9JS=yJH?E`@q?A?p?ðhA? Ʋ??ɨJ >JX;JCyZBZ IIbIbK4٢j jU=9nP$:Q n>ll rG٣pyr'" r> vNusing accuracyPremultiplier from configtz659v/?~65YvgK' ivB|~&?~@v:#Eve ;v ;v:65 A ZjAMFNOT Ignoring new targets: 218.80 m.BjM62<JjU62Will construct direction to contact in vehicle frame from tetrahedron phase data.  I $"w,rhAyUB] I)a aaeAMb@Mb@Mb@ )Y+?y&1?Zd;Oyv?`e<jA @)hAIyAII4٢ 7=9Q >! %G٣!y% %> 5Nusing accuracyPremultiplier from config1=6595B?=65Y5/G' i5 B=?=:=z?=@5?#E5D;5;5>65IMWill construct direction to contact in vehicle frame from tetrahedron phase data. MAEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 218.80 m.Bj<Jj% Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.xK(w,yʢhA2᫽>Y2>R?292o=y2H@ߑ?V`? ?u? t@~?-??ɨ2᫽>2;2Cy^Bb IIjIj4٢rc̽ ra=9vE;Q v>x| ~G٣~oKGy >  Nusing accuracyPremultiplier from config 659 rR?65Y C' i B?@ B#E =; ; A65%FB %A%EZjY]FNOT Ignoring new targets: 218.80 m.Bjev <Jjev < ProNav: ac range: 218.800003 m, nav range: 28.363409 m, bearing: 190.190944 deg, approach rate: 0.591155 m/s, LOS rate: 0.561144 deg/s, cmd heading: 36.247609 deg, new cmd heading: 36.830302 deg. 2j%>=;RK ?JK >G B H ^>I  I !II BI &I .I 6I R<:I a FO% >t.w,hA2 >Y2 ?2ܻ928=y2H`?`Zw? ?t?X {?8??ɨ2 >2K?;2Cy:uB>v IIFIFa4٢J NP=9N?:Q N>PP RG٣PyV1 V> ZNusing accuracyPremultiplier from configX^659Z+c?^65bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.461915YZ @' iZBdf?f@ZF#EZL;Z;ZE65p vAtZjFNOT Ignoring new targets: 218.80 m.Bj <Jj < ProNav: ac range: 218.800003 m, nav range: 28.583759 m, bearing: 190.397759 deg, approach rate: 0.528802 m/s, LOS rate: 0.492491 deg/s, cmd heading: 36.830303 deg, new cmd heading: 37.445937 deg. 2j<HeadingCmd: 0.653555 target range: 218.800003 and range: 218.80 m. j`O'?jjjihhh h f f f rfbf@ɛB}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715386z]5w,ǀhAyvdBza IMb@Mb@Mb@ )Yl? rh{Gzy?Cף @)AI~AyAII٢) 7=9Q > G٣y > Nusing accuracyPremultiplier from config659v? 65YM<' iB ? : ? @J#E;;I65GB AEZjIMFNOT Ignoring new targets: 218.80 m.BjU'<JjU' $?IJ J } Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:18:10.5443  TRx dataTimestamp_ set to:1736374691.728897 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219106Ê;w,+ihAM˺>YM?M Ի9Mj=yMH@s?@̬?ή?}?@dz?@m??ɨM˺>M_;IyuXBuR III 4٢n O=9T#:Q > G٣pKGy= > Nusing accuracyPremultiplier from config659?65Y9' iB?@N#E:v:{L65 wAZjAEFNOT Ignoring new targets: 218.80 m.BjM2;JjM2;] ProNav: ac range: 218.800003 m, nav range: 29.047396 m, bearing: 190.764008 deg, approach rate: 0.539505 m/s, LOS rate: 0.416493 deg/s, cmd heading: 38.031262 deg, new cmd heading: 38.535804 deg. 2j]IC I IIӂBI =&I.I:D6Ḭ<:I FBIeťCJIeťCRIeœCZIe =bIe =jIe&4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469687G G B O > I arBw,9C iAJJJJJ}:J59JJJ;aJ;aJ;aJ;a=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:18:10.5443 LVL= 18032, 31377, 30674, 32755, AGC= 62, IDX= 426, 0.20, 2.751, 1.341, 0.915, 1.878, PHS= 0.961,-0.490,-0.966, RAW= 76.3, 5.8, CAL= 80.0, 6.1, ROT= 70.0, -6.1 Ygot valid direction response: 22:18:10.5443 LVL= 18032, 31377, 30674, 32755, AGC= 62, IDX= 426, 0.20, 2.751, 1.341, 0.915, 1.878, PHS= 0.961,-0.490,-0.966, RAW= 76.3, 5.8, CAL= 80.0, 6.1, ROT= 70.0, -6.1 PDAT read: Bearing 70.0, -6.1 (Local) ~Local bearing/azimuth received: Bearing 70.0, -6.1 (Local)  DAT read: Range 10 to 50 : 217.8 m (Round-trip 290.4 ms) speed 0.2 m/s ,DAT read: user:2478> BDAT read: Tx time:22:18:11.6498 $Ping request sent.YM?Mpѻ9M'=yMH?ྑ@?p?t? Y .z?9a? ?ɨMyĺ>MG;Iy]WB]Q I:publishing transmit ping timeFpublishing direction and range infoA9EGiEv?EHEKwEt?E4Q= E¸?)E^ =IEa?iE^ ڽAAE_#6?H-7ң?)ERCIEvͽiE@EqPAA:publishing transmit ping timeFpublishing direction and range infoA9EG!! %G٣)y-ڸ -> 5Nusing accuracyPremultiplier from config1}6595?65Y555' i5Bb ?:?@5S#E5g5<54<5Q65HB AEkE!t?kEP65% kA kE{iA:kEYCBkESXCZkEHw,$iA6>Y6?696>y6H ]?a`d?b?@ik?HjQB|?X??ɨ6>6;6CyRGBR> I)T TI^I^4٢fO f=9fQ j*?AA MG٣IyM M!? Nusing accuracyPremultiplier from config6592?65Y3' iB?@U#ET;;S65 A%B*** querying acoustic contact ***j!j!Zj) ]$?Ie9ieFNOT Ignoring new targets: 217.80 m.Bjm~;Jjm~; ProNav: ac range: 217.800003 m, nav range: 30.607000 m, bearing: 188.295678 deg, approach rate: 0.567039 m/s, LOS rate: 0.431003 deg/s, cmd heading: 39.213615 deg, new cmd heading: 39.552491 deg. 2j<HeadingCmd: 0.690321 target range: 217.800003 and range: 217.80 m. j0?jjjihhhh1f9f9f9rfAbfE ?ɛB- 9I GVɚiIH.=IE0?iIiM {)M0?)IEWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF_0JFG lG B O >H ]>I  I II BI  =&I .I 6I u<:I z FzK ;=NK K K K 2-*%#  Nw,=iA2W>Y2'?2929 >y2H`? _P??u;?s4`|?#?`?ɨ2W>2;2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.726514yVCBV8 II^I^(4٢f7 fJ=9jQ j>hh nG٣nqKGynY< r> vNusing accuracyPremultiplier from configpv659r5?z65YrG0' irBxzT ?z@rY#Er:r3:rV651B rAEZj5FNOT Ignoring new targets: 217.80 m.Bj=;Jj=;M ProNav: ac range: 217.800003 m, nav range: 30.798664 m, bearing: 188.442860 deg, approach rate: 0.479056 m/s, LOS rate: 0.365586 deg/s, cmd heading: 39.552492 deg, new cmd heading: 39.991280 deg. 2jMzI LXɚiI.=I ɮ2?i)i5)5ɮ2?)1*F?2F:FBFo0JF m$?IqGbGBOi>J}J}J}1JyJ}:J}"9J}3JyJ} ;J}!;J};J};UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979165Uw,WiA6̂>Y6?6)96)>y6H2?`%q??%?@?¿@ "? ?`:?ɨ6̂>6{ߊ;6Cyb:Bb- IMb@Mb@Mb@ )Y~jt?:vy&1y?T`e A p@)QAIAyAIIh4٢% 8=9 >Q  >   G٣y; > -Nusing accuracyPremultiplier from config)5659-^ǒ?565Y-\-' i-B=R?=:=<>=@-\#E-);-';-Z65E2B EAMEZjiuFNOT Ignoring new targets: 217.80 m.Bju3;Jju3; ProNav: ac range: 217.800003 m, nav range: 31.016491 m, bearing: 188.590199 deg, approach rate: 0.523790 m/s, LOS rate: 0.351804 deg/s, cmd heading: 39.991280 deg, new cmd heading: 40.430183 deg. 2jpq<HeadingCmd: 0.705640 target range: 217.800003 and range: 217.80 m. jϤ4?jjjihhhh?Bfffrfbfݙ?ɛuB}LIܼ y}LIy } [ɚiI$/=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231169IϤ4?ii4u)Ϥ4?)*Fe?2Fa:FaBFe0JFaGmrA GmpA YIYG $G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482763Y[w,qiA2}>Y2 ?2CH92}2>y2H u?/i??@?`9ÿ`?@j2?B?ɨ2}>2H;2CyR7BR) IiV8>IVG?IZIZ:4٢bL ba=9fQ f>dd jG٣hyj"F< j> =Nusing accuracyPremultiplier from config9E659=Ւ?E65Y=*' i=BIM?M@=_#E=0;=Q;=]65Q UAUEZjFNOT Ignoring new targets: 217.80 m.Bj;Jj; ProNav: ac range: 217.800003 m, nav range: 31.198999 m, bearing: 188.713766 deg, approach rate: 0.477271 m/s, LOS rate: 0.321246 deg/s, cmd heading: 40.430181 deg, new cmd heading: 40.798710 deg. 2jw\< HeadingCmd: 0.712072 target range: 217.800003 and range: 217.80 m. j WJ6?j j j ihh1h9h9f9f9fArfAbfEp?ɛB` 隽\MI  ]ɚiIgV/=IWJ6?iLIUC IU IIUBIU =&IQ.IU;D6IU<:IU FzKMK 9KKK    G=vWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737288GB O5p> U $?IY Y Ջ?  U9 8>y Hi?k@c??`n?Qÿ﵊?? `{?ɨ > ; Cy!%* IMb@Mb@Mb@ )Y~jt?)\({GzyGa#A @)IAyAI5I54٢E': E=9MʺQ M>II MG٣UrKGyU ; U> mNusing accuracyPremultiplier from configam659eN钜?m65Ye'' ieBu`?u:u>u@ed#EeR;e;emb65 AZjFNOT Ignoring new targets: 217.80 m.Bj;Jj; ProNav: ac range: 217.800003 m, nav range: 31.447998 m, bearing: 188.877776 deg, approach rate: 0.497695 m/s, LOS rate: 0.325223 deg/s, cmd heading: 40.798711 deg, new cmd heading: 41.286831 deg. 2j2_<HeadingCmd: 0.720591 target range: 217.800003 and range: 217.80 m. jx8?jjjihhhh[Bfffrfbf@ɛBԼ ,FI `ɚi!I%R/=I%x8?i)i-)-x8?))*F?2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238705G G pAG oAG B O= >|hw,3iAB2>YB˕?Bzq9B;>yBH V?o?+??(AĿ /?`R?`u?ɨB2>B;;BCyNABN5 IIVIV4٢^= ^=9b»Q b?`d jG٣hyjfh< j? rNusing accuracyPremultiplier from configlr659nI?v65Yn%' inBtv?v@nf#EnO;n;nd65~3B ~A~EZj!%FNOT Ignoring new targets: 217.80 m.Bj-L;Jj5L;= ProNav: ac range: 217.800003 m, nav range: 31.587851 m, bearing: 188.969890 deg, approach rate: 0.491438 m/s, LOS rate: 0.322253 deg/s, cmd heading: 41.286830 deg, new cmd heading: 41.561947 deg. 2jE(]G=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490907GBOD>HQ IQ  IU IIU BIQ &IQ .IQ 6IU S<:IU d FzK- MK- ]9K) K- K-  ":;==:7743--+*)'#"   ow, iA2>Y2Fd?2]92UpA>y2H@f5?!I0?^Z? m?`ĿՐ?u? .m?ɨ2>2;2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.742510yVBBV7 I)X XIbIbs4٢fJ; jJ=9jQ j>ll nG٣Yy]ʼn< ]> mNusing accuracyPremultiplier from configam659e[?u65Ye"' ieBqu?u@ei#Ee:e;eh65 A%B*** querying acoustic contact ***j!j!ZjYeFNOT Ignoring new targets: 217.80 m.Bj;Jj; ProNav: ac range: 217.800003 m, nav range: 31.792967 m, bearing: 189.106472 deg, approach rate: 0.469165 m/s, LOS rate: 0.310392 deg/s, cmd heading: 41.561947 deg, new cmd heading: 41.969045 deg. 2jU<HeadingCmd: 0.732498 target range: 217.800003 and range: 217.80 m. j;?jjjih hhhfffrfbf \@ɛB-ȼ 隭&I dɚiI/=I;?iFE|uw,iA>Q>Y>c?>8Z9>qoG>y>HB?qM@?`n?`%?ӈſ ?@?`c?ɨ>Q>>׈;>Cy^LBbC IUMb@Mb@Mb@QQQ Q)QYUp= ף? ףp= {GztyU?UQ8UףU/A U@)QIU~AQyUfAImIm94٢C= @=9*Q > G٣sKGyQ< > Nusing accuracyPremultiplier from config659?65Y' iB?:/ ?@m#Eu;;2l654B >AEZjFNOT Ignoring new targets: 217.80 m.Bj;Jj; ProNav: ac range: 217.800003 m, nav range: 31.993504 m, bearing: 189.248577 deg, approach rate: 0.483218 m/s, LOS rate: 0.340272 deg/s, cmd heading: 41.969043 deg, new cmd heading: 42.392678 deg. 2ji<HeadingCmd: 0.739892 target range: 217.800003 and range: 217.80 m. ji=?jjj ihhhhBfffrfbf% @ɛuBu¼ y} Iy }!fɚyiyI}/=Ii=?ii̭)i=?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:18:14.3436 TRx dataTimestamp_ set to:1736374695.510862checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250107*F%?2F!:F!BF)JF) I!Gi GA BY Ou > ~G) A m Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500032 } %Yy y BH|w,)iA6{>Y6 !?6Ӫ96jL>y6H@u?]ళ?`?`G?@ƿY?` n?Z?ɨ6{>6;4yFWBFQ IININļ4٢V`= VX=9Z[ĻQ Z>XX ^G٣\y^Q< ^> fNusing accuracyPremultiplier from config`f659b"?j65YbD' ibBhj ?j@bp#Eb:b:byo65p rApZjFNOT Ignoring new targets: 217.80 m.Bj;Jj; ProNav: ac range: 217.800003 m, nav range: 32.174953 m, bearing: 189.379435 deg, approach rate: 0.479401 m/s, LOS rate: 0.343783 deg/s, cmd heading: 42.392679 deg, new cmd heading: 42.783031 deg. 2jk<HeadingCmd: 0.746705 target range: 217.800003 and range: 217.80 m. j (??j j j i h1h1h1h9f9f9f9rf9bfE @ɛB^ 隵I gɚiI/=I (??ii) (??)*F?2F:FBFb0JFGqA GqAZHRHHI I IIBI&I.I6I<:I FzK}MK}9KyK}K} %|~|vpe^]Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753357G Ga Bq O >  $?I w,6 jAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:18:14.3436 LVL= 18192, 28865, 20898, 29299, AGC= 62, IDX= 434, 0.20,-2.840, 1.879, 1.578, 2.307, PHS= 1.224,-0.381,-0.732, RAW= 80.3, -1.2, CAL= 87.1, -6.2, ROT= 62.9, 6.2 Ygot valid direction response: 22:18:14.3436 LVL= 18192, 28865, 20898, 29299, AGC= 62, IDX= 434, 0.20,-2.840, 1.879, 1.578, 2.307, PHS= 1.224,-0.381,-0.732, RAW= 80.3, -1.2, CAL= 87.1, -6.2, ROT= 62.9, 6.2 PDAT read: Bearing 62.9, 6.2 (Local) ~Local bearing/azimuth received: Bearing 62.9, 6.2 (Local) DAT read: Range 10 to 50 : 217.2 m (Round-trip 289.6 ms) speed 0.2 m/s >YBV#?94P>yH ? @???0ƿp??UT?ɨ>k;C,DAT read: user:2479> BDAT read: Tx time:22:18:15.4499 $Ping request sent.)TT1If)IiMb@Mb@Mb@ )YuV?~jtMbP?yr?:A @)I Ay\AII4٢ 0<  =9 tQ > G٣y=< > %Nusing accuracyPremultiplier from config!-659%6?-65Y%' i%B5?5:5e?5@%u#E%;%^;%Bt65Y eAeEkg?k"& k kjA:k3YCBkWCZkW>@" -j#ZecMM@@k Nj@-c :yD?vk?Jk'7?Rk*Q`Ɋ4P8I @>k@RH싸?&%?w=#D?"k0W@*kk[?k& 2kCk"?k& kCk{AkNB@ addTargetRange:: Added new target pos. range: 217.199997 m, deltaT: 4.031089 s, deltaX: -0.600006 m, approachRate: -0.148845 m/s, rangeRepo size: 4  Added new target pos. range: 217.199997 m, bearing: 170.828925 deg, lat: 36.904691 deg, lon: -122.121460 deg, deltaT: 4.031089 s, deltaX: -0.600006 m, approachRate: -0.148845 m/s, posRepo size: 4 ZjUFNOT Ignoring new targets: 217.20 m.Bj]JjYm ProNav: ac range: 217.199997 m, nav range: 30.810459 m, bearing: 173.734847 deg, approach rate: 0.000000 m/s, LOS rate: 0.343783 deg/s, cmd heading: 42.783031 deg, new cmd heading: 43.338147 deg. 2jiHeadingCmd: 0.756393 target range: 217.199997 and range: 217.20 m. jA?jjjihhhhBfffrf`f&k@bf M?ɛ}B[ 隅½I LiɚiI /=IA?i*AOw,@+jAF:>YFY&?Fͼ9FT>yFH@I}? `̺?tT?H?ƿ̳? jP?bN?ɨF:>F;FCyrmBrm III4٢= j=9ϻQ ?99 =G٣=tKGyEV< E> MNusing accuracyPremultiplier from configIU659M*D?U65YMf' iMB+?@Mx#EMjI I IIBI&I.I6I<:I FBIqJIqRIqZIu =bIqjIuZ5G GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK lNK 9K K K XPKGA8%! ?pU>2& $% RK ?JK >8w,\EjAbP>Ybp(?bEr9baV>ybH7O?JJ`??h?@9,ǿO͜??vJ?ɨbP>bw;bCyn|Bn~ IIvIv4٢~q= ~K=9 Q > G٣ y <  > Nusing accuracyPremultiplier from config659 S?65YM' %tIiB!%?%@{#EF;;z65-5B -A-EMB*** querying acoustic contact ***jIjIZjFNOT Ignoring new targets: 217.20 m.BjN5<JjN5< ProNav: ac range: 217.199997 m, nav range: 31.119886 m, bearing: 174.206301 deg, approach rate: 0.417291 m/s, LOS rate: 0.634043 deg/s, cmd heading: 44.000171 deg, new cmd heading: 44.745364 deg. 2j<HeadingCmd: 0.780954 target range: 217.199997 and range: 217.20 m. jG?jjjihhh!h! M$?IIf)fQfQrfQbf]c?ɛB 1 ļI |jɚiIF/=IG?iivV)G?))EEpA*F-?2F):F)BF-0JF)"G5>G5=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ga G9 BI Oa h`w,^jAyB I)! !]Will construct direction to contact in vehicle frame from tetrahedron phase data.e?eX?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.235256Mb@Mb@Mb@ )Y/$?:vy&1|?y ?Լ`;rA @)I7AyAII4٢= <=9Q > G٣y > Nusing accuracyPremultiplier from config659[d?65Y' iB3 ?:?@#ElK;2I;~656B 4AEZjFNOT Ignoring new targets: 217.20 m.Bj )@<Jj )@< ProNav: ac range: 217.199997 m, nav range: 31.310268 m, bearing: 174.505056 deg, approach rate: 0.430853 m/s, LOS rate: 0.671996 deg/s, cmd heading: 44.745365 deg, new cmd heading: 45.636102 deg. 2j<%HeadingCmd: 0.796500 target range: 217.199997 and range: 217.20 m. j%qK?j!j!j!i)h)h)h1h5Bf1f1f1rf9bf= M.?ɛmBmU quP~w,xjA6>Y6L-?6E 96W>y6HG?@q??6?W|ǿ'?? F?ɨ6>6ۇ;4yBBB IIJIJ4٢VE= Va=9Z sQ Z>XX ^G٣^uKGy^{= ^? fNusing accuracyPremultiplier from config`f659bq?j65Yb ' ibBhj3!?j@b#Eb:b:bȁ65r5B rArEZj  FNOT Ignoring new targets: 217.20 m.Bj<<Jj<<- ProNav: ac range: 217.199997 m, nav range: 31.449717 m, bearing: 174.730009 deg, approach rate: 0.411265 m/s, LOS rate: 0.660497 deg/s, cmd heading: 45.636104 deg, new cmd heading: 46.307939 deg. 2j-<-HeadingCmd: 0.808226 target range: 217.199997 and range: 217.20 m. j5N?j1j1j1i1h1h1h9h9fAfAfArfAbfM@?ɛBh@  =I iɚiI /=I%N?i!i-ٸ)-N?))H]f>I]C I] II]ɂBI] =&I]FD.I] 9I9 Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990844rw,HjA28>Y2U0?292X>y2H?? @W?M?@?ǿR?@?@D?ɨ28>2 ;2CyB I]Mb@Mb@Mb@YYY Y)YY] +?MbP:v?y]?]]T<]A ]@)]@I]AYyYIuIu4٢ = $=9HQ > G٣y< > Nusing accuracyPremultiplier from config659Z?65Y' iB?:{.?@#E;;+65 bAZj FNOT Ignoring new targets: 217.20 m.BjKS<JjKS<% ProNav: ac range: 217.199997 m, nav range: 31.661631 m, bearing: 175.103332 deg, approach rate: 0.422269 m/s, LOS rate: 0.738914 deg/s, cmd heading: 46.307938 deg, new cmd heading: 47.420261 deg. 2j<HeadingCmd: 0.827640 target range: 217.199997 and range: 217.20 m. j2S?jjjihhhhBfffrfbf|@ɛUBUc Y]=IY ]hɚYiYI.=I2S?iiν)2S?)*F!2F!:F!BF%@5JF!G9 G=rA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243416 - $?I1 G= +ʽG B! OE >󒪚w,YjAJJJ0JJJľ9Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494848)I !!i!!i)))) )I) -3C)-vA11111i1I19I9i=wA 99)9A AAAAIMҁAII)IiIIy]Bm Ii>I<II"4٢= I=9Q > G٣y > Nusing accuracyPremultiplier from config659Γ?65Y' iB@#E*::656B AEZj  FNOT Ignoring new targets: 217.20 m.BjP<JjP<% ProNav: ac range: 217.199997 m, nav range: 31.832087 m, bearing: 175.398343 deg, approach rate: 0.423947 m/s, LOS rate: 0.729802 deg/s, cmd heading: 47.420262 deg, new cmd heading: 48.300484 deg. 2j%m<-HeadingCmd: 0.843002 target range: 217.199997 and range: 217.20 m. j-W?j)j)j)i1h1h1h1h1fffrfbff@ɛB^ =[=]H=IY ]gɚYiYI]`Q.=IeW?iaie)eW?)i*F?2F:FBFZ0JFHmg>Ii Im!IImBIm =&Ii.Ii6Imw<:Im F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748335zK >`JK 9K K K    G JʽRKU ?JKU >G B O5 >tw,;jAV!>YV5?V- 9VjZ>yVHO? ;I?@??Ծǿ`f??@?ɨV!>V;VCɸdfuAfEif$hFhihj uA)jS jmFIh l)lɹlllpɺr/uAiv1IvjFtIxi~GuA ~~0F)    ɻ I)i)IAɼ  IyuЂBu III4٢(= ]=93Q > G٣vKGyT= > Nusing accuracyPremultiplier from config659֡?565Y' iBg3?@#E==65 3A -B*** querying acoustic contact ***j1j1ZjFNOT Ignoring new targets: 217.20 m.Bj+<Jj+< ProNav: ac range: 217.199997 m, nav range: 31.987135 m, bearing: 175.673048 deg, approach rate: 0.340877 m/s, LOS rate: 0.601015 deg/s, cmd heading: 48.300485 deg, new cmd heading: 49.120546 deg. 2j<<HeadingCmd: 0.857315 target range: 217.199997 and range: 217.20 m. jy[?jjjihhhhfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:18:18.1424  TRx dataTimestamp_ set to:1736374699.292976checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000275bf 4@ɛ}BY 隭%>I dɚiI-=Iy[?iiu۽)uy[?)y*F- ?2F) :F) BF- V0JF1 G wG B O >ힷw,jA6N>Y67?6_k*96\>y6H?@@t=?`T ?KX?1 ȿ K? `?@,;?ɨ6N>6c?;4]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.250726yeBm ImMb@Mb@Mb@iii i)iYm+? G٣y< > Nusing accuracyPremultiplier from config659ﱓ?65Y& i B?:3?@#E;;i657B AߴEZjFNOT Ignoring new targets: 217.20 m.Bj<Jj< ProNav: ac range: 217.199997 m, nav range: 32.165970 m, bearing: 175.984232 deg, approach rate: 0.529790 m/s, LOS rate: 0.916738 deg/s, cmd heading: 49.120545 deg, new cmd heading: 50.048821 deg. 2jI=HeadingCmd: 0.873517 target range: 217.199997 and range: 217.20 m. jʞ_?jjjihIhQhYhe-Bfffrfbf`: @ $?Iɛ}{B}*>: $K>I! %TObɚ!i!I%hG-=I-ʞ_?i)i-O)-ʞ_?)1*F2F:FBF_0JF"GG>JKm3 KL.KK"KJJJJJ]:JH9JJ Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506009G G ?G >GY Ba O >]὚w,7jAB$?YB:?B>f59B\^>yBH?`! x|?K?@H?Aȿ⪦?`?7?ɨB$?Bψ;BCy-B- !I)1 1I=I=4٢U= U^=9];Q ]>YY ]G٣YyeM< e> mNusing accuracyPremultiplier from configi}659m?}65Ym& imBy5?@m#Em2;m2;m65 :AZjFNOT Ignoring new targets: 217.20 m.Bj=j<Jj=j< ProNav: ac range: 217.199997 m, nav range: 32.329765 m, bearing: 176.270781 deg, approach rate: 0.470621 m/s, LOS rate: 0.819145 deg/s, cmd heading: 50.048819 deg, new cmd heading: 50.904044 deg. 2j =HeadingCmd: 0.888443 target range: 217.199997 and range: 217.20 m. jqc?jjjihhhhHIII IMG!IIM BIM =&II.II6IM6<:IMT Ffffrfbf @ɛzB; k>I _ɚi!I%%,=I%qc?i)i-)-qc?))EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:18:18.1424 LVL= 20336, 32753, 32754, 32755, AGC= 63, IDX= 422,-0.09, 1.817, 0.163,-0.029, 0.613, PHS= 1.292,-0.402,-0.645, RAW= 83.4, -2.7, CAL= 91.2, -8.6, ROT= 58.8, 8.6 Ygot valid direction response: 22:18:18.1424 LVL= 20336, 32753, 32754, 32755, AGC= 63, IDX= 422,-0.09, 1.817, 0.163,-0.029, 0.613, PHS= 1.292,-0.402,-0.645, RAW= 83.4, -2.7, CAL= 91.2, -8.6, ROT= 58.8, 8.6 PDAT read: Bearing 58.8, 8.6 (Local) ~Local bearing/azimuth received: Bearing 58.8, 8.6 (Local) DAT read: Range 10 to 50 : 216.3 m (Round-trip 288.4 ms) speed 0.4 m/s ,DAT read: user:2480> BDAT read: Tx time:22:18:19.2499 $Ping request sent.AAE=J]J?G8*=)Eq#IElA=iEF?EିAAE:publishing transmit ping timeEFpublishing direction and range infoA9Erd Ż?9:?yAAAA A)AIAiAAAAA A)AIAiAAAE=J]J?G8*=)AIAiAAAAEa I*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >Św,["kAB6?YB=?ByBH 6?6S? ? ?ȿJ%?%? n2?ɨB6?B4;BCyzBz!IMb@Mb@Mb@ )YuV?y&1?! %G٣%wKGy-< -> 5Nusing accuracyPremultiplier from config)=659-ӓ?=65Y-G& i-5B=(?=:=A?E@-#E-] ;-;-͗65I MAMܴEk 8?kY{' k k}"kA:kLXCBkVCZkYx@"2|xA~G@gh~bj@rd Ż?9:?JkF?Rkି*}7zv&M~$Ucj@VrE Be$?"k#*k0kRM1?kJM( 2kCkl#?kkCkBk=XE@% addTargetRange:: Added new target pos. range: 216.300003 m, deltaT: 3.784036 s, deltaX: -0.899994 m, approachRate: -0.237840 m/s, rangeRepo size: 4 5 Added new target pos. range: 216.300003 m, bearing: 222.882642 deg, lat: 36.904691 deg, lon: -122.121460 deg, deltaT: 3.784036 s, deltaX: -0.899994 m, approachRate: -0.237840 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 216.30 m.Bj=Jj9m ProNav: ac range: 216.300003 m, nav range: 32.525745 m, bearing: 176.672143 deg, approach rate: 0.000000 m/s, LOS rate: 0.819145 deg/s, cmd heading: 50.904044 deg, new cmd heading: 52.085984 deg. 2jiuHeadingCmd: 0.909072 target range: 216.300003 and range: 216.30 m. juh?jyjyjyihhhhUBfffrf k@bf@?ɛ5xB5K; Q]>IY ]+[ɚYiYI]=+=Ieh?iaie)mh?)iETZ =Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FI:FIBFIJFI E $?II GM s) G1 BI m iG 5tAO >˚w,0)2kA]A 2.Y25tAy2BJ>J>J>1J<J>-:J>9J>3J<Will construct direction to contact in vehicle frame from tetrahedron phase data.y޵B޽8!III 4٢D= E=9Q > G٣y > Nusing accuracyPremultiplier from config659䓜?65Y[& iKB@#E;/;n658B )AٴEZj9EFNOT Ignoring new targets: 216.30 m.BjMxp<JjMxp< ProNav: ac range: 216.300003 m, nav range: 32.713448 m, bearing: 177.019109 deg, approach rate: 0.457564 m/s, LOS rate: 0.840945 deg/s, cmd heading: 52.085984 deg, new cmd heading: 53.120792 deg. 2jH=HeadingCmd: 0.927133 target range: 216.300003 and range: 216.30 m. jXm?jjjihhh hIfQfQfQrfQbf]`w?ɛvBfG< 隥>I WɚiI6+=IXm?ii )Xm?)EE*E"EHEe>IA IE!IIEMBIE =&IA.IA6IEt<:IE FEEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK 9K K K *F ?2F :F BF JF G  G qA I G GBAO?s{Ԛw,RkAfWill construct direction to contact in vehicle frame from tetrahedron phase data.hijAr=?YrGH?ri9r_>yrH?)W@h?? ?ȿD8??`0?ɨr=?r 9;py~B@!Ii a=I %=Mb@Mb@Mb@ )YGz?~jt?Q?y0?<u<A @)3@IAyAIIv}4٢< "=9 Q > G٣ye = e> mNusing accuracyPremultiplier from configi}659mn?}65Ymq& imkB0?:I  Rɚ i I ~ *=I@s?iim)@s?)*FM?2FI:FIBFMo0JFIGEGB)OE>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ] $?I] 7iZښw,4lkA6ti?Y6L?6hp96 g>y6HX????>k?4ɿ ?`ǘ?`r"?ɨ6ti?6ۣ;6CyR-BRX!IIZIZE4٢b= b\=9fBQ f>dh jG٣jxKGyjO>= j> ENusing accuracyPremultiplier from config9E659=?M65Y=& i=BIMZT?M@=#E=:=:=/65Q U]AYZjFNOT Ignoring new targets: 216.30 m.Bjb<Jjb< ProNav: ac range: 216.300003 m, nav range: 33.109665 m, bearing: 177.828397 deg, approach rate: 0.448816 m/s, LOS rate: 0.918923 deg/s, cmd heading: 54.544689 deg, new cmd heading: 55.533170 deg. 2j=HeadingCmd: 0.969237 target range: 216.300003 and range: 216.30 m. jx?jjjihhhhfffrfbf@IA?ɛsBiRw< 3>I - NɚiIN)=Ix?ii \) x?) J@AJAA*F?2F:FBFQ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757929G GBO>H _>I C I !II vBI  =&I GD.I ;D6I <:I FBIȦCJIȦCRIZI =bI =jIȒ5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008785]w,\kAZ`?YZ Q?Z&w9Zn>yZH?n?`G??@ɿ@ ??n?ɨZ`?ZH;ZCzKnm$JKlKlKnKn(9;<?<:741/+((&'%'#" BKt:KvqAyz7Bze!III4٢ E= E=9;~Q >! %G٣!y%{ = %> 5Nusing accuracyPremultiplier from config)5659-?565Y-$& i-B9=tX?=@-#E- ;-. ;-65A MAMԴEZjiuFNOT Ignoring new targets: 216.30 m.Bju<Jju< ProNav: ac range: 216.300003 m, nav range: 33.285736 m, bearing: 178.196154 deg, approach rate: 0.439762 m/s, LOS rate: 0.913660 deg/s, cmd heading: 55.533171 deg, new cmd heading: 56.630464 deg. 2j=HeadingCmd: 0.988388 target range: 216.300003 and range: 216.30 m. j}?jjjihhhhfffrfbf@ɛrBq< $?I u>Iq }kHɚyiIR(=I}?iil)}?)*FM?2FI:FIBFM05JFIG% G= ?G=%?JJJ0JJ:J9Jـ3JJ;aJ;aGB Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264863JF;aMJG;aUOmx>~w,8kA @6po?Y6T?6}96u>y6H`? J@mR???,ʿ՛?_?`?ɨ6po?6΄;6CyRDBRt!I)T TUMb@Mb@Mb@QQQ Q)QYU/$? G٣y%= >  Nusing accuracyPremultiplier from config 659 *'?65Y & i Bq1?:f`?@ #E "; !; y65) -[@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512812ZjaeFNOT Ignoring new targets: 216.30 m.Bjms<Jjms<} ProNav: ac range: 216.300003 m, nav range: 33.470036 m, bearing: 178.598555 deg, approach rate: 0.423415 m/s, LOS rate: 0.919390 deg/s, cmd heading: 56.630464 deg, new cmd heading: 57.830835 deg. 2j}=HeadingCmd: 1.009338 target range: 216.300003 and range: 216.30 m. j2?jjjihhhhBfffrfbf`P@ɛpBh< |>I CɚiI6'=I2?ii5)2?) IE=*Fi2Fq:FqBFu2JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764944G zGq By O >{w,¾kAyzFBzw!III4٢=D< =B=9=Q =>AHuZ>IuC Iu!IIuBIu =&Iq.Iq6IuN<:IuZ FI G٣yKGy > Nusing accuracyPremultiplier from config659s7?65Y& iB@#E::L65;B F@δEZj9EFNOT Ignoring new targets: 216.30 m.BjU6<Jj]6< ProNav: ac range: 216.300003 m, nav range: 33.658401 m, bearing: 179.001693 deg, approach rate: 0.427933 m/s, LOS rate: 0.910724 deg/s, cmd heading: 57.830836 deg, new cmd heading: 59.033295 deg. 2jA=HeadingCmd: 1.030325 target range: 216.300003 and range: 216.30 m. j?jjjihhhhfffrfbf`@ɛuoB}< y}k>Iy š<ɚiI&=I?iiF)?)%Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:18:21.9405 -TRx dataTimestamp_ set to:1736374703.084932-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018112E F<zK_MK9KKK RK?JK> $?I*F2F:FBF05JFG0GaBiO>J J J J J :J =9J J J ;J ;J *;J *; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271368[]w,EkA64S$?Y6\?6F96M}>y6H? `ҕ?@?@?@ݒʿ?@U??ɨ64S$?6 ;6CybQBb!ImMb@Mb@Mb@iii i)iYm9v? ףp= ?Mb?ym4?mQ8=m G٣yO= > Nusing accuracyPremultiplier from config659E?65Y& iBg5?:I [7ɚiI$=In?i i ae ) n?)EE*E"EEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523325*FA2FI:FQBFU"5JFY I G }G qAG qAGi By O >)w,kA6C(?Y6`?6!96~>y6H`d?U3`>??g??ʿ@?`Qn? D?ɨ6C(?6L;6CyBPB@InInb4٢v;4 zA=9zQ z>|| ~G٣|y~g= >  Nusing accuracyPremultiplier from config659T?65Y& i B+o?@#E ; ;|65! %@%˴EZjA]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:18:21.9405 LVL= 24336, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.33,-0.686,-2.179,-2.134,-1.584, PHS= 0.986,-0.548,-0.554, RAW= 89.8, 1.5, CAL= 97.2, -1.7, ROT= 52.8, 1.7 Ygot valid direction response: 22:18:21.9405 LVL= 24336, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.33,-0.686,-2.179,-2.134,-1.584, PHS= 0.986,-0.548,-0.554, RAW= 89.8, 1.5, CAL= 97.2, -1.7, ROT= 52.8, 1.7 PDAT read: Bearing 52.8, 1.7 (Local) ~Local bearing/azimuth received: Bearing 52.8, 1.7 (Local) DAT read: Range 10 to 50 : 214.8 m (Round-trip 286.5 ms) speed 0.4 m/s ,DAT read: user:2481> BDAT read: Tx time:22:18:23.0499 $Ping request sent.I 0ɚiIR#=I(?iif)(?)!*F?2F:FBF_0JFGHER>IEC IE!IIEBIE =&IA.IE:D6IE<:IE FGYBiOZ> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK 9K K K BK qA:K A IE 6iF w, lAJ[V,?YJd?J]9J >yJH@?@΀o? ? ?`RcʿgS???ɨJ[V,?JH;JCyvSBv!IIIm4٢<< I=9!Q >QQ ]G٣]zKGy]1= e> mNusing accuracyPremultiplier from configam659ec?u65Ye& ie4 Bqu;s?u@e#Ee:e ;e65 @k)5ߓ?kӟ+ k kZkA:kVCBkWUCZk-@"}s8s&8@Ryj@$M$(Ǽ?x]y?Jk1@Rk~* ɻ6Q 'j1H(j@ ~eY̿%S:-?"kA*kɿk(PNޓ?kJG+ 2kwCk[?kkˋCkAk ]I@ addTargetRange:: Added new target pos. range: 214.800003 m, deltaT: 3.792106 s, deltaX: -1.500000 m, approachRate: -0.395559 m/s, rangeRepo size: 4  Added new target pos. range: 214.800003 m, bearing: 268.134568 deg, lat: 36.904779 deg, lon: -122.121460 deg, deltaT: 3.792106 s, deltaX: -1.500000 m, approachRate: -0.395559 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 214.80 m.BjJj% ProNav: ac range: 214.800003 m, nav range: 24.389513 m, bearing: 180.269949 deg, approach rate: 0.000000 m/s, LOS rate: 0.959828 deg/s, cmd heading: 61.395362 deg, new cmd heading: 62.601811 deg. 2j!-HeadingCmd: 1.092608 target range: 214.800003 and range: 214.80 m. j-ڋ?j)j)j)i)h1h1h1h9f9f9f9rf9bfE3?ɛmlBmѲ< im>Ii u**ɚiIŐ"=Iڋ?iiѐ)ڋ?J5J5J1J1J5:J5O9J1J1J58;J5:;J5e,;J5f,;)}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG G ?G >G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.45 w,Ԟ&lAy~YB~!IMb@Mb@Mb@ )Ygfffff?J +?~jt? $?Iy33?H=< K@)@IAyAII(4٢+< 5=9Q > G٣y > Nusing accuracyPremultiplier from config659'r?65Y۶& iW B3?:t?@#EZ;4X;65IQ UhB$ɚQiQIUM!=I]?iYi]Y3)e?)aEupAEupA*F?2F:FBF`0JFG7 GaBiOZ>}Will construct direction to contact in vehicle frame from tetrahedron phase data.HE M>IE C IE "IIE ƒBIE  =&IA .IE 9D6IE f<:IE _ F2w,~@lA2o4?Y2Zl?2ώ92>y2H`43?x ??%?vʿ=ֱ? c?`S?ɨ2o4?2f;0yPPIZ{IZZ49zQ ~> G٣ y =  > Nusing accuracyPremultiplier from config659}?%65Ym& it B!%|?%@#E;;65) 11ZjY]FNOT Ignoring new targets: 214.80 m.Bje\<Jje\I ɚiI3 =I?ii()?)Will construct direction to contact in vehicle frame from tetrahedron phase data.]?V?*FU?2FQ:FQBFUc1JFQzKBHKh9KKK $?I5iGU?G1BYO>J J J J J :J 9J J J ;J ;J p#;J q#; Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,GWZlA6G8?Y6.q?6g96>y6H? @^@%2?C?{?1ʿ' ?;? ?ɨ6G8?6鴈;4yNVBR!I-Mb@Mb@Mb@))) )))Y-&1??aa eG٣e{KGym#= u> Nusing accuracyPremultiplier from config 659? 65Y& i B _1? : &? @#E;;65=B b@ƴE]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 214.80 m.Bj <Jj < ProNav: ac range: 214.800003 m, nav range: 24.877302 m, bearing: 181.904458 deg, approach rate: 0.379602 m/s, LOS rate: 1.301275 deg/s, cmd heading: 65.759941 deg, new cmd heading: 67.471365 deg. 2jC_=HeadingCmd: 1.177598 target range: 214.800003 and range: 214.80 m. j?jjjihhhhzBfffrfbf@?ɛȪ< 隵>I ɚiI=I?iip 6)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF0JF!G5?! IGGpAGBO> ~G |uA ZA HY |uAy B(rw,3tlA6_hy6He? ?@?_?`ɿ@l?@=??ɨ6_hxx ~G٣|y~@= >  Nusing accuracyPremultiplier from config 659T?65Y& i B?@#E:: ;65! %@%ôE=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997829ZjaeFNOT Ignoring new targets: 214.80 m.BjmY<JjmY<} ProNav: ac range: 214.800003 m, nav range: 25.018982 m, bearing: 182.395895 deg, approach rate: 0.381954 m/s, LOS rate: 1.317343 deg/s, cmd heading: 67.471368 deg, new cmd heading: 68.936990 deg. 2j}b=HeadingCmd: 1.203177 target range: 214.800003 and range: 214.80 m. j?jjjihhhhfffrfbfd6@ɛiB@< >I EɚiIM=I?iiK?)?)*FU?2FQ:FYBF]4JFYGepA GepAjHbHp<HG>IC III =&I.I8D6I<:I FG5e #G BO5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250489 I zK= K= +9K9 K= K=  ,Je~sD/&" Y#w, lA2Q@?Y2)y?2bŒ92>y2H?.?d?` ?F`ɿ?D?`?ɨ2Q@?2;0yNMBR!IiZ>IZR=IfIf4٢e eC=9e:Q e>ii mG٣iyuY#= u> }Nusing accuracyPremultiplier from configy659}?65Y}m& i} B#?@}#E}:}:}65  @ZjFNOT Ignoring new targets: 214.80 m.Bj߼<Jj߼< ProNav: ac range: 214.800003 m, nav range: 25.176369 m, bearing: 182.947560 deg, approach rate: 0.379249 m/s, LOS rate: 1.320997 deg/s, cmd heading: 68.936990 deg, new cmd heading: 70.581164 deg. 2jb=HeadingCmd: 1.231874 target range: 214.800003 and range: 214.80 m. j ?jjjihhhhfffrfbf`H@ɛ`< !% >I! % ɚ!i!I%=I- ?i)i->I)5 ?)1}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509651E%8<*F2F:FBF_5JFG6Gi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757584)w,lA2E?Y2~?2狽92->y2H@s?3?û?n?ɿ y?l??ɨ2E?2g;2Cy>JB>{!I E$?IAMb@Mb@Mb@ )YMbX?&1?{Gz?y*?P=#< @)@I7AyGAI-I-4٢][ e;=9ey:Q e>ii G٣|KGy0= > Nusing accuracyPremultiplier from config659ʮ?65Y& i BE+?:?@#E";j!;65 :@Zj!MFNOT Ignoring new targets: 214.80 m.BjM<JjU<] ProNav: ac range: 214.800003 m, nav range: 25.335083 m, bearing: 183.516173 deg, approach rate: 0.351539 m/s, LOS rate: 1.251521 deg/s, cmd heading: 70.581167 deg, new cmd heading: 72.275798 deg. 2jeV=HeadingCmd: 1.261451 target range: 214.800003 and range: 214.80 m. j7w?jjjihhhhYBfffrfbf6@ɛmhBm`< qu>Iq uQɚqiqIuS =I}7w?iyi5Q)7w?)E}v<JJJJJ:Jb9JJa%@a%@a%@a%@*F?2F:FBF4JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:18:25.7382 TRx dataTimestamp_ set to:1736374706.869817checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012326GU x8G] ?G] >H C>I C I "II BI ! =&I .I 7D6I <:I s FBIˢCJIˢCRI˔CZI =bI =jIˀ6G1 BA Oe >s0w,lARJ?YR?R!9R >yRH?~'?`>??_ȿ`?p?`z?ɨRJ?R;RCy^AB^q!IIfIf4٢n7 re=9r:Q r>tt vG٣tyzf= z? ~Nusing accuracyPremultiplier from config|659~?65Y~6& i~ B?@~#E~ ;~C ;~65>B @EZj9=FNOT Ignoring new targets: 214.80 m.BjE<JjE< ProNav: ac range: 214.800003 m, nav range: 25.456936 m, bearing: 183.960714 deg, approach rate: 0.355756 m/s, LOS rate: 1.291636 deg/s, cmd heading: 72.275798 deg, new cmd heading: 73.602787 deg. 2j]=HeadingCmd: 1.284611 target range: 214.800003 and range: 214.80 m. j"n?jjjihhhhf!f!f!rf)bf-m @ɛ< 隕>I ɚiI=I"n?iiS)"n?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261703 !I%4izK5$NK5ػ9K1K5K5   RK=?JK=?*F?2F:FBF^0JFG}CGa B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5173346w,_lA TT~7P?Y~Y?~2Ċ9~~>y~H S?`?@o?e?`ȿ U? .?B?ɨ~7P?~;~Cy =Bl!IMb@Mb@Mb@ )YPn?:v?y$?T=+A @)@IyAIIЬ4٢ ;=99Q > G٣yWM= > Nusing accuracyPremultiplier from config 659f”? 65Y& i B$?:a?@#E;;65?B  A%E=B*** querying acoustic contact ***j9j9ZjFNOT Ignoring new targets: 214.80 m.Bj<<Jj<IY ]@ɚyiyI}C=I ?iiAX) ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 22:18:25.7382 LVL= 23312, 32753, 30002, 32755, AGC= 62, IDX= 410, 0.25,-2.093, 2.606, 2.956,-2.919, PHS= 0.914,-0.711,-0.411, RAW= 100.0, 2.8, CAL= 110.4, 0.7, ROT= 39.6, -0.7 5Ygot valid direction response: 22:18:25.7382 LVL= 23312, 32753, 30002, 32755, AGC= 62, IDX= 410, 0.25,-2.093, 2.606, 2.956,-2.919, PHS= 0.914,-0.711,-0.411, RAW= 100.0, 2.8, CAL= 110.4, 0.7, ROT= 39.6, -0.7 EPDAT read: Bearing 39.6, -0.7 (Local) E~Local bearing/azimuth received: Bearing 39.6, -0.7 (Local) eDAT read: Range 10 to 50 : 213.0 m (Round-trip 284.1 ms) speed 0.2 m/s u,DAT read: user:2482> BDAT read: Tx time:22:18:26.8515 $Ping request sent.ii?6nҾf?+H= Ϣ?)+H2y6Hl?  ? [?`.Q?3ȿ@!?@??ɨ6YU?6q;6CyV7BVe!II%I%4=Will construct direction to contact in vehicle frame from tetrahedron phase data.٢U ]U=9];Q e> G٣}KGybi= > Nusing accuracyPremultiplier from config659Q˔?65Y& i3 B7?@#EJ;};65 <AkwUK?k] . k klA:kUCBkSCZk@"`҇^@'sR+^P@j@[aÿFk͑?Jk/Rkؤ*Iy }"IɚyiyI}ޫ=I,?iiZ),?)*F!2F!:F!BF%n0JF!ZHRHHB>I I!IIBI&I.I6I<:IGPG!G%qAGBOj>Will construct direction to contact in vehicle frame from tetrahedron phase data.%=%= $?I zK ^ LK 9K K K Cw,SmA2fQ\?Y2f?292_>y2H?n&?@-?i?`ǿ`5?`y?ɳ?ɨ2fQ\?2i;0yZ6BZc!IIbIb4٢vK vR=9vQ,:Q v>xx zG٣xy~…= ~> Nusing accuracyPremultiplier from config 659Ӕ?65Y& iJ B!-g?-@#E;;K65Q eLAeEZjFNOT Ignoring new targets: 213.00 m.BjW:<JjW:< ProNav: ac range: 213.000000 m, nav range: 20.276091 m, bearing: 226.053833 deg, approach rate: 0.620420 m/s, LOS rate: 0.651645 deg/s, cmd heading: 76.621588 deg, new cmd heading: 77.345722 deg. 2j<HeadingCmd: 1.349938 target range: 213.000000 and range: 213.00 m. jʬ?jjjihhhhfffrfbf?ɛ gB䶻< 隕6>I ɚiIʞ=I?i; Will construct direction to contact in vehicle frame from tetrahedron phase data.Iw,2)mA XIXFi?YIyH@9?`@}?? *?dzƿ ??`?ɨFi?CK;騍Cyޝ1Bޥ]!I =eMb@Mb@Mb@aaa a)aYeS?Zd;O?Mbpye?ej<=eeA e@)e@IeAayeAy}@AIIv}4٢S 2=9Y:Q > G٣yI= > Nusing accuracyPremultiplier from config659۔?65Yx& ia B?:֚?@#E;;M65 qAZjFNOT Ignoring new targets: 213.00 m.Bj?<Jj?< ProNav: ac range: 213.000000 m, nav range: 20.530703 m, bearing: 226.358833 deg, approach rate: 0.566444 m/s, LOS rate: 0.670126 deg/s, cmd heading: 77.345725 deg, new cmd heading: 78.249298 deg. 2j<HeadingCmd: 1.365708 target range: 213.000000 and range: 213.00 m. jϮ?jjjihh!h!h%Bf!f)f)rf1bf5?ɛY]$< Y]>Ia eZPֻɚaiaIe]=I%Ϯ?i)i->.)-Ϯ?))*F?2F:FBF1JF*J"Jp=J J J 1J J <:J 9J 3J GP]Will construct direction to contact in vehicle frame from tetrahedron phase data.GaBiO{>H ?>I  I !II BI " =&I .I 6I e<:I R FSPw, CmAy||I I t4٢% %e=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config9E659=<├?E65Y=s& i=s BAAM@=#E=:=A;=j65Y ]tAYZjFNOT Ignoring new targets: 213.00 m.Bj8<Jj8< ProNav: ac range: 213.000000 m, nav range: 20.729130 m, bearing: 226.590874 deg, approach rate: 0.555734 m/s, LOS rate: 0.643652 deg/s, cmd heading: 78.249297 deg, new cmd heading: 78.938719 deg. 2j<HeadingCmd: 1.377741 target range: 213.000000 and range: 213.00 m. jY?jjjihhhhfffrfbfc?ɛhBP< >I x#ͻɚiI;S=IY?ii=Will construct direction to contact in vehicle frame from tetrahedron phase data.)Y?) I*F?2F:FBF/5JFzKBHK9KKK ActG 1HG5 ?G5 ?G u Will construct direction to contact in vehicle frame from tetrahedron phase data.BY O >fVw,;\mANIv?YNJJ?NCr9N>yNH8?V.?8?>?@Ŀe>?M??ɨNIv?N ;Ly^-B^Y!IMb@Mb@Mb@ )YGz?l?I +y?=94A j@)IAy(AIIy4٢8s B=9 G٣~KGy= > Nusing accuracyPremultiplier from config659蔜?65Ym& i B?: ?@#E;c;65@B AEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 213.00 m.Bj~9<Jj~9<- ProNav: ac range: 213.000000 m, nav range: 20.945608 m, bearing: 226.867267 deg, approach rate: 0.513376 m/s, LOS rate: 0.648686 deg/s, cmd heading: 78.938716 deg, new cmd heading: 79.759267 deg. 2j-<-HeadingCmd: 1.392062 target range: 213.000000 and range: 213.00 m. j5/?j1j1j1i9h9hAhIhMBfIfIfIrfQbfUo?ɛ[< 隅>I l»ɚiI9=I/?i)i5K~)5/?)1*F?2F:F BF ]0JF "G>G?>Will construct direction to contact in vehicle frame from tetrahedron phase data.A?p=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G%2A $?I3iGB O%o>J% J% J! J! J% ̝:J% 9J! J! ]w,vmA6h|?Y62r?6{b96>y6H@? @?? ?_ÿK?` G?Ý?ɨ6h|?6W;6Cyv%BvN!I)x x|~A Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236710II4٢-4 -Q=9511 =G٣9y=^= => MNusing accuracyPremultiplier from configAM659E픜?M65YE h& iE BQU0?U@E#EEn:E:E65Y ]AaZjFNOT Ignoring new targets: 213.00 m.BjH?<JjH?< ProNav: ac range: 213.000000 m, nav range: 21.143564 m, bearing: 227.130703 deg, approach rate: 0.507407 m/s, LOS rate: 0.668923 deg/s, cmd heading: 79.759268 deg, new cmd heading: 80.542126 deg. 2j<HeadingCmd: 1.405725 target range: 213.000000 and range: 213.00 m. j?jjjihhhhfffrfbfS@ɛp?< >I  ɚiI=B=I?i i 9) ?)*F2F:FBF_0JFH%<>I%C I%!II%BI!&I!.I!6I%<:I% FG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488120GBO> Y IY zK% 0LK% 9K! K% K% |xqpjc_]]^ZTMJC@<843221-,()''%!BK5 pA:K1 cw,|mAyprO!IIzIzפ4٢ @;  N=9Q > G٣ye m> uNusing accuracyPremultiplier from configi}659m?}65Ym>b& im B@m$Emq;m;m65AB EZjFNOT Ignoring new targets: 213.00 m.Bj8<Jj8<% ProNav: ac range: 213.000000 m, nav range: 21.350611 m, bearing: 227.400400 deg, approach rate: 0.500452 m/s, LOS rate: 0.645560 deg/s, cmd heading: 80.542123 deg, new cmd heading: 81.343313 deg. 2j%<-HeadingCmd: 1.419709 target range: 213.000000 and range: 213.00 m. j5?j1j1j1i1h1h9h9h9f9fAfArfAbfE@ɛimX< qu>Iq uɚyiyI}:=I}?ii$)?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.743637*F2F:FBFJFG}v3GpAGrAGBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:18:29.5379  TRx dataTimestamp_ set to:1736374710.651305 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996186 a Ii )jw,ImAZ1b?YZW?ZB?9Z$>yZH@?Jeh? $b?@KA?@?-? J?ɨZ1b?Z;ZCy%$B-M!I5Mb@Mb@Mb@111 1)1Y5E?X9v?Qy5?5<5u5A 5=@)5p@I5A1y5@IUIU\4٢e% m5=9m*qq uG٣uKGyu= u>)  Nusing accuracyPremultiplier from config659?.~G65YM\&  i B ?!%:-?5@$Ev<S< U"YYy]2B65a eAaZjFNOT Ignoring new targets: 213.00 m.Bj>4<Jj>4<% ProNav: ac range: 213.000000 m, nav range: 21.556166 m, bearing: 227.692942 deg, approach rate: 0.447167 m/s, LOS rate: 0.630327 deg/s, cmd heading: 81.343311 deg, new cmd heading: 82.212497 deg. 2j%K<-HeadingCmd: 1.434879 target range: 213.000000 and range: 213.00 m. j-?j)j)j)i)hQhQhYh]BfYfafarfabfe`z @ɛiBS< (>I 5qɚiIm4=I?i i )?)*F?2F:FBFJFG GqA-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245076G6QGyBO>H 8>I  I !II BI # =&I .I 6D6I <:I m Fwqw, QmA6\?Y6?6+96aK>y6H`r?ु@?ݜ?`W?`ozt??@?ɨ6\?6q;;6Cyb3Bb`!Iif>If< j=j%=InInV4٢vE= vh=9v^xx zG٣xy~B= ~> mNusing accuracyPremultiplier from configiu659m0?u65Ym\W& im By}ݫ?}@m $Em3";m";m65 lAZjFNOT Ignoring new targets: 213.00 m.BjN<JjN< ProNav: ac range: 213.000000 m, nav range: 21.724377 m, bearing: 227.940969 deg, approach rate: 0.494286 m/s, LOS rate: 0.723179 deg/s, cmd heading: 82.212494 deg, new cmd heading: 82.950770 deg. 2j'<HeadingCmd: 1.447764 target range: 213.000000 and range: 213.00 m. jUP?jjjihhhhfffrfbf` @ɛ!< !%>I! %YCɚ!i!I%K=I-UP?i)i-~)5UP?)1Will construct direction to contact in vehicle frame from tetrahedron phase data.=%=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506110 I*F ?2F:FBF0JFzKNK9KKK$-37:>DEGHINPPPPTRPOOLJJKLNNNJF@<755221.+*)*'%%#$# GqJK 3 K .KK"KJJJ0JJ:J 9Jـ3JJa Ja JO>;a% JP>;a% GQ B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:18:29.5379 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 423, 0.06,-1.782, 3.053,-2.572,-2.366, PHS= 0.671,-0.818,-0.209, RAW= 114.0, 5.5, CAL= 124.2, 2.2, ROT= 25.8, -2.2  Ygot valid direction response: 22:18:29.5379 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 423, 0.06,-1.782, 3.053,-2.572,-2.366, PHS= 0.671,-0.818,-0.209, RAW= 114.0, 5.5, CAL= 124.2, 2.2, ROT= 25.8, -2.2 2ww,0.mANPDAT read: Bearing 25.8, -2.2 (Local) R~Local bearing/azimuth received: Bearing 25.8, -2.2 (Local) ZDAT read: Range 10 to 50 : 211.7 m (Round-trip 282.3 ms) speed 0.0 m/s Z,DAT read: user:2483> yn8Bnf!IBDAT read: Tx time:22:18:30.6500 %$Ping request sent.%inFwg?ߨg?)iֽI.ƽiL @:publishing transmit ping time!Fpublishing direction and range info9`1̂l̿ݨaqxӿg;?y )Ii )Iiwg?ߨg?)IiMb@Mb@Mb@ )YMb?Q?:vy?<TA &@)IQAyIIJ4٢}p< }'=9}Q }> G٣y  > Nusing accuracyPremultiplier from config659?65YQ& i B?:߫?@$E;;h65I MBAQk?kw/ k kzmA:kSCBk?RCZkر@"#LgGVD P#\zh@`1̂l̿ݨaqxӿg;?JkL Rk@*sWX@*dU.[Nd@͕+?+'ٿwǺ؁`?"k!*kBk߶ô?kO/ 2k~iCk(PNޓ?kJG+ kkwRBk@ addTargetRange:: Added new target pos. range: 211.699997 m, deltaT: 3.789003 s, deltaX: -1.300003 m, approachRate: -0.343099 m/s, rangeRepo size: 4 m Added new target pos. range: 211.699997 m, bearing: 318.434049 deg, lat: 36.904984 deg, lon: -122.122003 deg, deltaT: 3.789003 s, deltaX: -1.300003 m, approachRate: -0.343099 m/s, posRepo size: 4 ZjiuFNOT Ignoring new targets: 211.70 m.BjuJjy ProNav: ac range: 211.699997 m, nav range: 52.616795 m, bearing: 266.242516 deg, approach rate: 0.000000 m/s, LOS rate: 0.723179 deg/s, cmd heading: 82.950769 deg, new cmd heading: 84.065997 deg. 2j IWill construct direction to contact in vehicle frame from tetrahedron phase data.-HeadingCmd: 1.467228 target range: 211.699997 and range: 211.70 m. j5$λ?j1j1j9iYhYhahaheBfafifirfm`fvj@bfm c'?ɛjBˠ< %>I! %3ɚ!i!I%`=I-$λ?i)i-)-$λ?)Q*F?2F:FBF`0JFG 0G ?G ?G B O >\}w,N mA2ru?Y2?23 92]>y2H???ó?9mQ?@??ɨ2ru?2 w;0]Will construct direction to contact in vehicle frame from tetrahedron phase data.yu@Buo!III4٢= H=9. G٣KGy= > Nusing accuracyPremultiplier from config659?65YK& i B?@$E::65@B AEB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 211.70 m.Bj5Jj5E ProNav: ac range: 211.699997 m, nav range: 52.812881 m, bearing: 266.217962 deg, approach rate: 0.522292 m/s, LOS rate: -0.065158 deg/s, cmd heading: 84.065996 deg, new cmd heading: 83.992608 deg. ZHRHH3>IC I!IIBI% =&I.I5D6Iʰ<:I FBIğCJIğCRIZI" =bI# =jIĵ52jE2HeadingCmd: 1.465948 target range: 211.699997 and range: 211.70 m. j+?jj j i hhhahafififqrfqbfu?ɛ%kB%< !%>I) ->ɚ)i)I- =I5+?i5u7ܕw,;nA2/C?Y2T?2:92>y2HN? G?z1?@M?`@7F??p?ɨ2/C?2K;2CJJJJJJ9JJJ;JJ8;J8;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.919655)I?wA!! !!%GwA!i!)i11)1 1I1 9)999999iAIAAIAiEwA AA)II IQQQY]ЁAIY)YiYYyeIBm{!I)q qqqMb@Mb@Mb@ )Y ףp= ?Zd;O?Mb`?yQ>j<=;\A )Z@I@y@II4٢=  =9;Q > G٣y)= > Nusing accuracyPremultiplier from config759?75Y\D& i Bo>: ?@$E;;75 p@Zja m FNOT Ignoring new targets: 211.70 m.Bjm HJjm H}  ProNav: ac range: 211.699997 m, nav range: 53.101368 m, bearing: 266.197101 deg, approach rate: 0.484058 m/s, LOS rate: -0.034814 deg/s, cmd heading: 83.992605 deg, new cmd heading: 83.930361 deg. 2j} # HeadingCmd: 1.464861 target range: 211.699997 and range: 211.70 m. j ?j j j i h h h h ɂBf f f rf bf `w?ɛ lB P< 隍 w>I Kdɚ i I Ĭ =I ?i @I3w,0nA:e?Y:?:xμ9:@>y:H"?6K ?T?`,?@/fΙ?`? P?ɨ:e?:VY;:Cɸ@B"uABi@@iDFuA)F@ DID H)HɹJ`eHHLɺNtAiNINjFLILiRCuA RR)F)PP PPTɻTTTIT)XiX)XIZAXɼX \\yE`BE!IIuIun4٢x&> =9,I! %PTɚ!i)I-$ =I-IEC IE!IIEBIE' =&IA.IA6IE<:IEi FGU r½GY G] pAG) B9 OU > ) I1 w,JnA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.673481v)?YvN?vԚ9v>>yvH?`to@p?m?S? PZ?@A9??ɨv)?v9r;vCy5iB5!IIMIM4٢]k9= ]R=9]@aa eG٣eKGym!= m> uNusing accuracyPremultiplier from configq}759u ?}75Yu;& iu B?@u$Euv:u:u75 s@Zj)-FNOT Ignoring new targets: 211.70 m.Bj5 Jj5 M ProNav: ac range: 211.699997 m, nav range: 53.420593 m, bearing: 266.184132 deg, approach rate: 0.469059 m/s, LOS rate: -0.015741 deg/s, cmd heading: 83.910541 deg, new cmd heading: 83.891569 deg. 2jM,UHeadingCmd: 1.464184 target range: 211.699997 and range: 211.70 m. jUbj?jQjQjQiYhYhYhYhYfafafarfabfm d?ɛnBe[= 隕>I 5E;ɚiI} =Ibj?iN/Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.927470iw,hdnA6}?Y6?6ϔJ96.>y6H 6?`?`? %?oR?`?@?ɨ6}?6<;4y%~B%!IMb@Mb@Mb@ )Yx&1?~jt?y&1|?yA?D=`;/A @)I@y @IIļ4٢ A= O=9ч! %G٣!y%= -> Nusing accuracyPremultiplier from config17595T ?75Y56& i5 B?:'?@5$E5U;5AQ; I57 75  @uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.176127ZjFNOT Ignoring new targets: 211.70 m.Bjn-Jjn- ProNav: ac range: 211.699997 m, nav range: 53.619133 m, bearing: 266.180183 deg, approach rate: 0.478218 m/s, LOS rate: -0.009477 deg/s, cmd heading: 83.891566 deg, new cmd heading: 83.879763 deg. 2jйHeadingCmd: 1.463978 target range: 211.699997 and range: 211.70 m. jc?jjjihhhhւBfffrfbf`M@ɛEoBE3 = im?Ii mϙɚiiiIm =Iuc?iu̸-% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.427868w,~nAF?YFZ?Fw%һ9Fhu>yFH?W`r?֔?.?D Dz?k??ɨF?FӒ;FCyRBR!IIZIZs4٢r= r]=9vtt zG٣xy = > %Nusing accuracyPremultiplier from config-759y ?-75Y1& i B)-Ͽ?-@!$E: :{75a eV@aB*** querying acoustic contact ***jjZjjH<bH4<H)>IC I!IIBI) =&I.I4D6I_<:I< FFNOT Ignoring new targets: 211.70 m.BjjJjj  ProNav: ac range: 211.699997 m, nav range: 53.807102 m, bearing: 266.179063 deg, approach rate: 0.539574 m/s, LOS rate: -0.003206 deg/s, cmd heading: 83.879764 deg, new cmd heading: 83.876413 deg. 2j5 =HeadingCmd: 1.463920 target range: 211.699997 and range: 211.70 m. j=a?jAjAjAiAhAhAhIhIfffrfbf4@ɛpBfz= M ?II McEɚQiQIURP =I]a?i]a,]<echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.680451Ge  Gm ?Gm ?GY zK} a3JK} 9Ky K} K} BK :K pAB O >Υw,YnAJJJJJ̝:J9JJJ;J;J:;J:;Z?YZ?ZF?9Zk>yZHn?`@?I?@%?*ɡG? 1?`(?ɨZ?Z%׈;ZCyfBf!IInIn4٢v= vL=9v1hxx zG٣~KGy~< ~> Nusing accuracyPremultiplier from config 759z ? 75Y,& i Bd?@$$E ; ;75AB w@EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.931898ZjFNOT Ignoring new targets: 211.70 m.Bjv8Jjv8M ProNav: ac range: 211.699997 m, nav range: 54.006596 m, bearing: 266.180497 deg, approach rate: 0.470358 m/s, LOS rate: 0.003369 deg/s, cmd heading: 83.876410 deg, new cmd heading: 83.880697 deg. 2jM9HeadingCmd: 1.463994 target range: 211.699997 and range: 211.70 m. j+d?jjjihhhhf ffrfAbfE@ɛqB= E<隍Z?I aɚiI =I+d?i#+ I Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:18:33.3599  TRx dataTimestamp_ set to:1736374714.692661 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.184987Mw,#nA6?Y6/?6;96ua>y6H? ?%??@&Pt? :?ɨ6?6;6CyRBR!ImMb@Mb@Mb@iii i)iYm/$?{Gz?~jt?ym1?m#=mD G٣yC< > Nusing accuracyPremultiplier from config759?75Y&& i B?:?@($EO;N;75 @ZjFNOT Ignoring new targets: 211.70 m.BjPJjP  ProNav: ac range: 211.699997 m, nav range: 54.233128 m, bearing: 266.179383 deg, approach rate: 0.582645 m/s, LOS rate: -0.002853 deg/s, cmd heading: 83.880699 deg, new cmd heading: 83.877372 deg. 2jHeadingCmd: 1.463936 target range: 211.699997 and range: 211.70 m. jDb?jjjih!h!h!h%Bf)f)f)rf)bf-@ @ɛerBe@= im ?Ii mɚiiiImL =IDb?il*I  I "II ̃BI * =&I HD.I 6I <:I ` FO]> I 1i޲w,nAWill construct direction to contact in vehicle frame from tetrahedron phase data.:DAT read: 22:18:33.3599 LVL= 19136, 27073, 26946, 25171, AGC= 64, IDX= 147,-0.48, 2.082, 0.993, 1.821, 1.019, PHS= 1.151, 0.021, 0.798, RAW= 132.3, -34.8, CAL= 137.6, -37.8, ROT= 12.4, 37.8 >Ygot valid direction response: 22:18:33.3599 LVL= 19136, 27073, 26946, 25171, AGC= 64, IDX= 147,-0.48, 2.082, 0.993, 1.821, 1.019, PHS= 1.151, 0.021, 0.798, RAW= 132.3, -34.8, CAL= 137.6, -37.8, ROT= 12.4, 37.8 BPDAT read: Bearing 12.4, 37.8 (Local) B~Local bearing/azimuth received: Bearing 12.4, 37.8 (Local) JDAT read: Range 10 to 50 : 229.3 m (Round-trip 305.8 ms) speed 0.4 m/s N,DAT read: user:2484> RBDAT read: Tx time:22:18:34.4500 R$Ping request sent.Ri"[(? "SwΗ?Ӆd??BE)"'uZ>I")?i"bG"ޕ< f:publishing transmit ping timePfFpublishing direction and range info 9"ڪ?׳$)/lՃ?y  ) I i -3y-Hj?<? ?fq?`X@ o?@9J? ) I i "SwΗ?Ӆd??BE) I i ɨ-3 G٣yҸ< > Nusing accuracyPremultiplier from config759?75Y^ & i BD? @,$E&<'<75UBB U@UEk"t}ʜ?k"@R k  k"ӇnA:k"LeCBk"cCZk"η?""j|8^@n'*0].Ac@"ڪ?׳$)/lՃ?Jk"bGRk"ޕ<*"!L"nd@O(p}yY@g~_@"Ck"[a?k k"Ck"Bk"^@ addTargetRange:: Added new target pos. range: 229.300003 m, deltaT: 3.782093 s, deltaX: 17.600006 m, approachRate: 4.653510 m/s, rangeRepo size: 4  Added new target pos. range: 229.300003 m, bearing: 31.941948 deg, lat: 36.905353 deg, lon: -122.122003 deg, deltaT: 3.782093 s, deltaX: 17.600006 m, approachRate: 4.653510 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 229.30 m.Bj5Jj1zKJKs9KKK  RK?JK ? ProNav: ac range: 229.300003 m, nav range: 65.986549 m, bearing: 304.547260 deg, approach rate: 0.000000 m/s, LOS rate: -0.002853 deg/s, cmd heading: 83.877373 deg, new cmd heading: 83.873375 deg. 2jHeadingCmd: 1.463867 target range: 229.300003 and range: 229.30 m. j_?jjjihhhhfffrfl@bf@.8?ɛ=tBE)%= AE&?IA EdڹɚAiIIMU=IM_?iUi)w,anAyޅփBޅ'"I AIAMWill construct direction to contact in vehicle frame from tetrahedron phase data.EMb@Mb@Mb@AAA A)AYEX9v?=9Q > G٣KGy > Nusing accuracyPremultiplier from config759_?75Y& i B?:0?@0$E;';T75 @ ZjquFNOT Ignoring new targets: 229.30 m.Bj}TJj}T ProNav: ac range: 229.300003 m, nav range: 66.190727 m, bearing: 304.421824 deg, approach rate: 0.483431 m/s, LOS rate: -0.296077 deg/s, cmd heading: 83.873377 deg, new cmd heading: 83.498236 deg. 2j2KHeadingCmd: 1.457319 target range: 229.300003 and range: 229.30 m. jo?jjjihhhhBfff!rf)U~GutAA YtAyBbf=!?ɛMuBM]<= IM0?II U H9ɚQiQIUJ=I}o?i}I9)I  I N"II BI + =&I .I 6I q<:I D FBO5>w,oAyMBMH"II]I]4٢mZ> uN=9qQ u>yy }G٣yyy > Nusing accuracyPremultiplier from config759?75Y& i B@3$E:n: 75 @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 229.30 m.BjMlJjMl] ProNav: ac range: 229.300003 m, nav range: 66.377052 m, bearing: 304.308195 deg, approach rate: 0.472761 m/s, LOS rate: -0.287502 deg/s, cmd heading: 83.498236 deg, new cmd heading: 83.158309 deg. 2j]OEeHeadingCmd: 1.451386 target range: 229.300003 and range: 229.30 m. jeǹ?jajajiiihihihihqfqfqfqrfqbf}`(?ɛwBe= 隭- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248069Ǜw,jmoAB:D?YB_?B <9BG?>yBH ?@c?@?`?-p?@? 'o?ɨB:D?Bkf;BCyZB^^"III4٢5פ= =?=9M=Q M> G٣ySX= 5> eNusing accuracyPremultiplier from configQ759Uk?75YU & iU Ba?@U8$EUbyNH)(?g`C? l?@D? Bw?Լ?͎?ɨN|6?Nk5;LyZBZt"I}Mb@Mb@Mb@yyy y)yY}Mb?Q?{Gz?y} ?}\=}ף<}zA }j@)}@I}-@yy}@IIK4٢= =9^HIC I"IIBI&I.I6I<:Ia FBICJICRICZI* =bI) =jI5 G٣KGyp< > Nusing accuracyPremultiplier from config759C?75Y& i$ B!?:?@<$E;;)75 @Zj)5FNOT Ignoring new targets: 229.30 m.Bj5BJj5BE ProNav: ac range: 229.300003 m, nav range: 66.857155 m, bearing: 304.032687 deg, approach rate: 0.542072 m/s, LOS rate: -0.309941 deg/s, cmd heading: 82.775780 deg, new cmd heading: 82.334789 deg. 2jETMHeadingCmd: 1.437013 target range: 229.300003 and range: 229.30 m. jU ?jQjQjQiQhQhQhYh]#Bfafafarfibfm8?ɛ{B_= 隝L?I 4;ɚiI=I ?i*zKU BHKU 9KQ KU KU Z+ ֛w,lYoAB\?YBŚ?B"=9B`>yBH۸?`dh jG٣hyrN; r>  Nusing accuracyPremultiplier from configx759z?75Yzb% iz& B!%?%@z@$Ez#;zo;zO,75) -@)Zjq}FNOT Ignoring new targets: 229.30 m.Bj}Jj ProNav: ac range: 229.300003 m, nav range: 67.052696 m, bearing: 303.921807 deg, approach rate: 0.515498 m/s, LOS rate: -0.291458 deg/s, cmd heading: 82.334789 deg, new cmd heading: 82.003121 deg. 2jHHeadingCmd: 1.431224 target range: 229.300003 and range: 229.30 m. j]2?jjjihhhhfffrfbfo@Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258010ɛu|B}z= 隍S?I 8;ɚiI=I]2?i+ I! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507800Dܛw,!usoA6h?Y6Լ?685=96'>y6H@f?d@*??ſ??@?D?ɨ6h?6N ;6CyR0BR"I=Mb@Mb@Mb@999 9)9Y=Dl?㥛 ?ii uG٣qyu\; }> Nusing accuracyPremultiplier from configy759}?75Y}% i}% B`.?:?@}E$E}r;};}/759 =@=EZjyFNOT Ignoring new targets: 229.30 m.BjJj ProNav: ac range: 229.300003 m, nav range: 67.292633 m, bearing: 303.786617 deg, approach rate: 0.547185 m/s, LOS rate: -0.307206 deg/s, cmd heading: 82.003121 deg, new cmd heading: 81.599004 deg. 2jRHeadingCmd: 1.424171 target range: 229.300003 and range: 229.30 m. j?K?jjjihhh)h-0Bf1f1f1rf1bf=@JUJUJQJQJU:JU9JQJQɛ]B](n= YX?I Hm;ɚiI=I?K?ia-IC I"IIFBI* =&I.I6I<:Ie FG G pAG rA  I Gq B O >",w,UNoA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011794: ?Y:0ۼ?:=@F=9:>y:H X?r`?;?`O? p>?Ũ@L??ɨ: ?:r;:CyF=BJ"IIRIR4٢Zi= ZW=9Z4\\ ^G٣^KGybo : b> fNusing accuracyPremultiplier from configdj759f?j75Yf% if# Bhn?n@fI$Ef;f;fS375p rX@vE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 229.30 m.BjJj ProNav: ac range: 229.300003 m, nav range: 67.509445 m, bearing: 303.665639 deg, approach rate: 0.606223 m/s, LOS rate: -0.337177 deg/s, cmd heading: 81.599006 deg, new cmd heading: 81.237243 deg. 2jfgHeadingCmd: 1.417857 target range: 229.300003 and range: 229.30 m. jZ|?jjjihhhhfffrfbf@X@ɛUBU= Y]N^?IY ]3;ɚYiYI]vQ=IeZ|?iaimLl=)mZ|?)iPExceeded connect timeout, disconnecting.*FE?2FI:FIBFM^0JFIG%=zKELKE9KAKEKEI]jfH6, %# GBOI>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:18:37.1566 TRx dataTimestamp_ set to:1736374718.472612checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264881DTw,!oAy! I/i-Mb@Mb@Mb@))) )))Y-X9v?ʡE?~jtx?y-3?-=-;-A -@)-@I-@)y-G@IEIE"4٢U]: U3=9]Q ]>YY ]G٣aye e> uNusing accuracyPremultiplier from configq}759uq?}75Yuv% iu B4?:?@uN$Eu;u;uR775 R@ZjFNOT Ignoring new targets: 229.30 m.BjJj ProNav: ac range: 229.300003 m, nav range: 67.780724 m, bearing: 303.516951 deg, approach rate: 0.594165 m/s, LOS rate: -0.324358 deg/s, cmd heading: 81.237245 deg, new cmd heading: 80.792977 deg. 2j^HeadingCmd: 1.410103 target range: 229.300003 and range: 229.30 m. jE~?jjjihhhh8Bfffrfbf` @ɛBL= d]?I % #;ɚ!i!I%=I-E~?i)i-X=)-E~?)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533108*F?2F:FBF_0JFGR`U=G?G>J} J} J} /Jy J} <:J} 9J} (N3Jy G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:18:37.1566 LVL= 24864, 32753, 31122, 32755, AGC= 65, IDX= 406,-0.24,-2.484, 2.267,-2.994, 2.934, PHS= 0.952,-0.620, 0.352, RAW= 127.8, -10.0, CAL= 132.2, -21.8, ROT= 17.8, 21.8  Ygot valid direction response: 22:18:37.1566 LVL= 24864, 32753, 31122, 32755, AGC= 65, IDX= 406,-0.24,-2.484, 2.267,-2.994, 2.934, PHS= 0.952,-0.620, 0.352, RAW= 127.8, -10.0, CAL= 132.2, -21.8, ROT= 17.8, 21.8  PDAT read: Bearing 17.8, 21.8 (Local)  ~Local bearing/azimuth received: Bearing 17.8, 21.8 (Local)  DAT read: Range 10 to 50 : 226.8 m (Round-trip 302.5 ms) speed 0.4 m/s  ,DAT read: user:2485>  BDAT read: Tx time:22:18:38.2500  $Ping request sent. ٥ @٥ ¸2 ڥ 7@)ڥ ¾Iڥ >iڥ >ڡ ڡ ۥ pi9?Z?)/ƿ)ۥ  >Iۥ e2>iۥ nۥ v}ۡ ۡ - :publishing transmit ping time - Fpublishing direction and range infoء 9إ Dd?|f:+?yء ء ء ء ١ )١ I١ i١ ١ ١ ١ ١ ڡ )ڡ Iڡ iڡ ڡ ڡ ۥ pi9?Z?)/ƿ)ۡ Iۡ iۡ ۡ ۡ ۡ d G٣y6 > Nusing accuracyPremultiplier from config759.?75Y% i Bj?@S$E:C::75 @k[Ĝ?k$ k kS{oA:kbCBk;aCZk1="4y0@=7^߳g@Dd?|f:+?JknRkv}*r:b@"K(@vՌe@B?yYSl?ߝfr?"k\BA*kCk]~Ŝ?k$ 2kfoCk߶ô?kkfoCkBk@M addTargetRange:: Added new target pos. range: 226.800003 m, deltaT: 3.796112 s, deltaX: -2.500000 m, approachRate: -0.658569 m/s, rangeRepo size: 4 ] Added new target pos. range: 226.800003 m, bearing: 4.761421 deg, lat: 36.905883 deg, lon: -122.122003 deg, deltaT: 3.796112 s, deltaX: -2.500000 m, approachRate: -0.658569 m/s, posRepo size: 4 Zja IFNOT Ignoring new targets: 226.80 m.BjJj ProNav: ac range: 226.800003 m, nav range: 111.822792 m, bearing: 329.470274 deg, approach rate: 0.000000 m/s, LOS rate: -0.324358 deg/s, cmd heading: 80.792976 deg, new cmd heading: 80.354515 deg. 2jHeadingCmd: 1.402451 target range: 226.800003 and range: 226.80 m. j?jjjihhhhfffrf%Yl@bf% i?ɛB|= 隵~_?I դ;ɚiI=I?i/  nManaging dock network, ignoring radio surface power offzK WMK ͼ9K K K uhw,oA2\@?Y2~?2fq=92J=y2H`8 ?+a?c? 3? ? K(4??ɨ2\@?2;0y>HB>"I)@ @IJIJ4٢b< bk=9f Will construct direction to contact in vehicle frame from tetrahedron phase data.w,coA6y?Y66?6=96|=y6H|?``ڎ?y?b?`?@ `$? W?ɨ6y?6)n;4y>BBB"IMb@Mb@Mb@ )YA`"?T㥛 ?y9?=v@ 5@)@IyI-I-4٢=ռ =C=9EAA MG٣IyMm M> Nusing accuracyPremultiplier from configQ759Un?75YUc% iU B9?:?@U\$EU;U3;UA75 @ZjFNOT Ignoring new targets: 226.80 m.Bj"Jj"- ProNav: ac range: 226.800003 m, nav range: 112.097214 m, bearing: 329.230282 deg, approach rate: 0.345904 m/s, LOS rate: -0.309723 deg/s, cmd heading: 80.039490 deg, new cmd heading: 79.635435 deg. 2j-TUHeadingCmd: 1.389901 target range: 226.800003 and range: 226.80 m. jUC?jYjYjYiYhYhYhahe=Bfafafirfibfm@$?ɛB= \?I ;ɚiI=IC?i1ZHQRHU?AH]#>IY I]"II]tBIY&IY.IY6I]<:I]i F i Ii xw,pA2Bמ?Y2f?2%=92w=y2Hֻ? h?A??[? 5?`?ɨ2Bמ?2;2CyRABR"IIZIZ4bWill construct direction to contact in vehicle frame from tetrahedron phase data.٢f fR=9jhl nG٣lyrO r> vNusing accuracyPremultiplier from configtz759v?z75Yv% iv B|~4?~@v`$Ev;v;vE75CB #@ E%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 226.80 m.Bj=Jj=M ProNav: ac range: 226.800003 m, nav range: 112.236687 m, bearing: 329.104630 deg, approach rate: 0.372150 m/s, LOS rate: -0.334855 deg/s, cmd heading: 79.635436 deg, new cmd heading: 79.258955 deg. 2jMeUHeadingCmd: 1.383330 target range: 226.800003 and range: 226.80 m. jU?jQjQjQiQhYhYhYhafafafarfabfm@0?ɛB= 隥Z?I ;ɚiI=I?ii=)?)*F5?2F1:F1BF54JF1"G==G==zKK+9KKKJMJMJM0JIJM:JM 9JMـ3JIJM;a]JM;a]JMO>;a]JMO>;a]G5uX=GBO5>uWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode. w,m(pA: ?Y:J?:م=9:"=y:H`f?2@X??`? ӯ?챿 d? ?ɨ: ?:Sߓ;:Cyn4Bn"Iiv>Iv> I .iMb@Mb@Mb@ )YA`"?v/?{Gzyxi=#`@ @)3@I@y=@II4٢h :=9  G٣KGyf > Nusing accuracyPremultiplier from config759?75Y% i B 9? : |? @e$E;M;H75DB @EZjFNOT Ignoring new targets: 226.80 m.BjVJjV ProNav: ac range: 226.800003 m, nav range: 112.390190 m, bearing: 328.962882 deg, approach rate: 0.334359 m/s, LOS rate: -0.308331 deg/s, cmd heading: 79.258956 deg, new cmd heading: 78.834302 deg. 2jS%HeadingCmd: 1.375918 target range: 226.800003 and range: 226.80 m. j%?j!j!j!i!h!h)hIhM>BfIfQfYrfYbf]3?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752474) ɛB%|= -U=5R?IA]NGu|uAZA aY|uAyB J <ɚiIu=I?id4w,BpA2B?Y2?2N=92w=y2H?K?@?@ ? ?ŲLݮ?@?ɨ2B?2#;2Cy>)BB"IIJIJ4٢Z4z ^\=9bHr">IrC Ir"IIroBIp&Ip.Ip6Irs<:IrD Fqy }G٣y~ > Nusing accuracyPremultiplier from config759?75Y% i B?@j$E;;RL75 @ZjAMFNOT Ignoring new targets: 226.80 m.BjMAJjUA] ProNav: ac range: 226.800003 m, nav range: 112.528381 m, bearing: 328.834285 deg, approach rate: 0.354165 m/s, LOS rate: -0.329171 deg/s, cmd heading: 78.834303 deg, new cmd heading: 78.448992 deg. 2jeaHeadingCmd: 1.369193 target range: 226.800003 and range: 226.80 m. jA?jjjihhhhfffrfbfM @ɛB}= 隅K?I <ɚiI=IA?ii=)A? I)*F?2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256407G =G B O >zK K 9K K K  RK ?JK >w,^\pAJJJJJ<:J9JJJ;J;J3;J3;>?Y>ܸ?>=9>@v=y>H? ??d?`AY?@)|༼?j?ɨ>?>;>CyJBJ~"IIRIR 4٢Zz ZK=9^m;Q ^>`` bG٣`ybY f> jNusing accuracyPremultiplier from configdj759f?n75Yf% if Bln?n@fn$Ef ;f ;fO75t v}@tZj FNOT Ignoring new targets: 226.80 m.Bj.Jj.- ProNav: ac range: 226.800003 m, nav range: 112.657814 m, bearing: 328.713176 deg, approach rate: 0.357672 m/s, LOS rate: -0.334287 deg/s, cmd heading: 78.448991 deg, new cmd heading: 78.086086 deg. 2j-ke-HeadingCmd: 1.362859 target range: 226.800003 and range: 226.80 m. j5,r?j1j1j1i1h1h1h9h9f9fAfArfAbfE@@ɛmBm‰= q%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509385-gD?I) -`;<ɚ)i1I5=IU,r?iYi]P=)e,r?)i*F?2F :FBF_0JF IGU&=G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760263Tw,=9;Q > G٣KGy:d > Nusing accuracyPremultiplier from config759A?75Y% ix BU:?:?@s$E&;;YS75 @EZjFNOT Ignoring new targets: 226.80 m.BjJj ProNav: ac range: 226.800003 m, nav range: 112.806717 m, bearing: 328.574499 deg, approach rate: 0.345339 m/s, LOS rate: -0.321199 deg/s, cmd heading: 78.086083 deg, new cmd heading: 77.670608 deg. 2jo\HeadingCmd: 1.355608 target range: 226.800003 and range: 226.80 m. j?jjjihhhhBfffrfbfӗ@ɛUBUgj= QU8?IY ]s$(<ɚaiaIej=Im?im6I I"II[BI+ =&I.I3D6I@<:I FBIJIƛCRIZIbI* =jI&5EF<*FM ?2FI :FQ BFQ JFQ I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:18:40.9536  TRx dataTimestamp_ set to:1736374722.268546 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265239GU =G] pAG] qAGiByO>]$w,CpAV?YV*?V=9Vo=yVH?Ɯ?H?Th?2w? 2ʴ׭??ɨV?V;VCyfBfV"IInInD4٢vZ z1=9~;Q ~> =G٣9yE8} E> MNusing accuracyPremultiplier from configIU759M?U75YM% iMR BY]?]@Mx$EMU:MU:MtW75i m@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 226.80 m.BjJj ProNav: ac range: 226.800003 m, nav range: 112.968147 m, bearing: 328.422664 deg, approach rate: 0.343477 m/s, LOS rate: -0.322599 deg/s, cmd heading: 77.670609 deg, new cmd heading: 77.215765 deg. 2je]HeadingCmd: 1.347669 target range: 226.800003 and range: 226.80 m. jn?jjjihhhhfffrfbf@& @ɛBjoi= 0?I 2<ɚ i I =In?ii =)n?)EG=JK|3 KS}-KK"KJJJJJ:JJJJ;J;JJzKLK+9KKKBK9:K9*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516695G|=G B O > Y I] -i+w,*pA2R͙?Y2v ?2>H=92m=y2HY? 9`ڱ??`0?\ ?? N?ɨ2R͙?2ll;2CyBBB4"I 5@5 5@5 5@5  5@5 I=I=4٢M MF=9M;Q U>QQ UG]Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 224.5 m (Round-trip 299.4 ms) speed 0.1 m/s },DAT read: user:2486> BDAT read: Tx time:22:18:42.0500 $Ping request sent. bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config759n?75Y% i/ B+:l:?@}$E7;I>^Z75 K@ addTargetRange:: Added new target pos. range: 224.500000 m, deltaT: 3.780244 s, deltaX: -2.300003 m, approachRate: -0.608427 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 226.80 m.Bj<Jj< ProNav: ac range: 226.800003 m, nav range: 113.107964 m, bearing: 328.289336 deg, approach rate: 0.340075 m/s, LOS rate: -0.323891 deg/s, cmd heading: 77.215767 deg, new cmd heading: 76.816285 deg. 2jH^HeadingCmd: 1.340697 target range: 226.800003 and range: 224.50 m. j?jjj!i!h!h!h!h)f)f)f)rf-l@bf5N?ɛ]B]4`= Y]!?Ia eΥ:<ɚaiaIe)=Im?im82w,pA62?Y6Vʹ?6^=96Pi=y6H ? &?G{?1? 3?`$?`?ɨ62?6C;4y^ƒB^"IIfIf"4٢n n8=9n;Q r>pp rG٣rKGyv涼 v> ~bBottom track data is 0.8 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx~759z_?75Yz% iz B :?:?@z$EzC&;zpY?z\75 %@ZjAEFNOT Ignoring new targets: 226.80 m.BjM JjM ] ProNav: ac range: 226.800003 m, nav range: 113.253555 m, bearing: 328.148193 deg, approach rate: 0.334202 m/s, LOS rate: -0.323573 deg/s, cmd heading: 76.816283 deg, new cmd heading: 76.393406 deg. 2j]^eHeadingCmd: 1.333316 target range: 226.800003 and range: 224.50 m. je?jajajaiahihihqhqfqfqfqrfybf}gz?ɛBL= 隥B?I B<ɚiI*=I?iJ:;( 9w,FpAHΗ?Yl ?"=9H&=yH@?lzJ? r??a?\B?`v?ɨHΗ?C;騕Cy޽B޽!I I,i        Mb@Mb@Mb@ )Y!rh??~jtyl'?L=I@ @)hAI@y@IIJ4٢5 (=9:Q > G٣!y%]F %> -Nusing accuracyPremultiplier from config)5759-?575Y-X% i- B=T:=(?=:=(?=@-$E-9;-;-a75EEB M}@MEZjquFNOT Ignoring new targets: 226.80 m.Bj}Jj} ProNav: ac range: 226.800003 m, nav range: 113.397568 m, bearing: 328.005554 deg, approach rate: 0.296983 m/s, LOS rate: -0.293777 deg/s, cmd heading: 76.393405 deg, new cmd heading: 75.966040 deg. 2jIHeadingCmd: 1.325858 target range: 226.800003 and range: 224.50 m. j?jjjihhhhBfffrfQbfU?ɛBn6= Ƹ4=隥?I 'kK<ɚiIpf=I?i=l??w,#pA>}?Y>?>=9>,l=y>H@ ?ovt?d?@U?? c?I?ɨ>}?>MNJ;>CyJBJ!IIVIV 4٢Z ] Z|=9^j;Q ^ ?`d fG٣dyf f ? nNusing accuracyPremultiplier from confighr759jY?r75Yj̃% ij BprҼ?v@j$Ej;j;jc75x z@xWill construct direction to contact in vehicle frame from tetrahedron phase data.iAZj)-FNOT Ignoring new targets: 226.80 m.Bj5CJj5CM ProNav: ac range: 226.800003 m, nav range: 113.492180 m, bearing: 327.909984 deg, approach rate: 0.289773 m/s, LOS rate: -0.292463 deg/s, cmd heading: 75.966040 deg, new cmd heading: 75.679571 deg. 2jMHUHeadingCmd: 1.320858 target range: 226.800003 and range: 224.50 m. jU?jQjQjQiQhYhYhYhafafafarfabfm o]?ɛBNF= 隕>I O<ɚiIq=I?il?I IT"IIBI, =&I.I6I<:If F*F?2F:FBFQ5JFG! G%nAGh=GBO!> IWill construct direction to contact in vehicle frame from tetrahedron phase data.(Fw,9qA27?Y2u?2=92 Z=y2H`?`b^? tU?`? !Ƴ?"? 5?ɨ27?2q;2CyBxBB!IDFAIJIJ4٢~ ~F=9~9Q > G٣KGy ż  > Nusing accuracyPremultiplier from config759?75Y|% i B!%?%@$EJ0;0;g75) 5@1mB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 226.80 m.Bj?Jj? ProNav: ac range: 226.800003 m, nav range: 113.610291 m, bearing: 327.788298 deg, approach rate: 0.282439 m/s, LOS rate: -0.290686 deg/s, cmd heading: 75.679568 deg, new cmd heading: 75.314895 deg. 2j~G HeadingCmd: 1.314493 target range: 226.800003 and range: 224.50 m. jNA?jjjih!h)h)h1f9fAfIrfIbfML?JUJQJU0JQJU̝:JQJUـ3JQJU;JU;JQJQzKBHK9KKKBK:KoAɛBl"= >I U<ɚiIO =INA?iA Will construct direction to contact in vehicle frame from tetrahedron phase data.ս @?ս %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0118416TLw,3qA2?Y2ï?2a=92(O=y2Hu?N OJ?I??ޭ? G٣y| >  Nusing accuracyPremultiplier from config759l"?75Yu% i B4?:?@$E;;Zk75! %m@!ZjIUFNOT Ignoring new targets: 226.80 m.BjUJjUe ProNav: ac range: 226.800003 m, nav range: 113.724068 m, bearing: 327.667363 deg, approach rate: 0.266051 m/s, LOS rate: -0.282505 deg/s, cmd heading: 75.314898 deg, new cmd heading: 74.952460 deg. 2jeA HeadingCmd: 1.308167 target range: 226.800003 and range: 224.50 m. j r?j jjihhhhBfffrf!bf%@ɛB;= 隕i>I  Z<ɚiIB =Ir?iZCIq Iu "IIuBIq&Iq.Iq6Iuװ<:Iu F*F ?2F :F BF 0JF  I G=G  ?G ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515692GBO >Tw,@SqA>?Y>Ѭ?>=9>[\>=y>Hp?)`а?? ? m?շ 讧??ɨ>?>;>CyGBx!II-I-4٢= ==9];Q e>ii mG٣mKGyma. u> }Nusing accuracyPremultiplier from configq759ud&?75YuI) -{w_<ɚ)i)I-L =I5n?i5E I IU +iӻZw,6mqA-GAY HYyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019653)I ;wA    ii) I &C)!!i!I!!I)i) ))))1 1999AEҁAIA)AiAAyM*BUU!IMb@Mb@Mb@ )Y7A`?v/?Qy?xi=uI@ p@) AI@y @I Ie4٢ +=9Q > G٣y > Nusing accuracyPremultiplier from config759?)?75Ye% i= BH?:g?@$E<<3t75 AZjY}FNOT Ignoring new targets: 226.80 m.BjHJjH ProNav: ac range: 226.800003 m, nav range: 113.978584 m, bearing: 327.390193 deg, approach rate: 0.244912 m/s, LOS rate: -0.257532 deg/s, cmd heading: 74.499517 deg, new cmd heading: 74.121901 deg. 2j0HeadingCmd: 1.293671 target range: 226.800003 and range: 224.50 m. j?jjjihhhhBfffrfbf@G @ɛUB]`< Y]k>Ia eIc<ɚaiaIea =Im?imtFI C I !II {BI * =&I .I 4D6I °<:I F*F ?2F :F BF n0JF QIQGGqAGGBO?zdw,~ɒqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523629Z/?YZR(?Zi=9ZI>=yZH@x?P@?`?`W?T?P䷿s? r?ɨZ/?Z;ZCɸ`ftAf`eifhFdidfuA)jK7 jfFIh h)hɹjThlnCɺn&uAinhIllIpir?uA rnp)pt vwA  ɻ I)i)IAɼ yB4!IIIk4٢   ,=9 /:Q > G٣y2 > MNusing accuracyPremultiplier from configIU759M,?U75YM^% iM BQU?U@M$EMP:M :Mgx75a AZjFNOT Ignoring new targets: 226.80 m.BjǛJjǛ ProNav: ac range: 226.800003 m, nav range: 114.095581 m, bearing: 327.261052 deg, approach rate: 0.247025 m/s, LOS rate: -0.272387 deg/s, cmd heading: 74.121903 deg, new cmd heading: 73.734883 deg. 2j: HeadingCmd: 1.286916 target range: 226.800003 and range: 224.50 m. j ?j j jihhhAhIfQfYfrfbf>2 @ɛBi< 隭:.>I 'Gf<ɚiI =I?i ]BDAT read: Tx time:22:18:45.8500 ]$Ping request sent.]?j|ТS? > ܸ@)nF=IϢ>inFEBu?+j?)rIhiM:publishing transmit ping timeYFpublishing direction and range info9EkпZvѿsKpe?y )Ii )IiGs=EBu?+j?)IiG B O > I cjw,DqAyޕBޕ!I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:18:45.8493 Mb@Mb@Mb@ )YB`"?S㥫?y&1|y?/]=`v@ @) AI@y=@II4٢5 5+=9=Q =>99 EG٣EKGyE E> ]Nusing accuracyPremultiplier from configQ]759U/?e75YUW% iU Be?e:e?@U$EUT)I C I m!II >BI ( =&I GD.I 6I <:I FBI˛CJIRIZI+ =bI+ =jI˷5G] r=G1 B9 O] >rw,˿qA6)?Y6Ļ?6D=96H=y6H`m`? ?`?Գ?V? <`q??ɨ6)?6I;6Cyn݂Bn IIv =$?I9Iv4٢M  Mo=9M »Q U?QQ ]G٣Yy]\ ]? eNusing accuracyPremultiplier from configam759el2?u75YeR% ieBquE?u@e$Ee ;e` ;e75}FB }EAEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 222.60 m.BjJj ProNav: ac range: 222.600006 m, nav range: 110.011696 m, bearing: 330.661962 deg, approach rate: 0.202152 m/s, LOS rate: -0.289421 deg/s, cmd heading: 73.338009 deg, new cmd heading: 73.058853 deg. 2jFHeadingCmd: 1.275118 target range: 222.600006 and range: 222.60 m. j 7?jjjihhhhfffrfbf?ɛBƝ< p|=I >uh<ɚiIzK BMK h9K K K  p;xw,qq uG٣qy}F }> Nusing accuracyPremultiplier from config7595?75YL% iB`?@$EKG;J;75 aAEZjFNOT Ignoring new targets: 222.60 m.Bj əJj ə% ProNav: ac range: 222.600006 m, nav range: 110.088127 m, bearing: 330.550751 deg, approach rate: 0.184932 m/s, LOS rate: -0.268899 deg/s, cmd heading: 73.058852 deg, new cmd heading: 72.725454 deg. 2j-8MHeadingCmd: 1.269299 target range: 222.600006 and range: 222.60 m. jUax?jYjYjaiahihhhf1f9fArfibful? YIe*iɛBV< `L=I eDi<ɚaiaIe7v=Imax?imjJUp=]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245672GE @Z=G B9 OU >Be~w,aqA2v?Y2#?2N =92.MN=y2H`4.?Td?1??~?`?@=:ﭩ??ɨ2v?2!;0yẐBZ IEMb@Mb@Mb@AAA A)AYEK7?i|?5?Mb`yEI ?Eq=EA E@)E AIE@AyE@I]I]ƕ4٢m} mJ=9}tQ }> G٣KGy=t > Nusing accuracyPremultiplier from configJJJJJ:J:JJ7598?75YG% iB ?:?@$E%;d;75 AZjFNOT Ignoring new targets: 222.60 m.BjbJjb ProNav: ac range: 222.600006 m, nav range: 110.164505 m, bearing: 330.441828 deg, approach rate: 0.190649 m/s, LOS rate: -0.271696 deg/s, cmd heading: 72.725457 deg, new cmd heading: 72.398919 deg. 2j v:HeadingCmd: 1.263600 target range: 222.600006 and range: 222.60 m. j?jjjihhhhLBfffrfbf@?ɛ=ÂB=H< =n|Y==pI I4!IIBI& =&I.I5D6I<:Ie F*FE?2FA:FIBFM^0JFIGߛC=GBOj> 9I9e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749375IMw,<rA6Έ?Y6 ?66=96_=y6HS? ~?@"???ߵ ۫??ɨ6Έ?6D;6CyRÂBR IIZIZ4٢b"< fV=9fmQ f>hl vG٣y@ >  Nusing accuracyPremultiplier from config 759 :ww,<0rAyB I)! !Mb@Mb@Mb@ )YJ +?L7A`?y&1|?y?+=`;hA @)AI-@y(@I I 4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253530٢%1R -6=9-Q ->)1 5G٣1yE E> MNusing accuracyPremultiplier from configI]759M ??]75YM\;% iMB] ?]:]?e@M$EM8;M6;M75i mxAiZjFNOT Ignoring new targets: 222.60 m.BjJj ProNav: ac range: 222.600006 m, nav range: 110.320000 m, bearing: 330.221333 deg, approach rate: 0.205199 m/s, LOS rate: -0.283223 deg/s, cmd heading: 72.060668 deg, new cmd heading: 71.737905 deg. 2j_BHeadingCmd: 1.252063 target range: 222.600006 and range: 222.60 m. jC?jjjihhhh`BfffrfbfS@ɛȂBC< I i<ɚiI-=I C?i MJJJJJ<:J9JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505367H 2>I C I !II BI % =&I .I 6I <:I g Fz_w,IrA62H?Y6T?6ٹ=96u7=y6H O? s 0̵?s?D?@?@??ɨ62H?6T;4yRBR IIZIZ 4٢b; fd=9f]Q f>hh jG٣jKGyjb n> pIp zNusing accuracyPremultiplier from configtz759vA?z75Yv\6% ivB|~(?@v$EvU";vv";v75  A -B*** querying acoustic contact ***j)j)ZjaeFNOT Ignoring new targets: 222.60 m.BjmJjm ProNav: ac range: 222.600006 m, nav range: 110.384636 m, bearing: 330.126951 deg, approach rate: 0.176787 m/s, LOS rate: -0.257992 deg/s, cmd heading: 71.737907 deg, new cmd heading: 71.454930 deg. 2j1HeadingCmd: 1.247124 target range: 222.600006 and range: 222.60 m. j?jjjihh h h f ff1rf1bf5g@ɛʂB$5< 隭5I th<ɚiI=I?i$N88431-,+*)'&#"  RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010785G $=G B O>iw,uxgrAZg?YZ?ZԦ=9ZEb=yZH@?~F`k? 9Q?@>/??Դײ? ?ɨZg?Zb;ZCyB II=I==4٢u })=9|»Q > G٣y" > Nusing accuracyPremultiplier from config 1I1=759zw,rA6^?Y6̟?6>=96=y6H@d6? 23?A?R?@-?@cB 3ó??ɨ6^?6K;6CyBBB IiF)>IF=Mb@Mb@Mb@ )Y/$?V-?I +?y ?h=94<A @)7AIZ@y@I-I-P4٢5 =H=9=괻Q E>AA EG٣AyM M> ]Nusing accuracyPremultiplier from configYe759]I?e75Y])% i]yBm< ?m:m?m@]$E];]I;]̘75q uAqWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526264jH=<bH=p<HM6>II IM IIMӂBIM# =&II.IM6D6IM|<:IM_ FZjFNOT Ignoring new targets: 222.60 m.BjjJjj ProNav: ac range: 222.600006 m, nav range: 110.540886 m, bearing: 329.889582 deg, approach rate: 0.186252 m/s, LOS rate: -0.282241 deg/s, cmd heading: 71.065345 deg, new cmd heading: 70.743342 deg. 2jAHeadingCmd: 1.234704 target range: 222.600006 and range: 222.60 m. j ?jjj!i!h!h!h!h-]Bf)f)f1rf1bf=0 @ɛςBHo< 隥I f<ɚiI:=I ?iN  BDAT read: Tx time:22:18:49.6500  $Ping request sent. } c@)} %=I} Q>i} %y y } 29ėh?8}[wH?)} d I} O i} w} jy y = :publishing transmit ping time = Fpublishing direction and range infoy 9} ]/Kп$Lѿc)y?yy y y y y )y Iy iy y y y y y )y Iy iy y y } 29ėh?8}[wH?)y Iy iy y y y GU <G BO5>w,NџrA2؂?Y2?2=92s=y2H`3?@@!7 ?4?@?@?u.̴?@?JNJNJLJLJN\:JN9JLJLJNj;aRJNk;aRJN<;aVJN<;aVɨ2؂?2;2CybBb IIzIzJ4٢^ 2=9 GQ  > G٣KGyE > %Nusing accuracyPremultiplier from config!-759%N?M75Y%V#% i%mBQU\?U@%$E%q;%p;%͜75a eAak)V?kC+ k k^֕rA:k\CBkH[CZk@"74M"Mw̠qЌi@]/Kп$Lѿc)y?JkwRkj* M@Z8RVNP LWi@`Q3-?(UҿWKb?"kv*khBk'ex?k+ 2k Ckkkk>Bk-@ addTargetRange:: Added new target pos. range: 220.800003 m, deltaT: 3.788913 s, deltaX: -1.800003 m, approachRate: -0.475071 m/s, rangeRepo size: 4 M Added new target pos. range: 220.800003 m, bearing: 311.752363 deg, lat: 36.905883 deg, lon: -122.121910 deg, deltaT: 3.788913 s, deltaX: -1.800003 m, approachRate: -0.475071 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 220.80 m.BjUJjYzKONK9KKK   BK:KqA ProNav: ac range: 220.800003 m, nav range: 110.621742 m, bearing: 329.765587 deg, approach rate: 0.000000 m/s, LOS rate: -0.282241 deg/s, cmd heading: 70.743343 deg, new cmd heading: 70.370707 deg. 2jHeadingCmd: 1.228201 target range: 220.800003 and range: 220.80 m. j5?jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:18:49.6493 ffrfk@bf @/N?ɛMтBU,< QUxIQ UJ:e<ɚQiYI]f?=I5?inO)5ſ= 5C~G5tA  Y 5tAy B Will construct direction to contact in vehicle frame from tetrahedron phase data.w,rAyMb@Mb@Mb@ )YʡE?Q?y&1?y?\=`e< A )I@y@II4٢t: @=9Q > G٣y > Nusing accuracyPremultiplier from config7594R?75Y$% icB?:?@$E];;75HB AEZjFNOT Ignoring new targets: 220.80 m.BjJj ProNav: ac range: 220.800003 m, nav range: 110.697906 m, bearing: 329.647599 deg, approach rate: 0.180685 m/s, LOS rate: -0.279712 deg/s, cmd heading: 70.370708 deg, new cmd heading: 70.016991 deg. 2j? HeadingCmd: 1.222027 target range: 220.800003 and range: 220.80 m. j bk?j j j i)h1h1h1h5vBf9f9f9rf9bf=a@?ɛӂB; I fc<ɚiI:/=Ibk?iPIC I IIɂBI&I.I6In<:IV F IGm N<GA BY O >w,"nrA:?Y:?:hЌ=9:3t=y:H@m? v?"?@Pl??`?5?ɨ:?:oS;:CyFBF I)H HIRIRK4٢Z4 Z\=9^@Q b>`` bG٣dyfT f> jNusing accuracyPremultiplier from confighn759jU?n75Yj% ij\Bpr?r@j$Ej ;j ;j£75t v\At B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 220.80 m.Bj-VJj-V= ProNav: ac range: 220.800003 m, nav range: 110.763016 m, bearing: 329.544387 deg, approach rate: 0.184687 m/s, LOS rate: -0.292595 deg/s, cmd heading: 70.016993 deg, new cmd heading: 69.707544 deg. 2jEHEHeadingCmd: 1.216626 target range: 220.800003 and range: 220.80 m. jEh?jIjIjIiIhIhIhQhQfQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.fQfqrfybf}D,?ɛԂBݲ; 隵dI b<ɚiI=Ih?idPJJJJJ:J:JJJ;J;JyE;JzE; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239389zKE /LKE 9KA KE KE  3M=RKU >JKU > $?I Ϻw,YrARL?Yt?=9%=yHL? f 맼??@??r?:?ɨRL?s;騝Cy޵B޵ IMb@Mb@Mb@ )YzG?l?y&1?y ?=A @)AI@yAII4٢H< *=9Q >  G٣ KGyp > Nusing accuracyPremultiplier from config%759.[?-75Yg% iTB-C?-:-%?-@$E; ;751 =1A9ZjYeFNOT Ignoring new targets: 220.80 m.Bje(Jjm(u ProNav: ac range: 220.800003 m, nav range: 110.851334 m, bearing: 329.404100 deg, approach rate: 0.184152 m/s, LOS rate: -0.292282 deg/s, cmd heading: 69.707545 deg, new cmd heading: 69.287025 deg. 2j}H}HeadingCmd: 1.209287 target range: 220.800003 and range: 220.80 m. j}ɚ?jyjjihhhhBfffrfbfI?ɛւB\; ԽI *a<ɚiI=Iɚ?iQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743639w,"sAZHRH@AH9>I III! =&I.I6Ij<:IT FBI]CJI]CRIYZI]# =bI]$ =jI]$5yB II%I%4٢5 m< 5X=9=Q =>99 EG٣AyE E> MNusing accuracyPremultiplier from configIU759MB_?]75YM % iMMBYY]@M$EM ;Mq ;M=75a e AmE IZjFNOT Ignoring new targets: 220.80 m.BjpJjp ProNav: ac range: 220.800003 m, nav range: 110.921051 m, bearing: 329.294246 deg, approach rate: 0.183701 m/s, LOS rate: -0.289276 deg/s, cmd heading: 69.287024 deg, new cmd heading: 68.957673 deg. 2jFHeadingCmd: 1.203538 target range: 220.800003 and range: 220.80 m. j ?jjjihhhhfffrfbf?ɛ%؂B% ; !%DϽI! -_<ɚ)i)I-=I5 ?i5Q-ǜw,!sA:I?Y:?:m=9:w=y:H?@_*μ?`?`@?`?n9?J?ɨ:I?:|;:CJ@JBJ@J@J@JB :J@J@J@J@JBR;JBR;)NLCINwAR`RF PRLCRvARiTTiVCVtA)V W VPFIT ZC)ZxAZ`廩XX^C^wAi\I^F\IbCifvA dd)dj̎C jtAj"[jeFllyrBr IivY>Iva=IzIz4٢nj; _=9 ٌQ  >  G٣yC > %Nusing accuracyPremultiplier from config!-759%mc?-75Y%% i%IB)5?5@%$E%:%":%p75 AZj FNOT Ignoring new targets: 220.80 m.Bj5?Jj5?E ProNav: ac range: 220.800003 m, nav range: 110.986916 m, bearing: 329.187147 deg, approach rate: 0.171347 m/s, LOS rate: -0.278452 deg/s, cmd heading: 68.957672 deg, new cmd heading: 68.636570 deg. 2jE?uHeadingCmd: 1.197934 target range: 220.800003 and range: 220.80 m. juU?jqjyjyiyhyhyhhfffrfbf`@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248651zK vLK 9K K K 5lq" #$ jF&}ri`PB;ɛڂB-; 隵ҽI ^<ɚiI2=IU?iWRΜw,:sAy}B} IMb@Mb@Mb@ )Yrh|?p= ף?Mb?y?=<zA )I@ypAI5I5T4٢E+ E8=9MQ M>II UG٣UKGy] ]> eNusing accuracyPremultiplier from configam759ei?m75Ye$ ieCBm?u:uR?u@e$Ee;e;eS75y }#AyZjFNOT Ignoring new targets: 220.80 m.Bj絻Jj絻 ProNav: ac range: 220.800003 m, nav range: 111.065086 m, bearing: 329.052454 deg, approach rate: 0.184721 m/s, LOS rate: -0.318062 deg/s, cmd heading: 68.636571 deg, new cmd heading: 68.232783 deg. 2jHZHeadingCmd: 1.190887 target range: 220.800003 and range: 220.80 m. jn?jjjihhhhBfffrfbf b@ɛ-ۂB- ߿; 15LݽI1 =]<ɚ9i9I==IEn?iAiEq|=)En?)I*J "J %=*F?2F:FBFo0JFG$3=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751651H1I1 I5 II5΂BI1&I1.I16I5H<:I5< FGYBaO}Y> qIq,Ԝw,TsA2G}?Y2F?2XO=92=y2H x?`?;?Ӱ?78? -詿?`&?ɨ2G}?2_Z;2CyzB~ I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003336II4٢M< M[=9UQ U>YY ]G٣Yy]d e> mNusing accuracyPremultiplier from configam759em?u75YeI$ ie?BquG?u@e$Ee2 ;e ;e75 iAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 220.80 m.Bj4Jj4 ProNav: ac range: 220.800003 m, nav range: 111.129288 m, bearing: 328.939445 deg, approach rate: 0.171161 m/s, LOS rate: -0.301107 deg/s, cmd heading: 68.232784 deg, new cmd heading: 67.893958 deg. 2jNHeadingCmd: 1.184973 target range: 220.800003 and range: 220.80 m. j3?jjjihhhhfffrfbf$_@ɛ݂Bt; I ;u[<ɚiIw=I3?iNS i Iq lۜw,nsAZ|?Yϟ?6?=9V%=yH&?@`sb?m?@?P?䧿@)ҹ?@?ɨZ|?=;騉yB I) Mb@Mb@Mb@ )YRQ?V-?~jtx?y"?h=; @)dAI3@yfAI I 4٢p 0=9A Q %>!! -G٣)y-~ -> 5Nusing accuracyPremultiplier from config1=7595-t?=75Y5$ i58BE#?E:E?E@5$E5c;5h;575MIB UAUEZjy}FNOT Ignoring new targets: 220.80 m.Bj۴Jj۴ ProNav: ac range: 220.800003 m, nav range: 111.214005 m, bearing: 328.793374 deg, approach rate: 0.183547 m/s, LOS rate: -0.316236 deg/s, cmd heading: 67.893959 deg, new cmd heading: 67.456087 deg. 2jYHeadingCmd: 1.177331 target range: 220.800003 and range: 220.80 m. jDz?jjjihhhhɂBfffrfbfW @ɛނBx~x; .I kY<ɚiIn=IDz?iiiJ=)Dz?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.E=E<Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.507596*F?2F:FBF0JFG : =G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH <H! I!  I! I! I! &I! .I! 6I% c<:I% O FUw,isADAT read: 22:18:52.3194 LVL= 19264, 32753, 30322, 32755, AGC= 64, IDX= 135, 0.47, 2.714, 0.977, 1.771, 2.151, PHS= 0.651,-1.127,-0.383, RAW= 114.6, 11.1, CAL= 123.3, 8.0, ROT= 26.7, -8.0 Ygot valid direction response: 22:18:52.3194 LVL= 19264, 32753, 30322, 32755, AGC= 64, IDX= 135, 0.47, 2.714, 0.977, 1.771, 2.151, PHS= 0.651,-1.127,-0.383, RAW= 114.6, 11.1, CAL= 123.3, 8.0, ROT= 26.7, -8.0 PDAT read: Bearing 26.7, -8.0 (Local) ~Local bearing/azimuth received: Bearing 26.7, -8.0 (Local) *DAT read: Range 10 to 50 : 198.8 m (Round-trip 265.1 ms) speed 0.4 m/s .,DAT read: user:2489> 2BDAT read: Tx time:22:18:53.4001 2$Ping request sent.2 -9 @)-5>I->i-5))-zPC?ZMg?)-?JI-Fi-(-&))j:publishing transmit ping time0jFpublishing direction and range info)9-X!ԿHXӿ6l?y))^|?Y^A?^m.=9^=y^H@A? կ?v?`/?eo? ¥??ɨ^|?^;^C)) )))I)i)) !I%'iy-B- I))) )))I)i)))-zPC?ZMg?))I)i))))IeIeD4٢ui< V=9.Q > G٣KGyM' U> eNusing accuracyPremultiplier from configYe759]y?m75Y]$ i]2BQ?@]$E];]$;]275JB AEk-9r?k-=W9- k) k-sA:k-FCBk-oECZk-@"-?[Z,P>| NFk$Cf@-X!ԿHXӿ6l?Jk-(Rk-&*-HI@`|FST,e@-xڇI?d,ڿg ?"k-*k-OBk-1=?k-S H- 2k-!oCk-HiШ?k)k)k-Bk-A+@uaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 198.800003 m, deltaT: 3.778704 s, deltaX: -22.000000 m, approachRate: -5.822102 m/s, rangeRepo size: 4ZjquFNOT Ignoring new targets: 220.80 m.Bj}Jj} ProNav: ac range: 220.800003 m, nav range: 111.288612 m, bearing: 328.664607 deg, approach rate: 0.174086 m/s, LOS rate: -0.300257 deg/s, cmd heading: 67.456089 deg, new cmd heading: 67.070054 deg. 2jNHeadingCmd: 1.170593 target range: 220.800003 and range: 220.80 m. j֕?jjjihhhhfffrfh@bf`[?ɛ5߂B5Jm; 9=\ I9 =iW<ɚ9i9I==IE֕?iE3 T+w,DsA6{?Y6kř?6=96N(=y6H@ ?(N??@9?`$4@_u?D?ɨ6{?6[&;6Cy>BB IIJIJt4٢R Rm=9V@Q V?XX ZG٣Xy^8 ^? fNusing accuracyPremultiplier from config`f759b%~?j75Yb$ ib.Bhjէ?j@b$Eb*:b:b75p rApZj  FNOT Ignoring new targets: 220.80 m.BjJj ProNav: ac range: 220.800003 m, nav range: 111.346519 m, bearing: 328.564067 deg, approach rate: 0.194029 m/s, LOS rate: -0.336705 deg/s, cmd heading: 67.070053 deg, new cmd heading: 66.768593 deg. 2jgHeadingCmd: 1.165332 target range: 220.800003 and range: 220.80 m. j)?jjjihhhhfffrf bf L?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB ; I U<ɚ i I  =I)?iTe Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,usA:gz?Y:։?:} =9:ʤ=y:H4?`zI? ?@=N?A`?{6@??ɨ:gz?:u;:Cy^B^ Iif=Ifp=UMb@Mb@Mb@QQQ Q)QYUw/?S㥫?~jtx?yU&?U/]=QU A U@)U7AIUI@QyU=AImImK4٢} }==9};Q > G٣ya > Nusing accuracyPremultiplier from config759섕?75Y$ i)B}'?:?@$E&;;75 AZjFNOT Ignoring new targets: 220.80 m.Bj깻Jj깻 ProNav: ac range: 220.800003 m, nav range: 111.418983 m, bearing: 328.424077 deg, approach rate: 0.168383 m/s, LOS rate: -0.325080 deg/s, cmd heading: 66.768589 deg, new cmd heading: 66.348900 deg. 2j_uHeadingCmd: 1.158007 target range: 220.800003 and range: 220.80 m. ju9?jyjyjyiyhyhyhhBfffrfbf?ɛB m: 5I ؄S<ɚiI+{=I%9?i!i-@=)-9?))JJJJJ̝:J 9JJa @a @a @a @*F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H:>I III" =&I.I6IO<:IA F IG '=G B O >>w,sA2jy?Y2|?2<92}=y2H{?c??>?d`@ ??ɨ2jy?2i;0y@B IIJIJ4٢R; RY=9V$Q V>TT VG٣VKGyZG Z> bNusing accuracyPremultiplier from config\b759^?f75Y^$ i^%Bdfe?f@^$E^:^:^75h jAlWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 220.80 m.BjJj ProNav: ac range: 220.800003 m, nav range: 111.481743 m, bearing: 328.301762 deg, approach rate: 0.157719 m/s, LOS rate: -0.307214 deg/s, cmd heading: 66.348902 deg, new cmd heading: 65.982169 deg. 2jRHeadingCmd: 1.151606 target range: 220.800003 and range: 220.80 m. jg?jj j i h h hhf1f9f9rf9bf=?ɛB'9 6I ?Q<ɚiI5=Ig?iOU=GYBaOY>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zK KK s9K K K RK ?JK ? I 3iw,fsAUiGtA U.YUtAyUBx?Y?<9c=yH ?@׳?̷?ں?@`K׵?v?ɨx?,;騍CyޥBޭ I-uonly read 2 of 4 data items for water velocity. Device response is::WS,32768,-32768,V  u@u u@u u@u  u@u I}I}4٢ $=9,Q > G٣yջ > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config759?75Y[$ i"B+::?@$E9;{?75KB ^AEZjFNOT Ignoring new targets: 220.80 m.BjJj  ProNav: ac range: 220.800003 m, nav range: 111.564827 m, bearing: 328.139398 deg, approach rate: 0.173286 m/s, LOS rate: -0.338385 deg/s, cmd heading: 65.982168 deg, new cmd heading: 65.495452 deg. 2j ;hHeadingCmd: 1.143111 target range: 220.800003 and range: 220.80 m. jxQ?jjjihhh!h!-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740290f!f1f1rf1bf= @?ɛmBm>: quIIq uDN<ɚqiqIu?=I}xQ?iyi}#W=)}xQ?)*F?2F:FBFJFJ J J /J J :J 9J (N3J GE >=GM pAGM pAG B) OE >ZH RH ?AH <>I  I II ɂBI ! =&I .I 6I P<:I D F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992297Ow,l tAFw?YFl ?F`ʻ<9F=yFH?=?@?x?ɇ@xv? =?ɨFw?F-;FCybqBbq I)d dInIn4٢-䰽 -{=9-Q - ?YY ]G٣Yye; e? mbBottom track data is 0.8 s old, using for 20.0 s. mNusing accuracyPremultiplier from configiu759ml? I&iu75Ym$ im!B :T:{?@m$Em";m,V?mu75 AZjFNOT Ignoring new targets: 220.80 m.BjӵJjӵ- ProNav: ac range: 220.800003 m, nav range: 111.619530 m, bearing: 328.031916 deg, approach rate: 0.161890 m/s, LOS rate: -0.317931 deg/s, cmd heading: 65.495449 deg, new cmd heading: 65.173165 deg. 2j-1ZUHeadingCmd: 1.137486 target range: 220.800003 and range: 220.80 m. jU'?jQjQjYiYhYhYhYhafafafarfabfm-@ɛ(c DgI  K<ɚiI/=I'?i!W=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244257yw,#tA6v?Y6 ?6<96|=y6H ?c?&??^ƶ??ɨ6v?67;6CyRjBRi IIZIZ4٢f fQ=9fQ f>hh jG٣hyj n> rbBottom track data is 1.2 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpv759rҞ?v75Yr$ ir Bz9xz,:z?z@r%Er&;r?rA75 AZj15FNOT Ignoring new targets: 220.80 m.Bj=eJj=eM ProNav: ac range: 220.800003 m, nav range: 111.683182 m, bearing: 327.906276 deg, approach rate: 0.167871 m/s, LOS rate: -0.331165 deg/s, cmd heading: 65.173166 deg, new cmd heading: 64.796466 deg. 2jMFcUHeadingCmd: 1.130912 target range: 220.800003 and range: 220.80 m. jU?jQjQjQiQhQhYhYhafafafarfibfm@@ɛB 1=uI9 =H<ɚ9i9I==IE?iEzX% BKpA:K u$?Iq*Fy2Fy:FyBF}1JFyGW=G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748254w,Ih=tA2|u?Y2?2k<92(o=y2Hc?`/r ??pb?`u|?@?ɨ2|u?2e;2Cy>lBBj I                Mb@Mb@Mb@    ) Y Fx?Q?AA EG٣EKGyE= M> UNusing accuracyPremultiplier from configIU759MԦ?75YM$ iMBT:+?:ܜ?@M%EMԕ>IuC Iu IIuBIu =&Iq.Iu7D6IuL<:IqBI5şCJI5şCRI1ZI5! =bI5! =Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000882jI5_5 aIaGf=G B O Ow,5EWtA>s?Y>%?>59k<9>@=y>H5?@^@???`f`߶? c?ɨ>s?>;>CyJXBJR IiN!>INp<IRIR4٢Zν ZS=9^/Q ^>\` bG٣`yb b> jNusing accuracyPremultiplier from configdn759fd?r75Yf($ ifBpr?r@f %Ef?B;f?B;fK75t zAx~Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:18:56.0662  TRx dataTimestamp_ set to:1736374737.396713 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253351%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 220.80 m.Bj={ȻJj={ȻM ProNav: ac range: 220.800003 m, nav range: 111.798058 m, bearing: 327.635168 deg, approach rate: 0.147013 m/s, LOS rate: -0.350551 deg/s, cmd heading: 64.374833 deg, new cmd heading: 63.983579 deg. 2jMpUHeadingCmd: 1.116724 target range: 220.800003 and range: 220.80 m. jU?jQjYjYiYhYhahahafafifirfibfm`Q @ɛ 隥I B<ɚiIr =I?iiWo=)?)*FU?2FQ:FQBFU[0JFQG q=GqBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505087O> I II zK ePLK s9K K K RK JK >?w,8qtAyr?YE?˄;<9=yH.1? \JƵ?@j?'?wp To?`?ɨyr?r;騕CyNBF II=I=4٢[' .=9ʻQ > G٣ybm > Nusing accuracyPremultiplier from config759?75Y]$ i B?@%E;u:g75LB AEZj)5FNOT Ignoring new targets: 220.80 m.BjEJjE ProNav: ac range: 220.800003 m, nav range: 111.863075 m, bearing: 327.476820 deg, approach rate: 0.138389 m/s, LOS rate: -0.336846 deg/s, cmd heading: 63.983580 deg, new cmd heading: 63.508822 deg. 2j,gHeadingCmd: 1.108438 target range: 220.800003 and range: 220.80 m. jL?jjjihhhhfffrfbf>&@ɛB  I P=<ɚiI~ =IL?i[ BDAT read: Tx time:22:18:57.1501 $Ping request sent.ԿU_LͿEF}?yEfDCAE \A E)AIECiE9(?E-E(ܾEm0?Et;?> E^@)EV>IEܸ?iEVAAȆ?Ŗhnſ?)E|X/IEvj?iE E;AA:publishing transmit ping timeءFpublishing direction and range infoA9E>ԿU_LͿEF}?yAAAA A)AIAiAAAAA A)AIAiAAAȆ?Ŗhnſ?)AIAiAAAA*F ?2F :FBF05JFJ J J J J :J 9J J G5 Qo=jHY bH] 4=He @>Ia  Ie IIe BIa &Ia .Ia 6Ie <:Ie F Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:18:57.1494 G B O% >"w,tA6E%p?Y6P?6\<96q=y6H С?q4o?Q?ຕ?@`k@Nε??ɨ6E%p?6=;6C pIr%iy~CB~8 IMb@Mb@Mb@ )Y!rh?yy }G٣}KGyE > Nusing accuracyPremultiplier from config759߿?75Y$ iB'?:?@%EWj<i<75 LAk}nPퟜ?k}y, ky k}l!ztA:k}fDCBk}CCZk}ˢ@"},NOOyF>ҵf@}>ԿU_LͿEF}?Jk} Rk};*}@){_!?@e\cS)y\!f@}lʝJ?7N"ٿG?"k}3*k} Ak}m>D?k}<, 2k}.rCk}'ex?k}+ k}.rCk}?Bk}@ addTargetRange:: Added new target pos. range: 196.399994 m, deltaT: 7.567081 s, deltaX: -24.400009 m, approachRate: -3.224494 m/s, rangeRepo size: 4  Added new target pos. range: 196.399994 m, bearing: 291.483271 deg, lat: 36.905547 deg, lon: -122.122018 deg, deltaT: 7.567081 s, deltaX: -24.400009 m, approachRate: -3.224494 m/s, posRepo size: 4 Zj-FNOT Ignoring new targets: 196.40 m.Bj-Jj)= ProNav: ac range: 196.399994 m, nav range: 90.123154 m, bearing: 309.130266 deg, approach rate: 0.000000 m/s, LOS rate: -0.336846 deg/s, cmd heading: 63.508820 deg, new cmd heading: 63.081922 deg. 2j9EHeadingCmd: 1.100987 target range: 196.399994 and range: 196.40 m. je&?jajajaiihihihihuBfqfqfqrfǔh@bf}*4?ɛ) I 48<ɚiI!=I&?i0])) 5G٣1yED M> mNusing accuracyPremultiplier from configa759e˕?75Ye$ ieBp?@e%Ee AIA  IE IIE BIE  =&IA .IA 6IE <:IE  F Will construct direction to contact in vehicle frame from tetrahedron phase data. IG!GB O%?c4w,|tA6wl?Y6??6:96|=y6H ?` @(?M? ҁ?SzC`+˲??ɨ6wl?6qԍ;6CɽBCBwA@i@@iFCFwA)D FPzFID F̎C)DɾJJ|FHN&CɿPiRףIRzFTIVYCiVwA VVvtF)TZC ZwAXZXF\^َC^?uAI^b)^^qFi\`fCalculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.Ybd^Iib$wA)`` bAnLReceived data from all battery sticks.yr2Bv# IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y#~j?~jt?{Gzy%?<#zA 3@)AIAyAI I  4٢ =9Q > G٣KGy"λ > Nusing accuracyPremultiplier from config 759[ٕ? 75YҔ$ iB &?:?@!%E/;Y;t75-MB 5A5EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 196.40 m.BjmܻJjmܻ} ProNav: ac range: 196.399994 m, nav range: 90.501404 m, bearing: 308.689984 deg, approach rate: 0.335925 m/s, LOS rate: -0.385794 deg/s, cmd heading: 62.461793 deg, new cmd heading: 61.763908 deg. 2j}bHeadingCmd: 1.077983 target range: 196.399994 and range: 196.40 m. j]?jjjihhhhtBfffrfbfD?ɛ$ 隍cI E+<ɚiIGu!=I]?ii =)]?)EE*E"EJ- J- J) J) J- :J- 9J) J) J- ;a= J- ;a= J- %7;a= J- %7;aE E Will construct direction to contact in vehicle frame from tetrahedron phase data.M T****** received valid address query ******M R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.*F ?2F :F BF _0JF ! I! zK- K- 9K) K- K- 4|tppnmle^^^ZUQKD?<963+ GUl=GBO?/q=w,_atAy,B Ii!I%x>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004228Mb@Mb@Mb@ )YMb? G٣y > Nusing accuracyPremultiplier from config 759(㕜? 75Y$ iB ?:?@&%E;};75  AEZjAMFNOT Ignoring new targets: 196.40 m.BjMȻJjMȻe ProNav: ac range: 196.399994 m, nav range: 90.644913 m, bearing: 308.523375 deg, approach rate: 0.302518 m/s, LOS rate: -0.350657 deg/s, cmd heading: 61.763905 deg, new cmd heading: 61.264883 deg. 2jepmHeadingCmd: 1.069274 target range: 196.399994 and range: 196.40 m. jm݈?jijijqiqhqhqhqh}dBfyfyfyrfybf o@ɛAMg IMGII M%<ɚQiQIU!=IU݈?iYie=)e݈?)*F2F:FBFo0JFGiT=GBOi>ZH!RH%@AH-C>I-C I- II-BI)&I).I)6I-<:I) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255465 $?I 2SDw,#uA6 e?Y6Ǝ?696-=y6Hi%?`4?B? ?k-R???ɨ6 e?6B ;4yB%BB IIJIJT4٢R Vb=9VQ V>XX ZG٣XyZ晽 ^> bNusing accuracyPremultiplier from config`f759b 땜?f75Yb$ ibBhj?j@b)%Ebz:b":b75l nA ApZj  FNOT Ignoring new targets: 196.40 m.BjȻJjȻ% ProNav: ac range: 196.399994 m, nav range: 90.748589 m, bearing: 308.395841 deg, approach rate: 0.286007 m/s, LOS rate: -0.351421 deg/s, cmd heading: 61.264884 deg, new cmd heading: 60.882726 deg. 2j%-q-HeadingCmd: 1.062604 target range: 196.399994 and range: 196.40 m. j-i?j)j)j)i1h1h1h1h9f9fAfArfAbfMU@ɛ&ȏ ¾I H !<ɚiI!=Ii?iiX=)i?)!*F2F:FBFH2JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508395G{=GqAGqAGBO >J J J J J J 9J J J J J 1;J 1;% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760088E}Jw,+uA 4I6$iyEBE IIU IU4٢e e?=9mQ m>iq uG٣uKGyu u> Nusing accuracyPremultiplier from config759`?75Y$ iB@-%E:~:75NB ~ A|EzKNK9KKK ,7??>;:88974/ZjFNOT Ignoring new targets: 196.40 m.BjLǻJjLǻ ProNav: ac range: 196.399994 m, nav range: 90.871849 m, bearing: 308.245311 deg, approach rate: 0.285738 m/s, LOS rate: -0.348481 deg/s, cmd heading: 60.882728 deg, new cmd heading: 60.431759 deg. 2j(oHeadingCmd: 1.054733 target range: 196.399994 and range: 196.40 m. j?jjjihh h h f ffrfbf@@ɛ9E6 AEɾIA E<ɚAiAIM*"=IM?iQiU=)U?)Q)= SC~G5|uAEA GY|uAy&B*F?2F:FBFP5JFGRk=GBOd>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0137237fQw,vEuA2|_?Y2^&?2Н92/=y2HQ?B]? q?@:? QST? 5a?|?ɨ2|_?2I;2Cy@@)D FADFAUMb@Mb@Mb@QQQ Q)QYUrh|?L7A`?MbpyU?U+=UUdA U@)QIUAQyUAImIm4٢}z }I=9aQ > G٣yN > Nusing accuracyPremultiplier from config759?75Y{$ i"?:?@1%E;;75  AHD>I I II}BI =&I.I6Im<:Ia FZj%FNOT Ignoring new targets: 196.40 m.Bj%WJj%W5 ProNav: ac range: 196.399994 m, nav range: 90.987350 m, bearing: 308.106572 deg, approach rate: 0.280341 m/s, LOS rate: -0.336315 deg/s, cmd heading: 60.431758 deg, new cmd heading: 60.016077 deg. 2j=f=HeadingCmd: 1.047478 target range: 196.399994 and range: 196.40 m. j=?jAjAjAiAhAhAhIhMBBfIfIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:18:59.8141 TRx dataTimestamp_ set to:1736374741.184519checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264422frfbfZ9 @ QIQɛY] aeɾIa eH(<ɚaiaIeT"=Im?iu_^GA BQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516118O >pWw,e_uA3]?Y؊?F79*6=yH?6?!K? ? ]OF?B??ɨ3]?E;Cy- B- IIEIE4٢Uj< UM=9]<:Q ]>aa eG٣aym6Ѽ m> }Nusing accuracyPremultiplier from configq}759u?75Yuu$ iuBё?@u5%Eu:u:u75 q AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 196.40 m.BjƻJjƻ ProNav: ac range: 196.399994 m, nav range: 91.098923 m, bearing: 307.970139 deg, approach rate: 0.284737 m/s, LOS rate: -0.347754 deg/s, cmd heading: 60.016080 deg, new cmd heading: 59.607292 deg. 2jnHeadingCmd: 1.040344 target range: 196.399994 and range: 196.40 m. j)?jjjih!h!h!h!f)f)f)rfIbfUdN @ɛ) 隥ǾI j7<ɚiIϏ"=I)?iiG=))?)EJJJJJM:Ju9JJJ;J ;J/;J/;*Fm?2Fi:FiBFu_0JFq"G}=G}=Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 22:18:59.8141 LVL= 27344, 32753, 29810, 32755, AGC= 63, IDX= 417,-0.06, 2.082, 0.315, 0.873, 1.389, PHS= 0.781,-1.026,-0.519, RAW= 105.8, 9.5, CAL= 115.3, 7.7, ROT= 34.7, -7.7 9I9MYgot valid direction response: 22:18:59.8141 LVL= 27344, 32753, 29810, 32755, AGC= 63, IDX= 417,-0.06, 2.082, 0.315, 0.873, 1.389, PHS= 0.781,-1.026,-0.519, RAW= 105.8, 9.5, CAL= 115.3, 7.7, ROT= 34.7, -7.7 ]PDAT read: Bearing 34.7, -7.7 (Local) ]~Local bearing/azimuth received: Bearing 34.7, -7.7 (Local) eDAT read: Range 10 to 50 : 194.8 m (Round-trip 259.8 ms) speed 0.4 m/s m,DAT read: user:2491> BDAT read: Tx time:22:19:00.9001 $Ping request sent. @) >I ?i vț`1? Ͽ'Iu?)_~Iq)if%):publishing transmit ping timeؙFpublishing direction and range info9~cSҿÿ!U@?y )Ii )Iivț`1? Ͽ'Iu?)IizK-?MK-h9K)K-K-2/-,*)  RKE ?JKE>GM]w,+yuA5Will construct direction to contact in vehicle frame from tetrahedron phase data.yM"BM IMb@Mb@Mb@ )Yx?~jt?Mb`?yK?D=;zA @)I AyAII4٢(< 4=9Q >  G٣ KGy   > Nusing accuracyPremultiplier from config759?75YDo$ iB%?%:%'?E@:%E6;*;75UOB Ud AUyEk <\G?koD+ k k) luA:kBCBkwACZkI@"H K~`>g@~cSҿÿ!U@?Jkf%)Rk*p)@hQa,/f@͸?y׿n&9?"k*kNAk.N?k + 2k`vCk1=?kk`vCkBk @@  addTargetRange:: Added new target pos. range: 194.800003 m, deltaT: 3.781173 s, deltaX: -1.599991 m, approachRate: -0.423147 m/s, rangeRepo size: 4  Added new target pos. range: 194.800003 m, bearing: 280.444976 deg, lat: 36.905495 deg, lon: -122.122018 deg, deltaT: 3.781173 s, deltaX: -1.599991 m, approachRate: -0.423147 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 194.80 m.BjMJjI} ProNav: ac range: 194.800003 m, nav range: 87.795547 m, bearing: 304.831793 deg, approach rate: 0.000000 m/s, LOS rate: -0.347754 deg/s, cmd heading: 59.607293 deg, new cmd heading: 59.107119 deg. 2jyHeadingCmd: 1.031614 target range: 194.800003 and range: 194.80 m. j ?jjjihhhh[BfffrfYh@bf ?ɛ B  ľI  <ɚiI"=I= ?iAiE ri=)E ?)A*F2F:FBFP0JFjH<bH4<HI Is IIsBI =&I.I6I`<:IX FBIǡCJIǡCRIZI =bI =jIǫ$5Will construct direction to contact in vehicle frame from tetrahedron phase data. - $?I) G /mI=G B O >dw,nuA6)Y?Y6҈?6 96x=y6H@?;? ?@ ?K Ta?.?`?ɨ6)Y?6E;4y>'B> IIFIF"4٢R< Rx=9V䐻Q V?TT ZG٣XyZF Z? bNusing accuracyPremultiplier from config\f859^<?f85Y^j$ i^Bdf?f@^=%E^":^7:^p85h nB AnvEZjFNOT Ignoring new targets: 194.80 m.BjEJjE ProNav: ac range: 194.800003 m, nav range: 87.895523 m, bearing: 304.723601 deg, approach rate: 0.307779 m/s, LOS rate: -0.332694 deg/s, cmd heading: 59.107118 deg, new cmd heading: 58.782916 deg. 2jSdHeadingCmd: 1.025955 target range: 194.800003 and range: 194.80 m. jR?jjjihhhhfffrfbfߘ?ɛ  9 ԿI a<ɚiI#=IR?ii%a>=)%R?)!*F?2F:FBF_0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.G>O=GGrAGABQOm5>J J J J J <:J =9J J J ;J ;J *;J *; Will construct direction to contact in vehicle frame from tetrahedron phase data.  I! jw,ILuA2V?Y2u?2+ֺ92)=y2H`J?I ? ?+?~ХuZ?`??ɨ2V?2ੋ;2CyV+BV IIbIb4٢v< vF=9vܧ:Q v>xx zG٣xyzc ~>  Nusing accuracyPremultiplier from config859?85Yd$ iB?@A%E;; 85! %! A!ZjIMFNOT Ignoring new targets: 194.80 m.BjURǻJjURǻ ProNav: ac range: 194.800003 m, nav range: 88.020515 m, bearing: 304.586405 deg, approach rate: 0.317973 m/s, LOS rate: -0.348524 deg/s, cmd heading: 58.782917 deg, new cmd heading: 58.371919 deg. 2j0oHeadingCmd: 1.018782 target range: 194.800003 and range: 194.80 m. jtg?jjjihhh1h1f1f9f9rf9bf=u?zKUMKU9KQKUKUɛB| I B<ɚiI`6#=Itg?i`]p=Gi=G B O >yqw,"uA:FT?Y:D~?:5̺9:ꔩ=y:H`?0-???ջY?h,? ?ɨ:FT?:ė;:CyF&BF IEMb@Mb@Mb@AAA A)AYE5^I ?Q?~jtx?yE?Eu=E;EdA E3@)E~AIAAyAI]I]ƕ4٢uż uB=HH>I Iy IIxBI =&I.I8D6IN<:IM F9u&=9Q > G٣KGyt > Nusing accuracyPremultiplier from config859&?85Y^$ iB?::?@E%E;B;85 J AZjFNOT Ignoring new targets: 194.80 m.BjǼJjǼ ProNav: ac range: 194.800003 m, nav range: 88.152626 m, bearing: 304.445562 deg, approach rate: 0.310088 m/s, LOS rate: -0.330088 deg/s, cmd heading: 58.371917 deg, new cmd heading: 57.950030 deg. 2jbHeadingCmd: 1.011419 target range: 194.800003 and range: 194.80 m. j,v?jjjihh!h!h%^Bf)f)f)rf)bf-@.? I#iWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛԚ I 2;ɚiIo#=I,v?ii !8=) ,v?) *F?2F:FBF0JFGLN=GABIOeU>e Will construct direction to contact in vehicle frame from tetrahedron phase data.tww, uA>Q?Y>?>a_89>=y>H 8?@ ਸ਼?`ӕ?*?K̤`< @W??ɨ>Q?>;>Cy^0Bb! IjAjAInInx4٢v3S= vS=9v;Q v>xx zG٣xy~{ ~> Nusing accuracyPremultiplier from config 859.? 85Y0Y$ iB  đ?@H%EX:: 85 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 194.80 m.BjJj ProNav: ac range: 194.800003 m, nav range: 88.269714 m, bearing: 304.318327 deg, approach rate: 0.291737 m/s, LOS rate: -0.316599 deg/s, cmd heading: 57.950030 deg, new cmd heading: 57.568836 deg. 2jGY%HeadingCmd: 1.004766 target range: 194.800003 and range: 194.80 m. j%*?j!j)j)i)h)h)h1h1fQfQfYrfYbf]r?ɛB 隭ִI L_;ɚiI#=I*?i a=G ?G >G B9 Ou > ~w,OuAVO?Y?ֶ:9;=yHku?@Zu?^q?@h?h`Vtn?@?ɨVO?S;Cy6B( I=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248386UMb@Mb@Mb@QQQ Q)QYU`"?~jt?{Gz?yU?U=U# G٣y > Nusing accuracyPremultiplier from config8597?85YR$ iB?:?@M%EY;;85PB AsEZjFNOT Ignoring new targets: 194.80 m.BjVĻJjVĻ ProNav: ac range: 194.800003 m, nav range: 88.414223 m, bearing: 304.168381 deg, approach rate: 0.331396 m/s, LOS rate: -0.343304 deg/s, cmd heading: 57.568837 deg, new cmd heading: 57.119743 deg. 2jkHeadingCmd: 0.996928 target range: 194.800003 and range: 194.80 m. j6?jjjihhhhnBf f f rf bfI@ɛ=BE AEpIA M;ɚIiIIMD#=IU6?iQiUӡ&=)U6?)Q*F?2F:FBFW5JF"G =G =GWK*=GBJJAAOc>HuM>IuC Iu IIu}BIu =&Iq.Iu9D6Iu<<:IuD F I"iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500295uw,vA @r(M?Yr|҂?r6;9r=yrH?6?`7M? ?ecH7?d?ɨr(M?r2;rCy~5B~' III4٢=( =a=9Eq9;Q E>AI MG٣MKGyM M> ]Nusing accuracyPremultiplier from configYe859]d??e85Y]dM$ i]Bae?e@]P%E]:]:]B85ueB u~ AuqEZjFNOT Ignoring new targets: 194.80 m.BjJj ProNav: ac range: 194.800003 m, nav range: 88.528236 m, bearing: 304.048624 deg, approach rate: 0.313305 m/s, LOS rate: -0.328664 deg/s, cmd heading: 57.119742 deg, new cmd heading: 56.760938 deg. 2jaHeadingCmd: 0.990665 target range: 194.800003 and range: 194.80 m. j=}?jjjihhhhfffrfbfÎ@ɛa I  ;ɚiI4'$=I=}?i2a y I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:19:03.5621  TRx dataTimestamp_ set to:1736374744.716684 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005414w,.vAK?Y?UF;9)=yH??'2?@?oZhs?@?ɨK?ڊ;CyI a= p=IIg4٢%o = %==9%:Q ->)) -G٣)y5on 5> =Nusing accuracyPremultiplier from config9E859=wH?E85Y=2G$ i=BIM?M@=T%E=:=a:= 85Y ]B AYZjFNOT Ignoring new targets: 194.80 m.BjIJjI ProNav: ac range: 194.800003 m, nav range: 88.663124 m, bearing: 303.905853 deg, approach rate: 0.311523 m/s, LOS rate: -0.329226 deg/s, cmd heading: 56.760938 deg, new cmd heading: 56.333287 deg. 2jaHeadingCmd: 0.983201 target range: 194.800003 and range: 194.80 m. j{?jjjihhhhfffrfbf2 @zKKh9KKKɛB|y I ߆;ɚiIi$=I {?i 5blw,siHvA*J>4="J>%=JsK{ـ3 K{ .KsKs"KsJFJDJF0JDJF:JDJFـ3JDaN@aN@aN@aN@H%T>I%C I% II%BI% =&I!.I!6I%9<:I%H Fy=;B=. I IMb@Mb@Mb@ )Y +?MbX9?I +?y?Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510905ʡ=94< A I@)zAIAyAIIs4٢ 2=9 Q >! %G٣!yM M> UNusing accuracyPremultiplier from configQ]859U1R?e85YUt@$ iUB)?:֒?@UY%EUt3  BDAT read: Tx time:22:19:04.6501  $Ping request sent. ie !r?e R^e ffe ?e = e i?)e ԇ=Ie a1?ie ԇa a e |1? |տʺt?)e vIe Mie 4e a a  :publishing transmit ping time  Fpublishing direction and range infoa 9e ,ɿZe%C?ya a a a a )a Ia ia a a a a a G )a Ia ia a a e |1? |տʺt?)a Ia ia a a a G B O >w,!cvARH?YR~?R;9R=yRHv/?=h?Q?"?p@*?`?ɨRH?R'׉;RCyn?Bn4 IIvIv4٢~K< ~v=9O;Q ?   G٣KGy  ? Nusing accuracyPremultiplier from config%859X?%85Y;$ iBIMN?M@\%E;;85Q U1 AYkwUl?kKG) k kn2^vA:kLACBk?CZk@".!(CzD@ )g-eg@,ɿZe%C?Jk4Rk*"Z @GGZPig@\lRs?tsoϿyX?"k>*kR@kn?k/$) 2kj|Ckm>D?kkk7Bk5ݢ@ addTargetRange:: Added new target pos. range: 193.300003 m, deltaT: 3.782365 s, deltaX: -1.500000 m, approachRate: -0.396577 m/s, rangeRepo size: 4 % Added new target pos. range: 193.300003 m, bearing: 273.950216 deg, lat: 36.905315 deg, lon: -122.122018 deg, deltaT: 3.782365 s, deltaX: -1.500000 m, approachRate: -0.396577 m/s, posRepo size: 4 Zj)-FNOT Ignoring new targets: 193.30 m.Bj5Jj1u ProNav: ac range: 193.300003 m, nav range: 79.609238 m, bearing: 291.607022 deg, approach rate: 0.000000 m/s, LOS rate: -0.317311 deg/s, cmd heading: 55.872334 deg, new cmd heading: 55.537684 deg. 2jqHeadingCmd: 0.969315 target range: 193.300003 and range: 193.30 m. j%x?jjjihhhhfffrf)h@bf"?ɛ-B- )-I) 5B;ɚ1i1I5$= e$?IaIe%x?imd YtAzKEJKE+9KAKEKEy6B󧞝w,x}vA>Will construct direction to contact in vehicle frame from tetrahedron phase data.>=>%=Z6~G?YZv?Zn];9Zk=yZHJ? 4`?? G٣y > Nusing accuracyPremultiplier from config859c?85Y95$ i Bz?:F?@`%E1;; 85 N AB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 193.30 m.Bj ˻Jj ˻- ProNav: ac range: 193.300003 m, nav range: 79.800911 m, bearing: 291.459515 deg, approach rate: 0.462427 m/s, LOS rate: -0.355018 deg/s, cmd heading: 55.537685 deg, new cmd heading: 55.096236 deg. 2j-s-HeadingCmd: 0.961611 target range: 193.300003 and range: 193.30 m. j5,v?j1j1j1i1h1h1h9h=yBf9f9fArfAbfE ?ɛm߂Bm8 quIq uS;ɚyiyI}w4%=I,v?ii9=),v?)*F=?2F9:F9BF9JF9JJJ1JJ̈́:J9J3JHY>IC I IIBI =&I.I:D6I<:I F QIQ-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.Ge A=G9 BA Oe >w,BvA6F?Y6~~?6d1;96MI=y6H r?@ I IM !iE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243654uūw,[_vARQ{E?YR}?R6&:9R[=yRH?<@??Cq?*GY ?`?ɨRQ{E?R #;PyZ9BZ, IIbIb4٢j< jK=9n8Q n>pp rG٣rKGyv v> zNusing accuracyPremultiplier from configt~859vt?~85YvB*$ iv*B|D?@vh%Evc;v;v'85 gB m A iEZj1=FNOT Ignoring new targets: 193.30 m.Bj=跻JjE跻M ProNav: ac range: 193.300003 m, nav range: 80.115295 m, bearing: 291.216639 deg, approach rate: 0.417520 m/s, LOS rate: -0.321570 deg/s, cmd heading: 54.758795 deg, new cmd heading: 54.369058 deg. 2jU\UHeadingCmd: 0.948919 target range: 193.300003 and range: 193.30 m. jU\r?jYjYjYiYhYhahahafafifirfibfm?ɛ݂B5 9=I9 =;ɚ9i9I=r%=IE\r?iEfJ J J J J :J [9J J w,vAH\>IC III =&I.I;D6I<:I) FBImCJImCRImCZIm =bIm =jIm}6 r$?Ipy}3B}% Ii>It> ==Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747689Mb@Mb@Mb@ )Y-?p= ף?y5?= A 3@)IAy AI5I5-4٢EDȼ E7=9MQ M>II UG٣QyU ]> eNusing accuracyPremultiplier from configYe859]~?m85Y]#$ i],Bm?m:mY?m@]l%E];];]n+85y } AyZjY]FNOT Ignoring new targets: 193.30 m.BjeJje ProNav: ac range: 193.300003 m, nav range: 80.299973 m, bearing: 291.068472 deg, approach rate: 0.392637 m/s, LOS rate: -0.314288 deg/s, cmd heading: 54.369057 deg, new cmd heading: 53.925589 deg. 2jWHeadingCmd: 0.941179 target range: 193.300003 and range: 193.30 m. jp?jjjihhhh{Bfffrfbf+?ɛ5ۂB5 9=I9 =;ɚ9i9IE|%=IEp?imh2JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999808GE H=GM qAGM pAG9 Ba O} >Ǹw,vABWB?YBz?B;9BLO=yBHv? sֲ??? ܦ}p`??ɨBWB?Bx;BCyJ,BJ IImIm4٢ U=9;Q > G٣y > Nusing accuracyPremultiplier from config859/?85Y3$ i.B?@p%E::.85q } AyZj FNOT Ignoring new targets: 193.30 m.Bj rJjr- ProNav: ac range: 193.300003 m, nav range: 80.456512 m, bearing: 290.940366 deg, approach rate: 0.399142 m/s, LOS rate: -0.326007 deg/s, cmd heading: 53.925590 deg, new cmd heading: 53.542025 deg. 2j5_=HeadingCmd: 0.934485 target range: 193.300003 and range: 193.30 m. j=b:o?j9j9j9i9h9hAhAhAfAfIfIrfIbfU঱@ IɛuقBu-m quIy }̘;ɚyiyI}I&=Ib:o?iizKMLKKKKw,vA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506781Es@?YEy?E e;9Ezz=yEH?@W?`r??!ѦLsB??ɨEs@?E ;AyU BU IMb@Mb@Mb@ )YV-?/$?{Gzty|?,=ףA @)AIAyfAII4٢nX ;=9:Q > G٣KGyZ[ > Nusing accuracyPremultiplier from config859ʓ?85Y$ i,B?:5?@t%E#;;285 ; AfEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 193.30 m.Bj ԻJj Ի ProNav: ac range: 193.300003 m, nav range: 80.627037 m, bearing: 290.789284 deg, approach rate: 0.420734 m/s, LOS rate: -0.371973 deg/s, cmd heading: 53.542024 deg, new cmd heading: 53.089747 deg. 2jHHeadingCmd: 0.926591 target range: 193.300003 and range: 193.30 m. j%5m?j!j!j!i!h!h)h)h-SBf)f1f1rf1bf5@ɛe؂Bm? imIi m;ɚiiqIu5&=Iu5m?iyi}S=)}5m?)y*F?2F:FBF^0JFJJJ0JJ=:J9Jـ3JH_>I I IIBI =&IFD.I6I(<:IF F I Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755972G] 3+a=G! B) OM >ŝw,wA6M>?Y6[w?6G;96Ro=y6H<0?@9p?S? "?[v 4?`?ɨ6M>?6l;6Cy>BB I)D DDFAIJIJ4٢R1Y Rq=9V;Q V?TT ZG٣XyZ Z? bNusing accuracyPremultiplier from config`f859b윖?f85Yb6$ ib*BdjY?j@bx%Eb:b:b585l n ApZjFNOT Ignoring new targets: 193.30 m.Bj㽻Jj㽻 ProNav: ac range: 193.300003 m, nav range: 80.759010 m, bearing: 290.671541 deg, approach rate: 0.372761 m/s, LOS rate: -0.332025 deg/s, cmd heading: 53.089746 deg, new cmd heading: 52.737097 deg. 2jcHeadingCmd: 0.920436 target range: 193.300003 and range: 193.30 m. jk?jjjihhhhfffrfbf`@ɛւBޑ 隝I ;ɚiI&=Ik?ij $?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259572|̝w,g2wA6t=?Y6(u?6`;96K=y6HnU? `sT? :?`+H? 7svc?@=?ɨ6t=?6܈;6Cy>BBIIJIJ4٢vy vF=9v9Q v>xx zG٣xy~v[ > -Nusing accuracyPremultiplier from config)5859-A?585Y-U $ i-(B15?@-|%E-<-<-4985hB  AdEZjAMFNOT Ignoring new targets: 193.30 m.BjMJju} ProNav: ac range: 193.300003 m, nav range: 80.920616 m, bearing: 290.526649 deg, approach rate: 0.376372 m/s, LOS rate: -0.336772 deg/s, cmd heading: 52.737096 deg, new cmd heading: 52.303297 deg. 2jgHeadingCmd: 0.912865 target range: 193.300003 and range: 193.30 m. ji?jjjihhhhfffrfbf q= @zKKh9KKKBK:KpAɛ=ԂBEZ AEIA uv;ɚqiyI}[Z'=Ii?iKl uBDAT read: Tx time:22:19:08.4002 u$Ping request sent.uH! I!  I% s II% sBI%  =&I! .I! 6I% ;<@ҝw,*SLwA I" i <<:IMT Fj;?Yjkt?jH;9j=yjH@;}?`/? ?Ep?x9??ɨj;?j;;jCyv BvIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:19:08.3995 eMb@Mb@Mb@aaa a)aYeףp= ?Mb?QQ UG٣UKGyUI ]> eNusing accuracyPremultiplier from configY859]?85Y]$ i]B?:{?@]%E];]G;]`=85iB  AaEk.?km!"\' k k)@wA:kf?CBk>CZk@"O7<*;B'@g@ꕀzXÿ؛}~)E?Jk*ERk*K9\dM@(/g@T=h$ſ2?"ko*kkѠ?kSa' 2k}Ck.N?k + kkBk|@ addTargetRange:: Added new target pos. range: 191.399994 m, deltaT: 3.530730 s, deltaX: -1.900009 m, approachRate: -0.538135 m/s, rangeRepo size: 4  Added new target pos. range: 191.399994 m, bearing: 266.325523 deg, lat: 36.905160 deg, lon: -122.121995 deg, deltaT: 3.530730 s, deltaX: -1.900009 m, approachRate: -0.538135 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 191.40 m.BjJj ProNav: ac range: 191.399994 m, nav range: 74.818916 m, bearing: 278.397254 deg, approach rate: 0.000000 m/s, LOS rate: -0.336772 deg/s, cmd heading: 52.303297 deg, new cmd heading: 51.820529 deg. 2jHeadingCmd: 0.904439 target range: 191.399994 and range: 191.40 m. jNg?jjjihhhh7Bfffrfg@bfާ?ɛU҂Bκ 隭VɾI <3`;ɚiIY'=INg?ii,\a=)Ng?)*Fm?2Fi:FiBFqJFq-PExceeded connect timeout, disconnecting. Will construct direction to contact in vehicle frame from tetrahedron phase data.G @Z=Gi By O >9ٝw,fwA6,:?Y6'r?6|};96=y6H@? ? Q?`?@ӥy ?`g?ɨ6,:?6;6Cy^B^IibR=Ib= `b=IfIf4٢n- nv=9r:Q r?pt vG٣tyv/ v? ~Nusing accuracyPremultiplier from config|859~ۿ?85Y~T$ i~By?@~%E~:~:~J@85  v AZjIUFNOT Ignoring new targets: 191.40 m.Bj]dƻJj]dƻ} ProNav: ac range: 191.399994 m, nav range: 74.971512 m, bearing: 278.290569 deg, approach rate: 0.497188 m/s, LOS rate: -0.346895 deg/s, cmd heading: 51.820529 deg, new cmd heading: 51.501129 deg. 2j}nHeadingCmd: 0.898864 target range: 191.399994 and range: 191.40 m. jf?jjjihhhhfffrfbf}?ɛтB ־I O;ɚiI!(=JqJuJqJqJqJu9JqJqJuԥ;aJuե;aJu;aJu;aIf?iigm[=)f?) $?I *FA2FA:FABFE0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.G_=GBOI>zKE jIKE 9KA KE KE RKM ?JKM >] Will construct direction to contact in vehicle frame from tetrahedron phase data.3w,RրwA8?YH8q?|;9⠇=yHx?@ ?U?|?͑Ow@??ɨ8?bȉ;CyBIMb@Mb@Mb@ )Y^I +? rhZd;OyX?CjA @)IAyAIIP4٢L 7=9uQ }>yy }G٣yyJH > Nusing accuracyPremultiplier from config859͖?85Y# i B?:j?@%E#;^;OD85  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 191.40 m.BjKJjK ProNav: ac range: 191.399994 m, nav range: 75.164047 m, bearing: 278.139960 deg, approach rate: 0.419730 m/s, LOS rate: -0.327487 deg/s, cmd heading: 51.501129 deg, new cmd heading: 51.050471 deg. 2j`HeadingCmd: 0.890999 target range: 191.399994 and range: 191.40 m. jd?jjjihhh h Bf f frfbf`?ɛmςBmBԼ imIq u5;ɚqiqIu(=I}d?i}mmIy I}Z II}^BI} =&Iy.Iy6I} <:I}1 F IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G b=G B O% >Xw,RwAB7?YBW#p?B;9B3=yBH o?@???@4Rvi?@?ɨB7?B;BCyNBNIIVIV4٢^ bb=9f5Q f?dh jG٣jKGyjG j? rNusing accuracyPremultiplier from configlr859nؖ?v85Yn9# inBtvi?v@n%En:n:nYG85~jB ~ A~^EZj!%FNOT Ignoring new targets: 191.40 m.Bj-Jj-= ProNav: ac range: 191.399994 m, nav range: 75.309334 m, bearing: 278.026150 deg, approach rate: 0.418456 m/s, LOS rate: -0.327164 deg/s, cmd heading: 51.050470 deg, new cmd heading: 50.709702 deg. 2j=`EHeadingCmd: 0.885051 target range: 191.399994 and range: 191.40 m. jEb?jIjIjIiIhIhQhQhYfYfYfYrfYbfe`S? }nManaging dock network, ignoring radio surface power offɛ͂Bm 隝rI X!;ɚiI)=Ib?ioJuJuJqJqJǘ:Ju"9JqJqJu;Ju;Ju;Ju; I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704375)- ſ= - C G |uA {Y |uAy MBȀw, qwAN@RBn6?Yn[2o?nX;9n=ynH ? ӯ???ˣ x魲??ɨn6?np;nCyvBvI)x x|~AII4٢  E=9:Q >!! %G٣!y-B -> =Nusing accuracyPremultiplier from config1E8595喜?E85Y5# i5BAEh?E@5%E5;5};5J85I UJ AQZjFNOT Ignoring new targets: 191.40 m.BjJj ProNav: ac range: 191.399994 m, nav range: 75.482178 m, bearing: 277.890682 deg, approach rate: 0.404187 m/s, LOS rate: -0.316060 deg/s, cmd heading: 50.709701 deg, new cmd heading: 50.304234 deg. 2jXHeadingCmd: 0.877975 target range: 191.399994 and range: 191.40 m. j`?j!j!j!i!h!h!h)h)f)fQfQrfYbf]@*Jy "Jy H ]>I  I : II EBI  =&I .I 6I O<:I a F $?I iw,QwA2F5?Y2=m?2E;9208=y2Hv)??`??ig২} ??ɨ2F5?2v;0y>؁B>I=Mb@Mb@Mb@999 9)9Y=x?:vZd;Oy=K?=Լ9=zA 9)= AI=QA9y==AIUIUx4٢e% eE=9mX;Q m>ii mG٣qyu^}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208435 > Nusing accuracyPremultiplier from config859?85Y # iB?:Kc?@%E;;N85kB  AYEZjFNOT Ignoring new targets: 191.40 m.BjJj ProNav: ac range: 191.399994 m, nav range: 75.650078 m, bearing: 277.754396 deg, approach rate: 0.416939 m/s, LOS rate: -0.337681 deg/s, cmd heading: 50.304234 deg, new cmd heading: 49.896291 deg. 2jgHeadingCmd: 0.870855 target range: 191.399994 and range: 191.40 m. jS^?jjjihhhhBfffrfbf  HL@ɛ=ȂB= " 9=I9 ER:ɚAiAIEb*=I]S^?iii  z=)S^?)*F?2F:FBF_0JFGghs=5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461955G B O >w,+wA2`3?Y2k?2+<921=y2HY?e@?|?,O?դU`ڳ?@?ɨ2`3?2mc;2CyBׁB@IRIRa4٢^ bV=9b*:Q f>dh jG٣jKGyn= n> vNusing accuracyPremultiplier from configtz859v?85Yvq# ivB  ha? @v%EvX;v;vQ85 % A!ZjFNOT Ignoring new targets: 191.40 m.Bj Jj  ProNav: ac range: 191.399994 m, nav range: 75.803650 m, bearing: 277.628738 deg, approach rate: 0.379107 m/s, LOS rate: -0.309571 deg/s, cmd heading: 49.896291 deg, new cmd heading: 49.520085 deg. 2jtTJ=J=J9J9J==:J=H9J9J9J=ԥ;J=ե;J=Q;J=R; YI]iuHeadingCmd: 0.864289 target range: 191.399994 and range: 191.40 m. juB]?jyjyjyiyhyhyhhfffrfbf@ɛƂB lI ::ɚiI0*=I B]?i}HrE Will construct direction to contact in vehicle frame from tetrahedron phase data.M x>M <R~w,xA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976848}!<1?Y}bi?}_<9}YW=y}Hb?`:pP?@DR?? `a%?F?ɨ}!<1?};yyލ؁BލIiJ>Ip; p=%=Mb@Mb@Mb@ )YM?{Gz:vyn?#TdA @)~AIAyAII-4٢W; ,=9;Q > G٣y > Nusing accuracyPremultiplier from config859 ? 85Y# iB ? : ZX? @%E5;;V85  A5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 191.40 m.BjMûJjMûe ProNav: ac range: 191.399994 m, nav range: 75.980957 m, bearing: 277.474045 deg, approach rate: 0.393458 m/s, LOS rate: -0.342473 deg/s, cmd heading: 49.520084 deg, new cmd heading: 49.057100 deg. 2je kmHeadingCmd: 0.856208 target range: 191.399994 and range: 191.40 m. jmq0[?jijijiiihqhqhqhuBfyfyfyrfybf& @ɛEÂBMV IMII MYh:ɚIiQIU+=I]q0[?ii)q0[?)ZH!RH%?A M$?IIH1I1 I5 II5,BI5 =&I1.I16I5H<:I5\ FBIĥCJIĥCRIēCZI =bI =jIĊ5*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:19:11.0578 TRx dataTimestamp_ set to:1736374752.280641checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217414G ghs=G B O >դw,xA6.?Y6((g?6S/<967=y6H ?sB??>?1=?Q?ɨ6.?6U;6Cy>΁BBIIJIJm4٢Rn Rx=9VU:Q V?XX ZG٣Xy^ ^? bNusing accuracyPremultiplier from config`f859b?f85Ybg# ibBhjU?j@b%Eb3:b:bX85=lB = A=VEZjFNOT Ignoring new targets: 191.40 m.BjJj ProNav: ac range: 191.399994 m, nav range: 76.103683 m, bearing: 277.365504 deg, approach rate: 0.349714 m/s, LOS rate: -0.308792 deg/s, cmd heading: 49.057099 deg, new cmd heading: 48.732006 deg. 2jSHeadingCmd: 0.850534 target range: 191.399994 and range: 191.40 m. jY?jjjihh!h!h)f)f)f)rf)bf5@^ @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468408ɛ=B=6v AEcIA E: :ɚAiAIM+=IUY?iU%s Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:19:11.0578 LVL= 17456, 31585, 27874, 32755, AGC= 63, IDX= 415,-0.26, 1.035,-0.749,-0.640,-0.091, PHS= 1.214,-0.610,-0.552, RAW= 91.6, -0.6, CAL= 99.6, -5.3, ROT= 50.4, 5.3  Ygot valid direction response: 22:19:11.0578 LVL= 17456, 31585, 27874, 32755, AGC= 63, IDX= 415,-0.26, 1.035,-0.749,-0.640,-0.091, PHS= 1.214,-0.610,-0.552, RAW= 91.6, -0.6, CAL= 99.6, -5.3, ROT= 50.4, 5.3  PDAT read: Bearing 50.4, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 50.4, 5.3 (Local)  DAT read: Range 10 to 50 : 190.0 m (Round-trip 253.4 ms) speed 0.0 m/s  ,DAT read: user:2494>  BDAT read: Tx time:22:19:12.1502  $Ping request sent. Cء إ 0Dإ a{ ٥ l)١ I١ i٥ Zd?٥ (٥ O ٥ ?٥ + ڥ /?)ڥ qIڥ z0a?iڥ q=ڡ ڡ ۥ `%?}o޿=M|)ۥ OIۥ 'aa eG٣eKGymzKBoIK59KKK > Nusing accuracyPremultiplier from config859(?85Y# iB@%E*::U]85  Ak(H?k?$ k k,*2xA:k>CBkI)  I-  II- !BI-  =&I) .I) 6I- B<:I- Y F $?I GU w,TxA6'?Y6Y`?6#<96 y=y6HM?`zX?ݏ? x? `bD@:J?X?ɨ6'?6҉;4yBՁBBI)D DDDMb@Mb@Mb@ )Y> ףp=?y&1|y?L`A @)AIy=AII4٢d< C=99Q > G٣y > Nusing accuracyPremultiplier from config8596?85Yg# iB}?:I?@%Ee;z;`85  ASEZj!%FNOT Ignoring new targets: 190.00 m.BjJj ProNav: ac range: 190.000000 m, nav range: 51.565071 m, bearing: 270.734609 deg, approach rate: 0.419464 m/s, LOS rate: -0.475800 deg/s, cmd heading: 48.268735 deg, new cmd heading: 47.708152 deg. 2jDHeadingCmd: 0.832664 target range: 190.000000 and range: 190.00 m. j})U?jjjih!h!h)h-Bf)f)f)rf1bf5D?ɛBx m0Y=隥I = ɚiI,=I})U?iiB@=)})U?)*Fq2Fq:FqBF}0JFyGMay=Will construct direction to contact in vehicle frame from tetrahedron phase data.G)B1OMt>&w,mxA (I(yB%II5I5x4٢Ex= ES=9EQ E>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configam859eD?m85YeA# ieBiim@e%Ee3:e:eRd85q }3 AyZjFNOT Ignoring new targets: 190.00 m.BjJj]Will construct direction to contact in vehicle frame from tetrahedron phase data.u ProNav: ac range: 190.000000 m, nav range: 51.720695 m, bearing: 270.559180 deg, approach rate: 0.403156 m/s, LOS rate: -0.453094 deg/s, cmd heading: 47.708151 deg, new cmd heading: 47.183463 deg. 2juzHeadingCmd: 0.823507 target range: 190.000000 and range: 190.00 m. jWR?jjjihhhhfffrfbfyk?ɛ]B] Y]qҾIa eɚaiaIebF-=ImWR?iiiM2k=)MWR?)IEqEuqA*F?2F:FBF0JF"G =G 4=zKBHK 9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data.G- I@=G! B O >!w,xAy%B-IMb@Mb@Mb@ )YʡE?Qy-? A )zAIyfAII4٢_< ?=9Q > G٣KGy   >jH<bH4<Ha>I III =&I.I6Ih<:Iv F 9I9JEJEJE/JAJEy:JE9JE(N3JAJE;JE ;JE' ;JE' ; Nusing accuracyPremultiplier from config859S?85Y# iB`?:R?@%E;;h85nB & AMEB*** querying acoustic contact ***j!j!ZjQUFNOT Ignoring new targets: 190.00 m.Bj]Jj]򻝊 ProNav: ac range: 190.000000 m, nav range: 51.921925 m, bearing: 270.349409 deg, approach rate: 0.408478 m/s, LOS rate: -0.424165 deg/s, cmd heading: 47.183462 deg, new cmd heading: 46.556615 deg. 2jHeadingCmd: 0.812566 target range: 190.000000 and range: 190.00 m. jWP?jjjihhhhBfffrfbf?ɛ B ۼ ̾I Z}ɚiI-=IEWP?iAiEߒ=)EWP?)IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}AiyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF1JFGY`n=GIBYOu>'w,xA2E?Y2?W?2<92=y2H|J?@?2???-^2y? ?ɨ2E?2;0y>B>IiF?>IF> F=Fp=^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751550IJIJ4٢j= j_=9n Q n>lp rG٣pyrf r> zNusing accuracyPremultiplier from configtz859vl^?~85Yv# ivB|~[J?~@v%Ev ;v ;vBk85   AZj1=FNOT Ignoring new targets: 190.00 m.Bj=JjEM ProNav: ac range: 190.000000 m, nav range: 52.047340 m, bearing: 270.211232 deg, approach rate: 0.415287 m/s, LOS rate: -0.456440 deg/s, cmd heading: 46.556615 deg, new cmd heading: 46.143090 deg. 2jU5HeadingCmd: 0.805349 target range: 190.000000 and range: 190.00 m. j5X+N?j1j1j1i9h9h9h9h9fAfAfArfAbfM`?ɛB3 ÷I ɚiI!;.=IX+N?ii!*=)X+N?) %$?I)EuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004517*F?2F:FBF1JFG l=G B O >.w,xA:.?Y:%T?:%<9:]=y:Hؓ?@ݯ?? $?y@`I7?w?ɨ:.?:;8yFBFIININ-4٢VV5= V6=9V(;Q Z>XX ZG٣Xy^ܼ ^>zKbKb]9K`KbKbBKd:Kd nNusing accuracyPremultiplier from confighn859jm?r85Yj# ijBtvDG?v@j%Ej*;j);j4o85x zE AxZjFNOT Ignoring new targets: 190.00 m.Bj%Jj%5 ProNav: ac range: 190.000000 m, nav range: 52.228428 m, bearing: 270.008646 deg, approach rate: 0.401089 m/s, LOS rate: -0.447149 deg/s, cmd heading: 46.143091 deg, new cmd heading: 45.537465 deg. 2j5o=HeadingCmd: 0.794779 target range: 190.000000 and range: 190.00 m. j=vK?j9j9j9i9hAhAhAhAfIfIfIrfIbfMc@ɛuB}Ƽ yjI )pɚiI.=IvK?i i 2=) vK?) MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258941E=gW=*F?2F:FBF2JFG GrAG@Z=GBO^>H%b>I! I%! II%1BI!&I!.I!6I%Z<:I%m F $?IiJJ~J0JJv:Jf9Jـ3JJT;JV;J:J: Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507596(5w,HxA6?Y6R?6Y(<96K\=y6H"?T G٣KGyD >  Nusing accuracyPremultiplier from config 859 c|?85Y # i B?: S?@ %E ^< <  s85  AKEZjFNOT Ignoring new targets: 190.00 m.Bj.Jj.뻝 ProNav: ac range: 190.000000 m, nav range: 52.414242 m, bearing: 269.821006 deg, approach rate: 0.408671 m/s, LOS rate: -0.411222 deg/s, cmd heading: 45.537465 deg, new cmd heading: 44.976561 deg. 2jHeadingCmd: 0.784989 target range: 190.000000 and range: 190.00 m. j H?jjjihhhh@Bfffrfbf ^@ɛ-B-z 15HI9 =ɚ9i9I=//=IE H?iAiEo2=)E H?)IEQEQ*EQ"EQeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759726*F?2F:FBFE5JF I G G H-=% Will construct direction to contact in vehicle frame from tetrahedron phase data.% Ai! - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013853 ZA Y y QBG B O >h fC=9f9Q j>xx zG٣|y~ ~> Nusing accuracyPremultiplier from config 859q? 85YD# iB15P?5@%E;$;v859 E$ AAZjFNOT Ignoring new targets: 190.00 m.BjJj ProNav: ac range: 190.000000 m, nav range: 52.591820 m, bearing: 269.639948 deg, approach rate: 0.425911 m/s, LOS rate: -0.432791 deg/s, cmd heading: 44.976560 deg, new cmd heading: 44.435237 deg. 2jHeadingCmd: 0.775541 target range: 190.000000 and range: 190.00 m. jމF?jjjihhhhfffrfbf|@ɛmBm& quR}Iq up9ɚqiqIu/=I}މF?iyi81=)މF?)*FA2FA:FABFE_0JFAzK ULK9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:19:14.8065  TRx dataTimestamp_ set to:1736374756.065752checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271488Gm!-=GA BQ Oe >H g>I C I G II OBI  =&I .I }J<J<J<J>[j:J<J<J<J>;J>;J<J)) 5G٣1=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515702yE E> MNusing accuracyPremultiplier from configIU859M-?U85YM# iMB]?]:]\?]@M%EM;M;Mz85eoB e AeHEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 190.00 m.BjJj ProNav: ac range: 190.000000 m, nav range: 52.796947 m, bearing: 269.451574 deg, approach rate: 0.469857 m/s, LOS rate: -0.429804 deg/s, cmd heading: 44.435237 deg, new cmd heading: 43.872330 deg. 2j|HeadingCmd: 0.765717 target range: 190.000000 and range: 190.00 m. jD?jjjihhhhmBfffrfbf_ @ɛB䋼 隕`I km ɚiI/=ID?iiA7V=)D?)*FA2FA:FABFIJFIG .P2= Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 22:19:14.8065 LVL= 17360, 26801, 28290, 26515, AGC= 67, IDX= 434, 0.32,-0.672,-2.426,-2.474,-1.809, PHS= 1.225,-0.570,-0.668, RAW= 87.4, 0.1, CAL= 94.5, -4.1, ROT= 55.5, 4.1 = Ygot valid direction response: 22:19:14.8065 LVL= 17360, 26801, 28290, 26515, AGC= 67, IDX= 434, 0.32,-0.672,-2.426,-2.474,-1.809, PHS= 1.225,-0.570,-0.668, RAW= 87.4, 0.1, CAL= 94.5, -4.1, ROT= 55.5, 4.1 M PDAT read: Bearing 55.5, 4.1 (Local) M ~Local bearing/azimuth received: Bearing 55.5, 4.1 (Local) U DAT read: Range 10 to 50 : 189.0 m (Round-trip 252.1 ms) speed 0.0 m/s ] ,DAT read: user:2495> Ga m BDAT read: Tx time:22:19:15.9002 m $Ping request sent.m n) gI Ci ̜?  + @? : r?) CI w?i C= G\?jAOed?) I -#i -@  :publishing transmit ping timei  Fpublishing direction and range info 9 aq`#?tSQ?y  ) I i ) I i G\?jAOed?) I i Iw,;)yA"?YߞK?} <92D=yH@9f? [ޭ?@?Z?z%IJ??ɨ"?;騅Cy޵IB޵@ IIIļ4٢z= O=97Q > G٣KGy" > Nusing accuracyPremultiplier from config859?85Y(# iB!%X?%@%E: :~85 }$?I}i . Ako4ې?k# k k$yA:k=CBk;CZkMvG@"Nj/d&e<@ =hCg@aq`#?tSQ?Jk-@Rk*&?47؞?/U{g@;3R# \+c-f?U?"k?*k0kV А?kjry# 2k|CkѠ?kSa' k|CkBkh@U addTargetRange:: Added new target pos. range: 189.000000 m, deltaT: 3.779995 s, deltaX: -1.000000 m, approachRate: -0.264551 m/s, rangeRepo size: 4  Added new target pos. range: 189.000000 m, bearing: 178.567775 deg, lat: 36.905043 deg, lon: -122.121529 deg, deltaT: 3.779995 s, deltaX: -1.000000 m, approachRate: -0.264551 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 189.00 m.BjJj ProNav: ac range: 189.000000 m, nav range: 36.200531 m, bearing: 262.143717 deg, approach rate: 0.000000 m/s, LOS rate: -0.429804 deg/s, cmd heading: 43.872330 deg, new cmd heading: 43.318675 deg. 2jHeadingCmd: 0.756054 target range: 189.000000 and range: 189.00 m. jA?jjjihhhhfffrfg@bfr?ɛmBmGFb imD1Ii uɚqiqIu_N0=IA?iim:=)A?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:19:15.8995 *FQ2FQ:FYBFYJFYG5R`U=G5 ?G5?GBO>zK LK 9K K K Pw,BCyA28?Y2xOJ?2e;92F=y2H'?p ? ? Bw?[ } $??ɨ28?2";2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yVTBVM IiZ=IZ4<\^AAIbIb4٢f4j= j]=9jQ j>ll nG٣lyrb r> vNusing accuracyPremultiplier from configtz859v?~85YvԬ# ivB  =W?@v%Eve;v;vM855pB =AEBEZjFNOT Ignoring new targets: 189.00 m.BjJj ProNav: ac range: 189.000000 m, nav range: 36.383556 m, bearing: 261.949750 deg, approach rate: 0.479751 m/s, LOS rate: -0.505873 deg/s, cmd heading: 43.318675 deg, new cmd heading: 42.739722 deg. 2jHeadingCmd: 0.745949 target range: 189.000000 and range: 189.00 m. j>?jjjihhhhfffrfbf=?ɛBLL 隕I qfɚiI40=I>?iiP=)>?) u$?IyHj>IC Is IIsBI =&I.I6I<:IH FBI JI ŦCRI ZI bI  =jI Ł5*FY2Fa:FaBFaJFaJ~JJJJ{m:J9JJJ;;J=;J2;J3;UWill construct direction to contact in vehicle frame from tetrahedron phase data.G W=GY Bi O >Vw,\yA:4?Y:usI?:\E;9:=y:H@?@8 eh?Y?=?饿hsW?`d?ɨ:4?:2;:CyRZBRT IuMb@Mb@Mb@qqq q)qYu"~j?V-? rh?yuS#?uh=uC=9Q > G٣y > Nusing accuracyPremultiplier from config859?85Y(# iBd$?:Qe?@%EO/;#;85 AZjFNOT Ignoring new targets: 189.00 m.Bj "Jj " ProNav: ac range: 189.000000 m, nav range: 36.621075 m, bearing: 261.730004 deg, approach rate: 0.620021 m/s, LOS rate: -0.569906 deg/s, cmd heading: 42.739721 deg, new cmd heading: 42.084789 deg. 2jü%HeadingCmd: 0.734518 target range: 189.000000 and range: 189.00 m. j%a YIae Will construct direction to contact in vehicle frame from tetrahedron phase data. ]w,vyA:?Y:3ZH?:C;9:=y:H?@ ?`??yHc??ɨ:?:Ń;:CyRgBRd IIZIZ{4٢fƉ= fX=9jλQ j>hh nG٣nKGy6 %> -Nusing accuracyPremultiplier from config!5859%Η?585Y%# i%B152d?5@%%E%P:%;%n85a eNAaZjFNOT Ignoring new targets: 189.00 m.Bj Jj  ProNav: ac range: 189.000000 m, nav range: 36.834538 m, bearing: 261.533391 deg, approach rate: 0.542135 m/s, LOS rate: -0.496446 deg/s, cmd heading: 42.084788 deg, new cmd heading: 41.498389 deg. 2jZ%HeadingCmd: 0.724284 target range: 189.000000 and range: 189.00 m. j%j9?j!j)j)i)h)h)h1h1f9f9f9rf9bf= ?ɛeBm` im̽Ii ms*ɚiiiIu@0=Iuj9?iqiuT%=)uj9?)y*F!2F!:F!BF%_5JF!zKBoIK9KKK    Will construct direction to contact in vehicle frame from tetrahedron phase data.GM CXP=GQ GU rAG! B1 OU > Q IQ jHa bHe 4=Hq Iq  Iu IIu BIq &Iq .Iq 6Iu <:Iu ; Fcw,yA6,s?Y6mG?6P2:96O=y6H?@ x@l?@?u? ӾPF@*L? ?ɨ6,s?6Q;6CybiBbh I)l ltvAWill construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%HzG?EԸ?~jt?y%=*?%=%<% A !)%AI% A!y%\AI=I=V4٢ME< M4=9M rQ U>QQ ]G٣Yy]p ]> eNusing accuracyPremultiplier from configam859eݗ?m85Ye͛# ieBu,?u:uhl?u@e%Ee;e;eP85qB =A?EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 189.00 m.BjJj ProNav: ac range: 189.000000 m, nav range: 37.097015 m, bearing: 261.312392 deg, approach rate: 0.601120 m/s, LOS rate: -0.502545 deg/s, cmd heading: 41.498389 deg, new cmd heading: 40.840112 deg. 2jrMHeadingCmd: 0.712794 target range: 189.000000 and range: 189.00 m. jMy6?jQjQjQiQhQhQhYh]BfYfYfarfabfeR?ɛB ഽI /ɚiI 1=Iy6?ii=)y6?)*F2F:FBF@5JFGs=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.h jw,WyyAy=nB=m IIMIM4٢e< eZ=9mQ m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy859}ꗜ?85Y}# i}B@}%E}:}:}85 AZjFNOT Ignoring new targets: 189.00 m.Bj Jj $?Iu ProNav: ac range: 189.000000 m, nav range: 37.318512 m, bearing: 261.128667 deg, approach rate: 0.593196 m/s, LOS rate: -0.489116 deg/s, cmd heading: 40.840112 deg, new cmd heading: 40.292229 deg. 2j}֧}HeadingCmd: 0.703232 target range: 189.000000 and range: 189.00 m. j4?jjjihhhhfffrfbf&@JUJU{JU1JQJU}:JU-9JU3JQae@ae@ae@ae@ɛB 隽I Ó3ɚiI*1=I 4?i i =) 4?)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252698*F2F:FBFQ3JFG Š}=Ga Bi O >Nqw,aPyAzKsLK 9KKK:0 ?Y:pNE?:wƺBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5039579:_=y:H?;"?K??S@X? h'?`?ɨ:0 ?:Z؋;:CyLNn IIVIV4٢jF; jT=9밻Q > G٣KGyʼ > ENusing accuracyPremultiplier from config18595f?85Y5# i5Bi?@5%E5æ<5<5R85rB A u1ww,+yAB+? ?YBlC?BB9B-=yBH?@?@&? ? M׬@|Zh?A??ɨB+? ?B);BCyRvBRw IiV0>IV< Z=ZR=EMb@Mb@Mb@AAA A)AYEm?"~j?y&1?yE.?ES=E`e G٣yv > Nusing accuracyPremultiplier from config859I?85YƊ# iB0?:l?@%E;;ǖ85sB A:EZjAMFNOT Ignoring new targets: 189.00 m.BjMJjM] ProNav: ac range: 189.000000 m, nav range: 37.812111 m, bearing: 260.723213 deg, approach rate: 0.678288 m/s, LOS rate: -0.541984 deg/s, cmd heading: 39.663352 deg, new cmd heading: 39.083885 deg. 2j]eHeadingCmd: 0.682142 target range: 189.000000 and range: 189.00 m. je.?jajijiiihihihqhu҂Bfqfyfyrfybf}@@ɛB޻ 4=隵LI k9ɚiIK1=I.?ii.=).?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012696*F5?2F1:F1BF5_0JF1 $?IGMƠ=G) B1 OU >Ju Ju ~Ju 0Jq Ju p:Ju f9Ju ـ3Jq E Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:22:19:18.5548 U TRx dataTimestamp_ set to:1736374759.841494U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261848[}w,SyA6X ?Y6A?6=x96u=y6H@A?d@4@??/?@ /r?Cڲ??ɨ6X ?6;6CyBpBBo IIJIJ"4٢R V`=9V・Q V>XX ZG٣XyZ覼 ^> bNusing accuracyPremultiplier from config`f859b0?f85Yb# ibBdfj?f@b%Eb&:bi:b85l nA=7EZjFNOT Ignoring new targets: 189.00 m.Bj#Jj# ProNav: ac range: 189.000000 m, nav range: 38.034035 m, bearing: 260.544068 deg, approach rate: 0.584518 m/s, LOS rate: -0.469090 deg/s, cmd heading: 39.083886 deg, new cmd heading: 38.549603 deg. 2jHeadingCmd: 0.672818 target range: 189.000000 and range: 189.00 m. j=,?jjjihhhhfffrfbf @ɛB0 隝iI <ɚiIDS1=I5=,?i1i5=)5=,?)9E*F%?2F!:F!BF%`0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514621zKBoIK9KKK   GM =G B9 O} >ZH RH @AH I  I II ɂB Y Ia I &I .I 6I ;<:I ] FnCw,zAJJB{?YB@?B-(»9B3=yBH Kh? ??V?@Ƭ`Dx?mB??ɨB{?BS;BCyRcBR_ I5Mb@Mb@Mb@111 1)1Y5&1?V-?y50?5=51 53@)5zAI11y5 AIEIE4٢Ut U@=9]ZdQ e>ai mG٣iym m> }Nusing accuracyPremultiplier from configq859u#?85YuC# iu B_3?:j?@u%Eu3;uj;u85 AZjFNOT Ignoring new targets: 189.00 m.BjxJjx ProNav: ac range: 189.000000 m, nav range: 38.298347 m, bearing: 260.333590 deg, approach rate: 0.643278 m/s, LOS rate: -0.508718 deg/s, cmd heading: 38.549605 deg, new cmd heading: 37.922557 deg. 2jHeadingCmd: 0.661873 target range: 189.000000 and range: 189.00 m. jp)?jjjihhhhBfff=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 22:19:18.5548 LVL= 15856, 26225, 22658, 30643, AGC= 62, IDX= 417,-0.40,-0.025,-1.561,-1.775,-0.967, PHS= 1.030,-0.547,-0.811, RAW= 82.4, 3.8, CAL= 87.5, 1.9, ROT= 62.5, -1.9 }Ygot valid direction response: 22:19:18.5548 LVL= 15856, 26225, 22658, 30643, AGC= 62, IDX= 417,-0.40,-0.025,-1.561,-1.775,-0.967, PHS= 1.030,-0.547,-0.811, RAW= 82.4, 3.8, CAL= 87.5, 1.9, ROT= 62.5, -1.9 PDAT read: Bearing 62.5, -1.9 (Local) ~Local bearing/azimuth received: Bearing 62.5, -1.9 (Local) DAT read: Range 10 to 50 : 187.8 m (Round-trip 250.4 ms) speed 0.4 m/s ,DAT read: user:2496> BDAT read: Tx time:22:19:19.6502 $Ping request sent.i= ׃?=1 =O=X?=ԇ= =z?)==I=X?i=99=W J?1H}Ȓ-?)=A(I=̈i=@@=99:publishing transmit ping timeءFpublishing direction and range info99=wl¿Uƪ?U#1?y9999 9)9I9i99999 9)9I9i999=W J?1H}Ȓ-?)9I9i9999rf)bf5g?ɛ]Be`G ae(Ia mAɚqiqIus[1=I}p)?iyi}=)}p)?)y*F!2F):F)BF-0JF)G- =G1 G1  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:19:19.6495 G B O5 >ow,Y+zA6R_?Y6=?696G=y6H^?ۓ@? ?@'?`ޫ{|?`E?"?ɨ6R_?6U;4y^VBnP IIvIv4٢u G=9r$Q > G٣KGyM > Nusing accuracyPremultiplier from config8592?85Y?y# iBXh?@%E:: $?IO85tB A 4Eke?ke'oM" ka kezA:ke;CBke:CZkeA@"e&NN';Ҟ MF@Qf@ewl¿Uƪ?U#1?Jke@@Rke*eǎEm@* f@eOX&=`Ϳס@e?&g"?"ke@*kef,ken֠?ke;k" 2kewCkeI|?kes$ kakeAke@Ā@ addTargetRange:: Added new target pos. range: 187.800003 m, deltaT: 3.788080 s, deltaX: -1.199997 m, approachRate: -0.316782 m/s, rangeRepo size: 4 )9 9JeJeJaJac~GJev:Je9JaAJa  Added new target pos. range: 187.800003 m, bearing: 173.427796 deg, lat: 36.905001 deg, lon: -122.121255 deg, deltaT: 3.788080 s, deltaX: -1.199997 m, approachRate: -0.316782 m/s, posRepo size: 4 Yy BZj FNOT Ignoring new targets: 187.80 m.Bj Jj ProNav: ac range: 187.800003 m, nav range: 17.634062 m, bearing: 230.555703 deg, approach rate: 0.000000 m/s, LOS rate: -0.508718 deg/s, cmd heading: 37.922556 deg, new cmd heading: 37.244854 deg. 2j!UHeadingCmd: 0.650045 target range: 187.800003 and range: 187.80 m. jU_i&?jQjQjQiQhQhQhYhYfYfYfarfyg@bf̵?ɛ-B- 15|ǽI1 5Gɚ1i1I5d1=EWill construct direction to contact in vehicle frame from tetrahedron phase data.I=_i&?iQiUV9=)U_i&?)aE Y=E E rA*F= ?2F9 :F9 BF= _0JF9 "GE =GE =zK 9$MK 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. = :?G}ʯ=Hi>I I IIĂBI =&I.I6II<:If FGqByO?Zw,PzA*JzC="Jz G٣y > bBottom track data is 0.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config859H?85Ysp# iB+:u:@%EW;?85 R AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 187.80 m.Bjȃ:Jjȃ: Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 187.800003 m, nav range: 18.057571 m, bearing: 230.589622 deg, approach rate: 0.736540 m/s, LOS rate: 0.057606 deg/s, cmd heading: 37.244854 deg, new cmd heading: 37.344225 deg. 2j%#;-HeadingCmd: 0.651780 target range: 187.800003 and range: 187.80 m. j-&?j1j1j1i1h1h1h9h9f9f9fArfAbfE,=?ɛmBmDP) qu(Iq uFNɚqiqI}s1=I&?i2xS.w,unzA6>Y6 8?6xH96g=y6H`j?_?T?J?@M婿?p?K?ɨ6> >$?I@6-;6Cy^'B^ IInIn4٢v! vB=9vMQ v>xx zG٣zKGy~] ~> bBottom track data is 1.0 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config 859BX?85Ysj# i B :F:b?@%EE;?85%uB %m A%/EZjQUFNOT Ignoring new targets: 187.80 m.Bj]h8Jj]h8m ProNav: ac range: 187.800003 m, nav range: 18.351879 m, bearing: 230.591470 deg, approach rate: 0.700536 m/s, LOS rate: 0.004328 deg/s, cmd heading: 37.344223 deg, new cmd heading: 37.349678 deg. 2jm>9uHeadingCmd: 0.651875 target range: 187.800003 and range: 187.80 m. juE&?jqjqjqiqhyhyhyhyfffrfbf`F?ɛB 隵z7I  XɚiIU1=IE&?iwzw,zAe>YeJT5?e!@9e9_=yeH M?@lj.??@??4?`F?ɨe>e^؈;eCyuBu IjH-<bH-p<H5h>I5C I5 II5BI1&I1.I16I5<:I5 FBIçCJIçCRIZI =bI =jI\ 5 iImi        Mb@Mb@Mb@ )Yp= ף?y&1?~jty%?`e=ļA v@)IAyAII4٢M> M=9M:Q U>QQ UG٣Qy] ]> Nusing accuracyPremultiplier from config859l?85Yd# iBT:%?:K?@&E<x<85   A ZjyFNOT Ignoring new targets: 187.80 m.Bja8Jja8 ProNav: ac range: 187.800003 m, nav range: 18.686949 m, bearing: 230.502689 deg, approach rate: 0.619493 m/s, LOS rate: -0.161199 deg/s, cmd heading: 37.349677 deg, new cmd heading: 37.088113 deg. 2jBݻHeadingCmd: 0.647310 target range: 187.800003 and range: 187.80 m. j%?jjjihhhh`Bfffrfbft?ɛBsWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003258 )-DI) 5fɚ1i1I5*1=I=%?i=N|;w,zA:ϭ>Y:(S2?:69:X=y:H`3?Sz?`??q@܆? ??ɨ:ϭ>:l;:CyBBFIIRIR4٢ZG Z=9^;Q ^?`` bG٣`ybJ( f? jNusing accuracyPremultiplier from configdj859fv?n85Yf`# ifBlrH?r@f&Ef4;f;f85vvB v Av,EZj!%FNOT Ignoring new targets: 187.80 m.Bj-'hJj-'hE ProNav: ac range: 187.800003 m, nav range: 18.868061 m, bearing: 230.449485 deg, approach rate: 0.697611 m/s, LOS rate: -0.202965 deg/s, cmd heading: 37.088112 deg, new cmd heading: 36.930032 deg. 2jEK MHeadingCmd: 0.644551 target range: 187.800003 and range: 187.80 m. jME%?jIjIjIiIhIhQhQhQfQffrfbfJ@ɛ B 0ͼ zI 5oɚ9i9I=1=I=E%?iE} u$?IyJ- J) J) J) J- v:J) J) J) - Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507322uew,azA2(>Y2/?2ܶ(92U=y2H?B@4?@C?`w?a ?:?f?ɨ2(>2;2CyRBRIIZIZD4٢b| bI=9b ;Q b>dd fG٣fKGyjټ j> nNusing accuracyPremultiplier from configlr859n?r85Yn[# inBtv1F?v@n &En1;n;n85Y e8 AaZjFNOT Ignoring new targets: 187.80 m.Bj^Jj^ ProNav: ac range: 187.800003 m, nav range: 19.129129 m, bearing: 230.366040 deg, approach rate: 0.617979 m/s, LOS rate: -0.194829 deg/s, cmd heading: 36.930030 deg, new cmd heading: 36.683112 deg. 2jHeadingCmd: 0.640241 target range: 187.800003 and range: 187.80 m. j#?jjjih1h1h9h9f9f9fArfAbfETR@ɛ|Bչ I ~ɚiI-1=I#?iIA  IE IIE BIE  =&IA .IA 6IE <:IE F q Iq G B O- >Mw,;zA67>Y6-,?6W'96yGV=y6H``?`,??`c? 맿@D?Ū? n?ɨ67>6h;6Cy>߁BBIrWill construct direction to contact in vehicle frame from tetrahedron phase data.rAipvchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011857MMb@Mb@Mb@III I)IYMʡE?~jtx?L7A`堿yM?M;M+MA M@)MAIMAIyMAImIm4٢}菽 ?=9 ;Q > G٣y޼ > Nusing accuracyPremultiplier from config859험?85Y{W# iB?:/?@ &E;;E85wB  A)EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 187.80 m.Bj̻Jj̻ ProNav: ac range: 187.800003 m, nav range: 19.388189 m, bearing: 230.216989 deg, approach rate: 0.630753 m/s, LOS rate: -0.358055 deg/s, cmd heading: 36.683112 deg, new cmd heading: 36.241945 deg. 2juHeadingCmd: 0.632541 target range: 187.800003 and range: 187.80 m. j9!?jjj i h h h hBfffrfbf -@ɛzBhͼ I pPɚiI 2=I9!?iiFF=)9!?)*F?2F:FBF2JF"G=G>Ge q=G9BIOeU>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:19:22.3029 TRx dataTimestamp_ set to:1736374763.628800checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264389 ] $?Ia ~w,7zA66^>Y6\+*?6z 96bH[=y6H@/?޸??G$? ?`No? qe??ɨ66^>6;4yJǁBJIIZIZJ4٢b bV=9b;Q b>dd fG٣dyj#˼ j> nNusing accuracyPremultiplier from configlr859nc?r85YnS# inBpvd-?v@n&En:n;n85x z A|Zj%FNOT Ignoring new targets: 187.80 m.Bj-ɻJj5ɻE ProNav: ac range: 187.800003 m, nav range: 19.619045 m, bearing: 230.080960 deg, approach rate: 0.606383 m/s, LOS rate: -0.353099 deg/s, cmd heading: 36.241943 deg, new cmd heading: 35.838665 deg. 2jETrMHeadingCmd: 0.625503 target range: 187.800003 and range: 187.80 m. jM ?jIjQjQiQhQhQhYhYfYfYfYrfabfe ͑ @ɛxB 隕KI ԜɚiIN2=I ?ii1?=) ?)*Fe?2Fa:FaBFe^0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515931GmJR=GABQOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:19:22.3029 LVL= 15168, 29745, 26930, 30771, AGC= 61, IDX= 428, 0.01,-0.998,-2.255,-2.897,-1.749, PHS= 0.840,-0.459,-1.150, RAW= 70.0, 8.8, CAL= 71.3, 13.1, ROT= 78.7, -13.1  Ygot valid direction response: 22:19:22.3029 LVL= 15168, 29745, 26930, 30771, AGC= 61, IDX= 428, 0.01,-0.998,-2.255,-2.897,-1.749, PHS= 0.840,-0.459,-1.150, RAW= 70.0, 8.8, CAL= 71.3, 13.1, ROT= 78.7, -13.1  PDAT read: Bearing 78.7, -13.1 (Local)  ~Local bearing/azimuth received: Bearing 78.7, -13.1 (Local) zK aPK h9K K K w]PJD<58>CNi &&  = DAT read: Range 10 to 50 : 186.3 m (Round-trip 248.4 ms) speed 0.0 m/s ažw, {Ar,DAT read: user:2497> ]BDAT read: Tx time:22:19:23.4003 e$Ping request sent.eY}'?9zd=yH%d?ZtbȜ?`Oy?+X?@憎~?a? ?ɨ>en;騕CZHRH?AHg>I IM IITBI&I.I6I<:IA F I :publishing transmit ping timea Fpublishing direction and range info9z6˿Hɵ?6?yL:C@;1t 2i)3xI=i= W? 뾩33a?nF> &I?) j>IFѯ?i j6S?ReV8xwNJ?)b_Ii@F%:publishing transmit ping timea%Fpublishing direction and range infoyޭB-I9z6˿Hɵ?6?y )Ii )Ii6S?ReV8xwNJ?)IiJJJJJ}:J9JJJ;a J;aJg;aJh;a%=Mb@Mb@Mb@999 9)9Y= +?I +Qy=?=94== A =v@)=QAI=hA9y=GAIMIM4٢}ͼ  =9>;Q > G٣KGy > Nusing accuracyPremultiplier from config859?85YN# Will construct direction to contact in vehicle frame from tetrahedron phase data.iBf?:)?@&E&~<}<ƾ85xB % A%$Ekgv?k k kp{A:kL:CBk 9CZkro/@"yCzKT@"rB #^d@z6˿Hɵ?6?Jk@RkF*8' SmG @@cd@I,ڿ(?zt?"kB*kck&?k 2kgCkV А?kjry# kkAkQ@ addTargetRange:: Added new target pos. range: 186.300003 m, deltaT: 3.779973 s, deltaX: -1.500000 m, approachRate: -0.396828 m/s, rangeRepo size: 4  Added new target pos. range: 186.300003 m, bearing: 157.057874 deg, lat: 36.904900 deg, lon: -122.121120 deg, deltaT: 3.779973 s, deltaX: -1.500000 m, approachRate: -0.396828 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 186.30 m.BjJjM ProNav: ac range: 186.300003 m, nav range: 24.327244 m, bearing: 187.615998 deg, approach rate: 0.000000 m/s, LOS rate: -0.353099 deg/s, cmd heading: 35.838665 deg, new cmd heading: 35.179316 deg. 2jQUHeadingCmd: 0.613995 target range: 186.300003 and range: 186.30 m. jU.?jYjYjYiYhYhYhahe΁BfafafrfIg@bf?ɛ tB ԗƼ   ʴI  ɚ i I ت2=I .?i! i% C=)% .?)A EQ EU qA*F ?2F :F BF O5JF G  G rAWill construct direction to contact in vehicle frame from tetrahedron phase data.GE@A=GM ?GM>GB!OE?ӄʞw,,{A6>Y6 H%?6M׻96Wr=y6H?;? A??@3z?BF?`}?ɨ6>6Љ;6CyzB~qIi=IC=I%I%4 $?I٢-@ -Q=95;Q 5>11 =G٣9y= => mNusing accuracyPremultiplier from configam859e|И?u85Ye0K# ieBqu?u@e&Ee*:e :e:85}yB }A!EZjFNOT Ignoring new targets: 186.30 m.BjK1<JjK1<% ProNav: ac range: 186.300003 m, nav range: 24.538517 m, bearing: 187.848796 deg, approach rate: 0.567574 m/s, LOS rate: 0.620013 deg/s, cmd heading: 35.179316 deg, new cmd heading: 35.871662 deg. 2j%<-HeadingCmd: 0.626079 target range: 186.300003 and range: 186.30 m. j-F ?j)j1j1i1h1h1h9h9f9fYfarfabfex`?ɛrBd 隵оI 2ɚiI!3=IE?iio<)F ?)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iG A=G B O >gўw,E{A: >Y:D`#?:59:lY=y:Ht? j?.?r?@!}?u8?3?ɨ: >:ډ;8yNBNmIIjIjs4٢r( rc=9vQ v>tt vG٣xyz7 z>  Nusing accuracyPremultiplier from config 859ߘ?85Y4H# iB?@&E`;;Z85! %A!ZjAMFNOT Ignoring new targets: 186.30 m.BjU%<JjU%I) I- II-!BI- =&I).I)6I-Q<:I-k FG+=GyBO_>*J"J%=JJJ1JJy:J9J3JJ;J ;J;J;- Will construct direction to contact in vehicle frame from tetrahedron phase data.מw,A_{AJR>YJh}!?Jû9J[=yJHH? ;??`?l}x?ͱ??ɨJR>J;JCybBbZIMb@Mb@Mb@ )Y|?5^?/$V-y ?A 3@)AIAyAIIݜ4٢ >=9;;Q > G٣KGy[ > Nusing accuracyPremultiplier from config859i?85YBE# iB?:>@"&E;F;85 WAE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 186.30 m.Bj;Jj%;- ProNav: ac range: 186.300003 m, nav range: 24.956905 m, bearing: 188.238360 deg, approach rate: 0.525862 m/s, LOS rate: 0.428018 deg/s, cmd heading: 36.478370 deg, new cmd heading: 37.030510 deg. 2j-ߒ<5HeadingCmd: 0.646304 target range: 186.300003 and range: 186.30 m. j=3t%?j9j9j9i9h9h9hAhEBfAfAfIrfIbfM`?ɛlB 隝ݾI zwɚiI'3=I3t%?ii^ړ:)3t%?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJF IG<GqAG NG G B ZAO- > - {Y1 y5 .B= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695509ݞw,y{A ((j>Yj@?j z9j+d=yjH_?ԙ`<???~V@Do? g?_?ɨj>j%;jCyrBrXI)t tI~I~4٢   V=9 G;Q  > G٣y > -Nusing accuracyPremultiplier from config!-859%{?585Y%B# i%B15>5@%%&E%:%*:%q859 EeAAZjquFNOT Ignoring new targets: 186.30 m.Bj};Jj}; ProNav: ac range: 186.300003 m, nav range: 25.159807 m, bearing: 188.397663 deg, approach rate: 0.529889 m/s, LOS rate: 0.412673 deg/s, cmd heading: 37.030509 deg, new cmd heading: 37.504553 deg. 2j<HeadingCmd: 0.654578 target range: 186.300003 and range: 186.30 m. jk'?jjjihhhhfffrfbf&?ɛjB0 ܾI P9ȻɚiIP'4=Ik'?iiO)k'?)*F?2F:FBF0JFG<GABQOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947442zKI)  I- II- BI) &I) .I) 6I- q<:I- F U $?IY Ѡw,{i{A2D>Y2}?2{"92Ԩ=y2H@"?@iiL? w? ^ ?aOd?{?'?ɨ2D>2 ;2CJpJrJr0JpJpJr9Jrـ3JpJpJpJrg;Jrh;yvB~LIMb@Mb@Mb@ )YZd;O?`"/$y~ ? @)QAIQAyQAII4٢5c1 59=9=*F;Q =>99 EG٣AyEk~ E> MNusing accuracyPremultiplier from configIU859Mx?]85YM*@# iMB]?]:]D>]@M)&EM;M(;ML85ezB eAmEZjFNOT Ignoring new targets: 186.30 m.Bj`;Jj`; ProNav: ac range: 186.300003 m, nav range: 25.396664 m, bearing: 188.535429 deg, approach rate: 0.538245 m/s, LOS rate: 0.310147 deg/s, cmd heading: 37.504552 deg, new cmd heading: 37.913989 deg. 2jT<HeadingCmd: 0.661724 target range: 186.300003 and range: 186.30 m. jf)?jjjihhhhsBfffrfbf@*@Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.199779ɛufBu y}Iy }$ ջɚyiyI}4=If)?iҡ} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452335w,'P{A2>Y2ĉ?2ɺ92a=y2HE?R3$?D?!+?@TB;Y???ɨ2>2d&;2Cy:B:RIIFIF4٢N< Rg=9Rq.;Q R>TT VG٣VKGyV. Z> ^Nusing accuracyPremultiplier from configXb859Z#?b85YZ3># iZB`b>f@Z,&EZ:Z:Za85h jAhZj|~FNOT Ignoring new targets: 186.30 m.Bj ;Jj ; ProNav: ac range: 186.300003 m, nav range: 25.586411 m, bearing: 188.640589 deg, approach rate: 0.537256 m/s, LOS rate: 0.295546 deg/s, cmd heading: 37.913987 deg, new cmd heading: 38.227125 deg. 2jJ<HeadingCmd: 0.667189 target range: 186.300003 and range: 186.30 m. j*?jjjihhhhff $?Ifrfbf.@ɛMdBUj4 UqZ=Ux۾IQ U߻ɚYiYI]}5=I]*?ie2|uw,p"{A6ѻ>Y6)Z?6961=y6H[?o?e%?;?yeQ?P? &?ɨ6ѻ>6-;6Cy>B>[IiV>IV=I^I^4٢f= fH=9f:Q f>hh jG٣hyj9 n> vNusing accuracyPremultiplier from configpz859r]5?z85Yr;# irBxz_>z@r0&Er/;r;r85{B ZAEZj)-FNOT Ignoring new targets: 186.30 m.Bj5:;Jj5:;E ProNav: ac range: 186.300003 m, nav range: 25.806677 m, bearing: 188.758497 deg, approach rate: 0.537769 m/s, LOS rate: 0.285408 deg/s, cmd heading: 38.227124 deg, new cmd heading: 38.577823 deg. 2jECjI5JsK{3 K{.-KsKs"KsJUJUJQJQJU}:JU9JQJQJU;JU;JU2;JU2; Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:19:26.0527  TRx dataTimestamp_ set to:1736374767.409348% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209248.w,G{A6ע>Y6M?6]96%=y6H`n?=? ? H? `XְK??@?ɨ6ע>6;6CyRBRiI5Mb@Mb@Mb@111 1)1Y5NbX9?K7~jty5?5I 5D5dA 5@)5@I5@1y5(AIMIM~4٢ehO= eA=9mA9Q m>ii uG٣qyu u> Nusing accuracyPremultiplier from configy859}G?85Y}9# i}B1 ?:>@}3&E}Y;};}85 A]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 186.30 m.BjmXv;JjXv; ProNav: ac range: 186.300003 m, nav range: 26.031334 m, bearing: 188.855091 deg, approach rate: 0.505264 m/s, LOS rate: 0.215371 deg/s, cmd heading: 38.577824 deg, new cmd heading: 38.865104 deg. 2j<HeadingCmd: 0.678324 target range: 186.300003 and range: 186.30 m. j-?jjjihh h hBfffrfbfY @ɛ]B. 隅d¾I rɚiI6=I-?iw5 Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: 22:19:26.0527 LVL= 13696, 27697, 22162, 27875, AGC= 64, IDX= 442, 0.05, 0.358,-0.666,-1.674,-0.538, PHS= 0.984,-0.081,-1.139, RAW= 60.1, 2.6, CAL= 61.0, 1.0, ROT= 89.0, -1.0 u Ygot valid direction response: 22:19:26.0527 LVL= 13696, 27697, 22162, 27875, AGC= 64, IDX= 442, 0.05, 0.358,-0.666,-1.674,-0.538, PHS= 0.984,-0.081,-1.139, RAW= 60.1, 2.6, CAL= 61.0, 1.0, ROT= 89.0, -1.0  PDAT read: Bearing 89.0, -1.0 (Local)  ~Local bearing/azimuth received: Bearing 89.0, -1.0 (Local) l&w,Y{ADAT read: Range 10 to 50 : 186.1 m (Round-trip 248.2 ms) speed 0.3 m/s ,DAT read: user:2498> BDAT read: Tx time:22:19:27.1503 $Ping request sent.:publishing transmit ping timeBFpublishing direction and range info)9-i<賿p,6x?;KZ?y)))) )))I)i))))) )))I)i)))-ўUE ?k-b7`n86?))I)i))))>Y?km}9=yHt?>Em?@P?G?lO?@?0?ɨ>ƴ;CyBuIIEIEJ4٢-= 9=9Q > G٣KGy"J > Nusing accuracyPremultiplier from config=859Z?=85Y7# iyB9=>=@7&Em<s<85I MAMEk-xZ?k- k) k-{A:k-:CBk-8CZk-e+@"-X ,L`Z@# b@-i<賿p,6x?;KZ?Jk-4?Rk-;r*-=$OtfbP@( Ud@-kտ'։?Xp61?"k-B*k-&yk-ل?k-\y 2k-{cCk-n֠?k-;k" k-wCk-:Bk-AE@ addTargetRange:: Added new target pos. range: 186.100006 m, deltaT: 3.783937 s, deltaX: -0.199997 m, approachRate: -0.052854 m/s, rangeRepo size: 4  Added new target pos. range: 186.100006 m, bearing: 133.543493 deg, lat: 36.904714 deg, lon: -122.121046 deg, deltaT: 3.783937 s, deltaX: -0.199997 m, approachRate: -0.052854 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 186.10 m.BjJj ProNav: ac range: 186.100006 m, nav range: 46.680588 m, bearing: 176.955460 deg, approach rate: 0.000000 m/s, LOS rate: 0.215371 deg/s, cmd heading: 38.865105 deg, new cmd heading: 39.172742 deg. 2jHeadingCmd: 0.683693 target range: 186.100006 and range: 186.10 m. j/?jjjihhh!h!f)f)f)rf-@3Cg@bf5f+?ɛuYB}V y}崾Iy NɚiI|x6=I/?i MuI!  I% II% ځBI%  =&I! .I% G= P<3G B! O= >@w,|AymBuI) Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YZd;O?i|?5Mbpy~ ?zA @)QAIQAyAII 4٢= 4=9Q > G٣y > -Nusing accuracyPremultiplier from config!5859%*n?585Y%H5# i%qB= ?E:E>E@%;&E%;%+;%85I U AQZjyFNOT Ignoring new targets: 186.10 m.BjN;JjN; ProNav: ac range: 186.100006 m, nav range: 46.905815 m, bearing: 177.084261 deg, approach rate: 0.557029 m/s, LOS rate: 0.317019 deg/s, cmd heading: 39.172740 deg, new cmd heading: 39.557281 deg. 2jY<=HeadingCmd: 0.690405 target range: 186.100006 and range: 186.10 m. jE_0?jAjAjAiAhAhAhIhMBfIfIfQrfQbfU?ɛVB\M  I  UIɚ i I t6=I_0?iUrՅ "@G IG B O > w,52|A6>Y6/?6/96G>y6H ct? e??-?@t@q?@ ? ?ɨ6>6;4 >$?I@yFЁBFIIrIr44٢vB= zd=9zQ ~>|| ~G٣|y 9 >  Nusing accuracyPremultiplier from config 859 {}?85Y V3# i kB>@ >&E  ;  ; 85%|B %b A%EZjQUFNOT Ignoring new targets: 186.10 m.Bj];Jj];m ProNav: ac range: 186.100006 m, nav range: 47.083664 m, bearing: 177.185261 deg, approach rate: 0.503405 m/s, LOS rate: 0.284803 deg/s, cmd heading: 39.557283 deg, new cmd heading: 39.859136 deg. 2jmuC Will construct direction to contact in vehicle frame from tetrahedron phase data.w,L|AyEBEIIUIUn4٢e= eC=9mQ m>ii uG٣uKGyu }> Nusing accuracyPremultiplier from configy859}?85Y} 1# i}cB@}B&E}:} :}E85  AZjFNOT Ignoring new targets: 186.10 m.Bj};Jj};zKLK9KKKBK:K ProNav: ac range: 186.100006 m, nav range: 47.293613 m, bearing: 177.303412 deg, approach rate: 0.497755 m/s, LOS rate: 0.278871 deg/s, cmd heading: 39.859136 deg, new cmd heading: 40.212010 deg. 2jc?<HeadingCmd: 0.701832 target range: 186.100006 and range: 186.10 m. jC3?jjjih!h!h!h!f)f)f)rf)bf5"?H-f>I) I-II-BI) $?I&I).I)6I-6<:I-V Fɛ%OBMٳ Q]`WIY ]M ɚYiYI]^7=IC3?ihmow,&k|A6-K>Y6ء?6^y96#>y6Hbh? /f?F?` ?G ~?L??ɨ6-K>6;6CyjBjIin=In>eMb@Mb@Mb@aaa a)aYeoʡ?MbX9 G٣y; > Nusing accuracyPremultiplier from config859?85Y-# i?:>@G&Eg;f;85}B & A EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 186.10 m.BjX;JjX; ProNav: ac range: 186.100006 m, nav range: 47.538246 m, bearing: 177.465904 deg, approach rate: 0.490431 m/s, LOS rate: 0.324082 deg/s, cmd heading: 40.212011 deg, new cmd heading: 40.696967 deg. 2jj^<HeadingCmd: 0.710296 target range: 186.100006 and range: 186.10 m. j5?jjjihhhhBfffrfbf?ɛMJBM% QU#IQ U ɚQiQIUy7=I]5?iYie,)e5?)a IJeJeJe0JaJey:Jey9Jeـ3Ja*Fu?2Fq:FqBFyJFyG=NGB!OEs>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.U!w,|A6k>Y6/?69 96@t*>y6H@U?`N? H.?p?¿?,5?@w?ɨ6k>6ʺ;6CyR BRIIZIZ4٢b= bX=9faQ f>dh jG٣hyjL4< j> rNusing accuracyPremultiplier from configlr859n?v85YnT+# iltv>v@nJ&En:n:n85z~B z A~ EZjFNOT Ignoring new targets: 186.10 m.Bjձ;Jjձ; ProNav: ac range: 186.100006 m, nav range: 47.722412 m, bearing: 177.588181 deg, approach rate: 0.470148 m/s, LOS rate: 0.310949 deg/s, cmd heading: 40.696968 deg, new cmd heading: 41.062378 deg. 2jfU<HeadingCmd: 0.716674 target range: 186.100006 and range: 186.10 m. jw7?jjjihhhhfffrfbf@ɛ}GB} 隅(I 1ɚiI7=Iw7?i jIa Ie IIeBIa&Ia $?I.Ia6IeP<:Iei FG ڋG pAG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5055614'w,u|A2ݰ>Y2?2"492.>y2H-@? ?L?@ ?b¿ Ɲ??`s?ɨ2ݰ>2I;2Cy:,B: I5Mb@Mb@Mb@111 1)1Y5 +?X9v rh?y5?55C<5A 5-@)1I5~A1y5AIMIMļ4٢U> ]A=9]3Q ]>aa eG٣eKGye+< m> uNusing accuracyPremultiplier from configi}859mkƙ?}85Ym'# imkB}?:O ?@mN&Em5;m`F;m85  AZjFNOT Ignoring new targets: 186.10 m.BjZ;JjZ; ProNav: ac range: 186.100006 m, nav range: 47.929184 m, bearing: 177.754987 deg, approach rate: 0.505803 m/s, LOS rate: 0.406279 deg/s, cmd heading: 41.062377 deg, new cmd heading: 41.560623 deg. 2ji<HeadingCmd: 0.725370 target range: 186.100006 and range: 186.10 m. jԱ9?jjjihhhhdBfffrfbf@ɛ-DB-OxE 15AI1 5ɚ1i9I=7=I=Ա9?iAiEg)EԱ9?)A*F?2F:FBF0JF"GG>G,GBOC>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755261)U F= Y I c~G  {Y y BJ J J J J v:J 9J J Q-w,Q|A2L>Y2?2c921>y2H?xD?{?`v?ÿ@~?`??ɨ2L>2;2CyBCBB8 I)D DIJIJ4٢fz= fT=9fQ f>hh jG٣hyj< n> vNusing accuracyPremultiplier from configtz859v֙?z85Yv$# ivsBxz?z@vR&Evv:v;v85B  AEZj)-FNOT Ignoring new targets: 186.10 m.Bj5;Jj5;mWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiuBDAT read: Rx Time:22:19:29.8026 }TRx dataTimestamp_ set to:1736374770.943221}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010877 ProNav: ac range: 186.100006 m, nav range: 48.117851 m, bearing: 177.907936 deg, approach rate: 0.490659 m/s, LOS rate: 0.396207 deg/s, cmd heading: 41.560622 deg, new cmd heading: 42.017658 deg. 2j<HeadingCmd: 0.733346 target range: 186.100006 and range: 186.10 m. j;?jjjihhhh!f!f!f!rf!bf-^f@ɛAB) s0=隝@;I ɚiI7=I;?iiFg);?)*F?2F:FBF5JFGę Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259929G B O >'% TFailed to parse incomplete device message.T4w,5|A .$?I.iH I  IM IITBI &I .I 6Iw<:I F*J5a="J5=]@>Y]?]ϒ9]Fd6>y]H? w?`P?Ђ?Įÿ ?ڬ?1}?ɨ]@>]c;Yyu\BuW I-Mb@Mb@Mb@))) )))Y-+?y&1?:v?y-?-`e<-<-/A -@)-hAI- A)y-\AI=I=4٢Mp= U(=9UcQ U>YY ]G٣Yy]< e> mNusing accuracyPremultiplier from configiu859m>뙜?u85Ym# imBu?u:u`#?}@mV&Em8;m;mF85  AZj1=FNOT Ignoring new targets: 186.10 m.Bj=`;Jj=`;M ProNav: ac range: 186.100006 m, nav range: 48.355061 m, bearing: 178.132424 deg, approach rate: 0.470452 m/s, LOS rate: 0.443038 deg/s, cmd heading: 42.017657 deg, new cmd heading: 42.687787 deg. 2jM?jQjQjYiYhYhYeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511296hhBfffrfbf T @ɛ==B= AM{=II ul ɚyiyI}`7=I}>?iix)>?)*F-?2F):F1BF50JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: 22:19:29.8026 LVL= 18352, 29745, 25586, 32755, AGC= 60, IDX= 441,-0.23,-2.892, 2.448, 1.395, 2.384, PHS= 1.095, 0.110,-0.992, RAW= 58.1, -2.4, CAL= 61.9, -6.4, ROT= 88.1, 6.4 m Ygot valid direction response: 22:19:29.8026 LVL= 18352, 29745, 25586, 32755, AGC= 60, IDX= 441,-0.23,-2.892, 2.448, 1.395, 2.384, PHS= 1.095, 0.110,-0.992, RAW= 58.1, -2.4, CAL= 61.9, -6.4, ROT= 88.1, 6.4 Gu < PDAT read: Bearing 88.1, 6.4 (Local)  ~Local bearing/azimuth received: Bearing 88.1, 6.4 (Local)  DAT read: Range 10 to 50 : 186.0 m (Round-trip 248.1 ms) speed 0.0 m/s  ,DAT read: user:2499>  BDAT read: Tx time:22:19:30.9003  $Ping request sent. SO;w,o|A]c>Y]r"?]9]n<>y]HG?@n-t??K?`qĿ|q?`j?s?ɨ]c>]l;]Cy޵sB޵s I@AI )I1I4٢== EI=9EQ > G٣KGyG< > eNusing accuracyPremultiplier from configam959e?m95Ye# ieBiu%?u@e[&Ee:e:e95}B }dAEk--6?k-S k) k- |A:k-:CBk-8CZk- @"-h X5 @6yY[@z/b@-Hi?r(?wwab?Jk-?Rk-.m*-8MH P@Pd@J!J%~J!J!J!J%f9J!J!-ܰп.X?lL?"k-B*k-nBk-:?k-e~H 2k-hCk-:?k- k-hCk-'eBk-^%@ addTargetRange:: Added new target pos. range: 186.000000 m, deltaT: 3.780299 s, deltaX: -0.100006 m, approachRate: -0.026455 m/s, rangeRepo size: 4  Added new target pos. range: 186.000000 m, bearing: 126.235288 deg, lat: 36.904714 deg, lon: -122.120721 deg, deltaT: 3.780299 s, deltaX: -0.100006 m, approachRate: -0.026455 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 186.00 m.BjJj ProNav: ac range: 186.000000 m, nav range: 57.288292 m, bearing: 148.046800 deg, approach rate: 0.000000 m/s, LOS rate: 0.443038 deg/s, cmd heading: 42.687788 deg, new cmd heading: 43.284051 deg. 2j HeadingCmd: 0.755449 target range: 186.000000 and range: 186.00 m. j eA?j j j ihQhQhYhYfYfYfYrfe@g@bfeK?ɛ:BP =I  ɚiI7=IeA?ii櫽)eA?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JFG YG B O >WBw, }AWill construct direction to contact in vehicle frame from tetrahedron phase data.yB Ii%=I%%= %=%=I5I54٢}[= }M=9Q > G٣y > Nusing accuracyPremultiplier from config959 ?95Y# iB@_&E;;O95 AB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 186.00 m.Bj /<Jj/< ProNav: ac range: 186.000000 m, nav range: 57.370113 m, bearing: 148.259080 deg, approach rate: 0.237153 m/s, LOS rate: 0.614397 deg/s, cmd heading: 43.284049 deg, new cmd heading: 43.919952 deg. 2j%<HeadingCmd: 0.766548 target range: 186.000000 and range: 186.00 m. jyI v ɚiIt6=IyII IM IIMB $?III&II.II6IM<:IM FBIJIRIZIbIjIy4K    JJEyWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F ?2F :F BF 0JF G} GqAGGYBiO?*QJw,E+}AnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.986744y5B5 IMb@Mb@Mb@ )YK7?/$? G٣y > Nusing accuracyPremultiplier from config959x#?95Yt# iBU+?:E??@d&EB;;95 mAEZjFNOT Ignoring new targets: 186.00 m.Bj8<Jj8<  ProNav: ac range: 186.000000 m, nav range: 57.468075 m, bearing: 148.608592 deg, approach rate: 0.181505 m/s, LOS rate: 0.646475 deg/s, cmd heading: 43.919950 deg, new cmd heading: 44.966577 deg. 2j <HeadingCmd: 0.784815 target range: 186.000000 and range: 186.00 m. jH?jjjihhhhBf!f!f!rf!bf%R?ɛU3BUxV; QUt>>IY ]2\ɚYiYI]l6=IeH?iaieh߽)mH?)i m$?ImiEu.=*F?2F:FBFP5JFG.qGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2442936Qw,/E}A6[>Y6nZ+?6ƹ96T3>y6H?G p?`r?@? pĿ?+[? `|?ɨ6[>64;6CyNBN IIVIV 4٢b= bm=9b?Q b?dd fG٣fKGyjV= j? rNusing accuracyPremultiplier from configlr959n1?v95Yn1 # inBtvH?v@nh&En';n;n 95zB zA~EZjFNOT Ignoring new targets: 186.00 m.Bjn-<Jjn-< ProNav: ac range: 186.000000 m, nav range: 57.522572 m, bearing: 148.830179 deg, approach rate: 0.149303 m/s, LOS rate: 0.606498 deg/s, cmd heading: 44.966578 deg, new cmd heading: 45.630678 deg. 2j<HeadingCmd: 0.796406 target range: 186.000000 and range: 186.00 m. jI! -ʙɚ)i)I-5=I5[Ww,8_}A 44RJ&>YRf.?R2T#9Rx|8>yRH 6? ?|?`V?@Ŀ#i??u?ɨRJ&>Ra;RCy^B^ I)` `}Mb@Mb@Mb@yyy y)yY}kt?ʡE? rh?y} 0?}=}C =y }@)yIyyy}AII4٢= 7=9uϻQ > G٣y< > Nusing accuracyPremultiplier from config959B?95Y# i B2?:rV?@m&E;B;95 AZj FNOT Ignoring new targets: 186.00 m.Bj J<Jj J<- ProNav: ac range: 186.000000 m, nav range: 57.581745 m, bearing: 149.133619 deg, approach rate: 0.137934 m/s, LOS rate: 0.706593 deg/s, cmd heading: 45.630677 deg, new cmd heading: 46.539981 deg. 2j-v<5HeadingCmd: 0.812276 target range: 186.000000 and range: 186.00 m. j5PO?j1j1j1i1h1h9h9h=Bf9fAfArfAbfE.?ɛu.B}=< y}>Iy } ɚiI/5=IPO?ii⼽)PO?)E*F=?2F9:F9BF=_0JF9GEpA GEqAG5GBOL>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998682  $?I ]w,hy}A2>Y2r1?2.92?>y2Hї?`I 0?m? ? :ſ`ڥ?`'? {i?ɨ2>2ȏ;2CyBBB IIJIJפ4٢fD= jZ=9j7Q j>ll nG٣lyr= r> vNusing accuracyPremultiplier from configtz959vQ?z95Yv# iv-Bx~Y?~@vq&Ev: ;v ;vE95 KAEZjFNOT Ignoring new targets: 186.00 m.Bj:<Jj:< ProNav: ac range: 186.000000 m, nav range: 57.629276 m, bearing: 149.387826 deg, approach rate: 0.122331 m/s, LOS rate: 0.653713 deg/s, cmd heading: 46.539980 deg, new cmd heading: 47.301923 deg. 2jQ<HeadingCmd: 0.825574 target range: 186.000000 and range: 186.00 m. jXS?jjjihhhhfffrfbfk'@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251006ɛm,BmC>< Z>I ZɚiI-y4=I%XS?i!i%=)%XS?))*F?2F:FBF JF G- aG5 pAG1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503940G) B1 OU >~dw,}}AjH<bH<He>I I!IIBI&I.I6IW<:Ik F \I\E%s>YE55?zKUJKU]9KQKUKUEl:9EߔF>yEHI?`2d???tƿK?@P?^?ɨE%s>Ew;ECyB IJJJ0JJ:J"9Jـ3JJ!;J";J;J;Mb@Mb@Mb@ )Y(\?M?Q?yz4?n>\=A )v@IMAyAII4٢G =9Q >A EG٣EKGyU< U> mNusing accuracyPremultiplier from configiu959md?u95YmV" im_B}_8?}:}ae?}@mw&Em9;m;m95 eAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 186.00 m.Bj^K<Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754801Jj^K<5 ProNav: ac range: 186.000000 m, nav range: 57.682384 m, bearing: 149.752633 deg, approach rate: 0.103631 m/s, LOS rate: 0.711198 deg/s, cmd heading: 47.301922 deg, new cmd heading: 48.395197 deg. 2j5 <]HeadingCmd: 0.844656 target range: 186.000000 and range: 186.00 m. j]X;X?jYjajihhhhBfffrfbfX@ɛ(B7< [>I *mɚiIˈ3=IX;X?ii@ý)X;X?)!*F ?2F :F BF JF "G>G=G- # Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:19:33.5508  TRx dataTimestamp_ set to:1736374774.725642 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009210G B O- >=kw,}#}A2?Y2(g9?2G92M>y2H@?#@ ?:-?~G? 1ǿ`?ಆ?@Q?ɨ2?2Č;2Cy>B> IiB0>IB;IFIF4٢^#= ^~=9^K&Q b ?`` bG٣`yfS= f ? jNusing accuracyPremultiplier from confighn959j/p?n95Yj" ij~Bprqi?r@j{&Ej:j:j95vB v6AvEZjFNOT Ignoring new targets: 186.00 m.Bjb?<Jjb?< ProNav: ac range: 186.000000 m, nav range: 57.712116 m, bearing: 149.973466 deg, approach rate: 0.090155 m/s, LOS rate: 0.669278 deg/s, cmd heading: 48.395196 deg, new cmd heading: 49.057323 deg. 2j<HeadingCmd: 0.856212 target range: 186.000000 and range: 186.00 m. j0[?jjjihhhhff!f!rf!bf% @ɛ&B< 隝ܕ>I WɚiI2=I0[? $?IiiN)0[?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258758E90=EpAErA*F ?2F :F BF JF GM NG)BiO>asw,'.}A"Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514823K ?Y=?6S9dXT>yH@?a-?l?s?@ǿ` z?@mQ?E?ɨK ?5^;CyB III 4٢N =9Q >    G٣ y< > Nusing accuracyPremultiplier from configm959+?m95Y" mtIiBimm?m@&E6<6<(95y }RA}EHb>IC IA!IIBI =&IGD.I;D6II<:I_ FZjFNOT Ignoring new targets: 186.00 m.BjN<JjN< ProNav: ac range: 186.000000 m, nav range: 57.757885 m, bearing: 150.343600 deg, approach rate: 0.089502 m/s, LOS rate: 0.723228 deg/s, cmd heading: 49.057321 deg, new cmd heading: 50.166699 deg. 2j,<%HeadingCmd: 0.875574 target range: 186.000000 and range: 186.00 m. E$?IEi j-%`?jIjIjIiIhIhQhahifqfqfrfbf`& @zKjIK9KKKBK:KqA*JR="Ja=JJJJJJ9JJJJJF;JG;ɛM#B,< >I AɚiI̺1=I%`?i!i%&п)%%`?)!EU:W<Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:19:33.5508 LVL= 20112, 29745, 25698, 29859, AGC= 64, IDX= 422,-0.35, 1.120,-0.270,-1.090,-0.262, PHS= 1.471, 0.039,-0.831, RAW= 68.0, -6.8, CAL= 76.8, -13.7, ROT= 73.2, 13.7 Ygot valid direction response: 22:19:33.5508 LVL= 20112, 29745, 25698, 29859, AGC= 64, IDX= 422,-0.35, 1.120,-0.270,-1.090,-0.262, PHS= 1.471, 0.039,-0.831, RAW= 68.0, -6.8, CAL= 76.8, -13.7, ROT= 73.2, 13.7 PDAT read: Bearing 73.2, 13.7 (Local) ~Local bearing/azimuth received: Bearing 73.2, 13.7 (Local) DAT read: Range 10 to 50 : 184.6 m (Round-trip 246.2 ms) speed 0.4 m/s ,DAT read: user:2500> BDAT read: Tx time:22:19:34.6504 $Ping request sent.›ߚ?h*itO)/>tzw,}Ay5B5 IuWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yx? rh?:v?yK7?C ><A @)I@IAyAII(4٢ 7*  $=9Q > G٣KGy > MNusing accuracyPremultiplier from configIU959Mʕ?U95YM" iMBU:?]:] k?]@M&EM;M;M"95B A~G5tAEA aIa msYm5tAyu2BkMtB~e?kM,h kI kM}A:kM8CBkMZ7CZkM @"MR\>I.@9$T@ .{d@M?hU?{d'g?JkM %?RkMɋ*MQ|ÿ j?ץQ?"kM*B*kMkMU?kM_ 2kMtsCkIkM_ kIkM#BkMp~@e addTargetRange:: Added new target pos. range: 184.600006 m, deltaT: 3.784672 s, deltaX: -1.399994 m, approachRate: -0.369912 m/s, rangeRepo size: 4  Added new target pos. range: 184.600006 m, bearing: 125.403646 deg, lat: 36.904714 deg, lon: -122.120595 deg, deltaT: 3.784672 s, deltaX: -1.399994 m, approachRate: -0.369912 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 184.60 m.BjJj ProNav: ac range: 184.600006 m, nav range: 64.070274 m, bearing: 141.891118 deg, approach rate: 0.000000 m/s, LOS rate: 0.723228 deg/s, cmd heading: 50.166698 deg, new cmd heading: 51.367876 deg. 2jHeadingCmd: 0.896539 target range: 184.600006 and range: 184.60 m. je?jjjihhhhBfffrf@3g@bf?ɛe Be*< aeލ>Ia m7׻ɚiiI0=Ie?ii)e?)EE*E"E% Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 4JF G rA G G.Will construct direction to contact in vehicle frame from tetrahedron phase data.GBQOm?郟w,f~A rs?YroH?rs9r'N>yrHy? @b?6??@wǿ t??`7K?ɨrs?r;py~B~ I) I I #4٢%k %!=9-zQ ->)) 5G٣1y5-= 5> ENusing accuracyPremultiplier from config9E959=`?M95Y=A" i= BIMv?M@=&E=n:=:=&95Y ]%AYZjFNOT Ignoring new targets: 184.60 m.BjQ<JjQ< ProNav: ac range: 184.600006 m, nav range: 64.051170 m, bearing: 142.216580 deg, approach rate: -0.042994 m/s, LOS rate: 0.732670 deg/s, cmd heading: 51.367875 deg, new cmd heading: 52.344451 deg. 2ji<HeadingCmd: 0.913583 target range: 184.600006 and range: 184.60 m. ji?jjjihhhhfffrfbf?ZHRH?A 5$?I9H%_>I! I%G!II% BI% =&I!.I!6I%~<:I% FɛB(< 6>I _ϻɚiI5/=Ii?ii)i?zKE>KKE9KAKEKE 8GHJUTVYWUTROMLKHHHDA>:64/' JJJJJ]:J59JJJ:;J;;J;J;)9*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GrWͽGiBqO>w,:*~AN?YNL?Ndw9NՄR>yNH3S?`+Ⱥ??ǜ?׮ǿ`??D?ɨN?Nێ;NCy^B^ IMb@Mb@Mb@ )Y> ףp=?X9v?I +?y1?=94<A @)@Iy\AII4٢2 ==9 Q  > 1 5G٣5KGy5= => ENusing accuracyPremultiplier from config9M959=?M95Y=" i=6 BM4?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}:}w?@=&E=-<=<=*95B AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 184.60 m.Bj-$-<Jj-$-<= ProNav: ac range: 184.600006 m, nav range: 64.034714 m, bearing: 142.490233 deg, approach rate: -0.036403 m/s, LOS rate: 0.605487 deg/s, cmd heading: 52.344452 deg, new cmd heading: 53.165563 deg. 2j=I ɻɚiI.=IEȋm?iIiMDw)Mȋm?)I 1I1*F?2F:FBFJF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.GE cGM qAGM oAG9 BI Oe >w,D~A>rT?Y>O?>y9>Y>y>Hc?zk?h,?`;?z ȿ?u?9?ɨ>rT?>;>CyRyBR{ IIZIZ 4٢bCĽ ba=9bVQ f>dd fG٣dyjO*= j> vNusing accuracyPremultiplier from configtz959v?z95Yv" ivT Bxzi{?~@v&Evy;v ;v-95 YAZj)5FNOT Ignoring new targets: 184.60 m.Bj5=;<Jj5=;>I uŻɚiI-=Ip?ii˳)p?)*Fu?2Fq:FqBFu0JFq"G}=G}=GIGBO-->Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730156 IH%\>I%C I%4!II%BI% =&I!.I%:D6I%t<:I%x FBIǥCJIǥCRIZI =bI =jIǣ6zK TMK 9K K K R<Zbd@+b8hH.|xvrjeeb\XTQMJH#w,]~ArWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.982772zT?YzS?z:z9zO3`>yzH ?RHԛ??@? xnȿHB? ?-?ɨzT?zV;zCyhB f Ii>I>%Mb@Mb@Mb@!!! !)!Y%x&?MbX?y%7)?%=%%EA %@)%@I%A!y%AI=I=4٢M횽 M4=9U4 Q U>QQ ]G٣Yy] = ]> eNusing accuracyPremultiplier from configam959e!К?u95Ye" iep Bu+?u:uy?u@e&Ee5;e;e195}B }AEZjQUFNOT Ignoring new targets: 184.60 m.Bj]g"<Jj]g"< ProNav: ac range: 184.600006 m, nav range: 64.003288 m, bearing: 142.985171 deg, approach rate: -0.032194 m/s, LOS rate: 0.567944 deg/s, cmd heading: 53.842354 deg, new cmd heading: 54.650650 deg. 2j<HeadingCmd: 0.953834 target range: 184.600006 and range: 184.60 m. js.t?jjjihhhhBfff rf bf Q7@ɛBеo; 隍>I  ɚiI,=Is.t?ii-)s.t?)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235526  $?I iG Gq B O >qw,`x~AB?YBXW?By9Bye>yBHsJ? `!?@@?@Vy?ơȿ-6?`d? N$?ɨB?B0Ԍ;BCyNUBNO IIVIV4٢b˽ bb=9b9Q b>dd fG٣fKGyj= n> rNusing accuracyPremultiplier from configpv959r_ۚ?v95Yr1" ir Bxz|?z@r&Er(;r;r 595| ~ A|Zj!-FNOT Ignoring new targets: 184.60 m.Bj-4<Jj54<= ProNav: ac range: 184.600006 m, nav range: 63.988758 m, bearing: 143.201368 deg, approach rate: -0.042494 m/s, LOS rate: 0.632421 deg/s, cmd heading: 54.650649 deg, new cmd heading: 55.299358 deg. 2jEU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737894Rw,"~A6!?Y6uZ?6}{96l_h>y6H?`??@*?@ȿj?@a??ɨ6!?6gً;6CyR;BR. IIZIZ4٢r vI=9vQ v>xx zG٣xyz < ~> %Nusing accuracyPremultiplier from config!-959%皜?-95Y%%" i% B)-?-@%&E%a;%r;%8959 ]X AY IjH<bHp<H[>I I!IIBI =&I.I6I"<:I; FZjFNOT Ignoring new targets: 184.60 m.Bj$<Jj$< ProNav: ac range: 184.600006 m, nav range: 63.970154 m, bearing: 143.445379 deg, approach rate: -0.043918 m/s, LOS rate: 0.576193 deg/s, cmd heading: 55.299360 deg, new cmd heading: 56.031565 deg. 2j<HeadingCmd: 0.977935 target range: 184.600006 and range: 184.60 m. jYz?jj!j!i!h!h!h)h)f)f)f)rf1bf5@ɛB< 隽P=I 򙻻ɚiIJ+=IYz?iiC)Yz?)EqAEqAzKVOK 9KKKGC=;961/.--,)'$"  *F2F:FBF Q5JF GqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:19:37.2990 TRx dataTimestamp_ set to:1736374778.504693checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991069GG B O% >C}w,~A6%?Y6]?6z960k>y6H଴?A?`Q?u?@ȿ@>??@?ɨ6%?6;4y>1B>" I)@ @FAFA Mb@Mb@Mb@    ) Y jt?A`"?=9L:Q > G٣y< > Nusing accuracyPremultiplier from config959?95Ye" i Bg!?:>t?@&EU;;W<95B  AEZjFNOT Ignoring new targets: 184.60 m.Bj &<Jj &<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241996- ProNav: ac range: 184.600006 m, nav range: 63.965019 m, bearing: 143.684902 deg, approach rate: -0.012490 m/s, LOS rate: 0.582679 deg/s, cmd heading: 56.031566 deg, new cmd heading: 56.750154 deg. 2j-<=HeadingCmd: 0.990477 target range: 184.600006 and range: 184.60 m. j=}?j9j9j9i9h9hAhAhEPBfAfIfIrfIbfM@ @ɛuB}Ժ y}Pm=Iy }ɚyiI|*=I}?iiʯ)}?)*FI2FI:FIBFMX0JFI }$?IyJcKkـ3 Kk .KcKc"KcJJJJJJJJGTG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 22:19:37.2990 LVL= 14576, 26705, 22002, 32755, AGC= 60, IDX= 419,-0.05,-3.039, 1.647, 1.363, 2.028, PHS= 1.305,-0.334,-0.668, RAW= 80.9, -3.3, CAL= 88.9, -9.5, ROT= 61.1, 9.5 = Ygot valid direction response: 22:19:37.2990 LVL= 14576, 26705, 22002, 32755, AGC= 60, IDX= 419,-0.05,-3.039, 1.647, 1.363, 2.028, PHS= 1.305,-0.334,-0.668, RAW= 80.9, -3.3, CAL= 88.9, -9.5, ROT= 61.1, 9.5 Ou > PDAT read: Bearing 61.1, 9.5 (Local)  ~Local bearing/azimuth received: Bearing 61.1, 9.5 (Local)  DAT read: Range 10 to 50 : 183.3 m (Round-trip 244.4 ms) speed 0.1 m/s  ,DAT read: user:2501>  BDAT read: Tx time:22:19:38.4004  $Ping request sent. -Or? %tﭿ) .I o=i ? ˯  :publishing transmit ping timeء  Fpublishing direction and range info 9 $*ky"O~?;Q?y  ) I i ) I i -Or? %tﭿ) I i gw,~A6'?Y6X`?6w96u8k>y6H p?@9?K??qȿ ?`_?@6?ɨ6'?64);6CyR!BR IIZIZ4٢rf rW=9v\:Q v>tt vG٣zKGyz< z> %Nusing accuracyPremultiplier from config=959u?=95Y)" i BAEw?E@&Ex;g;?95I M) AIk̾?ktK# k kj~A:kL7CBk6CZkHe@"%SOwϘ:G@jU#f@$*ky"O~?;Q?Jk?Rk˯*hHV(@}df@K7Gy X?"k˷*kBk?k H{L# 2kwCkkkkBkC @  addTargetRange:: Added new target pos. range: 183.300003 m, deltaT: 3.529255 s, deltaX: -1.300003 m, approachRate: -0.368351 m/s, rangeRepo size: 4 ] Added new target pos. range: 183.300003 m, bearing: 205.266549 deg, lat: 36.904714 deg, lon: -122.120595 deg, deltaT: 3.529255 s, deltaX: -1.300003 m, approachRate: -0.368351 m/s, posRepo size: 4 ZjYeFNOT Ignoring new targets: 183.30 m.BjeJja ProNav: ac range: 183.300003 m, nav range: 63.958721 m, bearing: 143.901304 deg, approach rate: 0.000000 m/s, LOS rate: 0.582679 deg/s, cmd heading: 56.750153 deg, new cmd heading: 57.455774 deg. 2jHeadingCmd: 1.002792 target range: 183.300003 and range: 183.30 m. j[?jjjihhhhfIfIfIrfMf@bfU T?ɛBIy I} II}BIy&Iy.Iy6I}<:I} FG @*J C="J =G zK MK 9K B K K  BK) :K) O > w,1~AFWill construct direction to contact in vehicle frame from tetrahedron phase data.R7*?YRvc?Rv1v9R>i>yRH -?@5py??Z?@ȿp?:?@Y?ɨR7*?R];RCyf BfIuMb@Mb@Mb@qqq q)qYuCl?{Gz?X9vyu?uף G٣y< > Nusing accuracyPremultiplier from config5959\ ?=95Y!" i B=.?=:= o?=@&E<Ε<aC95A M AIB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 183.30 m.Bj<Jj<  ProNav: ac range: 183.300003 m, nav range: 63.960743 m, bearing: 144.114084 deg, approach rate: 0.004784 m/s, LOS rate: 0.503474 deg/s, cmd heading: 57.455777 deg, new cmd heading: 58.094068 deg. 2j ì<5HeadingCmd: 1.013933 target range: 183.300003 and range: 183.30 m. j5ȁ?j1j1j1i1h9h9h9h=BfAfAfArfAbfEj?ɛB,ڻ 隽iI !ɚiI (=Iȁ?iIiMkղ)Mȁ?)Q*F?2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.G ٲ I II G B O= >#w,\~A6,-?Y6lLf?6`6z96NY]>y6HD?jl??5? ǿ`A?g?n2?ɨ6,-?6ֻ;6Cy>B>IIFIF4٢NV R[=9R,Q R>TT VG٣TyVU = V> ^Nusing accuracyPremultiplier from configXb959Z?f95YZ" iZ Bdf4r?f@Z&EZmG;ZG;ZF95jB nJ AnEZj|FNOT Ignoring new targets: 183.30 m.Bj.<Jj .< ProNav: ac range: 183.300003 m, nav range: 63.960743 m, bearing: 144.301881 deg, approach rate: -0.000000 m/s, LOS rate: 0.532186 deg/s, cmd heading: 58.094065 deg, new cmd heading: 58.657438 deg. 2j<%HeadingCmd: 1.023765 target range: 183.300003 and range: 183.30 m. j% ?j!j)j)i)h)h)h1h1f1f1JMJMJIJIJM:JM9JIJIfrfbfKc?ɛB/ pI  Eɚ i I ](=I5 ?i1i5)= ?)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.948283*F ?2F :F BF `0JF G G"GGGBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.199375tğw,'lA r$?IpZHRH@AH-W>I-C I- II-BI- =&I).I)6I-*<:I-? Fy}B}IIIt4٢z 9=9Q > G٣y > Nusing accuracyPremultiplier from config959"?95YV" i B@&E:;:}J95  AZjaeFNOT Ignoring new targets: 183.30 m.Bjm <Jjm < ProNav: ac range: 183.300003 m, nav range: 63.961632 m, bearing: 144.524561 deg, approach rate: 0.001979 m/s, LOS rate: 0.495771 deg/s, cmd heading: 58.657439 deg, new cmd heading: 59.325438 deg. 2j<HeadingCmd: 1.035424 target range: 183.300003 and range: 183.30 m. jȈ?jjjihhQhYhafiffrfbf^?JIJMBAzKKK9KK KRK  ?JK >ɛ BV 隵XkI >ɚiIy'=IȈ?iiTzý)Ȉ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.452412*F2F:FBF_0JFGBPExceeded connect timeout, disconnecting.O>ʟw,W-A2t4?Y2l?2,s92%c>y2H4?1C ?^?@Po?ƿ@a??`3)?ɨ2t4?2ҍ;2Cy>B>I Mb@Mb@Mb@    ) Y %C?~jt{Gzy Z? ļ # EA @) I ~A y @I%I%V4٢-| 5T=95;Q =>99 =G٣=KGyEg= E> MNusing accuracyPremultiplier from configIU959Mz-?U95YM5" iM B]?]:]e?]@M&EM;M;MM95a e( AaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703392Zj15FNOT Ignoring new targets: 183.30 m.Bj=o<Jj=oJYJ]JYJYJYJ]9JYJY Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956166ѳџw,#GA:&6?Y:do?:dg9:c>y:Hh? S@{?@f?o?? hrƿ?)?`)?ɨ:&6?:ߌ;:CyRBRIIZIZ4٢vo; vO=9z;Q z>x| ~G٣|y+< >  Nusing accuracyPremultiplier from config 959 "8?95Y " i  Bg?@ &E ; 1; PQ95%B %$ A%ݳEZjIMFNOT Ignoring new targets: 183.30 m.BjUZ <JjUZ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207591 $?IHV>I If IIiBI =&I.I9D6I+<:I*Jm %="Jm p=zK] BoIK] 9KY K] K]  ןw,='aA&Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4592386y8?Y6-q?6p^96c>y6H@?`x ??@ ?1ƿ ʫ?3?N*?ɨ6y8?6;6CyVBVIMb@Mb@Mb@ )YʡE?L7A`尿ˡEy->+'A @)@IAy@I I 4٢< 8=9;Q %>!! %G٣!y-< -> 5Nusing accuracyPremultiplier from config1=9595GD?=95 EnManaging dock network, ignoring radio surface power offY5י" i5 BMk>M:MS?U@5&E5ތ;55;53U95i u AqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 183.30 m.Bj;Jj; ProNav: ac range: 183.300003 m, nav range: 64.011467 m, bearing: 145.075823 deg, approach rate: 0.062682 m/s, LOS rate: 0.418019 deg/s, cmd heading: 60.412846 deg, new cmd heading: 60.978732 deg. 2jp<HeadingCmd: 1.064280 target range: 183.300003 and range: 183.30 m. jQ:?jjjihhhhBfffrfbf @ɛB# 隝~I sɚiI%=IQ:?ii)Q:?)*F12F1:F1BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711888GU  I G) B9 OU >ޟw, zA6:?Y68&s?6V96mc>y6H?@?`g?~?׹ſӪ?(?+?ɨ6:?6g֊;6CyRBRIIZIZm4٢fah< fd=9f;Q f>hh jG٣jKGyj*< n> rNusing accuracyPremultiplier from configpv959rM?v95Yr" ir BtvwU?v@r&Er:r:rTX95| ~ A|Zj)5FNOT Ignoring new targets: 183.30 m.Bj5;Jj5;M ProNav: ac range: 183.300003 m, nav range: 64.033470 m, bearing: 145.227926 deg, approach rate: 0.062479 m/s, LOS rate: 0.431759 deg/s, cmd heading: 60.978734 deg, new cmd heading: 61.434878 deg. 2jM(% Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:22:19:41.0487 - TRx dataTimestamp_ set to:1736374782.284575- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.216358w,'A I"i:y:Hd?6g?#?e?hſ`G?&?`,?ɨ:I` IbG IIbOBI`&I`.I`6Ib<:Ib FBICJICRIZI =bI =jI 5yrBrIIzIz4٢<  F=9 |;Q > G٣yU< > %Nusing accuracyPremultiplier from config!-959%Y?-95Y%" i% B15xW?5@%&E% ;% ;%[959 = AE۳EZjamFNOT Ignoring new targets: 183.30 m.Bjm.;Jjm.;} ProNav: ac range: 183.300003 m, nav range: 64.057869 m, bearing: 145.403410 deg, approach rate: 0.059143 m/s, LOS rate: 0.425212 deg/s, cmd heading: 61.434881 deg, new cmd heading: 61.961115 deg. 2j<HeadingCmd: 1.081425 target range: 183.300003 and range: 183.30 m. j&l?jjjihhhhfffrfbf`C @ɛBq I ûɚiIջ$=I&l?ii|٭)&l?)*Fm?2Fi:FiBFqJFqG}rA G}rAJMJMJIJIJMM:JM9JIJIJM;a}JM ;aJMp#;aJMq#;azKM&(KKMS9KIKM KM+-*("     }Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467442GЭGBO>Lw,ٙAyޕBޕIWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:19:41.0487 LVL= 14320, 27585, 19122, 29171, AGC= 62, IDX= 432,-0.26,-1.871, 2.861, 2.776,-2.954, PHS= 1.171,-0.421,-0.557, RAW= 86.0, -2.3, CAL= 93.7, -8.2, ROT= 56.3, 8.2 Ygot valid direction response: 22:19:41.0487 LVL= 14320, 27585, 19122, 29171, AGC= 62, IDX= 432,-0.26,-1.871, 2.861, 2.776,-2.954, PHS= 1.171,-0.421,-0.557, RAW= 86.0, -2.3, CAL= 93.7, -8.2, ROT= 56.3, 8.2 PDAT read: Bearing 56.3, 8.2 (Local) ~Local bearing/azimuth received: Bearing 56.3, 8.2 (Local) -DAT read: Range 10 to 50 : 183.0 m (Round-trip 244.1 ms) speed 0.1 m/s 5,DAT read: user:2502> 5BDAT read: Tx time:22:19:42.1504 =$Ping request sent.=iT?P׾7 ?l$ S?)CI{?iC>!}?6'`),I'=i}?+e:publishing transmit ping time9eFpublishing direction and range info9jG]U[?W{Q}?y )Ii )Ii!}?6'`)IiMb@Mb@Mb@ )YuV?ˡE rhyr>什C A @)p@I@y3@II(4٢ = .=9Q > 5$?I1 G٣y > Nusing accuracyPremultiplier from config959mf?95YQ" i B> : L? @&Ex;;=`95B C AسEkš?k{X$ k kMjA:k7CBk5CZk;@"D= > ?@uIzf@jG]U[?W{Q}?Jk}?Rk+*v'SD`|1sf@ fP酿'Ň?"k*kkOr?kI[$ 2k'wCkU?kktsCk=Bkij@M addTargetRange:: Added new target pos. range: 183.000000 m, deltaT: 3.777703 s, deltaX: -0.300003 m, approachRate: -0.079414 m/s, rangeRepo size: 4  Added new target pos. range: 183.000000 m, bearing: 263.621659 deg, lat: 36.904915 deg, lon: -122.120595 deg, deltaT: 3.777703 s, deltaX: -0.300003 m, approachRate: -0.079414 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 183.00 m.BjJj ProNav: ac range: 183.000000 m, nav range: 47.394108 m, bearing: 130.182872 deg, approach rate: 0.000000 m/s, LOS rate: 0.425212 deg/s, cmd heading: 61.961113 deg, new cmd heading: 62.638548 deg. 2jHeadingCmd: 1.093249 target range: 183.000000 and range: 183.00 m. j?jjjihhhhBfff9rf=f@bf= 1z?ɛB» :I EûɚiIo#=I?ii~½)?)*F?2F:FBF0JFG G"GG Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՉ  JDAT read: TxSync time:22:19:42.1497 GI BY Ou >w,A6@@?Y6~y?6rC96,c>y6HH?r?k?I?@aĿq?,?@-?ɨ6@@?6M;6CyFBF IININa4٢j > j]=9nll nG٣rKGyr;6= r?  Nusing accuracyPremultiplier from configt959vo?95YvB" iv~ BP?@v&Ev;v:vBc95! %r A!ZjFNOT Ignoring new targets: 183.00 m.Bj}+<Jj}+< ProNav: ac range: 183.000000 m, nav range: 47.376228 m, bearing: 130.374520 deg, approach rate: -0.055928 m/s, LOS rate: 0.599710 deg/s, cmd heading: 62.638545 deg, new cmd heading: 63.213684 deg. 2j<HeadingCmd: 1.103287 target range: 183.000000 and range: 183.00 m. j8?jjjihhhhfffrfbf-`:?ɛBȺ 隝`=I 0»ɚiIp#=I8?ii )8?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2FY:FYBFe_0JFa I G1BAOe4>HS>I III&I.I6Ie<:Ig FJ- J- J- 1J) J- ݒ:J- 9J- 3J) J- ;J- ;J- ';J- ';zK MK ]9K K K  u Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A "@NOAC?YN{?N9D9N%c>yNH?+*???Ŀф?,?@t-?ɨNOAC?N\~;NCy~*B~ IAMb@Mb@Mb@ )Yv/?ʡEZd;Oyx>jA )Z@IQAy@AAII 4٢}= :=9Q > G٣y)< >  Nusing accuracyPremultiplier from config959+{?95YN" iw B>:T?@&EZ;;g95%B % A%ճEMB*** querying acoustic contact ***jIjIZjamFNOT Ignoring new targets: 183.00 m.Bjm"<Jju"< ProNav: ac range: 183.000000 m, nav range: 47.350994 m, bearing: 130.618206 deg, approach rate: -0.058832 m/s, LOS rate: 0.568440 deg/s, cmd heading: 63.213681 deg, new cmd heading: 63.945088 deg. 2j<HeadingCmd: 1.116052 target range: 183.000000 and range: 183.00 m. jڎ?jjjihhhhBfffrfbf?ɛB =I iɚiI"=Iڎ?ii)ڎ?)*Fe?2Fa:FaBFiJFiGBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. $?Iw,oA2E?Y2&~?2?92*\>y2Hv?@l[ G??@?@ÿ?T?9?ɨ2E?2ފ;2CyRKBRB II^I^ 4٢v1> v\=9z9;Q z>xx zG٣|y< >  Nusing accuracyPremultiplier from config 959 ׄ?95Y " i p BW?@ &E ; O; Wj95! % A!ZjIMFNOT Ignoring new targets: 183.00 m.BjUH <JjUH I ɚiI)"=I=?ii )=?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247695*Fm?2Fi:FqBFu1JFqGIBQOm> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499843 I ZH RH ?AH Q>I  I f II iBI  =&I .I 6I x<:I s Fxw,IA6H?Y6?6}>96^>y6H`A#?Y7??z? ÿ`nͧ?@?6?ɨ6H?6Ȋ;4y^hBbf IIfIf]4٢~> ~I=9a:Q >  G٣ KGy <  > Nusing accuracyPremultiplier from config959I ׶ɚiIj!=I?iiD)?)JJJ0JJ:J9Jـ3JJl;Jm;J;J;*F2F:FBFP5JFzKLK9KK KEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751935G ]GB O% >1 w,`#2ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003756y~B~ I I-Mb@Mb@Mb@))) )))Y- ףp= ?QMb`y-Q>-u-- A -@)--@I-`@)y-@IEIE4٢U> U6=9]Q ]>Ya eG٣aye e> mNusing accuracyPremultiplier from configiu959m際?}95Ym{" iml B}7>}:}b?}@m&Em;m;mq95 "AҳEZjFNOT Ignoring new targets: 183.00 m.Bji'<Jji'< ProNav: ac range: 183.000000 m, nav range: 47.266598 m, bearing: 131.311063 deg, approach rate: -0.081339 m/s, LOS rate: 0.585450 deg/s, cmd heading: 65.239535 deg, new cmd heading: 66.024803 deg. 2jMI C/ɚiI =I6?i i &׽) 6?)*F2F:FBF_5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255883G &+G B O >w,6LA::L?Y:[?:Eb/9:o`>y:H`?_?`H7? 4#?W!ÿ?{?d5?ɨ::L?:8;:CyBBB IININ94٢ZY]> Zi=9ZS,`` bG٣`yf= f> jNusing accuracyPremultiplier from confighn959j飛?n95Yj4x" ijn Bln/f?r@j&Ej* ;j ;jt95t vAtZjFNOT Ignoring new targets: 183.00 m.Bj<Jj<  ProNav: ac range: 183.000000 m, nav range: 47.236473 m, bearing: 131.516012 deg, approach rate: -0.081993 m/s, LOS rate: 0.558184 deg/s, cmd heading: 66.024802 deg, new cmd heading: 66.640017 deg. 2j <HeadingCmd: 1.163088 target range: 183.000000 and range: 183.00 m. j?jQjQjQiQhYhYhYhYfafafarfabfe`,@ɛUBU?< Y]͹>IY ]ɚYiYI] =Ie?iaieGν)m?)EpAErAWill construct direction to contact in vehicle frame from tetrahedron phase data.`?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511067 u$?Iq*FE?2FI:FIBFMv4JFI"GeR=Ge=HO>IC I IIBI =&I.I6Ik<:Ig FGJʽGB!O=r>*J C="J =J! J% J! J! J! J% 9J! J! J! J! J% ;%;J% ;%;zK BoIK h9K K K   ? g V 3   V ! * h*`BKi :Km pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767077w,eA2kN?Y2>?2]+92`>y2HC?@$?7U?@?¿Sb??4?ɨ2kN?2O,;2CyVɂBV IMb@Mb@Mb@ )YDl?I +Mb?yO ?9< )Z@Iy@II4٢ =  7=9 E;Q }> G٣KGyWv< > Nusing accuracyPremultiplier from config959㯛?95Yr" i~ B{ ?:z?@&E7<<x95 AUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 183.00 m.Bjm39<Jjm39< ProNav: ac range: 183.000000 m, nav range: 47.172630 m, bearing: 131.815871 deg, approach rate: -0.137706 m/s, LOS rate: 0.647656 deg/s, cmd heading: 66.640018 deg, new cmd heading: 67.540733 deg. 2j=<HeadingCmd: 1.178808 target range: 183.000000 and range: 183.00 m. j0?jjjihhhh?Bfffrfbf+l@ɛB< >I RɚiI=I0?ii<)0?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016305*F?2F:FBF3JF-~GA iImimA Yy BG} !ҽGQ Ba O} >5 w,B A>x=P?Y>\?>9)9>3_`>y>H Y?oE?`&z?@r?.¿%??O5?ɨ>x=P?>; r\=9v\:Q v>tx zG٣xy<  > -Nusing accuracyPremultiplier from config)5959-!?595Y-;n" i- B9=$}?=@-&E-<;-BI;-|95MB UAUͳEZjy}FNOT Ignoring new targets: 183.00 m.BjA<JjA< ProNav: ac range: 183.000000 m, nav range: 47.121910 m, bearing: 132.050436 deg, approach rate: -0.146280 m/s, LOS rate: 0.677225 deg/s, cmd heading: 67.540735 deg, new cmd heading: 68.245149 deg. 2jc<HeadingCmd: 1.191103 target range: 183.000000 and range: 183.00 m. j v?jjjihhhhfffrfbfx$ @ Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:19:44.7976 TRx dataTimestamp_ set to:1736374786.068561checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268689ɛB = "<隕U?I ɚiIB=I v?ii9) v?)*FE?2FA:FABFE_0JFAGuٽGBO J> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519753 ! I! jH= <bH= <HE N>IA  IE !IIE BIE  =&IA .IA 6IE d<:IE a FA(&w,JәAFR?YF?FU(9Fa>yFH{?"@???{¿@?? 4?ɨFR?FB;FCy~B~=!II I 4٢Eg> EE=9M9Q M>IQ UG٣Qy]7< e> Nusing accuracyPremultiplier from configy959}Û?95Y}-i" i} B?@}&E}<<}<}959 =AAJJJJJݒ:Jb9JJJ;J;J0.;J0.;ZjyFNOT Ignoring new targets: 183.00 m.zKPKػ9KKKe)O~PlQ:& qTB;963/./,/-))+--)&))Bj<Jj<%Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 22:19:44.7976 LVL= 19760, 31217, 24178, 32755, AGC= 59, IDX= 437,-0.01, 2.112, 0.553, 0.696, 1.237, PHS= 0.962,-0.637,-0.544, RAW= 93.0, 2.8, CAL= 101.1, 0.7, ROT= 48.9, -0.7 eYgot valid direction response: 22:19:44.7976 LVL= 19760, 31217, 24178, 32755, AGC= 59, IDX= 437,-0.01, 2.112, 0.553, 0.696, 1.237, PHS= 0.962,-0.637,-0.544, RAW= 93.0, 2.8, CAL= 101.1, 0.7, ROT= 48.9, -0.7 mPDAT read: Bearing 48.9, -0.7 (Local) m~Local bearing/azimuth received: Bearing 48.9, -0.7 (Local) }DAT read: Range 10 to 50 : 182.2 m (Round-trip 243.0 ms) speed 0.4 m/s },DAT read: user:2503> BDAT read: Tx time:22:19:45.9004 $Ping request sent.<,w,LAZwX?YZy?Zt-9ZZf>yZH?`so???`Go¿õ??i*?ɨZwX?Z;Xyf %=9$Q > G٣KGy9= > Nusing accuracyPremultiplier from config959ϛ?-95Ya" i B-!?-:5?5@&EX;~;959 =A9k]2?kz& k k̚A:k36CBk4CZkɼ@"S;:-t%@anf@m¿w-AD%?zI?Jk70@Rk*h`X#@пE?v-f@u4//?kxοQ*[?"k/*kAk;?kWv& 2k/rCk?k H{L# kkAk l@- addTargetRange:: Added new target pos. range: 182.199997 m, deltaT: 3.784210 s, deltaX: -0.800003 m, approachRate: -0.211406 m/s, rangeRepo size: 4 = Added new target pos. range: 182.199997 m, bearing: 282.427793 deg, lat: 36.905069 deg, lon: -122.121083 deg, deltaT: 3.784210 s, deltaX: -0.800003 m, approachRate: -0.211406 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 182.20 m.BjJj ProNav: ac range: 182.199997 m, nav range: 17.122633 m, bearing: 211.325934 deg, approach rate: 0.000000 m/s, LOS rate: 0.535261 deg/s, cmd heading: 69.050719 deg, new cmd heading: 69.746722 deg. 2jHeadingCmd: 1.217310 target range: 182.199997 and range: 182.20 m. jЛ?jjjihhhhBfffrfbf?ɛEBE.= IM (?II M^gNɚIiIIM}=IUЛ?iQi}ؽ)}Л?)yWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG=GBO>m3w,ЀA:[?Y::?:^69:n>y:H#?ǜDz? 1??¿ɦ??K?ɨ:[?:ڈ;8y^iB^!I f=fp=IjIj:4٢r> ro=9vʻQ v?tt zG٣xyz?&= z? Nusing accuracyPremultiplier from config|959~כ?95Y~\" i~ B  q? @~&E~:~:~95 AʳEZjIMFNOT Ignoring new targets: 182.20 m.BjU<JjUI Iy!IIHBI&I.I6IP<:IP FBIâCJIâCRIZI =bI =jI׆5Er=*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! zKe ]jOKe ]9Ka Ke Ke '&%%$(48:96401/0/.(())*+*)&" G G B O >P:w,_D뀾A6~[_?Y6?6<96Om>y6Hc? xx?[c?`?O¿`?.^?@?ɨ6~[_?6;6CyjBn!IMb@Mb@Mb@ )YI +?L7A`?kt?y94?+= 0= A )I`@y@II4٢G= 5=9fQ > G٣y0< > Nusing accuracyPremultiplier from config959ᛜ?95YIU" i BY5?:Օ?@&Ey;;95 nAB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 182.20 m.BjY<JjY<  ProNav: ac range: 182.199997 m, nav range: 17.561518 m, bearing: 212.294977 deg, approach rate: 0.576335 m/s, LOS rate: 1.310340 deg/s, cmd heading: 70.847585 deg, new cmd heading: 72.615068 deg. 2j `=HeadingCmd: 1.267372 target range: 182.199997 and range: 182.20 m. j?9?jjjihhhhBf!f!f!rf!bfM@ja?ɛB~F= 隝K?I ZɚiI=I?9?iiB)?9?)E`=< IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFo0JFGI JU JU JQ JQ JU :JU 9JQ JQ a] @a] @a] @a] @G9 BA Oe >46Aw,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503872:b?Y:x?:E9:!l>y:Hά? =??`P?@g¿?E?)?ɨ:b?:ݜ;:CyFBF!IININa4٢V> V]=9VVQ Z>XX ZG٣ZKGy^ = ^> bNusing accuracyPremultiplier from config`f959b<ꛜ?f95YbN" ib Bhjq?j@b&Ebq:b:b95rB r@rȳEZj  FNOT Ignoring new targets: 182.20 m.Bj<Jj< ProNav: ac range: 182.199997 m, nav range: 17.773708 m, bearing: 212.781321 deg, approach rate: 0.573231 m/s, LOS rate: 1.298155 deg/s, cmd heading: 72.615067 deg, new cmd heading: 74.056362 deg. 2j^=HeadingCmd: 1.292527 target range: 182.199997 and range: 182.20 m. jq?jjjihh)h1h1fQfQfYrfYbf]1Y?ɛ%B%Ws= -!<-Z?I) m ɚiiqIuȣ=Iuq?iyi} )}q?)y $?IiE}<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758753ZH RH @AH% L>I!  I% !II% BI! &I! .I! 6I% -<:I% 5 F*FI 2FI :FI BFM `0JFI GE G B) OU >^`Gw,cA:f?Y:E?:D9:0l>y:H?q.??@Q?@M+¿@ꍨ? eI??ɨ:f?:;:CyVBV!II^I^(4٢r= vG=9~9Q >    G٣ y= > Nusing accuracyPremultiplier from config%9594?%95YG" iB B!-1?-@&E:~:951 5@5ųEZjFNOT Ignoring new targets: 182.20 m.Bj<Jj< ProNav: ac range: 182.199997 m, nav range: 18.010904 m, bearing: 213.323510 deg, approach rate: 0.563999 m/s, LOS rate: 1.272206 deg/s, cmd heading: 74.056360 deg, new cmd heading: 75.661062 deg. 2jFZ=HeadingCmd: 1.320535 target range: 182.199997 and range: 182.20 m. jG?jjjih9h9eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011201zKMK9KKK    #2 n  hIhfffrfbf>@ɛBt= d?I `ɚiI=I%G?i!i%/)%G?)1E=pAE=oAE-9<*F2F:FBF_5JF I G G pAG pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261880G B O >@Mw,8AZi?YZ9?ZQD9Z6km>yZH?N`"?Y? ?.χ?`??ɨZi?Zӈ;ZCyfBf "I]Mb@Mb@Mb@YYY Y)YY]{Gz?A`"?~jt?y]C?]=]D=Y ]j@)]Z@I]v@YyYIuIu:4٢؇= ;=9 8Q > G٣y= > Nusing accuracyPremultiplier from config959?95Y?" ir BF?:?@'E;;95 @Zjy}FNOT Ignoring new targets: 182.20 m.Bjg<Jjg< ProNav: ac range: 182.199997 m, nav range: 18.271154 m, bearing: 213.971829 deg, approach rate: 0.599283 m/s, LOS rate: 1.471601 deg/s, cmd heading: 75.661059 deg, new cmd heading: 77.577555 deg. 2j||=HeadingCmd: 1.353984 target range: 182.199997 and range: 182.20 m. jWO?jjjihhhh.BfffrfbfN@ɛMBD= l?I .K9ɚiI=IWO?ii')WO?)JJJ1JJM:J 9J3J]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511954E<EqAEpA*Fe ?2Fa :Fa BFm 0JFi G= :UG B! O= >fTw,SvRA6in?Y6r?6pB96Ko>y6H? ?d3?̬?{`W?y??ɨ6in?6lj;6CyVՃBZ'"IIbIb4٢j> j_=9j:Q n>ll nG٣nKGyrA= r> vNusing accuracyPremultiplier from configtz959v?z95Yvm8" iv Bx~٢?~@v'Ev ;v. ;v95 @Zj9=FNOT Ignoring new targets: 182.20 m.BjEn<JjEnIC IA"IIBI =&I.I8D6I8<:I; F*F ?2F:FBFV0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019296zKM OPKM 9KI KM KM  P<G= 9SG B) OA Zw,R+lAyQQi]>I]=Mb@Mb@Mb@ )YV-?"~j?/$?yM?S=,=A @)@I`@yI%I%4٢5_ 57=9=Q =>99 EG٣AyE E> MNusing accuracyPremultiplier from configIU959M ?U95YM[/" iM B]O?]:]?]@M 'EM;M;M95eB m@móEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 182.20 m.Bj<Jj< ProNav: ac range: 182.199997 m, nav range: 18.773544 m, bearing: 215.202339 deg, approach rate: 0.635058 m/s, LOS rate: 1.510873 deg/s, cmd heading: 79.197724 deg, new cmd heading: 81.217357 deg. 2j=HeadingCmd: 1.417510 target range: 182.199997 and range: 182.20 m. jp?jjjihhqhyh}FBfyffrfbfM @ɛB= y?I :ɚiI=Ip?iiN)p?) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.<<BDAT read: Rx Time:22:19:48.5446  TRx dataTimestamp_ set to:1736374789.854584checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271569*F?2F:FBF_0JFGeNG)B1OMt>JKm3 KL.KK"KJQ JU JU /JQ JQ JU 9JU (N3JQ keaw,ۅA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519958:(|x?Y:3|?:l:9:qv>y:H@W?J?7?`? (YY ]G٣Yyew= e> mNusing accuracyPremultiplier from configiu959m#?u95Ym'" im Bq}?}@m'Em;m;m95B @EZjFNOT Ignoring new targets: 182.20 m.Bj;<Jj;< ProNav: ac range: 182.199997 m, nav range: 19.004005 m, bearing: 215.783490 deg, approach rate: 0.618342 m/s, LOS rate: 1.540330 deg/s, cmd heading: 81.217356 deg, new cmd heading: 82.939117 deg. 2j#=HeadingCmd: 1.447561 target range: 182.199997 and range: 182.20 m. jI?jjjihhhhfffrfbfy @ɛB%_= !%z?I! %!;ɚ!i!I-l/=I-I?i1i5~PB)5I?)9*F?2F:FBFn0JF"GG>Ge>G hL)GBOI> yI}iWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:19:48.5446 LVL= 18704, 32753, 27378, 32755, AGC= 63, IDX= 405, 0.01,-2.545, 2.147, 2.463, 2.917, PHS= 0.909,-0.723,-0.457, RAW= 98.7, 3.6, CAL= 108.7, 1.7, ROT= 41.3, -1.7 ]Ygot valid direction response: 22:19:48.5446 LVL= 18704, 32753, 27378, 32755, AGC= 63, IDX= 405, 0.01,-2.545, 2.147, 2.463, 2.917, PHS= 0.909,-0.723,-0.457, RAW= 98.7, 3.6, CAL= 108.7, 1.7, ROT= 41.3, -1.7 ePDAT read: Bearing 41.3, -1.7 (Local) e~Local bearing/azimuth received: Bearing 41.3, -1.7 (Local) uDAT read: Range 10 to 50 : 179.9 m (Round-trip 239.9 ms) speed 0.6 m/s },DAT read: user:2504> }BDAT read: Tx time:22:19:49.6505 $Ping request sent.I I"II#BI&I.I6IP<:IJ F )Ii|!?<B)׿D$?)Iigw,A2}?Y2 9?2392Ӟ}>y2HFi?`-{???`O@n?jY?d?ɨ2}?2h;2CyBЃBB!"IIJIJ4٢ O=9;Q >    G٣ KGy^= > %Nusing accuracyPremultiplier from config%959k?-95Y" i B)-?-@'E::S951 =@9kE M?kE1' kA kE?ƖA:kE3CBkE2CZkE4@"Ew>!76駹&f@Esoeſ"c{?JkEØ9RkE겿*Ed䦎a#A@ nJ$.Be@E!Lc?Tw?ҿ|A?"kEpS*kE BkE`?kE29' 2kEjjCkEOr?kEI[$ kAkE°AkE6ސ@ addTargetRange:: Added new target pos. range: 179.899994 m, deltaT: 3.783902 s, deltaX: -2.300003 m, approachRate: -0.607839 m/s, rangeRepo size: 4 }Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁJDAT read: TxSync time:22:19:49.6498  Added new target pos. range: 179.899994 m, bearing: 302.961101 deg, lat: 36.905172 deg, lon: -122.121199 deg, deltaT: 3.783902 s, deltaX: -2.300003 m, approachRate: -0.607839 m/s, posRepo size: 4 Zj-FNOT Ignoring new targets: 179.90 m.Bj-Jj)= ProNav: ac range: 179.899994 m, nav range: 22.094936 m, bearing: 259.385164 deg, approach rate: 0.000000 m/s, LOS rate: 1.540330 deg/s, cmd heading: 82.939117 deg, new cmd heading: 84.913342 deg. 2j9zKEӘNKE9KAKEKEeHeadingCmd: 1.482017 target range: 179.899994 and range: 179.90 m. je?jajijihhhhfffrf|f@bf`?ɛ-߁B- = 15x?I1 5Eja;ɚ9i9I=j=IE?iIiMN)M?)Q*F2F:FBF`0JF) ) M tA I Y tAy BG wV)- Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >ݹmw,6A28?Y2W8?2d/92<>y2H@?o]?Q2? ? -?`? $?ɨ28?2c";2Cy>҃B>#"I)@ @]Mb@Mb@Mb@YYY Y)YY](\?rh|?S㥛?y]N?]=]/<]vA ]S@)YI]I@Yy]\@IuIu_v4٢; B=9;Q > G٣yc= > Nusing accuracyPremultiplier from config959?95Y" iC BP?:?@'E;;95 @ZjFNOT Ignoring new targets: 179.90 m.Bj(ѹJj(ѹ ProNav: ac range: 179.899994 m, nav range: 22.435303 m, bearing: 259.376169 deg, approach rate: 0.878270 m/s, LOS rate: -0.022857 deg/s, cmd heading: 84.913342 deg, new cmd heading: 84.886768 deg. 2jz HeadingCmd: 1.481554 target range: 179.899994 and range: 179.90 m. j ?j j j i h hhh.Bfffrfbf ?ɛMށBMK = y?I <Є;ɚiI$ =I%þ?ii@)?)J=J=J9J9J=:J=9J9J9*F?2F:FBF_1JFG{70Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO_>tw,hӁA63K?Y6R?6 +96cU>y6Hn?J? u?`?p'_?? ?ɨ63K?6;6CyBǃBB"IIJIJd4٢Ve VY=9Z 9;Q Z>XX ZG٣\y^ = ^> fNusing accuracyPremultiplier from config`f959bX"?f95Yb" ibf Bhj??j@b 'Eb:bz:bH95p r@rEZj FNOT Ignoring new targets: 179.90 m.Bj ~ :Jj~ : )I)5 ProNav: ac range: 179.899994 m, nav range: 22.739559 m, bearing: 259.387675 deg, approach rate: 0.811294 m/s, LOS rate: 0.030270 deg/s, cmd heading: 84.886766 deg, new cmd heading: 84.920822 deg. 2j51:Will construct direction to contact in vehicle frame from tetrahedron phase data.>@HeadingCmd: 1.482148 target range: 179.899994 and range: 179.90 m. j?jjjihhhhfffrfbf?A?HD>I I"II'!)m?)E*F!2F!:F!BF%P5JF)G1 G5nAGEGBOj>*J=R="J=4= Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JK +9K K K )zw,PV큾AZ?YZ"ۤ?ZA+9Zd>yZH?B?&?@?ʊ?ڼ`f?@??ɨZ?ZsB;XyjBj"I]Mb@Mb@Mb@YYY Y)YY]Q?K7A?{Gz?y]H?] >]# G٣KGy>u= > Nusing accuracyPremultiplier from config959!&?95Y" i BK?:M?@%'EhL;I;95 @ZjFNOT Ignoring new targets: 179.90 m.Bj_:Jj_: ProNav: ac range: 179.899994 m, nav range: 23.083244 m, bearing: 259.434030 deg, approach rate: 0.787535 m/s, LOS rate: 0.104638 deg/s, cmd heading: 84.920821 deg, new cmd heading: 85.057815 deg. 2j;HeadingCmd: 1.484539 target range: 179.899994 and range: 179.90 m. j_?jj!j!i!h!h!h)h- Bf)f)f1rf1bf5?ɛ܁B= m?I ;ɚiI; =I_?iew,"A"Will construct direction to contact in vehicle frame from tetrahedron phase data.RDϋ?YRc ?R"9R(>yRHCO??`?`? #P?I??ɨRDϋ?Rq;RCybBf!IIvIv?4٢   S=9F;Q > G٣y|= > Nusing accuracyPremultiplier from config959(?95Y! i Bu?@*'Ez%;"&;95 @B*** querying acoustic contact ***j j Zj1=FNOT Ignoring new targets: 179.90 m.Bj=P);Jj=P);M ProNav: ac range: 179.899994 m, nav range: 23.401211 m, bearing: 259.494976 deg, approach rate: 0.782920 m/s, LOS rate: 0.148027 deg/s, cmd heading: 85.057814 deg, new cmd heading: 85.238168 deg. 2jM-;}HeadingCmd: 1.487687 target range: 179.899994 and range: 179.90 m. j}l?jyjyjyiyhhhhfffrfbf@ul?ɛہB*= c?I EF;ɚiI=Il?i`Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZHRH?AHA>IC I"II2BI =&I.I7D6I<:I FBI]ȡCJI]ȡCRIYZI] =bI] =jI]T5߇w,!A6?Y6:0?6k96>y6H?J ֕? N?-?@&0?@T?ƾ?ɨ6?6`;4y>B>!IIJIJ4٢f=r fN=9f;Q j>hh nG٣lynG= r> vNusing accuracyPremultiplier from configpv959r+?z95Yr! ir Bxz?z@JJJJJJO9JJJ8;a J9;a Je,;aJf,;ar/'Er;r;r95 @!ZjQUFNOT Ignoring new targets: 179.90 m.Bj]}Z;Jj]}Z;m ProNav: ac range: 179.899994 m, nav range: 23.700062 m, bearing: 259.568392 deg, approach rate: 0.787503 m/s, LOS rate: 0.191019 deg/s, cmd heading: 85.238165 deg, new cmd heading: 85.455635 deg. 2jmG%>GPGBO> $?I i Will construct direction to contact in vehicle frame from tetrahedron phase data. > < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507043w,:A2;?Y2z?2W92f>y2H `? d!@ ?K? ?`ʡ?`?@M?ɨ2;?2r;2CyB|BB!IEMb@Mb@Mb@AAA A)AYEzG??MbyE 7?E=EE/A E@)AIE@AyEf@IUIUЬ4٢e; eA=9m;Q m>ii uG٣uKGyux= u> Nusing accuracyPremultiplier from configy959},?95Y}! i} B8?:?@}4'E};};}95B AEZjFNOT Ignoring new targets: 179.90 m.Bj~Y;Jj~Y; ProNav: ac range: 179.899994 m, nav range: 24.002914 m, bearing: 259.649073 deg, approach rate: 0.722875 m/s, LOS rate: 0.190146 deg/s, cmd heading: 85.455632 deg, new cmd heading: 85.694619 deg. 2j~<HeadingCmd: 1.495653 target range: 179.899994 and range: 179.90 m. jq?jjjihhhhɂBfffrfbf@ɛ-ځB-#1= 隵Q?I %;ɚiIV=Iq?iaYkw,)TA:b?Y:?:ݏ9:#>y:HJ?E /?@s? \E?`J1???ɨ:b?::;:CyFjBF!INANA PITTV@AIZIZ4٢b bU=9bbdd fG٣dyj= j> nNusing accuracyPremultiplier from configlr959n-?r95Ync! in Btv"?v@n8'En.:n:n95x z6AxZj!-FNOT Ignoring new targets: 179.90 m.Bj-ۀ;Jj-ۀ;= ProNav: ac range: 179.899994 m, nav range: 24.276503 m, bearing: 259.736341 deg, approach rate: 0.714417 m/s, LOS rate: 0.225313 deg/s, cmd heading: 85.694620 deg, new cmd heading: 85.953471 deg. 2j=>IA IEf"IIE BIE" =&IA.IA6IEA<:IE7 FmTRx dataTimestamp_ set to:1736374793.394902uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.032788*F?2F:FBF0JFG^ GBO$>JJJ1JJݒ:J=9J3JJ;J;J*;J*; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279219zK }@LK K K K w,nA2^?Y2?2"92秎>y2HZ?@i??b?@౿Z#?@s? ?ɨ2^?2%%;2CyROBR!IMb@Mb@Mb@ )Y{Gz?ʡE?~jty#?-=A )Z@I@yII4٢ <=9 G٣y[= > Nusing accuracyPremultiplier from config959w.?95Y! i Bk%?:H?@='EU;;95 AZj%FNOT Ignoring new targets: 179.90 m.Bj5<;Jj5<;E ProNav: ac range: 179.899994 m, nav range: 24.553583 m, bearing: 259.838969 deg, approach rate: 0.636161 m/s, LOS rate: 0.232969 deg/s, cmd heading: 85.953471 deg, new cmd heading: 86.257877 deg. 2jEow,mA2b?Y2D?2z92/w>y2H@?@&? ?P? ?6? ?ɨ2b?2;2C>Will construct direction to contact in vehicle frame from tetrahedron phase data.ZDAT read: 22:19:52.2916 LVL= 27600, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.19, 0.601,-0.920,-0.323,-0.009, PHS= 0.698,-0.864,-0.317, RAW= 110.2, 7.1, CAL= 120.4, 4.4, ROT= 29.6, -4.4 ^Ygot valid direction response: 22:19:52.2916 LVL= 27600, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.19, 0.601,-0.920,-0.323,-0.009, PHS= 0.698,-0.864,-0.317, RAW= 110.2, 7.1, CAL= 120.4, 4.4, ROT= 29.6, -4.4 bPDAT read: Bearing 29.6, -4.4 (Local) b~Local bearing/azimuth received: Bearing 29.6, -4.4 (Local) jDAT read: Range 10 to 50 : 177.6 m (Round-trip 236.9 ms) speed 0.3 m/s n,DAT read: user:2505> rBDAT read: Tx time:22:19:53.4005 r$Ping request sent.r)) -G٣-KGy-K= u> }Nusing accuracyPremultiplier from configy959}}.?95Y}! i} B?@}A'E}:}:}{95 AkB?kBeH' k@ kBtA:kB1CBkBb0CZkBAl@"BdEՐDl)[,d@BcjהϿz &6ο?JkBDRkB(k*BzS@#_NMf{_b@BU ?pv}տS}]b?"kBpj*kBЛBkB ӵ?kB<[' 2kBVCkB;?kBWv& kB/rCkBGBkBN@ addTargetRange:: Added new target pos. range: 177.600006 m, deltaT: 3.791859 s, deltaX: -2.299988 m, approachRate: -0.606559 m/s, rangeRepo size: 4 % Added new target pos. range: 177.600006 m, bearing: 323.045912 deg, lat: 36.905288 deg, lon: -122.121477 deg, deltaT: 3.791859 s, deltaX: -2.299988 m, approachRate: -0.606559 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 177.60 m.BjUJjQ ProNav: ac range: 177.600006 m, nav range: 49.881233 m, bearing: 279.866605 deg, approach rate: 0.000000 m/s, LOS rate: 0.232969 deg/s, cmd heading: 86.257878 deg, new cmd heading: 86.578552 deg. 2jHeadingCmd: 1.511081 target range: 177.600006 and range: 177.60 m. jk?jjjihhhhfffrf@33f@bf.?ɛ1=Y= 9=0?I9 ]<ɚaiaImcc=Imk?imaQIuC Iu("IIuփBIq&Iq.Iq6Iu~<:Iuc FG #G B O >-w,MAFm?YF/?F9F.>yFH.? ZU??@Z?g׵?5??ɨFm?Fy;FCybBbA!Iif=If<JrJrJr/JpJr:JrO9Jr(N3JpJr7;Jr9;Jre,;Jrf,;IIn4٢%+ -[=95ceYY ]G٣Yy]mK= e> mNusing accuracyPremultiplier from configau959e!.?u95Yer! ie BY?@eE'Ee;e;e95 AB*** querying acoustic contact ***jjZj9=FNOT Ignoring new targets: 177.60 m.BjEJjEu ProNav: ac range: 177.600006 m, nav range: 50.116966 m, bearing: 279.824685 deg, approach rate: 0.666715 m/s, LOS rate: -0.118002 deg/s, cmd heading: 86.578549 deg, new cmd heading: 86.453382 deg. 2ju}HeadingCmd: 1.508896 target range: 177.600006 and range: 177.60 m. j}#?jyjjihhhhfffrf!bf%@Dj?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ_=  ?I $<ɚiIw=zKBoHKh9KKKEt|a?-" I#?iHO i Im iE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744137Uw, A6?Y6y6H;?b`U? 9? ? AЊ? ??ɨ6?6;6Cy^B^8!I}Mb@Mb@Mb@yyy y)yY}K7A`?ˡE?/$y} ?}=}}A y)}@I}p@yy}3@II 4٢  B=91$ G٣yF= > Nusing accuracyPremultiplier from config959-?95Yr! i B ?:?@I'E;+;V95 AEZjFNOT Ignoring new targets: 177.60 m.Bj Jj  ProNav: ac range: 177.600006 m, nav range: 50.343475 m, bearing: 279.794387 deg, approach rate: 0.571270 m/s, LOS rate: -0.076072 deg/s, cmd heading: 86.453379 deg, new cmd heading: 86.362892 deg. 2jPHeadingCmd: 1.507317 target range: 177.600006 and range: 177.60 m. j?jjjihhhh-BfffrfbfS?ɛ ؁B bg= _?I +<ɚiIs=I%?i%NG=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995646G]GaBqO|> Y IY Dw,ւA2\С?Y2z?2/92X}s>y2H? ^? ? ? \`q?8&?C?ɨ2\С?2{;0y>B>!IIFIF4٢N R\=9RmTT VG٣TyZ= Z> ^Nusing accuracyPremultiplier from config\b959^+?b95Y^! i^ Bdf?f@^L'E^:^:^95h jAlZj  FNOT Ignoring new targets: 177.60 m.Bj\Jj\ ProNav: ac range: 177.600006 m, nav range: 50.546913 m, bearing: 279.770717 deg, approach rate: 0.544577 m/s, LOS rate: -0.063105 deg/s, cmd heading: 86.362893 deg, new cmd heading: 86.292170 deg. 2j;-HeadingCmd: 1.506083 target range: 177.600006 and range: 177.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248338H;>I I!IIBI&I.I6I/<:I) F jP?j)j)j)i)h)h)h1h1f1f1f9rf9bf=Q?ɛUQ= 8?I  M3<ɚiI;JP>;GE PI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502997Ga B OE >zKm NKi Ki Km Km gw,AyB!IMb@Mb@Mb@ )Ykt?V-?y&1y >h=`e A )@I@y@II4٢b 8=9Q > G٣KGy >  Nusing accuracyPremultiplier from config 959*? 95Y! i B>:?@O'EI;';x95 I|uA)1 -AY eYe|uAyeQBZjFNOT Ignoring new targets: 177.60 m.BjTdJjTd ProNav: ac range: 177.600006 m, nav range: 50.756672 m, bearing: 279.746114 deg, approach rate: 0.427241 m/s, LOS rate: -0.049906 deg/s, cmd heading: 86.292173 deg, new cmd heading: 86.218668 deg. 2j-HeadingCmd: 1.504800 target range: 177.600006 and range: 177.60 m. j-F?j)j)j1i1h1h1h1h=́Bf9f9f9rf9bfE4?ɛG= ?I ;<ɚiI< Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753247I%F?i-MP w,( A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003717yB !II-I-&4٢E EV=9IQ M>II UG٣QyQ U> eNusing accuracyPremultiplier from configYe959])?e95Y]! i] Biim@]R'E]L:]:]95q }AyZjFNOT Ignoring new targets: 177.60 m.BjJj ProNav: ac range: 177.600006 m, nav range: 50.937344 m, bearing: 279.725085 deg, approach rate: 0.538754 m/s, LOS rate: -0.062484 deg/s, cmd heading: 86.218666 deg, new cmd heading: 86.155804 deg. 2j+HeadingCmd: 1.503702 target range: 177.600006 and range: 177.60 m. jRy?jjjihhhhfffrfbf@ɛ  G(^= U ?I A<ɚiIXZHRH@AH9>I I!II\BI# =&I.I6D6Ir<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255796:IX FOzȠw,#Ay~B~!II I ٢%P, %M=9!Q %>)) -G٣)y1 5> mNusing accuracyPremultiplier from configiu959m(?}95Ym! im Byy}@mU'Em;mI;m\95 \AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 177.60 m.BjwJjw ProNav: ac range: 177.600006 m, nav range: 51.128872 m, bearing: 279.702956 deg, approach rate: 0.470503 m/s, LOS rate: -0.054158 deg/s, cmd heading: 86.155801 deg, new cmd heading: 86.089663 deg. 2jHeadingCmd: 1.502548 target range: 177.600006 and range: 177.60 m. jS?jjjihhhhfffrfbfd@ɛ-ׁB-X$H= )-5?I) 5~H<ɚ1i1I=MM- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762078Πw,h=Ay]B]!Iie>Ie4< e=e= Mb@Mb@Mb@    ) Y On?Q?{Gzty > u= ף A @) I @ y z@I%I%-4٢-fL< 5:=99Q =>99 EG٣EKGyA E> MNusing accuracyPremultiplier from configIU959M'?U95YMձ! iM B]>]:]?]@MX'EM;M;M#95a eFAiZjFNOT Ignoring new targets: 177.60 m.Bj%{Jj%{ ProNav: ac range: 177.600006 m, nav range: 51.312355 m, bearing: 279.679172 deg, approach rate: 0.424981 m/s, LOS rate: -0.054892 deg/s, cmd heading: 86.089665 deg, new cmd heading: 86.018567 deg. 2jHeadingCmd: 1.501307 target range: 177.600006 and range: 177.60 m. j*?jjjihhhhBfffrfbf`8@ɛtG= ?I "P<ɚiI I ՠw,XWA6W?Y6Օ?6J=96)*7>y6H߭?l??`$?+?`x0@&? Dy?ɨ6W?6-;4yBBB !IIHIH٢R|< Rg=9R=Q V>TT VG٣TyZg= Z> ^Nusing accuracyPremultiplier from config\b959^&?b95Y^ܭ! i^ Bdf?j@^['E^Y;^Y;^;95nB r*ArEZj FNOT Ignoring new targets: 177.60 m.Bj;Jj;% ProNav: ac range: 177.600006 m, nav range: 51.463131 m, bearing: 279.664602 deg, approach rate: 0.425445 m/s, LOS rate: -0.040993 deg/s, cmd heading: 86.018569 deg, new cmd heading: 85.974986 deg. 2j%ẝ-HeadingCmd: 1.500547 target range: 177.600006 and range: 177.60 m. j-?j)j)j)i)h1h1h1h1f9f9f9rf9bf=`K @ɛiuZ= u I If!II9BI&I.I6I<:I FBImCJImCRIiZIm" =bIm" =jIm25*F!2F!:F!BF%P5JF!"G-=G-=GE'HG! B9 Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516586|۠w,#-qAzKLKLKLKNKNyuBu!I aIe i}Mb@Mb@Mb@yyy y)yY}> ףp=?Q?Q?y}>}\=}u<}~A y)}-@I}K@yy}=@IIx4٢u= .=9Q > G٣y > Nusing accuracyPremultiplier from config959 %?95Y! i B>: ?@^'E;;T95 AZjFNOT Ignoring new targets: 177.60 m.Bj x Jj x  ProNav: ac range: 177.600006 m, nav range: 51.657665 m, bearing: 279.650076 deg, approach rate: 0.415678 m/s, LOS rate: -0.030921 deg/s, cmd heading: 85.974986 deg, new cmd heading: 85.931574 deg. 2jé%HeadingCmd: 1.499789 target range: 177.600006 and range: 177.60 m. j%?j!j!j!i)h)h)h)h5Bf1f1f9rfAbf @ɛցBVL= AE?IA M_<ɚIiIIUҝ BDAT read: Tx time:22:19:57.1505 $Ping request sent. R/ @)Q =I!>iQ o?ECE'?)|IoY i_=:publishing transmit ping timeؑFpublishing direction and range info9&[п莼rտِ٨?y )Ii )Iio?ECE'?)Ii*Fm?2Fq:FqBFu2JFqGM|t<G! B) OM >J J J J J :J u9J J Cw,HA"Will construct direction to contact in vehicle frame from tetrahedron phase data.>eP?Y>?>D@=9>1>y>H? @??? ?`[?!?ɨ>eP?>;>CybBb#!I)d ddfAIjIj4٢-= -f=9-0=Q 5>11 5G٣5KGy]" ]> eNusing accuracyPremultiplier from configam959e#?m95YeԤ! ie Bqu8?u@e`'Ee7:eX:ex95 AkAɹ?kG& k kh{A:k3GCBkECZk@"M9LJx"tPf@&[п莼rտِ٨?Jk_=Rk* DUV@1IDe@ b#?qп٪U?"kDH*kbBk??k& 2kkCk`?kkkCkuBk@uaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 199.199997 m, deltaT: 3.780574 s, deltaX: 21.599991 m, approachRate: 5.713416 m/s, rangeRepo size: 4Zjy}FNOT Ignoring new targets: 177.60 m.BjJj ProNav: ac range: 177.600006 m, nav range: 51.806942 m, bearing: 279.639228 deg, approach rate: 0.392284 m/s, LOS rate: -0.028427 deg/s, cmd heading: 85.931573 deg, new cmd heading: 85.899121 deg. 2jHeadingCmd: 1.499223 target range: 177.600006 and range: 177.60 m. j?jjjihhhhfffrf`fh@bfi?ɛՁBf= 隕B?I _f<ɚiI:bIC IM!II%BI$ =&I.I6Ij<:IP FWill construct direction to contact in vehicle frame from tetrahedron phase data.G <Ga Bq O >w,4ۤA2?Y2!?2qX=92>y2H?છW?`h?|J?? `7XX ZG٣XyZ^; ^> bNusing accuracyPremultiplier from config`f959bX"?f95Yb! ib Bdf?j@bc'Eb:b:b95l n4AlZj FNOT Ignoring new targets: 177.60 m.Bj - Jj- % ProNav: ac range: 177.600006 m, nav range: 51.966236 m, bearing: 279.628163 deg, approach rate: 0.439289 m/s, LOS rate: -0.030419 deg/s, cmd heading: 85.899123 deg, new cmd heading: 85.866031 deg. 2j%-HeadingCmd: 1.498645 target range: 177.600006 and range: 177.60 m. j-ӿ?j)j)j)i)h)h1h1h1f9f9f9rf9bfE{?ɛimɌw= qu{?Iq um<ɚqiqI}6 @G ~<G B O >'w,iAy B A!IMb@Mb@Mb@ )Yw/?X9v?{Gz?y>}=ף<v@ S@)I@yG@II4٢߀= 4=9Q > G٣y > Nusing accuracyPremultiplier from config959!?95Y9! i BN>:H?@f'E(;W;95 A=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 177.60 m.BjUXJjUXe ProNav: ac range: 177.600006 m, nav range: 52.171787 m, bearing: 279.606428 deg, approach rate: 0.448250 m/s, LOS rate: -0.047212 deg/s, cmd heading: 85.866031 deg, new cmd heading: 85.801081 deg. 2jemHeadingCmd: 1.497511 target range: 177.600006 and range: 177.60 m. jmt?jijijiiihqhqhqhuBfffrfbf`̝?JMJMJIJIJM:JM9JIJIɛӁBQc= 隭N#?I Kx<ɚiI!w,OكA6k?Y6?6:u=96B=y6H ΃?`68?8?@?@#?ಋp{? ?ɨ6k?6;6Cy>/B>[!I F=Fp=IJIJt4٢R= R`=9R=Q R>TT VG٣VKGyZ@ Z> ^Nusing accuracyPremultiplier from config\b959^ ?b95Y^ٖ! i\`fM?f@^i'E^;^);^95h jAhH%4>I! I%T!II%*BI!&I!.I!6I%<:I%r F]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.489286ZjFNOT Ignoring new targets: 177.60 m.BjOJjO ProNav: ac range: 177.600006 m, nav range: 52.337452 m, bearing: 279.589059 deg, approach rate: 0.434722 m/s, LOS rate: -0.045431 deg/s, cmd heading: 85.801082 deg, new cmd heading: 85.749143 deg. 2jnHeadingCmd: 1.496605 target range: 177.600006 and range: 177.60 m. j?jjj!i!h!h!h!h)f)f)f)rf)bf5Ý?ɛ= 隥<.?I <ɚiI?bFw,ڭARC$?YRab?R=9RM=yRHI?`g??`3?@>۱?39? ??ɨRC$?Rm6;RCyZCBZs!IMb@Mb@Mb@ )Yrh|?T㥛 ?~jt?y>=<@ @)@Iy=@II4٢˙=  =9 G٣y > Nusing accuracyPremultiplier from config959?95Y/! i BB>:?@m'Eo;;m95 zAZj1=FNOT Ignoring new targets: 177.60 m.EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.993635BjUꑺJjUꑺe ProNav: ac range: 177.600006 m, nav range: 52.589077 m, bearing: 279.557506 deg, approach rate: 0.511101 m/s, LOS rate: -0.063784 deg/s, cmd heading: 85.749145 deg, new cmd heading: 85.654939 deg. 2je/mHeadingCmd: 1.494961 target range: 177.600006 and range: 177.60 m. jmZ?jijijqiqhqhqhyh}́Bfyfyfrfbf@0@ɛсB4= 隵8?I <ɚiI w,HA6?Y6#Կ?65=960=y6Hb? @+? ?Ѵ?1?``@ߙ?Ы?ɨ6?6щ;6Cy>XB>!IIFIF4 LIL٢V= V?=9ZWX\ ^G٣\y^% ^> fNusing accuracyPremultiplier from configdn959f?n95Yf! if BprG?r@fp'EfM7;f7;f.95vB vAvEZjFNOT Ignoring new targets: 177.60 m.BjՑJjՑ- ProNav: ac range: 177.600006 m, nav range: 52.800880 m, bearing: 279.530209 deg, approach rate: 0.496616 m/s, LOS rate: -0.063748 deg/s, cmd heading: 85.654937 deg, new cmd heading: 85.573372 deg. 2j-/5HeadingCmd: 1.493537 target range: 177.600006 and range: 177.60 m. j59,?j9j9j9i9h9h9hAhAfAfIfIrfbf@ɛЁB= !%C?I! % O<ɚ!i!I%(BI=% =&I9.I96I=<:I=v FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498351*F?2F:FBFg0JFG~<GaBiO8>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749538= w, &/Ay=hB=!I)A AIMAzKm_:NKm+9KiKmKm|m_QF72-(%!    )  MZA }Yyy}B I iMb@Mb@Mb@ )YS?L7A`?~jt?y?+=<I@ @)@I@y(@IIļ4٢Jt=  =9Q > G٣KGy >  Nusing accuracyPremultiplier from config 959?95Y! i B.?:D?@u'E;;95! %WA!ZjFNOT Ignoring new targets: 177.60 m.Bj$Jj%$- ProNav: ac range: 177.600006 m, nav range: 53.085602 m, bearing: 279.491388 deg, approach rate: 0.548422 m/s, LOS rate: -0.074375 deg/s, cmd heading: 85.573371 deg, new cmd heading: 85.457532 deg. 2j5+L5HeadingCmd: 1.491515 target range: 177.600006 and range: 177.60 m. jU?jYjYjYiYhYhYhaheBfafafirfibfm`@ɛρB= 5L?I q <ɚiIGw,,KA:=ۢ?Y:Z?:M=9:c=y:HTҳ?`D߽?@?u\?o?7&??ɨ:=ۢ?:J؉;:CyBBF!IININ4٢V>> Vw=9ZIA IE!IIEbBIE$ =&IA.IA6IEN<:IE< FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508957G喇<G B O >w,dA:?Y:.;?:=9:] =y:H7h?@ j??@~?@ǵ?44s?٫?ɨ:?:p;:CyRBR!IIZIZg4٢br= bK=9b;Q b>dd fG٣dyjּ j> nNusing accuracyPremultiplier from configlr:59n?r:5Yn#x! in BpvK?v@n|'En ;n:n :5x z*AxZj!%FNOT Ignoring new targets: 177.60 m.Bj-Jj-= ProNav: ac range: 177.600006 m, nav range: 53.495319 m, bearing: 279.433319 deg, approach rate: 0.588285 m/s, LOS rate: -0.083374 deg/s, cmd heading: 85.379578 deg, new cmd heading: 85.283996 deg. 2j=dEHeadingCmd: 1.488487 target range: 177.600006 and range: 177.60 m. jE?jAjAjAiIhIhIhIhIfQfQfQ*JeC="Je4=JCKKcw3 KKS}.KCKC"KCJmJmJiJiJm:JmO9JiJiJm;aJm;aJme,;aJme,;arfQbfו @ɛ΁Bd{= _?I p"<ɚiI. BDAT read: Tx time:22:20:00.9006 $Ping request sent. e @)V=IZ;>iVeJj?VSn=?)oI-iҹ֏:publishing transmit ping timeءUFpublishing direction and range info9- ;ӿLe{ӿk-?y )Ii )IieJj?VSn=?)IizKMKKKK BK:K qIyGbCk<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,>~A2m?Y2䫾?2 =92\=y2H@B?`2??B>!IMb@Mb@Mb@ )YRQ?Q?{Gz?y"?\=#< @)3@I5@y@I)I)٢= *=9;Q > G٣KGy %> -Nusing accuracyPremultiplier from config!5:59%:?5:5Y%p! i% B5#?5:5u?=@%'E% ;%3;%>:5 !@kE]r1?kE;r% kA kEF[mA:kE.CBkE-CZkEζ@"E[6HJOpY-K*@ƶc@E- ;ӿLe{ӿk-?JkEҹRkE֏*EF[P@U(ѭEGLclc@E:E/? J;Ͽb n?"kEn-*kE BkEt`X?kEb% 2kE3]CkEt`X?kAkEjjCkE֫BkE@} addTargetRange:: Added new target pos. range: 174.899994 m, deltaT: 7.560987 s, deltaX: -2.700012 m, approachRate: -0.357098 m/s, rangeRepo size: 4  Added new target pos. range: 174.899994 m, bearing: 327.310569 deg, lat: 36.905816 deg, lon: -122.121477 deg, deltaT: 7.560987 s, deltaX: -2.700012 m, approachRate: -0.357098 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 174.90 m.BjJj ProNav: ac range: 174.899994 m, nav range: 85.919525 m, bearing: 321.847544 deg, approach rate: 0.000000 m/s, LOS rate: -0.083374 deg/s, cmd heading: 85.283996 deg, new cmd heading: 85.155720 deg. 2jHeadingCmd: 1.486248 target range: 174.899994 and range: 174.90 m. j]=?jjjihhhhrBfff rf e@bf O?ɛÚBU= Q]i?IY ]<ɚYiYIeG%w,A6h?Y6?6=96=y6H`8?@Ωն??~v?[?@?`K?ɨ6h?6;6CyNBN!IIVIV4٢^>= ^v=9b*;Q b?`` fG٣dyfI f? nNusing accuracyPremultiplier from confighn:59j?r:5Yj~j! ij Bprk?r@j'Ej:jC:j' :5t vk@zEjHbH<H7>IC I!IIBI# =&I.I6I[<:IF FBICJICRIZI$ =bI$ =jI"*5ZjFNOT Ignoring new targets: 174.90 m.BjȾJjȾ ProNav: ac range: 174.899994 m, nav range: 86.055115 m, bearing: 321.738764 deg, approach rate: 0.416457 m/s, LOS rate: -0.333587 deg/s, cmd heading: 85.155718 deg, new cmd heading: 84.829895 deg. 2jd HeadingCmd: 1.480561 target range: 174.899994 and range: 174.90 m. j ?j j j ihhhhff!f!rf!bf%?MWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛY]r= Y]o?IY e<ɚaiaIe Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,KͲA^?Y^ʾ?^=9^g=y^H@Yk?@#?Ǿ?"?`s? ?JK>II4٢%5= %5=9%8Q ->)) -G٣)y5 ; 5> =Nusing accuracyPremultiplier from config9E:59=?M:5Y=Db! i= BM2?M:M?M@='E=*;=%);=:5Q ]@YZjyFNOT Ignoring new targets: 174.90 m.BjڻJjڻ ProNav: ac range: 174.899994 m, nav range: 86.250290 m, bearing: 321.576645 deg, approach rate: 0.460140 m/s, LOS rate: -0.381342 deg/s, cmd heading: 84.829898 deg, new cmd heading: 84.344653 deg. 2jۂHeadingCmd: 1.472092 target range: 174.899994 and range: 174.90 m. jm?jjjihhhhBfffrfbf@?ɛ́BI= %u?I @W<ɚiI @2w,s̄A6n?Y6?6=96o=y6H?@@ ?l?Z??0X? ?ɨ6n?6?;6C^Will construct direction to contact in vehicle frame from tetrahedron phase data.ybƒBf"IInIn4٢zVr= za=9~f);Q ~>| G٣KGy& > Nusing accuracyPremultiplier from config :59 ?:5Y [! i  B?@ 'E < < C:5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 174.90 m.BjûJjû  ProNav: ac range: 174.899994 m, nav range: 86.407898 m, bearing: 321.446440 deg, approach rate: 0.415456 m/s, LOS rate: -0.342595 deg/s, cmd heading: 84.344654 deg, new cmd heading: 83.954757 deg. 2j kUHeadingCmd: 1.465287 target range: 174.899994 and range: 174.90 m. j]?jYjYjYiYhYhYhahafafifirfbfz2?ɛqG= %z?I! %<ɚ!i!I%zH8>I I!IIBI$ =&I.I6I<:Ii FuWill construct direction to contact in vehicle frame from tetrahedron phase data.u]?u?uT****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.%9w,[^愾Ay~B~"II I &4J%J%J!J!J%:J%9J!J!J%7;J%9;J%$7;J%%7;٢ A=9Q > G٣y > Nusing accuracyPremultiplier from config:59^?:5YS! i B  @'Ed;; :5 %@!ZjFNOT Ignoring new targets: 174.90 m.Bj̻Jj̻ ProNav: ac range: 174.899994 m, nav range: 86.596001 m, bearing: 321.292143 deg, approach rate: 0.437489 m/s, LOS rate: -0.358084 deg/s, cmd heading: 83.954759 deg, new cmd heading: 83.492884 deg. 2juHeadingCmd: 1.457226 target range: 174.899994 and range: 174.90 m. j_?jjjihhhhff fqrfybf}`@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998784ɛAE0<= AEw?I .<ɚiI:6420-*''# BK:KG ><GY Bi } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249735O >!@w,CAyÃB"IMb@Mb@Mb@ )YV-?x&?{Gzty|??7=ף`@ x@)AIy@II4٢= A=9Q > G٣!y! -> =Nusing accuracyPremultiplier from config9E:59=#?E:5Y=K! i=d BEB@?E:E/?M@='E=];=;=:5UB U @UEZjy}FNOT Ignoring new targets: 174.90 m.BjJjờ ProNav: ac range: 174.899994 m, nav range: 86.792419 m, bearing: 321.133489 deg, approach rate: 0.490307 m/s, LOS rate: -0.395140 deg/s, cmd heading: 83.492881 deg, new cmd heading: 83.018009 deg. 2jHeadingCmd: 1.448938 target range: 174.899994 and range: 174.90 m. jv?jjj!i!h!h!hhȂBfffrfbf[@ɛaֽ= {?I %Y<ɚ!i9I= I ;Fw,%A2Ӽ?Y2?2|=92=y2Hf?Hb?@~? ?0?@ߒb&?`?ɨ2Ӽ?2;2CyNƃBN"IIVIV4٢^P< ^b=9^;Q b>`` bG٣bKGyfv f> jNusing accuracyPremultiplier from confighn:59j?n:5YjD! ijI Bpr~?r@j'Ejz:j :j:5t v@tZjFNOT Ignoring new targets: 174.90 m.Bj%ٻJj%ٻ5 ProNav: ac range: 174.899994 m, nav range: 86.961472 m, bearing: 320.996446 deg, approach rate: 0.470190 m/s, LOS rate: -0.380421 deg/s, cmd heading: 83.018006 deg, new cmd heading: 82.607683 deg. 2j5=HeadingCmd: 1.441776 target range: 174.899994 and range: 174.90 m. j=?j9j9jAiAhAhAhAhIfIfIfIZHQRHQH]9>IY I]"II]̃BI]" =&IY.IY6I]~<:I]a Frfqbfu@@ɛ!%&= !%|}?I) 5K<ɚ1i1I5 Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:20:03.5343  TRx dataTimestamp_ set to:1736374804.736623 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010384GgLw,4A 9I9]~?Y]½?]U=9]=y]H v?@I?`U????6?ɨ]~?]I;YyuBu"IzK uzOK 9K K !K    RK ?JK?Mb@Mb@Mb@ )YS㥛?V-?Qy$F?h=uA @)hAIb@y@I5I54٢=fZ E4=9E:5Q E> G٣yq > Nusing accuracyPremultiplier from config:59?:5Y;! i BG?:?@'E1;; :5 @Zj9=FNOT Ignoring new targets: 174.90 m.Bj=ܻJjUܻ ProNav: ac range: 174.899994 m, nav range: 87.190277 m, bearing: 320.813136 deg, approach rate: 0.483274 m/s, LOS rate: -0.386164 deg/s, cmd heading: 82.607682 deg, new cmd heading: 82.059212 deg. 2jHeadingCmd: 1.432203 target range: 174.899994 and range: 174.90 m. jqR?jjjihhhhނBfffrfbf`: @ɛ6= Iw?I <ɚiI`=G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: 22:20:03.5343 LVL= 26272, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.27,-2.235, 2.274, 3.093,-2.896, PHS= 0.749,-1.067,-0.297, RAW= 115.0, 7.8, CAL= 124.4, 4.5, ROT= 25.6, -4.5 u Ygot valid direction response: 22:20:03.5343 LVL= 26272, 32753, 32754, 32755, AGC= 63, IDX= 411, 0.27,-2.235, 2.274, 3.093,-2.896, PHS= 0.749,-1.067,-0.297, RAW= 115.0, 7.8, CAL= 124.4, 4.5, ROT= 25.6, -4.5 u PDAT read: Bearing 25.6, -4.5 (Local) } ~Local bearing/azimuth received: Bearing 25.6, -4.5 (Local) O >Sw,dPADAT read: Range 10 to 50 : 172.1 m (Round-trip 229.5 ms) speed 0.1 m/s ,DAT read: user:2508> BDAT read: Tx time:22:20:04.6506 $Ping request sent.  @)|٠=I>i|٠|UT?Jt+|v?)4?I& iFKɋE:publishing transmit ping timeMFpublishing direction and range info9pyѿL^;Կb +$?ye=?Ye |?e=9e=yeH:?ҫ3x???ֶ?`r)?`R? )Ii )Ii|UT?Jt+|v?)Iiɨe=?eh;eCy޵B޵!III4 I٢7  /=9{fQ >II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe:59]?e:5Y]1! i] Bimt?m@]'E];];]$:5q u@ykD?k$ k k,OA:k,CBk*CZk@"iF ZI4K!+6c@pyѿL^;Կb +$?JkFKRkɋ*PȨP@s>iBRCc@P?t4b˿5?"kI*kTBkѢ5?k $ 2k[Ckk& k3]CkBk\@ addTargetRange:: Added new target pos. range: 172.100006 m, deltaT: 3.533563 s, deltaX: -2.799988 m, approachRate: -0.792398 m/s, rangeRepo size: 4  Added new target pos. range: 172.100006 m, bearing: 331.266767 deg, lat: 36.905816 deg, lon: -122.121465 deg, deltaT: 3.533563 s, deltaX: -2.799988 m, approachRate: -0.792398 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 172.10 m.BjJj  ProNav: ac range: 172.100006 m, nav range: 86.781914 m, bearing: 321.146202 deg, approach rate: 0.000000 m/s, LOS rate: -0.386164 deg/s, cmd heading: 82.059211 deg, new cmd heading: 81.493264 deg. 2jHeadingCmd: 1.422326 target range: 172.100006 and range: 172.10 m. j?jjjih9hAhAhAfAfIfIrfM@3e@bfM?ɛϲ=  s?I 8<ɚiII! I%""II%уBI!&I!.I%7D6I%<:I%v F5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:20:04.6499 *Fu?2Fq:FqBFu0JFqGMg\=G B O- >Zw,%?jAz?Yz (?z7=9z=yzH`ب?ͪ??)?k?+P +P??ɨz?z&;zCy B !I) II4٢-oh -n=95ʺQ 5?99 =G٣=KGy= E? MNusing accuracyPremultiplier from configAM:59E?U:5YE*! iE BY]?]@E'EEq+;E*;E':5a e@eEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 172.10 m.Bj(Jj( ProNav: ac range: 172.100006 m, nav range: 86.945137 m, bearing: 321.013001 deg, approach rate: 0.534855 m/s, LOS rate: -0.435659 deg/s, cmd heading: 81.493261 deg, new cmd heading: 81.094414 deg. 2j~HeadingCmd: 1.415365 target range: 172.100006 and range: 172.10 m. j*?jjjihhhhfffrfbfv?ɛ = n?I I<ɚiIӪE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734704`w,gAV岠?YV?V^!=9V==yVH`?ƺ?d?y?'n?@(k?b?ɨV岠?V ;VCybBb!I U@U ]@] ]@]  ]@] IeIey4٢u8 uF=9}QQ > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config:59?:5YR"! i B+:]:?@'E$5;>*:5 @ZjFNOT Ignoring new targets: 172.10 m.BjJj⻝ ProNav: ac range: 172.100006 m, nav range: 87.145935 m, bearing: 320.849767 deg, approach rate: 0.487465 m/s, LOS rate: -0.395359 deg/s, cmd heading: 81.094413 deg, new cmd heading: 80.605852 deg. 2jHeadingCmd: 1.406837 target range: 172.100006 and range: 172.10 m. j@?jjjihhh h f f frfbf%M?ɛIMn= IUk?IQ U<ɚQiQIUW  I jH <bH p<H! I!  I% "II% ̃BI! &I! .I! 6I% h<:I% R F"gw,ꝅA6Gc?Y6c?6L=96=y6H?s?`? V?t?6`ߌ?G?ɨ6Gc?6;6CyNBR!IIVIV4~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238519٢%e %P=9%Q ->)) -G٣)y5ʻ 5> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config:59?:5Y! i B :3:?@'E';/R?-:5 mAZjy}FNOT Ignoring new targets: 172.10 m.Bj׻Jj׻ ProNav: ac range: 172.100006 m, nav range: 87.343300 m, bearing: 320.689800 deg, approach rate: 0.465032 m/s, LOS rate: -0.376063 deg/s, cmd heading: 80.605849 deg, new cmd heading: 80.127045 deg. 2j HeadingCmd: 1.398481 target range: 172.100006 and range: 172.10 m. jk?jjjihhhhfffrfbf:?ɛaeB= im*]?I <ɚiI#  I Rmw,ⷅA2?Y2 :?2=92~=y2H L?| z?q? R?@l?+??ɨ2?2)|;2Cy>yB>!IiB=IB$?        Mb@Mb@Mb@ )Y rh?ʡE?IzKMBoHKM9KIKM#KMY ]G٣]KGye e> mNusing accuracyPremultiplier from configiu:59m?u:5Ym! ims B}T:}L?}:}y?}@m'Em; ;me;m0:5 AZjFNOT Ignoring new targets: 172.10 m.BjڻJjڻ ProNav: ac range: 172.100006 m, nav range: 87.547241 m, bearing: 320.530674 deg, approach rate: 0.491680 m/s, LOS rate: -0.382740 deg/s, cmd heading: 80.127046 deg, new cmd heading: 79.650792 deg. 2jUHeadingCmd: 1.390169 target range: 172.100006 and range: 172.10 m. j% ?j!jAjAiAhIhIhQh]Bfafafarfibfm`?ɛ́B&= Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742739 V?I  <ɚ i I `JJJ/JJ:J9J(N3J Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ iյ A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9948764tw,YхA2"?Y2`?2K=92'=y2HL1?@u?@u? 4? ֵ?hL??ɨ2"?2 ;2Cy:aB:!IIJIJ4٢r rQ=9v&:Q v>tx zG٣xyzʋ z> ENusing accuracyPremultiplier from config9E:59=?M:5Y=h ! i=P BIM?M@='E=z:=X:=4:5UB }A}EZjFNOT Ignoring new targets: 172.10 m.BjJj󻝊  ProNav: ac range: 172.100006 m, nav range: 87.748955 m, bearing: 320.372399 deg, approach rate: 0.543940 m/s, LOS rate: -0.425822 deg/s, cmd heading: 79.650791 deg, new cmd heading: 79.177069 deg. 2j HeadingCmd: 1.381901 target range: 172.100006 and range: 172.10 m. je?jajijiiihihihhfffrfbfZ@ Iiɛ!-`u= I?I Dr<ɚiII I"IIBI! =&I.I6IZ<:IJ FBIşCJIşCRIZI" =bI" =jIŢ^5%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247640G Ĉ=G B O >*J 4="J p=_zw,녾A6 "?Y6'`?6m=96!=y6Hn,?x ??`U??JԳ?`?ɨ6 "?6l;6CyBLBB~!IIJIJJ4٢RXֽ RO=9Rk ;Q V>TT VG٣TyZ' Z> bNusing accuracyPremultiplier from config\b:59^?b:5Y^K! i^- Bdf?f@^'E^:^L:^s7:5h jHAl~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 172.10 m.Bj Jj 黝% ProNav: ac range: 172.100006 m, nav range: 87.944839 m, bearing: 320.217432 deg, approach rate: 0.516369 m/s, LOS rate: -0.407597 deg/s, cmd heading: 79.177069 deg, new cmd heading: 78.713214 deg. 2j%݋%HeadingCmd: 1.373805 target range: 172.100006 and range: 172.10 m. j-د?j)j)j)i)h)h)h1h1fffrfbfj@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498746ɛ΁Bé= ??I kE<ɚiIzKK9KK$K  BK:K% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751757=Fw,XXA @2&?Y2d?2X=92q=y2H?_Jŵ??T}?`?N`CӲ??ɨ2&?2즈;2CyB%BBN!IMb@Mb@Mb@ )YPn?RQ?:vyD?=ԼhA C@)I@yG@II4٢:1 9=9:Q > G٣KGy > Nusing accuracyPremultiplier from config:59?:5Y\ i BE?:?@'EK;;P;:5 AZjFNOT Ignoring new targets: 172.10 m.JJJ0JJJJـ3JBjһJjһ ProNav: ac range: 172.100006 m, nav range: 88.163246 m, bearing: 320.048640 deg, approach rate: 0.477452 m/s, LOS rate: -0.368076 deg/s, cmd heading: 78.713211 deg, new cmd heading: 78.208104 deg. 2j|HeadingCmd: 1.364989 target range: 172.100006 and range: 172.10 m. j?jjjihhhhBfff!rf!bf%@ɛρB1t= 隕+?I F<ɚiIryGa Bq O >ZH RH H ;>I  I !II BI &I .I 6I <:I | Fow,1A6hC?Y6?6=96Ļ=y6Hn?R?ȕ? U?`? ? ?ɨ6hC?6ʈ;6CyR BR-!IIZIZ4٢b f]=9fs9Q f>hh jG٣hyj n>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rBDAT read: Rx Time:22:20:07.3115 vTRx dataTimestamp_ set to:1736374808.516715vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255795 ~Nusing accuracyPremultiplier from configx:59z?:5Yz iz B?@z'Ez;zk;z>:5 XAZjUFNOT Ignoring new targets: 172.10 m.Bj] ׻Jj] ׻m ProNav: ac range: 172.100006 m, nav range: 88.346199 m, bearing: 319.906338 deg, approach rate: 0.484421 m/s, LOS rate: -0.376007 deg/s, cmd heading: 78.208104 deg, new cmd heading: 77.782089 deg. 2jmHeadingCmd: 1.357554 target range: 172.100006 and range: 172.10 m. jQĭ?jjjihhhhfffrfbf @ɛ9=;'= 9=O?IA EPl=ɚAiAIE` I Hw,9AN.?YN7l?NN=9N#=yNH`F? 3`];?T?[? ?ڿ??ɨN.?N;NCyZB^!ImMb@Mb@Mb@iii i)iYmv?+η?:vym8?mv=ii m@)iIiiym=@IIļ4٢h) ==9K:Q > G٣yk >zKLKh9KK%KRK?JK? Nusing accuracyPremultiplier from config:59?:5Y i Bz:?:4?@'EW;;WB:5B AEZj!5FNOT Ignoring new targets: 172.10 m.Bj=WȻJjEWȻWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 22:20:07.3115 LVL= 23024, 32753, 28658, 32755, AGC= 62, IDX= 209, 0.20,-1.508, 2.909,-2.569,-2.236, PHS= 0.817,-1.091,-0.335, RAW= 113.2, 7.4, CAL= 123.0, 4.2, ROT= 27.0, -4.2 EYgot valid direction response: 22:20:07.3115 LVL= 23024, 32753, 28658, 32755, AGC= 62, IDX= 209, 0.20,-1.508, 2.909,-2.569,-2.236, PHS= 0.817,-1.091,-0.335, RAW= 113.2, 7.4, CAL= 123.0, 4.2, ROT= 27.0, -4.2 MPDAT read: Bearing 27.0, -4.2 (Local) M~Local bearing/azimuth received: Bearing 27.0, -4.2 (Local) ]DAT read: Range 10 to 50 : 192.5 m (Round-trip 256.7 ms) speed 0.4 m/s e,DAT read: user:2509> eBDAT read: Tx time:22:20:08.4006 m$Ping request sent.mi&Q?㥋'? A> od @)Q =I:F>iQ :??M4f{l?)=Ii &I:publishing transmit ping timeiFpublishing direction and range info9ϒ2Zп1u Tҿ^iɇ?y )Ii )Ii:??M4f{l? ProNav: ac range: 172.100006 m, nav range: 88.545967 m, bearing: 319.750951 deg, approach rate: 0.451379 m/s, LOS rate: -0.350306 deg/s, cmd heading: 77.782092 deg, new cmd heading: 77.316993 deg. )Ii2jip HeadingCmd: 1.349436 target range: 172.100006 and range: 172.10 m. j R?j j j i hh9hAhMpBfQfQfQrf}h@bf}?ɛЁB= | ?I E=ɚiII=I R?i S w,SAjP?YjkD?j=9j)7s=yjH6?<ٲ? w?i?^G? C=??ɨjP?jS-;jCyrBr II5I54٢EX5 EI=9m;Q u>qq uG٣uKGy' > Nusing accuracyPremultiplier from config:59X?:5Y i B?@'EC::E:5 A )I5ikd歯?kM#% k k\AA:k@CBk.?CZk@"H?9䕑Kz",8f@ϒ2Zп1u Tҿ^iɇ?Jk &RkI*ZM@%NDPXDf@ ?rԘ˿mε?"k&*koBk4zЯ?k +% 2ksCkkb% kkBk^ @addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 192.500000 m, deltaT: 3.779021 s, deltaX: 20.399994 m, approachRate: 5.398222 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 172.10 m.BjӻJjӻ ProNav: ac range: 172.100006 m, nav range: 88.733795 m, bearing: 319.600847 deg, approach rate: 0.464782 m/s, LOS rate: -0.370645 deg/s, cmd heading: 77.316990 deg, new cmd heading: 76.867643 deg. 2j^~ HeadingCmd: 1.341594 target range: 172.100006 and range: 172.10 m. j V?j jjihhhhfffYrfabfe?ɛсB= 隵_>I 1=ɚiIa\=IV?iip=)V?)EH<>I I!IIRBI" =&I.I6I[<:IJ F*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G Cv=G G G B O >ۚw,mAy=B= IIMIM4٢]  ]J=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy:59}?:5Y}2 i}m B@}'E}L:}:}jI:5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 172.10 m.BjڻJjڻWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 172.100006 m, nav range: 88.914619 m, bearing: 319.457392 deg, approach rate: 0.483423 m/s, LOS rate: -0.382740 deg/s, cmd heading: 76.867646 deg, new cmd heading: 76.438162 deg. 2jUHeadingCmd: 1.334098 target range: 172.100006 and range: 172.10 m. jê?jjjihhhhfffrfbf ?ɛ%ҁB%}= %%=%>I! %;=ɚ)i)I-=Iuê?iyi}Ţ=)}ê?)y IIQ*Fm?2Fq:FqBFu_0JFyG=GqBO~>zKQJK9KK&KBK:K Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993613áw,gA./(?Y.Jf?.o=9.z=y.Hu?s?xe? B?*?/@? ?ɨ./(?.D/;.Cy>{BB} I}Mb@Mb@Mb@yyy y)yY}K7A`?1Zd?:vy}+?}"=y}QA }@)}MAI}@yy}3@IIm4٢F F=9`FQ > G٣y > Nusing accuracyPremultiplier from config:59?:5Y iI BP-?:#?@'E;;M:5JJJJJݒ:J9JJ  AZjY]FNOT Ignoring new targets: 172.10 m.BjeJje ProNav: ac range: 172.100006 m, nav range: 89.095306 m, bearing: 319.319752 deg, approach rate: 0.395810 m/s, LOS rate: -0.300900 deg/s, cmd heading: 76.438163 deg, new cmd heading: 76.026088 deg. 2jNHeadingCmd: 1.326906 target range: 172.100006 and range: 172.10 m. j ة?jjjihhhhBfffrfbfJ?ɛEӁBE_= 隭>I uj=ɚiIj=I ة?i=UI C I (!II BI ! =&I .I 6I <:I  FG% ?G% >G B! Oe >2w,iA*Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495754>?Y>A?>y=9> l=y>H ? h7?X? 0Z?৤?ղnw?$?ɨ>?>fc;>CyFUBJO IIRIRЬ4٢ZF ZY=9^:Q ^>\\ bG٣bKGybļ b> jNusing accuracyPremultiplier from confighn:59jm?n:5Yj? ij) Bln?n@j'Ej:j:jNP:5t v AvEZjFNOT Ignoring new targets: 172.10 m.BjNԻJjNԻ ProNav: ac range: 172.100006 m, nav range: 89.255150 m, bearing: 319.196543 deg, approach rate: 0.482462 m/s, LOS rate: -0.371221 deg/s, cmd heading: 76.026091 deg, new cmd heading: 75.657131 deg. 2j~HeadingCmd: 1.320466 target range: 172.100006 and range: 172.10 m. j?jjjihhhhff!f!rf!bf%!?ɛMԁBU*RU= QU:>IQ U=ɚQiYI]=I?iiae=)?)*F]?2FY:FYBF]o0JFYGi GmpAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748350G=)a a NG |uAG  M YM |uAyU B ) I1 By C@ BO= >!w,AEAye6Be) I-only read 0 of 1 data item for BIT error. Device response is::TS,25010814211620,35.0, +100,1493.3, 0  @ @ @  @ IIB4٢ ;=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config:59?:5Y zKBHK9KK'Ki B+:~:@'E;>eS:5  AZjAEFNOT Ignoring new targets: 172.10 m.BjMٹJjMٹ] ProNav: ac range: 172.100006 m, nav range: 89.443558 m, bearing: 319.052282 deg, approach rate: 0.425308 m/s, LOS rate: -0.324965 deg/s, cmd heading: 75.657131 deg, new cmd heading: 75.225269 deg. 2j]_eHeadingCmd: 1.312929 target range: 172.100006 and range: 172.10 m. je ?jajajaiahahihihififqfqrfqbfu&?ɛ%ցB-9;= )-^A>I) -=ɚ1i1I5w=]Will construct direction to contact in vehicle frame from tetrahedron phase data.]1?]=echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999993Ie ?iiimv=)m ?)iEV<*F] ?2FY :FY BF] _0JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251663G} l=G pAG !I-iGQBiO>L#w,نA6?Y6B>IIFIFv4٢N5 N:=9R9;Q R>TX ZG٣XyZ[ Z> bbBottom track data is 0.9 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f:59^?f:5Y^ i^Bj :hjM:j?j@^'E^:;^va?^U:5l n? AlZjFNOT Ignoring new targets: 172.10 m.BjxJjx ProNav: ac range: 172.100006 m, nav range: 89.628883 m, bearing: 318.904466 deg, approach rate: 0.409634 m/s, LOS rate: -0.326048 deg/s, cmd heading: 75.225272 deg, new cmd heading: 74.782751 deg. 2j_HeadingCmd: 1.305205 target range: 172.100006 and range: 172.10 m. j?jjjihhhhfffrfbfd@ɛ-ׁB5$%= 9==I9HmA>Ii Im IImBIm =&Ii.Ii6Imt<:Imc F u=/=ɚiI=I?i #WJ J J J J M:J 9J J J ;a- J ;a- J !;a- J !;a- u PExceeded connect timeout, disconnecting. Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755944rBw,kA~պ?Y~?~9=9~qc=y~H`?=3L? ? 1? ? @TS? ?ɨ~պ?~C;~Cy BII% I%e4٢]  ]@=9e:Q e>ai mG٣mKGym8 m> bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from configq:59u?:5Yu7 iuB9&:?@u'EuIrR= 隥?=I `=ɚiI}=I`?i*Y G٣y > Nusing accuracyPremultiplier from config:59i?:5Y iBT:?:?@'ER;(;\:5B AEZj%FNOT Ignoring new targets: 172.10 m.Bj%cJj%c5 ProNav: ac range: 172.100006 m, nav range: 89.982788 m, bearing: 318.617174 deg, approach rate: 0.344557 m/s, LOS rate: -0.280446 deg/s, cmd heading: 74.355079 deg, new cmd heading: 73.922586 deg. 2j5w@EHeadingCmd: 1.290192 target range: 172.100006 and range: 172.10 m. jE%?jAjAjAiAhAhIhIhMBfIfQfQrfQbfU, @ɛ}ځB< MM=隍I  ==ɚiIݔ=I5%?i= ZIi ImM IImTBIi&Ii.Ii6ImZ<:ImR FBI%ĠCJI%ĠCRI!ZI%! =bI% =jI%ĕ5*F?2F:FBFp0JFG}ܒ=MWill construct direction to contact in vehicle frame from tetrahedron phase data.M=M=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.512548GBOd>JK K.-KK u nManaging dock network, ignoring radio surface power off"KJE JE JA JA JE m:JE 9JA JA JE ;JE ;JE ';JE ';Zˡw,/AB?YB\?BP=9B1d=yBHH?x г? ?f?h?@ᄍl??ɨB?B- ;@ynBnzIIv#Iv5٢ V=9 Q  >   G٣yм 5> ENusing accuracyPremultiplier from config9E:59= ?E:5Y=U i=uBIMp?M@='E=:=L:= `:5y }rAyWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:20:11.0285 LVL= 20912, 28625, 21874, 22355, AGC= 66, IDX= 111,-0.15, 0.110,-1.803,-1.040,-0.694, PHS= 0.892,-1.061,-0.348, RAW= 111.1, 6.1, CAL= 121.6, 3.2, ROT= 28.4, -3.2 Ygot valid direction response: 22:20:11.0285 LVL= 20912, 28625, 21874, 22355, AGC= 66, IDX= 111,-0.15, 0.110,-1.803,-1.040,-0.694, PHS= 0.892,-1.061,-0.348, RAW= 111.1, 6.1, CAL= 121.6, 3.2, ROT= 28.4, -3.2 PDAT read: Bearing 28.4, -3.2 (Local) ~Local bearing/azimuth received: Bearing 28.4, -3.2 (Local)  DAT read: Range 10 to 50 : 167.7 m (Round-trip 223.7 ms) speed 0.0 m/s ,DAT read: user:2510> BDAT read: Tx time:22:20:12.1506 $Ping request sent.iڽdڹڹ۽ ͘p?sÿv>.?)۽BI۽ٽi۽۽L۹۹M:publishing transmit ping timeMFpublishing direction and range infoع9ؽ{K4sbͿGп}_.?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽ ͘p?sÿv>.?)۹I۹i۹۹۹۹kѵê?kO$ k k13A:k'CBk&CZkO@"G?C_kSE[Qac@{K4sbͿGп}_.?JkRkL*RcF@wq@JcYc@/r_?T5l`ɿJ̙&?"k*k3BkŘݪ?k1%$ 2k^CkѢ5?k +% k^CkOBk@ addTargetRange:: Added new target pos. range: 167.699997 m, deltaT: 7.557658 s, deltaX: -4.400009 m, approachRate: -0.582192 m/s, rangeRepo size: 4 = Added new target pos. range: 167.699997 m, bearing: 322.846910 deg, lat: 36.905813 deg, lon: -122.121287 deg, deltaT: 7.557658 s, deltaX: -4.400009 m, approachRate: -0.582192 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 167.70 m.BjEJjA} ProNav: ac range: 167.699997 m, nav range: 80.154968 m, bearing: 326.818109 deg, approach rate: 0.000000 m/s, LOS rate: -0.280446 deg/s, cmd heading: 73.922584 deg, new cmd heading: 73.560332 deg. 2jyHeadingCmd: 1.283870 target range: 167.699997 and range: 167.70 m. jU?jjjihhhhfffrf`fd@bf~?ɛ5܁B5< 15pͽI9 ==ɚ9i9I== iIqIU?i{\]ҡw,JAyBWIAMb@Mb@Mb@ )Y rh?)\(?~jty>Ga=DzA )AI;@y @IMAAIM+IM~5٢e e#=9eQ e>ii mG٣mKGym u> }Nusing accuracyPremultiplier from configq:59u"?:5YuN iuYBK>:˺?@u'EuO.H F>I C I II BI &I .I 6I \<:I V F Will construct direction to contact in vehicle frame from tetrahedron phase data.ءw,0dARŌ?YR?Rq-=9Ri=yRH?J _??-?Rʴ?@-; ??ɨRŌ?RyS;RCyZlB^0IIfIf4٢nI n=9nλQ n ?pp rG٣pyvj v ? zNusing accuracyPremultiplier from configx~:59zT$?~:5Yzp izGB|r?@z(EzK ;z\ ;z3g:5  UA ZjFNOT Ignoring new targets: 167.70 m.BjJj ProNav: ac range: 167.699997 m, nav range: 80.323769 m, bearing: 326.576418 deg, approach rate: 0.202374 m/s, LOS rate: -0.296623 deg/s, cmd heading: 73.120788 deg, new cmd heading: 72.836071 deg. 2jKHeadingCmd: 1.271229 target range: 167.699997 and range: 167.70 m. j?jjjihhhhfffrfbf ?ɛށB~< cI =ɚiI=Im?imk_vw,0A2?Y2?2=92=y2H F?ڵ?`??HԳ? ͸`?d?ɨ2?2~;2CNWill construct direction to contact in vehicle frame from tetrahedron phase data.yVYBVIMb@Mb@Mb@ )Y7A`?l?Mb`?y>=;~A @)AI@y(AII4٢ |   =9VWQ >!! -G٣)y-r 5> =Nusing accuracyPremultiplier from config1E:595f'?E:5Y5ޗ i54BE]>E:E>?M@5(E5;5Y;5k:5Q UAQmB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 167.70 m.Bj[Jj[ ProNav: ac range: 167.699997 m, nav range: 80.410110 m, bearing: 326.436365 deg, approach rate: 0.174124 m/s, LOS rate: -0.282140 deg/s, cmd heading: 72.836072 deg, new cmd heading: 72.416371 deg. 2jA-HeadingCmd: 1.263904 target range: 167.699997 and range: 167.70 m. j-ǡ?j)j1jQiQhQhYhYh]DBfYfafarfabfe#?ɛ߁BS< I =ɚiIx =Iǡ?i a I w,^Ay]QB]IImjH<bHp<HH>I IIIBI =&I.I8D6IJ<:IL FIm4٢ R=9Q > G٣KGy > Nusing accuracyPremultiplier from config:59)?:5Y i&B@(E;;o:5 +AZj FNOT Ignoring new targets: 167.70 m.BjJj ProNav: ac range: 167.699997 m, nav range: 80.475632 m, bearing: 326.330800 deg, approach rate: 0.169469 m/s, LOS rate: -0.272818 deg/s, cmd heading: 72.416370 deg, new cmd heading: 72.099938 deg. 2j;;HeadingCmd: 1.258381 target range: 167.699997 and range: 167.70 m. j?jjjihhhhfffrf bf  ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751493ɛB,>N< 掾I =ɚiI& =I%?i%sbIw,pA?Y!?E=99=yH`6?`?@?? 6I?XN`?@?ɨ?j<;騥Cy޽DB޽IuMb@Mb@Mb@qqq q)qYuDl?S㥛?y&1?yuO>u/ G٣y"v > Nusing accuracyPremultiplier from config:59-?:5Y@ iB>;>?@ (Ex;;s:5 AEZjFNOT Ignoring new targets: 167.70 m.BjJj- ProNav: ac range: 167.699997 m, nav range: 80.550552 m, bearing: 326.190745 deg, approach rate: 0.142381 m/s, LOS rate: -0.265918 deg/s, cmd heading: 72.099935 deg, new cmd heading: 71.680165 deg. 2j-6=HeadingCmd: 1.251055 target range: 167.699997 and range: 167.70 m. j="?j9j9jAiAhAhAhIhMNBfIfIfQrfQbfU @zKeBHKe9KaKe+KeɛBb:W< #IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255546 %j=ɚ!i!I%G =I-"?i-xjc Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507348Ew,wՇA^3A?Y^N?^=9^ݑ=y^HU?j?`>l? pZ?@?w"??ɨ^3A?^J`;^Cy~!) -G٣-KGy- -? ENusing accuracyPremultiplier from configAM:59Et0?M:5YE iEBIUŪ?U@E (EE:E:Ev:5]B ]A]EZjFNOT Ignoring new targets: 167.70 m.BjJj $?Ii ProNav: ac range: 167.699997 m, nav range: 80.599358 m, bearing: 326.096909 deg, approach rate: 0.140246 m/s, LOS rate: -0.269482 deg/s, cmd heading: 71.680165 deg, new cmd heading: 71.398830 deg. 2j8HeadingCmd: 1.246145 target range: 167.699997 and range: 167.70 m. j?jjjihhhhfffrfbf@ɛ}B; 隕YI n=ɚiI{ =I?i8cIC I:IIuBI =&I.I6Ih<:Ie F=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759459GuY`n=GQ Bi O >Iw,OYA6ӄ?Y6?6kн=968u=y6H ?@M`~?Q?`?@? \@敲?@!?ɨ6ӄ?6و;4yN@BNIIVIV4٢b< bP=9bQ b>dd fG٣dyf j> nNusing accuracyPremultiplier from confighr:59j3?r:5Yj ij BprU?r@j(Ej :j:jz:5x zAxZj!%FNOT Ignoring new targets: 167.70 m.Bj-Jj-= ProNav: ac range: 167.699997 m, nav range: 80.652374 m, bearing: 325.991990 deg, approach rate: 0.135289 m/s, LOS rate: -0.267557 deg/s, cmd heading: 71.398829 deg, new cmd heading: 71.084285 deg. 2j=7EHeadingCmd: 1.240655 target range: 167.699997 and range: 167.70 m. jE͞?jAjAjAiAhIhIhIhIfQfQfQrfYbf]@ɛ< 隅I =ɚiI=I͞?i adGB O%M>zK iJK 9K K ,K   2DMPE Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:22:20:14.7766 M TRx dataTimestamp_ set to:1736374816.076594U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2644144w,? A>c?Y>~͟?>H=9>>=y>H0?4?P:?@&?~ޯ? @毲??ɨ>c?>w_;>CyZHBZI]Mb@Mb@Mb@YYY Y)YY]/$?Mb?{Gz?y]>]<]ף<]MA Y)YIYYy]pAIuIuH4٢= >=9ԨQ > G٣y > Nusing accuracyPremultiplier from config:59k8?:5Y iB>:?@(E;;}:5 AmB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 167.70 m.Bj}Jj ProNav: ac range: 167.699997 m, nav range: 80.704880 m, bearing: 325.865838 deg, approach rate: 0.117067 m/s, LOS rate: -0.281089 deg/s, cmd heading: 71.084285 deg, new cmd heading: 70.706079 deg. 2j@HeadingCmd: 1.234054 target range: 167.699997 and range: 167.70 m. jz?JJJJJ}:J9JJa@a@a@a@jj)j)i1h1h1hAhe]Bfafifirfibfm @ɛBC< I _U=ɚiI =Iz?idI  I II VBI  =&I .I 6I f<:I g FG B) OE >[w, #A~Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 22:20:14.7766 LVL= 17584, 31905, 26210, 32755, AGC= 60, IDX= 427, 0.25,-0.479,-2.434,-1.888,-1.451, PHS= 1.060,-0.936,-0.440, RAW= 103.8, 3.5, CAL= 114.6, 1.2, ROT= 35.4, -1.2 =Ygot valid direction response: 22:20:14.7766 LVL= 17584, 31905, 26210, 32755, AGC= 60, IDX= 427, 0.25,-0.479,-2.434,-1.888,-1.451, PHS= 1.060,-0.936,-0.440, RAW= 103.8, 3.5, CAL= 114.6, 1.2, ROT= 35.4, -1.2 EPDAT read: Bearing 35.4, -1.2 (Local) E~Local bearing/azimuth received: Bearing 35.4, -1.2 (Local) UDAT read: Range 10 to 50 : 166.2 m (Round-trip 221.7 ms) speed 0.4 m/s ],DAT read: user:2511> eBDAT read: Tx time:22:20:15.9007 e$Ping request sent.e G٣KGy > Nusing accuracyPremultiplier from config :59Y=?M:5Y"} iBQQU@(E><?B<ȁ:5q } Ayk~2 b*?k~" k| k~%A:k~3&CBk~%CZk~@"~_d D2<$ǫ_50Hd@~Q l!ƿHG4=?Jk~PRk~*~q+eM;@ s8FqEd@~ ?K¿&2Qs9?"k~8*k~kAk~:?k~E*" 2k~bCk~4zЯ?k~ $ k|k~Bk~ʴ@ addTargetRange:: Added new target pos. range: 166.199997 m, deltaT: 3.779896 s, deltaX: -1.500000 m, approachRate: -0.396836 m/s, rangeRepo size: 4  Added new target pos. range: 166.199997 m, bearing: 318.650312 deg, lat: 36.905747 deg, lon: -122.121267 deg, deltaT: 3.779896 s, deltaX: -1.500000 m, approachRate: -0.396836 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 166.20 m.BjJj ProNav: ac range: 166.199997 m, nav range: 73.779518 m, bearing: 323.707559 deg, approach rate: 0.000000 m/s, LOS rate: -0.281089 deg/s, cmd heading: 70.706077 deg, new cmd heading: 70.307216 deg. 2jHeadingCmd: 1.227092 target range: 166.199997 and range: 166.20 m. j]?jjjiAhAhAhIhIfIfIfIrfU`fd@bfU"?ɛmBu2Z< q隝I '<ɚiI1=I]?i(ew,0J@A-k=?Y-{?-ޭ=9-w=y-H@QK?@ >?@ ??1?@/x?@?ɨ-k=?- <;-CyeB'Ii=Ip;mWill construct direction to contact in vehicle frame from tetrahedron phase data.m=m<zKu=LKu+9KqKu-KuOJHGFCC@FJGDAA=753/,,*(#   Mb@Mb@Mb@ )Ye;O?Mb`?V-?y>;<A I@) AI@yAII4٢-m= --=9-AQ 5>11 5G٣1y= => ENusing accuracyPremultiplier from configAM:59EC?M:5YEw iEBU0>U:Ul?U@E(EE;Ej;Eڅ:5Y ]AYZjFNOT Ignoring new targets: 166.20 m.BjJjໝ ProNav: ac range: 166.199997 m, nav range: 73.844124 m, bearing: 323.541891 deg, approach rate: 0.153419 m/s, LOS rate: -0.393069 deg/s, cmd heading: 70.307215 deg, new cmd heading: 69.810657 deg. 2jᆼHeadingCmd: 1.218426 target range: 166.199997 and range: 166.20 m. ja?jjjihhhhBfffrfbf`?ɛX`< 隕~I M<ɚiI=Ia?ii)<)a?)*F2F:FBFJFJ]J]JYJYJ]:J]H9JYJYGu<G)B1OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. I ;w,$ZA2Ȁ?Y2?29==92ԓ=y2Hڄ?;`z'?? ? [?S"`g?[?ɨ2Ȁ?2˲;2CyN|BNDIIVIV4٢^m> ^|=9^雼Q b ?`` bG٣`yf3 f ? 5Nusing accuracyPremultiplier from configh5:59j H?=:5Yjs ijB9=?=@j(Ej ;j ;j:5A MAIZjiFNOT Ignoring new targets: 166.20 m.Bj)ĻJj)Ļ ProNav: ac range: 166.199997 m, nav range: 73.888954 m, bearing: 323.426667 deg, approach rate: 0.133530 m/s, LOS rate: -0.342994 deg/s, cmd heading: 69.810660 deg, new cmd heading: 69.465202 deg. 2jdkHeadingCmd: 1.212397 target range: 166.199997 and range: 166.20 m. j/?jjjihhhhfffrfbf R?ɛYq< xPI <ɚiI=I/?ii`<)/?)HS>IC III[BI =&I.I9D6Ir<:Is FBI¢CJI¢CRI”CZI =bI =jI`6*F?2F:FBF1JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.G&=GBO>*J] R="J] =aw,[sA:);?Y:Dy?:Ι=9:=y:H?``|?F?"? ?`55]??ɨ:);?: ;:CyFBFWIININ\4٢V~= VL=9Z(Q Z>XX ^G٣\y^Z0 ^> fNusing accuracyPremultiplier from config`f:59bM?j:5Ybn ibBhjc?j@b(Eb:be:b1:5rWill construct direction to contact in vehicle frame from tetrahedron phase data.zB zeAzEZj%FNOT Ignoring new targets: 166.20 m.Bj%ϻJj%ϻ5 ProNav: ac range: 166.199997 m, nav range: 73.944038 m, bearing: 323.283868 deg, approach rate: 0.140259 m/s, LOS rate: -0.363332 deg/s, cmd heading: 69.465203 deg, new cmd heading: 69.037134 deg. 2j5Zy=HeadingCmd: 1.204925 target range: 166.199997 and range: 166.20 m. j=:?j9jAjAiAhAhAhIhIfIfIfIrfQbfU@c?ɛ< 隝R1I <ɚiIV=I:?iix<):?) YIY*F ?2F :F BF P5JF G|<GBO-N>Will construct direction to contact in vehicle frame from tetrahedron phase data.zKMKh9KK.K #530.,((*'(&&$! ##&(&!  9Q\_aa^YTSRLIHDB@==;952/-.+pK#w,эA y~B~kI) J=J=J9J9J=y:J=9J9J9Mb@Mb@Mb@ )Y@5^I ?~jtx?X9v?yb?;< A 3@) AI3@yAI=I=x4٢U= ]2=9]Q ]>Ya eG٣eKGye e> uNusing accuracyPremultiplier from configiu:59mT?}:5Ymh imB}?}:}D?}@m"(Em ;m8;m3:5 AEB*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 166.20 m.Bj=Jj=绝M ProNav: ac range: 166.199997 m, nav range: 74.020714 m, bearing: 323.092155 deg, approach rate: 0.162269 m/s, LOS rate: -0.405303 deg/s, cmd heading: 69.037134 deg, new cmd heading: 68.462612 deg. 2jU]HeadingCmd: 1.194898 target range: 166.199997 and range: 166.20 m. j]k?jajajaiahahahhBfffrfbfd?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ=B=E< 9=IA e<ɚaiaIe2=Imk?iiim=)uk?)q E$?IMi*F2F:FBF4JFjH <bH <H Z>I C I :II uBI  =&I .I :D6I ]<:I j FG <G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data.ե ?ե ?? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004447G B O >u)w,A H}?Y ? =9  {=y Hw?ॿs»?d???@XU?@R?ɨ H}? 1; Cy5B=II]I]4٢u}> Z=9:Q > G٣y > Nusing accuracyPremultiplier from config:59W[?:5Y#c iB?@%(Eq:q::5  5A9ZjyFNOT Ignoring new targets: 166.20 m.BjJj󻝊 ProNav: ac range: 166.199997 m, nav range: 74.083557 m, bearing: 322.929489 deg, approach rate: 0.164819 m/s, LOS rate: -0.426262 deg/s, cmd heading: 68.462613 deg, new cmd heading: 67.975040 deg. 2jEHeadingCmd: 1.186388 target range: 166.199997 and range: 166.20 m. jۗ?jjjihhh h fffrfbf@q @ɛaE(=< IMdII M.<ɚIiIIM=IUۗ?iQi]҇=)]ۗ?)Y*F=?2F9:F9BF=5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256026G:^<GBO> 1I1.`0w,hAv/{?Yv2+?v$]=9v!=yvH`%?b??`0?@r>?@}谿 1l? ?ɨv/{?vխ;vCyȁB IMb@Mb@Mb@ )Y r?Mb?Mb?y#?==3 A v@) AI@yAII=4٢؏= A=9Q > G٣yZ > %Nusing accuracyPremultiplier from config-:59Sb?-:5Y\ iB5#?5:5?5@*(E%;#;-:59 =A9MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507249ZjquFNOT Ignoring new targets: 166.20 m.Bj}(Jj}( ProNav: ac range: 166.199997 m, nav range: 74.168037 m, bearing: 322.737292 deg, approach rate: 0.209535 m/s, LOS rate: -0.476159 deg/s, cmd heading: 67.975040 deg, new cmd heading: 67.399127 deg. 2jdHeadingCmd: 1.176337 target range: 166.199997 and range: 166.20 m. j3?jjjihhhhRBfffrfbf`D@zK/NK9KK/K($"   ,300/)('$#!RK?JK>ɛeB< 隅 qI l<ɚiIG=I3?ii+=)3?)*F}?2F:FBF_0JFJ=J=J9J9J=s:J=ľ9J9J9G} = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759932Gy B O >  I 6w,\ۈAy~ׁB~II I 4٢|= Z=9%Q %>!) -G٣-KGy- -> 5Nusing accuracyPremultiplier from config1E:595h?E:5Y5V i5BAAE@5-(E5s;5;5o:5Q UAQZjFNOT Ignoring new targets: 166.20 m.BjiJji ProNav: ac range: 166.199997 m, nav range: 74.245598 m, bearing: 322.562872 deg, approach rate: 0.206120 m/s, LOS rate: -0.463046 deg/s, cmd heading: 67.399125 deg, new cmd heading: 66.876425 deg. 2j䞼HeadingCmd: 1.167214 target range: 166.199997 and range: 166.20 m. jCg?jjjihhhhfffrfbf{C@ɛ  O*<  0I  m<ɚiIi=ICg?iie8=)Cg?)!H`>IC IyIIBI =&IFD.I;D6IE<:I] F*F2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011356G{=GGGBO>ԯtt vG٣tyvV޼ z> ~Nusing accuracyPremultiplier from configx:59zo?:5YzHP izB ? @z1(EzD;z;z:5 W AZj9=FNOT Ignoring new targets: 166.20 m.BjEJjE] ProNav: ac range: 166.199997 m, nav range: 74.326134 m, bearing: 322.377342 deg, approach rate: 0.206326 m/s, LOS rate: -0.474793 deg/s, cmd heading: 66.876424 deg, new cmd heading: 66.320458 deg. 2j]좼eHeadingCmd: 1.157510 target range: 166.199997 and range: 166.20 m. jeM)?jajajaiihihihihqfqfqfq Irfbfگ @ɛB,= h}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515929zK MK 9K K 0K  BK! :K! VCw,+AJ w?YJ4?J,pc=9J+ =yJH w?*?? ?[?@Hj @?`?ɨJ w?JiK;JCyVBVIMb@Mb@Mb@ )Y ףp= ?v/?:v?yQ8?xi=< A @) AIhAy=AII4٢q= >=9j Q > G٣y. > Nusing accuracyPremultiplier from config:59w?:5YzH iB9?:ס?@6(E;o;:5B  AEB*** querying acoustic contact ***j!j!Zj9EFNOT Ignoring new targets: 166.20 m.BjUJjUu ProNav: ac range: 166.199997 m, nav range: 74.433342 m, bearing: 322.152636 deg, approach rate: 0.245264 m/s, LOS rate: -0.513327 deg/s, cmd heading: 66.320461 deg, new cmd heading: 65.647345 deg. 2ju%}HeadingCmd: 1.145762 target range: 166.199997 and range: 166.20 m. j}W?jyjyjyiyhhhhBfffrfbf @ɛB(== 隝=I g<ɚiIk=IW?Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:20:18.5242 LVL= 19728, 32753, 27346, 32755, AGC= 64, IDX= 418,-0.11, 2.795, 0.995, 1.393, 1.951, PHS= 0.933,-0.909,-0.560, RAW= 100.3, 6.4, CAL= 110.1, 4.9, ROT= 39.9, -4.9  Ygot valid direction response: 22:20:18.5242 LVL= 19728, 32753, 27346, 32755, AGC= 64, IDX= 418,-0.11, 2.795, 0.995, 1.393, 1.951, PHS= 0.933,-0.909,-0.560, RAW= 100.3, 6.4, CAL= 110.1, 4.9, ROT= 39.9, -4.9 PDAT read: Bearing 39.9, -4.9 (Local) ~Local bearing/azimuth received: Bearing 39.9, -4.9 (Local) %DAT read: Range 10 to 50 : 164.4 m (Round-trip 219.3 ms) speed 0.4 m/s -,DAT read: user:2512> iIiUBJ=)UW?)YEBDAT read: Tx time:22:20:19.6507 m$Ping request sent.mIC III߁BI =&I.I} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:20:19.6500 Iw,c(AN;v?YN8?NQR=9Nä=yNHI ?&x? t?@??#? JGKd?@?ɨN;v?N;Ly B%II]I]4٢mų= mN=9m,Q u>qq }G٣}KGyv > Nusing accuracyPremultiplier from config:59~?:5Y8A iBX?@;(E:0;&:5 k Akǽ?kt# k k A:kf$CBkJ#CZkҡ@"41BǹNfT%Lu#tc@T̿Ȃď\(#?Jk$6RkE*ǫZ8)@OCA\c@cQ&?sx˿=d#?"k*kLAk3<崠?kF(# 2kaCkŘݪ?k1%$ kaCkfBk99@ addTargetRange:: Added new target pos. range: 164.399994 m, deltaT: 3.780234 s, deltaX: -1.800003 m, approachRate: -0.476162 m/s, rangeRepo size: 4  Added new target pos. range: 164.399994 m, bearing: 289.744061 deg, lat: 36.905612 deg, lon: -122.121175 deg, deltaT: 3.780234 s, deltaX: -1.800003 m, approachRate: -0.476162 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 164.40 m.BjJj ProNav: ac range: 164.399994 m, nav range: 57.747375 m, bearing: 319.107986 deg, approach rate: 0.000000 m/s, LOS rate: -0.513327 deg/s, cmd heading: 65.647346 deg, new cmd heading: 65.005530 deg. 2j%HeadingCmd: 1.134561 target range: 164.399994 and range: 164.40 m. j%H9?j!j!j!i!h)hhhfffrf̌d@bf5?J%J%J%1J!J%p:J%9J%3J!J%;a5J%;a5J%;a5J%;a5ɛuBuN+= u%=u=Iq }}J<ɚyiyI}=IH9?iib=)H9?))ſ= *Fm?2FqNGsAAWill construct direction to contact in vehicle frame from tetrahedron phase data.iA YsAySB:FqBF=w0JF9 IG] H=GY B O >+Pw,CAn+v?YnS?nR?=9n=ynH@78?zqy۹??e?S?`l ??ɨn+v?nN;ly~B~IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YZd;O?333333?I +?y~J?=9<vA hA) AIAy\AII(4٢U :=9*Q > G٣y ܻ  > Nusing accuracyPremultiplier from config :59 ?:5Y |8 i B{K?: ?@ A(E ܹ< < :5  AzK+LK9KK1K  (&ZjaeFNOT Ignoring new targets: 164.40 m.Bjm&HJjm&H ProNav: ac range: 164.399994 m, nav range: 57.888603 m, bearing: 318.794178 deg, approach rate: 0.315775 m/s, LOS rate: -0.699938 deg/s, cmd heading: 65.005533 deg, new cmd heading: 64.066492 deg. 2j.𼝊HeadingCmd: 1.118171 target range: 164.399994 and range: 164.40 m. j< ?jjjihhhhڂBfffrfbf}?ɛ%B%* = !%v=I) -<ɚ)i)I-=I5< ?iIi=)< ?)*Fe?2Fa:FaBFe0JFaGEnp_=G B! O= >] Will construct direction to contact in vehicle frame from tetrahedron phase data. I iWw,]ARi=u?YRܖ?Rm .=9R=yRH`kp?jq?4?(?y?? h?ɨRi=u?R?;RCy^B^IIfIf̍4٢n"= r_=9r>Q r>tt vG٣tyz" z> ~Nusing accuracyPremultiplier from config|:59~͎?:5Y~'1 i~B ? @~E(E~ :~.:~):5 Y AHg>I I IIBI =&I.I6I<:ID FZjFNOT Ignoring new targets: 164.40 m.BjRJjR5 ProNav: ac range: 164.399994 m, nav range: 58.007702 m, bearing: 318.531237 deg, approach rate: 0.334646 m/s, LOS rate: -0.737296 deg/s, cmd heading: 64.066491 deg, new cmd heading: 63.279341 deg. 2j5=HeadingCmd: 1.104433 target range: 164.399994 and range: 164.40 m. j=^?j9j9j9i9h9h9hAhAfAfAfIrfIbfM;?ɛB]= 隽8=I 6 <ɚiI=I^?ii,=)^?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF 5JFG% a=G) G) J J J J J y:J ľ9J J J ;J ;J ;J ;G B O5 >q<]w,'wAWill construct direction to contact in vehicle frame from tetrahedron phase data. PITZu?YZǖ?Z=9Z=yZH{?lk~?`?b? b?y?g?ɨZu?Zr;ZCyjBjIIvIvQ4٢~; ~I=9PQ > G٣ KGy ֺ  > Nusing accuracyPremultiplier from config:59?:5Y) i!%?%@J(E ; ;:5-B -Z A-EZjquFNOT Ignoring new targets: 164.40 m.Bj}vVJj}vV ProNav: ac range: 164.399994 m, nav range: 58.141010 m, bearing: 318.240855 deg, approach rate: 0.345095 m/s, LOS rate: -0.749983 deg/s, cmd heading: 63.279339 deg, new cmd heading: 62.410262 deg. 2jHeadingCmd: 1.089265 target range: 164.399994 and range: 164.40 m. jm?jjjihhhhfffrfbf5?ɛeBm= im=Ii m<ɚqiqI4=Im?ii=)m?)E=dO=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF 4JFzK- )aMK- +9K) K- 2K- (Z*~wqlicb\WRQOIEDCE>WL /U - , ;  qX<iG =G B O >:$dw,^ABs?YB?Bl =9B"9=yBH`? [[`?z??0C =? ?ɨBs?B٣;@yNBNIEMb@Mb@Mb@AAA A)AYE㥛 ?!rh?Mb?yEU?El=E %G٣!y-LM => ]Nusing accuracyPremultiplier from configIu:59M?}:5YM iMB}vW?|:%?@MP(EM ;M:;M:5  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 164.40 m.BjbNJjbN  ProNav: ac range: 164.399994 m, nav range: 58.308956 m, bearing: 317.912861 deg, approach rate: 0.370629 m/s, LOS rate: -0.721740 deg/s, cmd heading: 62.410259 deg, new cmd heading: 61.429213 deg. 2j 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. $?IHeadingCmd: 1.072142 target range: 164.399994 and range: 164.40 m. j;?jjjihhhhBfffrfbf`J@ɛB = !%p<=I! %}<ɚ!iaImK=Im;?iqiu+=)u;?)qE5$=*F?2F:FBF[0JFjH<bH<Hh>IC I. II;BI =&I.I6I"<:IJ FBIǦCJIǦCRIZI =bI =jIL6 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249327G &=G B O% >\Ojw,G>AyލBލIII4٢ O=9Q > G٣y > Nusing accuracyPremultiplier from config:59N?:5Y= iB@V(E ; ;:5  AZj)5FNOT Ignoring new targets: 164.40 m.Bj=kVJj=kVM ProNav: ac range: 164.399994 m, nav range: 58.457253 m, bearing: 317.627832 deg, approach rate: 0.391122 m/s, LOS rate: -0.749837 deg/s, cmd heading: 61.429212 deg, new cmd heading: 60.576360 deg. 2jMMHeadingCmd: 1.057257 target range: 164.399994 and range: 164.40 m. jU2T?jQjQjQiQhYhYhYhYfafafarfabfe&@ɛB = Ga Bi O >9qw,"ʼnA p?Y ? <9 =y HO{?<`?`W???s@0?Y?ɨ p? ); CyBI)! !Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752802Mb@Mb@Mb@ )YQ?Q?MbpyU?\>vA A) AI7AyAII4٢9 :=9fQ > G٣KGy Ӽ > Nusing accuracyPremultiplier from config:59ޭ?:5Y iBX?z:ߩ?@\(E;Q;к:5 M AEzKE4PKAKAKE3KEOPiX\5 HvF ZjquFNOT Ignoring new targets: 164.40 m.Bj}6LJj}6L ProNav: ac range: 164.399994 m, nav range: 58.635098 m, bearing: 317.308235 deg, approach rate: 0.398605 m/s, LOS rate: -0.714137 deg/s, cmd heading: 60.576360 deg, new cmd heading: 59.620571 deg. 2j HeadingCmd: 1.040575 target range: 164.399994 and range: 164.40 m. j1?jjjihhhhقBfffrfbf@ɛ=BEEI< AE;IA M'<ɚIiIIM_=IU1?iQiUjk=)U1?)Y*F?2F:FBF_0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004809 i Im iG] =G1 BA O] >_ww,FމAB:o?YBۓ?B<9Bc=yBH`?, )?D?`?y z? ?ɨB:o?B;BCyJׁBJIIRIR4٢Z$ Zr=9^vQ ^?`` fG٣dyfꐼ f? jNusing accuracyPremultiplier from confighn:59jг?r:5Yjp ijBpr?r@j`(Ej;j-;jý:5vB z0AzEZjFNOT Ignoring new targets: 164.40 m.BjVJj%V- ProNav: ac range: 164.399994 m, nav range: 58.771515 m, bearing: 317.063144 deg, approach rate: 0.419098 m/s, LOS rate: -0.751214 deg/s, cmd heading: 59.620571 deg, new cmd heading: 58.887047 deg. 2j55HeadingCmd: 1.027773 target range: 164.399994 and range: 164.40 m. j5?j1j9j9i9h9h9hAhAfIfIfIrfQbfUT @HI IA IIJBI =&I.I6I<:I; Fɛ%B%HG< !%8QI) -<ɚ)i)I-=Iu?iqiu =)u?)yWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:20:22.2712 TRx dataTimestamp_ set to:1736374823.637908checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259603*F-?2F):F)BF-p0JF)Gb=GBO5p>*J C="J a=JsK{3 KsKsKs"KsJ J ~J J J s:J f9J J J ;J ;J :J : Y Ia e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510236z}w,AFpem?YF?FZ<9Fe=yFH)A?`E`DZ?,?J?x ٰ??ɨFpem?F;DybBbII5I54٢lȽ /=9MQ > G٣y>w > Nusing accuracyPremultiplier from config:59j?:5Y2 iB3?@g(E:;:5 AZjYeFNOT Ignoring new targets: 164.40 m.BjeJJjeJ ProNav: ac range: 164.399994 m, nav range: 58.962673 m, bearing: 316.719038 deg, approach rate: 0.395501 m/s, LOS rate: -0.709632 deg/s, cmd heading: 58.887050 deg, new cmd heading: 57.858196 deg. 2j󼝊HeadingCmd: 1.009816 target range: 164.399994 and range: 164.40 m. jA?jjjihhhhfffrfbf,C @ɛBQ< 隭̽I C<ɚiI=IA?ii >)A?)!*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:20:22.2712 LVL= 19280, 30305, 24610, 31539, AGC= 62, IDX= 404,-0.08, 2.832, 0.951, 1.242, 1.795, PHS= 1.125,-0.797,-0.556, RAW= 96.6, 2.6, CAL= 106.0, 0.4, ROT= 44.0, -0.4 Ygot valid direction response: 22:20:22.2712 LVL= 19280, 30305, 24610, 31539, AGC= 62, IDX= 404,-0.08, 2.832, 0.951, 1.242, 1.795, PHS= 1.125,-0.797,-0.556, RAW= 96.6, 2.6, CAL= 106.0, 0.4, ROT= 44.0, -0.4 PDAT read: Bearing 44.0, -0.4 (Local) ~Local bearing/azimuth received: Bearing 44.0, -0.4 (Local) %DAT read: Range 10 to 50 : 162.3 m (Round-trip 216.4 ms) speed 0.4 m/s 5,DAT read: user:2513> =BDAT read: Tx time:22:20:23.3507 =$Ping request sent.=i٭?٭1L٭V٭u?٭9= ڭh?)ڭ;Iڭ D?iڭککۭ;-PW?{38bٿY-@?)ۭ=ѾIۭR5iۭFۭp۩۩:publishing transmit ping time9Fpublishing direction and range infoة9ح(g¿Vz,*vtފɪ?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭ;-PW?{38bٿY-@?)۩I۩i۩۩۩۩zKE aOKE 9KA KE 4KE G /=G qAG G B O >rw,<AyzB~nIi=Ip< $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.MMb@Mb@Mb@III I)IYMn? rh?{GzyMVN?MC >MףM` A MA)IIIIyIII-4٢ 6=9Q > G٣KGyM M> UNusing accuracyPremultiplier from configQ]:59U+Ĝ?]:5YU iUB]PQ?]:e?e@Ul(EU;Uj;U:5i mAik|Y?koA" k k? A:kL"CBk4!CZkg@"4`U7!PByd@(g¿Vz,*vtފɪ?JkFRkp*ħ$A@u`M6rcd@CFF?槐inq?"k*kz@k?k'E" 2kaCk:?kF(# kaCk9Bk @ addTargetRange:: Added new target pos. range: 162.300003 m, deltaT: 3.782485 s, deltaX: -2.099991 m, approachRate: -0.555188 m/s, rangeRepo size: 4  Added new target pos. range: 162.300003 m, bearing: 275.864645 deg, lat: 36.905458 deg, lon: -122.121151 deg, deltaT: 3.782485 s, deltaX: -2.099991 m, approachRate: -0.555188 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 162.30 m.BjJj ProNav: ac range: 162.300003 m, nav range: 46.384796 m, bearing: 303.649745 deg, approach rate: 0.000000 m/s, LOS rate: -0.709632 deg/s, cmd heading: 57.858198 deg, new cmd heading: 56.868174 deg. 2jHeadingCmd: 0.992537 target range: 162.300003 and range: 162.30 m. j ~?j j j i h h hhBfffYrfeId@bfe@e?ɛBњ< +I <ɚiI=I~?ii>)~?)ZHRHAAHi>I I. II;BI&I.I6Il<:I F*F?2F:FBFJFG =G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. = R=w,,AnLIf?Ynb?n<9n%;&=ynH?@ S?@?E?@U@ Ť??ɨnLIf?nm;nCyzrB~8IIMIMJ4٢d y=9/oQ ? G٣y% ? Nusing accuracyPremultiplier from config:59Qʜ?:5Y@ iB?@q(E.:::5! %WA%E=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 162.30 m.Bj}gJj}g ProNav: ac range: 162.300003 m, nav range: 46.553967 m, bearing: 303.403675 deg, approach rate: 0.557619 m/s, LOS rate: -0.808144 deg/s, cmd heading: 56.868172 deg, new cmd heading: 56.132688 deg. 2j HeadingCmd: 0.979700 target range: 162.300003 and range: 162.30 m. jz?jjjihhhhfffrfbf?ɛ5B5;< 9=I9 =ߚ<ɚ9i9I==IEz?iAiE)=)Mz?)Q*F?2F:FBF4JF Ih%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.G =G B O >w,t A ) AIAy AIIs4٢%D %4=9%Q ->)) -G٣)y5 5> ENusing accuracyPremultiplier from config9M:59=(Ҝ?M:5Y= i=BM@?M:M?U@=v(E= ;=#;=:5]B ]TA]EzK}BoHK} 9KyK}5K}@: V'vI/ RK ?JK>ZjFNOT Ignoring new targets: 162.30 m.BjHJjH ProNav: ac range: 162.300003 m, nav range: 46.777657 m, bearing: 303.087033 deg, approach rate: 0.498405 m/s, LOS rate: -0.702135 deg/s, cmd heading: 56.132687 deg, new cmd heading: 55.187393 deg. 2j𼝊5HeadingCmd: 0.963202 target range: 162.300003 and range: 162.30 m. j5cv?j9j9j9i9h9h9hAhEBfAfAfArfIbfMq?ɛBt< 隽I 6<ɚiIh(=Icv?ii>)cv?)J]J]JYJYJ]p:J]9JYJYae@ae@ae@ae@*Fm?2Fi:FiBFu4JFq I Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239142Gm =Gq Gu (?GI BQ Ou >w,fK`AJa?YJxɌ?Jڋ<9J)~s?)*Fm?2Fi:FiBFm_0JFiGE9>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492175G!B9O]4> G |uA ZA Y |uAy +B I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743210ܝw,d!zA2}[]?Y2?2U<92v19 =G٣9y= => MNusing accuracyPremultiplier from configAM:59EA?M:5YE iEfB/?@E(EE)̘o?)*Fy2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998357Ge >zK NK 9K K 6K  BK) :K- qAG9 BI Oe >\äw,]AJ}JJJJ[j:JJJR,Y?YR?R<9RR G٣y& > Nusing accuracyPremultiplier from config:59眜?:5Y iMB U$?IQ]$?]:]8?]@(E<ٱ<:5eB eIAmEZjFNOT Ignoring new targets: 162.30 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248435Bj*Jj *M ProNav: ac range: 162.300003 m, nav range: 47.296066 m, bearing: 302.306811 deg, approach rate: 0.377175 m/s, LOS rate: -0.594578 deg/s, cmd heading: 53.624566 deg, new cmd heading: 52.855549 deg. 2jM̼UHeadingCmd: 0.922503 target range: 162.300003 and range: 162.30 m. jU.)l?jQjQjQiQhQhYhYh]BfYfafarfabfuQB@ɛeBe:+ aeIi m[i<ɚiiiImT=I}.)l?iyi}b>)}.)l?)*F?2F:FBFJFG >jHybHyHIC IIIBI&I.I6I4<:IX FGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499395ꪢw,ɭA6T?Y6?6iΩ<965XX ZG٣ZKGyZ,: ^> bNusing accuracyPremultiplier from config`f:59b6?j:5Yb ib7Bhn?n@b(EbJ;b]{)}ri?)y*F%?2F!:F!BF%0JF! QIUhWill construct direction to contact in vehicle frame from tetrahedron phase data.iA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751317G- ]>G B O- >ֱw,|NJAeWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:20:25.9691 TRx dataTimestamp_ set to:1736374827.169154checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009015ymBmIMb@Mb@Mb@ )YS㥛?ˡE?&1y$?'=PdA A)AI AyAI#I5٢ =9Q > G٣y >zKBJK9KK7KGbhaXPKJE@?9548NQ.kqgN+fS?( Nusing accuracyPremultiplier from config:59?%:5Y iB%/?%:%ѐ?%@(E;h;x:5) 5A5EZjFNOT Ignoring new targets: 162.30 m.Bj_Jj_  ProNav: ac range: 162.300003 m, nav range: 47.585396 m, bearing: 301.802236 deg, approach rate: 0.288465 m/s, LOS rate: -0.536360 deg/s, cmd heading: 52.163364 deg, new cmd heading: 51.346531 deg. 2j  HeadingCmd: 0.896166 target range: 162.300003 and range: 162.30 m. j#ke?jjjihhh!h%4Bf!f!f!rf)bf-, @J=J={J9J9J=p:J=-9J9J9ɛB 隍:I +<ɚiIs>=I#ke?iig>)#ke?) 9I9*Fu?2Fq:FqBFuk0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255928GE g>G) B1 O] >w,ኾA6:K?Y6ہ?6n<96:I! I%II%VBI!&I!.I!6I%+<:I%S FBICJICRICZI =bI =jI4f(Ef =f=f :5 6AZjimFNOT Ignoring new targets: 162.30 m.Bju Jj  ProNav: ac range: 162.300003 m, nav range: 47.664993 m, bearing: 301.642570 deg, approach rate: 0.245937 m/s, LOS rate: -0.492503 deg/s, cmd heading: 51.346531 deg, new cmd heading: 50.868346 deg. 2juHeadingCmd: 0.887820 target range: 162.300003 and range: 162.30 m. j}.Hc?jyjyjihh}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:20:25.9691 LVL= 16576, 28961, 23650, 30403, AGC= 62, IDX= 414, 0.42, 0.756,-1.176,-1.154,-0.362, PHS= 1.206,-0.767,-0.795, RAW= 89.3, 3.6, CAL= 96.4, 1.7, ROT= 53.6, -1.7 Ygot valid direction response: 22:20:25.9691 LVL= 16576, 28961, 23650, 30403, AGC= 62, IDX= 414, 0.42, 0.756,-1.176,-1.154,-0.362, PHS= 1.206,-0.767,-0.795, RAW= 89.3, 3.6, CAL= 96.4, 1.7, ROT= 53.6, -1.7 PDAT read: Bearing 53.6, -1.7 (Local) ~Local bearing/azimuth received: Bearing 53.6, -1.7 (Local)  DAT read: Range 10 to 50 : 160.6 m (Round-trip 214.2 ms) speed 0.0 m/s  ,DAT read: user:2514> BDAT read: Tx time:22:20:27.0507 $Ping request sent.G B O > w,ABRF?YB?BE<9Bb~<    G٣ KGy! > =Nusing accuracyPremultiplier from config9E:59=?E:5Y=g i=BAM?M@=(E=q:=P:=:5Q UAQk;`}?k?z k kꊾA:k CBkCZkFZ@"3|8ܢ)3@?c@~)ÿȻx?2=@a?JkΦ@Rkxү*H:!:Gp,Kz 9c@H*_KĿ%dh{~J?"k*kka\n?kՏ{ 2kk^Ck3<崠?kE*" kaCkBk3@ addTargetRange:: Added new target pos. range: 160.600006 m, deltaT: 3.527735 s, deltaX: -1.699997 m, approachRate: -0.481895 m/s, rangeRepo size: 4 - Added new target pos. range: 160.600006 m, bearing: 195.748710 deg, lat: 36.905335 deg, lon: -122.121046 deg, deltaT: 3.527735 s, deltaX: -1.699997 m, approachRate: -0.481895 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 160.60 m.BjUJjQm ProNav: ac range: 160.600006 m, nav range: 33.377266 m, bearing: 289.529716 deg, approach rate: 0.000000 m/s, LOS rate: -0.492503 deg/s, cmd heading: 50.868346 deg, new cmd heading: 50.217082 deg. 2jiHeadingCmd: 0.876453 target range: 160.600006 and range: 160.60 m. j@_`?jjjihhhhfffrfbf`u?ɛ=BE= AE`IA E<ɚAiIIM5=Iu@_`?iqiu=)u@_`?)y*FM?2FQ:FQBFU@5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.GM!=G9BqO>zKsQOK9KK8K j@4)'Q]C'zupljhe]TME?=?=9996221.,(%%%J ~J |J 1J J {m:J @9J 3J 5Ţw,YA "$?I FDB?YFz?Fp<9F ]u] 0]A ]MA)]zAI]~AYy]pAuWill construct direction to contact in vehicle frame from tetrahedron phase data.I}I}k4٢ C=9DQ > G٣y" > Nusing accuracyPremultiplier from config:59u?:5Y iB>:q?@(E ;Q;:5B Am~EZjFNOT Ignoring new targets: 160.60 m.Bjc(Jjc( ProNav: ac range: 160.600006 m, nav range: 33.479008 m, bearing: 289.278325 deg, approach rate: 0.239049 m/s, LOS rate: -0.588864 deg/s, cmd heading: 50.217081 deg, new cmd heading: 49.465245 deg. 2jʼHeadingCmd: 0.863331 target range: 160.600006 and range: 160.60 m. jI]?jjjihhhhBff!f)rf)bf-?ɛ}B}b# y}qIy W<ɚiI'=II]?iiB=)I]?)*FY2FY:FYBF]3JFYZHRH@AHk>I IIIBI&I.I6IM<:In F- Will construct direction to contact in vehicle frame from tetrahedron phase data.G /=G G Gy B O >Eˢw,#2A>_=?Y>Uv?>1 <9>>HeI?\?? >?M?l?t܇?E?ɨ>_=?>=; G٣y%m6 %> -Nusing accuracyPremultiplier from config)5:59-?5:5Y- i-B1=m?=@-(E-;-;-*:5Q UAQuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 160.60 m.Bj6Jj6 ProNav: ac range: 160.600006 m, nav range: 33.571247 m, bearing: 289.044794 deg, approach rate: 0.253259 m/s, LOS rate: -0.639437 deg/s, cmd heading: 49.465244 deg, new cmd heading: 48.766610 deg. 2jkۼHeadingCmd: 0.851138 target range: 160.600006 and range: 160.60 m. j-Y?jjjihhhhfffrfbf>?ɛB&G |I h<ɚiIQ}=I -Y?i i ˻=) -Y?)  9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ee$=*F2F:FBF5JFG% L=E Will construct direction to contact in vehicle frame from tetrahedron phase data.M 4>M =e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499008Gq B O >Ӣw,NAfZ:9?Yfq?f<9fyk{̼7A 7A)AI AyGAII4٢Tf (=9 z;Q  >    G٣ KGy > Nusing accuracyPremultiplier from config%:59 %?%:5Y iB->- ;-HQ IQ  IU !IIU BIU  =&IQ .IQ 6IU )<:IU U F٢w,QihAFW4?YFl?Fll=9F?`?`P?D?(?̠?)?ɨFW4?F~;FCynBrkII~3I~ 5٢/ ]=9;Q %>!) -G٣)y5Q 5> ENusing accuracyPremultiplier from configAU:59E.?]:5YEw iEBae7?e@E(EEe;E~;E:5q u'AyZjFNOT Ignoring new targets: 160.60 m.Bj!&Jj!&Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003018 ProNav: ac range: 160.600006 m, nav range: 33.696880 m, bearing: 288.540253 deg, approach rate: 0.141771 m/s, LOS rate: -0.580971 deg/s, cmd heading: 47.920512 deg, new cmd heading: 47.255960 deg. 2j[ǼHeadingCmd: 0.824772 target range: 160.600006 and range: 160.60 m. jC$S?jjjihhhhfffrfbf^a@ɛe Be@ amQIi N<ɚiI״=IC$S?ii=)C$S?)*Jy"J}R=J|JxJJJ;g:J9JJJՊ;aJ֊;aJ%:aJ':a IE$OV= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254488*F ?2F :F BF q3JF GU P=G] ?G] ?G)B1OU>w,oA6 \/?Y6TT VG٣XyZ/ Z> fNusing accuracyPremultiplier from configdj:59f9?j:5Yf ifBln3?n@f(Ef;fB;f:5p rqArxEZj FNOT Ignoring new targets: 160.60 m.Bj(-Jj(- ProNav: ac range: 160.600006 m, nav range: 33.760166 m, bearing: 288.269562 deg, approach rate: 0.141839 m/s, LOS rate: -0.605544 deg/s, cmd heading: 47.255958 deg, new cmd heading: 46.445464 deg. 2jϼ5HeadingCmd: 0.810626 target range: 160.600006 and range: 160.60 m. j=4O?j9jAjAiqhyhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509581ff1rf9bf=I@ɛ B#4 -ʅI) -8<ɚ1i1I5=I=4O?i9i=:=)=4O?)AEIEI*EI"EIzK PKs9KK:K|yvqlkib\ZUURPNMMNMs(JOslgv2x Ih*Fy 2Fy :Fy BF} 5JFy  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759796G] =G1 Ba O >]w,)A2|*?Y20b?2K=92k?@r?_@.??ɨ2|*?2f7;2CyB BB}I)D DMb@Mb@Mb@ )YZd;?Qy۹>A  A)dAI~AyAI5I5|4٢E]= E>=9M;Q M>II MG٣UKGyU/5 U>jH<bH<Hn>I IIINBI&I.I6IG<:Im F Nusing accuracyPremultiplier from configY%:59]D?%:5Y]= i]}B%>% ;%/?-@](E]<]8;]O:51 5A1ZjyFNOT Ignoring new targets: 160.60 m.Bj(Jj( ProNav: ac range: 160.600006 m, nav range: 33.800789 m, bearing: 288.000423 deg, approach rate: 0.088846 m/s, LOS rate: -0.587927 deg/s, cmd heading: 46.445464 deg, new cmd heading: 45.639074 deg. 2jɼHeadingCmd: 0.796552 target range: 160.600006 and range: 160.60 m. jK?jjjihhhhBfffrfbf@@ɛM BMTN M{=M+IQ ?<ɚiI/!=IK?iii=)K?)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.>4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010863G =)A A Jm {Jm vJm 0Ji Jm d:Jm ϣ9Jm ـ3Ji Jm ";Jm #;Jm :Jm : G B O >) E A u {Yq yu B I w,RA2%?Y20^?2Ơ=92"XX ZG٣XyZH ^> bNusing accuracyPremultiplier from config`f:59b(O?f:5Yb> ibvBdfg ?f@b(Eb:b:b:5l nAl=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:22:20:29.6687 MTRx dataTimestamp_ set to:1736374830.952600Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263519B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 160.60 m.Bj8Jj8 ProNav: ac range: 160.600006 m, nav range: 33.834839 m, bearing: 287.760917 deg, approach rate: 0.091840 m/s, LOS rate: -0.645346 deg/s, cmd heading: 45.639075 deg, new cmd heading: 44.921319 deg. 2jrݼHeadingCmd: 0.784025 target range: 160.600006 and range: 160.60 m. j۵H?jjjihhh h f f frfbf5 x @ɛ BSP 隥}I ɦ<ɚiI3"=I۵H?ii}=)۵H?)*F ?2F :F BF z0JF Gِ=GBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517652zK] OK] 9KY K] ;w,J~ԋAKeAl%&uk  N p5Q qhE0"*,)(($(R,9er 5u[ 'a;(RKf?JKf ? $?I !?Y FY? "=9 <A A) AI Ay=AII4٢= (=9;Q >  G٣ y ?  > Nusing accuracyPremultiplier from config;59x]?%;5Y i%s>%;%P ?%@(EK ;3=;;5UB ]A]vE-Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 22:20:29.6687 LVL= 10960, 26097, 18162, 25859, AGC= 58, IDX= 441,-0.16,-1.474,-2.900, 2.955,-2.282, PHS= 0.896,-0.572,-1.050, RAW= 76.4, 8.3, CAL= 80.0, 11.6, ROT= 70.0, -11.6 uYgot valid direction response: 22:20:29.6687 LVL= 10960, 26097, 18162, 25859, AGC= 58, IDX= 441,-0.16,-1.474,-2.900, 2.955,-2.282, PHS= 0.896,-0.572,-1.050, RAW= 76.4, 8.3, CAL= 80.0, 11.6, ROT= 70.0, -11.6 }PDAT read: Bearing 70.0, -11.6 (Local) }~Local bearing/azimuth received: Bearing 70.0, -11.6 (Local) DAT read: Range 10 to 50 : 160.2 m (Round-trip 213.7 ms) speed 0.0 m/s ,DAT read: user:2515> BDAT read: Tx time:22:20:30.7508 $Ping request sent. -¸?)-4QO>I-a?i-4QO))-\t?u7必e+?)-BI-i->@-L7)) addTargetRange:: Added new target pos. range: 160.199997 m, deltaT: 3.786172 s, deltaX: -0.400009 m, approachRate: -0.105650 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 160.60 m.Bj4Jj4 ProNav: ac range: 160.600006 m, nav range: 33.879742 m, bearing: 287.435281 deg, approach rate: 0.087167 m/s, LOS rate: -0.631293 deg/s, cmd heading: 44.921317 deg, new cmd heading: 43.945804 deg. 2jؼ%HeadingCmd: 0.766999 target range: 160.600006 and range: 160.20 m. j% ZD?j)j)j1i1h1=:publishing transmit ping timeؑEFpublishing direction and range info)9-˿XOX?O?y)))) )))I)h9hhـBffi))))) )))I)i)))-\t?u7必e+?))I)i))))frf`fd@bfv?ɛ B   pI  x<ɚiI҈#=I ZD?iiУ=) ZD?)Hr>IC III5BI =&I.I=D6I<:I F*Fm?2Fi:FiBFm`0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:20:30.7500 G ޯ=G B O >w,1AFb?YFAU?FP%=9Fl=yFH?v??B?@?`pi?`?ɨFb?F;DynKBrIiv=Iv= v=va=IIk4٢-#> -R=9U:Q U>QQ ]G٣]KGy]o. ]> eNusing accuracyPremultiplier from configam;59e+i?;5Ye} ia?@e(Ee&`@RkL7*QCKdb0N(@f=%b@[7Iֿ{k?c?"kqBA*k'_kD ?kP` 2kUCk?k'E" kkAk2?@ZjaFNOT Ignoring new targets: 160.60 m.Bj?LJj?L ProNav: ac range: 160.600006 m, nav range: 33.914272 m, bearing: 287.171241 deg, approach rate: 0.093506 m/s, LOS rate: -0.714271 deg/s, cmd heading: 43.945806 deg, new cmd heading: 43.154546 deg. 2jJJwJJJJ9JJJJJ:J:HeadingCmd: 0.753189 target range: 160.600006 and range: 160.20 m. j@?jj j i h h hhfffrfbf@u? IɛBʡ< 隵`aI e<ɚiIn$=I@?iiXݞ=)@?) Will construct direction to contact in vehicle frame from tetrahedron phase data.E-`T=*F ?2F :F BF _0JF G Υ=Gq By O >w, A>i7?Y>Q?>: =9>^ =y>H?U{?2\? ?lqt? |??ɨ>i7?>;>Cy^oBbIEWill construct direction to contact in vehicle frame from tetrahedron phase data.II4٢J!> 5=9@Q > G٣y > Nusing accuracyPremultiplier from config;59v?;5Y  im?@(E<:':I ;5 B A sEZj9=FNOT Ignoring new targets: 160.60 m.BjEJJjEJU ProNav: ac range: 160.600006 m, nav range: 33.952614 m, bearing: 286.865329 deg, approach rate: 0.088961 m/s, LOS rate: -0.708978 deg/s, cmd heading: 43.154546 deg, new cmd heading: 42.237930 deg. 2jUH󼝊]HeadingCmd: 0.737191 target range: 160.600006 and range: 160.20 m. j]GQ BY O} >w,5$AZHRHHu>I IIINBI =&I.I6I<:IR FBIqJIqRIqZIu =bIu =jIu5y]Be*IMb@Mb@Mb@ )YS㥛?J + rh?y>ȽC = A 7A)I Ay AI%I%s4٢EL> EQ=9MQ M>QQ ]G٣Yye e> }Nusing accuracyPremultiplier from configi;59m?;5Ym} im{B>:?@m(Em;m;m ;5 ZAZjFNOT Ignoring new targets: 160.60 m.BjNJjN ProNav: ac range: 160.600006 m, nav range: 34.006489 m, bearing: 286.581230 deg, approach rate: 0.137395 m/s, LOS rate: -0.723377 deg/s, cmd heading: 42.237931 deg, new cmd heading: 41.387048 deg. 2j9%HeadingCmd: 0.722340 target range: 160.600006 and range: 160.20 m. j%K8?j!j!j)i)h)h1h1h=_Bf9f9f9rf9bfE@*?ɛmB l ;I O<ɚiIw&=IK8?ii=)K8?)!MWill construct direction to contact in vehicle frame from tetrahedron phase data.E5|=J zJ vJ J J `:J ϣ9J J J o;J q;J :J : I *F 2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G =GiByO>^w,eCA>b;?Y>F?>/=9>t0=y>H?`]`Y?g? ?_xNJ ?H?ɨ>b;?>5;>CyZBZQI)\ \IbIb.4٢jw> n==9nQ n>pp rG٣rKGyr̽ v> UNusing accuracyPremultiplier from configQ];59U?];5YU iUBae?e@U(EU:U:U;5i maAmpEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 160.60 m.BjWJjW ProNav: ac range: 160.600006 m, nav range: 34.060787 m, bearing: 286.252624 deg, approach rate: 0.124860 m/s, LOS rate: -0.754421 deg/s, cmd heading: 41.387050 deg, new cmd heading: 40.402907 deg. 2jpHeadingCmd: 0.705164 target range: 160.600006 and range: 160.20 m. j4?jjjihhhhfffrfbf@~?ɛ1 ,I ݐ<ɚiI s'=I 4?ii1=)4?)EE*E"E-Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.*FI2FI:FIBFM_5JFIG% =GB O% >zK= LK= 9K9 K= =K=  = $?IA w,%]ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001996z`c ?YzB?ze=9z!)=yzHV'?`@~?`x?@.?w`ڡb? ?ɨz`c ?zj;zCyBIMb@Mb@Mb@ )YL7A`?~jtkt?y+? 0= A  A) AIAy3AII4٢{> <=9Q > G٣y > Nusing accuracyPremultiplier from config;59.?;5Y iB ? : /?@(E;x;2;5) -A1ZjFNOT Ignoring new targets: 160.60 m.BjD^JjD^ ProNav: ac range: 160.600006 m, nav range: 34.149029 m, bearing: 285.907400 deg, approach rate: 0.199195 m/s, LOS rate: -0.777286 deg/s, cmd heading: 40.402908 deg, new cmd heading: 39.370031 deg. 2j \-HeadingCmd: 0.687137 target range: 160.600006 and range: 160.20 m. j50/?j1j1j1i1h1h1h9h=Bf9f9fArfAbfE@ɛBx 隕I `e<ɚiIE(=I0/?iiJ=)0/?)Hw>IC IIIBI =&I.I6IH<:Iv F*FE?2FA:FABFE\0JFI5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254819G =G pAG pAGq B O >w,- wA tIvhvJ?Yv{|??v=9v h(=yvH@q?@ƹ?`?w?}I`??J~xJ~sJ|J|J~Z:J~9J|J|J~ ;J~ ;J~<:J~=:ɨvJ?v;vCyuBuIII4٢!> M=9Q > G٣y > Nusing accuracyPremultiplier from config;59?;5Yv iBK,?@(E:U:;5 AZjFNOT Ignoring new targets: 160.60 m.BjcwJjcw ProNav: ac range: 160.600006 m, nav range: 34.230923 m, bearing: 285.581209 deg, approach rate: 0.217722 m/s, LOS rate: -0.865130 deg/s, cmd heading: 39.370030 deg, new cmd heading: 38.393897 deg. 2jnHeadingCmd: 0.670100 target range: 160.600006 and range: 160.20 m. j+?j!j!j!i!h!h!h)h)f)f)f1rf1bf5@ɛYe" aeIa eGW<ɚaiiImz(=Iu+?iqiuǭ=)u+?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507251*F ?2F :F BF _0JF GB=GBO@>M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761313$w,WA?YPI5;Mb@Mb@Mb@ )YV-?kt?J +?y? 0=H=I A A) AIMAyAIIs4٢&> D=9Q > G٣KGyJ >  Nusing accuracyPremultiplier from config ;59?;5Y iB?:M?@(E8;b;P;5%B %A%jEZjIUFNOT Ignoring new targets: 160.60 m.BjU{Jj]{ ProNav: ac range: 160.600006 m, nav range: 34.361553 m, bearing: 285.212488 deg, approach rate: 0.313277 m/s, LOS rate: -0.880897 deg/s, cmd heading: 38.393897 deg, new cmd heading: 37.292081 deg. 2j#HeadingCmd: 0.650870 target range: 160.600006 and range: 160.20 m. jd&?jjjihhzKRKK 9KK>Khh0Bfff!rf!bf%K@ $?Iɛ@\ BU=߾I -<ɚiI)=Id&?ii7=)d&?)*Fe?2Fa:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011847jH bH H I  I II BI =&I .I >D6I <:I H FG t=G B O >0*w, AB=?YB9?Bs<9BfC=yBH`?0?b9?1?2- 6?`?ɨB=?B7e;@yJQBNIIVIV94٢bd1> ba=9b Q b>dd fG٣dyj j> rNusing accuracyPremultiplier from confighr;59jQʝ?r;5Yji ijBtvJ?v@j(Ej:j:j{;5x zA|Zj%FNOT Ignoring new targets: 160.60 m.Bj%{Jj%{= ProNav: ac range: 160.600006 m, nav range: 34.474373 m, bearing: 284.891615 deg, approach rate: 0.310771 m/s, LOS rate: -0.880974 deg/s, cmd heading: 37.292082 deg, new cmd heading: 36.332709 deg. 2j=&EHeadingCmd: 0.634125 target range: 160.600006 and range: 160.20 m. jE V"?jAjIjIiIhIhIhQhQfQffrfbf`, @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:20:33.3677 TRx dataTimestamp_ set to:1736374834.732730checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263276ɛ%B%oJ !%I! -{<ɚ)i)I-*=IU V"?iQiUϰ=)U V"?)Y*F-?2F):F)BF-o0JF)G=GBOE> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5163291w,ČAFG>YFԉ7?F}2<9F/)#=yFHw? @ ?`J?@?@Ab?@!?ɨFG>Fd;FCyVcBV%II^I^V4٢fK= fI=9f( Q f>hh jG٣lynY n> rNusing accuracyPremultiplier from configpv;59r?ٝ?v;5Yrà irBtUH?U@r(Erj BDAT read: Tx time:22:20:34.4508 $Ping request sent.i%…?%d;_%Nb%i?%`= %l?)%C=I%֭?i%C!!%-H8??PE(gcI?)%'o}I%Ori%g{?%~!!:publishing transmit ping timeFpublishing direction and range info!9%QPW υR?Dȥ?GMei=y!!!! !)!I!i!!!!! !)!I!i!!!%-H8??PE(gcI?)!I!i!G B OM >!!!zKe VBJKe 9Ka Ke ?Ke  $?I JK KKK"KJ wJ vJ J J W:J ϣ9J J a @a @a @a @A7w,pތA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6>Y6|h5?6<96v%=y6H@J?`{?$?2K?2"`|??ɨ6>6K;6CyR~BRFI)\ \bAbAMb@Mb@Mb@ )Y|?5^?1Zd?ˡE?y2?"='= A A)I AIAy AII34٢= 9=9AQ > G٣ KGy B  > 5Nusing accuracyPremultiplier from config1=;595Ꝝ?=;5Y5x} i5BEU5?E:E[?E@5(E5;5Y;5&;5q u6Ayk]rf?k]BY kY k]NdόA:k]CBk]nCZk]T@"](8x2:JU@&J`@]QPW υR?Dȥ?Jk]g{?Rk]~*]b O8b%I@x(a@]!Ydٿx.?]P?"k]/IB*k]'k]TW눜?k]^ _P 2k]JCk]a\n?k]Տ{ k]k^Ck]Ak]]@- addTargetRange:: Added new target pos. range: 159.500000 m, deltaT: 3.784058 s, deltaX: -0.699997 m, approachRate: -0.184986 m/s, rangeRepo size: 4 } Added new target pos. range: 159.500000 m, bearing: 141.744704 deg, lat: 36.904999 deg, lon: -122.120775 deg, deltaT: 7.570230 s, deltaX: -1.100006 m, approachRate: -0.145307 m/s, posRepo size: 4 ZjyFNOT Ignoring new targets: 159.50 m.BjHI IIIGBI =&I.I6I<:IF FJj ProNav: ac range: 159.500000 m, nav range: 30.385319 m, bearing: 198.505746 deg, approach rate: 0.000000 m/s, LOS rate: -0.854072 deg/s, cmd heading: 35.260961 deg, new cmd heading: 34.094268 deg. 2jHeadingCmd: 0.595057 target range: 159.500000 and range: 159.50 m. jU?jjjihh)h)h-Bf)f1f1rf5c@bf5 8?ɛ]Bev aeI *r<ɚiI?*=IU?ii>=)U?)Will construct direction to contact in vehicle frame from tetrahedron phase data.Em0=*F ?2F :F BF `0JF G %=G B O > ~G% 5tA9 k=w,JA Y5tAyyB I$*J24="J0NgD>YNe3?N <9NSp8=yNH(p?ם`??bn?`DAM ?@?ɨNgD>NЈ;NCyVBVWIIbIb4٢f= j`=9jUQ j>lA EG٣AyE( M> UNusing accuracyPremultiplier from configI];59M_?];5YM8x iMBaeY?e@M(EMcM;MM;M4*;5uB uAueEZjFNOT Ignoring new targets: 159.50 m.BjUH<JjUH< ProNav: ac range: 159.500000 m, nav range: 30.614595 m, bearing: 198.755509 deg, approach rate: 0.647971 m/s, LOS rate: 0.700578 deg/s, cmd heading: 34.094269 deg, new cmd heading: 34.837901 deg. 2jf<HeadingCmd: 0.608036 target range: 159.500000 and range: 159.50 m. jA?jjjihhhhfffrfbfV?ɛp uI p<ɚ i I R+=I@?ig% Will construct direction to contact in vehicle frame from tetrahedron phase data.XVDw,1AmI>YmVl1?mg/<9mYh0=ymH@? jK?`q?@?_뚿셿 ?`?ɨmI>m䝈;mCyޅBޅjI=Mb@Mb@Mb@999 9)9Y=ףp= ?S?/$?y=>?=/>=<=` A =A)=3 AI=zA9y== AI]I]W4٢m= m3=9m<9Q u>qq uG٣qy}J }> Nusing accuracyPremultiplier from config;59 ?;5Yq iBC?:j?@(E1;;.;5 PAZjFNOT Ignoring new targets: 159.50 m.Bjf_<Jjf_< ProNav: ac range: 159.500000 m, nav range: 30.897085 m, bearing: 199.105472 deg, approach rate: 0.636443 m/s, LOS rate: 0.781245 deg/s, cmd heading: 34.837902 deg, new cmd heading: 35.878071 deg. 2j =HeadingCmd: 0.626190 target range: 159.500000 and range: 159.50 m. jN ?jjjihhhhʂBfffrfbfD? 5$?I5hɛ=B=he 9=roI9 E:l<ɚIiIIM5?+=IU?iQiUb=)UN ?)YzKk3IK+9KK@KJyJsJ1JJ]:J9J3JuWill construct direction to contact in vehicle frame from tetrahedron phase data.E 8R=ZH RH ?AH {>I  I lII BI =&I .I 6I \<:I F*F ?2F :F BF 0JF G  G qAG 7=G ?G >-Will construct direction to contact in vehicle frame from tetrahedron phase data.GaBiO>Kw,q0AR>YR{/?Ry;9RkY*=yRH@k?;?A?o? \֜`3z~I? ?ɨR>R[;RCyzBzqIi~=I~>I I  4٢< <=97$Q >!! %G٣%KGy-B -> 5Nusing accuracyPremultiplier from config1=;595?=;5Y5;j i5B9Eh?E@5(E5:5:51;5MB M-AM_EZjFNOT Ignoring new targets: 159.50 m.BjX<JjX< ProNav: ac range: 159.500000 m, nav range: 31.175482 m, bearing: 199.437371 deg, approach rate: 0.639501 m/s, LOS rate: 0.755588 deg/s, cmd heading: 35.878072 deg, new cmd heading: 36.864774 deg. 2j=HeadingCmd: 0.643412 target range: 159.500000 and range: 159.50 m. j$?jjjihhhhfffrfbfb~Rw,uJA6|>Y6:-?6;96y#=y6H?@.?@ ??vr m?d?ɨ6|>6wg;4yRBRmIIZIZ4٢b֊ bQ=9b"Q f>dd fG٣dyj2 j> 5Nusing accuracyPremultiplier from config1=;595,?=;5Y5c i5BAEf?E@5(E5C ;5C ;5c5;5I MHAImB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 159.50 m.BjQS<JjQS< ProNav: ac range: 159.500000 m, nav range: 31.436481 m, bearing: 199.736296 deg, approach rate: 0.650637 m/s, LOS rate: 0.738991 deg/s, cmd heading: 36.864775 deg, new cmd heading: 37.754031 deg. 2j<HeadingCmd: 0.658932 target range: 159.500000 and range: 159.50 m. jǯ(?jjjihhhhfffrfbf`?ɛBĶ: nI Ctf<ɚiIqp+=Iǯ(?iid^<)ǯ(?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF_0JFG=GBOG> $?IJuJpJJJ[Q:J^9JJzKK9KKAKRK ?JK?e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198915רXw,RdAH}>IC IIIځBI =&I.I6I!<:IZ FBICJICRIZI =bI =jIM5y%B%ZIMb@Mb@Mb@ )Y~jt?n?Mb`?yD?V>; dA)I AyII34٢ 9=9Q > G٣y > }Nusing accuracyPremultiplier from configy;59}=?;5Y}N\ i}BK?:+q?@}(E};};}I9;5B A\EZjq}FNOT Ignoring new targets: 159.50 m.Bj}@Z<Jj}@Z< ProNav: ac range: 159.500000 m, nav range: 31.730669 m, bearing: 200.097081 deg, approach rate: 0.628180 m/s, LOS rate: 0.763239 deg/s, cmd heading: 37.754031 deg, new cmd heading: 38.826219 deg. 2j=HeadingCmd: 0.677645 target range: 159.500000 and range: 159.50 m. j+z-?jjjihhhhBfffrfbf`ˤ@ɛ5B=M 9=凾I9 =Db<ɚAiAIEE+=Im+z-?iiim#;<)m+z-?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452503*F?2F:FBFJF"G=G= I G =G G qAG B O >^w,/~A 6*>Y6Fh)?6ѹ96=y6H`>? Sa?? 9? V2:???ɨ6*>6;4yB{BBCI)D FAIJIJ4٢Vս V`=9V\Q V>XX ZG٣ZKGy^' ^> bNusing accuracyPremultiplier from config`f;59bK?f;5YbyV ibBhjZm?j@b(Eb:b:bS<;5l ncApZjFNOT Ignoring new targets: 159.50 m.Bj l<Jj l<%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703454 ProNav: ac range: 159.500000 m, nav range: 31.963076 m, bearing: 200.367481 deg, approach rate: 0.716820 m/s, LOS rate: 0.827935 deg/s, cmd heading: 38.826221 deg, new cmd heading: 39.631464 deg. 2j =HeadingCmd: 0.691700 target range: 159.500000 and range: 159.50 m. j91?jjjihhhhfffrfbf@^@ɛ)-oZ )5>IQ U^<ɚQiYI]x+=I]91?iaiefd)e91?)a*F ?2F :F BF `0JF G[=GBOB>Will construct direction to contact in vehicle frame from tetrahedron phase data.C>BDAT read: Rx Time:22:20:37.0659 TRx dataTimestamp_ set to:1736374838.262456checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959460ew,A :$?I8nG@>YnT'?nV=9n+Q$=ynHa?6y ?s|?1\? /g??`?ɨnG@>n2(;nCygB)IJ]rJ]iJ]0JYJ]G:J]ڈ9J]ـ3JYMb@Mb@Mb@ )Y)\(?B`"? rhyGA?N>C A ) AzK&~JK+9KKBKI AyII-4٢ 7=9Q > G٣y p  > Nusing accuracyPremultiplier from config;59]?;5Y)O iB H?%:%j?%@(E;';<@;5-B -AWEZjFNOT Ignoring new targets: 159.50 m.Bj_H<Jj_H<- ProNav: ac range: 159.500000 m, nav range: 32.259705 m, bearing: 200.698146 deg, approach rate: 0.634426 m/s, LOS rate: 0.700716 deg/s, cmd heading: 39.631466 deg, new cmd heading: 40.614239 deg. 2j-r<5HeadingCmd: 0.708852 target range: 159.500000 and range: 159.50 m. j5Vw5?j1j1j1i1h1h9h9h=Bf9fAfArfAbfEN @=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209285ɛEBM\Q IM:II M8Y<ɚIiIIU+=IUVw5?iYi]h)]Vw5?)YH >I  I II BI  =&I .I ?D6I +<:I f FEgW=*FQ 2FQ :FY BFe _0JFa GU O< Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 158.1 m (Round-trip 210.9 ms) speed 0.0 m/s  ,DAT read: user:2517>  BDAT read: Tx time:22:20:38.1508  $Ping request sent.% Xkw,ABw>YB8&?BL9B4=yBH|?@U@.?`Y?u? zt??`?ɨBw>B\;BCy]BB]III4٢9 O=9Q > G٣y] > Nusing accuracyPremultiplier from configE;59m?M;5YH iBIMQi?M@(E*<*<C;5Y ]6AY addTargetRange:: Added new target pos. range: 158.100006 m, deltaT: 3.527910 s, deltaX: -1.399994 m, approachRate: -0.396834 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 159.50 m.BjM<JjM<  ProNav: ac range: 159.500000 m, nav range: 32.528419 m, bearing: 200.987987 deg, approach rate: 0.672305 m/s, LOS rate: 0.719166 deg/s, cmd heading: 40.614238 deg, new cmd heading: 41.476507 deg. 2j <HeadingCmd: 0.723902 target range: 159.500000 and range: 158.10 m. jQ9?jjji E$?IEhhIhIhIhIfQfQfQrf]@3c@bf} @?ɛB%E 隭#ؾI "T<ɚiIl+=IQ9?iiOE)Q9?)E;6=*Fu?2Fq:FqBFun0JFqMWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:22:20:38.1500 G F<Gi Bq O >rw,ˍAn>Y$?P9O=yH`?`>5\-?9? ?P禿 y}?;ߩ? R?ɨn>cl;Cy&BIi=I4= %=!I-I-4٢= =B=9=zQ =>AA EG٣EKGyMA M> ]Nusing accuracyPremultiplier from configQ];59U~?e;5YUA iUBiuh?}@U(EU_;U,;U\G;5 ATEWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 159.50 m.BjrL<JjrL< ProNav: ac range: 159.500000 m, nav range: 32.805725 m, bearing: 201.278032 deg, approach rate: 0.689393 m/s, LOS rate: 0.714966 deg/s, cmd heading: 41.476508 deg, new cmd heading: 42.339220 deg. 2jV<HeadingCmd: 0.738959 target range: 159.500000 and range: 158.10 m. jg,=?jjj i hhh!h)f1f9fArfIbfL?ɛBw 隍I L<ɚiIO,=Ig,=?iiz)g,=?) IIQzK5BoHK1K1K5CK5E 4/=u Will construct direction to contact in vehicle frame from tetrahedron phase data.} T****** received valid address query ******} R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.*F] ?2FY :Fa BFe _0JFa G= H >I C I II ځBI  =&I .I 6I n<:I FG B9 O >yw,k荾Ay=B=IMb@Mb@Mb@ )Y(\?/$?{Gzyz4?>#I A A) AIy AIIs4٢ ?V  9=9 Q > G٣y > %Nusing accuracyPremultiplier from config!-;59%?-;5Y%; i%B58?5:5K\?5@%(E%;% ;%9K;5=B EAEQEZjimFNOT Ignoring new targets: 159.50 m.Bj}(<Jj(< ProNav: ac range: 159.500000 m, nav range: 33.087791 m, bearing: 201.537716 deg, approach rate: 0.646699 m/s, LOS rate: 0.590306 deg/s, cmd heading: 42.339219 deg, new cmd heading: 43.111581 deg. 2j<%HeadingCmd: 0.752439 target range: 159.500000 and range: 158.10 m. j%؟@?j!j!j!i!h!h)hIhMBfQfQfQrfYbf]e#?ɛB 5I  E<ɚiI\,=I؟@?ii)؟@?)EE*E"EmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003495 $?I*F- ?2F) :F) BF- m0JF) *J5 C="J5 %=J= sJ= sJ9 J9 J= K:J= 9J9 J9 J= e;aM J= e;aM J9 aM J9 aM G% 3G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255531ew,xDA^\>Y^$?^ҸL9^=y^H m? '@?@1??w?`??ɨ^\>^3I;^Cy~ʀB~iIII4٢%l %[=9%fQ %>)) -G٣)y5N 5> ENusing accuracyPremultiplier from config9M;59=?M;5Y=!6 i=BIML\?M@=)E=&:=i:=~N;5Q ]AYZjFNOT Ignoring new targets: 159.50 m.Bjc$<Jjc$< ProNav: ac range: 159.500000 m, nav range: 33.327400 m, bearing: 201.754395 deg, approach rate: 0.640324 m/s, LOS rate: 0.574882 deg/s, cmd heading: 43.111580 deg, new cmd heading: 43.756914 deg. 2jD<HeadingCmd: 0.763702 target range: 159.500000 and range: 158.10 m. jC?jjjihhhhfffrfbf.?ɛB )I =<ɚiI,=IC?ii,䫽)C?)*Fm?2Fi:FiBFm4JFiuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507198GBDG B O > I w,AfTo>Yfڳ$?f;x9fS=yfH?@&@-?1?`dw?@9?`*??ɨfTo>f‹;fCzKnBHKn9KlKnDKnyvBv=I)x zA}Mb@Mb@Mb@yyy y)yY}Pn?{Gz?)\(y}$?}ף=}Ga} A }3A)}AI}vAyy}AII 4٢w) B=9NλQ > G٣KGy19 > Nusing accuracyPremultiplier from config;59L?;5Y!1 iB%?:PF?@)E;;(R;5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761299ZjFNOT Ignoring new targets: 159.50 m.Bj*;Jj*;U ProNav: ac range: 159.500000 m, nav range: 33.578079 m, bearing: 201.932606 deg, approach rate: 0.550542 m/s, LOS rate: 0.388464 deg/s, cmd heading: 43.756914 deg, new cmd heading: 44.287538 deg. 2j]L<]HeadingCmd: 0.772963 target range: 159.500000 and range: 158.10 m. jeE?jajajaiahahahihmBfffrfbf@?ɛBBV RIY I]fII]BIY&IY.IY6I]<<:I]v F*F?2F:FBF1JFG GpAGelG9BIOmx> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011267_ߌw,5A)&F= $V>YV2$?VE惼9V>=yVH?$`Ao?`5?`fi? o|?Fy??ɨV>VH ;T~.~G|uAUZA e$?Iaym~Bu I Y|uAyFBII4٢C F=9{Q > G٣y: > Nusing accuracyPremultiplier from config;59c? ;5Y0, iB  F? @ )E:L:U;5B gALEZjAEFNOT Ignoring new targets: 159.50 m.BjM<JjM< ProNav: ac range: 159.500000 m, nav range: 33.825371 m, bearing: 202.106376 deg, approach rate: 0.655233 m/s, LOS rate: 0.457062 deg/s, cmd heading: 44.287537 deg, new cmd heading: 44.805023 deg. 2j֜<HeadingCmd: 0.781995 target range: 159.500000 and range: 158.10 m. j0H?jjjihhhhJJAAJuJkJJJ[Q:J9JJJo;Jo;J:J:f)f)f1rf1bf5 p@ɛ BrB 隍 QI j9(<ɚiIqc-=I0H?iiǽ)0H?)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264504G GqBO>Ɠw,OA:]x>Y:_%?:9:=y:H? 4 h?@K?H? ;?O??ɨ:]x>:,;:CyRPBRIIZIZ4٢b{ b_=9bsQ f>dd fG٣dyj< n> rNusing accuracyPremultiplier from configpv;59r͞?v;5Yr' irBtvG?z@r)Er:r:rX;5| ~A|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 159.50 m.Bj-;Jj-;=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515401M ProNav: ac range: 159.500000 m, nav range: 34.044952 m, bearing: 202.260401 deg, approach rate: 0.597386 m/s, LOS rate: 0.416331 deg/s, cmd heading: 44.805023 deg, new cmd heading: 45.264107 deg. 2jM܎HA IA  IE IIE =BIE  =&IA .IA 6IE <:IE X Fw,̸iAyU3B]IMb@Mb@Mb@ )Y|?5^?Mb`i|?5y?q+A A)`AI AyAII4٢   7=9 Q  > G٣KGy > %Nusing accuracyPremultiplier from config!-;59%ޞ?-;5Y%# i%B-?-:5(?5@%)E%S;%;%\;5EB EAEIEZji5FNOT Ignoring new targets: 159.50 m.BjEC;JjEC;e ProNav: ac range: 159.500000 m, nav range: 34.291958 m, bearing: 202.373775 deg, approach rate: 0.553563 m/s, LOS rate: 0.252252 deg/s, cmd heading: 45.264108 deg, new cmd heading: 45.601775 deg. 2je-<HeadingCmd: 0.795901 target range: 159.500000 and range: 158.10 m. j-K?jjjihhhh3Bfffrfbf@MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.019762ɛm"BmOW quwIq uq<ɚqiqIuk.=I}-K?i}bG= E$?IAGQ½GBO>J sJ qJ J J K:J q9J J J e;J e;J :J : Will construct direction to contact in vehicle frame from tetrahedron phase data. i  BDAT read: Rx Time:22:20:40.7656  TRx dataTimestamp_ set to:1736374842.044827 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272547x堣w,vƒAE'>YEDe,?E_9EE7>yEH?Q?`??}ÿ ??`?{?ɨE'>E3;ECyU BUIIe Ie4٢uG uS=9}+]Q }> G٣y= > Nusing accuracyPremultiplier from config;59힜?;5Y iB10?@)E? ; ;U`;5 AZjFNOT Ignoring new targets: 159.50 m.Bj%c;Jj%c;5 ProNav: ac range: 159.500000 m, nav range: 34.510040 m, bearing: 202.484859 deg, approach rate: 0.550619 m/s, LOS rate: 0.278694 deg/s, cmd heading: 45.601775 deg, new cmd heading: 45.932917 deg. 2j5C?<=HeadingCmd: 0.801681 target range: 159.500000 and range: 158.10 m. j=:M?j9j9j9i9hAhAhAhAfIfIfIrfIbfM`m @ɛ}#B}G y}Iy f<ɚiI.=I:M?i` ) I1 mw,%wAzK5BoHK5+9K1K5FK5BK=pA:K9yޕBޕ`IMb@Mb@Mb@ )Y'1Z?sh|?y&1y?`eA 3@)AI AyAI-I-|4٢= =?=9EQ E>AA MG٣IyM M> ]Nusing accuracyPremultiplier from configQ];59UE?];5YU iUwBeM?e:e?e@U)EU;U;Uc;5mB uAuFEZjFNOT Ignoring new targets: 159.50 m.Bj ;Jj ;Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:20:40.7656 LVL= 16752, 24545, 23458, 30835, AGC= 61, IDX= 440,-0.12, 2.513, 1.883, 0.485, 1.677, PHS= 0.925, 0.253,-1.195, RAW= 48.1, 0.2, CAL= 48.3, -1.9, ROT= 101.7, 1.9 UYgot valid direction response: 22:20:40.7656 LVL= 16752, 24545, 23458, 30835, AGC= 61, IDX= 440,-0.12, 2.513, 1.883, 0.485, 1.677, PHS= 0.925, 0.253,-1.195, RAW= 48.1, 0.2, CAL= 48.3, -1.9, ROT= 101.7, 1.9 ]PDAT read: Bearing 101.7, 1.9 (Local) e~Local bearing/azimuth received: Bearing 101.7, 1.9 (Local) mDAT read: Range 10 to 50 : 157.8 m (Round-trip 210.5 ms) speed -0.3 m/s u,DAT read: user:2518> }BDAT read: Tx time:22:20:41.8509 }$Ping request sent.}ٵٵV?ٵd; ڵuW?)ڵIڵ13?iڵ=ڱڱ۵q̓*?vg li =j?)۵f!f!rf%c@bf%ꏨ?I۵XQi۵|?۵cB۱۱E:publishing transmit ping timeyEFpublishing direction and range infoر9ص/X2X95?P׸?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵q̓*?vg li =j?)۱I۱i۱۱۱۱ɛ$B* 隝3I h;ɚiI/=IxM?i/\I IxII׀BI&I.I6Ie<:I FBIīCJIīCRIZI =bI =jIF5E% [1=e Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:22:20:41.8501 *F 2F :F BF _0JF G  G qA PExceeded connect timeout, disconnecting. E $?II GeٲJ-rJ-oJ)J)J-G:J-K9J)J)J-_;J-_;J-:J-:GaBiO?xɮw,hA6>Y61?696~K>y6H+? y8@2?` {??@Ƕſќ?@P? Z?ɨ6>69;6Cy>BBJIIJIJ4٢R+ R3=9RCQ R>TX ZG٣ZKGy^*@= ^> bNusing accuracyPremultiplier from config`f;59b*?f;5Yb ib]Bdj?j@b)Eb;b;bg;5l nZAlk7֊?k"L k kA:kCBkCZk+v@"TA b-j\@ Uv([@/X2X95?P׸?Jk|?RkcB*3흨NDBP@u~;ɚiI>10=I׬N?iX= Will construct direction to contact in vehicle frame from tetrahedron phase data.jw,׎A hIlUW>YU (5?Ub9U0>Q>yUHM? D@??o?@Oƿ +??Q?ɨUW>U ;UCyeBe'I%Mb@Mb@Mb@!!! !)!Y%(\? rhS㥫y%>%C %/]%XA %@)%dAI% A!y%p AI=I=4٢M M2=9UQ U>QQ ]G٣Yy]< ]> mNusing accuracyPremultiplier from configam;59e?u;5Ye ie>Bu>u:uX>u@e!)Ee8;eb;ek;5y }FACEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 157.80 m.Bj ;Jj ; ProNav: ac range: 157.800003 m, nav range: 61.377285 m, bearing: 173.509967 deg, approach rate: 0.425225 m/s, LOS rate: 0.251863 deg/s, cmd heading: 46.256305 deg, new cmd heading: 46.588172 deg. 2j,<HeadingCmd: 0.813117 target range: 157.800003 and range: 157.80 m. jp(P?jjjihhhhـBfffrfbf`|?ɛ)- )-,I) 5Q;ɚ1i1I50=I=p(P?i=UI IIIwBI =&I.I6IQ<:I FE%gW=*F ?2F :F BF _0JF U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237258G G ?G >GB nManaging dock network, ignoring radio surface power offO>w,AZ2>YZ8?Z 9ZX>yZH!?Fؼ??Nd?ƿ``??E?ɨZ2>Zlj;ZCyrBv(II~I~4٢-+; -6=95#ɻQ 5>11 =G٣9y=< M$?II ]> mNusing accuracyPremultiplier from configam;59ek/?m;5Ye ie Bqu>u@e$)Eej:e:eo;5 AAZjiuFNOT Ignoring new targets: 157.80 m.Bj};Jj}; ProNav: ac range: 157.800003 m, nav range: 61.560608 m, bearing: 173.621134 deg, approach rate: 0.384985 m/s, LOS rate: 0.232759 deg/s, cmd heading: 46.588174 deg, new cmd heading: 46.920677 deg. 2j<HeadingCmd: 0.818920 target range: 157.800003 and range: 157.80 m. jäQ?jjjihhhhfffrfbf@a?ɛ&Bb> 'I +x;ɚiIf1=IäQ?iRãw,5A2 ?Y2::?2492 \>y2H|? -?L?o'?`hǿv?8I?`>?ɨ2 ?29;2Cy>BB,IIJ IJ4٢R< RV=9R Q V>TT VG٣VKGyZ< Z> ^Nusing accuracyPremultiplier from config\-;59^=?-;5Y^N i^B)54>5@^')E^{<^{<^?s;5=B =+A=@EZjamFNOT Ignoring new targets: 157.80 m.Bju.;Jju.; ProNav: ac range: 157.800003 m, nav range: 61.712971 m, bearing: 173.715049 deg, approach rate: 0.415699 m/s, LOS rate: 0.255602 deg/s, cmd heading: 46.920678 deg, new cmd heading: 47.201727 deg. 2jj/<HeadingCmd: 0.823826 target range: 157.800003 and range: 157.80 m. j;R?jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.ե$?ե ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738692hhfffrfbf`RC?ɛɪ dI ?;ɚiI1=I;R?iwPJaJemJaJaJaJe&9JaJaam@am@am@au@zKMLKM9KIKMHKMM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990291HI II  IM IIM 5BII &II .II 6IM W<:IM Fy ʣw,y*AN?YN5yNH s?/U?hz? ^?@ǿ ?Ą?C:?ɨN?N8E;NCynBn?IMb@Mb@Mb@ )Y~jt?/$ÿkty> 0A @)MAIyII14٢=  5=9 ÈQ  > G٣y3< > %Nusing accuracyPremultiplier from config!-;59%L?-;5Y% i%B-<>-:-J>5@%*)E%y;%:;%/w;59 =A9ZjimFNOT Ignoring new targets: 157.80 m.Bju>z;Jju>z; ProNav: ac range: 157.800003 m, nav range: 61.889183 m, bearing: 173.811053 deg, approach rate: 0.402710 m/s, LOS rate: 0.218779 deg/s, cmd heading: 47.201726 deg, new cmd heading: 47.488915 deg. 2j%<HeadingCmd: 0.828838 target range: 157.800003 and range: 157.80 m. j.T?jjjihhhhBfffrfbf`ߜ@ɛU{ QUIQ UY:ɚYiYI]2=I].T?ieMU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494191 ѣw,kDA6֯?Y6,>?6$96S]>y6H֌?@!X?`?@?,ǿ?@m? :?ɨ6֯?6;6CyBBBRIIJ IJ4٢Rw= Rc=9V=Q V> G٣y5< => ENusing accuracyPremultiplier from config9E;59=Y?M;5Y=9 i=Bim>m@=-)E=;=6;=yz;5}B }=A};EZjFNOT Ignoring new targets: 157.80 m.Bjdo;Jjdo;- ProNav: ac range: 157.800003 m, nav range: 62.036083 m, bearing: 173.891758 deg, approach rate: 0.381858 m/s, LOS rate: 0.209291 deg/s, cmd heading: 47.488915 deg, new cmd heading: 47.730455 deg. 2j-Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746347 Y Ia 1ףw,)^AJuJpJJJ[Q:J^9JJV?YV??Vy-9VqZ>yVH-m?`2~??8?z{ǿ ?l?>?ɨV?V;Ty^BbsI)d dUMb@Mb@Mb@QQQ Q)QYUx&1?DlUO UtUA Up@)U7AIUI AQyU AImIm4٢}= }>=9Q > G٣KGy^< > Nusing accuracyPremultiplier from config;59>h?;5Y  iBM>:>@0)EC;.B;~;5 cAB*** querying acoustic contact ***jjzK5FJK59K1K5IK5ZjyFNOT Ignoring new targets: 157.80 m.Bjz;Jjz; ProNav: ac range: 157.800003 m, nav range: 62.196182 m, bearing: 173.985274 deg, approach rate: 0.376123 m/s, LOS rate: 0.219132 deg/s, cmd heading: 47.730455 deg, new cmd heading: 48.010277 deg. 2jc<HeadingCmd: 0.837937 target range: 157.800003 and range: 157.80 m. jV?jjjihhhhBfffrfbf)@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998357ɛAE˙ IMII M8ɚiiiIuh3=IuV?i}MH Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:20:44.4664  TRx dataTimestamp_ set to:1736374845.825287 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251986% NG9 )\ݣw,1 xA 2Y0y2<BRŸ?YRA?R0669RLW>yRHK?M/?@Z?s?sSǿĦ?|?`B?ɨRŸ?R H;RCyZ#B^IIfIf4٢n&> nU=9rQ r>pp vG٣tyvz< v> zNusing accuracyPremultiplier from configx $?I ;59zu?;5Yz  izB>@z3)Ez;z;zo;5%B %iA-8EZjIMFNOT Ignoring new targets: 157.80 m.Bj]J;Jj]J;m ProNav: ac range: 157.800003 m, nav range: 62.344543 m, bearing: 174.072498 deg, approach rate: 0.406307 m/s, LOS rate: 0.238306 deg/s, cmd heading: 48.010277 deg, new cmd heading: 48.271325 deg. 2jm#Gw,󑏾AN ?YNLMB?NA9N4S>yNH@0?@6?@d?(?ǿ!? J/?uI?ɨN ?N?ʇ;LyZFBZIIbIb 4٢n+-> nJ=9nT׻Q r>pp rG٣pyv<< v> ~Nusing accuracyPremultiplier from configx~;59z|?;5Yz izB>@z6)Ez:zv:z;5  PAZj1=FNOT Ignoring new targets: 157.80 m.BjE;JjE;] ProNav: ac range: 157.800003 m, nav range: 62.500957 m, bearing: 174.164776 deg, approach rate: 0.389050 m/s, LOS rate: 0.228950 deg/s, cmd heading: 48.271324 deg, new cmd heading: 48.547464 deg. 2j]  BDAT read: Tx time:22:20:45.5509 $Ping request sent.uq=ju_r?uV uaх?)u@XIu I?iu@X>qqu A?:h21ϼ)u㒿Iu=iu´?u k]qq I h:publishing transmit ping timeؙEFpublishing direction and range infoq9ui:?|?/pZ?yq*F?2F:FBFo0JFqqq q)qIqiqqqqq q)qIqiqqqu A?:h21ϼ)qIqiqqqqJK KKK"KJ=xJ9J9J9J=Z:J9J9J9zKuJK9KKJKGq% Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! G B O >H I  I II 5BI &I .I 6I @<:I | FYnw,@AynqBnIipIr= v=t-Mb@Mb@Mb@))) )))Y-kt?Zd;O~jtx?y- >-j-;-A -@)- AI))y-G AIeIe4٢>> 3=9Q > G٣KGy > Nusing accuracyPremultiplier from config;59a?;5Y iB>:?@:)E+;';;5 B A 5Ek<?kYm k kLA:kfCBkWCZk @"/,:0@I/]Y@r.##^@i:?|?/pZ?Jk´?Rk k]*GC7+F~ &`fN@rT,Ila@SOѿޮɐ?V(?"k3sB*k\1kF?k 2kKCkk^ _P kKCkBk @ addTargetRange:: Added new target pos. range: 158.399994 m, deltaT: 3.780054 s, deltaX: 0.599991 m, approachRate: 0.158725 m/s, rangeRepo size: 4  Added new target pos. range: 158.399994 m, bearing: 126.102661 deg, lat: 36.904743 deg, lon: -122.120101 deg, deltaT: 3.780054 s, deltaX: 0.599991 m, approachRate: 0.158725 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 158.40 m.BjJjm ProNav: ac range: 158.399994 m, nav range: 77.321533 m, bearing: 143.762608 deg, approach rate: 0.000000 m/s, LOS rate: 0.228950 deg/s, cmd heading: 48.547465 deg, new cmd heading: 48.880790 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.2jiHeadingCmd: 0.853131 target range: 158.399994 and range: 158.40 m. jfZ?jjjihhhhBfffrfc@bf@C?ɛGj ZI Gɚ!i!I%+4=I-fZ?i-qA= Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,ŏA6" ?Y6$E?6<_96Q>y6H8?@ (?I?C4?eǿ??:I?ɨ6" ?6H;6CyRBR1IIZIZP4٢by> bj=9fQ f?dh jG٣hyj= j? eNusing accuracyPremultiplier from configam;59eC?m;5Ye! ieBimf?m@e<)EeU:e:e%;5y }AyZjFNOT Ignoring new targets: 158.40 m.Bj$;Jj$; ProNav: ac range: 158.399994 m, nav range: 77.380852 m, bearing: 143.879467 deg, approach rate: 0.176886 m/s, LOS rate: 0.348204 deg/s, cmd heading: 48.880788 deg, new cmd heading: 49.231093 deg. 2jn<HeadingCmd: 0.859245 target range: 158.399994 and range: 158.40 m. ju[?jjjihhhhfffrfbf H?ɛ &B DI W]1ɚiI;D4=I-u[?i)i-ni)-u[?)1*F?2F:FBFP5JFG|GqAGmAGABQOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data. I Je zJe vJe 1Ja Je `:Je ϣ9Je 3Ja w,ߏAF ?YFF?Fj9FbK>yFH?8*?]?`?%?CǿcR?B?)Q?ɨF ?F*;;FCybŀBfbIUMb@Mb@Mb@QQQ Q)QYUQ?V-X9v?yU?UU ==9ԻQ > G٣y< > Nusing accuracyPremultiplier from config;59g?;5YS iBc ?:5?@@)E;;ď;5 \AzK&~JKh9KKKKB*** querying acoustic contact ***jjWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZjUFNOT Ignoring new targets: 158.40 m.Bj];Jj]; ProNav: ac range: 158.399994 m, nav range: 77.431549 m, bearing: 144.038984 deg, approach rate: 0.112755 m/s, LOS rate: 0.354547 deg/s, cmd heading: 49.231092 deg, new cmd heading: 49.709318 deg. 2jRs<HeadingCmd: 0.867591 target range: 158.399994 and range: 158.40 m. jv^?jjjihhhhʁBfffrfbf ?ɛ9=B =I(==0IA Eؕ\ɚAiAIE4=IMv^?H}>Iy I}II}|BIy&Iy.Iy6I}6<:I}s FBIIJIIRIIZIIbIIjIMX4iIihC)v^?)*F?2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476186G NG B O >w,YOA6w?Y6H?6*v96#E>y6H`c? a?~?@ ?@ƿ`ͮ??X?ɨ6w?6~Έ;6Cy>B>I R$?IT)d dfAfAIjIjV4٢v̒> vV=9z Q z>xx ~G٣~KGy7{< >  Nusing accuracyPremultiplier from config ;59 Z?;5Y  i B7?@ C)E j: : ;5! %A%2EZjIMFNOT Ignoring new targets: 158.40 m.BjU;JjU;m ProNav: ac range: 158.399994 m, nav range: 77.477539 m, bearing: 144.185879 deg, approach rate: 0.132510 m/s, LOS rate: 0.422995 deg/s, cmd heading: 49.709318 deg, new cmd heading: 50.149732 deg. 2jm&[w,,A6?Y6JLI?6}96hB>y6H /?,l??ٚ?8?zƿ`?#?]?ɨ6?6B;6CyB$BBIIJIJy4٢RG> RO=9V|Q V>TT ZG٣XyZM< Z> Nusing accuracyPremultiplier from config;59 ȟ?%;5Y iB!%8?%@G)E;;;5) -fA1]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.979081ZjimFNOT Ignoring new targets: 158.40 m.Bj};Jj}; ProNav: ac range: 158.399994 m, nav range: 77.525848 m, bearing: 144.341802 deg, approach rate: 0.118220 m/s, LOS rate: 0.381327 deg/s, cmd heading: 50.149732 deg, new cmd heading: 50.617197 deg. 2jق<HeadingCmd: 0.883437 target range: 158.399994 and range: 158.40 m. j(b?jjjihhhhfffrfbf3@ɛ%Bk rI LJɚiI3=I(b?ii])(b?)*F}?2Fy:FBF^0JF IG} G ?G?GIBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230861zK yJK ]9K K LK ZH RH ?AH }>I C I II VBI  =&I .I >D6I ;<:I o Fƻ w,-ABY?YBK?B9BzA>yBH 9h??? ?ƿT? ?]?ɨBY?B;@yfJBjIeMb@Mb@Mb@aaa a)aYeGz?l?A`"?yep?e=eY=eA e@)e AIeI AayaII4٢-> ;=9Q > G٣y|< > Nusing accuracyPremultiplier from configE;59֟?E;5Y i.BMN?M:MV?M@K)E <΅<b;5UB ];A]/EZjFNOT Ignoring new targets: 158.40 m.Bj;Jj; ProNav: ac range: 158.399994 m, nav range: 77.555511 m, bearing: 144.533477 deg, approach rate: 0.067089 m/s, LOS rate: 0.433344 deg/s, cmd heading: 50.617197 deg, new cmd heading: 51.191982 deg. 2j<HeadingCmd: 0.893469 target range: 158.399994 and range: 158.40 m. j\d?jjjihhhhPBff f rf bf (@ɛ9E AE|ھIA E\ɚAiAIM;3=IU\d?iQiU)]\d?)YmWill construct direction to contact in vehicle frame from tetrahedron phase data.m>m<uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.483309 $?IhEmY=J5 |J5 uJ5 0J1 J5 ;g:J5 9J5 ـ3J1 J5 ֊;a= J5 ׊;aE J5 f:aE J5 h:aE *FM ?2FI :FQ BFU X4JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734923Gu 憽GIBYOu>w,HRKA^C?Y^.O?^t9^B>y^H?@@?'? oS?`7ǿʱ?2&?X?ɨ^C?^Ω;^CyfsBf9Iin>In< ra=pIrIr4٢~5> ~5=9TPQ > G٣ KGy '=  > Nusing accuracyPremultiplier from config;59埜?;5Yx i]B!%Z?%@O)Ev::Q;5) 5A5-EZjY]FNOT Ignoring new targets: 158.40 m.Bje'<Jje'<} ProNav: ac range: 158.399994 m, nav range: 77.582603 m, bearing: 144.735206 deg, approach rate: 0.062557 m/s, LOS rate: 0.465643 deg/s, cmd heading: 51.191981 deg, new cmd heading: 51.796935 deg. 2jȟ<HeadingCmd: 0.904027 target range: 158.399994 and range: 158.40 m. jQng?jjjihhhhfffrfbf5@ɛae im.Ii m{ɚiiiIm'2=IuQng?iyi}2{)Qng?)EP/=*F=?2F9:F9BF=_0JF9eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:20:48.1656 mTRx dataTimestamp_ set to:1736374849.353764mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.989069 YIYG 0GY Ba O} >w,aeAJ?YJ-R?Jo9J%B>yJH ?K?r[??ǿ`ɉ? ?@*X?ɨJ?JӲ;JCyRBVaIbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.238918zKK9KKMK RK>JK>Mb@Mb@Mb@ )YS?RQ?V-?y/?=m=nA @)~AIAy AI I 4٢]> e6=9mFջQ m>qy }G٣yyO< > Nusing accuracyPremultiplier from config5;59L?5;5Y iB5h1?5:5/q?=@T)E<Ԙ<H;5EB EAE*EHMt>IMC IMIIMƁBIM =&II.IM=D6IMq<:IM FB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 158.40 m.Bj<Jj<5 ProNav: ac range: 158.399994 m, nav range: 77.587303 m, bearing: 144.963671 deg, approach rate: 0.009625 m/s, LOS rate: 0.467859 deg/s, cmd heading: 51.796934 deg, new cmd heading: 52.482251 deg. 2j5<=HeadingCmd: 0.915988 target range: 158.399994 and range: 158.40 m. j=2~j?j9j9j9i9h9hAhAhEBfafifirfibfme+ @ɛ$Bӽ  <隽I WɚiI1=I2~j?iiЃ)2~j?)Will construct direction to contact in vehicle frame from tetrahedron phase data.E .=] DAT read: 22:20:48.1656 LVL= 11376, 28097, 18130, 29155, AGC= 59, IDX= 439, 0.08, 1.800, 0.805,-0.243, 0.660, PHS= 1.228, 0.192,-0.906, RAW= 59.0, -5.6, CAL= 65.2, -11.2, ROT= 84.8, 11.2 e Ygot valid direction response: 22:20:48.1656 LVL= 11376, 28097, 18130, 29155, AGC= 59, IDX= 439, 0.08, 1.800, 0.805,-0.243, 0.660, PHS= 1.228, 0.192,-0.906, RAW= 59.0, -5.6, CAL= 65.2, -11.2, ROT= 84.8, 11.2  PDAT read: Bearing 84.8, 11.2 (Local)  ~Local bearing/azimuth received: Bearing 84.8, 11.2 (Local)  DAT read: Range 10 to 50 : 157.8 m (Round-trip 210.5 ms) speed 0.0 m/s  ,DAT read: user:2520>  BDAT read: Tx time:22:20:49.2509  $Ping request sent. ٍgٍ΃?ٍ+Ƚ ڍ?)ڍ+HIڍq?iڍ+H>ډډۍ ۶?\^ Xo )ۍ+0Iۍ=iۍ%?ۍqۉ*F ?2F :F BF Y3JF ۉ :publishing transmit ping time  Fpublishing direction and range info؉9؍g!Ƴ?3IV@? j-?y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍ ۶?\^ Xo )ۉIۉiۉۉۉۉJ= J= J9 J9 J= v:J= 9J9 J9 J= U;J= V;J= ;J= ;G 1|GGpAGiBqO?B\!w,ABs?YBMT?B噽9BFB>NWill construct direction to contact in vehicle frame from tetrahedron phase data.NJDAT read: TxSync time:22:20:49.2501 yBH@C~?k@?ە??<ǿ 8?'? NV?ɨBs?B;BCy^B^IiI~I~4٢ /> -/=95칻Q 5>11 =G٣9y=< => ENusing accuracyPremultiplier from configAu;59E?u;5YE iEBqus?u@EY)EE(;EI;EV;5y Akd?kk 8 k k7vA:kCBkCZk_@"o4Xa(@ V@a*_@g!Ƴ?3IV@? j-?Jk%?Rkq*kG[gF@S1 a@)"aӿj}r??"k5B*k(?k I?kU0 2k7PCkkU0 kkBk`!@} addTargetRange:: Added new target pos. range: 157.800003 m, deltaT: 3.531062 s, deltaX: -0.599991 m, approachRate: -0.169918 m/s, rangeRepo size: 4  Added new target pos. range: 157.800003 m, bearing: 136.413032 deg, lat: 36.904743 deg, lon: -122.120088 deg, deltaT: 3.531062 s, deltaX: -0.599991 m, approachRate: -0.169918 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 157.80 m.BjJj ProNav: ac range: 157.800003 m, nav range: 78.283493 m, bearing: 144.473683 deg, approach rate: 0.000000 m/s, LOS rate: 0.467859 deg/s, cmd heading: 52.482252 deg, new cmd heading: 53.127640 deg. 2jHeadingCmd: 0.927252 target range: 157.800003 and range: 157.80 m. jg`m?jjjihh!h!h!f)f)f)rf-c@bf-`^?ɛq}p y}NIy *ɚiI0=Ig`m?ii1X)g`m?)*E="E=EV<*FU?2FQ:FQBFU_0JFQEWill construct direction to contact in vehicle frame from tetrahedron phase data.Ẽ'w,AE\_?YEW?EJ9E~B>yEH7?u? ??]ǿ2??\T?ɨE\_?E;ECyUԁBUIMb@Mb@Mb@ )Yףp= ?K7?:v?y>?I >T=A @)AIvAyAII%x4٢= ;=9ǻQ > G٣KGy%@< %> -Nusing accuracyPremultiplier from config)5;59-6?5;5Y- i-B=_B?=:=d?=@-^)E-";-r;-;5EB EAE'EZjiuFNOT Ignoring new targets: 157.80 m.Bju'<Jj}'< ProNav: ac range: 157.800003 m, nav range: 78.264740 m, bearing: 144.709849 deg, approach rate: -0.046594 m/s, LOS rate: 0.586926 deg/s, cmd heading: 53.127639 deg, new cmd heading: 53.836271 deg. 2jf<HeadingCmd: 0.939620 target range: 157.800003 and range: 157.80 m. jp?jjjihh!hAhEԂBfIfIfIrfIbfUϹ?ɛT Will construct direction to contact in vehicle frame from tetrahedron phase data.隥 I ɚiIf'0=Ip?ii7)p?)EE*E"EzKgLKػ9KKNK Hm>IC I II!BI =&I.Iۈ.w,fA6o"?Y6Z?6 96?B>y6H`N?&?`>?}@?xǿ`?`? R?ɨ6o"?6;6Cy>B>IIFxIFT4٢N%= NF=9R߻Q R>PT VG٣TyZ(< Z> bNusing accuracyPremultiplier from config\b;59^ ?f;5Y^ i^HBdf?f@^c)E^w;^;^;5h nJAlZjy}FNOT Ignoring new targets: 157.80 m.Bjd<Jjd< ProNav: ac range: 157.800003 m, nav range: 78.244324 m, bearing: 144.935561 deg, approach rate: -0.047560 m/s, LOS rate: 0.525935 deg/s, cmd heading: 53.836272 deg, new cmd heading: 54.513550 deg. 2jx<HeadingCmd: 0.951441 target range: 157.800003 and range: 157.80 m. js?jjjihhhhfffrfbf@?JJJ1JJ:J"9J3JJ;J;J;J;ɛimxY quIq uٴɚqiqIu;/=I}s?iyi])s?)*F%?2F!:F!BF%o0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.GiG ?G  ?GBOI>l5w,֐A2Will construct direction to contact in vehicle frame from tetrahedron phase data.yB%II5I5i4٢E,< EA=9EQ M>II MG٣IyU U> Nusing accuracyPremultiplier from config;59/?;5Y iB@h)EL;L;;5 @A%E $?IhZj FNOT Ignoring new targets: 157.80 m.Bjx!<Jjx!<- ProNav: ac range: 157.800003 m, nav range: 78.224167 m, bearing: 145.173062 deg, approach rate: -0.047911 m/s, LOS rate: 0.564668 deg/s, cmd heading: 54.513550 deg, new cmd heading: 55.226199 deg. 2j-<5HeadingCmd: 0.963879 target range: 157.800003 and range: 157.80 m. j=v?j9j9j9i9h9h9hAhAfAfAfIrfIbfM#?ɛu%B}X y}hIy }˷ɚyiI>U.=Iv?ii')v?)*F=?2F9:F9BFE0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.G҆Gi By zK 0LK 9K K OK O >H e>I C I Z II ^BI  =&I .I ;D6I [<:I o Fl;w,A2%(?Y2V6a?2`զ92D>y2HS?`@???gǿԴ? G?O?ɨ2%(?2";0yjBnI}Mb@Mb@Mb@yyy y)yY}J +?~jt?ˡE?y}H?}>}'=}+A y)}hAI}` Ayy}AII4٢< D=9V Q > G٣KGy(q= > Nusing accuracyPremultiplier from config;593*J5C="J5R=J=J=J9J9J=̈́:J=9J9J9J=;J=;J=|;J=|;% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221920Bw, | A2ߕ+?Y2d?292eE>y2H ?@@??`\? Eǿxz? ?M?ɨ2ߕ+?2 ;;2Cy>BBIIFIF4٢b] bZ=9fjq;Q f>dh jG٣hynV< n> vNusing accuracyPremultiplier from configpv;59r,H?v;5Yrh irBxz?z@rr)Erz:r:r\;5y }/AyZjFNOT Ignoring new targets: 157.80 m.Bj<Jj< ProNav: ac range: 157.800003 m, nav range: 78.163597 m, bearing: 145.622350 deg, approach rate: -0.076608 m/s, LOS rate: 0.548050 deg/s, cmd heading: 55.925801 deg, new cmd heading: 56.574516 deg. 2j<HeadingCmd: 0.987412 target range: 157.800003 and range: 157.80 m. j|?jjjihhhhfffrfbf @ɛ!%] )-ؽI) -l*ɚ)i)I5,=I5|?i9i=")=|?)9*F2F:FBF!5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473597 IGGpAGqAGBO >@Hw,S$Ay~B~IMb@Mb@Mb@ )YK7A`?{Gz? rh?yK?#>C<A p@)QAI AyAIIļ4٢  ;=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7255629Q > G٣y > Nusing accuracyPremultiplier from config;59 V?;5Y6 i!B%O?:?@x)E;;1;5B FAEZj9EFNOT Ignoring new targets: 157.80 m.BjM.<JjM.IC Is IIsBI =&IGD.I:D6I@<:IR FBIuçCJIuçCRIuÕCZIu =bIu =jIuV6ɛ&BV pI ɚiI+=IE?iIiMV䞽)M?)I*F2F:FBF55JFGPGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977489 I Nw,+>A:1?Y:35j?:q9:I>y:Ht?)+@Ӱ?!H?`e?@F ǿ@?@_?0I?ɨ:1?:CG;:CybBbIIjIj4٢rQ r[=9v;Q v>tt vG٣zKGyz= z> ~Nusing accuracyPremultiplier from config|;59~Ca?;5Y~0  tIi~KB  Ǎ? @~})E~U;~f;~q;5 AEZjAEFNOT Ignoring new targets: 157.80 m.BjM&<JjM&<] ProNav: ac range: 157.800003 m, nav range: 78.085892 m, bearing: 146.095471 deg, approach rate: -0.104199 m/s, LOS rate: 0.582739 deg/s, cmd heading: 57.344021 deg, new cmd heading: 57.994509 deg. 2je)?)J}AAJ}BAJJJ0JJ:Jm9Jـ3JJ;J;J;*F5?2F9:F9BF=_0JF9J;Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:20:51.8634 TRx dataTimestamp_ set to:1736374853.136661checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235536GuGIBYO>ѼUw,XA"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481528:}4?Y:.m?:n9:%K>y:H)?`F`? ?`s?ƿҳ?`&?`6G?ɨ:}4?:;:Cy^ցB^IIfIf4 =$?IEh٢] eB=9e;Q e>ii mG٣iyma< u> Nusing accuracyPremultiplier from config;59m?;5Y/ izB@?@)E.:q:;5 AZjFNOT Ignoring new targets: 157.80 m.Bj&<Jj&< ProNav: ac range: 157.800003 m, nav range: 78.039436 m, bearing: 146.341017 deg, approach rate: -0.110399 m/s, LOS rate: 0.583871 deg/s, cmd heading: 57.994508 deg, new cmd heading: 58.731540 deg. 2jZ<HeadingCmd: 1.025059 target range: 157.800003 and range: 157.80 m. j 5?jjjihhhhfffrfbf 3 @ɛ-'B5%V 15."I1 =?ǻɚ9i9I=k*=IE 5?iAiE)E 5?)I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 22:20:51.8634 LVL= 13680, 28785, 19122, 28531, AGC= 59, IDX= 418,-0.07,-2.610, 2.478, 1.577, 2.446, PHS= 1.315, 0.078,-0.872, RAW= 64.3, -5.5, CAL= 71.7, -11.5, ROT= 78.3, 11.5 =Ygot valid direction response: 22:20:51.8634 LVL= 13680, 28785, 19122, 28531, AGC= 59, IDX= 418,-0.07,-2.610, 2.478, 1.577, 2.446, PHS= 1.315, 0.078,-0.872, RAW= 64.3, -5.5, CAL= 71.7, -11.5, ROT= 78.3, 11.5 EPDAT read: Bearing 78.3, 11.5 (Local) M~Local bearing/azimuth received: Bearing 78.3, 11.5 (Local) ]DAT read: Range 10 to 50 : 156.2 m (Round-trip 208.3 ms) speed 0.1 m/s e,DAT read: user:2521> BDAT read: Tx time:22:20:52.9509 $Ping request sent.?jw?y3Cp5qp J)soIiQ?w=d;_ȥ? Ľ -?)MI?iM>!?+MԵ):xI=it?:publishing transmit ping timeؑ Fpublishing direction and range info9!9İ?#H?`>?jw?y )Ii )Ii!?+MԵ)IiG bG ?G >' TFailed to parse incomplete device message.HE U>IE C IE Z IIE ^BIE  =&IA .IE 9D6IE r<:IE q FGa Bi O >[w,qAynBnIir=Ir<Mb@Mb@Mb@ )YMb?`"?Mby@?=A C@)v@I AyAIUIU.4٢e e;=9mQ m>qq uG٣qyu u> Nusing accuracyPremultiplier from configy;59}z?;5Y}x i}BB?:?@})E};}";};5B AEk% .Ȓ?k%΋ MWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:22:20:52.9501 k! k%FhA:k%3CBk%#CZk%M!@"%1oHv$@ /qlS@MC`@%!9İ?#H?`>?jw?Jk%t?Rk%*% ESDΧ=@nb@% lw*ѿ嵺?ڡ5?"k%A*k%'k%0?k% o 2k%VTCk% I?k!k!k%Bk%@ addTargetRange:: Added new target pos. range: 156.199997 m, deltaT: 3.776798 s, deltaX: -1.600006 m, approachRate: -0.423641 m/s, rangeRepo size: 4  Added new target pos. range: 156.199997 m, bearing: 144.407024 deg, lat: 36.904886 deg, lon: -122.120088 deg, deltaT: 3.776798 s, deltaX: -1.600006 m, approachRate: -0.423641 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 156.20 m.BjJj )I) ProNav: ac range: 156.199997 m, nav range: 65.307953 m, bearing: 138.866764 deg, approach rate: 0.000000 m/s, LOS rate: 0.583871 deg/s, cmd heading: 58.731540 deg, new cmd heading: 59.548887 deg. 2jAMHeadingCmd: 1.039324 target range: 156.199997 and range: 156.20 m. jM?jIjIjIiIhQhQhah`Bfffrf`fc@bf7?ɛ(B LI (λɚiI)=I?i i ) ?) *F?2F:FBFJFG  Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai AG B O >bw,_EA-:?Y-`s?-gי9-[N>y-H?- iϾ??@?`~ƿL6?ē?5C?ɨ-:?-;-CyBvIIIפ4٢] ],=9],;Q ]>aa mG٣mKGym6P= m> uNusing accuracyPremultiplier from configq};59u9?};5Yu iuB?@u)Eu%-;u6-;u;5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 156.20 m.BjD<JjD< ProNav: ac range: 156.199997 m, nav range: 65.217155 m, bearing: 139.173502 deg, approach rate: -0.202673 m/s, LOS rate: 0.685634 deg/s, cmd heading: 59.548888 deg, new cmd heading: 60.470302 deg. 2jE<HeadingCmd: 1.055406 target range: 156.199997 and range: 156.20 m. j?jjjihhhhfffrfbfM?ɛ)-ü 15I1 5?ջɚ1i1I5ya(=I=?iAiE)E?)A%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJF $?IGʚGiByO>J J J J J m:J 9J J a @a @a @a @iw,ߥA2=?Y2hv?2 L92@I>y2H"IC I( II6BI =&I.I6I<:I} FZj15FNOT Ignoring new targets: 156.20 m.Bj=<Jj=< ProNav: ac range: 156.199997 m, nav range: 65.168724 m, bearing: 139.364095 deg, approach rate: -0.138973 m/s, LOS rate: 0.547308 deg/s, cmd heading: 60.470301 deg, new cmd heading: 61.042485 deg. 2jλ<HeadingCmd: 1.065392 target range: 156.199997 and range: 156.20 m. j^?jjjihhzKBoHK+9KKRKhhBfffrfbf`]\?ɛ=)B=Ƈ AE5IA eqܻɚiI'=I^?iiL2)^?)*F!2F):F)BF-o0JF)M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241242 I G G qAG nAG B O >0ow,A6`A?Y6y?6施96_K>y6H`? T> ? n?1?"ſ ~ز?`6?@H?ɨ6`A?6hh nG٣lyn^= n> vNusing accuracyPremultiplier from configtz;59v$?z;5Yv ivBx~?~@v)EvX;v;v;5  AZj)-FNOT Ignoring new targets: 156.20 m.Bj5h=<Jj5h=] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743909Ivw,ّA hN)D?YN|?Nv9NL>yNHE?Fk :? ?5?@ſ5s?W[? G?ɨN)D?N-.;Lyv\BzIIID4٢- -D=9-s;Q 5>11 =G٣=KGyE< E> MNusing accuracyPremultiplier from configIU;59MC?U;5YḾ iMBQ]P?]@M)EM:M":M;5a eAaZjFNOT Ignoring new targets: 156.20 m.Bj+<Jj+< ProNav: ac range: 156.199997 m, nav range: 65.040779 m, bearing: 139.838174 deg, approach rate: -0.164178 m/s, LOS rate: 0.600733 deg/s, cmd heading: 61.712187 deg, new cmd heading: 62.466050 deg. 2j#<HeadingCmd: 1.090238 target range: 156.199997 and range: 156.20 m. j팋?jjjihhhhfffrfbfw.?ɛQU QU;IY ]2ɚYiYI]$&=Ie팋?iaim۔)m팋?))JuJuJqJqJuM:Ju9JqJq*FU?2FQ:FQBFU_5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996766HL>I IIIBI =&I.I8D6I}<:Is FzK BHK ]9K K SK BK! :K! Gu rGy G} ?GI BY Ou >B|w,'lA>YF?Y>?>K9> O>y>H=W?_ ??B?0ſ`?ä?@/F?ɨ>YF?> ; G٣yǿ< > Nusing accuracyPremultiplier from config;59?;5Y{ iB_"?:~?@)E;o;];5B AEZjA].~GmFNOT Ignoring new targets: 156.20 m.|uAWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250549EZA $?I Y|uAyBBj<Jj< ProNav: ac range: 156.199997 m, nav range: 64.986115 m, bearing: 140.064004 deg, approach rate: -0.128580 m/s, LOS rate: 0.531633 deg/s, cmd heading: 62.466048 deg, new cmd heading: 63.144075 deg. 2jm<HeadingCmd: 1.102072 target range: 156.199997 and range: 156.20 m. j?jjjihhhhqBfffrfbf Mc@ɛ}+B}e y}oIy ɚiIb&=I?iibɔ)?)*F}?2Fy:FyBF}@5JFG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502514Gy B O > ,w,M A:H?Y:?:T9:yO>y:H L ?@Q? ?{t?Ŀ@Ұ? ?G?ɨ:H?:;:CyJ-BJIiR!>IRp<IVIV~4٢^y bX=9b;Q b>dd fG٣dyfJ< j> nNusing accuracyPremultiplier from confighr;59j?r;5Yjv ijBpr?r@j)Ej;j:j;5x z`AxZj!-FNOT Ignoring new targets: 156.20 m.Bj- <Jj5 J J J J J ݒ:J 9J J {Zw,.;'ANJ?YN?N@9N?O>yNH@4?@?3?HmI>ImC ImIImBIm =&Ii.Ii6Im9<:Im? Fai mG٣uKGyuV< u> Nusing accuracyPremultiplier from configy;59}Š?;5Y}o i}B ?:ӆ?@})E}H;};};5 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 156.20 m.Bj<Jj<zKK9KKTK%&*9N`zC_vwtroqcQD4' umd\TQNJHD>8766= ProNav: ac range: 156.199997 m, nav range: 64.888878 m, bearing: 140.502602 deg, approach rate: -0.093120 m/s, LOS rate: 0.468161 deg/s, cmd heading: 63.765799 deg, new cmd heading: 64.460789 deg. 2j]y6H?@?B>IIFIF~4٢N Rj=9R= Will construct direction to contact in vehicle frame from tetrahedron phase data.cfw,ZA $?I&DAT read: 22:20:55.5628 LVL= 22384, 27633, 20658, 27411, AGC= 60, IDX= 427,-0.30, 1.447,-0.023,-0.532, 0.269, PHS= 1.266,-0.245,-0.804, RAW= 74.9, -2.4, CAL= 81.8, -7.7, ROT= 68.2, 7.7 .Ygot valid direction response: 22:20:55.5628 LVL= 22384, 27633, 20658, 27411, AGC= 60, IDX= 427,-0.30, 1.447,-0.023,-0.532, 0.269, PHS= 1.266,-0.245,-0.804, RAW= 74.9, -2.4, CAL= 81.8, -7.7, ROT= 68.2, 7.7 RPDAT read: Bearing 68.2, 7.7 (Local) R~Local bearing/azimuth received: Bearing 68.2, 7.7 (Local) bDAT read: Range 10 to 50 : 155.7 m (Round-trip 207.7 ms) speed 0.0 m/s n,DAT read: user:2522> rMO?Yr?r`h9r{P>yrH w? y?`? ?@hÿ?j?zJ?ɨrMO?r ;rCBDAT read: Tx time:22:20:56.6510 $Ping request sent.iim 厎?K^濯I()m'IImMT)=im ?m0miiU:publishing transmit ping timeUFpublishing direction and range infoi9m<&rѷ3?{-`E?yiII4٢  5=9 ;Q  > Giii i)iIiiiiiii i)iIiiiiim 厎?K^濯I()iIiiiiii٣)y-f< > Nusing accuracyPremultiplier from config;59?֠?;5YJf iB݈?@)E::;5 A Ekmy ?kmPZ  ki kmZA:kmCBkmCZkm͸@@"m谷oM'\'K@MW9Z/b@m<&rѷ3?{-`E?Jkm ?Rkm0m*m%h:h4F @VE)c@my,ƿTw??Gv?"km7b@*kmkmlO?km*  2kmYCkmF?kikm7PCkm|Bkm@JK KS}.KK"KJiJmJm/JiJiJm9Jm(N3Ji- addTargetRange:: Added new target pos. range: 155.699997 m, deltaT: 3.780008 s, deltaX: -0.500000 m, approachRate: -0.132275 m/s, rangeRepo size: 4 = Added new target pos. range: 155.699997 m, bearing: 172.533592 deg, lat: 36.904905 deg, lon: -122.120088 deg, deltaT: 3.780008 s, deltaX: -0.500000 m, approachRate: -0.132275 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 155.70 m.BjJj ProNav: ac range: 155.699997 m, nav range: 63.195141 m, bearing: 139.664537 deg, approach rate: 0.000000 m/s, LOS rate: 0.453737 deg/s, cmd heading: 64.900341 deg, new cmd heading: 65.648351 deg. 2jHeadingCmd: 1.145780 target range: 155.699997 and range: 155.70 m. jꨒ?j!j!j!i!h)h)h1h1fQfYfYrf]`fvc@bfe Vc?Will construct direction to contact in vehicle frame from tetrahedron phase data.HB>IC IGIIBI! =&I.I7D6Ið<:I FBI5ȢCJI5ȢCRI5ȔCZI5 =bI5 =jI5ȍ#6ɛ=,B=], 9=I9 EɚAiAIEVz%=IMꨒ?ii)ꨒ?)*F% ?2F) :F) BF- ]0JF) zK OK 9K K UK 63140,)'&&$'(%%&$" !&#&)&#! #=E%   BK :K GMGU?GU?G)B9MWill construct direction to contact in vehicle frame from tetrahedron phase data.O]?w,){A I hzS?Yzb?z Z9zE:>yzHH?g?6?`?wg,W?Z?Xm?ɨzS?z:;zCyBI=Mb@Mb@Mb@999 9)9Y=x?X9vJ +y=K>=9=A =K@)=@I=A9y=AIUIU4٢z =9;Q > G٣KGy6 = > Nusing accuracyPremultiplier from config;59k᠜?;5Y` iB>:M?@)E3;;3;5 AZj9EFNOT Ignoring new targets: 155.70 m.BjEc<JjEcw,A6 U?Y6?6LT96=>y6H1~?cU? ?Dv?N?? h?ɨ6 U?6;6CyB BBIIfIf4٢n= rl=9rv;Q r?tt vG٣tyv < z? ~Nusing accuracyPremultiplier from configx;59z蠜?;5Yz] izBv?@z)Ez ;z ;z1;5 {A!ZjAMFNOT Ignoring new targets: 155.70 m.BjM=;JjU=;e ProNav: ac range: 155.699997 m, nav range: 63.139191 m, bearing: 140.035467 deg, approach rate: -0.068739 m/s, LOS rate: 0.444546 deg/s, cmd heading: 66.312818 deg, new cmd heading: 66.761607 deg. 2je Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH <H ?>I  I .II kBI " =&I .I 6D6I o<:I _ Fw,~AF^X?YF{m?FŇM9FA>yFH`?@',???@( 6?@?`c?ɨF^X?Fj;FCynBrI}Mb@Mb@Mb@yyy y)yY}MbX9?ˡEL7A`堿y}>}'}+}vA }5@)}@I}Ayy}@IIפ4٢< >=9P|;Q > G٣y&< > Nusing accuracyPremultiplier from config;59?;5YX iBd>:/}?@)E;I;;5zKMKh9KKVK  (JyukcZPJE@;830,UB UKAU EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 155.70 m.Bj1;Jj1; ProNav: ac range: 155.699997 m, nav range: 63.117466 m, bearing: 140.207348 deg, approach rate: -0.048867 m/s, LOS rate: 0.386760 deg/s, cmd heading: 66.761609 deg, new cmd heading: 67.277414 deg. 2j<HeadingCmd: 1.174212 target range: 155.699997 and range: 155.70 m. jL?jjjihhhh؀Bfffrfbf`?ɛE+BE*@ IMj II U`2ɚQiQI]p%=IuL?iqiu})uL?)y*FM?2FI:FIBFM1JFI %$?I!=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.G- G5 qAG5 pAG B) OE >J J J 1J J m:J O9J 3J J ;a J ;a J e,;a J f,;a w,iȒA6 nZ?Y6(u?6@96$rD>y6Hy?$? O?r??`?@`?ɨ6 nZ?6~;6Cy>"BBIIJIJx4٢R= R\=9R TT VG٣VKGyZ< Z> ^Nusing accuracyPremultiplier from config\b;59^5?b;5Y^DU i^B`fN?f@^)E^ ;^ ;^/;5l nApZj FNOT Ignoring new targets: 155.70 m.Bj ;Jj ; ProNav: ac range: 155.699997 m, nav range: 63.097824 m, bearing: 140.355599 deg, approach rate: -0.055311 m/s, LOS rate: 0.417596 deg/s, cmd heading: 67.277411 deg, new cmd heading: 67.722291 deg. 2jK<%HeadingCmd: 1.181977 target range: 155.699997 and range: 155.70 m. j%K?j!j)j)i)h)h)h1h1f1f1f1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731708rfbf X?ɛBJ  I  ĉ8ɚ i I w%=I5K?i1i9)=K?)9E*F5?2F1:F1BF50JF1  I hM Will construct direction to contact in vehicle frame from tetrahedron phase data.M u?M %=U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984071GU nG1 BI Om >൸w,ƈ䒾An:9\?YnZ?n09n2G>ynH-?@.Y?5? a? rv??`']?ɨn:9\?n;nCy=;BIImIm=4٢= !=9;Q > G٣ya< > %Nusing accuracyPremultiplier from config5;59?M;5Y(P iBae?m@)E<<;5q uAyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235969H<>IC I@IIzBI# =&I.I6IV<:IJ FZjFNOT Ignoring new targets: 155.70 m.Bj;Jj; ProNav: ac range: 155.699997 m, nav range: 63.069431 m, bearing: 140.562672 deg, approach rate: -0.053443 m/s, LOS rate: 0.389940 deg/s, cmd heading: 67.722289 deg, new cmd heading: 68.343763 deg. 2j΅<HeadingCmd: 1.192824 target range: 155.699997 and range: 155.70 m. jr?jjjihhhhfffrfbf J@ɛ1=' 9=I9 = a@ɚ9i9IEm%=IEr?iAiM)Mr?)IE-]&=*F?2F:FBFg4JFzK NK9KKWK&      BK9:K9 I G E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487823GY B O >w,DAn]?Yn 9?n< 9nynH4??P?h?`>??Z?ɨn]?nn;lyv\BvI!%AmMb@Mb@Mb@iii i)iYm"~j?V-:vymS>mmTmA m@)iImAiymp@II4٢[> E=98 G٣yg< > Nusing accuracyPremultiplier from config;59g ?;5YL iB>:ƃ?@)E;;=;5B AEZj1=FNOT Ignoring new targets: 155.70 m.Bj=;Jj=;m ProNav: ac range: 155.699997 m, nav range: 63.043346 m, bearing: 140.724315 deg, approach rate: -0.065629 m/s, LOS rate: 0.406862 deg/s, cmd heading: 68.343761 deg, new cmd heading: 68.828880 deg. 2jmybHj?@ B?{e?v?D?.?g[?ɨbJ_?bޑ;bCynrBn8IIvIv4٢~߽= ~*=9;Q >  G٣ KGy 1<  > Nusing accuracyPremultiplier from config<59?%<5YDG iB)-p?-@)E;;m<59 =FAEEZjamFNOT Ignoring new targets: 155.70 m.Bjm0;Jju0;} ProNav: ac range: 155.699997 m, nav range: 63.011940 m, bearing: 140.916193 deg, approach rate: -0.066419 m/s, LOS rate: 0.405988 deg/s, cmd heading: 68.828882 deg, new cmd heading: 69.404780 deg. 2jP<HeadingCmd: 1.211342 target range: 155.699997 and range: 155.70 m. jA ?jjjihhhhfffrfbfB @ɛ mI ]EKɚiIBp%=IA ?ii-)A ?)*F?2F:FBF4JFZHARHE?AHM;>II IMyIIMBIM$ =&II.II6IM<:IMg F]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.244390G~GBO>zK- l,MK- 9K) K- XK- 2 #.a8RK= ?JK= ?) F= = NGQ e A YY y BΤw,:=;A  $?I ^Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:20:59.2625 LVL= 19440, 29505, 20546, 27331, AGC= 57, IDX= 439,-0.21,-1.248,-2.879,-3.102,-2.447, PHS= 1.287,-0.386,-0.658, RAW= 82.6, -2.7, CAL= 90.3, -8.5, ROT= 59.7, 8.5 eYgot valid direction response: 22:20:59.2625 LVL= 19440, 29505, 20546, 27331, AGC= 57, IDX= 439,-0.21,-1.248,-2.879,-3.102,-2.447, PHS= 1.287,-0.386,-0.658, RAW= 82.6, -2.7, CAL= 90.3, -8.5, ROT= 59.7, 8.5 PDAT read: Bearing 59.7, 8.5 (Local) M~Local bearing/azimuth received: Bearing 59.7, 8.5 (Local) UDAT read: Range 10 to 50 : 155.4 m (Round-trip 207.3 ms) speed 0.2 m/s ],DAT read: user:2523> BDAT read: Tx time:22:21:00.3510 $Ping request sent.``b9_a.b?Y El)b0'Ib@=ib ?bN!``:publishing transmit ping time؉Fpublishing direction and range info`9bI%6oJ?YG !?y```` `)`I`i````` `)`I`i```b9_a.b?Y El)`I`i```` b?Y 㝍? I9 hJ>y H̦?F$?`?l?v??\?ɨ b? 9; CyeBesIMb@Mb@Mb@ )YI +?QMbp?y9>u; A @)@I@y@II4٢)> =9;Q > G٣y< > Nusing accuracyPremultiplier from config<59x?%<5Y@ iB%Z>%:%u?%@)EB;;J1J5J1J1J1J5=9J1J1J1J1J5*;J5*;c<5Q UAQkbZS?kbQ? k` kb|yJH?E j??5:?@e)@?`_"?k\?ɨJ$e?Jm;JCyfԁBfIIrIr4٢> %m=9%%68Q %?)) -G٣)y-< U? ]Nusing accuracyPremultiplier from configYe<59]&?e<5Y]= i]Bim?@])E];];]o <5 6AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 155.40 m.Bj"<Jj"<% ProNav: ac range: 155.399994 m, nav range: 51.235374 m, bearing: 149.026311 deg, approach rate: -0.027882 m/s, LOS rate: 0.570007 deg/s, cmd heading: 70.133694 deg, new cmd heading: 70.690496 deg. 2j%<%HeadingCmd: 1.233782 target range: 155.399994 and range: 155.40 m. j%?jIjIjIiIhIhQhQhQfQfQfYrfYbf]?ɛ(BhѼ 'I BRɚiIM%=I%?i!i-`w)-?))*F?2F:FBF05JFH5:>I1 I5II5BI5# =&I1.I16I5<:I5v F}Will construct direction to contact in vehicle frame from tetrahedron phase data.ՅAiՅAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G G B O >ܤw,]5uAzKcOK9KKYK +$rifa_[ZXWTPPOJGCABK,:K,Jtg?YJ ?Jb9J4>yJH?~??"?;z˟?~?z|?ɨJtg?Jt;JCyVBVI5Mb@Mb@Mb@111 1)1Y5sh|??{Gz?I +?y5 ?5#<59<5A 1)1I11y5@IMIM4٢]9> ]G=9] :Q e>aa eG٣eKGym&< m> uNusing accuracyPremultiplier from configq}<59u-?}<5Yu7 iuB ?:d?@u)Euh;u:;u <5 @AZjFNOT Ignoring new targets: 155.40 m.BjX/<JjX/< ProNav: ac range: 155.399994 m, nav range: 51.212799 m, bearing: 149.269306 deg, approach rate: -0.056943 m/s, LOS rate: 0.613191 deg/s, cmd heading: 70.690498 deg, new cmd heading: 71.419764 deg. 2ji Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200967w,AAB6Nj?YB2e?B9BJ7>yBH ?j?`?`5? |P7??@qx?ɨB6Nj?B&ٚ;BCyRBRIIbIb4٢j,> jS=9j9Q j>l G٣y%7< %> -Nusing accuracyPremultiplier from config)5<59-&5?E<5Y-2 i-BAE͒?E@-)E-z;-z;-n<5MB U: AUEZjq}FNOT Ignoring new targets: 155.40 m.Bj}*<Jj}*< ProNav: ac range: 155.399994 m, nav range: 51.189400 m, bearing: 149.505547 deg, approach rate: -0.059028 m/s, LOS rate: 0.596220 deg/s, cmd heading: 71.419764 deg, new cmd heading: 72.128772 deg. 2j<HeadingCmd: 1.258885 target range: 155.399994 and range: 155.40 m. j!#?jjjihhhhfffrfbf`o?ɛ'B'~ I TɚiI$=I!#?iiձ)!#?)*F?2F:FBF_0JF  $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.452059G孽G?G?GBO>w,AjHbH%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703937H9>I IA IIJBI&I.I6I<:Is FBICJICRICZI# =bI# =jI15E(m?YE,?E\S9E;>yEHU?3?&? ڔ?9`,I?/T? r?ɨE(m?E;AyU=BU2 IMb@Mb@Mb@ )YK7A?ˡE?:v?y "?'=<` A )@Iv@y@II{4٢f)> *=9d*:Q >!! %G٣!y%:< -> 5Nusing accuracyPremultiplier from config)=<59-:>?=<5Y-q+ i-BE"?E:E?E@-)E- ;-@;-<5I M AMEZjqMFNOT Ignoring new targets: 155.40 m.BjMH<JjH< ProNav: ac range: 155.399994 m, nav range: 51.141304 m, bearing: 149.836584 deg, approach rate: -0.101916 m/s, LOS rate: 0.702133 deg/s, cmd heading: 72.128772 deg, new cmd heading: 73.122710 deg. 2j<HeadingCmd: 1.276232 target range: 155.399994 and range: 155.40 m. j[?jjjihhhh܁Bfffrfbf?ɛU&BUf$ Q]X?=IY ]FSɚYiYI]Ğ$=Ie[?iaie)[?)zKe>NKaKaKeZKe>><:882,(''$%     RK}?JK}?*F ?2F :F BF ^0JF  Ih Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957112G% iG B) OM >pw,“A2o?Y2?2 M92A>y2Hg??vI?` ? TZi??`i?ɨ2o?2xq;2Cy>bB>^ IIFIF4٢Nb> N~=9RI:Q R ?PP VG٣VKGyV!= V ? ^Nusing accuracyPremultiplier from configX^<59Z I w,ܓA6r?Y6n?6396&H>y6H?`@l?yq? K,?ƋIF4< F=DIJIJ4RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.460068٢Z#> ZJ=9^7eQ ^>\\ bG٣`yb< b> fNusing accuracyPremultiplier from configdn<59fK?r<5Yf  if BprΜ?r@f)Ef_N;fN;f<5t v AxZjFNOT Ignoring new targets: 155.40 m.BjhR<JjhR<- ProNav: ac range: 155.399994 m, nav range: 51.063080 m, bearing: 150.344633 deg, approach rate: -0.115427 m/s, LOS rate: 0.735807 deg/s, cmd heading: 73.797824 deg, new cmd heading: 74.647944 deg. 2j-}<5HeadingCmd: 1.302852 target range: 155.399994 and range: 155.40 m. j5æ?j1j9j9i9h9hAhAhAfAfIfIrfIbfM@5P@ɛU$B]и aen8>Ia e0OɚaiaIet#=Imæ?iiiuý)æ?)*F)2F):F)BF-0JF1JIJMJIJIJIJM=9JIJIau@au@au@au@H8>I I IIBI$ =&I.I6IX<:IF FG|UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711986GBO >w,}A: v?Y:nC?:9:bO>y:H C?"[?"?vh?2ĺޟ?{?@rT?ɨ: v?:溙;:CyFBF IzKN֠MKN9KLKN[KN `w_H5$ BKT:KVqA%Mb@Mb@Mb@!!! !)!Y%/$?Zd;?QQ UG٣Qy] < ]> eNusing accuracyPremultiplier from configam<59e)S?m<5Ye ie9 Bu2?u:u?u@e)Ee#;e;e<5}B }- AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 155.40 m.BjDZ<JjDZ< ProNav: ac range: 155.399994 m, nav range: 51.004398 m, bearing: 150.666903 deg, approach rate: -0.138828 m/s, LOS rate: 0.763297 deg/s, cmd heading: 74.647943 deg, new cmd heading: 75.615770 deg. 2j=HeadingCmd: 1.319744 target range: 155.399994 and range: 155.40 m. j`?jjjihhhh;B Ifffrfbf 3@ɛ%#B%&;; %p=-i>I) -uLɚ)iIIMv#=IU`?iQiUQʽ)]`?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964046*F?2F:FBF0JFG G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:22:21:02.9603 m TRx dataTimestamp_ set to:1736374864.225338u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217693Qw,>[Afjy?Yf%?f9fQS>yfH {?`6d??@[?Ԡ?uD?` M?ɨfjy?f;fCynBn IIvIvE4٢~L= ~O=9Q >  G٣ KGy =  > Nusing accuracyPremultiplier from config%<59Y?%<5Y iV B)-?-@)E:;z;"<51 5xAyZjQ]FNOT Ignoring new targets: 155.40 m.BjebK<JjebK< ProNav: ac range: 155.399994 m, nav range: 50.947796 m, bearing: 150.966670 deg, approach rate: -0.134151 m/s, LOS rate: 0.711249 deg/s, cmd heading: 75.615768 deg, new cmd heading: 76.515988 deg. 2j<HeadingCmd: 1.335456 target range: 155.399994 and range: 155.40 m. j8?jjjihhhhfffrfbf 3 @ɛ"B:; >I wHɚiIB"=I%8?i!i%cν)E8?)I  $?I*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468266G% cOȽG BI O > w,lA*AJJJJJJ9JJZHRHAAHIC I!IIBI&I.I6I=<:I1 F%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:21:02.9603 LVL= 22352, 32753, 28066, 32755, AGC= 61, IDX= 417, 0.29,-2.738, 1.938, 1.877, 2.419, PHS= 1.214,-0.435,-0.545, RAW= 86.8, -2.8, CAL= 94.8, -8.9, ROT= 55.2, 8.9 Ygot valid direction response: 22:21:02.9603 LVL= 22352, 32753, 28066, 32755, AGC= 61, IDX= 417, 0.29,-2.738, 1.938, 1.877, 2.419, PHS= 1.214,-0.435,-0.545, RAW= 86.8, -2.8, CAL= 94.8, -8.9, ROT= 55.2, 8.9 PDAT read: Bearing 55.2, 8.9 (Local) ~Local bearing/azimuth received: Bearing 55.2, 8.9 (Local) DAT read: Range 10 to 50 : 153.8 m (Round-trip 205.1 ms) speed 0.5 m/s ,DAT read: user:2524> BDAT read: Tx time:22:21:04.0510 $Ping request sent.!!%1S?2oZS0Yʨ)%VI%fF=i%?%?!!U:publishing transmit ping timeUFpublishing direction and range info!9%ߍK^=n??y!!!! !)!I!i!!!!! !)!I!i!!!%1S?2oZS0Yʨ)!I!yƂB I) Ai!!!!Mb@Mb@Mb@ )YV-?V-?~jt?y|??h=<` A @)@Iy(@II4٢Q=  =9Q > G٣y >zKTMKS9KK\KRK?JK ? Nusing accuracyPremultiplier from config<59d?<5Y i| Br@?:?@)E;;F'<5 B A5Ek%u?k% + k! k%Ե.A:k%CBk%CZk%'@"%ڣywou8@ 0ޮb@%ߍK^=n??Jk%?Rk%?*%{ @Vc[&Jy+c@% %Iy } _Bɚy iy I} %"=I ?i i ) ?)  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:21:04.0502 *Fu ?2Fq :Fy BF} m0JFy GJʽG ?G ?GYBaO ?Vw,LA6J?Y6%?6g96Y>y6H?qu@???bB?M?`A?ɨ6J?6;6Cy>؂B> IIFIFm4٢N= Np=9RDQ R?PP VG٣TyVL= V? ^Nusing accuracyPremultiplier from configXb<59ZFj?b<5YZ) iZ Bdf(?f@Z)EZ;Z:Z6*<5h n.Al5Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjY]FNOT Ignoring new targets: 153.80 m.Bje<Jje< ProNav: ac range: 153.800003 m, nav range: 28.729023 m, bearing: 180.681640 deg, approach rate: 0.203900 m/s, LOS rate: 1.453178 deg/s, cmd heading: 77.765358 deg, new cmd heading: 79.214554 deg. 2jSy=HeadingCmd: 1.382555 target range: 153.800003 and range: 153.80 m. j?jjjihhhhfffrfbf?ɛ`<  >I! %I>ɚ!i!I%!=I-N?i1i5 )5?)1Em$= 1I9*F ?2F :F BF p0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.=8?G>޽G B O >+5w,fA6О?Y6ܝ?6"96s`>y6H ,?@G? +? B*? ǻ]?9?X6?ɨ6О?6(F;4yB߂BB IIJIJ4٢Ve= VJ=9ZQ Z>XX ^G٣^KGy^= ^> fNusing accuracyPremultiplier from config`f<59bp?j<5Ybo ib Bhjը?j@b)Eb:b:b-<5p rArEZj  FNOT Ignoring new targets: 153.80 m.Bj<Jj<% ProNav: ac range: 153.800003 m, nav range: 28.809414 m, bearing: 181.262991 deg, approach rate: 0.205176 m/s, LOS rate: 1.479577 deg/s, cmd heading: 79.214553 deg, new cmd heading: 80.953176 deg. 2j-}=5HeadingCmd: 1.412899 target range: 153.800003 and range: 153.80 m. j5ٴ?j1j1j1i1h1h9hAhAfAfIfIrfQbfU`GU?JJJJJ\:Jb9JJɛB Qh< 1=W>I9 E9Hu7>IuC IuT!IIu*BIq&Iq.Iq6Iu2<:Iu) FɚIiI =Iٴ?i is)ٴ?)!MWill construct direction to contact in vehicle frame from tetrahedron phase data.E%<*F2F:FBFQ5JFG5tAzK K 9K K ]K ,?jBK qA:K Y 5tAy B I II G G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. w,JyAB?YB ?B09B`>yBH 1?ֺ ?@U?(?λ 6?w?I4?ɨB?B;@yHJ I Ra=Rp=Mb@Mb@Mb@ )Yw/?+η?y&1?yF?v=`e<vA @)@IAyIId4٢. :=9Q > G٣y= > Nusing accuracyPremultiplier from config <59v?<5Y i B]H?:^?%@)Eд;߼;1<5=B =AEEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 153.80 m.Bj%<Jj-I +4ɚiI =I\O?ii)\O?))E1E1*E1"E1]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.*FI 2FI :FI BFM 1JFQ G% G B O- >eG&w,UA6F?Y6]?6996I?b>y6HT??X?x?F?ҷ` ??0?ɨ6F?63X;6CyBBB IIJIJ4٢R< V_=9VQ V>XX ZG٣XyZ= ^> bNusing accuracyPremultiplier from config`f<59bI{?f<5Yb0 ib Bdf+?f@b*Eb:bz:b4<5l r $?Ivh nAxZjFNOT Ignoring new targets: 153.80 m.Bj%<Jj%<5 ProNav: ac range: 153.800003 m, nav range: 28.955896 m, bearing: 182.477464 deg, approach rate: 0.193559 m/s, LOS rate: 1.612436 deg/s, cmd heading: 82.949068 deg, new cmd heading: 84.585951 deg. 2j5S=HeadingCmd: 1.476303 target range: 153.800003 and range: 153.80 m. j?jjjihhhhfffrfbfG?ɛB/q< !%>I! %/ɚ!i!I%#S=I-?i)i5ok$)5?)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742012*F?2F:FBF_0JFJJJJJm:J*9JJG-G1 jHY bH] <Hq Iu C Iu m!IIu >BIq &Iq .Iq 6Iu (<:Iu FB OU >u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996787Gq,w,0A6C?Y6)?6>96םf>y6H}?f*?`p?@h?䝻 ?? (?ɨ6C?6';6CyR؂BR IeMb@Mb@Mb@aaa a)aYeE?/$?~jtx?yeF?e=e;a e@)aIev@aye@I}I} 4٢Ja ==9U9Q > G٣KGy= > Nusing accuracyPremultiplier from config<59?<5Yv i BG?:ư?@*Ep; ;8<5 9AZjFNOT Ignoring new targets: 153.80 m.Bj<Jj<  ProNav: ac range: 153.800003 m, nav range: 29.035616 m, bearing: 183.125012 deg, approach rate: 0.184596 m/s, LOS rate: 1.495290 deg/s, cmd heading: 84.585951 deg, new cmd heading: 86.522481 deg. 2j F=HeadingCmd: 1.510102 target range: 153.800003 and range: 153.80 m. jK?jjjihhh!h%gBf!f!f!rf)bf-@?@ɛYem< ae>Ia e$*ɚaiiIm~=ImK?iqiu 5)uK?)yzKLK9KK^K|vlbZTMHCB>962./,(#!RK>JK> I*F2F:FBFJFG' GiBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245660Z3w,ΔA2}G?Y2?2C92l>y2Hƅ?@s|?=?`h?h} z?5?@B?ɨ2}G?2S;2Cy>͂B> IIFIFh4٢b0h fX=9fYuQ f>dh jG٣hyjr*= n> rNusing accuracyPremultiplier from configpv<59r􄡜?v<5Yr ir BxzŲ?z@r *ErC:r:r;<5| ~A|Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497838Zj9=FNOT Ignoring new targets: 153.80 m.BjE<JjEI &ɚiIV=I%?i!i-'?)-?)Q*F?2F:FBFn0JF"G)>Gi>G[FGBOA> IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750188]9w,甾A2Qk?Y2h?2@pJ92-r>y2H }?&c?`?@?ZdK?M?<?ɨ2Qk?2ى;2Cy:΂B: IIFIF34٢b; bJ=9fŀQ j>ll nG٣lyr5(= r> ~Nusing accuracyPremultiplier from configx<59z%? <5Yz iz5 B  ?@z*EzӁ;z8;zv?<5! %A%EZjquFNOT Ignoring new targets: 153.80 m.Bj}<Jj}I  ɚiIϳ=I"?iiNK)"?)y*F ?2F :F BF _0JFzK} %NKy Ky K} _K}    BK pA:K I Gu H Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:21:06.6578  TRx dataTimestamp_ set to:1736374868.014234 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256490GI BQ Ou >=@w,AyޕBޕ IEMb@Mb@Mb@AAA A)AYE-?333333?y&1yE5>?E=E`eE` A E@)AIE@AyE@II4٢aŽ .=9Q > G٣KGy > Nusing accuracyPremultiplier from config<59ɍ?<5Y} iH B5??:´?@*EQ;O;C<5 BAB*** querying acoustic contact ***jjZj9EFNOT Ignoring new targets: 153.80 m.Bj<Jj< ProNav: ac range: 153.800003 m, nav range: 29.258032 m, bearing: 184.962230 deg, approach rate: 0.176905 m/s, LOS rate: 1.417211 deg/s, cmd heading: 90.032924 deg, new cmd heading: 92.018059 deg. 2j's=HeadingCmd: 1.606018 target range: 153.800003 and range: 153.80 m. j?jj j i h h hhI ɚiI=IE?iAiEj)E?)I*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505708G2K'GIBqO>٤Fw,A Ih>*?Y>h?>Y9>>y>H_?`S`_?d(?m? ں`4???ɨ>*?>؉;>CyFBF I J=J=IRIR\4٢^aK ^r=9b,Q b?`` bG٣dyf= f? jNusing accuracyPremultiplier from confighn<59j]?r<5Yj ijX Bpr?r@j*Ej;j;jF<5vB vAzEZjFNOT Ignoring new targets: 153.80 m.Bj%]<Jj%]<- ProNav: ac range: 153.800003 m, nav range: 29.311272 m, bearing: 185.445278 deg, approach rate: 0.160145 m/s, LOS rate: 1.450349 deg/s, cmd heading: 92.018057 deg, new cmd heading: 93.464247 deg. 2j5x=EHeadingCmd: 1.631259 target range: 153.800003 and range: 153.80 m. jE?jAjAjAiAhIhIhIhIfQfQfQrfQbfU @ɛYeBfS< e%Ia eɚaiiIm21=Im??}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:21:06.6578 LVL= 16560, 32753, 27202, 32755, AGC= 58, IDX= 423, 0.25, 1.333,-0.212,-0.039, 0.471, PHS= 0.950,-0.637,-0.513, RAW= 94.0, 2.7, CAL= 102.5, 0.5, ROT= 47.5, -0.5 Ygot valid direction response: 22:21:06.6578 LVL= 16560, 32753, 27202, 32755, AGC= 58, IDX= 423, 0.25, 1.333,-0.212,-0.039, 0.471, PHS= 0.950,-0.637,-0.513, RAW= 94.0, 2.7, CAL= 102.5, 0.5, ROT= 47.5, -0.5 PDAT read: Bearing 47.5, -0.5 (Local) ~Local bearing/azimuth received: Bearing 47.5, -0.5 (Local) DAT read: Range 10 to 50 : 151.9 m (Round-trip 202.6 ms) speed 0.3 m/s ,DAT read: user:2525> BDAT read: Tx time:22:21:07.7510  $Ping request sent. ZHRHHIC IT!II*BI&I.I6I-<:I$ FE Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:22:21:07.7502 Lw,5ANoŒ?YN?N^a9NH>yNH[?h X?@J?G? r1?@+?Z?ɨNoŒ?N;NCyZBZ IMb@Mb@Mb@ )YFx?~jt?I +y+?=9/A S@)Z@II@y@II4٢   8=9Q > G٣y9= > MNusing accuracyPremultiplier from configIU<59M?U<5YMط iMh B],?]:] ?]@M*EM;M{;MxJ<5  Ak<=婜?kW! k k!A:kCBkCZk@"C 5sl\u@tA*b@iHv&¿Ϳ2?'(?Jk[7@Rk *2Ú'u9@>rA^ /b@C8t?2"ͿF?"k *kAksU?k}e^! 2kRCkvN?kz kkabAk{@ I 5 addTargetRange:: Added new target pos. range: 151.899994 m, deltaT: 3.786323 s, deltaX: -1.900009 m, approachRate: -0.501809 m/s, rangeRepo size: 4 e Added new target pos. range: 151.899994 m, bearing: 305.667768 deg, lat: 36.905269 deg, lon: -122.120586 deg, deltaT: 3.786323 s, deltaX: -1.900009 m, approachRate: -0.501809 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 151.90 m.BjmJji} ProNav: ac range: 151.899994 m, nav range: 14.148724 m, bearing: 225.447585 deg, approach rate: 0.000000 m/s, LOS rate: 1.450349 deg/s, cmd heading: 93.464247 deg, new cmd heading: 95.524142 deg. 2jyzK}̘LKyKyK}`K} !""    HeadingCmd: 1.667211 target range: 151.899994 and range: 151.90 m. j*g?jjjihhhhBfffrfb@bf?ɛ!%; !%>I! -ɚ)i)I-@=I5Z?i1i5>l)5*g?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF5P5JF1GU aDJCKKm3 KKg.KCKC"KCJ J J J J :J =9J J J 7;J 9;J *;J *;GI BY Ou >Sw,BOA>"?Y>8?>n9>z>y>H?@)_?Km?Q?̭? [l?P?ɨ>"?>;X\ ^G٣^KGy^= b> fNusing accuracyPremultiplier from config`f<59bؓ?j<5Yb ibv Bhj?j@b"*Eb:b:bM<5rWill construct direction to contact in vehicle frame from tetrahedron phase data.t v AtZjFNOT Ignoring new targets: 151.90 m.Bj%=Jj%=5 ProNav: ac range: 151.899994 m, nav range: 14.329236 m, bearing: 226.070895 deg, approach rate: 0.539566 m/s, LOS rate: 1.839618 deg/s, cmd heading: 95.524143 deg, new cmd heading: 97.369843 deg. 2j5Н==HeadingCmd: 1.699424 target range: 151.899994 and range: 151.90 m. j=?j9j9j9i9hAhAhAhAfIfIfIrfIbfM?ɛy}o < 隅e>I ۮɚiI=I0?ii6f)?)*FU?2FQ:FQBFU_0JFQG-FGBO)> IhWill construct direction to contact in vehicle frame from tetrahedron phase data.ՕAiՑBYw,}iAV͘?YV ?Vy9V\>yVH?3 ?@?`54?Y@.?`)??ɨV͘?V2;VCyjBj I)p ptvAI~I~4٢ "S  D=9ԻQ > G٣yl= %> -Nusing accuracyPremultiplier from config!-<59%Ô?5<5Y%/ i% B15?=@%&*E%~ ;%;%1Q<5EB E AEEZjiuFNOT Ignoring new targets: 151.90 m.Bj}<Jj}< ProNav: ac range: 151.899994 m, nav range: 14.540430 m, bearing: 226.808302 deg, approach rate: 0.508071 m/s, LOS rate: 1.748170 deg/s, cmd heading: 97.369845 deg, new cmd heading: 99.548821 deg. 2j=HeadingCmd: 1.737455 target range: 151.899994 and range: 151.90 m. jd?jjjihhhhfffrfbf?ɛ; O>I ɚiI=Hu6>IuC Iu(!IIuBIq&Iq.Iq6Iu+<:Iu" FI ?i!iMe})Md?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.E I*F ?2F :F BF @5JF zK ~`MK K K aK  Will construct direction to contact in vehicle frame from tetrahedron phase data.G "eGaBiO>Maw,Ab?Ybٺ?bw 9bGe>ybH`?N? a@z%?`?`ö? dyR^???ɨb?b;bCynsBnt ImMb@Mb@Mb@iii i)iYmT㥛 ?l? G٣y = > Nusing accuracyPremultiplier from config<59?<5Y i B3"?:K?@+*E;o;U<5 h AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 151.90 m.Bj<Jj<JQJUJU0JQJQJU9JUـ3JQJQJU8;JU<;JU<; ProNav: ac range: 151.899994 m, nav range: 14.767621 m, bearing: 227.646123 deg, approach rate: 0.459783 m/s, LOS rate: 1.669418 deg/s, cmd heading: 99.548819 deg, new cmd heading: 102.021990 deg. 2j6=HeadingCmd: 1.780620 target range: 151.899994 and range: 151.90 m. jX?jjjihhhhՁBfffrfbf]6?ɛAEC: IM,>II Mm ɚIiIIM=IUP?iQi]g)]X?)YEE<Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF_0JFGxjGBO> I hw,áAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997955:2?Y:Hƽ?:9:R>y:H@?Nট?7?? $ ~?0?j?ɨ:2?:;:CyFlBFj IININ4٢V[' V[=9ZQ Z>XX ZG٣^KGy^z= b> fNusing accuracyPremultiplier from config`f<59bݓ?j<5Yb ib Bhj7?j@b/*Eb:b:bX<5p r ApZj FNOT Ignoring new targets: 151.90 m.Bj<Jj< ProNav: ac range: 151.899994 m, nav range: 14.937478 m, bearing: 228.276653 deg, approach rate: 0.455077 m/s, LOS rate: 1.670056 deg/s, cmd heading: 102.021989 deg, new cmd heading: 103.891366 deg. 2jD=HeadingCmd: 1.813246 target range: 151.899994 and range: 151.90 m. ju?jjjihhhhfffrfbf`U@ɛQUIY ]- ɚYiYI]=Ie?iaiev)mu?)iEyEy*Ey"EyjHIbHM<HQIQ IU IIUBIQ&IQ.IQ6IUL<:IU; F*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252023) C c~GU tA} ZA s Y tAy vB% @- MBG5 ?t I G B O >nw,.8AzKiKK9KKbKRK%?JK%?y%fB%d I e=ep=Mb@Mb@Mb@ )Y"~?L7A`?:vy?+=T/A @)Iy @II4٢   ,=9Q > G٣y > %Nusing accuracyPremultiplier from config!-<59%:?-<5Y% i% B5?5:5?5@%3*E%$;%;%\<59 = AAZjamWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501950mFNOT Ignoring new targets: 151.90 m.Bj}<Jj< ProNav: ac range: 151.899994 m, nav range: 15.138614 m, bearing: 228.989847 deg, approach rate: 0.425535 m/s, LOS rate: 1.488794 deg/s, cmd heading: 103.891364 deg, new cmd heading: 106.001511 deg. 2jo=HeadingCmd: 1.850075 target range: 151.899994 and range: 151.90 m. jE?jjjihhhhBfififirfibfu`k@ɛ?: t>I %f ɚ!i)I-˱=IeE?iaim )mE?)i*F=?2F9:FABFE_0JFAG]pA G]rAG1JJJJJm:Ju9JJJ;J;J/;J/;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753884E|uw,וA2>ݧ?Y2T?2프92C>y2H5ƣ?C??bt?c ?P??ɨ2>ݧ?2(;2CyRhBRf IIZIZ-4٢zM< z_=9~T@Q > G٣y  >  > Nusing accuracyPremultiplier from config5<59ؑ?5<5Y i B15?=@7*E;S;`<5EB E AEEZjimFNOT Ignoring new targets: 151.90 m.Bju|<Jju|< ProNav: ac range: 151.899994 m, nav range: 15.289229 m, bearing: 229.559628 deg, approach rate: 0.406098 m/s, LOS rate: 1.521114 deg/s, cmd heading: 106.001510 deg, new cmd heading: 107.693493 deg. 2j}=HeadingCmd: 1.879606 target range: 151.899994 and range: 151.90 m. j?jjjihhhhfffrfbf@-@ɛR8; `>I +KɚiI~=I?iiPu)?) Ih*Fu?2Fq:FqBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:21:10.3561 TRx dataTimestamp_ set to:1736374871.541011checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007649G5OtGB!O=>H I  I II ӂBI &I .I 6I -<:I $ F{w,ArWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261500=!?Y=_?=09=>y=H`y?zU ?|?z@`>c? ?`{?ɨ=!?=~~;=CyuiBug I-Mb@Mb@Mb@))) )))Y-Zd;O?L7A`?~jthy-~ ?)-D-EA -@)-@I))y-f@IEIE4٢Ua; U)=9]":Q e>aa eG٣eLGym9X= m> uNusing accuracyPremultiplier from configq}<59u?}<5Yu iu B ?:{?@u;*Eu-;u;uXd<5B  AEZj=FNOT Ignoring new targets: 151.90 m.Bj=<JjEIA EɚAiIIMT=IMn@?iQ YIYiu )un@?)yE*F ?2F :F BF o0JF "G>G>zKMBoIKM9KIKMcKMGj>~G?G?Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B  DAT read: 22:21:10.3562 LVL= 21488, 32753, 31970, 32755, AGC= 65, IDX= 422, 0.23,-2.673, 2.002, 2.524, 2.827, PHS= 0.872,-0.778,-0.305, RAW= 106.2, 2.9, CAL= 117.4, 0.3, ROT= 32.6, -0.3  Ygot valid direction response: 22:21:10.3562 LVL= 21488, 32753, 31970, 32755, AGC= 65, IDX= 422, 0.23,-2.673, 2.002, 2.524, 2.827, PHS= 0.872,-0.778,-0.305, RAW= 106.2, 2.9, CAL= 117.4, 0.3, ROT= 32.6, -0.3  PDAT read: Bearing 32.6, -0.3 (Local)  ~Local bearing/azimuth received: Bearing 32.6, -0.3 (Local) O > DAT read: Range 10 to 50 : 150.6 m (Round-trip 200.9 ms) speed 0.3 m/s  ,DAT read: user:2526>  BDAT read: Tx time:22:21:11.4511 5 $Ping request sent.5 yH9?`?DG#?`"?$x?ɨ}?^^;CyލrBޕr I) AJ-J-J)J)J-:J-9J)J)J-;J-;J-8;J-8;II4٢5= X=9(;Q > G٣yڐ= > Nusing accuracyPremultiplier from config<59E?<5Y i B?@>*Eq ; ;g<5 \ Ak'!?k k kLA:kCBkCZk3@"\t)8|:m>Ib@@kĿ/<ƿ[$?Jk RkU*R!DQ@2$?K邨>`@›EZ?F*&˿֜*?"k*k$BkI?kTS 2k.CCkHw?k- kk_Ak[=@ addTargetRange:: Added new target pos. range: 150.600006 m, deltaT: 3.530417 s, deltaX: -1.299988 m, approachRate: -0.368225 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:21:11.4503  Added new target pos. range: 150.600006 m, bearing: 335.178906 deg, lat: 36.905383 deg, lon: -122.120632 deg, deltaT: 3.530417 s, deltaX: -1.299988 m, approachRate: -0.368225 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 150.60 m.Bj Jj ] ProNav: ac range: 150.600006 m, nav range: 16.421391 m, bearing: 279.746058 deg, approach rate: 0.000000 m/s, LOS rate: 1.446110 deg/s, cmd heading: 109.780360 deg, new cmd heading: 111.541397 deg. 2jYeHeadingCmd: 1.946765 target range: 150.600006 and range: 150.60 m. je/?jajajaiahihihihifqfqfqrfu@3b@bf[u?ɛBr;  +>I *ɚiI=I/?ii)/?)*F?2F:FBF0JF IIIG \~GQ Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,$AV ?YVL?VN}9V>yVH 䤿`|`I??6o秿?:?y?ɨV ?VJ;VCy^Bb IIjIjݜ4٢r= rk=9r j;Q r?tt vG٣tyzU= z? ~Nusing accuracyPremultiplier from config|<59~?<5Y~} i~ Be? @~A*E~y;~;~j<5  A5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 150.60 m.BjMvιJjMvι] ProNav: ac range: 150.600006 m, nav range: 16.609947 m, bearing: 279.738755 deg, approach rate: 0.589256 m/s, LOS rate: -0.022563 deg/s, cmd heading: 111.541395 deg, new cmd heading: 111.519735 deg. 2jeweHeadingCmd: 1.946387 target range: 150.600006 and range: 150.60 m. je2#?jijijiiihihihqhqfqfqfyrfbf W\?ɛֿ; 隵JG>I9 =ɚ9i9I=K=IMA?iIiI)M2#?)Y*F?2F:FBF4JFGZH-?ARH-?AH55>I1 I1I1I5# =&I1.I16I5X<:I5D FBIJIRIZIbIjI\4GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. A IA 䎥w,w>A2?Y2D?2"z92:>y2H\lK??@4Ȣ@\?? ?!}?ɨ2?2n;2CyNBN IzKUk3IKU9KQKUdKUBq^6mMb@Mb@Mb@iii i)iYmL7A`?~jt? G٣LGyє= > Nusing accuracyPremultiplier from config<59䆡?<5Yw i. B?:2?@E*E;;in<5  AZjFNOT Ignoring new targets: 150.60 m.Bj‹:Jj‹: ProNav: ac range: 150.600006 m, nav range: 16.836014 m, bearing: 279.765095 deg, approach rate: 0.531481 m/s, LOS rate: 0.061093 deg/s, cmd heading: 111.519736 deg, new cmd heading: 111.597694 deg. 2j'; HeadingCmd: 1.947747 target range: 150.600006 and range: 150.60 m. j O?j j j i h hhh܁Bfffrfbf?ɛEBM; IM]>IIUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.957371 fɚiI%Y=IM;?iQiej)eO?)i*F?2F:FBF\0JFG qA G pAG= :G9 G= pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.209253G! B1 OM >ʕw,oHXA6?Y6?6r96{>y6HX:I?f?-g[?5?+?ɨ6?6;6CyNBR IiV%=IVe>IZIZ44٢b= bX=9f9;Q f>dd fG٣dyj= j> =Nusing accuracyPremultiplier from configl=<59n?E<5Ynr inF BAE?E@nH*En ;nz ;nq<5I UAQZjFNOT Ignoring new targets: 150.60 m.Bj:Jj: ProNav: ac range: 150.600006 m, nav range: 17.035522 m, bearing: 279.806934 deg, approach rate: 0.508068 m/s, LOS rate: 0.105301 deg/s, cmd heading: 111.597696 deg, new cmd heading: 111.721744 deg. 2j;HeadingCmd: 1.949912 target range: 150.600006 and range: 150.60 m. j?jjjihhhhfffrfbfA? Iɛ  9/< >I #ɚiIdq=I?iW:J J J J J J O9J J a @a @a @a @H- 3>I)  I- !II- BI- $ =&I) .I- 5D6I- D<:I- 4 Fw,!rAjWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.717023=yHdX@4??@Lz?#?i?ɨ= G٣yKf= > Nusing accuracyPremultiplier from config<59/}?<5Yl in B@ ?:?@L*E;;v<5B AEZjFNOT Ignoring new targets: 150.60 m.Bj;;Jj;; ProNav: ac range: 150.600006 m, nav range: 17.300961 m, bearing: 279.887194 deg, approach rate: 0.551772 m/s, LOS rate: 0.164277 deg/s, cmd heading: 111.721746 deg, new cmd heading: 111.958828 deg. 2j {;HeadingCmd: 1.954050 target range: 150.600006 and range: 150.60 m. jQ?jjjihhh!h%فBf!f!f!rf)bf-`?ɛ]B]q2< ae>Ia evɚaiaImd=IuQ?iuۿ2uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965436Yᢥw,Ard?Yrx?rS9r>yrHuÿ {#4? ?Ŀ,j r?`? c?ɨrd?r<;rCyȂB I)-AAI5I5V4٢Ea0> Ew=9MJTI fɚiIf=I?i%P-G>GBO >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469260Ew,]⥖AVT.?YVhl?VbC9VOr>yVH4ǿ>?@n?ǿ? i??`?ɨVT.?V%;VCyrׂBr I)t tIzIz4٢ =  N=9 $ G٣y= > %Nusing accuracyPremultiplier from config!-<59%Os?-<5Y%0b i% B15?5@%S*E%:%;%a|<59 E2AA]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 150.60 m.BjuI;JjuI; ProNav: ac range: 150.600006 m, nav range: 17.689182 m, bearing: 280.053375 deg, approach rate: 0.533841 m/s, LOS rate: 0.245295 deg/s, cmd heading: 112.161070 deg, new cmd heading: 112.451787 deg. 2jX(<HeadingCmd: 1.962654 target range: 150.600006 and range: 150.60 m. j>8?jjjihhhhfffrfbf`@ɛB~[< 隵(>I ^+ܻɚiI =I>8?ih'8?)JmJmJiJiJm\:Jm 9JiJi*F?2F:FBF0JFjH<bHH2>I I4!IIBI&I.I6I:I2 FG]3cGB)OEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721573 $?I  nManaging dock network, ignoring radio surface power off1w,巿Ay~B~!II|Mb@Mb@Mb@ )Y&1?~jt?y&1?y?=`<A )@I@y@IIE4٢n=zKLK 9KKfK @=9Q > G٣y > Nusing accuracyPremultiplier from config<59Ym?<5Y\ i B_?:?@V*EQ;;<5B AEZj!%FNOT Ignoring new targets: 150.60 m.Bj-hv;Jj-hv;=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973467M ProNav: ac range: 150.600006 m, nav range: 17.929678 m, bearing: 280.146693 deg, approach rate: 0.562737 m/s, LOS rate: 0.215425 deg/s, cmd heading: 112.451784 deg, new cmd heading: 112.727979 deg. 2jMIQ UлɚQiQI] =I]3?i]!JyJy Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:21:14.0541  TRx dataTimestamp_ set to:1736374875.320604 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226329w,2ٖA6?Y6?6'96>y6H pο@? ?ܞο????ɨ6?6ة;6CyBBB%!IIJIJļ4٢f > jZ=9jZll nG٣nLGyr> r> vNusing accuracyPremultiplier from configtz<59v+g?z<5YvV iv Bx~i?~@vZ*Ev ;v ;v_<5 AZj)-FNOT Ignoring new targets: 150.60 m.Bj5ϲ;Jj5ϲ; AIAU ProNav: ac range: 150.600006 m, nav range: 18.137772 m, bearing: 280.264387 deg, approach rate: 0.559220 m/s, LOS rate: 0.312656 deg/s, cmd heading: 112.727976 deg, new cmd heading: 113.077002 deg. 2jV<HeadingCmd: 1.973566 target range: 150.600006 and range: 150.60 m. jН?jjjihhh h f f f rfbfz\ @ɛ]B]< Ye>Ia ejŻɚaiaIe =ImН?imJ J J J J :J 9J J H 1>I  I m!II >BI % =&I .I 6I <:I a FFw,}AVWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 22:21:14.0541 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 415, 0.11, 2.545, 1.137, 1.853, 2.107, PHS= 0.526,-0.922,-0.256, RAW= 117.3, 10.4, CAL= 125.8, 6.9, ROT= 24.2, -6.9 Ygot valid direction response: 22:21:14.0541 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 415, 0.11, 2.545, 1.137, 1.853, 2.107, PHS= 0.526,-0.922,-0.256, RAW= 117.3, 10.4, CAL= 125.8, 6.9, ROT= 24.2, -6.9 6cG?Y6w?696~>y6H@ѿYn@}?D?` п+?`a?@P? ?ɨ6cG?6;4NG |uA!y5B M$YM|uAyUBPDAT read: Bearing 24.2, -6.9 (Local) ~Local bearing/azimuth received: Bearing 24.2, -6.9 (Local) DAT read: Range 10 to 50 : 149.1 m (Round-trip 198.9 ms) speed 0.5 m/s 9!Ii>I4< ==,DAT read: user:2527>  BDAT read: Tx time:22:21:15.1511  $Ping request sent.  V @)VϢ=IV@>iVϢTTVŭp?LAD$y-?)VP=IV9iV(V)bTT:publishing transmit ping time Fpublishing direction and range infoT9V4]9+ԿmNXֿ6+ R=?yTTTT T)TITiTTTTT T)TITiTTTVŭp?LAD$y-?)TITiTTTTu@} uMb@Mb@Mb@qqq q)qYu1Zd?Dl?{Gz?yu"?uO=uףii mG٣iyu>= u> }Nusing accuracyPremultiplier from configy<59}[?<5Y}M i} B8?:>?@}`*E}9;};}ʈ<5B RAEzKyJK9KKgKMWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:22:21:15.1503 kVR?kVp  kT kVzA:kVCBkVCZkV @"V$O!~G& Jr`@V4]9+ԿmNXֿ6+ R=?JkV(RkV)b*Vd`X@q9(?[@VfQx?¶ ?ƿVtId?"kVO*kVBkVh\?kVƟU 2kV.CkVsU?kVƟU kVRCkV%BkV @ addTargetRange:: Added new target pos. range: 149.100006 m, deltaT: 3.779613 s, deltaX: -1.500000 m, approachRate: -0.396866 m/s, rangeRepo size: 4  Added new target pos. range: 149.100006 m, bearing: 345.243773 deg, lat: 36.905587 deg, lon: -122.120719 deg, deltaT: 3.779613 s, deltaX: -1.500000 m, approachRate: -0.396866 m/s, posRepo size: 4 ZjA E FNOT Ignoring new targets: 149.10 m.BjM JjI ]  ProNav: ac range: 149.100006 m, nav range: 36.786644 m, bearing: 315.216233 deg, approach rate: 0.000000 m/s, LOS rate: 0.312656 deg/s, cmd heading: 113.077006 deg, new cmd heading: 113.690887 deg. 2jY HeadingCmd: 1.984280 target range: 149.100006 and range: 149.10 m. j ?j j j i h h h h f f f rf @3b@bf B?ɛE BE n< I M >II U ǯɚQ iQ I} =I ?i  åw, oAFI?YF]?F! 9FY.>yFHҿ`+Cz?T?/~ҿB8?@?v"?@:?ɨFI?F;Dyb3Bb`!IIzIzݜ4٢> =9 j Will construct direction to contact in vehicle frame from tetrahedron phase data.ʥw,<*AJ?YJ?J9J 8>yJH`zԿ`?L?PAԿ`F?`?L?@?ɨJ?J;JCy^BB^r!IIfIf4٢n= nM=9r;Q r>pp vG٣vLGyv= v> ~Nusing accuracyPremultiplier from config|<59~N?<5Y~5D i~0 B  ? @~f*E~:~;:~f<5B AE5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 149.10 m.BjM»JjM»] ProNav: ac range: 149.100006 m, nav range: 37.149811 m, bearing: 314.996201 deg, approach rate: 0.586244 m/s, LOS rate: -0.339261 deg/s, cmd heading: 113.422975 deg, new cmd heading: 113.034174 deg. 2j]heHeadingCmd: 1.972818 target range: 149.100006 and range: 149.10 m. jeQ?jajajaiahihihihifqfqfrfbf@@?ɛBb = 隵`?I VƙɚiI0 =IQ?iik7?)Q?)JJJ1JJJO9J3ZH@ARHAAH/>I I!IIqBI&I.I6Iw<:IT FJJ7;a%J8;a-Je,;a5Je,;a5*F?2F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.GG ?G>  $?IGBO>~Хw,@DA6hk?Y6|?6f96핈>y6Hտ* v?`?шտ`^?o?L??ɨ6hk?6q;6CNWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.147388yVPBV!I)X XzK^K^9K\K^hK^EE EMb@Mb@Mb@AAA A)AYEMb?:v?Mb?yE#?ET=E 5G٣1y=N= => ENusing accuracyPremultiplier from configAM<59ED?M<5YE_= iEF BM#?M:M?M@Ek*EE;E+;EK<5 cAZj1=FNOT Ignoring new targets: 149.10 m.Bj=vJj=vm ProNav: ac range: 149.100006 m, nav range: 37.415405 m, bearing: 314.840975 deg, approach rate: 0.567868 m/s, LOS rate: -0.329533 deg/s, cmd heading: 113.034173 deg, new cmd heading: 112.571810 deg. 2ju'buHeadingCmd: 1.964749 target range: 149.100006 and range: 149.10 m. ju|?jyjyjyiyhyhyhhABfffrfbfq?ɛB-O= )-V?I) 5.=ɚ1i1I5-=I=|?i=њUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.399619 I !ץw,-]A6KW?Y6^?6),˼96An>y6H&6׿ Z??@ֿ G ?d?e]?@?ɨ6KW?61w;6Cy>^B>!IIFIF"4٢N= Ne=9R4PT VG٣TyVJ= V> ^Nusing accuracyPremultiplier from configXj<59ZH->IC I!IIBI& =&I.I6I<:Ia FBIJIRIZI% =bI% =jIl5e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.903651/xݥw,~xA^b?Yr?&=9Ѐ>yH`)ؿd?@?׿ 1?Xg? ??ɨ^b?o;騕CyޭhBޭ!I IhMMb@Mb@Mb@III I)IYMˡE?&1?Mbp?yM'?MP=M;I M\@)IIM@IyM @ImImJ4٢}= }+=9}KI G٣LGyJ = > Nusing accuracyPremultiplier from config<590?<5Y0 id Br(?:@@s*E;-;<5 AZjFNOT Ignoring new targets: 149.10 m.Bj\Jj\ ProNav: ac range: 149.100006 m, nav range: 37.925293 m, bearing: 314.578281 deg, approach rate: 0.649885 m/s, LOS rate: -0.322361 deg/s, cmd heading: 112.231606 deg, new cmd heading: 111.789171 deg. 2j;]HeadingCmd: 1.951089 target range: 149.100006 and range: 149.10 m. jJ?jjjihhhh ?Bf f f rf bf@{@@ɛBv'= +?I AEɚ i I u=IJ?igJ J J 0J J :J 9J ـ3J J ;J ;J O>;J O>;XSw,$AyrB!II-I-E4٢Mj= Mb=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configam<59e'?m<5Ye+ ieo Biim@ew*Ee:e:e<5y }RA}EZjFNOT Ignoring new targets: 149.10 m.BjJj ProNav: ac range: 149.100006 m, nav range: 38.151363 m, bearing: 314.466890 deg, approach rate: 0.627146 m/s, LOS rate: -0.307180 deg/s, cmd heading: 111.789173 deg, new cmd heading: 111.456985 deg. 2jRHeadingCmd: 1.945291 target range: 149.100006 and range: 149.10 m. jO?jjjihhhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.407705hfffrfbfQ(@ɛ`M= u1?I =&ɚiI =I%O?i% Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.659631}w, A:?Y:?:9:gk>y:H ٿ`(?J?`(0ٿ ??@7?`{'?ɨ:?:Q;8y^zB^!IIjIj4٢r#= rQ=9rItt vG٣tyzZ= z> Nusing accuracyPremultiplier from config|<59~? <5Y~ % i~w B  @ @~{*E~:~z:~<5 AEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 149.10 m.BjUJj]m ProNav: ac range: 149.100006 m, nav range: 38.397789 m, bearing: 314.358113 deg, approach rate: 0.626252 m/s, LOS rate: -0.274665 deg/s, cmd heading: 111.456987 deg, new cmd heading: 111.132754 deg. 2jmIi Im"IImBIm' =&Ii.Ii6Im<:Im F*Fm?2Fq:FqBFuO5JFqGM̻Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.913129G BO--> Iigw,zŗA"Will construct direction to contact in vehicle frame from tetrahedron phase data."BDAT read: Rx Time:22:21:17.7505 &TRx dataTimestamp_ set to:1736374879.100682&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.164689:?Y: V?:.B9:vV`>y:HTڿuځ?`*?Hٿ/7?Eh?}?(AA EG٣ELGyM < M> UNusing accuracyPremultiplier from configQ]<59U?]<5YU" iUz Be)?e:eh@e@U*EU;UM;U <5 AZjQ]FNOT Ignoring new targets: 149.10 m.Bj]Jj] ProNav: ac range: 149.100006 m, nav range: 38.684662 m, bearing: 314.237767 deg, approach rate: 0.609336 m/s, LOS rate: -0.253728 deg/s, cmd heading: 111.132751 deg, new cmd heading: 110.774394 deg. 2j!.HeadingCmd: 1.933378 target range: 149.100006 and range: 149.10 m. jx?jjjihhhh Bfffrfbf@ @ɛB8= M_:?IQ UɚQiQIU4=I]x?i]wG>Will construct direction to contact in vehicle frame from tetrahedron phase data.=<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.415837Ge oT<G} ?G} > I GY Ba O} >iw,ߗAB ?YB$@B%;9B>S>yBHڿ2t`(?:?`)ڿ? d N?Q?ɨB ?BĴ;BCyJBJ!I)\ \\^AIbIb4٢j4< je=9n#{pp vG٣tyz< z> Nusing accuracyPremultiplier from config|<59~?<5Y~ i~{ B  @ @~*E~":~:~.<5B AEZjAEFNOT Ignoring new targets: 149.10 m.BjMJjM] ProNav: ac range: 149.100006 m, nav range: 38.914925 m, bearing: 314.145248 deg, approach rate: 0.685747 m/s, LOS rate: -0.273899 deg/s, cmd heading: 110.774392 deg, new cmd heading: 110.498482 deg. 2j];mHeadingCmd: 1.928562 target range: 149.100006 and range: 149.10 m. jm!?jijqjqiqhqhyhyhfffrfbf@ @ɛwtf= 隽 BDAT read: Tx time:22:21:18.8511 $Ping request sent.GίYYH](>I]C I]"II]ǃBI]) =&IY.I]4D6I]߰<:I] F Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:21:18.8503 w,wA $?Ik?Y^@߻<9^E>yHڿ  *??`ڿސ?n@? h?ɨk?;;騝Cy޵B޵!IMb@Mb@Mb@ )Y rh?~jt?I +yC+?D=94~A @)I@y@II4٢m /=9kK G٣y; > Nusing accuracyPremultiplier from config<59+?<5Yl ix B+?:@@*E;;C<5 Akz?kaV k kȷ旾A:kfCBkcCZk@BK>"7jTBR)h&_@ ɔĿs9߿~uJK KS}-KK"KJ J J J J ̝:J J J a @a @a @a @w,~A^?Y^͜@^tU<9^4>y^H/ۿɌ ?@^?`ڿ?@'x?`?ɨ^?^;^Cy))IEIE 49UWYY ]G٣Yye}.< e> mNusing accuracyPremultiplier from configiu<59mQ?u<5Ym  ims Bq}O@}@m*Em;m!;m^<5B AEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 146.40 m.Bj@Jj@ ProNav: ac range: 146.399994 m, nav range: 76.398331 m, bearing: 338.172457 deg, approach rate: 0.527578 m/s, LOS rate: -0.318673 deg/s, cmd heading: 110.109930 deg, new cmd heading: 109.773458 deg. 2jZHeadingCmd: 1.915908 target range: 146.399994 and range: 146.40 m. j{?ɛ-c=  w,L-Ay}B!Ii%=I%;?I-I-@4٢E E<9MQ M>II UG٣ULGyU U> ]Nusing accuracyPremultiplier from configYe<59]0栜?e<5Y] i]o Biim@]*E]e:].:]<5uB }A}EB*** querying acoustic contact ***jjZjH%>I III&IHD.I6I<:Ii FFNOT Ignoring new targets: 146.40 m.BjJj ProNav: ac range: 146.399994 m, nav range: 76.608452 m, bearing: 338.046095 deg, approach rate: 0.520465 m/s, LOS rate: -0.312138 deg/s, cmd heading: 109.773455 deg, new cmd heading: 109.395413 deg. 2j7VHeadingCmd: 1.909310 target range: 146.399994 and range: 146.40 m. jFd?jjjihhhhfffrfbfb9?ɛ B}L= 隝X8?I *:ɚiI=IMFd?iMG/!=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)q uCc~G*F2F:FBFJFE5tAmAGZ'= 7Y5tAy4B }$?IyGBO]>zw,"GAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493471fih?Yf>@fS<9fo>yfH_ۿy@?6?`[ڿ? ט?`s?ɨfih?f1;fCyrBr!IzKNK+9KKlK 7CygTB5$tdUJE?7-'",+#--only read 0 of 1 data item for BIT error. Device response is::TS,25010814222625,35.0, +10.9, 0., 0  -@- -@- -@-  -@5 I5I54٢M6< MJ=9M^QQ UG٣Qy]< ]> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configq<59uڠ?<5Yu iug B+::@@u*Eu׼;u$>u<5 AZjFNOT Ignoring new targets: 146.40 m.BjرJjر ProNav: ac range: 146.399994 m, nav range: 76.821617 m, bearing: 337.919672 deg, approach rate: 0.525790 m/s, LOS rate: -0.310967 deg/s, cmd heading: 109.395411 deg, new cmd heading: 109.017201 deg. 2jiUHeadingCmd: 1.902709 target range: 146.399994 and range: 146.40 m. j?jjjqiqhqhyhyhyfyffrfbfj?ɛ B^\= :?I jX:ɚiIԦ=I?ii^=)%?))*F?2F:FBFo0JFJiJm@AJ}J}JyJyJ}:J}:JyJyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745344Gʯ=G B O > i Ii Ww,`A:?Y:Ԋ@:<9:>y:HۿO{?`P?ڿ ? oXX ZG٣\y^< ^> jbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from config`n<59bTР?n<5Yb ib] Bn :lrO:r9@r@b*Eb{r;bJ?b<5t v5AtZjFNOT Ignoring new targets: 146.40 m.Bj]᲻Jje᲻m ProNav: ac range: 146.399994 m, nav range: 77.021873 m, bearing: 337.800638 deg, approach rate: 0.527576 m/s, LOS rate: -0.312779 deg/s, cmd heading: 109.017203 deg, new cmd heading: 108.661035 deg. 2juVuHeadingCmd: 1.896493 target range: 146.399994 and range: 146.40 m. j}G?jyjyjyiyhyhhhfffrfbf2_?ɛ BUɣ\= Y]5?IY ]b ;ɚYiYIeL_=I}G?i}$G s=G  ?G ?GBO J>H#>I I"IIƒBI* =&I.I6I}<:IN F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249466 w,szA !I!%X?Y%k?%/=9%0e=y%H`2ڿtV?)?nٿV6?`? Q?ɨ%X?%vv;%Cy={B=!I)A A        Mb@Mb@Mb@ )YE?V-?~jty&?h=D@ &@)@I@y@II4٢< *=9EII MG٣MLGyU U> ]Nusing accuracyPremultiplier from configQ<59U ?<5YUZ iUL BT:'?:@@U*EU$;Ut;U9<5B AEZjFNOT Ignoring new targets: 146.40 m.BjNJjN ProNav: ac range: 146.399994 m, nav range: 77.277008 m, bearing: 337.656632 deg, approach rate: 0.513799 m/s, LOS rate: -0.289046 deg/s, cmd heading: 108.661036 deg, new cmd heading: 108.230453 deg. 2j^F=HeadingCmd: 1.888978 target range: 146.399994 and range: 146.40 m. jE?jAjAjAiAhAhAhIhMBfIfIfQrfQbfU`@ɛ BD= =9?I  :;ɚiII=I?i7$w,OAyjkBj!IItIt٢~ ~s=9~Q ? G٣ y ? 5Nusing accuracyPremultiplier from config)M<59-Y?U<5Y-n i-A BQQ]@-*E-T;-H;-<5mB uAuEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754363ZjFNOT Ignoring new targets: 146.40 m.BjУJjУ ProNav: ac range: 146.399994 m, nav range: 77.449966 m, bearing: 337.559705 deg, approach rate: 0.512255 m/s, LOS rate: -0.286432 deg/s, cmd heading: 108.230454 deg, new cmd heading: 107.940322 deg. 2jDHeadingCmd: 1.883914 target range: 146.399994 and range: 146.40 m. j$?jjjihhhhfffrfbff@ɛEBE_= AMd1?II M^[;ɚIiI]&=I$?i/)M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:22:21:21.4475 ] TRx dataTimestamp_ set to:1736374882.628775] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006639+w,eAJ7?YJIT?J\=9J[=yJH@ؿp@t*?l?0ؿnس? `??ɨJ7?JҌ;JCyVrBV!II^I^4٢f= fM=9fhh jG٣hyn_ n> rNusing accuracyPremultiplier from configpv<59r?v<5Yr ir0 Bxz2@z@r*Er6;rW;r<5B GAE%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 146.40 m.Bj5?Jj5?M ProNav: ac range: 146.399994 m, nav range: 77.652321 m, bearing: 337.441820 deg, approach rate: 0.530372 m/s, LOS rate: -0.308172 deg/s, cmd heading: 107.940321 deg, new cmd heading: 107.587592 deg. 2jM~SUHeadingCmd: 1.877758 target range: 146.399994 and range: 146.40 m. jU]Z?jQjQjHbH<H>IC I!IIBI+ =&I.I3D6Iq<:IA FBIeCJIeCRIaZIe) =bIe) =jIe5jQihhhhf!f!f!rf!bf- @J=J=J9J9J=<:J=O9J9J9J=;aMJ=;aMJ=d,;aMJ=e,;aMɛmBoa= 隕5?I m Will construct direction to contact in vehicle frame from tetrahedron phase data.2b2w,XɘADAT read: 22:21:21.4475 LVL= 22208, 32753, 27506, 32755, AGC= 60, IDX= 413, 0.23,-2.242, 2.636,-2.851,-2.685, PHS= 0.531,-0.916,-0.169, RAW= 121.0, 8.9, CAL= 129.4, 4.7, ROT= 20.6, -4.7 Ygot valid direction response: 22:21:21.4475 LVL= 22208, 32753, 27506, 32755, AGC= 60, IDX= 413, 0.23,-2.242, 2.636,-2.851,-2.685, PHS= 0.531,-0.916,-0.169, RAW= 121.0, 8.9, CAL= 129.4, 4.7, ROT= 20.6, -4.7 PDAT read: Bearing 20.6, -4.7 (Local) ~Local bearing/azimuth received: Bearing 20.6, -4.7 (Local) BDAT read: Range 10 to 50 : 144.1 m (Round-trip 192.2 ms) speed 0.4 m/s F,DAT read: user:2529> zKns$LKn9KlKnnKnUBDAT read: Tx time:22:21:22.5511 ]$Ping request sent.] @)=IX>iMW?GD(?h?)I]%=Mb@Mb@Mb@ )Yp= ף?{Gz?~jty%?ף=-@ @)@I@y3@IIļ4٢5 5=9=Q > G٣ LGy > Nusing accuracyPremultiplier from config<59?<5YO i Bi&?:$@@*E;;h<5! %[A!kﶹ?k|w k kȘA:kCBkCZkG@"D MA4_@;ҿb{ڿNc ?Jk` Rk4@*wcy0S@0D%Bt^@V/ ?JQ_3 ?"k *kBkV㹜?kAx 2k;CkV㹜?kk;CkBk[@= addTargetRange:: Added new target pos. range: 144.100006 m, deltaT: 3.530200 s, deltaX: -2.299988 m, approachRate: -0.651518 m/s, rangeRepo size: 4  Added new target pos. range: 144.100006 m, bearing: 355.666605 deg, lat: 36.906023 deg, lon: -122.120719 deg, deltaT: 3.530200 s, deltaX: -2.299988 m, approachRate: -0.651518 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 144.10 m.BjJj ProNav: ac range: 144.100006 m, nav range: 82.448349 m, bearing: 338.587527 deg, approach rate: 0.000000 m/s, LOS rate: -0.308172 deg/s, cmd heading: 107.587589 deg, new cmd heading: 107.045723 deg. 2jHeadingCmd: 1.868300 target range: 144.100006 and range: 144.10 m. jw$?jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:21:22.5503 hhBfffrf@3b@bfz6?ɛB<9= 隥>5?I L;ɚiItN=Iw$?i70IL IN!IINBIN- =&IL.IL6IN<:INf Fr?A?YrR?r7=9r_i=yrH֘׿j?`?sd׿'U?l`)?~?ɨr?A?r;;rCy~oB|I I #4٢ %!=9%)) -G٣)y-7 5> =Nusing accuracyPremultiplier from config9E<59=?E<5Y= i= BAE@E@=*E=:=:=<5JJJJJJ9JJJJJ1;J1; `AZjFNOT Ignoring new targets: 144.10 m.BjxJjx5 ProNav: ac range: 144.100006 m, nav range: 82.694756 m, bearing: 338.445586 deg, approach rate: 0.515956 m/s, LOS rate: -0.296326 deg/s, cmd heading: 107.045723 deg, new cmd heading: 106.621180 deg. 2j5]K=HeadingCmd: 1.860891 target range: 144.100006 and range: 144.10 m. j=1?j9jAjAiAhAhAhihifififqrfqbfug?ɛB}EV= 5?I iد;ɚi I v=I 1?i2u Will construct direction to contact in vehicle frame from tetrahedron phase data.Bw, AzKKs9KKoKBK!:K%lAyޥaBޥ!IMb@Mb@Mb@ )Yw/?/$?~jtxy&?=Ļ@ @)@Iy@II4٢} 4=9Q > G٣ LGy > Nusing accuracyPremultiplier from config<59J?<5Y i BL(?:@@*E;;<5 %A%EZjIUFNOT Ignoring new targets: 144.10 m.BjeJje} ProNav: ac range: 144.100006 m, nav range: 82.926277 m, bearing: 338.314360 deg, approach rate: 0.519587 m/s, LOS rate: -0.293679 deg/s, cmd heading: 106.621179 deg, new cmd heading: 106.228605 deg. 2j}IHeadingCmd: 1.854039 target range: 144.100006 and range: 144.10 m. j&Q?jjjihhhhBfffrfbfԗ?ɛBRP= M/?I U;ɚiI=I&Q?i5Will construct direction to contact in vehicle frame from tetrahedron phase data.GaByO?yJw,+AyeB!I)  II4٢-X< 5.=91Q 5>99 =G٣9y9 E> MNusing accuracyPremultiplier from configIU<59My?U<5YM iM BQQU@M*EMq:M:M<5 AEZj  FNOT Ignoring new targets: 144.10 m.BjJj% ProNav: ac range: 144.100006 m, nav range: 83.164108 m, bearing: 338.180572 deg, approach rate: 0.497509 m/s, LOS rate: -0.279065 deg/s, cmd heading: 106.228607 deg, new cmd heading: 105.828397 deg. 2j%?-HeadingCmd: 1.847054 target range: 144.100006 and range: 144.10 m. j5Dl?j1j1j1i1h9h9hAhAfAfAfArfIbfM\?ɛuB}HV= y}D2?Iy g(;ɚiI=IDl?i@8I-C I-!II-BI-, =&I).I)6I-<:I-M FJ=J9J9J9J=:J9J9J9J=;J=;J9J9*FU?2FQ:FQBFU15JFYG-=GBO J>eWill construct direction to contact in vehicle frame from tetrahedron phase data. }$?I}hzUQw,BEA: G٣y[ > Nusing accuracyPremultiplier from config<59n?<5Ym i B|.?:@@*E(;&D;a<5 AEB*** querying acoustic contact ***jjWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZjFNOT Ignoring new targets: 144.10 m.Bj7Jj7 ProNav: ac range: 144.100006 m, nav range: 83.374939 m, bearing: 338.055108 deg, approach rate: 0.498465 m/s, LOS rate: -0.295882 deg/s, cmd heading: 105.828399 deg, new cmd heading: 105.452965 deg. 2jKHeadingCmd: 1.840501 target range: 144.100006 and range: 144.10 m. j?jjjihhhhBff1f1rf1bf5@t@ɛ}BVX= 隅-?I q;ɚiI=I?i': I TWw,z_AN?YNE?Np=9NKJ4=yNH 0Կ\@ ? B?Կ Ҷ?Q:u? ??ɨN?Nl;NCyVRBV!IIbIbg4٢j7 jU=9jll nG٣n LGyrT r> vNusing accuracyPremultiplier from configtz<59vle?z<5YvA iv Bx~^@~@v*Ev ;v%;v<5  GA ZjFNOT Ignoring new targets: 144.10 m.BjŸJjŸ ProNav: ac range: 144.100006 m, nav range: 83.567780 m, bearing: 337.935173 deg, approach rate: 0.520676 m/s, LOS rate: -0.323080 deg/s, cmd heading: 105.452964 deg, new cmd heading: 105.093996 deg. 2j]HeadingCmd: 1.834236 target range: 144.100006 and range: 144.10 m. jA?jjjihhhhfff!rf!bf%i@ɛmBe= 隝7*?I n;ɚiI]=IA?iR<H5 >I5 C I5 !II5 BI1 &I1 .I1 6I5 <:I1 Ji Jm Ji Ji Ji Jm 9Ji Ji Ji Ji Jm <;Jm <;#]w,\yAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704532.~G:|uA  =Y=|uAy=bByi=I=II~4 I9 Q  >  G٣y > Nusing accuracyPremultiplier from configE<59Y?E<5Y i Bqy}@*E<<<5 ZjyFNOT Ignoring new targets: 144.10 m.BjJj ProNav: ac range: 144.100006 m, nav range: 83.807167 m, bearing: 337.787369 deg, approach rate: 0.478661 m/s, LOS rate: -0.294694 deg/s, cmd heading: 105.093997 deg, new cmd heading: 104.651859 deg. 2j>JHeadingCmd: 1.826519 target range: 144.100006 and range: 144.10 m. jd?jjjihhhhfffrfbfi@ɛBdM= 隭U+?I D <ɚiI=Id?i>hew,kAF/I?YF@?F$=9FH7=yFH@ҿf? du?uҿ`׷?vnҦ?@?ɨF/I?F3;FCyNGBNy!IMMb@Mb@Mb@III I)IYMn?~jt?MbyMV.?M=MI M5@)Mp@IM@IyMf@IeIe94٢u u<9u+yy }G٣yyU >  Nusing accuracyPremultiplier from config<59O?%<5Y iz B%0?%:%@-@*E;;g<5EWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:22:21:25.1447 eTRx dataTimestamp_ set to:1736374886.411655mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.213638 AEZjFNOT Ignoring new targets: 144.10 m.BjJj ProNav: ac range: 144.100006 m, nav range: 84.011620 m, bearing: 337.659768 deg, approach rate: 0.544619 m/s, LOS rate: -0.339074 deg/s, cmd heading: 104.651858 deg, new cmd heading: 104.269993 deg. 2jhHeadingCmd: 1.819855 target range: 144.100006 and range: 144.10 m. j?jjjihhhhBfffrfbf~[ @ $?Iɛ5B5 /h= 1=&?I9 =?<ɚ9i9I={*=IE?iM? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4612128kw,8A:n?Y:P?:L=9:b>=y:H%Lҿ WXX ZG٣^ LGy^׼ b> fNusing accuracyPremultiplier from config`j<59bF?j<5Yb ibd Bhj.@j@b*EbL:bn:b<5p rApZj  FNOT Ignoring new targets: 144.10 m.Bj@Jj@% ProNav: ac range: 144.100006 m, nav range: 84.192665 m, bearing: 337.545364 deg, approach rate: 0.522031 m/s, LOS rate: -0.329167 deg/s, cmd heading: 104.269996 deg, new cmd heading: 103.927525 deg. 2j%a-HeadingCmd: 1.813877 target range: 144.100006 and range: 144.10 m. j-#-?j)j)j)i)h1h1hhfffjH<bHp<HI I!II{BI+ =&I.I6Iz<:IH FrfQbf]uj @ɛB/Ma= .)?I <ɚiI=I#-?i A BDAT read: Tx time:22:21:26.2512 $Ping request sent. m^ @)iIm>iiiimf;D?4턖ٵ9?)mưImim*F2F:FBF`0JF"G =G =m@iie:publishing transmit ping timeeFpublishing direction and range infoi9mŌ\CURѿq"3EԿ~%?yiiii i)iIiiiiiii i)iIiiiiimf;D?4턖ٵ9?)iIiiiiii IhG =G B O% >.!rw,șA6/?Y6@;?6*=96 D=y6H?ѿ` i??ѿ?/g?`?ɨ6/?6.;6CbWill construct direction to contact in vehicle frame from tetrahedron phase data.bJDAT read: TxSync time:22:21:26.2504 yjDBju!I)l lppMb@Mb@Mb@ )Yd;O?A`"?{Gzy4?=#@ )@Iy\@II4٢-; -4=95;Q U>QY ]G٣Yy]v ]> mNusing accuracyPremultiplier from configam<59el;?m<5YeU ieE B6?:9@@e*Ee*;e;e<5 Ak?k k klA:k CBk CZkc@" 3C}-yFJ(`@Ō\CURѿq"3EԿ~%?JkRk@*G_uWill construct direction to contact in vehicle frame from tetrahedron phase data. I KKxw,♾A6C?Y6?6=96=y6H@nѿه?@%? EKѿ@M?۵?`?ɨ6C?6&F;6Cy^7B^e!IIfIfƕ4٢n؏ rb=9r8Q r>tt vG٣tyv聼 z> Nusing accuracyPremultiplier from config|<59~2? <5Y~: i~, B  ? @~*E~7:~:~<5 A=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 141.90 m.BjM@JjM@e ProNav: ac range: 141.899994 m, nav range: 79.002518 m, bearing: 351.098622 deg, approach rate: 0.412761 m/s, LOS rate: -0.455493 deg/s, cmd heading: 103.455899 deg, new cmd heading: 102.993288 deg. 2jeLeHeadingCmd: 1.797572 target range: 141.899994 and range: 141.90 m. jm?jijijiiihihihqhqfyfyfyrfbf ?ɛBv= 隭!?I )<ɚiIkM=I?iiV=)?)*FU?2FQ:FQBF]Q5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GuJ=HI I!IIgBI&I.I6I<:Ig FBIǛCJIǛCRIZI, =bI, =jIǚ!5GBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993944Bu~w,3A6MX?Y6^?6=964=y6HпYX=?Һ?пt?鵿S? ?ɨ6MX?6y;6C B$?I@yF/BF[!IININ4٢V  VN=9Z :Q Z>X\ ^G٣^ LGy^ޓ b> fNusing accuracyPremultiplier from config`f<59b(?j<5Ybp ib Bln?n@b*Eb)G;bG;b$<5rB vUAvEZj)5FNOT Ignoring new targets: 141.90 m.BjJj ProNav: ac range: 141.899994 m, nav range: 79.156349 m, bearing: 350.927280 deg, approach rate: 0.384828 m/s, LOS rate: -0.427797 deg/s, cmd heading: 102.993290 deg, new cmd heading: 102.480279 deg. 2j˒HeadingCmd: 1.788618 target range: 141.899994 and range: 141.90 m. jr?jjjihhh9hAfIfqfyrfbfd?ɛB-LO= )5<?I1 53<ɚ1i1I5=I=r?i9i=oZ=)=r?)AEQEUpA*F?2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246045zK LK K K sK BK :K qAG TV=G B O >J] J] J] /JY J] :J] 9J] (N3JY fw,mA2B?Y2R?2Ha=92X=y2Hп@ ?_?п@bj??=?ɨ2B?2 ;2Cy:!B>J!I Bp=BR=%Mb@Mb@Mb@!!! !)!Y%@5^I ?"~j?{Gzy%b0?%S=!%C@ %@)%@I%@!y%@I5I5]4٢ | :=9Q > G٣y > Nusing accuracyPremultiplier from config<59?<5Y  i B2?:?@*E;;<5%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498031) -A5EZjFNOT Ignoring new targets: 141.90 m.BjJj軝 ProNav: ac range: 141.899994 m, nav range: 79.327080 m, bearing: 350.741698 deg, approach rate: 0.374965 m/s, LOS rate: -0.406705 deg/s, cmd heading: 102.480281 deg, new cmd heading: 101.924751 deg. 2jHeadingCmd: 1.778922 target range: 141.899994 and range: 141.90 m. j?jjjihhhhBf!f!f!rf!bf-? aIehɛB[= 隭t?I ke;<ɚiI=A=I?iiq=)?)E%2g=*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750643ZH RH @AH >I  I !II MBI &I .I 6I Y<:I 1 FG5`hZ=G1B9O]?{w,6A6?Y6.?6=96x=y6H`Cп[@ˢ?@?@NϿ'?ﵿ@3?`?ɨ6?6|;6CyJBJ6!IIRIRļ4٢Z, Z-=9^B;Q ^>\\ bG٣`ybN b> jNusing accuracyPremultiplier from configdj<59f?n<5Yf= if Bln?n@f*Ef<;f :f<5p rIAtZjFNOT Ignoring new targets: 141.90 m.BjJj𻝊 ProNav: ac range: 141.899994 m, nav range: 79.505501 m, bearing: 350.546142 deg, approach rate: 0.385305 m/s, LOS rate: -0.421359 deg/s, cmd heading: 101.924748 deg, new cmd heading: 101.339419 deg. 2jHeadingCmd: 1.768707 target range: 141.899994 and range: 141.90 m. jd?jjjihhhhfffrfbf @-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002138ɛ}B}oI= 隅?I !D<ɚiI=I d?i iu=)d?) M$?IIE%#'=*F?2F:FBFP5JFGn=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253947w,ÛPAzKNKN9KLKNtKNRKV?JKV?y~B~!IMb@Mb@Mb@ )YtV?EԸ?{Gzy2?=ףp@ K@)@I@y@II4٢̽ ==9Q > G٣LGy > Nusing accuracyPremultiplier from config<59 ?<5Y} i Bz4?:?@*E;<;<5 AEZjFNOT Ignoring new targets: 141.90 m.Bj @Jj @ ProNav: ac range: 141.899994 m, nav range: 79.668266 m, bearing: 350.361231 deg, approach rate: 0.385957 m/s, LOS rate: -0.437573 deg/s, cmd heading: 101.339421 deg, new cmd heading: 100.785840 deg. 2j&HeadingCmd: 1.759045 target range: 141.899994 and range: 141.90 m. ja(?jjjihhhhBffJ!J%J%0J!J!J%9J%ـ3J!f9rf9bf=`X@ɛBE= ?I  K<ɚiI@Y=Ia(?ii|=)a(?)EE*EI"EIEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506100 III*F ?2F :F BF 1JF "G =G = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757914Ge '@s=Gi Gi G)B9OU> w,nA6%?Y6c?6ï=96B=y6H ο L??5ο? |?`q?ɨ6%?6;6Cy>B>!I)@ @IfIfJ4٢nع n8=9n8Q r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|<59~+?<5Y~?v i~ B ]? @~*E~:~+;~<5 A5B*** querying acoustic contact ***j9j9ZjAEFNOT Ignoring new targets: 141.90 m.BjMJjM󻝊] ProNav: ac range: 141.899994 m, nav range: 79.832443 m, bearing: 350.171018 deg, approach rate: 0.368589 m/s, LOS rate: -0.426164 deg/s, cmd heading: 100.785841 deg, new cmd heading: 100.216394 deg. 2j]I {R<ɚiI=I?ii=)?)Hu >Iq IuT!IIu*BIu* =&Iq.Iq6Iu<:Iuz F*Fe?2Fa:FiBFu_0JFqG]z=GB!O=/>UWill construct direction to contact in vehicle frame from tetrahedron phase data.UV>U<]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010229 1I1w,jA6ze?Y6?6=96=y6H-ο`6?? EuͿ H[?l@.?@?ɨ6ze?6;6CyBւBB IMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:21:28.8414 TRx dataTimestamp_ set to:1736374890.188731checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263138 )YuV??~jtyr(?=ļ@ b@)@Iy@II4٢ :=9 Q  >   G٣y^Z %> 5Nusing accuracyPremultiplier from config)==59-?==5Y-!o i-u B=~*?=:=U?E@-*E-;-;-=5I M%AMEZjy}FNOT Ignoring new targets: 141.90 m.BjJj仝 ProNav: ac range: 141.899994 m, nav range: 79.989212 m, bearing: 349.994039 deg, approach rate: 0.354777 m/s, LOS rate: -0.399728 deg/s, cmd heading: 100.216395 deg, new cmd heading: 99.686515 deg. 2j*HeadingCmd: 1.739858 target range: 141.899994 and range: 141.90 m. j?jjjihhhhzBfffrfbf H @ɛB 1= 隥f>I Z<ɚiI=I?ii =)?)zKBHKs9KKuK*F]?2FY:FYBFeT0JFa*JA"JE%=JUJUJQJQJU<:JU9JQJQm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514013 ) I- hG j=G B O >.w,iRARs?YR?R =9Rb=yRHCͿ?T ?`̿@&?`{Z? %G٣%LGy% %> 5Nusing accuracyPremultiplier from config1==595ퟜ?==5Y5i i5Y B9Ed?E@5*E5d;5:5=5I MAMEZjquFNOT Ignoring new targets: 141.90 m.Bj}Jj}廝 ProNav: ac range: 141.899994 m, nav range: 80.120399 m, bearing: 349.844729 deg, approach rate: 0.353403 m/s, LOS rate: -0.401563 deg/s, cmd heading: 99.686515 deg, new cmd heading: 99.239329 deg. 2jˉHeadingCmd: 1.732053 target range: 141.899994 and range: 141.90 m. j?jjjihhhhfffrfbf@j @ɛBA@= >I ^<ɚiI=I?iiNj=)?)*Fe?2Fi:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:21:28.8414 LVL= 16112, 29553, 23106, 32755, AGC= 67, IDX= 411,-0.09,-2.914, 1.658, 2.408, 2.680, PHS= 0.777,-0.975,-0.274, RAW= 113.4, 6.2, CAL= 123.5, 3.0, ROT= 26.5, -3.0 Ygot valid direction response: 22:21:28.8414 LVL= 16112, 29553, 23106, 32755, AGC= 67, IDX= 411,-0.09,-2.914, 1.658, 2.408, 2.680, PHS= 0.777,-0.975,-0.274, RAW= 113.4, 6.2, CAL= 123.5, 3.0, ROT= 26.5, -3.0 %PDAT read: Bearing 26.5, -3.0 (Local) %~Local bearing/azimuth received: Bearing 26.5, -3.0 (Local) 5DAT read: Range 10 to 50 : 139.5 m (Round-trip 186.0 ms) speed 0.4 m/s 5,DAT read: user:2531> BDAT read: Tx time:22:21:29.9512 $Ping request sent.qs BZ)IiyF?yIV?k= i @)PwV=Ih>iPwV&?/Es=(v" λ?)n,I޽i&0ї:publishing transmit ping time؁Fpublishing direction and range info93*dο8ҿʱ-?y )Ii )Ii&?/Es=(v" λ?)IiGU"=GBO=>jHibHiHu">Iq Iu"!IIuBIq&Iq.Iq6Iu<:Ium F) M iGi .Y y BUw, AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:21:29.9504 >K?>*b=9>fh=y>Hn̿w'8?@?@˿y?&`I??ɨ>9u;>CyRBR I b$?I`IZIZ4٢j jO=9nWQ n>pp rG٣pyr v> zNusing accuracyPremultiplier from configtz=59v埜?~=5Yvb iv= B?@v*EvI U d<ɚQiQI]=I?ii *=)?)EEqA*Fu?2Fq:FyBFyJFyWill construct direction to contact in vehicle frame from tetrahedron phase data.G gP=zK k3IK 9K K vK %*Gq B O >`w,֚A2?Y2?2Ou=92DҔ=y2HS˿2]?#?Nʿ@5$?稴? ?ɨ2?2yЊ;2Cy:B: IMb@Mb@Mb@ )YX9v? ףp= ?{Gzy?Q=ף@ @)I@y@II4٢}U }/=9eQ > G٣y7a > Nusing accuracyPremultiplier from config=59ܟ?=5Y[ i B?:?@Will construct direction to contact in vehicle frame from tetrahedron phase data.=C=+E;;q =5 A iIqZjFNOT Ignoring new targets: 139.50 m.BjdJjd滝 ProNav: ac range: 139.500000 m, nav range: 79.803223 m, bearing: 352.208561 deg, approach rate: 0.306917 m/s, LOS rate: -0.402845 deg/s, cmd heading: 98.717933 deg, new cmd heading: 98.165539 deg. 2j<HeadingCmd: 1.713312 target range: 139.500000 and range: 139.50 m. jM?jjjihhhhmBff frfbfh?ɛہB"'= >I  pj<ɚiI( =IM?iie=)M?)!*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G =G B O >pw,:[A6y?Y6?6B=96=y6Hʿ CΧ?u2?ʿ,?b8`}m? x?ɨ6y?6v;4y>B> IIFIF4٢R2 Ro=9VäQ V?TT ZG٣ZLGyZ: Z? bNusing accuracyPremultiplier from config\f=59^֟?f=5Y^SV i^ Bdf?f@^+E^.:^q:^g=5h n AlzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 139.50 m.Bj Jj 𻝊% ProNav: ac range: 139.500000 m, nav range: 79.903046 m, bearing: 352.075816 deg, approach rate: 0.316754 m/s, LOS rate: -0.420694 deg/s, cmd heading: 98.165541 deg, new cmd heading: 97.767811 deg. 2j%[-HeadingCmd: 1.706370 target range: 139.500000 and range: 139.50 m. j-Wj?j)j)j)i)h1h1h1h1f9f9f9rf9bfE`Ʃ?H#>IC I IIӂBI) =&IGD.I6I<:Iq Fɛ%؁B-l(= )-l>I) -n<ɚ)i1I5ώ =IUWj?iYi]d=)]Wj?)YJK|3 KKK"KJJJJJJ9JJJ;aJ;aJ:;aJ:;a*F ?2F :F BF 1JF "G=G=G}ܒ=GBOA>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. aIaSo¦w,i6 A2?Y2=9uQ u> G٣y=[ > Nusing accuracyPremultiplier from config=594ϟ?=5YO i B?:!?@ +E;;5=5  AEZjFNOT Ignoring new targets: 139.50 m.Bj׻Jj ׻ ProNav: ac range: 139.500000 m, nav range: 80.025963 m, bearing: 351.911421 deg, approach rate: 0.282377 m/s, LOS rate: -0.377082 deg/s, cmd heading: 97.767813 deg, new cmd heading: 97.275399 deg. 2jd%HeadingCmd: 1.697776 target range: 139.500000 and range: 139.50 m. j%P?j!j!j!i!h!h)h)h-EBf)f1f1rf1bf5@?ɛeՁBe]= aeâ>Ia mPr<ɚiiiIm =IuP?iqiu=)uP?)y*F?2F:FBFP5JFzKeKKaKaKewKeG-=G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740021B! O= > Q IQ јȦw,$A6L?Y6[?6P=96=y6Hǜȿ \|?@3N? Zǿ㛶?@ ųnа?@?ɨ6L?6;6CyNoBRn IIZIZ4٢b< bV=9bZk:Q b>dd fG٣dyj j> rNusing accuracyPremultiplier from configlr=59nȟ?v=5YnMJ in Btv?v@n+En:n:n=5x ~V A|Zj%FNOT Ignoring new targets: 139.50 m.Bj%uػJj-uػ5 ProNav: ac range: 139.500000 m, nav range: 80.130730 m, bearing: 351.768870 deg, approach rate: 0.278529 m/s, LOS rate: -0.378487 deg/s, cmd heading: 97.275397 deg, new cmd heading: 96.848309 deg. 2jEHeadingCmd: 1.690322 target range: 139.500000 and range: 139.50 m. jx\?jjjihhhhff f rf bf ?ɛҁB#= >I  v<ɚ i1I5 =I=x\?iE*CI I IIBI&I.I6Iְ<:I FBIJIRIZI* =bI* =jIǿw5G =J J J J J \:J 9J J J i;J k;J Z5;J Z5;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243394 E $?IE h9Φw,5=A62?Y6 q?6ҟ=96nh=y6H`-ǿn`J ?5_?ƿ"?/ a]?B?ɨ62?6;6Cy>bBB^ IIJIJ4٢Rۃ RL=9V9:Q V>TT VG٣ZLGyZ Z> ENusing accuracyPremultiplier from configAM=59E Ÿ?M=5YED iE BIUU?U@E+EE~:E~:E#=5y } AyZjFNOT Ignoring new targets: 139.50 m.Bj>ԻJj>Ի ProNav: ac range: 139.500000 m, nav range: 80.244682 m, bearing: 351.610666 deg, approach rate: 0.267691 m/s, LOS rate: -0.371114 deg/s, cmd heading: 96.848312 deg, new cmd heading: 96.374387 deg. 2j~ HeadingCmd: 1.682050 target range: 139.500000 and range: 139.50 m. j mM?j j j i hhh1h1f9f9f9rf9bfE`@ɛ}ρB}$= y隅>I 8z<ɚiI6 =ImM?iiᬌ=)mM?)*F?2F:FBF]0JFGpA G}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495373Gx=G B O >zK k3IK 9K K xK զw,iWA2?Y2 ?2ӌ=92=y2H`ſv~J?n?3ſzw?W ??ɨ2?2ي;2Cy:QB>J IiB;>IB= B=B=MMb@Mb@Mb@III I)IYMCl?~jt?I +yM?M=M94I M@)MI@IMK@IyM@II4٢픽 7=9eP:Q > G٣ylɼ >  Nusing accuracyPremultiplier from config =59ۻ? =5Y> i B5?:n?@+E;y;=5 %D A!ZjAMFNOT Ignoring new targets: 139.50 m.BjM?ӻJjM?ӻ] ProNav: ac range: 139.500000 m, nav range: 80.351303 m, bearing: 351.455302 deg, approach rate: 0.253825 m/s, LOS rate: -0.369374 deg/s, cmd heading: 96.374386 deg, new cmd heading: 95.908922 deg. 2je}eHeadingCmd: 1.673926 target range: 139.500000 and range: 139.50 m. je9C?jijijiiihihihqhu2Bfqfyfyrfybf}@@ɛˁB| = 隭ƅ>I /}<ɚiI =I9C?ii:=)9C? IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750854)I*F?2F:FBF^0JFG j=G G G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:21:32.5383  TRx dataTimestamp_ set to:1736374893.720574 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004270 ۦw,DqA5?YDD?ء=9v=yH@ÿ  p?ொ?*¿`?? 5??ɨ5?C;y%LB%C II=I=4٢M.ټ MU=9M:Q M>QQ UG٣QH%>I I IIBI&I.I4D6I<:I Fy0` > Nusing accuracyPremultiplier from config=59?=5Y\8 i B?@+E&:;W"=5 n A=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 139.50 m.Bju˻Jj˻ ProNav: ac range: 139.500000 m, nav range: 80.445747 m, bearing: 351.310948 deg, approach rate: 0.233425 m/s, LOS rate: -0.356361 deg/s, cmd heading: 95.908922 deg, new cmd heading: 95.476378 deg. 2jtHeadingCmd: 1.666377 target range: 139.500000 and range: 139.50 m. jK?jjjihhhhfffrfbf@a @ɛ]ȁB]= Y]0>IY eX<ɚaiaIe u =JJJJJ̝:J9JJJ;J;J$7;J%7;IeK?iaimS[=)mK?)i I*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256397GE {=G) Bi O >ռw,{AmWill construct direction to contact in vehicle frame from tetrahedron phase data.%?Y%?%P=9%So=y%HԿ ??`<0?7@? i?ɨ%?%x;%C]DAT read: 22:21:32.5383 LVL= 19216, 32753, 28050, 32755, AGC= 66, IDX= 414, 0.15, 1.030,-0.898,-0.024, 0.247, PHS= 0.870,-1.099,-0.274, RAW= 114.6, 5.9, CAL= 124.7, 2.5, ROT= 25.3, -2.5 eYgot valid direction response: 22:21:32.5383 LVL= 19216, 32753, 28050, 32755, AGC= 66, IDX= 414, 0.15, 1.030,-0.898,-0.024, 0.247, PHS= 0.870,-1.099,-0.274, RAW= 114.6, 5.9, CAL= 124.7, 2.5, ROT= 25.3, -2.5 uPDAT read: Bearing 25.3, -2.5 (Local) y}EB}; I~Local bearing/azimuth received: Bearing 25.3, -2.5 (Local) DAT read: Range 10 to 50 : 137.2 m (Round-trip 183.0 ms) speed 0.1 m/s ,DAT read: user:2532> %BDAT read: Tx time:22:21:33.6512 %$Ping request sent.%iu¸2qqu0BYư?yhŶȶp?)u'Iusӽiud uӕqq:publishing transmit ping time!Fpublishing direction and range infoq9u-KmͿOB"Կ|x?yqqqq q)qIqiqqqqq q)qIqiqqqu0BYư?yhŶȶp?)qIqiqqqqMb@Mb@Mb@ )YMbX?Mb?{Gzty ?=ף@ @)`@IyG@II4zKRIK+9KKyKBK:K٢ =9R8Q > G٣LGy > Nusing accuracyPremultiplier from config=59B?=5Y0 i~ B  ? : ? @+E(;N; '=5  Aku]?ku kq ku{A:ku3 CBku@CZku@"uUe?/bEҦ#_@u-KmͿOB"Կ|x?Jkud Rkuӕ*u }3J@^5,:iZSm_@u,J(?Y)~U\R?"ku.g*ku TBkuA#?ku 2ku>CkuᲜ?kqku>Cku{nBku|V@ addTargetRange:: Added new target pos. range: 137.199997 m, deltaT: 3.534094 s, deltaX: -2.300003 m, approachRate: -0.650804 m/s, rangeRepo size: 4  Added new target pos. range: 137.199997 m, bearing: 344.754084 deg, lat: 36.905831 deg, lon: -122.120446 deg, deltaT: 3.534094 s, deltaX: -2.300003 m, approachRate: -0.650804 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 137.20 m.BjJj ProNav: ac range: 137.199997 m, nav range: 59.620998 m, bearing: 347.960551 deg, approach rate: 0.000000 m/s, LOS rate: -0.356361 deg/s, cmd heading: 95.476380 deg, new cmd heading: 94.892939 deg. 2jHeadingCmd: 1.656194 target range: 137.199997 and range: 137.20 m. j,?j!j!j!i!h!h!h)h-@Bf)f)f1rf5`f&a@bf5@S!?ɛÁBPi= >I <ɚiIL =I,?ii9b=),?)  I Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:21:33.6504 *F 2F :F BF ]0JF "G =G =G .H_=G B O 8w,WA FRl?YFa?F=9F~h=yFHiղ f?ߡ?`쿿 ݵ?`0`?T?ɨFRl?F؉;FCy]@B]5 IImImT4٢$! =9͹Q &? G٣y# &? Nusing accuracyPremultiplier from config=590?=5Y- iq B?@"+EK;;m)=5! % A%EZjFNOT Ignoring new targets: 137.20 m.BjEJjE ProNav: ac range: 137.199997 m, nav range: 59.686813 m, bearing: 347.832716 deg, approach rate: 0.240210 m/s, LOS rate: -0.466056 deg/s, cmd heading: 94.892938 deg, new cmd heading: 94.509861 deg. 2j쟼%HeadingCmd: 1.649508 target range: 137.199997 and range: 137.20 m. j%#?j!j!j)i)h)hihqhqfqfqfyrfybf}?ɛ-B-q= )-J>I) 5<ɚ1i1I5` =I=#?i9i=JU=)=#?)AmWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFj0JFjHybH}4<H'>I Il IInBI( =&I.I6I<:Ik FJ J J /J J J 9J (N3J J J J <;J <;GA GM ?GM >G B) OE > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.+w,#2A6h?Y6v?6N=96]J=y6H@Q@I? 1? h?۞` 6??ɨ6h?6O[;6Cyv=Bv1 III4٢ T=9Q > G٣y-# -> 5Nusing accuracyPremultiplier from config1==595?==5Y5' i5` BAE?E@5%+E5p;5;5,=5I M AIZjquFNOT Ignoring new targets: 137.20 m.Bj}s Jj}s  ProNav: ac range: 137.199997 m, nav range: 59.778309 m, bearing: 347.653399 deg, approach rate: 0.250999 m/s, LOS rate: -0.491167 deg/s, cmd heading: 94.509860 deg, new cmd heading: 93.972748 deg. 2jHeadingCmd: 1.640134 target range: 137.199997 and range: 137.20 m. j?jjjihhhhfffrfbf?ɛB= ~>I (w<ɚiIO'=I?ii=b=)?)*F?2F:FBF_5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.GW=GiByO>zK K 9K K zK RK% ?JK% >w, ٛA25?Y2C?2=92`=y2H0@@Am?ϱ? 􂼿`ɴ?R?V?ɨ25?2;2Cy@@ Mb@Mb@Mb@    ) Y |?5^?T㥛 ?~jtx?y  ? = ; 3@ ) I @ y @II4٢j: @=93Q > G٣LGy| > Nusing accuracyPremultiplier from config=59r?=5Y! iR B?:Q?@)+EI;;0=5   A E$?IEhZjYeFNOT Ignoring new targets: 137.20 m.BjeuJjeuu ProNav: ac range: 137.199997 m, nav range: 59.881096 m, bearing: 347.447447 deg, approach rate: 0.236827 m/s, LOS rate: -0.473709 deg/s, cmd heading: 93.972748 deg, new cmd heading: 93.355977 deg. 2j}}HeadingCmd: 1.629369 target range: 137.199997 and range: 137.20 m. j}+?jjjihhhhLBfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛuBuW = quރ>Iy }\<ɚyiyI}=I+?ii&n=)+?)*FM?2FI:FIBFUQ5JFQG]qA G]mAGm va=GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.#w,A6ܑ?Y6?6X=966r=y6H@L^{@\?B?@A ?@p`+?`?ɨ6ܑ?6A;6CyR>BR2 IIZIZ4٢b; f[=9f}:Q f>hh jG٣hyju j> rNusing accuracyPremultiplier from configpv=59r?z=5Yrb irF Bxz8?z@r,+Er0;r$;r3=5  AH%(>I%C I%Z II%^BI%' =&I!.I!6I%~<:I%V FZjIMFNOT Ignoring new targets: 137.20 m.BjU JjU e ProNav: ac range: 137.199997 m, nav range: 59.968811 m, bearing: 347.269604 deg, approach rate: 0.237821 m/s, LOS rate: -0.481475 deg/s, cmd heading: 93.355975 deg, new cmd heading: 92.823244 deg. 2jm7uHeadingCmd: 1.620071 target range: 137.199997 and range: 137.20 m. ju~^?jqjqjqiqhyhyhyhyfffrfbf`?ɛB= 隵>I o<ɚiI:=I~^?iip=)~^?)c~G5tA*F?2F:FBFY0 5Y55tAy5BJF9JMJMJM0JIJM<:JM9JMـ3JIJM;JM;JM8;JM8; )I)Will construct direction to contact in vehicle frame from tetrahedron phase data.?/?GUm=Gi B O > w,r AyEB; I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YʡE?Mb?~jt?y?=D<@ @)v@I@y@II4٢%i= %6=9%Q %>)) -G٣)y5 5> ]Nusing accuracyPremultiplier from configYe=59]?e=5Y] i]9 Be?m:m-?m@]0+E];];]7=5  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 137.20 m.Bj Jj % ProNav: ac range: 137.199997 m, nav range: 60.078377 m, bearing: 347.049601 deg, approach rate: 0.240216 m/s, LOS rate: -0.481462 deg/s, cmd heading: 92.823241 deg, new cmd heading: 92.164465 deg. 2j-6]HeadingCmd: 1.608573 target range: 137.199997 and range: 137.20 m. j]?jYjYjYiYhYhahahedBfafifirfbf@@ɛB= >I %.<ɚ!i!I%=I?ii(=)?)zK=k3IK=59K9K={K=*F]?2FY:FYBF](4JFY*JR="J4= !I)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G p=Gi B O >5 w,&A6:?Y6H/?6=96ͻ=y6H&7٬?y?봿(?`C޳/(??ɨ6:?6';4y>BB>7 IIJIJ4٢rv ra=9rV;Q r>tt vG٣vLGyzg z> ~Nusing accuracyPremultiplier from config|=59~?=5Y~ i~/ B  ? @~3+E~9;~;~:=5  AZjIMFNOT Ignoring new targets: 137.20 m.BjUvJjev} ProNav: ac range: 137.199997 m, nav range: 60.162064 m, bearing: 346.874116 deg, approach rate: 0.237920 m/s, LOS rate: -0.498207 deg/s, cmd heading: 92.164462 deg, new cmd heading: 91.638755 deg. 2j}HeadingCmd: 1.599398 target range: 137.199997 and range: 137.20 m. j?jjjihhhhfffrfbfu@ɛB1!!= >I Œ<ɚiI J=I?iiBi=)?)!MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.462412*FU?2FY:FYBF]_0JFYG%Š}=GBO J>ZHRH?AH%*>I! I%` II%dBI%& =&I!.I!6I%ڰ<:I% F  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714313) w,@A^ֶ?Y^?^=9^=y^H`_` ?Y?"  ? ׳쒰?`?ɨ^ֶ?^J;^CyrKBrB III4٢%D*= -F=95ɂQ 5>9A EG٣AyM M> Nusing accuracyPremultiplier from config=59?=5YV  i# Bm?@7+E::>=5 x AEZjFNOT Ignoring new targets: 137.20 m.Bj Jj  ProNav: ac range: 137.199997 m, nav range: 60.261066 m, bearing: 346.663871 deg, approach rate: 0.231800 m/s, LOS rate: -0.491445 deg/s, cmd heading: 91.638756 deg, new cmd heading: 91.009086 deg. 2j%%HeadingCmd: 1.588408 target range: 137.199997 and range: 137.20 m. j%P?j!j)j)i)h)h)h1h1f1f1f9rf9bf=X@ɛeBe#= amf>Ii m<ɚiiqIu =IuP?iyi}x=)}P?)y*F?2F :F BF `0JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.967549G =G?G*?GBO% > Iw,\ZAzKBoHK9KK|KJBJBJ@J@JB:JBu9J@J@aF@aF@aF@aF@y\BW I I Mb@Mb@Mb@    ) Y $C?v/? rh?y ? xi= C< I@ ) hAI @ y @IMIM~4٢] = ]8=9eQ e>aa mG٣iyu }> Nusing accuracyPremultiplier from config=59?=5Y i B?:?@;+E ;#;VB=5  AWill construct direction to contact in vehicle frame from tetrahedron phase data.յ>յR=BDAT read: Rx Time:22:21:36.2360 TRx dataTimestamp_ set to:1736374897.500923checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219563ZjFNOT Ignoring new targets: 137.20 m.Bj^Jj^ ProNav: ac range: 137.199997 m, nav range: 60.363781 m, bearing: 346.436540 deg, approach rate: 0.236416 m/s, LOS rate: -0.522352 deg/s, cmd heading: 91.009088 deg, new cmd heading: 90.328287 deg. 2j> HeadingCmd: 1.576526 target range: 137.199997 and range: 137.20 m. j ?jjjihhhhBfffrfbf ~ @ɛBZ'= >I <ɚiIb=I?iiÑ=)?)*F2F:FBF_0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.470937G lKu=G B O >Cqw,/tAFť?YF?FiƝ=9F`=yFH3`?o?`@?ϳ-$?`C?ɨFť?F8T;FCHb,>I` Ibl IIbnBIb% =&I`.Ib5D6Ib<:Ibi FBICJICRIZI' =bI' =jI5y=]B=X IIUIU4٢J ; X=9Q > G٣yn9 > Nusing accuracyPremultiplier from config=59?=5Y i B?@?+E*$;L$;E=5  AEZj  FNOT Ignoring new targets: 137.20 m.BjJj- ProNav: ac range: 137.199997 m, nav range: 60.450565 m, bearing: 346.237397 deg, approach rate: 0.231440 m/s, LOS rate: -0.530318 deg/s, cmd heading: 90.328289 deg, new cmd heading: 89.731742 deg. 2j5MHeadingCmd: 1.566114 target range: 137.199997 and range: 137.20 m. jMov?jQjYjYiahihihhfff!rf)bf= @ɛUBU01= Y]h>IY e<ɚa IhiaI=Iov?iiZ=)ov?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:21:36.2360 LVL= 18160, 32753, 30850, 32755, AGC= 65, IDX= 421, 0.09,-2.871, 1.603, 2.356, 2.731, PHS= 0.769,-1.081,-0.378, RAW= 112.1, 8.6, CAL= 121.7, 5.7, ROT= 28.3, -5.7 -Ygot valid direction response: 22:21:36.2360 LVL= 18160, 32753, 30850, 32755, AGC= 65, IDX= 421, 0.09,-2.871, 1.603, 2.356, 2.731, PHS= 0.769,-1.081,-0.378, RAW= 112.1, 8.6, CAL= 121.7, 5.7, ROT= 28.3, -5.7 5PDAT read: Bearing 28.3, -5.7 (Local) 5~Local bearing/azimuth received: Bearing 28.3, -5.7 (Local) EDAT read: Range 10 to 50 : 135.3 m (Round-trip 180.5 ms) speed 0.5 m/s M,DAT read: user:2533> UBDAT read: Tx time:22:21:37.3513 U$Ping request sent.U @)%=I'>i%˽6cW?12_Q̗s?) IIi:publishing transmit ping timeQFpublishing direction and range info9$x,aѿx(ѿ#?k?y )Ii )Ii6cW?12_Q̗s?)Ii*F?2F:FBFm0JFG GrAGmԍ=GQBYO}> [#w,A6?Y6?6=96=y6H`OG? ?ֻ G٣LGyi > Nusing accuracyPremultiplier from config=59@?=5Y+ iB &(?:l?@D+E%-<,<tI=5  Akx?kͰ k kRA:kLCBk]CZk@"$B{ƖAT(;_@$x,aѿx(ѿ#?k?JkRk*E#5F@e9XB0_@切j?ޛ>ȿ+H?"k*k6Bk?kX 2k=Ck榱?k kkeBkޤ@ addTargetRange:: Added new target pos. range: 135.300003 m, deltaT: 3.778707 s, deltaX: -1.899994 m, approachRate: -0.502816 m/s, rangeRepo size: 4  Added new target pos. range: 135.300003 m, bearing: 330.706156 deg, lat: 36.905798 deg, lon: -122.120469 deg, deltaT: 3.778707 s, deltaX: -1.899994 m, approachRate: -0.502816 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 135.30 m.Bj%Jj!U ProNav: ac range: 135.300003 m, nav range: 57.494854 m, bearing: 343.137283 deg, approach rate: 0.000000 m/s, LOS rate: -0.530318 deg/s, cmd heading: 89.731740 deg, new cmd heading: 89.000238 deg. 2jQ]HeadingCmd: 1.553347 target range: 135.300003 and range: 135.30 m. j]?jYjYjYiYhYhhhBfffrf`@bf`O?ɛB6= !%>I! %<ɚ!i!I%F=I-?i)i-=)5?)1zK]K]h9KYK]}K]6cz}xomnnnojfdghc[XSLGB=53.-.0,(%%(:Taacb^ZJJJJJ:J9JJ*F?2F:FBF0JF IhWill construct direction to contact in vehicle frame from tetrahedron phase data.G} x=G9 BI Oe >)w,姜AB?YBB?B==9Bd=yBHv`X`??@|?:㲿i?`?ɨB?B誉;BCyVaBV^ IIfIf4٢r ri=9v׻Q v>xx zG٣xy~wl > Nusing accuracyPremultiplier from config %=59 L?%=5Y < i B!-?-@ G+E ; r; ~L=59 E AAmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 135.30 m.Bj$0Jj$0 ProNav: ac range: 135.300003 m, nav range: 57.594120 m, bearing: 342.932852 deg, approach rate: 0.299621 m/s, LOS rate: -0.615983 deg/s, cmd heading: 89.000240 deg, new cmd heading: 88.388028 deg. 2j_ӼHeadingCmd: 1.542662 target range: 135.300003 and range: 135.30 m. ju?jjjihhhhfffrfbf?ɛ}B}I= y}>Iy <ɚiI=Iu?ii'ї=)u?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.*FM?2FQ:FQBFU(5JFQjH<bH<H.>I Iy IIxBI&I.I6Iٰ<:I FGmԍ=Gi Bq O > i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990210k0w,Ay]bB]_ IImIm.4٢K; @=9Q > G٣y > Nusing accuracyPremultiplier from config=59?=5Y iB@L+Ew;;/P=5! - A-EZjIUFNOT Ignoring new targets: 135.30 m.Bj]d$Jj]d$m ProNav: ac range: 135.300003 m, nav range: 57.715839 m, bearing: 342.685155 deg, approach rate: 0.283099 m/s, LOS rate: -0.574884 deg/s, cmd heading: 88.388030 deg, new cmd heading: 87.646551 deg. 2jmDżuHeadingCmd: 1.529721 target range: 135.300003 and range: 135.30 m. ju?jyjyjyiyhyhhhfffrfbf@?ɛB:4:= 隽x>I \<ɚiI=I?iiC=)?)*Fm?2Fi:FiBFm^0JFi"Gu=Gu==Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242273G=Ga Bq O 6w,wۜAJ2J2J0J0J2:J29J0J0zK:TNK:9K8K:~K:VTPNGC5430.-+)$!   !  J?YJ$E?Jڟ=9J8=yJH.ɠD?O?Lɲ?@o ?g?ɨJ?Jו;HyVhBVf I)X XXX $?IMb@Mb@Mb@ )YX9v?Q?y&1|?y3?`;A p@)~AIC@y=@II4٢< E=9Q > G٣LGy > Nusing accuracyPremultiplier from config=59{?=5Yg iB4?:?@P+ES;%;S=5  AZj)-FNOT Ignoring new targets: 135.30 m.Bj5;Jj5;E ProNav: ac range: 135.300003 m, nav range: 57.838982 m, bearing: 342.423299 deg, approach rate: 0.308384 m/s, LOS rate: -0.654366 deg/s, cmd heading: 87.646552 deg, new cmd heading: 86.862708 deg. 2jE༝MHeadingCmd: 1.516040 target range: 135.300003 and range: 135.30 m. jM ?jIjIjIiIhQhQhaheBfifiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495696f)rf1bf5@}?ɛ}B}x/@= y}>Iy ;<ɚiI-F=I ?iid=) ?)*Fe?2Fa:FaBFe_0JFaG==GB O-o>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746116I6C I6 II6BI4&I4.I46I6<:I6 FN?YN4?Nđ=9NA=yNHw O? ?D`z? 4~&? ?ɨN?NI;NCy~jBi IIIs4٢%I< %V=9%Q %>)) -G٣)y5 5> ENusing accuracyPremultiplier from configAM=59E}?M=5YEZ iEBQU?U@EU+EE:E:E%W=5a e~ AaZjFNOT Ignoring new targets: 135.30 m.Bj4Jj4 ProNav: ac range: 135.300003 m, nav range: 57.951973 m, bearing: 342.181019 deg, approach rate: 0.295025 m/s, LOS rate: -0.631369 deg/s, cmd heading: 86.862705 deg, new cmd heading: 86.137323 deg. 2jؼHeadingCmd: 1.503380 target range: 135.300003 and range: 135.30 m. jn?jjjihhhhfffrfbf4?ɛB\O= $>I  <ɚiI=In?ii=)n?)*F?2F:FBFJF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998194GGiByO>{Cw,lARͮ?YR ?Ru=9RJ@M=yRH#. W??@z @;? @?`V?ɨRͮ?R;;RCy^aB^] IzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250206]Mb@Mb@Mb@YYY Y)YY]\(\?l?MbP?y]:?]=]:]~A ]C@)]AIYYy]@IuIu~4٢20 D=9Q > G٣y > Nusing accuracyPremultiplier from config=59z?=5YZ iB;?:?@Z+E;;Z=5  AZjyFNOT Ignoring new targets: 135.30 m.Bj 3Jj 3 ProNav: ac range: 135.300003 m, nav range: 58.079399 m, bearing: 341.906577 deg, approach rate: 0.291361 m/s, LOS rate: -0.626133 deg/s, cmd heading: 86.137326 deg, new cmd heading: 85.315867 deg. 2jּHeadingCmd: 1.489043 target range: 135.300003 and range: 135.30 m. j?jjjihhhhBfffrfbf@Y@ɛUBU?= Y]->IY ]O<ɚYiYIm=I?ii=)?)*F]?2Fa:FaBFaJFaGy GyJqJuJqJqJqJuO9JqJq IhzKMK9KKK  *6864.+$ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502474G ʯ=G B O >Iw,8)AV'խ?YV4?VI%=9V+U=yVH+ t? ?Rqձ?`M? ?ɨV'խ?V@w;VCyv^BvZ IiC>Ip=II4٢- e -Q=9-FQ ->11 5G٣5LGy= => ENusing accuracyPremultiplier from configAM=59Ex?M=5YE iEBIU?U@E^+EE@:E;E5^=5]B ] AeEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 135.30 m.BjDJjD ProNav: ac range: 135.300003 m, nav range: 58.197956 m, bearing: 341.649758 deg, approach rate: 0.318590 m/s, LOS rate: -0.688725 deg/s, cmd heading: 85.315866 deg, new cmd heading: 84.547026 deg. 2jU켝HeadingCmd: 1.475624 target range: 135.300003 and range: 135.30 m. j??jjjihhhhfffrfbf`_@ɛB?N= >I  <ɚiI=I ??i i .=) ??)*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754522G=GaBiO9>ZHYRHYHe0>Ia Ie IIeBIe$ =&Ia.Ia6Ie~<:Ie] F)ſ= E~G]|uAq aY|uAyIB I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006178zPw,CA2¬?Y2?2u=92R W=y2H Q>?&??`]p?w?Oͪ? ?ɨ2¬?2?;2Cy~]B~Y IIIs4٢% %J=9-!#Q ->)) 5G٣1y5 => ENusing accuracyPremultiplier from config9M=59=u?M=5Y= i=BIM?M@=c+E=+;=6-;=a=5Y ] AYZjFNOT Ignoring new targets: 135.30 m.Bj;Jj; ProNav: ac range: 135.300003 m, nav range: 58.319386 m, bearing: 341.384575 deg, approach rate: 0.301175 m/s, LOS rate: -0.656346 deg/s, cmd heading: 84.547025 deg, new cmd heading: 83.753188 deg. 2j8ἝHeadingCmd: 1.461769 target range: 135.300003 and range: 135.30 m. j>?jjjihhhhfffrfbf`z@ɛBI= >I <ɚiIW=I>?iia=)>?) *Fm?2Fq:FqBFu2JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:21:39.9330 %TRx dataTimestamp_ set to:1736374901.281740-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260337Gk=GBO> Vw,\A 0I4zKRMK9KKK y-MB-E IMb@Mb@Mb@ )YX9v?x&?~jty=?7=DA @) AI@y(@II4٢5 5:=9=Q =>99 EG٣AyE E> MNusing accuracyPremultiplier from configIU=59Ms?U=5YM iMpB]>?]:]?]@Mh+EM;M>;Me=5a ej Ai}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511765ZjFNOT Ignoring new targets: 135.30 m.Bj _9Jj _95 ProNav: ac range: 135.300003 m, nav range: 58.451366 m, bearing: 341.093008 deg, approach rate: 0.294108 m/s, LOS rate: -0.648262 deg/s, cmd heading: 83.753187 deg, new cmd heading: 82.880531 deg. 2j5r޼EHeadingCmd: 1.446538 target range: 135.300003 and range: 135.30 m. jE*(?jIjQjQiQhYhahihBfffrfbf @ɛB+6= 隵>I <ɚiIk=I%*(?i)i-&=)-*(?)YEE*FI2FQ:FQBFUp0JFQ"Ge=Ge=% Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 22:21:39.9330 LVL= 14640, 26161, 22194, 30195, AGC= 61, IDX= 406, 0.35, 1.094,-0.821,-0.137, 0.243, PHS= 0.938,-1.017,-0.384, RAW= 108.5, 5.4, CAL= 119.3, 2.8, ROT= 30.7, -2.8 e Ygot valid direction response: 22:21:39.9330 LVL= 14640, 26161, 22194, 30195, AGC= 61, IDX= 406, 0.35, 1.094,-0.821,-0.137, 0.243, PHS= 0.938,-1.017,-0.384, RAW= 108.5, 5.4, CAL= 119.3, 2.8, ROT= 30.7, -2.8 m PDAT read: Bearing 30.7, -2.8 (Local) u ~Local bearing/azimuth received: Bearing 30.7, -2.8 (Local) } DAT read: Range 10 to 50 : 133.1 m (Round-trip 177.5 ms) speed 0.6 m/s  ,DAT read: user:2534>  BDAT read: Tx time:22:21:41.0513  $Ping request sent. k?y% C! % 09% 1f % V)% uI% =i% p?% -% ľ% .d?% = % gB@)% +H=I% >+ ?i% +H! ! % 7?[xhɿOm%?)% {MI% ui% *h% ! !  :publishing transmit ping time؉  Fpublishing direction and range info! 9% P^˿Aʠʿ,>k?y! ! ! ! ! )! I! i! ! ! ! ! ! )! I! i! ! ! % 7?[xhɿOm%?)! I! i! ! ! ! Ha Ia  Ie IIe BIa &Ia .Ia 6Ie Ű<:Ie FG W=G B O >]w,ȴyA6g?Y6?6=96DG=y6HF?`P`e?`?`ޔ?۝? ి?@x?ɨ6g?6:;6Cyv9Bv- I)x xIIļ4٢� F=9nQ > G٣LGy%6 %> -Nusing accuracyPremultiplier from config)5=59-8q?==5Y- i-XB9=K?E@-m+E-3;-3;-+i=5  A IJJJJJ:Jb9JJJ7;aJ8;a J/.;a J0.;a kt?k; k k5*rA:kCBk/CZk$c@"\2L*uk?Jk*hRk*(M@@yk4$(_@3?gÿu?"k*kBk1?k=d 2k1@CkA#?k=d k1@CkfBkD@ addTargetRange:: Added new target pos. range: 133.100006 m, deltaT: 3.778816 s, deltaX: -2.199997 m, approachRate: -0.582192 m/s, rangeRepo size: 4  Added new target pos. range: 133.100006 m, bearing: 328.353650 deg, lat: 36.905783 deg, lon: -122.120486 deg, deltaT: 3.778816 s, deltaX: -2.199997 m, approachRate: -0.582192 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 133.10 m.BjJj  ProNav: ac range: 133.100006 m, nav range: 57.631081 m, bearing: 338.882324 deg, approach rate: 0.000000 m/s, LOS rate: -0.648262 deg/s, cmd heading: 82.880534 deg, new cmd heading: 82.014204 deg. 2j]HeadingCmd: 1.431418 target range: 133.100006 and range: 133.10 m. j]8?jajajaiahahahihifififqrfu@3`@bfu~?ɛB<= >I SH<ɚiI=I8?iiTQ=)8?Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:22:21:41.0505 )*F?2F:FBF4JFG=GIBYOuy> Will construct direction to contact in vehicle frame from tetrahedron phase data.dw,lA61?Y6o?6H=96Ck:=y6H`C?`S8?@??+?@>?s?ɨ61?6F;6CyB%BB IeMb@Mb@Mb@aaa a)aYejt?ʡE?{Gzye@?e=eףeA e@)eAIe@aye@I}I}4٢fý D=9WQ > G٣y{ > Nusing accuracyPremultiplier from config=59:o?=5Y; i<BA?:?@r+EK;,;l=5  AEZjFNOT Ignoring new targets: 133.10 m.Bj WJj W  ProNav: ac range: 133.100006 m, nav range: 57.767029 m, bearing: 338.600025 deg, approach rate: 0.363152 m/s, LOS rate: -0.752314 deg/s, cmd heading: 82.014207 deg, new cmd heading: 81.169368 deg. 2j HeadingCmd: 1.416673 target range: 133.100006 and range: 133.10 m. jU?jjjihhh!h%Bf!f!f!rf)bf-}?ɛ=B=4= AE>IA E@<ɚAiAIEA=ImU?iqiu$=)uU?)q Ih*F-?2F1:F1BF=4JFIzK[4LK9KKK=Will construct direction to contact in vehicle frame from tetrahedron phase data.GM q=G! BA Om >jw,sGA:.?Y:;U?:=9:=y:Hߢ?,|?A?`?h?`|ʢ?@N?ɨ:.?:;:Cy^B^ IIfIf4٢n\b rV=9rQ r>tt vG٣tyv z> ~Nusing accuracyPremultiplier from configx=59zm?=5Yz iz#B?@zw+Ez0;zeA;z&p=5  A5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 133.10 m.BjM@JjM@] ProNav: ac range: 133.100006 m, nav range: 57.890114 m, bearing: 338.342301 deg, approach rate: 0.322188 m/s, LOS rate: -0.673183 deg/s, cmd heading: 81.169367 deg, new cmd heading: 80.397889 deg. 2j]漝eHeadingCmd: 1.403208 target range: 133.100006 and range: 133.10 m. jeQ?jajajaiahihihihifqfqfqrfqbf}?ɛB3= 隭>I <ɚiIz=IQ?ii^ =)Q?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F5?2F1:F1BF5_0JF9GA GEpAjHbHH1>I If IIiBI&I.I6I<:I| FBIuĞCJIuĞCRIqZIu$ =bIu$ =jIuĭ4Gu= IJKـ3 K .KK"KJJJ1JJ:JO9J3JJ;J;Je,;Je,;GqBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247396eqw,-"ǝA6r?Y68?6*|=96W=y6H@O? uj??5s?@׫? g`W?b?ɨ6r?6g;6CyNBRIiVC=IV< V=Va=IZIZ4٢   H=9  G٣LGy歼 > %Nusing accuracyPremultiplier from config!-=59% l?-=5Y% i%B15k?5@%|+E%:%:%s=59 = AAZjaeFNOT Ignoring new targets: 133.10 m.Bju{AJju{A ProNav: ac range: 133.100006 m, nav range: 58.021236 m, bearing: 338.065429 deg, approach rate: 0.321166 m/s, LOS rate: -0.676623 deg/s, cmd heading: 80.397890 deg, new cmd heading: 79.569211 deg. 2j.輝HeadingCmd: 1.388745 target range: 133.100006 and range: 133.10 m. jc±?jjjihhhhfffrfbf?ɛB = H>I <ɚiI=Ic±?iiY=)c±?)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502740G=GiBO> I J) J- BAww,AzK"BHK"ػ9K K"K" NLB?YNY?Nz=9N=yNH+?`xd?^?8?`L?Yn?@X?ɨNLB?NȌ;NCynBnI~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751228uMb@Mb@Mb@qqq q)qYuzG?+?yu 7?u=u̼uhA u@)uAIu@qyqII~4٢ A=9OlQ > G٣y@ > Nusing accuracyPremultiplier from config=59j?=5Y iB<8?:?@+E;;kw=5 kAZjFNOT Ignoring new targets: 133.10 m.Bj!Jj! ProNav: ac range: 133.100006 m, nav range: 58.148987 m, bearing: 337.795142 deg, approach rate: 0.267952 m/s, LOS rate: -0.565669 deg/s, cmd heading: 79.569211 deg, new cmd heading: 78.760190 deg. 2j¼HeadingCmd: 1.374625 target range: 133.100006 and range: 133.10 m. j?jjjihhh h BfffrfbfM?ɛ|B = a>I {<ɚiI2=I ?i i =) ?)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004045H 2>I  I 4 II @BI # =&I .I 6I <:I FG }=G B O >^~w,IAyrցBrIIzIz4٢ %R=9%Q %>)) -G٣)y5 5> ENusing accuracyPremultiplier from config9E=59=i?M=5Y=< i=BIIM@=+E=:=*:=z=5UB aIa U!AeEZjFNOT Ignoring new targets: 133.10 m.BjRJjR ProNav: ac range: 133.100006 m, nav range: 58.268074 m, bearing: 337.546669 deg, approach rate: 0.354007 m/s, LOS rate: -0.737119 deg/s, cmd heading: 78.760189 deg, new cmd heading: 78.016335 deg. 2jHeadingCmd: 1.361642 target range: 133.100006 and range: 133.10 m. jHJ?jjjihhhhfffrfbf@JJJ0JJ<:J9Jـ3JJ;J;J:;J:;ɛ{Bs= 6>I f<ɚiINt=I%HJ?i!i%,M >)%HJ?))*F?2F:FBF0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259039G;=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511076w,9A 6P?Y6⎽?61=961P G٣LGy` > Nusing accuracyPremultiplier from config=59i?=5Y iB ,?:?@+E;;~=5 AZjaeFNOT Ignoring new targets: 133.10 m.Bjml*Jjml* ProNav: ac range: 133.100006 m, nav range: 58.377056 m, bearing: 337.288796 deg, approach rate: 0.252345 m/s, LOS rate: -0.595979 deg/s, cmd heading: 78.016333 deg, new cmd heading: 77.244209 deg. 2j̼HeadingCmd: 1.348166 target range: 133.100006 and range: 133.10 m. j?jjjihhhhBfffrfbf@ɛExBM= im>Ii uEj<ɚqiqIuV=I}?iyi}=)}?)y QIUh*F%?2F):F)BF-0JF)G B>zK=KK=9K9K=K=GBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759201w,K.A2a?Y2П?2n=92Ddh jG٣hyj& j> rNusing accuracyPremultiplier from configlv=59ni?v=5Yn6} inBtv ?z@n+En&;nC&;nƁ=5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 133.10 m.Bj(Jj( ProNav: ac range: 133.100006 m, nav range: 58.469677 m, bearing: 337.063046 deg, approach rate: 0.242586 m/s, LOS rate: -0.590331 deg/s, cmd heading: 77.244208 deg, new cmd heading: 76.568062 deg. 2jʼHeadingCmd: 1.336365 target range: 133.100006 and range: 133.10 m. j?jjjihhhhfffrfbf @ɛwB%~< !%(=I! %<ɚ!i)I-M=I-?i1i5 =)5?)1}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:21:43.6303 TRx dataTimestamp_ set to:1736374904.809229checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012850*F?2F:FBFR5JFZHIRHIHYIY I]II] BI]$ =&IY.IY6I]<:I]c F 9IAG]>JJJJJ:JJJJQ;JR;JJGBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263325 PExceeded connect timeout, disconnecting.xw,iHAJ\?YJњ?J5=9Jڤll rG٣pyr; r> vNusing accuracyPremultiplier from configtz=59vj?z=5Yvv ivB|~?~@v+Ev ;v ;vQ=5 cA Zj)5FNOT Ignoring new targets: 133.10 m.Bj57Jj57E ProNav: ac range: 133.100006 m, nav range: 58.567978 m, bearing: 336.815486 deg, approach rate: 0.254591 m/s, LOS rate: -0.640081 deg/s, cmd heading: 76.568060 deg, new cmd heading: 75.826670 deg. 2jMۼMHeadingCmd: 1.323425 target range: 133.100006 and range: 133.10 m. jMe?jQjQjQiahahahihifififirfqbfu' @ɛuB< 隥8G=I O<ɚiI=Ie?iiF=)e?)*F?2F:FBF4JFG>Will construct direction to contact in vehicle frame from tetrahedron phase data.GB)O^>DAT read: 22:21:43.6303 LVL= 19056, 24017, 27266, 32755, AGC= 59, IDX= 411,-0.09,-2.697, 1.484, 1.865, 2.342, PHS= 1.332,-0.811,-0.481, RAW= 98.2, -0.4, CAL= 107.2, -5.1, ROT= 42.8, 5.1 Ygot valid direction response: 22:21:43.6303 LVL= 19056, 24017, 27266, 32755, AGC= 59, IDX= 411,-0.09,-2.697, 1.484, 1.865, 2.342, PHS= 1.332,-0.811,-0.481, RAW= 98.2, -0.4, CAL= 107.2, -5.1, ROT= 42.8, 5.1 %PDAT read: Bearing 42.8, 5.1 (Local) -~Local bearing/azimuth received: Bearing 42.8, 5.1 (Local) DAT read: Range 10 to 50 : 131.1 m (Round-trip 174.9 ms) speed 0.0 m/s ,DAT read: user:2535> BDAT read: Tx time:22:21:44.7513 $Ping request sent. G٣LGy > Nusing accuracyPremultiplier from config=59l?=5Yo ifB?:?@+E ;f;=5B AEkyTw?k k k&:TA:kCBk2CZk+@"e9'D"uO`@ǫD鮢 5s?JkY0Rk*PzC@8B[`@r_ ?YZ.?"kČ*k@k+F?k 2kCCk?k kkKBk@ addTargetRange:: Added new target pos. range: 131.100006 m, deltaT: 3.532223 s, deltaX: -2.000000 m, approachRate: -0.566216 m/s, rangeRepo size: 4  Added new target pos. range: 131.100006 m, bearing: 326.177158 deg, lat: 36.905713 deg, lon: -122.120469 deg, deltaT: 3.532223 s, deltaX: -2.000000 m, approachRate: -0.566216 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 131.10 m.Bj Jj % ProNav: ac range: 131.100006 m, nav range: 50.941612 m, bearing: 334.653049 deg, approach rate: 0.000000 m/s, LOS rate: -0.640081 deg/s, cmd heading: 75.826670 deg, new cmd heading: 74.919279 deg. 2j!MHeadingCmd: 1.307588 target range: 131.100006 and range: 131.10 m. jM _?jQjQjQiQhYhYhaheMBfffrf@3c`@bf £?ɛrBԘ< Pp=IE _?iIiM=)M _?)I*F?2F:FBFA5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.HM 3>II  IM IIM ЁBIM # =&II .II 6IM <:IM FG= =GU ?GU ? tA A E .YE tAyE BGQ Ba O >kw,N}|A6]0?Y6in?62=96vaBB#I LILININ4٢bM% bX=9f;Q f>dh jG٣hyjK6 j> rNusing accuracyPremultiplier from configlv=59nm?z=5Ynh inOBxze?z@n+EneA;nA;ni=5| ~AZj!-FNOT Ignoring new targets: 131.10 m.BjOJjO ProNav: ac range: 131.100006 m, nav range: 51.026863 m, bearing: 334.405322 deg, approach rate: 0.250710 m/s, LOS rate: -0.727307 deg/s, cmd heading: 74.919279 deg, new cmd heading: 74.177385 deg. 2jHeadingCmd: 1.294640 target range: 131.100006 and range: 131.10 m. j?jjjihhhhfffrfbf@74?ɛ}qBb,< I d<ɚiIv=I?iiM=)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF ]nManaging dock network, ignoring radio surface power offGK=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Mw,) G٣yo˼ > Nusing accuracyPremultiplier from config=5JJJJJ:JJJa@a@a@a@9n?=5Y` i2B$?:t?@+E;X;=5 eAZjFNOT Ignoring new targets: 131.10 m.Bj})Jj}) ProNav: ac range: 131.100006 m, nav range: 51.146980 m, bearing: 334.091642 deg, approach rate: 0.227505 m/s, LOS rate: -0.592719 deg/s, cmd heading: 74.177384 deg, new cmd heading: 73.238642 deg. 2jc˼HeadingCmd: 1.278255 target range: 131.100006 and range: 131.10 m. j?jjjihhhh4Bfffrfbf ˉ?ɛnB< 9=P}I9 E۷<ɚAiAIE<=IM?iIiM=)M?)QEazKsLK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF]0JFG= /=G B O= >j髧w,+A2枕?Y2ܱ?2u=92$Ry2H`_?y?Xi?? p!?@\6J??ɨ2枕?2;2Cy>3B>I)@ BA@BAIFIF"4٢N/ R=9RW:Q R?PT VG٣VLGyVF V? ^Nusing accuracyPremultiplier from configXb=59Zo?b=5YZ!\ iZ!B`b?b@Z+EZ:Z7:Z=5d j;AUWill construct direction to contact in vehicle frame from tetrahedron phase data.aB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 131.10 m.Bjl!Jjl! ProNav: ac range: 131.100006 m, nav range: 51.215290 m, bearing: 333.908336 deg, approach rate: 0.210647 m/s, LOS rate: -0.564508 deg/s, cmd heading: 73.238643 deg, new cmd heading: 72.689475 deg. 2j HeadingCmd: 1.268671 target range: 131.100006 and range: 131.10 m. jc?jjjihhhhfff!rf!bf%?ɛlB:`< N=隝I G<ɚiI2=Ic?iiW=)c?)jHbH<HI IfIIBI&I.I6I<:I F*F}?2F:FBF_0JFG]q= IhGqByO\> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Ҳw,˞Ar?Yr?rv=9r*F!! %G٣)y-[ -> =Nusing accuracyPremultiplier from config9E=59=Zq?E=5Y=U i= BIM?M@=+E=;=;=X=5Q UA]EZjyFNOT Ignoring new targets: 131.10 m.Bj6Jj6 ProNav: ac range: 131.100006 m, nav range: 51.303215 m, bearing: 333.653701 deg, approach rate: 0.220288 m/s, LOS rate: -0.636870 deg/s, cmd heading: 72.689475 deg, new cmd heading: 71.926928 deg. 2jڼHeadingCmd: 1.255362 target range: 131.100006 and range: 131.10 m. j?jjji!h!h!hIhIfIfIfIrfQbfU@?ɛjB_< !%I! -jr<ɚ)i)I-=I5?i1i5P=)5?)1uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.944995*F?2F:FBFJF IJ J AAJ J J 1J J J :J 3J G y=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191253zKM BoHKM 9KI KM KM  ? 0w,垾ARK?JK?yMBMIMb@Mb@Mb@ )YK7?~jt?:vy ?=T @)I@y@II4٢ ս /=9Q > G٣y %> -Nusing accuracyPremultiplier from config)5=59-r?==5Y-O i-Be" ?e:e?m@-+E-7<-<-m=5uB uXAuEZjFNOT Ignoring new targets: 131.10 m.BjGJjG ProNav: ac range: 131.100006 m, nav range: 51.399620 m, bearing: 333.392698 deg, approach rate: 0.202246 m/s, LOS rate: -0.546524 deg/s, cmd heading: 71.926926 deg, new cmd heading: 71.145436 deg. 2jHeadingCmd: 1.241722 target range: 131.100006 and range: 131.10 m. j?jjjihhhhBfffrfbfp@ɛgB}=< 隕+I <ɚiI=I?ii=)?)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443866*FE?2FA:FIBFIJFI"GU=GU=H5>I I'IIfBI&I.I6I<:I FBIJIRIZI# =bI# =jI.4G% -=G B O > y I} h#w,Af]?YfЛ?f1 =9f9Ƨw,wAR@A?YRL?R(g=9Rܽ G٣y > Nusing accuracyPremultiplier from config=59Tw?=5YDD iB?:#?@+E;;V=5  AZjFNOT Ignoring new targets: 131.10 m.BjJj*J4="Jp=JJJ0JJ:Ju9Jـ3J ProNav: ac range: 131.100006 m, nav range: 51.537476 m, bearing: 332.958679 deg, approach rate: 0.154255 m/s, LOS rate: -0.513647 deg/s, cmd heading: 70.564809 deg, new cmd heading: 69.845193 deg. 2jAHeadingCmd: 1.219029 target range: 131.100006 and range: 131.10 m. j! ?jjjihhhhBfffrfbf   @ɛUbBU< QUNIQ Uf<ɚYiYI]W=I! ?ii=)! ?)E]xH=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:21:47.3285 TRx dataTimestamp_ set to:1736374908.589980checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203182zKUTMKU9KQKUKU*F?2F:FBF1JFG =GBO>̧w,&55A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.450929>g?Y> ?>=Α=9>~KHop?"}^?@p? ?@5?5s֛?`6?ɨ>g?>~; G٣ y   > Nusing accuracyPremultiplier from config=59y?=5Y2? iB!%I?%@+E ;. ;=5) -A)MB*** querying acoustic contact ***jIjIZjaeFNOT Ignoring new targets: 131.10 m.Bjm!Jjm!u ProNav: ac range: 131.100006 m, nav range: 51.597244 m, bearing: 332.752407 deg, approach rate: 0.164202 m/s, LOS rate: -0.566032 deg/s, cmd heading: 69.845193 deg, new cmd heading: 69.227119 deg. HI III8BI" =&I.I6I<:I F2jU;¼]HeadingCmd: 1.208241 target range: 131.100006 and range: 131.10 m. je?jajajaiahahahihifififqrfqbf}`5 @ɛ_B4; BlI :<ɚi I D0=I?ii=)?) IEϚN=Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 22:21:47.3285 LVL= 12400, 22193, 17906, 27715, AGC= 55, IDX= 424,-0.21, 1.372,-0.636,-0.520, 0.205, PHS= 1.255,-0.794,-0.728, RAW= 91.6, 2.7, CAL= 99.4, 0.4, ROT= 50.6, -0.4 EYgot valid direction response: 22:21:47.3285 LVL= 12400, 22193, 17906, 27715, AGC= 55, IDX= 424,-0.21, 1.372,-0.636,-0.520, 0.205, PHS= 1.255,-0.794,-0.728, RAW= 91.6, 2.7, CAL= 99.4, 0.4, ROT= 50.6, -0.4 MPDAT read: Bearing 50.6, -0.4 (Local) M~Local bearing/azimuth received: Bearing 50.6, -0.4 (Local) eDAT read: Range 10 to 50 : 129.7 m (Round-trip 173.0 ms) speed 0.4 m/s m,DAT read: user:2536> }BDAT read: Tx time:22:21:48.4513 }$Ping request sent.}?) I ӓ?i &@ $[  :publishing transmit ping timeyFpublishing direction and range info 9 " K?B ?y     ) I i      ) I i    T?fb޿,)7>?) I i    *Fm ?2Fi :Fi BFm 0JFi G-F=G5 ?G5?GBO>Wԧw,TANWill construct direction to contact in vehicle frame from tetrahedron phase data.ZJDAT read: TxSync time:22:21:48.4505 M?YM?M\=9Myy }G٣}LGy' > Nusing accuracyPremultiplier from config=59~?=5YE7 iB,?:?@+E+;3;=5 Aku?ku e kq ku`FA:kuCBkuCZku!p@"uI5C I5II5BI5# =&I1.I16I5Ȱ<:I5 FGaBiO?׽ݧw,yAN^?YN?N =9Nz =yNHO??@Z~?? ?_@C?@?ɨN^?Np;NCyVҀBVsIIbIb4٢jݏ n3=9nQ n>lp rG٣pyr r> zNusing accuracyPremultiplier from configtz=59v?~=5YvX1 ivB|~?~@v+Ev ;v ;v=5 LA Zj)5FNOT Ignoring new targets: 129.70 m.Bj5?Jj=?M ProNav: ac range: 129.699997 m, nav range: 41.282974 m, bearing: 324.199834 deg, approach rate: 0.217210 m/s, LOS rate: -0.668046 deg/s, cmd heading: 68.159489 deg, new cmd heading: 67.289871 deg. 2jM<弝UHeadingCmd: 1.174430 target range: 129.699997 and range: 129.70 m. jUS?jYjYjYiYhYhYhahafafafirfibfmG?ɛXBsH; 隝ŅI 8<ɚiIWill construct direction to contact in vehicle frame from tetrahedron phase data.Pw,kAJ?YJC?J =9J=yJH ?@kR+?He? ?` ?@yYs?   G٣y%Ҽ %> MNusing accuracyPremultiplier from configAe=59EL?m=5YE+ iEBqWill construct direction to contact in vehicle frame from tetrahedron phase data.C?@E+EELcw,|FAỳB%kI ]=Y%Mb@Mb@Mb@!!! !)!Y%-?S㥫?Mbp?y%?>%/]=%;%A %hA)%AI!!y%A15AAI=I=n4٢M  M6=9MQ M>QQ UG٣ULGy] ]> eNusing accuracyPremultiplier from configam=59eԉ?m=5Ye& ieBm>m:m?u@e+Ee ;e;es=5y }AyZjFNOT Ignoring new targets: 129.70 m.Bj+DJj+D ProNav: ac range: 129.699997 m, nav range: 41.456470 m, bearing: 323.669452 deg, approach rate: 0.229617 m/s, LOS rate: -0.686011 deg/s, cmd heading: 66.499746 deg, new cmd heading: 65.702164 deg. 2jf뼝HeadingCmd: 1.146719 target range: 129.699997 and range: 129.70 m. jǒ?jjjihhhhMBfQfQfQrfQbfU?ɛQB@; 隵I @<ɚiI!3"=Iǒ?iiDm=)ǒ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFeP5JFaH:>I IIIBI =&I.I6D6I<:I F)5F= 1GE,=|uAAG!B1 MjYM|uAyM(BOUu> IJ J J 1J J :J O9J 3J J 8;a J 9;a J e,;a J f,;a E Will construct direction to contact in vehicle frame from tetrahedron phase data.kw,F"ǟAyppII74٢ ; `=9Q > G٣y! %> -Nusing accuracyPremultiplier from config)5=59-?5=5Y-! i-vB11=@-+E-A;-,;-=5A EAAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 129.70 m.BjX)JjX) ProNav: ac range: 129.699997 m, nav range: 41.530666 m, bearing: 323.450186 deg, approach rate: 0.200756 m/s, LOS rate: -0.592217 deg/s, cmd heading: 65.702165 deg, new cmd heading: 65.045573 deg. 2j7˼HeadingCmd: 1.135259 target range: 129.699997 and range: 129.70 m. j.P?jjjihhhhfffrfbf@ɛOB: I  R˧<ɚ i I "=I.P?ii=).P?)*FM?2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G=G B O > I Zw,A6G"?Y6R`?6Ӌ=96 2=y6H`?@&? ? c ?~r?8I??ɨ6G"?6%j;6CyRɀBRhIMb@Mb@Mb@ )YV-?V-?~jth?y><D;A A) AII@y3AII=4٢Q @=9wQ > G٣y5 > Nusing accuracyPremultiplier from config=59ّ?=5Y ijB^>:ڣ?@+Ef;;^=5B AEZj!-FNOT Ignoring new targets: 129.70 m.Bj-8Jj58E ProNav: ac range: 129.699997 m, nav range: 41.603039 m, bearing: 323.176565 deg, approach rate: 0.171254 m/s, LOS rate: -0.646336 deg/s, cmd heading: 65.045572 deg, new cmd heading: 64.226195 deg. 2jEݼEHeadingCmd: 1.120959 target range: 129.699997 and range: 129.70 m. jM{?jIjIjIiIhIhIhYh]BfYfafarfabfe@ɛLBB; 隕!I 8<ɚiI#=I{?ii=){?)EErAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524754zKk3IK]9KKK (7@EFFDB?<:6861+*)&$$" *F 2F :FBFJFG GqAG w=GBOeV>E Will construct direction to contact in vehicle frame from tetrahedron phase data.A iA M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775290H <>I  I II BI ! =&I .I 6I Ȱ<:I Fow,AR<}?YRtܚ?Rص=9R2:=yRHX?`⤰? ??M?@S+8??ɨR<}?Rש;RCy~рB~qI)   AII4٢EA= MR=9M9Q M>QQ UG٣U LGyU aIa }> Nusing accuracyPremultiplier from config=59?=5Y i_BU?@+E;;=5 bAZjFNOT Ignoring new targets: 129.70 m.Bj{3Jj{3= ProNav: ac range: 129.699997 m, nav range: 41.667957 m, bearing: 322.925874 deg, approach rate: 0.162792 m/s, LOS rate: -0.627662 deg/s, cmd heading: 64.226195 deg, new cmd heading: 63.475337 deg. 2j=a׼]HeadingCmd: 1.107854 target range: 129.699997 and range: 129.70 m. j]&΍?jYjYjYiYhahahahafififirfibfm<@ɛIBw; oI ^w,A6sz?Y6E@?6w=96q6:=y6HN?]?@??e?`:@9?f?ɨ6sz?6C;6CyzˀBzjII I 4٢-׼ 5L=9E%Q E>QQ UG٣Yye m> Nusing accuracyPremultiplier from config Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:21:51.0267 -TRx dataTimestamp_ set to:1736374912.393464Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.287046=59?}=5Y iTB?@+EN?=?=S=5 A QIQZjaFNOT Ignoring new targets: 129.70 m.BjJj ProNav: ac range: 129.699997 m, nav range: 41.733559 m, bearing: 322.666278 deg, approach rate: 0.135981 m/s, LOS rate: -0.537254 deg/s, cmd heading: 63.475339 deg, new cmd heading: 62.697826 deg. 2j [HeadingCmd: 1.094283 target range: 129.699997 and range: 129.70 m. j{?jjjihhhhffQfQrfQbf]6; @ɛEBī; sI <ɚiI%=I{?ii=){?)*F?2F:FBF_0JF"G=G=Gu5=G1 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531195zKe MKe h9Ka Ke Ke    w,].AnXVs?Yn7?nOgv=9n}%=ynH?`lm?@l? ?D?(Ȯ@?z?ɨnXVs?n2;nCyvՀBvvIuMb@Mb@Mb@qqq q)qYuMb?y&1?MbP?yu?u` G٣y M> eNusing accuracyPremultiplier from configam=59eA?m=5YeC  ieGB}D?}:}?}@e+Eec;ea;e=5B GAEZjFNOT Ignoring new targets: 129.70 m.BjgJjg ProNav: ac range: 129.699997 m, nav range: 41.801079 m, bearing: 322.376245 deg, approach rate: 0.188798 m/s, LOS rate: -0.809668 deg/s, cmd heading: 62.697824 deg, new cmd heading: 61.829201 deg. 2j -HeadingCmd: 1.079123 target range: 129.699997 and range: 129.70 m. j- ?j)j1j1i1h9h9hIhM'BfQfYfYrfYbf@ɛ CB q;  [I  E<ɚiIq8&=I ?ii)G=)] ?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.H]A>I]C IYIYI] =&IY.I]7D6I]<:I] FBI şCJI şCRI ZI ! =bI ! =jI t5DAT read: 22:21:51.0267 LVL= 12960, 23953, 18738, 28803, AGC= 58, IDX= 421,-0.25,-0.550,-2.193,-2.366,-1.522, PHS= 1.060,-0.624,-0.847, RAW= 83.9, 4.6, CAL= 89.4, 3.3, ROT= 60.6, -3.3 Ygot valid direction response: 22:21:51.0267 LVL= 12960, 23953, 18738, 28803, AGC= 58, IDX= 421,-0.25,-0.550,-2.193,-2.366,-1.522, PHS= 1.060,-0.624,-0.847, RAW= 83.9, 4.6, CAL= 89.4, 3.3, ROT= 60.6, -3.3 PDAT read: Bearing 60.6, -3.3 (Local) ~Local bearing/azimuth received: Bearing 60.6, -3.3 (Local) *F?2F:FBF`0JFEDAT read: Range 10 to 50 : 128.3 m (Round-trip 171.1 ms) speed 0.2 m/s M,DAT read: user:2537> uBDAT read: Tx time:22:21:52.1514 u$Ping request sent.uNw,HA*Will construct direction to contact in vehicle frame from tetrahedron phase data..JDAT read: TxSync time:22:21:52.1506 Fp?YFoB?FWDn=9Fc=yFH? Djԭ?`D?*?j?@>ĭ@ʂ?/?ɨFp?FqY;FCy^׀B^yIif=If za=zp=I~I~4٢ bI<  V=95Q 5>11 5G٣=!LGy= => mNusing accuracyPremultiplier from configAu=59Eϧ?u=5YE iE=Bq}??}@E+EE;E_;ER=5 4Ak5?k5zY k1 k5x&9A:k5LCBk5BZk5P@"5Ȓڲ4;@lWH^@5*vĿw ?E6F?Jk5o @Rk5'*5jbd:x#a_@5(q&TʿR(ĘލZN?"k5F*k5#k5?k5P aZ 2k5=Ck5+F?k5 k1k5V"Ak5{@= addTargetRange:: Added new target pos. range: 128.300003 m, deltaT: 3.798895 s, deltaX: -1.399994 m, approachRate: -0.368527 m/s, rangeRepo size: 4 m Added new target pos. range: 128.300003 m, bearing: 186.706199 deg, lat: 36.905359 deg, lon: -122.120273 deg, deltaT: 3.798895 s, deltaX: -1.399994 m, approachRate: -0.368527 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 128.30 m.Bj}Jjy ProNav: ac range: 128.300003 m, nav range: 10.146059 m, bearing: 305.250960 deg, approach rate: 0.000000 m/s, LOS rate: -0.809668 deg/s, cmd heading: 61.829201 deg, new cmd heading: 60.906102 deg. 2jHeadingCmd: 1.063012 target range: 128.300003 and range: 128.30 m. j?jjjihhhhfffrf `@bfZ'?ɛ@B ; RI <ɚiI&=Ie?iiim)b=)m?)i*F?2F:FBF0JFGِ=GBOe>Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I! +w,EbA6LJm?Y6?6}b=96 G٣y7¼ > Nusing accuracyPremultiplier from config=59?=5Y6 i2BJ ?:M?@+E;|;=5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 128.30 m.Bj=Jj= ProNav: ac range: 128.300003 m, nav range: 10.265841 m, bearing: 304.197648 deg, approach rate: 0.305553 m/s, LOS rate: -2.655417 deg/s, cmd heading: 60.906101 deg, new cmd heading: 57.786299 deg. 2j㽝HeadingCmd: 1.008561 target range: 128.300003 and range: 128.30 m. j?jjjih h h h ?Bfffrfbf@)?ɛE>BMI; IMj6II M<ɚIiQIUy'=I]̃?iYi]=)]?)auWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFC5JFzKLK9KKK #n@"RK ?JK>G-i=G B O= >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.960193HE C>IE C IE IIE BIE  =&IA .IA 6IE հ<:IE Ffw,Qh|A Z$?IX]j?Y] ?]V=9]Y=y]H`?@?P?2?߅? ͪ 3??ɨ]j?];]CymBmIII4٢r< D=9Q > G٣yɼ > Nusing accuracyPremultiplier from config=59?=5Y i(B?@+E::=5 AEZjFNOT Ignoring new targets: 128.30 m.Bj%1Jj%15 ProNav: ac range: 128.300003 m, nav range: 10.388289 m, bearing: 303.152124 deg, approach rate: 0.294544 m/s, LOS rate: -2.485172 deg/s, cmd heading: 57.786296 deg, new cmd heading: 54.689885 deg. 2j51ս=HeadingCmd: 0.954519 target range: 128.300003 and range: 128.30 m. j=T[t?j9j9j9i9h9hAhAhAfAfIfIrfIbfM ?ɛ};B}2< 隅'I Fϝ<ɚiI(=IM9x?ii4|>)T[t?)JK K.KK"KJJJ/JJJ9J(N3JJJJ;J;*F!2F):F)BF-4JF)G^=G  ?G ?GBOH>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]>]=echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.212569>%w, A2}g?Y24?2qS=92=y2H/w? ? 2??ӟ?mq??ɨ2}g?2!;2CyBBBI)D DDFAIHIH٢V= V`=9ZQ Z>XX ^G٣^"LGyb6 b> fNusing accuracyPremultiplier from configdj=59fP?j=5Yf ifBhj}?n@f+EfW;f q;f=5 *A Zj)5FNOT Ignoring new targets: 128.30 m.Bj5O-Jj=O-M ProNav: ac range: 128.300003 m, nav range: 10.496816 m, bearing: 302.246366 deg, approach rate: 0.293524 m/s, LOS rate: -2.424322 deg/s, cmd heading: 54.689885 deg, new cmd heading: 52.002787 deg. 2jMϽUHeadingCmd: 0.907620 target range: 128.300003 and range: 128.30 m. jUYh?jQjQjQiQhYhYhYhYfafafarfabfe?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466963ɛu8B}P.<  I隍I <ɚiI)(=Ihn?ii />)Yh?)*F?2F:FBFP0JF*J"J= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716827G ^=G B zK HMK ͼ9K K K O >g+w,կA:>c?Y:-?:"R=9:?=y:Hn`?`W???3@? kSc?`?ɨ:>c?:>;:CybBbIeMb@Mb@Mb@aaa a)aYe G٣yU > %Nusing accuracyPremultiplier from config!-=59%Ɵ?-=5Y% i%B-{?-:5 ?5@%+E%;%;%=59 =A9ZjaeFNOT Ignoring new targets: 128.30 m.Bjm:Jjm:} ProNav: ac range: 128.300003 m, nav range: 10.636692 m, bearing: 301.072060 deg, approach rate: 0.315509 m/s, LOS rate: -2.613778 deg/s, cmd heading: 52.002786 deg, new cmd heading: 48.530696 deg. 2j}:ཝHeadingCmd: 0.847020 target range: 128.300003 and range: 128.30 m. jUX?jjjihhhhBfffrfbf&?ɛ6BUC< hнI J<ɚiI')=I(a?iiN>)UX?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970148HE>I IIIBI =&I.I6Iذ<:I F*F-?2F):F)BF-^0JF)G= IGBOf>O2w,ɠA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220444B `?YBtD?BO=9B=yBH:?>i`?k?Z?Ĝ?  ~??ɨB `?B;@ybBbIIhIh٢v = v\=9vQ v>xx zG٣xyz% ~> Nusing accuracyPremultiplier from config =59Ο? =5Y i B  7?@+E:L:=5}B }A}EZjFNOT Ignoring new targets: 128.30 m.Bj_.Jj_. ProNav: ac range: 128.300003 m, nav range: 10.752021 m, bearing: 300.122901 deg, approach rate: 0.299602 m/s, LOS rate: -2.439172 deg/s, cmd heading: 48.530697 deg, new cmd heading: 45.716159 deg. 2j?ѽ HeadingCmd: 0.797898 target range: 128.300003 and range: 128.30 m. j CL?j jjih1h1h9h9fAfAfIrfIbfM౪@ɛ4BU< I  <ɚiI)=IDM?iiɳ>)5CL?)1*F?2F:FBF_0JFG>GGGYBaOY>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472288 $?I Oz8w,㠾A6[?Y6?6K=96 =y6Hj/?(*@?@,?M? 9?@v!??ɨ6[?6;6CJBJBJB0J@JB:JB9JBـ3J@aF@aF@aF@aF@yNBNIiRe>IR=Mb@Mb@Mb@ )YS? rh?~jtx?y?C<`A ) AIAyGAII4٢Z= >=9 Q > G٣#LGyb > Nusing accuracyPremultiplier from config=59]؟?=5Y iB?:?@+EZ4;12;=5 GAE B*** querying acoustic contact ***j j Zj!-FNOT Ignoring new targets: 128.30 m.Bj-BJj-B= ProNav: ac range: 128.300003 m, nav range: 10.896807 m, bearing: 298.980803 deg, approach rate: 0.348716 m/s, LOS rate: -2.714010 deg/s, cmd heading: 45.716160 deg, new cmd heading: 42.339529 deg. 2j=轝EHeadingCmd: 0.738964 target range: 128.300003 and range: 128.30 m. jE,=?jAjIjIiIhIhIhQhUBfQfQfYrfYbf]e@ɛ2B#y< 隍[I xc<ɚiI*=I??ii >),=?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]>]=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.725715*F?2F:FBF`0JFzKK9KKK    G n.>G B O >H G>I  I II 3BI  =&I .I 8D6I Ӱ<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:21:54.7253  TRx dataTimestamp_ set to:1736374915.916564 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977234 NG Y y B>w,jA $I&h:!W?Y:̇?:G=9:G!! %G٣!y%@ -> 5Nusing accuracyPremultiplier from config)5=59-jៜ?]=5Y-^ i-BY]]?]@-+E-G;-q;-=5a mAiZjFNOT Ignoring new targets: 128.30 m.Bj6Jj6 ProNav: ac range: 128.300003 m, nav range: 11.026015 m, bearing: 297.975966 deg, approach rate: 0.332239 m/s, LOS rate: -2.553363 deg/s, cmd heading: 42.339530 deg, new cmd heading: 39.363178 deg. 2j ۽HeadingCmd: 0.687017 target range: 128.300003 and range: 128.30 m. jZ/?jjjihhhhfff!rf!bf%` @ɛm0BmR< i隕XI /-<ɚiI3*=I6?ii)Z/?)*F?2F:FBF0JFG GrAGec4>GB)OER>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.228438Ew,1BAnQ?Yn 5?nj,D=9n=h G٣y' > Nusing accuracyPremultiplier from configPDAT read: Bearing 76.9, -9.2 (Local) ~Local bearing/azimuth received: Bearing 76.9, -9.2 (Local) DAT read: Range 10 to 50 : 127.3 m (Round-trip 169.8 ms) speed 0.0 m/s %,DAT read: user:2538> ==59ퟜ?==5Yq iB9=Ɉ?E@+E ;&;U=5Q UAQBDAT read: Tx time:22:21:55.8014 $Ping request sent.I˫?il$\?4Y.=1V.?)TZIiv ?:publishing transmit ping time؉Fpublishing direction and range info9&..ǿ?/%Wp?y )Ii )Ii\?4Y.=1V.?)Iik^ȼ 2k3CkC?k* kk:eAk%1z@} addTargetRange:: Added new target pos. range: 127.300003 m, deltaT: 3.529901 s, deltaX: -1.000000 m, approachRate: -0.283294 m/s, rangeRepo size: 4  Added new target pos. range: 127.300003 m, bearing: 168.462542 deg, lat: 36.905221 deg, lon: -122.120272 deg, deltaT: 3.529901 s, deltaX: -1.000000 m, approachRate: -0.283294 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 127.30 m.BjJj  ProNav: ac range: 127.300003 m, nav range: 14.326880 m, bearing: 223.983501 deg, approach rate: 0.000000 m/s, LOS rate: -2.553363 deg/s, cmd heading: 39.363179 deg, new cmd heading: 35.339085 deg. 2j HeadingCmd: 0.616783 target range: 127.300003 and range: 127.30 m. j?jjjihhJJJ1JJM:J9J3Jhhfffrf@3_@bf ;?ɛU-BUq< y隅@I g"<ɚiI+=I?ii)?)*Fm ?2Fi :Fi BFu _0JFq  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:21:55.8006 G /r>zK lLK s9K K K GY Bi O >Kw,2!1A2L?Y2΂?2?=92 G٣$LGy=[ > Nusing accuracyPremultiplier from config=59?=5Y] iBD(?:J?@+E;;=5 B @AEHH>IC IIIQBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.k H?k{ k k:kBkZk4:@""V 7\̏J@O?GH\@&..ǿ?/%Wp?JkRk*%Q K$(@p>\@y1ۿ^;| ?bG3?"kEGA*k_Xkª)?kao> 2k+3Ck?kP aZ k=CkqAk\T@Zjy}FNOT Ignoring new targets: 127.30 m.BjZ<JjZ< ProNav: ac range: 127.300003 m, nav range: 14.575871 m, bearing: 224.299707 deg, approach rate: 0.613353 m/s, LOS rate: 0.765619 deg/s, cmd heading: 35.339085 deg, new cmd heading: 36.271409 deg. 2j\=HeadingCmd: 0.633056 target range: 127.300003 and range: 127.30 m. j"?jjjihhhhցBfffrfbf`>? E$?IEhɛ]+Be< ae@G B O >Rw, JA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:AF?Y:V ?:T7=9:,y:H,]?ut'?@?O\??@Pvڏ`?ɨ:AF?:5;:CyRCBRIIZIZ4٢%= %}=9%jQ - ?)) -G٣)y5ڑ 5 ? =Nusing accuracyPremultiplier from config9E=59=?E=5Y= i=BIMc?M@=+E=:=:==5Q UAYZjFNOT Ignoring new targets: 127.30 m.Bjj<Jjj< ProNav: ac range: 127.300003 m, nav range: 14.777267 m, bearing: 224.527983 deg, approach rate: 0.734387 m/s, LOS rate: 0.821054 deg/s, cmd heading: 36.271409 deg, new cmd heading: 36.946870 deg. 2j =HeadingCmd: 0.644845 target range: 127.300003 and range: 127.30 m. j%?jjjihhhhfffrfbf?ɛ*B?< F=I  ~<ɚiIΎ+=Ip?ii)%?)*Fu?2Fq:FqBFu^0JFq"G}>G}!>GF>Will construct direction to contact in vehicle frame from tetrahedron phase data.GiByO> Q IQ &Xw,kdAJ@JB?AJFJFJF0JDJF:JF9JFـ3JDyIMb@Mb@Mb@ )YV-?x&?y&1?yh1?7=`e<A A) AI~AyfAIIh4٢n5; A=9Q > G٣y > eNusing accuracyPremultiplier from configYm=59] ?m=5Y]^ i]BE2?:?@],E];];]t=5 EB*** querying acoustic contact ***jjUWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ZjFNOT Ignoring new targets: 127.30 m.BjBZ<JjBZ< ProNav: ac range: 127.300003 m, nav range: 15.069290 m, bearing: 224.890789 deg, approach rate: 0.626502 m/s, LOS rate: 0.763273 deg/s, cmd heading: 36.946870 deg, new cmd heading: 38.014068 deg. 2j =HeadingCmd: 0.663471 target range: 127.300003 and range: 127.30 m. j6)?jjjihhh!h%Bf!fIfIrfIbfM B?ɛ(Bҷ< 隥]=I }<ɚiI+=I?ii)6)?)zKeJKaKaKeKeRKm>JKm>*F?2F:FBF4JFH I  I 4II pBI &I .I 6I Ͱ<:I FBIMʡCJIMʡCRIIZIM =bIM =jIM,5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.424711G9 GE qAGE rAG B! A IA OM >^w,~AF9?YF$%r?FT/=9F'yFH-?K?@?u?`西 5줿?ɨF9?F7;FCyNFBNIIZIZ4٢^;r< b]=9Q >   G٣ %LGy T  > Nusing accuracyPremultiplier from config=59/?%=5Y iB!%?%@,E ;\ ;=5-!B 5A5߲EZjQ]FNOT Ignoring new targets: 127.30 m.Bj]J<JjeJG1BAO]>ew,EFA:Z1?Y:orj?:04=9:FOy:H`Hy?c^Z?@Ei? wְ?C~ک?ɨ:Z1?:B;:CyBEBFIININ4٢VjA VM=9Zwg;Q Z>XX ZG٣Xy^읽 ^> bNusing accuracyPremultiplier from config`f=59bL#?f=5Yb ibBhj?j@b ,Eb :bn:b=5l nApZj FNOT Ignoring new targets: 127.30 m.Bjg <Jjg <% ProNav: ac range: 127.300003 m, nav range: 15.577307 m, bearing: 225.355516 deg, approach rate: 0.676905 m/s, LOS rate: 0.560947 deg/s, cmd heading: 38.726824 deg, new cmd heading: 39.385287 deg. 2j-|<-HeadingCmd: 0.687403 target range: 127.300003 and range: 127.30 m. j-/?j1j1j1i1h1h1h9h9f9fAfArfAbfE?ɛ}%B} < y}=Iy ⦜<ɚiI_,=I?ii=`>)/?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.928080 $?I!*F=?2FA:FABFEo0JFIGmpA GmpAJJJJJJ9JJGA>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ ?Օ %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180740zK BHK K K K ;kw,#A2N*?Y2b?28=92DLy2H8?`a ˄%?@d)?6?@V㉩@q?ɨ2N*?2>;0yRCBRIMb@Mb@Mb@ )YzG?Q?y 7?=7A  A) AIAy AII4٢s :=9;Q > G٣y% > Nusing accuracyPremultiplier from config=590?=5Y8 iB 9? : ? @,ED;;=5 AܲEZjAEFNOT Ignoring new targets: 127.30 m.BjM<<JjM<<] ProNav: ac range: 127.300003 m, nav range: 15.888148 m, bearing: 225.654244 deg, approach rate: 0.700692 m/s, LOS rate: 0.660207 deg/s, cmd heading: 39.385289 deg, new cmd heading: 40.263865 deg. 2j])3?)EpAEoAHQIUC IUMIIUBIQ&IQ.IQ6IU<:IU FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434029*FU?2FQ:FQBF]`0JFY IG ٹ>G B O >krw,ˡA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.684098:P"?Y:6Z?:_==9:y:H?(4;[????ЩmW?ɨ:P"?:N;:CyF:BFIHJAIRIRm4٢ZK Z]=9^?;Q ^>\` bG٣b&LGyb b> jNusing accuracyPremultiplier from configdj>59f^5YfG ifBln?r@f,Ef;f;f>5t v:AtZj FNOT Ignoring new targets: 127.30 m.Bj <Jj <- ProNav: ac range: 127.300003 m, nav range: 16.146130 m, bearing: 225.862963 deg, approach rate: 0.707009 m/s, LOS rate: 0.562865 deg/s, cmd heading: 40.263866 deg, new cmd heading: 40.879995 deg. 2j5%<5HeadingCmd: 0.713491 target range: 127.300003 and range: 127.30 m. j5Q6?j9j9j9i9hAhAhAhAfIfIfIrfIbfMt@ɛ"B#< PC=I Jk<ɚ!i!I%,=I-2?i)i5>)5Q6?)Q*F ?2F :F BF o1JF GgS>GBOE>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.937213 $?I h; yw,d塾A^α?Y^-S?^ C=9^0 y^Hް?b? z? v?@?y`B@?ɨ^α?^໊;^Cyf-BjIJzJzJxJxJzM:Jz=9JxJxMb@Mb@Mb@ )Yl? rh?Mby7?C >A  A)/ AIAyAIIa4٢sc 5=9%g;Q %>)) -G٣)y5Ն => MNusing accuracyPremultiplier from configA]>59EK?]>5YE iEBe:?e:e?e@E,EE!;Ey;E >5}"B }A}ڲEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 127.30 m.Bj<MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:21:58.3748 UTRx dataTimestamp_ set to:1736374919.700664]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.189073JjGp=zKKKKKGnV>GQBYO}z>HE G>IA  IA IA IA &IA .IA 6IE ư<:IE F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.441887 I 0w,kA:?Y:uK?:N=9:y:Hb?z?,?@g? )?שw~@U?ɨ:?:;:CyN BRIIZIZ~4٢f jc=9n;Q r>xx ~G٣y T > 5Nusing accuracyPremultiplier from config)E>59-W?E>5Y- i-{BAE{?E@-,E-o;-T;-@>5Q UAUײEZjFNOT Ignoring new targets: 127.30 m.Bj;Jj; ProNav: ac range: 127.300003 m, nav range: 16.731552 m, bearing: 226.265902 deg, approach rate: 0.726648 m/s, LOS rate: 0.440108 deg/s, cmd heading: 41.588684 deg, new cmd heading: 42.066975 deg. 2j<HeadingCmd: 0.734207 target range: 127.300003 and range: 127.30 m. j;?jjjihhhhfffrfbf`F @ɛ}Bn< 隅C;I y<ɚiI-=I;?iiZ=);?)*FI2FI:FIBFM5JFIG%8>G1BA]Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 126.9 m (Round-trip 169.2 ms) speed -0.1 m/s u,DAT read: user:2539> }BDAT read: Tx time:22:21:59.4514 }$Ping request sent.}w,}A6Y ?Y6oD?6ܛY=96ϰ;y6H M ?+?@X%?,?٠?50v?R?ɨ6Y ?6K;6CyBBBIIJIJ4٢f> jJ=9jN;Q j>ll nG٣n'LGyr; r> vNusing accuracyPremultiplier from configtz>59ve?z>5Yvݜ iveBx~'t?~@v ,Ev ;v\ ;v >5 A5 addTargetRange:: Added new target pos. range: 126.900002 m, deltaT: 3.781044 s, deltaX: -0.400002 m, approachRate: -0.105791 m/s, rangeRepo size: 4 Zj1=FNOT Ignoring new targets: 127.30 m.Bj=B;JjEB;U ProNav: ac range: 127.300003 m, nav range: 17.016800 m, bearing: 226.407336 deg, approach rate: 0.725434 m/s, LOS rate: 0.353660 deg/s, cmd heading: 42.066975 deg, new cmd heading: 42.484155 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:21:59.4506 2jUr<HeadingCmd: 0.741488 target range: 127.300003 and range: 126.90 m. j/=?jj1j1i1h9h9h9h9fAfAfArfE_@bfE A? $?IɛBُ< 隭μI aq<ɚiIJ.=I;?i?DG B O >zKU KU }9KQ KU KU Gw,ǂ3A28?Y2N^=?2d=92ϛB>IMMb@Mb@Mb@III I)IYM rh?ףp= ?~jtyM,?M>MļMA M A)M AIMAIyIIeIe 4٢uݽ u@=9uW;Q u>yy }G٣yyy > Nusing accuracyPremultiplier from config>59s?>5Y iLB'1?:w?@%,E ;;m>5#B OAԲEZj  FNOT Ignoring new targets: 127.30 m.Bj;Jj;% ProNav: ac range: 127.300003 m, nav range: 17.306683 m, bearing: 226.559393 deg, approach rate: 0.667911 m/s, LOS rate: 0.344483 deg/s, cmd heading: 42.484156 deg, new cmd heading: 42.932679 deg. 2j%jl<5HeadingCmd: 0.749317 target range: 127.300003 and range: 126.90 m. j56??j9j9j9i9hAhhhځBfffrfbf1?ɛB%h< im)q uCIq &<ɚic~GZHRHAAHI I'IIfBI =&I.I6Iz<:Io FtA-AIi.= ]YY]tAy]BIeO??iaieUӹ)m6??)iWill construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBF%\0JF!GMrA GMqAGn.>GBO>J J J J J -:J 9J J J ;a J a J ';a J ';a ,w,/NMAWill construct direction to contact in vehicle frame from tetrahedron phase data.Vt>YV6?V8hp=9V^V ;VCyڀB|III\4٢eQ mK=9m;Q m>qq uG٣qy}{ }> Nusing accuracyPremultiplier from config>59m?>5Y i3Bq?@*,EXD;D;>5 GAZjFNOT Ignoring new targets: 127.30 m.Bj;Jj; ProNav: ac range: 127.300003 m, nav range: 17.581615 m, bearing: 226.675432 deg, approach rate: 0.696655 m/s, LOS rate: 0.289434 deg/s, cmd heading: 42.932677 deg, new cmd heading: 43.275346 deg. 2jF<HeadingCmd: 0.755297 target range: 127.300003 and range: 126.90 m. j)[A?jjjihhhhfffrfbf`?ɛB YD$< I 1<ɚiIm/=I%e??i%qCGE?GE?GB!O=s>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IhUw,k'gA:>Y:t0?:Ly=9:H=y:H@?`Q`?X?@-?@D=? Y,>?q?ɨ:>:;:Cy^€B^_IdfAMb@Mb@Mb@ )Y+?@5^I ?+yv?b> A `A) AIy(AIIʴ4٢,߽ @=9<;Q >!! %G٣%(LGy-] -> 5Nusing accuracyPremultiplier from config1=>595=?=>5Y5 i5BE"?E:Ej?E@5.,E5;5;5>5M$B M AUҲEmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 127.30 m.Bj%`;Jj%`;UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 127.300003 m, nav range: 17.850012 m, bearing: 226.764571 deg, approach rate: 0.600347 m/s, LOS rate: 0.196388 deg/s, cmd heading: 43.275344 deg, new cmd heading: 43.538739 deg. 2j<HeadingCmd: 0.759894 target range: 127.300003 and range: 126.90 m. jpB?jjjihhhhBf f f rf bf`ϥ?ɛBW; \0I ݚ<ɚiI]?0=IpB?i i (B) pB?) *F?2F:FBFJFzKUBoHKU@9KQKUKURKu ?JKu?G}=GIBYOu>H F>I  I II .BI &I .I 7D6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764932 I yz>Y:5*?:瞇=9:*%=y:H?ҵ?? &-??T?`f?ɨ:>z>:;:CyFBF(IIV IV4٢jx jb=9rott zG٣xy~ >  Nusing accuracyPremultiplier from config >59 l?>5Y 4 i Bd?@ 2,E ); l; >5! %vA%ϲEZjFNOT Ignoring new targets: 127.30 m.Bj3;Jj3; ProNav: ac range: 127.300003 m, nav range: 18.080231 m, bearing: 226.821708 deg, approach rate: 0.638805 m/s, LOS rate: 0.156524 deg/s, cmd heading: 43.538740 deg, new cmd heading: 43.707969 deg. 2j; HeadingCmd: 0.762848 target range: 127.300003 and range: 126.90 m. j JC?j jjih1h1h9h9f9f9fArfAbfE)?ɛ15a =x==sI9 =j<ɚ9i9IE0=IEJC?iEVDAGU/7=]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017175G1BAOuz>bfw,ךA:Qg>Y:/&?:h=9:Q=y:H@om?@Y:`>?K??2_?J ??ɨ:Qg>:;:CyRxBRIIZ"IZ5٢f fK=9f+/hh jG٣hyj5 n> rNusing accuracyPremultiplier from configpv>59r?v>5Yr irBtv`?v@r6,Er:r:rY>5| ~]A|Zj!%FNOT Ignoring new targets: 127.30 m.Bj-0 ;Jj-0 ;E ProNav: ac range: 127.300003 m, nav range: 18.331581 m, bearing: 226.868944 deg, approach rate: 0.656535 m/s, LOS rate: 0.121689 deg/s, cmd heading: 43.707969 deg, new cmd heading: 43.847731 deg. 2jE;MHeadingCmd: 0.765287 target range: 127.300003 and range: 126.90 m. jMC?jIjIjIiIhQhQhQhQfYfYfarfabfeu@ɛBߙ 隍I 㓗<ɚiI1=IC?i{>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521112aw,A:*<>Y:+"?:=9:=y:Hs?&?5?`?Ihٲ@X԰??ɨ:*<>:'Z;:Cy^[BbIif0>If4< fp=f=UMb@Mb@Mb@QQQ Q)QYUDl?MbX?MbyUO ?U=U@U A UA)UAIUAQyUAImIm_4٢ 8=9;Q >    G٣ )LGy %  > Nusing accuracyPremultiplier from config%>597?%>5YX| iB%?%:%Q?%@:,E#;^;: >5zK5K59K1K5K5:Zy5%B EKAE̲EZjimFNOT Ignoring new targets: 127.30 m.Bju 8Jju 8 ProNav: ac range: 127.300003 m, nav range: 18.578884 m, bearing: 226.869800 deg, approach rate: 0.554589 m/s, LOS rate: 0.001894 deg/s, cmd heading: 43.847731 deg, new cmd heading: 43.850265 deg. 2jd8HeadingCmd: 0.765332 target range: 127.300003 and range: 126.90 m. jC?jjjihhhhVBfffrfbf@ɛB)ϻ I %<ɚiI= 3=IC?iK:5*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773931 IGt<G9BIOeU>J J J J J J 9J J J J J ;%;J ;%;+xw,?΢AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:22:02.0242 TRx dataTimestamp_ set to:1736374923.232510checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025832U>YUk ?U"Y=9Ux=yUHs?^? 4?`?Yᖿ@`f? ?ɨU>U;UCy-BIII4٢g L=9;Q > G٣yr > Nusing accuracyPremultiplier from config >59-Ġ? >5Yx iBO?@=,E!g<g<#>5 AZjFNOT Ignoring new targets: 127.30 m.Bj8Jj8 ProNav: ac range: 127.300003 m, nav range: 18.802340 m, bearing: 226.865540 deg, approach rate: 0.536375 m/s, LOS rate: -0.010104 deg/s, cmd heading: 43.850265 deg, new cmd heading: 43.837638 deg. 2jݹHeadingCmd: 0.765111 target range: 127.300003 and range: 126.90 m. jRC?jjjihhhhff!f!rf!bf%G @ɛQU,5] QUIQ ]<ɚYiYI]G4=IeRC?ie6w,i袾AB+>YB?B*=9B8=yBH`\?Om?Ӆ?B?ҟ`K_??ɨB+>Bt;BCy- B-{I5Mb@Mb@Mb@111 1)1Y5`"?)\(?~jty5>5Ga=55 A 5A)1I5A1y5AIM*IM 5٢e+ eC=9e+;Q m>ii mG٣iy- > Nusing accuracyPremultiplier from config>59%Ѡ?>5Y^t iuB)>:=?@A,Ei;1h;'>5  AɲEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 127.30 m.5Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: Range 10 to 50 : 126.3 m (Round-trip 168.5 ms) speed 0.0 m/s M,DAT read: user:2540> MBDAT read: Tx time:22:22:03.1015 U$Ping request sent.UH I  I II wBI &I .I 6I l<:I g F $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A JDAT read: TxSync time:22:22:03.1007 w,JAyB%WI)9 9AAI]#I]5٢ V=9Q > G٣y > Nusing accuracyPremultiplier from config >59{ܠ?>5Y!q iZB@C,E7;;*>51 =!A9 addTargetRange:: Added new target pos. range: 126.300003 m, deltaT: 3.532253 s, deltaX: -0.599998 m, approachRate: -0.169863 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 127.30 m.Bj.Jj. ProNav: ac range: 127.300003 m, nav range: 19.191858 m, bearing: 226.774985 deg, approach rate: 0.472501 m/s, LOS rate: -0.107614 deg/s, cmd heading: 43.692881 deg, new cmd heading: 43.568759 deg. 2jHeadingCmd: 0.760418 target range: 127.300003 and range: 126.30 m. jƪB?jjjihhhhfffrfbfkA?JQJUJQJQJQJU9JQJQJQJQJU!;JU!;ɛBQ̼ =隕TI u<ɚiI6=IƪB?ic/ Ȩw,"AM>YMl?Mr=9M=yMH`- ? 3@ƾ?0t? ?@ƥ 鲿 ? ?ɨM>MS~;MCyޥBޥ(III4٢% 5 =9EQ E>YY eG٣e*LGyeƳ e> Nusing accuracyPremultiplier from config>59P제?>5Yl i6B5&B "ADzEZj%FNOT Ignoring new targets: 127.30 m.Bj%Jj%5 ProNav: ac range: 127.300003 m, nav range: 19.445024 m, bearing: 226.716498 deg, approach rate: 0.491061 m/s, LOS rate: -0.111970 deg/s, cmd heading: 43.568759 deg, new cmd heading: 43.395582 deg. 2j5=HeadingCmd: 0.757396 target range: 127.300003 and range: 126.30 m. j=A?j9jAjAiAhAhAhIhIfIfIfQrfQbf]?ɛBż 隵'I <ɚiIޅ8=IA?i*zK NK 59K K K     EΨw,;AH6G>I4 I6II6BI4&I4.I46I6g<:I6e FyM@BMI $?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y/$?Zd;y>yLA A)rAIyzAII4٢3 A=9Q > G٣y > Nusing accuracyPremultiplier from config>59C?>5Y|j iB V> : ^> @J,E3&;;2>5 1$AIJEZj9EFNOT Ignoring new targets: 127.30 m.BjEcJjEc仝 ProNav: ac range: 127.300003 m, nav range: 19.609751 m, bearing: 226.552633 deg, approach rate: 0.404844 m/s, LOS rate: -0.399344 deg/s, cmd heading: 43.395583 deg, new cmd heading: 42.908130 deg. 2jHeadingCmd: 0.748888 target range: 127.300003 and range: 126.30 m. j"??jjjih h h hBfffrfbfS?ɛeBe a隅9I <ɚiIb:=I"??ii_)"??)EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data.*F! 2F! :F! BF% 05JF) GMJʽG)B9OU?|֨w,[A:=p>Y:4$?:v=9: >y:HS? f?t)?z?(&Ԯ?(?ɨ:=p>:;8yJBJIiN=IN= N>N=IZIZ4٢^< b;=9brQ b>dd fG٣f+LGyj{= j> nNusing accuracyPremultiplier from configlr>59n?r>5Yn h inBprF?r@nM,En':nH:n6>5x z$AxZjFNOT Ignoring new targets: 127.30 m.Bj%˻Jj%˻= ProNav: ac range: 127.300003 m, nav range: 19.788422 m, bearing: 226.397255 deg, approach rate: 0.413672 m/s, LOS rate: -0.356494 deg/s, cmd heading: 42.908129 deg, new cmd heading: 42.446215 deg. 2j=tEHeadingCmd: 0.740826 target range: 127.300003 and range: 126.30 m. jEɦ=?jAjAjAiAhAhIhQhQfQfQfQrfYbf]M? IɛBD  Will construct direction to contact in vehicle frame from tetrahedron phase data.0BI) -/)u<ɚ1i1I5_;=I=ɦ=?i9i=)=ɦ=?)9*F%?2F):F)BF-_0JF1G= ʽGB9O]U>J@AJAAJKm3 KS}-KK"KJJJJJJJJa@a@a@a@ Will construct direction to contact in vehicle frame from tetrahedron phase data.Pܨw,ouA2>Y2q&?2Tb=92-32>y2H n?)?CW?E?YںF ?w?ɨ2>2&;0yB~BBIMb@Mb@Mb@ )Y@5^I ?Mb/$yb>,EA QA)vAIAyAI5;I5 5٢c½ ==9=Q > G٣y< > Nusing accuracyPremultiplier from config>592?>5YWf iB>:>@P,EM;;{:>5'B j%AEB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 127.30 m.Bj~Jj~- ProNav: ac range: 127.300003 m, nav range: 19.952322 m, bearing: 226.172226 deg, approach rate: 0.378791 m/s, LOS rate: -0.515793 deg/s, cmd heading: 42.446214 deg, new cmd heading: 41.776704 deg. 2j-5HeadingCmd: 0.729141 target range: 127.300003 and range: 126.30 m. j5:?j1j1j1i1h9h9h9h=yBfAfAfArfAbfMk@ɛuBY% 隭LzKdMKKKK   RK?JK?I=~GU|uA ]pEjIuC Iu'IIuBIu =&Iq.Iq6Iu{<:Iuv FiiIE<= Y|uAyBI:?iiO):?)  $?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.*F]?2FY:FYBFaJFaG NGa Bi O >w,̛A2~>Y2Tb(?2H=92[?>y2H*K?@Pq??@?HA? f?ɨ2~>2&;2CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520729yF~BFIIN:IN# 5٢V\ V\=9VUQ Z>XX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config`f>59bs!?f>5Ybd ibBhj >j@bS,Eb:b:b=>5l n%AlZj  FNOT Ignoring new targets: 127.30 m.BjJj% ProNav: ac range: 127.300003 m, nav range: 20.094215 m, bearing: 225.985556 deg, approach rate: 0.381690 m/s, LOS rate: -0.498591 deg/s, cmd heading: 41.776705 deg, new cmd heading: 41.220669 deg. 2j--HeadingCmd: 0.719436 target range: 127.300003 and range: 126.30 m. j-,8?j1j1j1i1h1h9h9h9f9fAfArfAbfEd@ɛmBm8 qu:OIy }xn`<ɚyiyI}==I,8?iiO),8?)*F?2F:FBFo0JF"G>G>G5GABIOe4> yIy5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772742w,!xAJ@JBJB1J@J@JB9JB3J@ZT@>YZ?*?ZC+=9Z!=I>yZH`X+?@%?`D??p@f?`K[?ɨZT@>Z5;ZCy5~B5I)9 =AAAMb@Mb@Mb@ )YE?ʡEƿ-2tnA @)I7Ay AI,I5٢zϼ 7=9πQ > G٣,LGy ,w<  > Nusing accuracyPremultiplier from config>590?>5Yc i~B%>%:%Z>%@V,E;Y;A>5) -%A5EZjFNOT Ignoring new targets: 127.30 m.Bj&Jj& ProNav: ac range: 127.300003 m, nav range: 20.254784 m, bearing: 225.713561 deg, approach rate: 0.346995 m/s, LOS rate: -0.583132 deg/s, cmd heading: 41.220670 deg, new cmd heading: 40.411209 deg. 2jȼHeadingCmd: 0.705309 target range: 127.300003 and range: 126.30 m. j4?jjjih!h!h!h%BfIfIfIrfQbfU`9)@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024740ɛBB! WQI ?S<ɚiI?=Im4?iiim飼)m4?)q*F?2F:FBFn0JFG^GBO>Hm J>Ii  Im IIm %BIi &Ii .Im 8D6Im b<:Im e FzK WLK s9K K K  #XXBK :K pA a Ii E Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:22:22:05.6746 ] TRx dataTimestamp_ set to:1736374927.019185e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280720w,KãAB>YB+?B =9B$O>yBH`#?K`R?e?Ѵ? w?`IT?ɨB>Bi;BCyJ~BJIIV*IV 5٢ZS< ^b=9zQ z>|| ~G٣|yu<  > %Nusing accuracyPremultiplier from config->59N=?->5Yxb i_B15>5@X,EiD;A;D>5A M%AIZjiuFNOT Ignoring new targets: 127.30 m.Bj}/Jj}/ ProNav: ac range: 127.300003 m, nav range: 20.389351 m, bearing: 225.493040 deg, approach rate: 0.376054 m/s, LOS rate: -0.612186 deg/s, cmd heading: 40.411210 deg, new cmd heading: 39.754045 deg. 2jҼHeadingCmd: 0.693839 target range: 127.300003 and range: 126.30 m. jn1?jjjihhhhfffrfbfK @ɛBpH OI J<ɚiI@=In1?iiZNʻ)n1?)*F?2F:FBFY5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528608GMG?G+?GBO- >w,=)ݣA  $?I y~BIIE IEe4٢]a= ]@=9eQ m>iq uG٣yy > Nusing accuracyPremultiplier from config>59K?>5Y=a i;B@[,E6-;-;H>5 e%AWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 22:22:05.6746 LVL= 11888, 15121, 13922, 19955, AGC= 57, IDX= 446,-0.04, 0.408,-0.618,-1.971,-0.878, PHS= 1.374, 0.307,-1.096, RAW= 55.5, -5.5, CAL= 60.7, -10.8, ROT= 89.3, 10.8 =Ygot valid direction response: 22:22:05.6746 LVL= 11888, 15121, 13922, 19955, AGC= 57, IDX= 446,-0.04, 0.408,-0.618,-1.971,-0.878, PHS= 1.374, 0.307,-1.096, RAW= 55.5, -5.5, CAL= 60.7, -10.8, ROT= 89.3, 10.8 EPDAT read: Bearing 89.3, 10.8 (Local) E~Local bearing/azimuth received: Bearing 89.3, 10.8 (Local) UDAT read: Range 10 to 50 : 126.6 m (Round-trip 168.9 ms) speed 0.0 m/s ],DAT read: user:2541> ]BDAT read: Tx time:22:22:06.8015 e$Ping request sent.eIw? Ľ 蚇?)AI?iA>O4>Wo?sKyI)IR=i]?Bb:publishing transmit ping timeaFpublishing direction and range info9?|?$H?y )Ii )IiO4>Wo?sKyI)Iik<'?k/> k kNF᣾A:k3BBkxBZkU@"^j$@FS@9YX@?|?$H?Jk]?RkBb*&tr8nfT0,K@X6[@*.ɿA]hy?R]15?"kaYB*k=k(?kx"v 2kV/Ckk^ȼ k3CkAk~<@ addTargetRange:: Added new target pos. range: 126.599998 m, deltaT: 3.783745 s, deltaX: 0.299995 m, approachRate: 0.079285 m/s, rangeRepo size: 4  Added new target pos. range: 126.599998 m, bearing: 114.620691 deg, lat: 36.905068 deg, lon: -122.120038 deg, deltaT: 11.097042 s, deltaX: -0.700005 m, approachRate: -0.063080 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 126.60 m.Bj Jj  ProNav: ac range: 126.599998 m, nav range: 31.988512 m, bearing: 168.747195 deg, approach rate: 0.000000 m/s, LOS rate: -0.612186 deg/s, cmd heading: 39.754044 deg, new cmd heading: 38.894061 deg. 2jUHeadingCmd: 0.678829 target range: 126.599998 and range: 126.60 m. j]-?jajajihhhhfff)rf5`f_@bf=h:?JJJ0JJ :J9Jـ3JɛM BM IMrHIQ ;<ɚiIcTA=I-?ii;)-?)*FM ?2FI :FI BFM o0JFI GQ  GQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.խ =խ < JDAT read: TxSync time:22:22:06.8007 G% ~>ԼG B O >Kw,A6>Y6`-?6c<96/ K>y6H?? ?t? )!¿*̓@5?@]?ɨ6>6w;6CyRBRIiV=IV<%Mb@Mb@Mb@!!! !)!Y%n?{GzĿ rhy%V>%#%C%"A %@)% AI%IA!y% AI$Id5٢ = 7=9Q > G٣-LGy< > Nusing accuracyPremultiplier from config>5HL>I III =&I.I6I<:I FBI¢CJI¢CRIZI =bI =jID5zK5NK5+9K1K5K5wR6'  9Z?M>5Y_ i!Bm,>m:m>m@^,E <<tL>5}(B }+%A}Ek-Y?k-Fr k) k):k)Bk)Zk-6T@"-^j$@FS@9YX@-?|?$H?Jk)Rk)*-4M$:۞ϼJ@d_[@-/3*˿V}?~f2?"k-UB*k-k-Ԕ傘?k-w 2k-Q/Ck)k-ao> k-+3Ck-4Bk-29@  $?IZj-FNOT Ignoring new targets: 126.60 m.Bj-;Jj-;= ProNav: ac range: 126.599998 m, nav range: 32.156357 m, bearing: 168.913897 deg, approach rate: 0.399125 m/s, LOS rate: 0.394339 deg/s, cmd heading: 38.894061 deg, new cmd heading: 39.391545 deg. 2j=P w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:t>Y:O/?:L!<9:B>y:H[? >?{6?@e?97`1? k?ɨ:t>:‰;8yRMBRIIZIZ 4٢-J> -f=9-~ڼQ ->11 G٣yP< > Nusing accuracyPremultiplier from config>59g?>5YY^ iB>@a,E<<O>5  $AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 126.60 m.Bj;Jj; ProNav: ac range: 126.599998 m, nav range: 32.297298 m, bearing: 169.054318 deg, approach rate: 0.352553 m/s, LOS rate: 0.349718 deg/s, cmd heading: 39.391545 deg, new cmd heading: 39.810962 deg. 2jp<HeadingCmd: 0.694832 target range: 126.599998 and range: 126.60 m. j1?jjjihhhhfffrfbf ?ɛ Be3 m=1I XK*<ɚiIB=I1?ii:2:)1?)*F?2F:FBF"4JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G 4λG G pAG Bi O >.P w,A+AJJJJJJ9JJbL>Yb;/?b{,;9b:>ybH ?@ `޻?96?h?;e@!?y?ɨbL>b;`yjwBjIMb@Mb@Mb@ )YˡE?t<A @)E AI Ay AII4٢8= >=9Q > G٣yH > Nusing accuracyPremultiplier from config>59v?>5YR\ iB>:>@d,E;S;FS>5 i#AEZjFNOT Ignoring new targets: 126.60 m.Bj%<Jj%<5 ProNav: ac range: 126.599998 m, nav range: 32.454193 m, bearing: 169.246170 deg, approach rate: 0.438766 m/s, LOS rate: 0.533929 deg/s, cmd heading: 39.810963 deg, new cmd heading: 40.383715 deg. 2j57<=HeadingCmd: 0.704829 target range: 126.599998 and range: 126.60 m. j=o4?j9j9j9i9hAhAhAhEBfIfIfIrfIbfUܳ?ɛ}B}S" y}&I ,#<ɚiI$C=Io4?ii?{)o4?)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247221EQEUnA*F?2F:FBF^0JF"G=GGϳGYBaOZ>HQ>IC IIIvBI =&I.I6Io<:Is FzKe lLKa Ka Ke Ke  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4989946w,EAyrBrKI)t vAIzIz4٢%sG> -T=9-Q 5>99 EG٣AyU U> eNusing accuracyPremultiplier from configYe>59]?m>5Y]aZ i]Biqu@]g,E]5;]6;]V>5y }5"AZjFNOT Ignoring new targets: 126.60 m.Bjp<Jjp< ProNav: ac range: 126.599998 m, nav range: 32.604958 m, bearing: 169.428377 deg, approach rate: 0.387908 m/s, LOS rate: 0.466641 deg/s, cmd heading: 40.383715 deg, new cmd heading: 40.927793 deg. 2j <HeadingCmd: 0.714325 target range: 126.599998 and range: 126.60 m. j6?jjjihhhhfffrfbf?ɛB  I  <ɚ i I hC=I6?ii||)6?)*F2F:FBF`0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.E>E?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751520G/:GQBYO}>Y`w,N^A  $?I>*>Y>z.?>x 9>#>y>H?@%h? (?s?n /? L? ?ɨ>*>>2;>CyRBRnII^I^4٢f> jP=9jQ j>ll nG٣n.LGyr r> vNusing accuracyPremultiplier from configtz>59vԒ?z>5YvrX ivBxzJ>~@vj,EvI;v+ ;vZ>5)B U!A EZj)-FNOT Ignoring new targets: 126.60 m.Bj5<Jj5} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261372|w,}xA6&>Y6-?6q9c969>y6H@?:8??a?xf?*? ?ɨ6&>6;4yR BVIeMb@Mb@Mb@aaa a)aYe#~j?i|?5+?ye?eqe=e A eI@)e/ AIe AayeQ AI}I} 4٢> ?=9QQ > G٣y^ > Nusing accuracyPremultiplier from config>59?>5YPU iB?:P?@m,E&;%;]>5 C AZjFNOT Ignoring new targets: 126.60 m.Bj/<Jj/< ProNav: ac range: 126.599998 m, nav range: 32.923508 m, bearing: 169.871912 deg, approach rate: 0.390218 m/s, LOS rate: 0.612285 deg/s, cmd heading: 41.464702 deg, new cmd heading: 42.251822 deg. 2j< HeadingCmd: 0.737433 target range: 126.599998 and range: 126.60 m. j pIC IxIIBI =&IFD.I9D6I_<:Ik F  $?IzKmBoIKiKiKmKmE w=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516139*F?2F:FBF|0JFJU JU JU 1JQ JU :JU 9JU 3JQ JU ;ae JU ;ae JU F;am JU G;am G )|G B O >s$w,OA"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767194:@>Y:-?:9:>y:H ?@w?? ?B?x?ѭ?ɨ:@>:=&;:CyFFBFIiJ>IJp< Na=Na=IRIR&4٢ZH> ZY=9ZkQ Z>99 =G٣9yE^ E> MNusing accuracyPremultiplier from configIU>59M?U>5YMsR UtIiMBq} ?}@Mp,EM;M;M>a>5 AEZjFNOT Ignoring new targets: 126.60 m.Bj)<Jj)< ProNav: ac range: 126.599998 m, nav range: 33.077484 m, bearing: 170.110771 deg, approach rate: 0.384174 m/s, LOS rate: 0.593180 deg/s, cmd heading: 42.251823 deg, new cmd heading: 42.965025 deg. 2j<HeadingCmd: 0.749881 target range: 126.599998 and range: 126.60 m. j6??jjjih!h!h!h!f)f)f)rf)bf5@ɛBA 隭TI T <ɚiIC=I6??iiUM)6??) IEfm=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:22:09.3750 TRx dataTimestamp_ set to:1736374930.554011 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021496*F1 2F1 :F1 BF5 `0JF9 G G B Om >*w,A*JC="Ja=y%hB%IMb@Mb@Mb@ )YZd;O?/$?v/?yj?<xi=SA A) AI Ayz AII4٢y> 8=9Q > G٣/LGy > Nusing accuracyPremultiplier from config>59¡?>5Y N i>B /? : }2? @u,EU"; ;d>5*B  AE5B*** querying acoustic contact ***j9j9ZjAEFNOT Ignoring new targets: 126.60 m.BjMi<JjUiIC IIImBI =&I.I:D6Il<:Iy FzK BoHK 59K K K 7DtK|cJ5"BK :K GE  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O- >{1w,9ƤADAT read: 22:22:09.3750 LVL= 15568, 20881, 19842, 27923, AGC= 62, IDX= 451, 0.10, 2.581, 1.420, 0.089, 1.276, PHS= 1.392, 0.191,-1.190, RAW= 57.7, -3.5, CAL= 62.1, -8.1, ROT= 87.9, 8.1 Ygot valid direction response: 22:22:09.3750 LVL= 15568, 20881, 19842, 27923, AGC= 62, IDX= 451, 0.10, 2.581, 1.420, 0.089, 1.276, PHS= 1.392, 0.191,-1.190, RAW= 57.7, -3.5, CAL= 62.1, -8.1, ROT= 87.9, 8.1 "PDAT read: Bearing 87.9, 8.1 (Local) "~Local bearing/azimuth received: Bearing 87.9, 8.1 (Local) BDAT read: Range 10 to 50 : 127.0 m (Round-trip 169.4 ms) speed -0.1 m/s F,DAT read: user:2542> VBDAT read: Tx time:22:22:10.5015 Z$Ping request sent.Zi]-?]C>]Q].?]5z ]?)]I]^?i]>YY]2?s!چG6b)]0I]}=i]=?]lYY=:publishing transmit ping timeX=Fpublishing direction and range infoY9]\`M?J? 1=9Q > G٣y >  Nusing accuracyPremultiplier from config >59 ա?>5Y 4I i `B99=@ y,E ; x; i>5A EAMEk]?k]1u+ kY k]fäA:k]BBk]GBZk]M @"]t"@Wu#S@zG^uLY@]\`M?J?8w,4夾A2{>Y2-?2N92G>y2H?W@Ю??@Ə?2??@Ъ?ɨ2{>2(;2Cy>B>=IIFIF4٢N> NS=9R+Q R>XX ZG٣XyZ/; ^> bNusing accuracyPremultiplier from config\f>59^㡜?f>5Y^EE i^Bdf33?f@^},E^;^B;^fl>5l n!AlZj FNOT Ignoring new targets: 127.00 m.Bj (<Jj(< ProNav: ac range: 127.000000 m, nav range: 61.698101 m, bearing: 126.039464 deg, approach rate: -0.046319 m/s, LOS rate: 0.589361 deg/s, cmd heading: 45.175175 deg, new cmd heading: 45.818914 deg. 2j<<-HeadingCmd: 0.799691 target range: 127.000000 and range: 127.00 m. j-L?j)j)j)i)h1h1h9h9f9f9fArfAbf@3?ɛBf| 9=隵/I Ma<ɚi!I%q3C=IL?ii)L?)9EYEY*Ea"EaWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 0JF ] $?H} ^>Iy  I} lII} ̀BI}  =&Iy .Iy 6I} &<:I} G FI G zK NK +9K K K  RK ?JK ?Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>Aw,vA|>Y~:1?6m>9 >yH:?']$Y?`_g?`4? ԩ¿t˧?&Y??ɨ|> ;CyBYIMb@Mb@Mb@ )YCl?S㥻?)\(?y/?/=Ga==A A)IAy AII4٢Э= =9@Q > G٣0LGy< > Nusing accuracyPremultiplier from config>59?>5Y'> iB2?:U?@,E+<<q>5+B mAEZj FNOT Ignoring new targets: 127.00 m.Bj@-<Jj@-fAGw,~nA6|>Y6ӻ3?6S96!>y6H`:f?T?l?`?ÿo?i!??ɨ6|>6aJ;6CyRԀBRtIIZIZ̍4 `I`٢f= f_=9jBgQ j>hl nG٣lyn< r> vNusing accuracyPremultiplier from configpv>59r?z>5Yr-9 irBxz>X?z@r,Erj:rU:r6t>5  A Zj)5FNOT Ignoring new targets: 127.00 m.Bj5y=<Jjy=< ProNav: ac range: 127.000000 m, nav range: 61.572308 m, bearing: 126.600966 deg, approach rate: -0.150145 m/s, LOS rate: 0.662600 deg/s, cmd heading: 46.814851 deg, new cmd heading: 47.505051 deg. 2j^<HeadingCmd: 0.829120 target range: 127.000000 and range: 127.00 m. j.AT?jjjihhhhfffrfbf?ɛuB}|: y}Iy }H;ɚyiI>A=I.AT?iWill construct direction to contact in vehicle frame from tetrahedron phase data.i).AT?)*F?2F:FBF]0JF"G=G=GeGABiO_> Will construct direction to contact in vehicle frame from tetrahedron phase data.kMw,I8A6>Y6A6?6a96'>y6H`0?@@??`?@GĿ/?_??ɨ6>66";4yB߀BBIMb@Mb@Mb@ )Yx&1?M?Mb?yA@?n>@=A A)AIy AI-I-m4٢5R= 5D=9|Q > G٣1LGy< > Nusing accuracyPremultiplier from config>59 ?>5Yy2 iBD?:c?@,E3"; ;w>5 fAE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 127.00 m.BjEC<Jj%EC<- ProNav: ac range: 127.000000 m, nav range: 61.492012 m, bearing: 126.896754 deg, approach rate: -0.185136 m/s, LOS rate: 0.682880 deg/s, cmd heading: 47.505052 deg, new cmd heading: 48.393500 deg. 2j-S<=HeadingCmd: 0.844626 target range: 127.000000 and range: 127.00 m. j=g9X?j9j9j9i9hAhAhAhEYBfIfIfIrfIbfM W?ɛs; 隍(gI R;ɚiI@=Ig9X?iiBŽ)g9X?) $?IhH\>I IIIBI =&I.I6Iv<:I FBIeåCJIeäCRIeÔCZIe =bIe =jIeû46*FM?2FI:FIBFU_0JFQzKKK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.iAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gm?}GI Ba O >Ju Ju Ju /Jq Ju ]:Ju 9Ju (N3Jq Ju :;Ju ;;Ju ;Ju ;STw,W#RA6#?Y688?6/q96->y6H?$mx?` ?@Dr?!ſ|!??@8|?ɨ6#?6;6CyNBRIIZIZ?4٢~O= ~N=9~#Q > G٣y <  > Nusing accuracyPremultiplier from config>59B'?>5Y, i=B!%0f?%@,E ; ;R{>5-,B -7A-E=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.205327ZjimFNOT Ignoring new targets: 127.00 m.Bju~C<Jju~C< ProNav: ac range: 127.000000 m, nav range: 61.419785 m, bearing: 127.157286 deg, approach rate: -0.189307 m/s, LOS rate: 0.683652 deg/s, cmd heading: 48.393499 deg, new cmd heading: 49.175963 deg. 2j<HeadingCmd: 0.858282 target range: 127.000000 and range: 127.00 m. jf[?jjjihhhhfffrfbf@&9@ɛBFg; /I ;ɚiI.@=If[?iiݲɽ)f[?)E=<H= I*F?2F:FBF^0JFGpA GqAGQ½Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457006Gi Bq O >Zw,!lAmb?YmvbymH= v@)AIAy( AII 4٢= /=9OQ > G٣y< > Nusing accuracyPremultiplier from config>599?>5Y$ iuBI?:}s?@,E;I;d>5 AEZjFNOT Ignoring new targets: 127.00 m.Bj=<Jj=<MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.708989] ProNav: ac range: 127.000000 m, nav range: 61.312595 m, bearing: 127.481051 deg, approach rate: -0.219493 m/s, LOS rate: 0.664132 deg/s, cmd heading: 49.175962 deg, new cmd heading: 50.148855 deg. 2j]I C I II LBI  =&I .I 6I <:I FzK K 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960671G G B O >ʻaw,cEAy?Y??F29M@>yH]?_2O?? ~?g*ǿ??`w^?ɨy?N;CyBI)! !IUIUs4٢e!˼ mX=9mQ m>qq uG٣u2LGyu= }> Nusing accuracyPremultiplier from configy>59})G?>5Y}\ i}Bv?@},E}5;}F;}>5 AZjFNOT Ignoring new targets: 127.00 m.BjT<JjT< ProNav: ac range: 127.000000 m, nav range: 61.223316 m, bearing: 127.743472 deg, approach rate: -0.252590 m/s, LOS rate: 0.743525 deg/s, cmd heading: 50.148854 deg, new cmd heading: 50.937213 deg. 2j#<HeadingCmd: 0.889022 target range: 127.000000 and range: 127.00 m. jc?jjjihhhhfff rfbf@e@ɛQUڦ; QUIQ Uq;ɚYiYI]<>=Iec?iai=RϽ)=c?)AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:22:13.0751 TRx dataTimestamp_ set to:1736374934.333703checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214767E>=*F= ?2F9 :F9 BF9 JF9 G5 JʽG B O5 > I egw,A6C ?Y6C?6&뎽96_G>y6H - ?@ `s?`?\[?ǿٱ? I?Q?ɨ6C ?6;6CyRBRIIZIZ4٢bxɼ bV=9f* Q f>hh jG٣hy-= 5> =Nusing accuracyPremultiplier from config1E>595U?E>5Y5 i5BAEz?E@5,E5 ;5.:5 >5Q U<AUEZjyFNOT Ignoring new targets: 127.00 m.BjE<JjE< ProNav: ac range: 127.000000 m, nav range: 61.127914 m, bearing: 128.015208 deg, approach rate: -0.242669 m/s, LOS rate: 0.692277 deg/s, cmd heading: 50.937211 deg, new cmd heading: 51.753633 deg. 2j<HeadingCmd: 0.903271 target range: 127.000000 and range: 127.00 m. jG >JJJ0JJJJـ3Ja@a@a@a@GG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 22:22:13.0751 LVL= 15200, 22065, 23282, 30899, AGC= 60, IDX= 421,-0.34, 2.171, 1.145,-0.153, 1.003, PHS= 1.256, 0.190,-1.158, RAW= 56.1, -2.8, CAL= 59.7, -6.8, ROT= 90.3, 6.8 5 Ygot valid direction response: 22:22:13.0751 LVL= 15200, 22065, 23282, 30899, AGC= 60, IDX= 421,-0.34, 2.171, 1.145,-0.153, 1.003, PHS= 1.256, 0.190,-1.158, RAW= 56.1, -2.8, CAL= 59.7, -6.8, ROT= 90.3, 6.8 5 PDAT read: Bearing 90.3, 6.8 (Local) = ~Local bearing/azimuth received: Bearing 90.3, 6.8 (Local) E DAT read: Range 10 to 50 : 127.1 m (Round-trip 169.5 ms) speed -0.3 m/s M ,DAT read: user:2543> U BDAT read: Tx time:22:22:14.2015 U $Ping request sent.U Q u Fpublishing direction and range info 9 5^U$?P?$_UZ?y 3B `; 1V Z) xI <i Ġ? \B> X9 >z? +H ^?) I n?i = J*?BO\쿕1٨) FI F=i T? Ue  :publishing transmit ping timeQ  Fpublishing direction and range info 9 5^U$?P?$_UZ?y  ) I i ) I i J*?BO\쿕1٨) I i nw,UںA62?Y6GzG?6}96]N>y6H:?&\C)?@m?o?@ȿyn?`?`E?ɨ62?6 8;4yӀBtI $?IjH<bH<HY>I III[BI =&IGD.I6Ix<:I~ FMb@Mb@Mb@ )Y~jt?#~j?Mb?yD?%><A `@)Iyz AIuIug4٢V "=9ƓQ > G٣y<  > Nusing accuracyPremultiplier from config>59g?>5Y5 i BH?:z?%@,E7;;y>5) 5A5EkTl?k( k kA:k3BBkyBZk`"@"V7@*SS@gm X@5^U$?P?$_UZ?JkT?RkUe*5bE"8rC@t'|E\@l:YֿKg6?6x?"kB*k.kp?k" 2k1CkkkktBk^a@zKK9KKK addTargetRange:: Added new target pos. range: 127.099998 m, deltaT: 3.777667 s, deltaX: 0.099998 m, approachRate: 0.026471 m/s, rangeRepo size: 4  Added new target pos. range: 127.099998 m, bearing: 138.883428 deg, lat: 36.905040 deg, lon: -122.119535 deg, deltaT: 3.777667 s, deltaX: 0.099998 m, approachRate: 0.026471 m/s, posRepo size: 4 %Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:22:22:14.2007 Zj15FNOT Ignoring new targets: 127.10 m.Bj=Jj9m ProNav: ac range: 127.099998 m, nav range: 61.008354 m, bearing: 128.360760 deg, approach rate: 0.000000 m/s, LOS rate: 0.692277 deg/s, cmd heading: 51.753634 deg, new cmd heading: 52.824174 deg. 2jiuHeadingCmd: 0.921956 target range: 127.099998 and range: 127.10 m. juKl?jqjqjqiqhqhyhyh}IBfffrf`f_@bf,?ɛP@; DI e;ɚiIN;=IKl?ii(ս)Kl?)EqAEpAE5 )<*F ?2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. = <GʽGyBO ?ww,,ݥA6?Y6K?66964S>y6HW?6? %?@? ɿ5? `` bG٣b3LGyf= f> nNusing accuracyPremultiplier from confighn>59jVw?r>5Yj ij:Bpr?r@j,Ej;js;jO>5v*B z=A $?IhuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 127.10 m.BjE<JjE< ProNav: ac range: 127.099998 m, nav range: 60.899601 m, bearing: 128.665204 deg, approach rate: -0.246565 m/s, LOS rate: 0.691462 deg/s, cmd heading: 52.824174 deg, new cmd heading: 53.739054 deg. 2jE<HeadingCmd: 0.937923 target range: 127.099998 and range: 127.10 m. jp?jj!j!i!h!h!h)h)fIfIfQrfQbfU ?ɛ`h9 hڽI ɴ;ɚiI%:=I p?i ipԽ)p?)EEEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J}AAJyJJJJJ:J9JJ*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990777Ge \ ѽ~GtAG YYtAyhBBO>\~w,?Ab O?Yb4O?bڙ9b Q>ybH h?@M?)&?`6?nȿ6?{?A??ɨb O?b;bCyjBjEIuMb@Mb@Mb@qqq q)qYuA`"?`"?~jthyu9?u=uDu A u@)uIAIqqyu AHX>I IIILBI =&I.I6Ii<:Iq FIIh4٢ =9Q > G٣y"= > Nusing accuracyPremultiplier from config>59v?e>5YH icBm;?m:my?m@,Ex<H<>5q uAyZjFNOT Ignoring new targets: 127.10 m.Bji=<Jji=< ProNav: ac range: 127.099998 m, nav range: 60.786980 m, bearing: 129.010590 deg, approach rate: -0.215588 m/s, LOS rate: 0.662386 deg/s, cmd heading: 53.739054 deg, new cmd heading: 54.777014 deg. 2jK<HeadingCmd: 0.956039 target range: 127.099998 and range: 127.10 m. jt?jjj i h h hhBfffrfbfE@ ?ɛ 隍I ;ɚiI)9=It?ii׽)t?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.243157zK]RIK]9KYK]K]RKm?JKm?*F?2F:FBFo0JFGqA GpAPExceeded connect timeout, disconnecting.G }ѽG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494917C|w,A2G?Y2[bT?292_V>y2H@?m@D?`??ɿm? M?`H5?ɨ2G?2;2Cy:B:!IIFIF4٢N" N`=9RQ R>PP RG٣TyVI= V> ZNusing accuracyPremultiplier from configX>59Z?>5YZk iZB Y~? @Z,EZ55+B %A%EZjamFNOT Ignoring new targets: 127.10 m.Bjm<<Jjm<< ProNav: ac range: 127.099998 m, nav range: 60.705814 m, bearing: 129.249073 deg, approach rate: -0.224308 m/s, LOS rate: 0.659947 deg/s, cmd heading: 54.777014 deg, new cmd heading: 55.493379 deg. 2ju<HeadingCmd: 0.968542 target range: 127.099998 and range: 127.10 m. jaw?jjjihhhhfffrfbfIa?ɛIM  QuQIq u;ɚqiyI}8=Iaw?ii0̽)aw?) I*F ?2F :F BF 1JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746852GM `KҽG! B1 O] >J3K3 K;L.K3K3"K3J J J J J :J 9J J .w,0AMT?YMiYX?MMO9M\>yMH`\-? 0??\? -ɿU%?Q?@+?ɨMT?MN-;MCyeyBeI) AUMb@Mb@Mb@QQQ Q)QYU(\?{Gz?QyU.?Uף=UuUA U@)UAIQQyU AIuIuD4٢}Ž /=9;Q > G٣4LGy= > Nusing accuracyPremultiplier from config>59?>5Y iBR/?:v?@,EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998968;{;+>5 AZjFNOT Ignoring new targets: 127.10 m.Bj(6<Jj(6<  ProNav: ac range: 127.099998 m, nav range: 60.618656 m, bearing: 129.538622 deg, approach rate: -0.191475 m/s, LOS rate: 0.637013 deg/s, cmd heading: 55.493378 deg, new cmd heading: 56.363205 deg. 2j <HeadingCmd: 0.983724 target range: 127.099998 and range: 127.10 m. jN{?jjjihhhhBff!f!rf!bf%H?@ɛ I um;ɚiI7=IN{?iiͽ)N{?) *F?2F:FBF.5JF $?IHV>I IIIBI&I.I9D6Ig<:Io FG kʽe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251926G B zK K 9K K K BK :K O >w,жJAVe"?YVzi[?Vd9VL`>yVH? #F ?`?`?ɿ?^?1'?ɨVe"?V;VCy^cB^IIzIz4٢5 g=9;Q >    G٣ y n = > Nusing accuracyPremultiplier from config%>59a?%>5Y> iB)5y?5@,E*;5;B>5Y ]<A]EZjFNOT Ignoring new targets: 127.10 m.BjQ0<JjQ0< ProNav: ac range: 127.099998 m, nav range: 60.550816 m, bearing: 129.758021 deg, approach rate: -0.190445 m/s, LOS rate: 0.616593 deg/s, cmd heading: 56.363206 deg, new cmd heading: 57.022109 deg. 2j<HeadingCmd: 0.995224 target range: 127.099998 and range: 127.10 m. j~?jjjihhhhfffrfbf @ɛ{  畾I  ";ɚ i I k;7= UnManaging dock network, ignoring radio surface power offI~?iiu̽)~?)*F2F:FBFh4JF"G>G0>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502918G.˽G B O > I hѸw,dA:1&?Y:^?:kS9:S5c>y:H?.?`d? ? ȿqF??"?ɨ:1&?:*;8yBKBFIIJIJg4٢V VP=9Vܖ;Q Z>XX ZG٣Xy^= ^> fNusing accuracyPremultiplier from config`f>59bԼ?j>5YbR ibBhj>}?j@b,Eb:be:b>5t zA|-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756254=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 127.10 m.BjU/<JjU/䞩w,\w~A29(?Y2Mqa?2׼92d>y2HR?`aE?ޝ?}? ȿӱ?4?9"?ɨ29(?2׉;2CyN;BRIib=I` fa=fR= %$?I!HEU>IEC IEIIEBIE =&IA.IA6IE<:IE FBICJIRICZI =bI =jIY5Mb@Mb@Mb@ )Yl?Mb?X9vy?= A @)AI Ay AII4٢-* -4=9-D};Q 5>11 5G٣=5LGy=< => ENusing accuracyPremultiplier from configAM>59Eʢ?M>5YE iEBU?U:Uq?U@E,EE;E;E>5Y ]yAaZj-FNOT Ignoring new targets: 127.10 m.Bj5<Jj5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510864&ʥw,HAz.?Yzg?z>v9zf>yzH@j?@fE?d?=?0%ȿ?t?@ ?ɨz.?z;zCy (B II%I%4٢- ѽ -\=9519 =G٣9yEp= M> uNusing accuracyPremultiplier from configa>59eԢ?>5Ye ieByw?@e,Eec;eN;e>5  AEZj15FNOT Ignoring new targets: 127.10 m.Bj=] <Jj=] BDAT read: Tx time:22:22:17.9015 $Ping request sent.E~Eh?Ek] E u?)EIEg;?iE=AAEf? ?t3>%)ETIE`=iE*u?EhTAA:publishing transmit ping timeرFpublishing direction and range infoA9En7?A {yҍ?S?yAAAA A)AIAiAAAAA A)AIAiAAAEf? ?t3>%)AIAiAAAAG `KҽGi B! J J J J J :J 59J J O >+Vw,QAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:22:17.9007 y-B5I}Mb@Mb@Mb@yyy y)yY}uV? G٣y > Nusing accuracyPremultiplier from config >59#㢜? >5Y iB?:f?@,E;;49;o>5) - A1kgw?k͜ k kNzA:kfBBkBZk@"dh@ZUkU@buW@n7?A {yҍ?S?Jk*u?RkhT*Rw I B@)#i[@Fb5ٿt ?x(#?"kVB*kmHk@Vd?k| 2k.CkkkQ/Ck0qBk@ addTargetRange:: Added new target pos. range: 127.199997 m, deltaT: 3.780860 s, deltaX: 0.099998 m, approachRate: 0.026449 m/s, rangeRepo size: 4  Added new target pos. range: 127.199997 m, bearing: 143.126927 deg, lat: 36.905040 deg, lon: -122.119535 deg, deltaT: 3.780860 s, deltaX: 0.099998 m, approachRate: 0.026449 m/s, posRepo size: 4 Zj%FNOT Ignoring new targets: 127.20 m.Bj%Jj!5 ProNav: ac range: 127.199997 m, nav range: 60.297462 m, bearing: 130.709444 deg, approach rate: 0.000000 m/s, LOS rate: 0.480380 deg/s, cmd heading: 59.109495 deg, new cmd heading: 59.801066 deg. 2j1}HeadingCmd: 1.043725 target range: 127.199997 and range: 127.20 m. j}̘?jjjihhhh Bfffrf_@bf?lJTimed out from 2025-01-08T22:12:18.8Zq6lfCompleted lineCaptureHoming:MicromodemComms:CheckIn16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkVCompleted lineCaptureHoming:MicromodemCommsɛ-B5Q =$?I9 Y]IY e/©;ɚaiaIeo4=Im̘?iiimԽ)m̘?HyIy I}@II}BIy&Iy.Iy6Iy:Iy)i*F-?2F):F)BF)JF1G G ?G 0? Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՍ AG B O% >zK] fLK] 9KY K] K] /yRH-? +N|ֿ?c?l{?(ƿ@? D?`D?ɨR?4?R0;RCyZBnzI)p pppIvIv4٢Y %=9%;Q %?!) -G٣-6LGy-/= -? ]Nusing accuracyPremultiplier from configQ]>59U뢜?e>5YU iUBael?e@U,EU :U:U2>5i u!AqZjFNOT Ignoring new targets: 127.20 m.Bj<Jj< ProNav: ac range: 127.199997 m, nav range: 60.261883 m, bearing: 130.866366 deg, approach rate: -0.114751 m/s, LOS rate: 0.506398 deg/s, cmd heading: 59.801066 deg, new cmd heading: 60.272098 deg. 2jĭ<%HeadingCmd: 1.051947 target range: 127.199997 and range: 127.20 m. j%/?j!j)j)i)h)h)hYhYfafafarfibfm ?5knAggregate::initialize lineCaptureHoming:MicromodemComms16 l~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6ɛo 7I ;ɚiI#4=I/?ii-)-/?)1*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ? 9 I9 G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.eWill construct direction to contact in vehicle frame from tetrahedron phase data.e?eW?OE2?6߽w,.A^7?Y^ p?^#9^vS>y^H` ?`~}?`@?r2?@ſ!?@1?@B?ɨ^7?^4;\yjBjmIeMb@Mb@Mb@aaa a)aYegfffff?S㥛ktye3>e/ݼe 0eA eZ@)eAIe Aaye(AI}I}4٢D <9A;Q {> G٣y< {> Nusing accuracyPremultiplier from config>59e?>5Y iB>:f?@,E;#;a>5 q!AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 127.20 m.Bj;Jj; )I)5 ProNav: ac range: 127.199997 m, nav range: 60.199791 m, bearing: 131.182356 deg, approach rate: -0.084981 m/s, LOS rate: 0.432916 deg/s, cmd heading: 60.272096 deg, new cmd heading: 61.220952 deg. 2j5<=HeadingCmd: 1.068507 target range: 127.199997 and range: 127.20 m. j=Ĉ?j9j9j9i9HI III|BI&I.I6I6<:IK FhhhhBfffrfbf?ɛBKl 隭I ;ɚiI>3=IĈ?iiO)Ĉ?)*Fi2Fi:FqBFu5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKBoHK9KKKGU */G1 JE JE JA JA JE }:JE 9JA JA JE ;am JE ;am JE ;am JE ;au B O >ĩw,A2/:?Y2Bts?2{92V>y2H?P)??@??ſp?`? r>?ɨ2/:?2;2Cy:B>cIIFIF[4٢N, N]=9N;Q R>PP RG٣TyV= V> ^Nusing accuracyPremultiplier from configXE>59Z?E>5YZ iZBIMj?M@Z,EZ5Q U!AQZjFNOT Ignoring new targets: 127.20 m.Bj<Jj< ProNav: ac range: 127.199997 m, nav range: 60.165638 m, bearing: 131.347723 deg, approach rate: -0.092837 m/s, LOS rate: 0.449769 deg/s, cmd heading: 61.220953 deg, new cmd heading: 61.717323 deg. 2jV<%HeadingCmd: 1.077170 target range: 127.199997 and range: 127.20 m. j%?j!j)j)i)h)h)h1h1=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753402f1fQfYrfYbf]`V?ɛR 隭sI ^Dy;ɚiI2=I?iiT)?)*F?2F:FBF^0JFGe -$?I-hG)B9OUS> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005628ʩw,-A6=?Y6Rv?6 p96Y>y6HpC?@?5?`>? pſ?? (:?ɨ6=?6Oӑ;6CyRBRjIIZIZ4٢b< bH=9bY;Q f>hh jG٣n7LGyn< n> vNusing accuracyPremultiplier from configpv>59rk?z>5Yr irBxzm?z@r,Er :r:r4>5,B !AEZj)-FNOT Ignoring new targets: 127.20 m.Bj-_ <Jj5_ < ProNav: ac range: 127.199997 m, nav range: 60.126236 m, bearing: 131.530421 deg, approach rate: -0.103540 m/s, LOS rate: 0.480404 deg/s, cmd heading: 61.717323 deg, new cmd heading: 62.265758 deg. 2j٤<HeadingCmd: 1.086743 target range: 127.199997 and range: 127.20 m. ja?jjjihhhhf ffrfbf]~@ɛ-} )-I) -#\;ɚ1i1I51g2=I5a?i9i=)=a?)9MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258813*F?2F!:F!BF%_0JF!) %H~G=|uAQ Y|uAyB ! I) ZH RH ?AH S>I  I II ]BI &I .I 6I @<:I R FGE NGM ?GM >G! B) OE >ѩw,GAB^j@?YBqx?Bb9B\>yBH@? Ը? e?M?uſ`eQ8eC eXA e-@)eAIe AayeAI}I}4٢< >=9 G٣yY< > Nusing accuracyPremultiplier from config>59?>5zKKh9KKK$)<>4*  Y iBuY>u:ud?u@,E1<<>5 ]!AZjFNOT Ignoring new targets: 127.20 m.Bj;Jj; ProNav: ac range: 127.199997 m, nav range: 60.092518 m, bearing: 131.720144 deg, approach rate: -0.074418 m/s, LOS rate: 0.418967 deg/s, cmd heading: 62.265760 deg, new cmd heading: 62.835228 deg. 2jď<HeadingCmd: 1.096682 target range: 127.199997 and range: 127.20 m. j`?jjjihhhhÀBfffrfbf @ɛeBmޘ m+=隍)I B;ɚiI2=I`?ii(ö)`?)JJJJJ :J9JJJS;JT;J!;J!;*F?2F:FBF`0JFGpA GrAG]渽GB9O{>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]>]=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762291 ! I! שw,aA6)B?Y6<9{?67V96]>y6H@? m-@??=??Ŀê?}? e5?ɨ6)B?6x;6Cy> B>IIJIJ4٢R{= VZ=9V;Q V>XX ZG٣XyZ< b> vNusing accuracyPremultiplier from configpv>59rd$?z>5Yr irBxzJg?z@r,Er:r:rC>5  AZj)5FNOT Ignoring new targets: 127.20 m.Bj5<Jj5e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265335'ީw,\{A2D?Y2g}?2K92T_>y2HD?1N`??`?ecĿ0n? V?`4?ɨ2D?2n;2CyRBVI)X XuMb@Mb@Mb@qqq q)qYu?/$I +yuf>u,u9uAA u@)uQAIu AqyuAII4٢ < ;=9;Q > G٣8LGy< > Nusing accuracyPremultiplier from config>59}.?>5YҸ iB>:h?@,ED;;>5  AZj  FNOT Ignoring new targets: 127.20 m.Bj;Jj;% ProNav: ac range: 127.199997 m, nav range: 60.027241 m, bearing: 132.071356 deg, approach rate: -0.079520 m/s, LOS rate: 0.424538 deg/s, cmd heading: 63.339186 deg, new cmd heading: 63.889407 deg. 2j%<-HeadingCmd: 1.115080 target range: 127.199997 and range: 127.20 m. j-?j)j)j)i)h)h1hIhMBfIfIfIrfQbfU@A @ $?Iɛ   I j[;ɚiI81=I?ii%:)%?)!H=R>I9 I9I9I= =&I9.I96I=<:I=/ F*F?2F:FBFF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526767zKmk(MKm9KiKmKmZ`0KUVTLC>5("$(G NG B O >J% J% J! J! J% :J% 9J! J! J% ;J% ;J% ;J% ;w,6AV(I?YVJҀ?VR=9V0_>yVH%?,L?3?q?ÿ.? $?5?ɨV(I?Vƻ;VCy^3B^Idf@AIjIj4٢r9> rW=9vtt vG٣tyz2= z> ~Nusing accuracyPremultiplier from config|>59~.7?>5Y~5 i~B  m? @~,E~*:~n:~Y>5-B AEB*** querying acoustic contact ***jj%Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 22:22:20.4755 LVL= 10160, 24737, 20146, 30899, AGC= 55, IDX= 439,-0.30,-2.980, 2.682, 1.378, 2.391, PHS= 1.000, 0.337,-1.016, RAW= 48.8, -3.6, CAL= 51.3, -7.6, ROT= 98.7, 7.6 }Ygot valid direction response: 22:22:20.4755 LVL= 10160, 24737, 20146, 30899, AGC= 55, IDX= 439,-0.30,-2.980, 2.682, 1.378, 2.391, PHS= 1.000, 0.337,-1.016, RAW= 48.8, -3.6, CAL= 51.3, -7.6, ROT= 98.7, 7.6 PDAT read: Bearing 98.7, 7.6 (Local) ~Local bearing/azimuth received: Bearing 98.7, 7.6 (Local) DAT read: Range 10 to 50 : 127.3 m (Round-trip 169.8 ms) speed 0.1 m/s ,DAT read: user:2545> BDAT read: Tx time:22:22:21.6016 $Ping request sent.%J %^ Z?% %5e?)%I%w?i%>!!%՛B?96:\uJ)%UI%l=i%?%HF!!:publishing transmit ping timeءFpublishing direction and range info!9% =x?P?&lzѯi?y!!!! !)!I!i!!!!! !)!I!i!!!%՛B?96:\uJ)!I!i!!!2j <5HeadingCmd: 1.123512 target range: 127.199997 and range: 127.20 m. j5;Ϗ?j1j1j9i9h9h9h9hAfAfAfArfE@3_@bfMtC?!ɛɼ ɾI $$:ɚi I C1=I;Ϗ?ii );Ϗ?) IEUG< Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF e0JF G5G5?G5>G B9O}?)w,(׵AeL?YeA?e<9e`>yeHX?מ?`2? #?}ÿ і?y?`4?ɨeL?es;eCyu?B}IWill construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYm/$? rhMbym&>mC mmXA i)mAImAiyiIIt4٢&= =9u9Q > G٣9LGy< > Nusing accuracyPremultiplier from config>59KD?>5Yv iB>:ss?@,E;;M>5,B jAEkiG?kM)9 k kiA:kBBkBZk"@"ЀK@7auV@|mOJV@ =x?P?&lzѯi?Jk?RkHF*쏌Lk\C@|ͻZ@.Vܿxw?V:to?"kB*kdka&p?kG 2k+Ckp?kG kF/CkqBk̀@= addTargetRange:: Added new target pos. range: 127.300003 m, deltaT: 3.784125 s, deltaX: 0.100006 m, approachRate: 0.026428 m/s, rangeRepo size: 4 M Added new target pos. range: 127.300003 m, bearing: 145.899271 deg, lat: 36.904988 deg, lon: -122.119597 deg, deltaT: 3.784125 s, deltaX: 0.100006 m, approachRate: 0.026428 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 127.30 m.BjUJjQm ProNav: ac range: 127.300003 m, nav range: 60.378960 m, bearing: 140.108884 deg, approach rate: 0.000000 m/s, LOS rate: 0.377711 deg/s, cmd heading: 64.372477 deg, new cmd heading: 64.967794 deg. 2jimHeadingCmd: 1.133902 target range: 127.300003 and range: 127.30 m. ju#?jqjqjqiqhqhqhyh}Bfyffrfbf@?ɛUBUˬ y}Iy }W:ɚiI0=I#?ii+)#?)*E="E= aIajHbHHN>IC IIIrBI =&I.I8D6I-<:I? FBIţCJIţCRIZI =bI =jIŀo5E= Will construct direction to contact in vehicle frame from tetrahedron phase data.*F9 2F9 :F9 BF= `0JFA zKm OKm h9Ki Km Km oVLG>3+" |vrrpok`aJJJ/JJJ9J(N3JJJJF;JF;G-ȨGB O%>k'w, էAb"N?YbqO?bf;9bc>ybH??V?i?~ÿ@}? ?.?ɨb"N?bފ;bCyjbBjIIrIrQ4٢zJ> ~9=9~9Q ~> G٣y<  > Nusing accuracyPremultiplier from config>59bN?>5Y iBu?@,E::)>51 5PA1ZjY]FNOT Ignoring new targets: 127.30 m.BjeS<JjeS< ProNav: ac range: 127.300003 m, nav range: 60.361664 m, bearing: 140.306173 deg, approach rate: -0.039638 m/s, LOS rate: 0.452263 deg/s, cmd heading: 64.967796 deg, new cmd heading: 65.559809 deg. 2j1<HeadingCmd: 1.144235 target range: 127.300003 and range: 127.30 m. jGv?jjjihhhh-Will construct direction to contact in vehicle frame from tetrahedron phase data.fafafarfabfm>?ɛə  I ":ɚiIo0=IGv?ii)Gv?)EE*E"E u$?Iq*F]?2FY:FYBFYJFa Will construct direction to contact in vehicle frame from tetrahedron phase data.GA G B) OE >w,pABP?YBv?BwT99Bnb>yBH@C? UK?!?@X9?@%ÿ(? ? [0?ɨBP?B7;@yRBRII^I^h4٢fY0> f?=9f[:Q f>hh jG٣hyn< n> rNusing accuracyPremultiplier from configpv>59rX?v>5Yr irBtzmx?z@r,ErF;r\G;r>5-B 'AEZj9=FNOT Ignoring new targets: 127.30 m.BjEs;JjEs;U ProNav: ac range: 127.300003 m, nav range: 60.343315 m, bearing: 140.497607 deg, approach rate: -0.042632 m/s, LOS rate: 0.444917 deg/s, cmd heading: 65.559810 deg, new cmd heading: 66.134268 deg. 2jU<]HeadingCmd: 1.154261 target range: 127.300003 and range: 127.30 m. j]Ѿ?jYjYjYiYhahahahafififirfibfuz?ɛdhj gI ވ:ɚi I\0=IuѾ?iyi}ku)Ѿ?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFGw qIuhGyBO>H5M>I1 I5:II5BI5 =&I1.I16I5T<:I5Z F Will construct direction to contact in vehicle frame from tetrahedron phase data.Ǻw,r AzKuMOK9KKK^XUVQMJIHEGDAA@@AA<;;:557562330110010,*(%# ##   RK?JK>R?Y?XX29a/`>yH?('K??'?¿`=I??`4?ɨR?;CyB7IAMb@Mb@Mb@ )Y"~j? rhMbp?yS?C;SA @)QAIAyAII4٢= =9B;Q > G٣:LGyF< >  Nusing accuracyPremultiplier from config >59 ?e?>5Y  i Bg?:D?@ ,E ; ; >5! %WA)B*** querying acoustic contact ***jjMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ZjFNOT Ignoring new targets: 127.30 m.Bj<Jj< ProNav: ac range: 127.300003 m, nav range: 60.306198 m, bearing: 140.775604 deg, approach rate: -0.061606 m/s, LOS rate: 0.461696 deg/s, cmd heading: 66.134270 deg, new cmd heading: 66.968710 deg. 2jm<HeadingCmd: 1.168824 target range: 127.300003 and range: 127.30 m. j ?jjjihhh!h%ABf!f!f)rf)bf-`R\@ɛB 隝3I 'eZ:ɚiI S/=I ?ii󄸽) ?) Q IQ *Fi 2Fi :Fi BFm `0JFi GLWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251713GiBqO?Q w,,AzSV?Yz3?z$9zX]>yzH@G?e{?t??kT?@In?`:?ɨzSV?z;zCy΀BmIII4٢-1x> 5e=9599 =G٣9y=5= E> MNusing accuracyPremultiplier from configAU>59E.m?]>5YE iEBY]I?]@E,EE8;E8;E>5a eAiZjFNOT Ignoring new targets: 127.30 m.Bj<Jj< ProNav: ac range: 127.300003 m, nav range: 60.281231 m, bearing: 140.946441 deg, approach rate: -0.076964 m/s, LOS rate: 0.526844 deg/s, cmd heading: 66.968707 deg, new cmd heading: 67.481416 deg. 2jȴ<HeadingCmd: 1.177773 target range: 127.300003 and range: 127.30 m. jC?jjjihhhhfffrfbfM%@ɛquI(˻ y}Iy }K:ɚyiyI}.=IC?ii~)C?)*J%="J%=JJJ0JJ:J9Jـ3Ja@a@a@a@*F?2F:FBF`5JFGE`GBOEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503069  $?I ZH RH @AH L>I  I II BI  =&I .I 6I ,<:I ; Fgw,KEAJFY?YJS?Jy"9J/x\>yJH?`*?@ ? s?`o[?`S?ii mG٣iym< u> }Nusing accuracyPremultiplier from configy>59}v?>5Y} i}B&?:?@}-E},7;}QU;}>5 KA|EZjFNOT Ignoring new targets: 127.30 m.BjW<JjW< ProNav: ac range: 127.300003 m, nav range: 60.242020 m, bearing: 141.162304 deg, approach rate: -0.095441 m/s, LOS rate: 0.525755 deg/s, cmd heading: 67.481415 deg, new cmd heading: 68.129396 deg. 2ji<HeadingCmd: 1.189082 target range: 127.300003 and range: 127.30 m. j3?jjjihuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754949hyhyh}~Bfffrfbf:@ɛ-S 8I A:ɚiIu.=I3?iIiMa%)M3?)QzK NKKKK   !  BK:K*F2F:FBF@5JFG% U G- ?G- >G - Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Rx Time:22:22:24.1749 E TRx dataTimestamp_ set to:1736374945.427462U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012000Ba O >}w,_A>ס[?Y>?>f 9>O%\>y>H8?@\?-??@"8` ?)I?`G=?ɨ>ס[?>W;>CyFBFI LINhIVIVV4٢^Wc> ^U=9b}:Q b>`d fG٣f;LGyn< n> ~Nusing accuracyPremultiplier from configx >59zj?>5Yz izB ?@z-EzI;z;z>5) 5A1Zj FNOT Ignoring new targets: 127.30 m.Bjw<Jjw<% ProNav: ac range: 127.300003 m, nav range: 60.203808 m, bearing: 141.366042 deg, approach rate: -0.093383 m/s, LOS rate: 0.498218 deg/s, cmd heading: 68.129395 deg, new cmd heading: 68.740974 deg. 2jMjw,yArWill construct direction to contact in vehicle frame from tetrahedron phase data.v=v<NG YyB-DAT read: 22:22:24.1749 LVL= 15344, 25121, 19042, 26611, AGC= 59, IDX= 432,-0.04,-2.244,-3.046, 1.969, 2.924, PHS= 1.203, 0.360,-0.958, RAW= 52.8, -6.5, CAL= 58.0, -12.1, ROT= 92.0, 12.1 uYgot valid direction response: 22:22:24.1749 LVL= 15344, 25121, 19042, 26611, AGC= 59, IDX= 432,-0.04,-2.244,-3.046, 1.969, 2.924, PHS= 1.203, 0.360,-0.958, RAW= 52.8, -6.5, CAL= 58.0, -12.1, ROT= 92.0, 12.1 }PDAT read: Bearing 92.0, 12.1 (Local) }~Local bearing/azimuth received: Bearing 92.0, 12.1 (Local) DAT read: Range 10 to 50 : 126.8 m (Round-trip 169.1 ms) speed 0.0 m/s ,DAT read: user:2546> IBDAT read: Tx time:22:22:25.3016 $Ping request sent.z}?uzk?zV z?)z@XIz?iz@X>xxzGpA!?nQM$}׼)z2Iz9=iz(?zc1Wxx=:publishing transmit ping timeؑHH>IC III3BI&I.I6ID<:IJ FFpublishing direction and range infox9z+ ??{Y?)'5a?yxxxx x)xIxixxxxx x)xIxixxxzGpA!?nQM$}׼)xIxixxxx-only read 0 of 1 data item for altitude. Device response is::BD, -67.82, +1169.31, -11.83  @ @ @  @ II4٢[= =9Q >!! %G٣!y- -> ]bBottom track data is 0.6 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from config1e>595{?e>5Y5 i5Be+:im:im@5-E5;5?5>5q u1A}zEkz$??kz` kx kz{A:kzBBkzBZkz/ @"zW0*@ ȬT@t/)W@z+ ??{Y?)'5a?Jkz(?Rkzc1W*z`#.H.B@gT[@zfZ*ٿ?lN%J?"kzB*kzoGkzmA"?kz 2kz /CkzmA"?kz kz /CkzgxBkzq/ @E addTargetRange:: Added new target pos. range: 126.800003 m, deltaT: 3.530104 s, deltaX: -0.500000 m, approachRate: -0.141639 m/s, rangeRepo size: 4 } Added new target pos. range: 126.800003 m, bearing: 143.405556 deg, lat: 36.904964 deg, lon: -122.119600 deg, deltaT: 3.530104 s, deltaX: -0.500000 m, approachRate: -0.141639 m/s, posRepo size: 4 ZjyFNOT Ignoring new targets: 126.80 m.BjJj ProNav: ac range: 126.800003 m, nav range: 62.100674 m, bearing: 143.405351 deg, approach rate: 0.000000 m/s, LOS rate: 0.498218 deg/s, cmd heading: 68.740970 deg, new cmd heading: 69.605435 deg. 2jHeadingCmd: 1.214844 target range: 126.800003 and range: 126.80 m. j?jjjihhhhfffrf@3_@bf\?ɛ9=`; 9=x=IA Eb2d:ɚAiAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:22:25.3008 I, -=I?iil̽)?)*F} ?2Fy :Fy BF} 3JFy zK MK +9K K K      RK ?JK ?G.qGABYO}?8&w,AV4a?YVo،?V'v#9VK]>yVH? @>?F?? Dam?Kx? s:?ɨV4a?V0̉;T^Will construct direction to contact in vehicle frame from tetrahedron phase data.y~VB~II]I]4٢m6> mc=9uQ u>yy }G٣yy}{= }> bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config>594?>5Yh iB :w:?@ -E><p?>5.B AwE-B*** querying acoustic contact ***j)j)ZjQ]FNOT Ignoring new targets: 126.80 m.Bj]<Jj]I! %с:ɚ!i!I%qp,= U$?IQI]?iYi]t)]?)a*F?2F:FBF]0JFG᷽GBOd>uWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode./a,w,쳨A2;d?Y2[?2l)92{N>y2HO?:`3?`6?@H?@,??@S?ɨ2;d?2Wŋ;0JFJFJDJDJF:JF9JDJDyJpBN5IIVIVפ4٢^ > ^W=9^zQ >)) -G٣- UbBottom track data is 1.3 s old, using for 20.0 s. UNusing accuracyPremultiplier from config9m>59=?u>5Y=2 i=Bu9quH:}t?}@=-E=;=o?=>5 AZjFNOT Ignoring new targets: 126.80 m.Bj <Jj < ProNav: ac range: 126.800003 m, nav range: 62.031994 m, bearing: 143.788540 deg, approach rate: -0.097073 m/s, LOS rate: 0.528505 deg/s, cmd heading: 70.150441 deg, new cmd heading: 70.755600 deg. 2jZ<HeadingCmd: 1.234918 target range: 126.800003 and range: 126.80 m. j?jjjihhhhf!f)f1rf9bfE`?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.921615ɛB< )-h>I) -:ɚ1i1I5a+=I5?i9i=T1)=?)9*F?2F:FBF_0JF  AIAjHYbH]4<HeE>Ia IeMIIeBIe =&Ia.Ie7D6Ie`<:IeZ FG% G}ɽG! B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.170881I3w,ͨANyg?YNF?N,9NR>yNHm? cV?`?R{?@^?#?K?ɨNyg?N8";NCyVBV[I m m mm mm  m u uMb@Mb@Mb@qqq q)qYum?kt?Zd;O?yu.?u 0=uj 8=9Q > G٣y1< >  Nusing accuracyPremultiplier from config >59?>5Yy zKLK9KKKBK!:K%lAiB-T:- /?-:-?5@-E>;K;>59 =A9ZjaeFNOT Ignoring new targets: 126.80 m.Bjm00<Jjm00<} ProNav: ac range: 126.800003 m, nav range: 61.962502 m, bearing: 144.051613 deg, approach rate: -0.162575 m/s, LOS rate: 0.616140 deg/s, cmd heading: 70.755603 deg, new cmd heading: 71.545655 deg. 2j}m<HeadingCmd: 1.248707 target range: 126.800003 and range: 126.80 m. j՟?jjjihhhhBfffrfbf/?ɛ< h>I :ɚiI<*=I՟?ii#)՟?)*Fm?2Fi:FqBFqJFyGe2G!B)O]U>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.422683 1 I1 u9w,稾A:DVk?Y:,?:o/9:X>y:H?`ԋh4?r ?? L?@?A?ɨ:DVk?:L;:Cy^B^vIIrIr\4٢~= ~[=9Q >   G٣y= > Nusing accuracyPremultiplier from config>59@?>5Yr i1B?@-E{;|;>5 CA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.675584ZjFNOT Ignoring new targets: 126.80 m.Bj#<Jj#< ProNav: ac range: 126.800003 m, nav range: 61.896603 m, bearing: 144.291269 deg, approach rate: -0.157440 m/s, LOS rate: 0.573176 deg/s, cmd heading: 71.545658 deg, new cmd heading: 72.265352 deg. 2j<%HeadingCmd: 1.261268 target range: 126.800003 and range: 126.80 m. j%>q?j!j!j)iIhIhQhQhQfQfYfYrfYbf] ?ɛBc< 隭>I Yi:ɚiI)=I>q?ii-)>q?)JK|3 KS}-KK"KJJJJJ:Ju9JJE;=*Fm ?2Fq :Fq BFq JFy  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.930094  I hH B>I C I II ЁBI  =&I .I 6I <:I FBI͡CJI͡CRIZI =bI =jIͭ5G &GBO>Aw,DQAyB Ii>I>-only read 0 of 1 data item for water mass range. Device response is::WD, + +0.00, +0.00, 20.00,1842.12  @ @ @  @ II4٢= =9Q > G٣=LGy > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config>59˸?>5Y*j iPB+:{:@-E#s;?>5 ArEZj!-FNOT Ignoring new targets: 126.80 m.Bj-v9<Jj-v9<= ProNav: ac range: 126.800003 m, nav range: 61.814228 m, bearing: 144.597295 deg, approach rate: -0.174350 m/s, LOS rate: 0.648579 deg/s, cmd heading: 72.265355 deg, new cmd heading: 73.184573 deg. 2j=I x;ɚiI(=I~?iiVϽ)~?)E}8<*F?2F:FBFJFzKk3IKKKKRK>JK?G DG B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430749 E $?II Gw,!A>r?Y>??>E}19>`>y>H R.?x?b? ?㿿-??+4?ɨ>r?>ɋ;>CyFˁBFIIRIRs4٢Va= Z^=9ZӫQ Z>\\ ^G٣\y^= b> jbBottom track data is 0.9 s old, using for 20.0 s. jNusing accuracyPremultiplier from confighn>59j?n>5Yjc ijgBr :prK:r3?r@j"-Ej';j8_?j>5t zAx B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 126.80 m.Bj%.<Jj%.<5 ProNav: ac range: 126.800003 m, nav range: 61.748226 m, bearing: 144.822444 deg, approach rate: -0.179111 m/s, LOS rate: 0.611644 deg/s, cmd heading: 73.184575 deg, new cmd heading: 73.860711 deg. 2j5<=HeadingCmd: 1.289113 target range: 126.800003 and range: 126.80 m. j=?j9j9j9i9h9hAhIhIfQfQfQrfQbfU`@ɛ}B}= 隅^>I 6;ɚiIf'=I?ii`h)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683134E r<E*F?2F:FBFJFG@ƽGy B O >uNw,:A~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.938176bu?Yw?49b>yH[g?d?r?2B?@??_0?ɨbu?#;CyفBI        Mb@Mb@Mb@ )YJ +?(\µ?Q?yH?=<A @ I)`@IAy(AII4٢ de=  *=9 ܺQ  > G٣ya< > %Nusing accuracyPremultiplier from config!->59%Gɣ?5>5Y%pZ i%B5T:5J?5:5g?=@%(-E%PB;%@;%>5A EAAZjimFNOT Ignoring new targets: 126.80 m.BjuRF<JjuRF< ProNav: ac range: 126.800003 m, nav range: 61.630844 m, bearing: 145.154908 deg, approach rate: -0.244402 m/s, LOS rate: 0.693540 deg/s, cmd heading: 73.860709 deg, new cmd heading: 74.859894 deg. 2j<HeadingCmd: 1.306552 target range: 126.800003 and range: 126.80 m. j=?jjjihhhhDBfffrfbf`@ɛB]< Q>ZH9RH=AAHE?>IA IEIIE BIE! =&IA.IA6IE<:IE FI (2;ɚiI&=I=?ii.)=?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:22:27.8742 TRx dataTimestamp_ set to:1736374949.205412checking for new query: numPingsReceived=0, elapsed TxPingTime=3.188583*FU ?2FQ :FY BFY JFY zK BoIK h9K K K J J J J J J O9J J J 8;a J 9;a J e,;a J f,;a G}ʽGQBaO?kVw,[AVWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.439723^p{?Y^7?^:9^(d>y^H ?A u`??1?ܾ Q?`OA? 4-?ɨ^p{?^΋;\ynBnI)p pttIvIv4٢~= 7=9 OQ  >    G٣>LGyj= > Nusing accuracyPremultiplier from config%?59!ѣ?-?5YQ iB)-?-@--E;;?51 58A=oEZjYeFNOT Ignoring new targets: 126.80 m.Bje F<Jje FIy M O;ɚiI%=IN?iik)N?)*F?2F:FBF`0JF G8uĽGBO>]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:22:27.8742 LVL= 15632, 23329, 16914, 20899, AGC= 61, IDX= 440, 0.02, 0.719,-0.356,-1.438,-0.574, PHS= 1.380, 0.265,-0.868, RAW= 59.7, -8.0, CAL= 67.9, -14.8, ROT= 82.1, 14.8 Ygot valid direction response: 22:22:27.8742 LVL= 15632, 23329, 16914, 20899, AGC= 61, IDX= 440, 0.02, 0.719,-0.356,-1.438,-0.574, PHS= 1.380, 0.265,-0.868, RAW= 59.7, -8.0, CAL= 67.9, -14.8, ROT= 82.1, 14.8 PDAT read: Bearing 82.1, 14.8 (Local) ~Local bearing/azimuth received: Bearing 82.1, 14.8 (Local) DAT read: Range 10 to 50 : 126.3 m (Round-trip 168.4 ms) speed 0.1 m/s ,DAT read: user:2547> BDAT read: Tx time:22:22:29.0016 $Ping request sent.e?5^e^?e5 e?)e AIei?ie A>aae,An?$*J20e)e Iee>ie!2?etaa :publishing transmit ping time Fpublishing direction and range infoa9e?d?nM?yaaaa a)aIaiaaaaa a)aIaiaaae,An?$*J20e)aIaiaaaa\w,uABn?YB?BdY<9Be>yBHw?d@?`?V?@n ?t?*?ɨBn?B;@yhhIrIr4٢Up UF=9]Q ]>YY ]G٣Yye-= e> mNusing accuracyPremultiplier from configiu?59mأ?u?5YmGI imBy}h?}@m2-Em ;m:mx?5 6AmEklP?k k k]mA:kBBkBZk4%@"CJ0y.@;Q@_)Y@?d?nM?Jk!2?Rkt*޶/DD2m9@c/ 8]@_^x|ԿI.R)?2 IVG?"klA*k%"k%?keZ 2k5Ckk| kkopBk$@E addTargetRange:: Added new target pos. range: 126.300003 m, deltaT: 3.777737 s, deltaX: -0.500000 m, approachRate: -0.132354 m/s, rangeRepo size: 4  Added new target pos. range: 126.300003 m, bearing: 147.900481 deg, lat: 36.904964 deg, lon: -122.119627 deg, deltaT: 3.777737 s, deltaX: -0.500000 m, approachRate: -0.132354 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 126.30 m.BjJj ProNav: ac range: 126.300003 m, nav range: 60.108902 m, bearing: 147.606405 deg, approach rate: 0.000000 m/s, LOS rate: 0.692559 deg/s, cmd heading: 75.786461 deg, new cmd heading: 76.681567 deg. 2jHeadingCmd: 1.338346 target range: 126.300003 and range: 126.30 m. jN?j)j)j1i1h9h9hihqfyfWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:22:29.0008 frf%@3_@bf-?ɛ-B-v= )-F>I) 5j;ɚ1i1I54Z$=I]N?iYi]XG)]N?)aEmpAEmqA Ih*F2F:FBFo0JFH=>I I( II6BI&I.I6D6I<:Ik F"G%=G%>GU ? Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 B9 O] >cw,}A2"?Y2,ҝ?2RA92_>y2H0?g8?Y(??`1?? L4?ɨ2"?2k;2Cy8:IuMb@Mb@Mb@qqq q)qYuFx?!rh??yuK?ul=u G٣y\= > Nusing accuracyPremultiplier from config?59ݣ??5Y@ iBM?:?@8-E;O; ?5 1AZjFNOT Ignoring new targets: 126.30 m.Bj {V<Jj {V< ProNav: ac range: 126.300003 m, nav range: 59.992905 m, bearing: 147.903585 deg, approach rate: -0.292202 m/s, LOS rate: 0.750054 deg/s, cmd heading: 76.681571 deg, new cmd heading: 77.574759 deg. 2j=HeadingCmd: 1.353935 target range: 126.300003 and range: 126.30 m. jM?jjjihhhhfffrfzKBoHK9KKK RK?JK?bf?ɛ!%B= %]<%>I) -ń~;ɚ)i)I- j#=I5M?i1i5 )5M?)YJJJJJ:J9JJJ;J;J8;J8;*F?2F:FBFP5JFGٲGBWill construct direction to contact in vehicle frame from tetrahedron phase data.Od> $?Iiw,v4AJ-?YJ6?JF9JyJH1?@ו?bS??d"`?Ѩ?0?;1?ɨJ-?J#T;JCyZBZIIjIj<4٢v_9 vX=9zzRQ M>II MG٣U?LGyU,= U> eNusing accuracyPremultiplier from configYe?59]⣜?e?5Y]8 i]!Bim?m@]=-E]:]:] ?5y }BAyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 126.30 m.BjK<JjK< ProNav: ac range: 126.300003 m, nav range: 59.880859 m, bearing: 148.181519 deg, approach rate: -0.286842 m/s, LOS rate: 0.712853 deg/s, cmd heading: 77.574761 deg, new cmd heading: 78.410060 deg. 2j<HeadingCmd: 1.368514 target range: 126.300003 and range: 126.30 m. ju+?jjjihhhhfffrfbf@?ɛ B *Y=  >I  ;ɚiIOb"=Iu+?ii6)%u+?)!5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFP0JFGTGBO>) ! c~G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2498015 5tAa &Y 5tAy B I pw,5 éA6F΅?Y6P ?6;K96b>y6H.?`?|?`?@d?@'?@x.?ɨ6F΅?6z;6CjHLbHN<HR;>IRC IR: IIREBIR" =&IP.IP6IRm<:IRY Fy^BbIIjIj44٢%y %G=9-3Q ->)) 5G٣1y5*= 5> ENusing accuracyPremultiplier from config9E?59=Y磜?M?5Y=Y0 i=FBIM޲?M@=B-E=:=:=?5]+B ]DAYZjFNOT Ignoring new targets: 126.30 m.BjK<JjK< ProNav: ac range: 126.300003 m, nav range: 59.762455 m, bearing: 148.465887 deg, approach rate: -0.296241 m/s, LOS rate: 0.712879 deg/s, cmd heading: 78.410059 deg, new cmd heading: 79.264788 deg. 2j<HeadingCmd: 1.383432 target range: 126.300003 and range: 126.30 m. jI?jjjihhhhfffrfbf U?ɛBaG= >I h;ɚiILF!=II?ii)I?)*F-?2F):F1BF5_0JF1GEqA GEnAeWill construct direction to contact in vehicle frame from tetrahedron phase data.aiauchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501325G孽GI zKM XKKM ]9KI KM KM BKY :K] pABi O >J J J 1J J |:J 9J 3J J ;J ;J Z5;J [5;Fvw,ܩABC~?YBL?BG9B b>yBH`?` '?Ϝ?K?@ѻ?,?.?ɨBC~?BP;@yJ́BJIIVIV4٢Z}ӽ ^R=bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7524159^ ;Q f>dh jG٣hyj = j> rNusing accuracyPremultiplier from configlr?59n룜?v?5Yn5( iniBtv?v@nG-En:nX:nl?5z*B ~A~kEZjFNOT Ignoring new targets: 126.30 m.Bj?<Jj?<% ProNav: ac range: 126.300003 m, nav range: 59.644085 m, bearing: 148.744037 deg, approach rate: -0.284917 m/s, LOS rate: 0.670833 deg/s, cmd heading: 79.264789 deg, new cmd heading: 80.100831 deg. 2j%1< IIUh}HeadingCmd: 1.398023 target range: 126.300003 and range: 126.30 m. j}m?jyjyjyiyhyhhhfffrfbf5?ɛ%B%X< !%>I! %MȠ;ɚ)i)I- =I5m?i1i5bN)5m?)9E<}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005424*F2F:FBF4JFG G B O>H}w,CrAB?YBD?B~sC9B$a>yBH ?';?Ѹ?Ә?@㺿@l?@k?1?ɨB?B/0;BCyNBNI)P PIVIV4٢^ r ^1=9bu;Q b>`d fG٣f@LGyf< j> nNusing accuracyPremultiplier from configh~?59j$??5Yj ijB  ?@jM-Ej;j;jr?5+B YAhEZjAEFNOT Ignoring new targets: 126.30 m.BjMqT<JjMqT<] ProNav: ac range: 126.300003 m, nav range: 59.502457 m, bearing: 149.071242 deg, approach rate: -0.320808 m/s, LOS rate: 0.742926 deg/s, cmd heading: 80.100832 deg, new cmd heading: 81.084683 deg. 2j]I O;ɚiI6=I%?iiz鶽)%?)Em<H:>I I4 II@BI&I.I6I<:Iq F*Fi2Fi:FqBFu_0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508307G Gq B O >҄w, :AJŠ?YJ?J&A9J`>yJH@?R9SA??`?B8??3?ɨJŠ?J;JCyVBVI-5only read 1 of 4 data items for water velocity. Device response is::WS,-378,V  5@= =@= =@=  =@= IEIE4zKUjIKQKQKUKURKe>JKe>٢m m@=9up:Q u>yy }G٣yy}g= > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config?59??5Y iB+:U:ַ?@R-E6;(>u?5 AJJJ0JJ̝:J:Jـ3JJ;J;JA;JA;ZjFNOT Ignoring new targets: 126.30 m.BjK<JjK< ProNav: ac range: 126.300003 m, nav range: 59.369202 m, bearing: 149.372881 deg, approach rate: -0.314111 m/s, LOS rate: 0.712621 deg/s, cmd heading: 81.084686 deg, new cmd heading: 81.991554 deg. 2j<HeadingCmd: 1.431023 target range: 126.300003 and range: 126.30 m. j+?jjjihhhhfffrfbf @ɛB6< >I) -i;ɚ)i)I-=I5+?i1i5D)=+?)9EAEA*EA"EA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760594 yIy*F?2F:FBFJFG ᷽G pAG pA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:22:31.5731  TRx dataTimestamp_ set to:1736374952.738187 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014887G B O >w,w+1AJf?YJߤ?J;9JB_>yJH`?ES@M^?U??S@x?g?5?ɨJf?Jmv;JCyfBfmII~I~-4٢ G  :=9z[;Q >19 =G٣AyET< E> ubBottom track data is 0.9 s old, using for 20.0 s. uNusing accuracyPremultiplier from configI}?59M?}?5YMl  iMB} :y-:{?@MX-EM;M`?M?5*B aAfEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 126.30 m.Bj+E<Jj%+EI ;ɚiI=II?i i ) I?)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267860 IGeZHa RHa Hm 8>Ii  Im  IIm !BIm # =&Ii .Ii 6Im <:Im ~ FBI-ɟCJI-ɟCRI)ZI-" =bI-" =jI-3N5G B O >w,8JAy%B%MIi-!>I-<   -Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519640     Mb@Mb@Mb@ )YCl?A`"?y&1y/?=`e/A b@)@I AyzAI}I}=4٢qԽ (=9Q > G٣ALGy > Nusing accuracyPremultiplier from config?59i??5Y iBT:1?:]?@]-EL ;Y;6"?5  /A ZjaeFNOT Ignoring new targets: 126.30 m.Bj0<Jj0< ProNav: ac range: 126.300003 m, nav range: 59.088985 m, bearing: 149.982462 deg, approach rate: -0.289672 m/s, LOS rate: 0.617575 deg/s, cmd heading: 82.939253 deg, new cmd heading: 83.824462 deg. 2j<HeadingCmd: 1.463013 target range: 126.300003 and range: 126.30 m. jD?jjjihhhhzBfffrfbf` @ɛM BṂ< IUvq>IQ UL;ɚQiQIU=I]D?iYi](Mܽ)]D?)azKmKmh9KiKmKmBK:K*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 22:22:31.5731 LVL= 17776, 26993, 17506, 25907, AGC= 55, IDX= 429,-0.17, 1.348, 0.017,-0.588, 0.181, PHS= 1.255,-0.116,-0.771, RAW= 71.5, -4.2, CAL= 79.2, -10.1, ROT= 70.8, 10.1 5 Ygot valid direction response: 22:22:31.5731 LVL= 17776, 26993, 17506, 25907, AGC= 55, IDX= 429,-0.17, 1.348, 0.017,-0.588, 0.181, PHS= 1.255,-0.116,-0.771, RAW= 71.5, -4.2, CAL= 79.2, -10.1, ROT= 70.8, 10.1 = PDAT read: Bearing 70.8, 10.1 (Local) E ~Local bearing/azimuth received: Bearing 70.8, 10.1 (Local) U DAT read: Range 10 to 50 : 125.4 m (Round-trip 167.2 ms) speed 0.3 m/s ] ,DAT read: user:2548> ] BDAT read: Tx time:22:22:32.7017 e $Ping request sent.e [)?w߳C翦s7) OXI 6=i ? } :publishing transmit ping timea G G ?G > Fpublishing direction and range info 9 hR?75@?D²=?y  ) I i ) I i [)?w߳C翦s7) I i Gy B O >옪w,"leA~ŏ?Y~ ?~.9~V^>y~H Y?r?&?@?@H˶`Qԥ?ઌ?`8?ɨ~ŏ?~r+;~Cy iB ,IIEIE[4٢U ]p=9]jIq }Q;ɚyiIg=Iȼ?ii)ȼ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFUo0JFYG-mt˽GBO >J- J- J) J) J- :J- 9J) J) a5 @a5 @a5 @a5 @rw,L3A&Will construct direction to contact in vehicle frame from tetrahedron phase data. I?Yҭ? ;)9׌^>yH@?`@`'? _@?H?7%??v8?ɨ?Y;ye[BeIH3>IC IIIBI$ =&I.I5D6If<:IN F5Mb@Mb@Mb@111 1)1Y5S?I +?I +y5/?59=595A 5@)5@I5A1y5@IMIM4٢]n ].=9e:;Q e>ai mG٣iym< u> }Nusing accuracyPremultiplier from configq}?59u|??5Yu iu B?:?@uf-EuI;u;uG)?5 yAZjFNOT Ignoring new targets: 125.40 m.Bj%'<Jj%'< ProNav: ac range: 125.400002 m, nav range: 58.859200 m, bearing: 150.443824 deg, approach rate: -0.291192 m/s, LOS rate: 0.584521 deg/s, cmd heading: 84.503845 deg, new cmd heading: 85.255980 deg. 2j<HeadingCmd: 1.487998 target range: 125.400002 and range: 125.40 m. jv?jjjihhhhI9 E̼;ɚAiAIE*W=IMv?iIiM )Mv?)Q*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iG% rؽG B O% >w,:AzKBoIK9KKK:4T?Y:=?:} 9:R\>y:HM?@~?W?v? j`e?`N? Will construct direction to contact in vehicle frame from tetrahedron phase data."w,y粪AVg?YV륱?V9VG^>yVHZD?P? q??@cJ>?Λ?>9?ɨVg?VA;VCyb6BbIIjIj4٢rS rH=9vu~;Q v>xx zG٣xy~"= ~> Nusing accuracyPremultiplier from config ?59"? ?5Y iBl?@m-E::/?5)B %A%dE=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 125.40 m.BjU<JjUjH<bHH.>IC IIIBI' =&I.I4D6I<:Ic F w,~̪Ayv$BvI}Mb@Mb@Mb@yyy y)yY}/$?ˡE?~jty} ?}=}ļ}A }@)}@I}v@yy}p@IIa4٢ݩ ?=9Q > G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745492 Nusing accuracyPremultiplier from config?59??5Y i!B ?:q?@q-E.;|;c3?5 *AZjFNOT Ignoring new targets: 125.40 m.Bj) <Jj%) <- ProNav: ac range: 125.400002 m, nav range: 58.545654 m, bearing: 151.042592 deg, approach rate: -0.254258 m/s, LOS rate: 0.479661 deg/s, cmd heading: 86.435750 deg, new cmd heading: 87.055452 deg. 2j5<=HeadingCmd: 1.519404 target range: 125.400002 and range: 125.40 m. j={?j9j9j9i9h9hAhAhEBfAfIfIrfYbf] ?ɛ%B%,x < !%m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997703 I q5w,ӟ檾A2Q?Y2?292ha>y2H]g?,`?k?`?k?? 6?ɨ2Q?2Q;2CyNBRIiV=IV> Z=Z=I^I^4٢&  U=9  G٣CLGyr= > %Nusing accuracyPremultiplier from config!-?59%?5?5Y% i%%B15[?5@%t-E%A6;%P];%6?5A MjAIZjFNOT Ignoring new targets: 125.40 m.BjH<JjH< ProNav: ac range: 125.400002 m, nav range: 58.444485 m, bearing: 151.224718 deg, approach rate: -0.262345 m/s, LOS rate: 0.473092 deg/s, cmd heading: 87.055453 deg, new cmd heading: 87.602759 deg. 2jV<HeadingCmd: 1.528957 target range: 125.400002 and range: 125.40 m. jٴ?jjjihhhhfffrfbf@c@ɛB H; Vx<IJ J J J J 0J J :J :J ـ3J G B O > ~G |uA - Y- |uAy- Bw,|A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505332 9I9Zə?YZ?Zۼ9Zb>yZH+?`'`J?ൢ??Q歿w??`M5?ɨZə?Zo;XyEBEIH+>I ISIIBI&I.I6I<:I FMb@Mb@Mb@ )Yi|?5?y&1?{Gzy>`e=ףA @)@I@y@II=4٢R2 &=98;Q > G٣yw< > Nusing accuracyPremultiplier from config?59G??5Y i(B>:?@x-E;W; ;?5 AZj1=FNOT Ignoring new targets: 125.40 m.Bj=;Jj=;M ProNav: ac range: 125.400002 m, nav range: 58.336830 m, bearing: 151.429547 deg, approach rate: -0.218919 m/s, LOS rate: 0.417293 deg/s, cmd heading: 87.602756 deg, new cmd heading: 88.218350 deg. 2jU1Cƪw,CA2?Y2Q?2a92 9b>y2Hv?`a? C??^몿B?y ? 6?ɨ2?2Ѩ;2CzKRBoHKR9KPKRKRyZ BZIIfIf4٢jZ j=9nGe=mBDAT read: Rx Time:22:22:35.2715 uTRx dataTimestamp_ set to:1736374956.522521}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012575*F?2F:FBF0JF YIYG]8G9BAOe> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261381a̪w,3Arc?Yr?r9r`>yrHtb?@ \???৿`ѓ?@?@9?ɨrc?r;rCy~B~I)  A I  I 4٢%ox %G=9%)) -G٣-DLGy-s< 5> =Nusing accuracyPremultiplier from config1E?595?E?5Y5 i5*BIM?M@5}-E5:5:5OA?5Q UAUaEuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 125.40 m.Bj;Jj; ProNav: ac range: 125.400002 m, nav range: 58.177006 m, bearing: 151.726020 deg, approach rate: -0.223597 m/s, LOS rate: 0.412288 deg/s, cmd heading: 88.614820 deg, new cmd heading: 89.108986 deg. 2jy<HeadingCmd: 1.555245 target range: 125.400002 and range: 125.40 m. jF?jjjihhhhfffrfbf7 @ɛB#D; `I ,;ɚiI}=IF?ii) F?) JJJJJJ9JJE=u<Will construct direction to contact in vehicle frame from tetrahedron phase data. yI}h*F?2F:FBFe0JFDAT read: 22:22:35.2715 LVL= 15856, 25313, 18098, 25811, AGC= 56, IDX= 429, 0.10,-2.931, 1.746, 1.537, 2.168, PHS= 1.273,-0.374,-0.634, RAW= 82.8, -3.0, CAL= 90.7, -9.0, ROT= 59.3, 9.0 Ygot valid direction response: 22:22:35.2715 LVL= 15856, 25313, 18098, 25811, AGC= 56, IDX= 429, 0.10,-2.931, 1.746, 1.537, 2.168, PHS= 1.273,-0.374,-0.634, RAW= 82.8, -3.0, CAL= 90.7, -9.0, ROT= 59.3, 9.0 ePDAT read: Bearing 59.3, 9.0 (Local) ~Local bearing/azimuth received: Bearing 59.3, 9.0 (Local) DAT read: Range 10 to 50 : 124.2 m (Round-trip 165.7 ms) speed 0.3 m/s H'>IC I'IIfBI) =&I.I6I<:Io F ,DAT read: user:2549>  BDAT read: Tx time:22:22:36.3517  $Ping request sent. ڑڑە8Tgr?אTTGԊ)ەN&IەG V=iە#?ە񩫿ۑۑe :publishing transmit ping time e Fpublishing direction and range infoؑ9ؕ~hJ1Y*?7I(?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑە8Tgr?אTTGԊ)ۑIۑiۑۑۑۑG= YG B O% >Ӫw,bOAyvBvI Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:22:36.3509 Mb@Mb@Mb@ )Y'1Z?Zd;O?I +y>j<=94vA @)@I3@y@IM IM4٢] < ]-=9eQ e>ai mG٣iym m> uNusing accuracyPremultiplier from configq?59u??5Yua iu.B>:>?@u-Eu<;u;unE?5 Akp?k^w7 k kAA:kfBBkBZkBh@"sf A4<@*|u<^@~hJ1Y*?7I(?Jk#?Rk񩫿*3/TTn-q_@пra|hkf9{?"k*kJܿkDo?kU8 2kyVH@?%? ??Ԟ„?@? H?ɨV|?Vň;VCybBfI j=jR>InIns4٢vs = v+=9vxx ~G٣|y~ = ~> Nusing accuracyPremultiplier from config ?59? ?5Y i0BW?@-E;>;I?5 A!ZjIUFNOT Ignoring new targets: 124.20 m.BjU<Jj]H= %>I9  I= II= VBI9 &I9 .I= 3D6I= <:I9 BIɝCJIɝCRIɔCZI' =bI' =jI[5w,A6?Y6,?6O߻96,Y>y6H꾵?,@*?@3? ?`@{? {?CH?ɨ6?6;4y^B^I}Mb@Mb@Mb@yyy y)yY}{Gz?/$?y}>},=}} A }@)}@I}@yy}@II"4٢< ?=9;Q > G٣ELGyQ< > Nusing accuracyPremultiplier from config?59??5Y i5B>:?@-Ey;};YM?5 eAZj FNOT Ignoring new targets: 124.20 m.Bj <Jj <% ProNav: ac range: 124.199997 m, nav range: 45.708752 m, bearing: 153.816177 deg, approach rate: -0.201187 m/s, LOS rate: 0.502111 deg/s, cmd heading: 90.443316 deg, new cmd heading: 91.085838 deg. 2j%L<-HeadingCmd: 1.589748 target range: 124.199997 and range: 124.20 m. j-|?j1j1j1i1h1h9h9h=Bf9fAfArfAbfEU?ɛmBmSo; I j;ɚiI=I|?ii)%|?)!uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF3JFG GJJJJJ|:J9JJJ;aJ;aJ<;aJ<;aG5zK) K- ػ9K) K- K- G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data. I w,ӤAJ+?YJi?JL9JTY>yJHG?`1``???@]i?}?%H?ɨJ+?JE;HyR2BVII\I\٢f= jZ=9nl pt vG٣tyz7< z> Nusing accuracyPremultiplier from config| ?59~b??5Y~D i~9B0?@~-E~qF;~F;~P?5! %A!ZjIMFNOT Ignoring new targets: 124.20 m.BjU<JjU}Will construct direction to contact in vehicle frame from tetrahedron phase data.yi}Aw,!A2&?Y2d?26:92Y>y2H S?4=?7??n@F?QG?ɨ2&?2dd jG٣hyj< j> vNusing accuracyPremultiplier from configtz?59v?z?5Yv iv<Bxz+?z@v-Ev:v:v)T?5 A%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 124.20 m.Bj5:<Jj5:I I!II`BI* =&I.I6I|<:IR F*F2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.185334G= ,G B O% >w,+ثA6i@?Y6r~?6[];960Z>y6H@A?S8 ??k?@e@pP?F?ɨ6i@?6е;4y>_B> I=Mb@Mb@Mb@999 9)9Y=/$?kt? rh?y=>= 0==C<9 =@)=@I=@9y==@UBAUBAJ#K# K+L.K#K#"K#JaJeJe/JaJaJe:Je(N3JaJe;JaJe@;Je@;IUIU4٢ = >=9 G٣FLGy< > Nusing accuracyPremultiplier from config?59??5YR iGB7>:#?@-E;[;W?5 MAZjFNOT Ignoring new targets: 124.20 m.Bj}<Jj}<  ProNav: ac range: 124.199997 m, nav range: 45.459389 m, bearing: 154.427928 deg, approach rate: -0.210266 m/s, LOS rate: 0.519278 deg/s, cmd heading: 92.255631 deg, new cmd heading: 92.924380 deg. 2j 0<HeadingCmd: 1.621836 target range: 124.199997 and range: 124.20 m. jV?jjjihhh!h%Bf!f!f)rf)bf-k@ɛ]"B]r< aex=Ia e`;ɚaiaIe=ImV?iiimkM)uV?zKK9KKKBK:K)1*F2F:FBF^0JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440082 IG G B O >w,eA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690694:I?Y:߇?:;9:Y>y:H?=??O?Xm} ?aH?ɨ:I?:x;8yB}BFDIININg4٢V> VZ=9Z X\ ^G٣\y^< b> fNusing accuracyPremultiplier from config`j?59b%?j?5Yb ibOBhj.?j@b-Eb":b:b/[?5r(B r[Ar_EZjFNOT Ignoring new targets: 124.20 m.Bj<Jj< ProNav: ac range: 124.199997 m, nav range: 45.379749 m, bearing: 154.622426 deg, approach rate: -0.204271 m/s, LOS rate: 0.499751 deg/s, cmd heading: 92.924382 deg, new cmd heading: 93.508877 deg. 2j|<HeadingCmd: 1.632038 target range: 124.199997 and range: 124.20 m. j?jjjihhhhfffrfbf@ɛE#BMʚ< IM3>II Mf;ɚQiQIU{=I}?iyiQ)?)*F 2F :F BF _0JFGGBOB>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:22:38.9201 TRx dataTimestamp_ set to:1736374960.052558%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.943636 IhH ">I C I MII BI &I .I 6I <:I X Fbw,\ Aju?Yj?j<9j_W>yjH@n?`9C`.? n?@?H? ?J?ɨju?jr̉;hyrBv_Iiz>Izp< z=zp=Mb@Mb@Mb@ )Yy&1?J +?~jt?y`?H=<\ A @)I@yG@II4٢= ;=9+;Q > G٣y.< > Nusing accuracyPremultiplier from config?59_??5Y i\B?:6?@-E ;@;_?5 AZjFNOT Ignoring new targets: 124.20 m.Bj%<Jj%< ProNav: ac range: 124.199997 m, nav range: 45.273819 m, bearing: 154.879049 deg, approach rate: -0.238736 m/s, LOS rate: 0.579706 deg/s, cmd heading: 93.508876 deg, new cmd heading: 94.280498 deg. 2j<HeadingCmd: 1.645505 target range: 124.199997 and range: 124.20 m. j?jjjihhhhBfff!rf!bf%' @eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.194951ɛ}$Bí< 隥]>I ;ɚiIP=I?ii)?)*FU?2FY:FYBFYJFYJuJuJu0JqJu\:Ju9Juـ3JqJui;Juj;Ju:;Ju:;G} zK k3IK 9K K K  C_O6! RK ?JK ?GQ Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.446669 I  w,/&AF?YN?.?J<9W>yH٠?E'??@B̡?7u?GS?"J?ɨF?t ;騭CyBIII~4٢6> E=9 ;Q  > G٣GLGyO< %> 5Nusing accuracyPremultiplier from config)E?59-w?E?5Y- i-hBQU[?U@--E-;-ͩ;-b?5i uAqZjFNOT Ignoring new targets: 124.20 m.Bj)<Jj)<5 ProNav: ac range: 124.199997 m, nav range: 45.171913 m, bearing: 155.123770 deg, approach rate: -0.246597 m/s, LOS rate: 0.593522 deg/s, cmd heading: 94.280496 deg, new cmd heading: 95.016271 deg. 2j5<=HeadingCmd: 1.658347 target range: 124.199997 and range: 124.20 m. j=D?j9j9j9i9hAhAhahififqfqrfqbfu Iw @ɛ/< 隥F>I Z;ɚiIC =ID?iiڰ)D?)*FQ2FQ:FQBFQJFQGY G]qA}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:22:38.9201 LVL= 22160, 28657, 23634, 29299, AGC= 63, IDX= 430, 0.05, 0.821,-0.865,-0.875,-0.246, PHS= 1.155,-0.572,-0.631, RAW= 88.3, 0.6, CAL= 95.5, -3.4, ROT= 54.5, 3.4 Ygot valid direction response: 22:22:38.9201 LVL= 22160, 28657, 23634, 29299, AGC= 63, IDX= 430, 0.05, 0.821,-0.865,-0.875,-0.246, PHS= 1.155,-0.572,-0.631, RAW= 88.3, 0.6, CAL= 95.5, -3.4, ROT= 54.5, 3.4 PDAT read: Bearing 54.5, 3.4 (Local) ~Local bearing/azimuth received: Bearing 54.5, 3.4 (Local) DAT read: Range 10 to 50 : 123.1 m (Round-trip 164.2 ms) speed 0.3 m/s ,DAT read: user:2550> BDAT read: Tx time:22:22:40.0017 $Ping request sent.e NGy Y y B@w,+?A:?Y:3?:b<9:V>y:H?J*?`+?QT?@a5?\L? K?ɨ:?:?މ;8yŃBNIIVIV4٢j> j`=9j;Q n>|| ~G٣y< >  Nusing accuracyPremultiplier from config ?59 ??5Y  i rBY]?]@ -E '< (< e?5a eAakXBʦ?kz& k kX3A:k3BBk~BWill construct direction to contact in vehicle frame from tetrahedron phase data.Zk:@"5¯&0@/`Y^@@[ȷz?R.?Jk @RkZ˳*اsm'!@#kz^@,`:ֱ? 6KJ?"k*k; Ak\ EϦ?km 2kL;Ckv՛?kKd kL;Ck+Ak4I@ 9I9U addTargetRange:: Added new target pos. range: 123.099998 m, deltaT: 3.782825 s, deltaX: -1.099998 m, approachRate: -0.290788 m/s, rangeRepo size: 4 e Added new target pos. range: 123.099998 m, bearing: 310.799012 deg, lat: 36.905201 deg, lon: -122.119915 deg, deltaT: 3.782825 s, deltaX: -1.099998 m, approachRate: -0.290788 m/s, posRepo size: 4 ZjamFNOT Ignoring new targets: 123.10 m.BjmJjiZHyRH}?AH >I IIIBI+ =&I.I6It<:IJ F ProNav: ac range: 123.099998 m, nav range: 24.771257 m, bearing: 180.126787 deg, approach rate: 0.000000 m/s, LOS rate: 0.593522 deg/s, cmd heading: 95.016271 deg, new cmd heading: 95.686257 deg. 2j=HeadingCmd: 1.670040 target range: 123.099998 and range: 123.10 m. jE?jijijiiqhqhyhhfffrf`f^@bf`?ɛ%Ba< !%Ѧ>I! %Z;ɚ!i!I%=I-?i)i5Aɱ)5?)1*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G iG B O >)w,YA6?Y6?6e<96S>y6H?@=QkF???#?@>%B?P?ɨ6?6 ؉;6Cy^B^I)` `ddJEJEJE/JAJE̝:JE9JE(N3JAJE;JE;JE<;JE<;mMb@Mb@Mb@iii i)iYmS?i|?5?S㥛?ym?mq=m/99 =G٣9yEb< E> MNusing accuracyPremultiplier from configIU?59M?U?5YMۓ iMB]?]:]?]@M-EM&%;Mr#;Mi?5a eAiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 123.10 m.Bj`<Jj`< ProNav: ac range: 123.099998 m, nav range: 24.752401 m, bearing: 180.749773 deg, approach rate: -0.044291 m/s, LOS rate: 1.464418 deg/s, cmd heading: 95.686258 deg, new cmd heading: 97.555938 deg. 2jA{=HeadingCmd: 1.702672 target range: 123.099998 and range: 123.10 m. j+?jjjih h hh{Bfffrfbf@E?ɛe&Be1=zKmLKmh9KiKmKm1OE)  a隍>I ?k;ɚiI=Il?ii^ʽ)+?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. -$?I)*Fe?2Fi:FiBFm_5JFqG G B O >Qw,sA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990388:w?Y:?:e<9:V>y:Hw+L {??ްf֍??aK?ɨ:w?:;:CyFBJIIRIR4٢Z1> ZZ=9ZϷQ Z>\\ ^G٣^HLGyb_&= b> fNusing accuracyPremultiplier from configdj?59f?j?5Yf6 ifBhn?n@f-Ef@:f+;fl?5v'B v.Av]EZjFNOT Ignoring new targets: 123.10 m.Bj<Jj%<- ProNav: ac range: 123.099998 m, nav range: 24.736423 m, bearing: 181.246564 deg, approach rate: -0.046085 m/s, LOS rate: 1.433811 deg/s, cmd heading: 97.555940 deg, new cmd heading: 99.046923 deg. 2j5v=5HeadingCmd: 1.728695 target range: 123.099998 and range: 123.10 m. j5E?j1j9j9i9h9h9hAhAfAfAfIrfIbfM?ɛ;"= ]>I ߵ<ɚiIP[=I%E?i!i-)-E?))*F?2F:FBF0JF"GG >G`ϻGBOC>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242574 9IAH >I  I II BI &I .I 6I <:I ] F:#w,aA2`?Y2?2n<92L:Y>y2Hx`CG??rᐿqْ?`Q ?G?ɨ2`?2a;2Cy^B^IMb@Mb@Mb@ )Y&1? G٣y= > Nusing accuracyPremultiplier from config?595??5YB iB2?:r?@-E[;;p?5 AZjFNOT Ignoring new targets: 123.10 m.Bj%Q<Jj%Q<5 ProNav: ac range: 123.099998 m, nav range: 24.710789 m, bearing: 181.947976 deg, approach rate: -0.058558 m/s, LOS rate: 1.603882 deg/s, cmd heading: 99.046923 deg, new cmd heading: 101.152340 deg. 2j5==HeadingCmd: 1.765441 target range: 123.099998 and range: 123.10 m. j=?j9j9j9iAhAhAhAhEBfIfIfIrfIbfU-?ɛ'B"= 隍J>I v<ɚiI=I?iiD)?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494367*F?2F:FBF_0JFJmJmJm1JiJm:Jm9Jm3JiJm;Jm;Jm:;Jm:;GcOȽG B O >zK LK 9K K K 4S{xrleVI?80' Will construct direction to contact in vehicle frame from tetrahedron phase data. \? ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746589 ! I% h-o)w,AV{?YV?V3~<9V[>yVH`{@A5?P? HN? o F?B?ɨV{?VB;VCy^0B^! IifG>If> np=n=IzIzE4٢ >  T=9;Q > G٣y%y< -> =Nusing accuracyPremultiplier from config1E?595s?M?5Y5: i5BIM?U@5-E5@t;5Z;5 t?5Y eAaZjFNOT Ignoring new targets: 123.10 m.Bji<Jji<- ProNav: ac range: 123.099998 m, nav range: 24.688614 m, bearing: 182.569619 deg, approach rate: -0.055192 m/s, LOS rate: 1.548592 deg/s, cmd heading: 101.152342 deg, new cmd heading: 103.018248 deg. 2j-ل=5HeadingCmd: 1.798008 target range: 123.099998 and range: 123.10 m. j5%?j1j1j9i9h9hYhahafafafirfibfm 4?ɛ(B%3= !-?I) 51<ɚ1iYI]ȟ=Ie%?iaim)m%?)i*F?2F:FBFJFGٽMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999715GBOEs>*JI "JM %=bK0w,.y6Hॿ5һ?q?UN??:?ɨ6J?6Q;6CyBABB6 IIJIJ4٢R= RS=9Vi9Q V>XX ^G٣^ILGy^ = b> fNusing accuracyPremultiplier from config`f?59bi?j?5Yb6x ibBhjL?j@b-Eb:b:bkw?5! %1A!ZjFNOT Ignoring new targets: 123.10 m.Bjx<Jjx< IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252522 ProNav: ac range: 123.099998 m, nav range: 24.665958 m, bearing: 183.191491 deg, approach rate: -0.058672 m/s, LOS rate: 1.611947 deg/s, cmd heading: 103.018247 deg, new cmd heading: 104.884880 deg. 2jH=HeadingCmd: 1.830586 target range: 123.099998 and range: 123.10 m. jP?j!j!j!i!h!h!h)h)f)f)f)rf1bf5@@@ɛ)BjH!bH%p<H9I9 I=. II=;BI9&I9.I96I=Ͱ<:I= FBI›CJI›CRI“CZI+ =bI* =jI[4 ;C=  ?I9 E`K<ɚAiqIu47=IP?iib<))P?)*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506299G= GE qAGE tAG By O >6w,۬A6?Y63?6U~<96d>y6H⇬@W)8?:?@P?`O_?@!3?ɨ6?6d;6Cy>LB>C IEMb@Mb@Mb@AAA A)AYEX9v?MbX9?S㥛?yE=?Eʡ=E/y G٣yp< > Nusing accuracyPremultiplier from config?59E죜??5Yo iB&??:h?@-E!; ;>{?5&B A^EZjFNOT Ignoring new targets: 123.10 m.Bj=Jj= ProNav: ac range: 123.099998 m, nav range: 24.636997 m, bearing: 183.947102 deg, approach rate: -0.068583 m/s, LOS rate: 1.791426 deg/s, cmd heading: 104.884877 deg, new cmd heading: 107.153125 deg. 2j=HeadingCmd: 1.870175 target range: 123.099998 and range: 123.10 m. ja?jjjihhhhBfff rf bf @ɛ=*B=J= 9=?I9 E<ɚAiAIE=IMa?iIiMh[A)Ma?)QzKMOKh9KKK  zqi^YNFA9/)$  *F?2F:FBFo0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760191GGBOG>] Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:22:22:42.5682 e TRx dataTimestamp_ set to:1736374963.836569e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011328*y2H@`4??T@_1?u ?)?ɨ2?2&;2CyV[BVU I)X XXZAI^I^ 4٢f= fT=9jdQ j>hl nG٣lyn8+= n> vNusing accuracyPremultiplier from configtz?59v>補?z?5Yv=h ivBxzn?z@v-Ev:v:v~?5 \AB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 123.10 m.Bj p<Jjp aIiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262521H>I Is IIsBI&I.I6I|<:IL FCw,)]AM.?YMl?M8U<9Mq>yMH+?` ?J`? ` ??ɨM.?M;MCyޅ\BޅW IMb@Mb@Mb@ )Y rh?Dl?Q?yL?O=u< @)`@I@yI-I-m4٢=; =6=9EfQ E>AA EG٣EJLGyMm= M> Nusing accuracyPremultiplier from config?59⣜??5Y^ iBWM?:?@-E;j;?5 OAWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:22:42.5682 LVL= 17136, 32753, 24562, 32291, AGC= 63, IDX= 427, 0.10, 0.611,-0.983,-0.805,-0.260, PHS= 0.959,-0.676,-0.548, RAW= 94.0, 3.4, CAL= 102.5, 1.5, ROT= 47.5, -1.5 UYgot valid direction response: 22:22:42.5682 LVL= 17136, 32753, 24562, 32291, AGC= 63, IDX= 427, 0.10, 0.611,-0.983,-0.805,-0.260, PHS= 0.959,-0.676,-0.548, RAW= 94.0, 3.4, CAL= 102.5, 1.5, ROT= 47.5, -1.5 ]PDAT read: Bearing 47.5, -1.5 (Local) ]~Local bearing/azimuth received: Bearing 47.5, -1.5 (Local) uDAT read: Range 10 to 50 : 121.8 m (Round-trip 162.4 ms) speed 0.4 m/s u,DAT read: user:2551> }BDAT read: Tx time:22:22:43.6517 }$Ping request sent.}G B) O= >IIw, )Au?Yu?ug-<9u{>yuH@V??  ?`٬ ? ?ɨu?u(;uCybB_ III4٢]< J=9Q > G٣yN== > Nusing accuracyPremultiplier from config?59ݣ??5Y=V iBAM?M@-EK<i<,?5Q UAQkUzl?kUR@y kQ kQ:kQBkQZkUb@"UrN3fW@4پ ^@U)Rÿy?ےM?JkQRkQ*Ugo.:@X7_.4]@Upف?x@nQb?"kUzp*kUsAkU63|?kU$8 2kU17CkU\ EϦ?kUm kQkUwvAkU㛪@ZjFNOT Ignoring new targets: 121.80 m.Bj 9<Jj 9J9 J= J= /J9 J9 J= :J= (N3J9 nPw,BA2i?Y2?2O;92>y2H&x<?` ?`?}C??ɨ2i?2Vx;2CyBcBB` IiFR=IF4< J=J=IJIJ 4٢r; rg=9vQ v?tt zG٣xyz,= ~? !I! uNusing accuracyPremultiplier from configq}?59uأ??5YuN iuB?@u-Eu +;uO+;uK?5 A\EWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 121.80 m.Bj=Jj= ProNav: ac range: 121.800003 m, nav range: 8.958627 m, bearing: 261.999330 deg, approach rate: 0.818371 m/s, LOS rate: 1.901687 deg/s, cmd heading: 113.491639 deg, new cmd heading: 115.363915 deg. 2j#=HeadingCmd: 2.013480 target range: 121.800003 and range: 121.80 m. j@jjjihhhhfffrfbf@[?ɛ-/B-o= )- ?I) 5h=<ɚ1i1I5n=I=?i9i=i)=@)AZHRHAAH%>I! I% II%BI!&I%HD.I!6I%<:I%o F*F ?2F :FBFO0JFG%$IGBO J>m Will construct direction to contact in vehicle frame from tetrahedron phase data.Vw,\A6^2?Y6ep?61V;96F>y6H`Mÿ1|???9¿T?@jp`??ɨ6^2?6$Ê;6Cyf^BfZ IeMb@Mb@Mb@aaa a)aYe/$?+?Mbp?ye&Q?e=e;eA e@)ev@Ie@aye@I}I}4٢ʼ @=9Q > G٣KLGyQ= > Nusing accuracyPremultiplier from config?59(ң??5Y;;?5 <AZjFNOT Ignoring new targets: 121.80 m.Bj=Jj=  ProNav: ac range: 121.800003 m, nav range: 9.272209 m, bearing: 262.774891 deg, approach rate: 0.765429 m/s, LOS rate: 1.829001 deg/s, cmd heading: 115.363917 deg, new cmd heading: 117.610691 deg. 2j =HeadingCmd: 2.052694 target range: 121.800003 and range: 121.80 m. jV_@jjjihhhh?Bf!f!f!rf!bf%"?ɛ1BtT= ?I WE<ɚiIR=I%2@i!i%c)%V_@)) $?IhzK-yJK)K)K-K-BKEsA:KErAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGZZGsAGrAGBOb>\w,vAWill construct direction to contact in vehicle frame from tetrahedron phase data.bs?Yb?b,/C9bP7>ybH ƿW@!?D?űſ?e(?80??ɨbs?bB;bCy~NB~F II I 4٢ R=9%00Q %>!! -G٣)y-= -> =Nusing accuracyPremultiplier from config1E?595 ˣ?E?5Y5> i5BIMD?M@5-E5C;5;5J?5U%B ]A]_EZjFNOT Ignoring new targets: 121.80 m.Bj>=Jj>= ProNav: ac range: 121.800003 m, nav range: 9.568294 m, bearing: 263.508656 deg, approach rate: 0.758662 m/s, LOS rate: 1.821909 deg/s, cmd heading: 117.610694 deg, new cmd heading: 119.742829 deg. 2jK=HeadingCmd: 2.089907 target range: 121.800003 and range: 121.80 m. j@jjjihhhhfffrfbf?ɛ2BCX= ?I  L<ɚiIR=I,@ii~)@)G`wAJJJ0JJJ9Jـ3J Y`wAyB*F ?2F:F!BF!JF! IWill construct direction to contact in vehicle frame from tetrahedron phase data.GHI I IIBI, =&I.I6Ij<:I= FGi Bq O >fcw,_A6_?Y6?6ɛ,96T>y6H`bɿ "jg?>]?` |ȿ@٪?we? N??ɨ6_?69;6CyBIBB@ I)D DFAFAMb@Mb@Mb@ )Y rh?㥛 ?Mb`yL?=rA @)@I3@yI5I5 4٢EӼ EH=9EĻQ M>II MG٣IyUd= U> eNusing accuracyPremultiplier from configYe?59]/ã?m?5Y]5 i] BmeM?m:m?m@]-E];];]ݓ?5 A=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 121.80 m.Bju<Jju< ProNav: ac range: 121.800003 m, nav range: 9.871463 m, bearing: 264.253101 deg, approach rate: 0.705230 m/s, LOS rate: 1.678490 deg/s, cmd heading: 119.742833 deg, new cmd heading: 121.906487 deg. 2j=HeadingCmd: 2.127670 target range: 121.800003 and range: 121.80 m. j+@jjjihhhh*Bfffrfbf^ @5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.ɛu4BuG= qu` ?Iq }S<ɚyiyI}u=In"@ii )+@)*F2F:FBFJFG]'aGB!OEs> I zK :IK +9K K K  #$$&# RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258134jw,DAf?Yf?f9f>yfH}̿@f?f2?}˿?@6^v?@T?`?ɨf?f=M;dyn@Bn5 IIzIz4٢1 N=9Q >    G٣ LLGy:= > Nusing accuracyPremultiplier from config%?59?%?5Y- i B!-?-@-E:L:S?55'B 58A5]EZjY]FNOT Ignoring new targets: 121.80 m.Bjeb=Jjeb=u ProNav: ac range: 121.800003 m, nav range: 10.163158 m, bearing: 264.971343 deg, approach rate: 0.780166 m/s, LOS rate: 1.865820 deg/s, cmd heading: 121.906487 deg, new cmd heading: 123.998385 deg. 2ju=}HeadingCmd: 2.164180 target range: 121.800003 and range: 121.80 m. j} @jyjyjyihhhhfffrfbf@ɛ}6B} OO= y}%?I DxZ<ɚiI =I @ii) @)*F2F:FBF`0JFGCvG ?G*?=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510501GBOe>J J J 1J J J :J 3J pw,ĭA DIFhJ?YJ?J 9J>yJH[Ͽ`?k?ο`ף? y? ??ɨJ?JF;JCyZ1BZ" IIbIb4٢j jN=9nMQ r>pp rG٣pyv= v> zNusing accuracyPremultiplier from configx~?59z ?~?5Yz% iz BX?@z-Ezk;z;z͚?5  A Zj1=FNOT Ignoring new targets: 121.80 m.Bj=<JjEIy }}`<ɚiI# =I @ii) @)jHbHH>I I IIBI+ =&I.I6IA<:I F*F?2F:FBF0JFGg]w- PExceeded connect timeout, disconnecting.M Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:22:22:46.2159 ] TRx dataTimestamp_ set to:1736374967.369497e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016387G B O >!ww,ݭA6c?Y6?6iB96>y6H*ѿPw?/?FпZ?B?B??ɨ6c?6;4yRBR IiV%>IVp; V=Va=uMb@Mb@Mb@qqq q)qYu}?5^I?ʡE?MbpyuMB?u=uuA u@)uQAIu`@qyuGAII4٢᥽ >=9Q > G٣yÃ= > Nusing accuracyPremultiplier from config?59??5Y i) BMC?:.?@-EH;\G;?5 >A`EZjFNOT Ignoring new targets: 121.80 m.Bj<Jj< ProNav: ac range: 121.800003 m, nav range: 10.749492 m, bearing: 266.452952 deg, approach rate: 0.686649 m/s, LOS rate: 1.718717 deg/s, cmd heading: 126.103884 deg, new cmd heading: 128.318147 deg. 2jq=HeadingCmd: 2.239574 target range: 121.800003 and range: 121.80 m. j/U@j!j!j!i!h!h!h)h-.Bf)f)f1rf1bf5 @ɛe:Bep8= mIi m_f<ɚiiiImZ` =I~@ii)/U@) u$?IyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267976zKMKh9KKK  *F?2F:FBF1JFG]vGyBOb>e Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522874&v}w,2vA?Y?ds9tj>yH`6ӿ@@#?#?ҿ@?`??`Au?ɨ?j>;騭Cy޽B޽III4٢ܽ A=9Q > G٣MLGy= > %Nusing accuracyPremultiplier from config%?59>?%?5Y i6 B)-?-@-Ed;;:@?51 5A9ZjFNOT Ignoring new targets: 121.80 m.Bj<Jj< ProNav: ac range: 121.800003 m, nav range: 11.039532 m, bearing: 267.205320 deg, approach rate: 0.666429 m/s, LOS rate: 1.683259 deg/s, cmd heading: 128.318149 deg, new cmd heading: 130.514811 deg. 2jf=HeadingCmd: 2.277913 target range: 121.800003 and range: 121.80 m. jT@jjjihhhhfffrfbf @JJɛI }l<ɚiI} =IT@ii)T@)*F2F:FBF~2JF IeWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:22:46.2159 LVL= 19408, 32753, 29410, 32755, AGC= 62, IDX= 418, 0.04, 0.672,-0.950,-0.493,-0.100, PHS= 0.861,-0.803,-0.396, RAW= 103.6, 4.5, CAL= 114.1, 2.4, ROT= 35.9, -2.4 Ygot valid direction response: 22:22:46.2159 LVL= 19408, 32753, 29410, 32755, AGC= 62, IDX= 418, 0.04, 0.672,-0.950,-0.493,-0.100, PHS= 0.861,-0.803,-0.396, RAW= 103.6, 4.5, CAL= 114.1, 2.4, ROT= 35.9, -2.4 PDAT read: Bearing 35.9, -2.4 (Local) ~Local bearing/azimuth received: Bearing 35.9, -2.4 (Local) DAT read: Range 10 to 50 : 119.9 m (Round-trip 159.9 ms) speed 0.4 m/s ,DAT read: user:2552> BDAT read: Tx time:22:22:47.3018 $Ping request sent.iej\?ehMeʾeq?e|٠= e?)e+=Ieg ?ie+aae64+ڬ?yk{ ҿ,S9L?)e+֒Iexie$eaa:publishing transmit ping timeHAIA IEs IIEsBIA&IEGD.IA6IEj<:IE? FBIJIRIZIbI+ =jI4Fpublishing direction and range infoa9e%t!ȿHQ|b:zr'?yaaaa a)aIaiaaaaa a)aIaiaaae64+ڬ?yk{ ҿ,S9L?)aIaiaaaaG ¶G rAG sAG B O >Cw,AyޝBޥI nManaging dock network, ignoring radio surface power offMb@Mb@Mb@ )Y`"?~jt?I +y7?=94A b@)v@Iv@Will construct direction to contact in vehicle frame from tetrahedron phase data.yAII4٢%  %:=9-Q > G٣y > Nusing accuracyPremultiplier from config?59P??5Y8 iA B8?:?@-E;;1?5&B jA^Ek,?k4r k kA:kBBk#BZk:@"F(6)gV-eKl.]@%t!ȿHQ|b:zr'?Jk$Rk*|K@`J U Z@f!øe?1屿rV?"k*kK\Bk3K?k\  2k(+Ck ?kkr7CkTAk@ addTargetRange:: Added new target pos. range: 119.900002 m, deltaT: 3.783745 s, deltaX: -1.900002 m, approachRate: -0.502148 m/s, rangeRepo size: 4  Added new target pos. range: 119.900002 m, bearing: 351.346863 deg, lat: 36.905644 deg, lon: -122.120026 deg, deltaT: 3.783745 s, deltaX: -1.900002 m, approachRate: -0.502148 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 119.90 m.BjJj ProNav: ac range: 119.900002 m, nav range: 29.916222 m, bearing: 329.289205 deg, approach rate: 0.000000 m/s, LOS rate: 1.683259 deg/s, cmd heading: 130.514806 deg, new cmd heading: 132.837749 deg. 2jHeadingCmd: 2.318456 target range: 119.900002 and range: 119.90 m. ja@jj j i h h hhBfffrf]@bfr?ɛ>B֜= 隵5>I 8r<ɚiI =Iw@ii)a@)JJJ0JJ:J 9Jـ3JJ6;aJ7;aJO>;aJO>;a*Fq2Fq:FyBF}5JFy 1 I1  Will construct direction to contact in vehicle frame from tetrahedron phase data.ե =ե a=zK eLK s9K K K    G Gq B O >˛w,~,AbF?Yb?bϯ9bD>ybHcֿ@T 8? ?տ`??H?3a?ɨbF?bV;bCyn܁BnI)p pvAvAIzIz4٢% m=9ΟQ ?    G٣ y ^2> ? Nusing accuracyPremultiplier from config%?59/?%?5Y iK B!%z@%@-E` ; ;?55%B 5JA5aEMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 119.90 m.Bje_Jje_u ProNav: ac range: 119.900002 m, nav range: 30.119066 m, bearing: 329.043918 deg, approach rate: 0.650998 m/s, LOS rate: -0.781907 deg/s, cmd heading: 132.837754 deg, new cmd heading: 132.106890 deg. 2ju'HeadingCmd: 2.305700 target range: 119.900002 and range: 119.90 m. j@jjjihhhhfffrfbf% ?ɛe@Be}#= ae >Ii mu<ɚiiiIm' =Iu@ii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E <*Fq2Fq:FqBFuT5JFq $?I hG ¶] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995502Gq By O >%w,!IA6 ?Y6&=?6ZǼ96Y>y6H@qؿ`U? Z?׿G??`+N?@5V?H<I< I>G II>OBI>* =&I<.I<6I><:I>a Fɨ6 ?6VɊ;4yRсBRIIZIZ4٢bQP b;=9f̻Q f>dd fG٣jNLGyjއ= j> rNusing accuracyPremultiplier from configlr?59n}|?r?5Yn@ inY BtvU@v@n-En:n :n?5y }AyZjFNOT Ignoring new targets: 119.90 m.BjT;JjT;} ProNav: ac range: 119.900002 m, nav range: 30.391642 m, bearing: 328.740835 deg, approach rate: 0.594496 m/s, LOS rate: -0.655103 deg/s, cmd heading: 132.106896 deg, new cmd heading: 131.205880 deg. 2j}༝HeadingCmd: 2.289975 target range: 119.900002 and range: 119.90 m. j@jjj i hhh1h9fAfifqrfybf} K?ɛ5CB== 9E>IA Ey<ɚAiAIE/ =Ie@iaie|)e@)iE]R5<*F2F:FBF4JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248302G G ?G >JM JI JI JI JM ̝:JI JI JI JM ;JM ;JI JI G B O >~Kw,bA6?Y6D?6h96yk>y6HoJڿ@8`? w)?@vٿ?:?1?`BZ?ɨ6?6T;6CyBBBI !I!uMb@Mb@Mb@qqq q)qYuHzG?:v?Mb`yu=*?u=uu"A q)qIu@qyuAII]4٢6 >=9Q > G٣yϕ= > Nusing accuracyPremultiplier from config?59Mo??5Y io BO,?:# @@.E@;;?5 0AdEZjFNOT Ignoring new targets: 119.90 m.Bj S#Jj S# ProNav: ac range: 119.900002 m, nav range: 30.651808 m, bearing: 328.504215 deg, approach rate: 0.633378 m/s, LOS rate: -0.571164 deg/s, cmd heading: 131.205885 deg, new cmd heading: 130.502087 deg. 2jü%HeadingCmd: 2.277691 target range: 119.900002 and range: 119.90 m. j%@j!j!j!i!h!h)h)h-Bf)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499307ffrfbf8?ɛEEBE= IzKULKQKQKUKUMs>I ž|<ɚiI|t=I@iioX)@)E E *E"E*FI 2FI :FI BFM +5JFI G1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751204G B) OE >{uw,"|A2?Y2b@23R92\3>y2H`0ۿ?m?@?ڿs?ZI?`?`e?ɨ2?2ʌ;2CyBBBIiF >IF>I^I^4٢f fY=9jQ j>hl nG٣lyr!= r> vNusing accuracyPremultiplier from configtz?59v=c?z?5YvT iv B|u @u@v.Ev}I =&<ɚiI=I%!@i!i%?9)%!@))*F?2F:FBF_0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.O?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003468HI I II!BI+ =&I.I6I<:IU FGEG|GBO>cw,AjzS?Yj@j˼9j%>yjHI޿&? X?ݿ˿?t? 5??ɨjzS?jjĊ;jCyvBvgI5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255763Mb@Mb@Mb@ )YX9v?i|?5? G٣OLGy= > Nusing accuracyPremultiplier from config?59T??5Yu i B ?:@@ .E;3;?5$B VAaEZj  FNOT Ignoring new targets: 119.90 m.Bj`ۻJj`ۻE ProNav: ac range: 119.900002 m, nav range: 31.154217 m, bearing: 328.137143 deg, approach rate: 0.600432 m/s, LOS rate: -0.383584 deg/s, cmd heading: 129.928667 deg, new cmd heading: 129.409788 deg. 2jEMHeadingCmd: 2.258627 target range: 119.900002 and range: 119.90 m. jMX@jIjIjIiIhIhQhQhUBfQfYfYrfYbfeB@ɛJB< >I <ɚiI=IX@ii)X@)!JSK[ـ3 K[.KSKS"KSJJJJJ\:J9JJJi;Jj;J$7;J%7;*F?2F:FBF`0JFGm1o IG)B9OUu>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507952zK :IK 9K K K RK >JK >'w,oA>?Y>_@>9> >y>H4O=`?@.?`W߿ ??)??ɨ>?>]ɋ;ll nG٣lyr= r> vNusing accuracyPremultiplier from configtz?59vH?z?5Yv iv Bx~@~@v.Ev;v;v?5#B AdEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 119.90 m.BjJj ProNav: ac range: 119.900002 m, nav range: 31.363228 m, bearing: 328.016279 deg, approach rate: 0.574050 m/s, LOS rate: -0.329743 deg/s, cmd heading: 129.409791 deg, new cmd heading: 129.049619 deg. 2jLbHeadingCmd: 2.252341 target range: 119.900002 and range: 119.90 m. jZ&@jjjihh!h!h!f!f)fIrfIbfM@ɛMB< 隵>I <ɚiI\=IZ&@i& =(Yy"#B $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:22:49.8633  TRx dataTimestamp_ set to:1736374971.149093 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014645kow,6ʮAHI IIIBI* =&I.I6Ik<:IA FFk)?YF3@F@9Fݐ>yFH2 <0?&?@X ? b?`!?@H?ɨFk)?F5;DyNBRUI)T TIZIZ4٢f fK=9f;Q f>hh jG٣hyn@= ~>  Nusing accuracyPremultiplier from config ?599??5Y i B@@.E::?5 ]AYZjyFNOT Ignoring new targets: 119.90 m.BjgJjgU ProNav: ac range: 119.900002 m, nav range: 31.607918 m, bearing: 327.889617 deg, approach rate: 0.535843 m/s, LOS rate: -0.275228 deg/s, cmd heading: 129.049621 deg, new cmd heading: 128.672582 deg. 2jU<]HeadingCmd: 2.245760 target range: 119.900002 and range: 119.90 m. j]@jYjYjYiYhahahhfffrfbfࠒ @ɛ5PB52t< 9==I9 =r<ɚ9i9Ieմ=Ie@imr##øw,D䮾A IhR?YRU @R9Rɕ>yRH@@y?J?@*t?rߒ?Ot? ?ɨR?R;RCy^B^NIMMb@Mb@Mb@III I)IYMX9v?V-?Mb?yM?Mh>M G٣yt= > Nusing accuracyPremultiplier from config?59*??5Yo i B,?::@@.Ek8;6;f?5 AgEZjFNOT Ignoring new targets: 119.90 m.Bj2Jj2 ProNav: ac range: 119.900002 m, nav range: 31.858803 m, bearing: 327.796956 deg, approach rate: 0.692861 m/s, LOS rate: -0.253883 deg/s, cmd heading: 128.672581 deg, new cmd heading: 128.396790 deg. 2j<.HeadingCmd: 2.240947 target range: 119.900002 and range: 119.90 m. jk@jjjihh h haBfffrfbf%( @eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:22:49.8633 LVL= 32656, 32753, 32754, 32755, AGC= 64, IDX= 407,-0.15, 1.490, 0.110, 0.771, 1.026, PHS= 0.552,-0.870,-0.258, RAW= 115.4, 9.4, CAL= 124.4, 6.1, ROT= 25.6, -6.1 Ygot valid direction response: 22:22:49.8633 LVL= 32656, 32753, 32754, 32755, AGC= 64, IDX= 407,-0.15, 1.490, 0.110, 0.771, 1.026, PHS= 0.552,-0.870,-0.258, RAW= 115.4, 9.4, CAL= 124.4, 6.1, ROT= 25.6, -6.1 PDAT read: Bearing 25.6, -6.1 (Local) ~Local bearing/azimuth received: Bearing 25.6, -6.1 (Local) DAT read: Range 10 to 50 : 118.0 m (Round-trip 157.4 ms) speed 0.6 m/s  ,DAT read: user:2553> ]BDAT read: Tx time:22:22:50.9518 ]$Ping request sent.] m @)m^ =Im>im^ ڽiimrVx?Cl=r6b?)mZIImQI'im)mRii:publishing transmit ping timeYFpublishing direction and range infoi9mRRjҿZQtԿ\n5?yiiii i)iIiiiɛRB9< =I <ɚiI4=Ik@iiii i)iIiiiiimrVx?Cl=r6b?)iIiiiiiiin! Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:22:50.9510 徫w,5yA2?Y2 @25 92L>y2HN`?=?@@?`?:??ɨ2?2㿊;2Cy>wB>=IIJIJ4٢ R=9;Q >!! %G٣%PLGy-= -> UNusing accuracyPremultiplier from config1]?595?]?5Y5^ i5 BY]@e@5.E5;5;5?5i m_Aik\f?ky k k 鮾A:kBBk]BZk="C^^A|B]BɑZ@RRjҿZQtԿ\n5?Jk)RkR*r,R@eSĶ @ V@fc?Ԁp?cmūw,GA68"?Y60 @6Xl961>y6H \u?*?N]@?癍?C?`k?ɨ68"?6;6CybuBb;IifR=Ifa= df=rWill construct direction to contact in vehicle frame from tetrahedron phase data.pirAMb@Mb@Mb@ )YʡE? rh?~jt?y?C ><A )@I@y@II4٢jл >=9j;Q > G٣yNx= >  Nusing accuracyPremultiplier from config ?59  ??5Y  i  B?:;@@ .E ; ; ?5%"B %eA%jEZjIMFNOT Ignoring new targets: 118.00 m.BjUKJjUKm ProNav: ac range: 118.000000 m, nav range: 33.484913 m, bearing: 328.902285 deg, approach rate: 0.595188 m/s, LOS rate: -0.178340 deg/s, cmd heading: 128.084707 deg, new cmd heading: 127.865674 deg. 2jm}HeadingCmd: 2.231677 target range: 118.000000 and range: 118.00 m. j}@jyjyjyiyhhhh)BfffrfbfL?ɛWB4< 隝q=I ك<ɚiIG=I@iWill construct direction to contact in vehicle frame from tetrahedron phase data.zK K h9K K K ˫w,$2A6@Y6 @6ւC96>y6HI`Hݍ? N?@;?4p?`0{??ɨ6@6Gь;6Cy^xB^>IIjIj"4٢zN< ~\=9w;Q >    G٣ y ~= > Nusing accuracyPremultiplier from config%?59?%?5Y} i5 B!%@%@".E;;?51 5QA1MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 118.00 m.Bje$Jje$u ProNav: ac range: 118.000000 m, nav range: 33.696709 m, bearing: 328.848230 deg, approach rate: 0.567128 m/s, LOS rate: -0.143833 deg/s, cmd heading: 127.865677 deg, new cmd heading: 127.704532 deg. 2julŻ}HeadingCmd: 2.228865 target range: 118.000000 and range: 118.00 m. j}@jyjyjihhhhfffrfbf?ɛYBf< @t=I Q2<ɚiI=I@iuT Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480074ZH RH H I  I II BI &I .I 6I <:I BIJIRIZIbIjI˯4ҫw,1LA:@Y:@:9: Q>y:H, E?@? ^@G?}?@y??ɨ:@:i^;:CyrBvIIII4٢- #= 5F=95]AYY ]G٣]QLGye2$= e> mNusing accuracyPremultiplier from configiu?59mh??5Ym imN B@@m&.Em;m;mq?5!B  AmEZjFNOT Ignoring new targets: 118.00 m.Bj%g Jj%g m ProNav: ac range: 118.000000 m, nav range: 33.933243 m, bearing: 328.796007 deg, approach rate: 0.551894 m/s, LOS rate: -0.121000 deg/s, cmd heading: 127.704539 deg, new cmd heading: 127.548962 deg. 2jHeadingCmd: 2.226149 target range: 118.000000 and range: 118.00 m. j;y@jjjihhh hfff!rfIbfUK?ɛ\B}< 隍=I i„<ɚiIhu=I;y@iӤ I ٫w,KeA2S@Y2r@2G(92x{>y2HFx%?? ?E?T%?` ?ɨ2S@2Y;2Cy>BBQI)D DDDMb@Mb@Mb@ )YS?l?I +?y?>9<A )@I@y@I5I54٢E = EI=9MII UG٣QyU< U> eNusing accuracyPremultiplier from configYe?59]ޢ?m?5Y] i]f Bm$?m:m@m@]*.E];]&<]?5 AkEUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985009ZjFNOT Ignoring new targets: 118.00 m.BjCɺJjCɺ  ProNav: ac range: 118.000000 m, nav range: 34.164165 m, bearing: 328.758093 deg, approach rate: 0.539499 m/s, LOS rate: -0.087979 deg/s, cmd heading: 127.548961 deg, new cmd heading: 127.435988 deg. 2j qHeadingCmd: 2.224178 target range: 118.000000 and range: 118.00 m. jX@jjjihhhh%&Bf!f!fIrfIbfMR`@zKBoHK9KKKɛ^B{< P=I .B<ɚiI/-=IX@iu  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2362590߫w,NA:@Y:@:;9:l>y:H~``"?@.?ON?vyN?`B&?ɨ:@:d;:CyBBF]IININ14٢VgH= VU=9VąXX ZG٣Xy^< ^> fNusing accuracyPremultiplier from config`f?59bϢ?j?5Ybw ibz Bhj @j@b-.Eb:b.:bQ?5r B rzAvnEZjFNOT Ignoring new targets: 118.00 m.BjѺJjѺ- ProNav: ac range: 118.000000 m, nav range: 34.384472 m, bearing: 328.726164 deg, approach rate: 0.636404 m/s, LOS rate: -0.091644 deg/s, cmd heading: 127.435989 deg, new cmd heading: 127.340815 deg. 2j-{5HeadingCmd: 2.222517 target range: 118.000000 and range: 118.00 m. j5=@j1j1j1i9h9h9hAhAfAfAfArfIbfM`7@JJJJJ|:J 9JJɛ`B< 隝=I ZDž<ɚiI=I=@iPg!G=Go;GaBiHI III* =&I.I6Ip<:IF FO>>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498706]w,ՔA6N@Y6m@6=<96\>y6H`v? q?`?@: eg? ~A?ɨ6N@6D;6CyNBNtIWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752223}Mb@Mb@Mb@yyy y)yY}(\?/$?:v?y}z?}1>}<}A }=@)yI}@yy}@I Ie4٢= ;=9'` G٣RLGyYq< > Nusing accuracyPremultiplier from config?59|??5YM i Bz?:@@1.Es:;#9;?5 AZj FNOT Ignoring new targets: 118.00 m.Bj DJj D ProNav: ac range: 118.000000 m, nav range: 34.641331 m, bearing: 328.678197 deg, approach rate: 0.590206 m/s, LOS rate: -0.109400 deg/s, cmd heading: 127.340817 deg, new cmd heading: 127.197985 deg. 2j%)%HeadingCmd: 2.220024 target range: 118.000000 and range: 118.00 m. j%@j)j)j)i)h)h)h1h5 Bf1f9f9rf9bf=@ɛbB< ƴ<>I <ɚiI=I%@i%"=BDAT read: Rx Time:22:22:53.5102 TRx dataTimestamp_ set to:1736374974.688983checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005568GU P<zK BHK 9K K K !"#""  G! B1 Oe >Dw,6rAFai@YFd@F!<9FՋL>yFHH`?g?B1W*? ݣd? [?ɨFai@Fd;FCyNBN{IiR,>IP V=Vp=IZ IZ4٢b~< bY=9b|dd fG٣dyj; j> nNusing accuracyPremultiplier from configlr?59n?r?5Yn in Btv@v@n5.En:n\:ng?5zB zAzqEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 118.00 m.Bj-8Jj-8񺝊E ProNav: ac range: 118.000000 m, nav range: 34.863308 m, bearing: 328.638395 deg, approach rate: 0.591837 m/s, LOS rate: -0.105445 deg/s, cmd heading: 127.197985 deg, new cmd heading: 127.079338 deg. 2jM]HeadingCmd: 2.217953 target range: 118.000000 and range: 118.00 m. je @jajijiiihqhhhfffrfbf I @ɛudBu< qu >Iq }Y<ɚyiyI} =I @il]$*JC="J=JJJJJ :J9JJ u$?IqH >I  I II ˁBI &I .I 6I n<:I D F Will construct direction to contact in vehicle frame from tetrahedron phase data.y-w,SͯA*DAT read: 22:22:53.5102 LVL= 32752, 32753, 31986, 32755, AGC= 66, IDX= 408, 0.20,-1.977, 2.923,-2.605,-2.459, PHS= 0.570,-0.854,-0.148, RAW= 119.7, 7.1, CAL= 128.8, 3.0, ROT= 21.2, -3.0 2Ygot valid direction response: 22:22:53.5102 LVL= 32752, 32753, 31986, 32755, AGC= 66, IDX= 408, 0.20,-1.977, 2.923,-2.605,-2.459, PHS= 0.570,-0.854,-0.148, RAW= 119.7, 7.1, CAL= 128.8, 3.0, ROT= 21.2, -3.0 6PDAT read: Bearing 21.2, -3.0 (Local) 6~Local bearing/azimuth received: Bearing 21.2, -3.0 (Local) -DAT read: Range 10 to 50 : 115.6 m (Round-trip 154.2 ms) speed 0.4 m/s ],DAT read: user:2554> ]BDAT read: Tx time:22:22:54.6018 e$Ping request sent.e   G٣y > Nusing accuracyPremultiplier from config?59j??5Y i B@:.E::?5 Ak5?kb1 k kd̯A:k3BBkBZk9.>"=IFB6{Y@="Vп4w?Meaٿ`x7?Jk.# Rk1*B$BP@4@sPH]V@PH?|^tL ?z`H?"kA*kmBkJ东?kK` 2k4Ck3K?k\  k(+CklBk@ addTargetRange:: Added new target pos. range: 115.599998 m, deltaT: 3.540742 s, deltaX: -2.400002 m, approachRate: -0.677824 m/s, rangeRepo size: 4  Added new target pos. range: 115.599998 m, bearing: 17.141796 deg, lat: 36.905908 deg, lon: -122.119949 deg, deltaT: 3.540742 s, deltaX: -2.400002 m, approachRate: -0.677824 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 115.60 m.BjJj  ProNav: ac range: 115.599998 m, nav range: 59.133087 m, bearing: 348.844988 deg, approach rate: 0.000000 m/s, LOS rate: -0.105445 deg/s, cmd heading: 127.079344 deg, new cmd heading: 126.896149 deg. 2j 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:22:54.6010 EHeadingCmd: 2.214756 target range: 115.599998 and range: 115.60 m. jE @jAjAjAiIhIhIhqhqfqfyfyrf}`f\@bf}`?ɛgB< ->I 3<ɚiI=I @i&GBO>}w,쯾AWill construct direction to contact in vehicle frame from tetrahedron phase data.:e@Y:@:<9: *>y:H@FK.m?/g?F ?uQk<3 A @)@I-@y@II4٢= F=9 G٣SLGy > Nusing accuracyPremultiplier from config?59??5Y i B ?:^@@>.E;;f?5 AtEzK YMK 9K K K ZjamFNOT Ignoring new targets: 115.60 m.Bjm⬻Jju⬻} ProNav: ac range: 115.599998 m, nav range: 59.346931 m, bearing: 348.739549 deg, approach rate: 0.615310 m/s, LOS rate: -0.302294 deg/s, cmd heading: 126.896145 deg, new cmd heading: 126.580971 deg. 2jvOHeadingCmd: 2.209255 target range: 115.599998 and range: 115.60 m. jnd @jjjihhhhBfffrfbf?ɛ%hB%1= )-E>I) -:<ɚ)i)I-1=I5nd @i5(gw,y AHR>IP IRIIRBIP&IP.IP6IR><:IR Fy~ށB~I)   AI I 4Will construct direction to contact in vehicle frame from tetrahedron phase data.> @٢-s= -2=95Q 5>1 G٣y > Nusing accuracyPremultiplier from config?59v??5Y޴ i B@C.E(;;?5 AZjAMFNOT Ignoring new targets: 115.60 m.BjMJju ProNav: ac range: 115.599998 m, nav range: 59.612492 m, bearing: 348.609798 deg, approach rate: 0.564439 m/s, LOS rate: -0.274552 deg/s, cmd heading: 126.580973 deg, new cmd heading: 126.193461 deg. 2jl<HeadingCmd: 2.202491 target range: 115.599998 and range: 115.60 m. j @jjjihhhhfffrfbf`?ɛMjBU= QUf>IQ Ue<ɚYiYI]=I] @ie=*Will construct direction to contact in vehicle frame from tetrahedron phase data.Iw,O$A 4I4J%@YJ(@Jd$=9J?=yJH v?@? > ;?6/̿??ɨJ%@J<;JCyfBfI]Mb@Mb@Mb@YYY Y)YY]"~j?:v?Q?y]S#?]=]u<]A ]@)]@I]@Yy]@IuIu 4٢$= E=9 G٣yS > Nusing accuracyPremultiplier from config?59of??5Yg i B%?:*@@G.EL;U;?5B NAwEZjFNOT Ignoring new targets: 115.60 m.BjJj ProNav: ac range: 115.599998 m, nav range: 59.836586 m, bearing: 348.487490 deg, approach rate: 0.571612 m/s, LOS rate: -0.310812 deg/s, cmd heading: 126.193455 deg, new cmd heading: 125.827909 deg. 2jNUHeadingCmd: 2.196111 target range: 115.599998 and range: 115.60 m. j @jjjihhhhBfff!rf!bf% ?ɛlBfl= Z>I Ս<ɚiIޏ=I @i6, w,1`CA6@Y6@6y9=96b=y6H ?\@[?? ?,m? +- ?r?ɨ6@6Q;4yBBBIIZIZ~4٢f6= f1=9f6 n$?Inhpp rG٣rTLGyrtM v> zNusing accuracyPremultiplier from configt~?59vS?~?5Yv/ iv B@@vK.Ev.:vC:v?5  A uE-B*** querying acoustic contact ***j)j)Zj9EFNOT Ignoring new targets: 115.60 m.BjE׮JjE׮ ProNav: ac range: 115.599998 m, nav range: 60.096340 m, bearing: 348.345282 deg, approach rate: 0.560833 m/s, LOS rate: -0.305713 deg/s, cmd heading: 125.827903 deg, new cmd heading: 125.403131 deg. 2jQ HeadingCmd: 2.188698 target range: 115.599998 and range: 115.60 m. j @jjjihhh!h!fIfIfQrfQbfm ?ɛnBw= >I <ɚiI=I @iY.I1 I5II5BI1&I1.I16I5<:I5X FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF2JFGx\=GqBO\>w,$]AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207268Z~|@YZ@Z:k=9Z#=yZHU@ [??@/ uE?`ZzO?6?ɨZ~|@Z ;Xy-B- Ii5=I5t> ===>Mb@Mb@Mb@ )Ym?EԸ?I +?y.?=94<A K@)@I@y=@II4٢Æ= :=9 G٣y" > Nusing accuracyPremultiplier from config ?59A? ?5Y i B_0?:@@P.E;;?5B %.A%xEZjIMFNOT Ignoring new targets: 115.60 m.BjĻJjĻ% ProNav: ac range: 115.599998 m, nav range: 60.352909 m, bearing: 348.194292 deg, approach rate: 0.586894 m/s, LOS rate: -0.343915 deg/s, cmd heading: 125.403134 deg, new cmd heading: 124.952102 deg. 2j%luHeadingCmd: 2.180825 target range: 115.599998 and range: 115.60 m. ju @jqjqjqiqhyhyhyh}!Bfffrfbf@JJJJJJ9JJJ;aJ;aJ8;aJ8;a $?IɛmoBm!= qu>Iq u/<ɚqiqIu3=I} @i}';0 w,wAN3@YN6.@No=9N%z=yNHe)? ?`t n?@j;?+?ɨN3@N_;LyV/BV IIbIb&4٢j> j]=9nUll rG٣rULGyr r> vNusing accuracyPremultiplier from configtz?59v1?~?5Yv iv B|~@~@vT.Ev? ;v ;v ?5  lAZjQUFNOT Ignoring new targets: 115.60 m.Bj]»Jj]»m ProNav: ac range: 115.599998 m, nav range: 60.568638 m, bearing: 348.066705 deg, approach rate: 0.578566 m/s, LOS rate: -0.340958 deg/s, cmd heading: 124.952095 deg, new cmd heading: 124.570703 deg. 2jmiuHeadingCmd: 2.174169 target range: 115.599998 and range: 115.60 m. ju% @jqjqjqiyhyhyhyhyfffrfbf<@ɛpB".A= 隵>I Xz<ɚiI=I% @ii5{=)% @)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712779*F%?2F!:F!BF%_0JF!GPă=GBOE> IH) I)  I- ! II- 1BI) &I) .I) 6I- <:I- Y FBIJIRIZI* =bI* =jI3 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963236 $w,A6d@Y6g@6 L=96=y6H]`jMp?`2:?rf@Tʺ?`I˵??ɨ6d@6;6CyJ=BJ1 IIRIR=4٢Z= ZL=9b(`` bG٣dyf j> nNusing accuracyPremultiplier from configlr?59n ?r?5Yn in Bpr@v@nY.En:n;n?5zB ~A{EZj1=FNOT Ignoring new targets: 115.60 m.Bj=ŻJj=Ż] ProNav: ac range: 115.599998 m, nav range: 60.803230 m, bearing: 347.927221 deg, approach rate: 0.584133 m/s, LOS rate: -0.345974 deg/s, cmd heading: 124.570698 deg, new cmd heading: 124.153868 deg. 2j]pm]HeadingCmd: 2.166894 target range: 115.599998 and range: 115.60 m. jec @jajajaiahahihihifqfqfqrfqbfu@L@ɛUrBe':= ae>Ii mA<ɚiiiIm g=Iuc @iu2 $?I J J J J J :J 9J J J ;J ;J <;J <;T0*w,AF7@YF!V@Fq=9F=yFH8fp֋?dY?=)ĺ?f U~?F?ɨF7@FyՉ;FCyNCBN8 I)P PTVA-Mb@Mb@Mb@))) )))Y-n?+η?{Gzt?y-6?-v=-ף;-`@ -@)-I@I-@)y-@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467508IIa4٢< ;=9 G٣yx > Nusing accuracyPremultiplier from config@59V?@5Y) i B7?:@@^.Ef;;r@5 A~EZj%FNOT Ignoring new targets: 115.60 m.Bj%һJj%һ5 ProNav: ac range: 115.599998 m, nav range: 61.064579 m, bearing: 347.767542 deg, approach rate: 0.605191 m/s, LOS rate: -0.368178 deg/s, cmd heading: 124.153865 deg, new cmd heading: 123.676888 deg. 2j=|=HeadingCmd: 2.158569 target range: 115.599998 and range: 115.60 m. j=% @jAjAjIiIhIhIhQhUWBfQfQfYrfYbf];h @ɛsB.@= f=隍>I <ɚiI=I% @iiL=)% @)zK LK 9K K K *F-?2F):F)BF-o0JF)G Š}=GBO >M Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:22:57.1570 LVL= 23408, 32753, 28146, 32755, AGC= 67, IDX= 407,-0.29,-1.263,-2.664,-1.981,-1.692, PHS= 0.517,-0.926,-0.292, RAW= 116.0, 11.2, CAL= 124.4, 7.9, ROT= 25.6, -7.9  Ygot valid direction response: 22:22:57.1570 LVL= 23408, 32753, 28146, 32755, AGC= 67, IDX= 407,-0.29,-1.263,-2.664,-1.981,-1.692, PHS= 0.517,-0.926,-0.292, RAW= 116.0, 11.2, CAL= 124.4, 7.9, ROT= 25.6, -7.9  PDAT read: Bearing 25.6, -7.9 (Local)  ~Local bearing/azimuth received: Bearing 25.6, -7.9 (Local)  DAT read: Range 10 to 50 : 113.1 m (Round-trip 150.9 ms) speed 0.4 m/s  ,DAT read: user:2555>  BDAT read: Tx time:22:22:58.2519  $Ping request sent. U @)U 0 >IU >iU 0 Q Q U A]P?+Ix:G.?)U )IU bHiU u!U Q Q  :publishing transmit ping time  Fpublishing direction and range infoQ 9U G*տC0ԿVb?yQ Q Q Q Q )Q IQ iQ Q Q Q Q Q )Q IQ iQ Q Q U A]P?+Ix:G.?)Q IQ iQ Q Q Q 1w,͔İA $I$*J24="J24=>]?Y> @>E=9>T=y>H(=@?$v?`?V䲿?B?ɨ>]?>g;)1 5G٣1y5 5> eNusing accuracyPremultiplier from configYe@59]?m@5Y] i] Bim8@m@]b.E]C:]e:]@5 rAkHq?k!D k k@A:k3BBkBZk.a="[wBr]BQY@G*տC0ԿVb?Jku!Rk*N[HJ@rr>q@4 QX@+i6?0?2?"k <@*kUBk?kÈC 2k$CkkÈC k$CkoBkcH=] addTargetRange:: Added new target pos. range: 113.099998 m, deltaT: 3.779060 s, deltaX: -2.500000 m, approachRate: -0.661540 m/s, rangeRepo size: 4 m Added new target pos. range: 113.099998 m, bearing: 3.149900 deg, lat: 36.905908 deg, lon: -122.119768 deg, deltaT: 3.779060 s, deltaX: -2.500000 m, approachRate: -0.661540 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 113.10 m.BjJj ProNav: ac range: 113.099998 m, nav range: 59.944775 m, bearing: 2.809469 deg, approach rate: 0.000000 m/s, LOS rate: -0.368178 deg/s, cmd heading: 123.676885 deg, new cmd heading: 123.228198 deg. 2jHeadingCmd: 2.150738 target range: 113.099998 and range: 113.10 m. j @jjjihhhhfffrf`fF\@bf?jH<bH<H >I IM IITBI&I.I6Io<:ID FɛtB%B= !%O>I! %<ɚ)i)I-t=I5 @i=4] Will construct direction to contact in vehicle frame from tetrahedron phase data.G7w,ްA2 ?Y2Х @2c=92xAJ=y2H@S sv? Q?ZN`!3??ɨ2 ?2Չ;2Cy>QB>J I]Mb@Mb@Mb@YYY Y)YY]T㥛 ?l?Mbpy]A?]=]]v@ ]@)]`@IYYy]@IuIu4٢< C=9>~;Q > G٣VLGyv5 > Nusing accuracyPremultiplier from config@59)졜?@5Y݊ ix BA?:@@g.E2;$1;t@5B IAEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 113.10 m.Bj$Jj$  ProNav: ac range: 113.099998 m, nav range: 60.144688 m, bearing: 2.580059 deg, approach rate: 0.503790 m/s, LOS rate: -0.576201 deg/s, cmd heading: 123.228197 deg, new cmd heading: 122.542289 deg. 2j żHeadingCmd: 2.138767 target range: 113.099998 and range: 113.10 m. j@jjjihhhhuBf!f!f!rf)bf--f?ɛ]uB]P= Y]3>IY ej<ɚaiaIec=Im@iiim=)m@)q -$?I-hJiJmJiJiJiJm:JiJiJiJiJmyE;JmzE;*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G% T=G% ?G% >G B O5 >zK k3IK 9K K K *n=w,TAR?YR* @R=9Rc'=yRH@0`_``? ??eߤ?`H?ɨR?R(R;RCyXXi^4=I^=IfIf.4٢n; nV=9n;Q r>pp rG٣pyvk v> ENusing accuracyPremultiplier from configxM@59zۡ?M@5Yz< iza BQUt@U@zl.EzRI h\<ɚiIͿ=I-@i!i% =)%-@)! Will construct direction to contact in vehicle frame from tetrahedron phase data. i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990833E< -$?I)*F2F:FBF1JFH ">I C I l II nBI ) =&I .I 6I n<:I F F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245690G \Ȓ=G B O >Dw,(A62V?Y6 @6=960=y6H{`on? @?[w?UBBO IIJIJ4٢VM< VC=9V¡;Q V>|| ~G٣|yxb >  Nusing accuracyPremultiplier from config @59 ɡ?@5Y ~ i F B@@ q.E  ; P ; @5) -"A-EZjQ]FNOT Ignoring new targets: 113.10 m.Bj]7#Jj]7#m ProNav: ac range: 113.099998 m, nav range: 60.532688 m, bearing: 2.132728 deg, approach rate: 0.496566 m/s, LOS rate: -0.570778 deg/s, cmd heading: 121.911295 deg, new cmd heading: 121.204689 deg. 2jmüuHeadingCmd: 2.115421 target range: 113.099998 and range: 113.10 m. juc@jqjyjyiyhyhyhhfffrfbf6?ɛwB<-M= >I O<ɚiI'=Ic@iizh=)c@)E=*F?2F:FBF4JF!G-sA G-tAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500832 iIiJ J J J J |:J :J J J ;J ;J C;J C;G =G B O >Jw,M-A2\?Y2DM @2+=92 @:=y2Hz`?j@g? c1??ɨ2\?2 4;2Cy>XB>R I~Will construct direction to contact in vehicle frame from tetrahedron phase data.~R?~?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750833%Mb@Mb@Mb@!!! !)!Y%p= ף?x&?y&1y%E?%7=%`e! %@)%@I%@!y%@IIa4٢.< :=9θ;Q > G٣WLGy > Nusing accuracyPremultiplier from config @59~? @5Y1x i% B5E?5:5@=@v.E;B;P@5A EAAZjFNOT Ignoring new targets: 113.10 m.BjJj ProNav: ac range: 113.099998 m, nav range: 60.741657 m, bearing: 1.885678 deg, approach rate: 0.471475 m/s, LOS rate: -0.555474 deg/s, cmd heading: 121.204685 deg, new cmd heading: 120.466127 deg. 2jHeadingCmd: 2.102530 target range: 113.099998 and range: 113.10 m. j܏@jjjihhhhBfffrfbf@U?ɛmxBmI= qu>Iq up<ɚqiqI}d=I}܏@iyi=)܏@)zKBHK]9KKKEE*E"E) Ce.~G`wAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004674*F2F:FBF`5JF 7Y `wAy B e $?Ia Gm =GIBQOm>HRw,\KA 6CG?Y6 @6=96*B=y6HW7ś? Hէ?E?`?ɨ6CG?6x;6CyFLBFC IININ74٢VT V;=H^$>I\ I^y II^xBI^( =&I\.I^4D6I^<:I^V F9Z;Q j>ll rG٣pyrd r> vNusing accuracyPremultiplier from configtz@59v2?~@5Yvjq iv B|~c@~@v|.Ev;v>;v#@5B gA EZjFNOT Ignoring new targets: 113.10 m.BjBJjBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254650 ProNav: ac range: 113.099998 m, nav range: 60.950741 m, bearing: 1.637264 deg, approach rate: 0.467422 m/s, LOS rate: -0.553442 deg/s, cmd heading: 120.466123 deg, new cmd heading: 119.723481 deg. 2j齼-HeadingCmd: 2.089569 target range: 113.099998 and range: 113.10 m. j-@j)j1j1i1h1h1h9h9f9f9f9rfAbfE@@@ɛyBE= 隵:>I <ɚiI.=I@ii̱=)@)*F?2F:FBFY0JFG=GB1O> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506453 1 I1 Xw,keA6'?Y62 @6=96H{N=y6H`Aa } =? W?!굿@^??ɨ6'?6i;6CyV?BV4 I Mb@Mb@Mb@    ) Y K7?&1?I +y I? P= 9 QA @) AI @ y @I5I5T4٢M\ U3=9U/;Q ]>Ya eG٣eXLGym m> }Nusing accuracyPremultiplier from configq@59u?@5Yu j iu B:J?:q@@u.Eub;uPa;u@5B AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 113.10 m.BjH,JjH,  ProNav: ac range: 113.099998 m, nav range: 61.164986 m, bearing: 1.369637 deg, approach rate: 0.484003 m/s, LOS rate: -0.602479 deg/s, cmd heading: 119.723476 deg, new cmd heading: 118.923463 deg. 2j μHeadingCmd: 2.075606 target range: 113.099998 and range: 113.10 m. j@jjjihhhhBff!f!rfbf@ɛzB?= b>I (o<ɚiIk=I@i9iEҋ=)E@)AWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760014*F?2F:FBF_0JF"G=G=zK%m$JK%9K!K%K%G `=G B O >_w,}@A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2BDAT read: Rx Time:22:23:00.8038 2TRx dataTimestamp_ set to:1736374982.0005196checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011467^?Y^ @^V=9^ [=y^H`Up@fi?@i?# hF??ɨ^?^:);\yj(Bj IIrIr4٢ b=9 ;Q > G٣y%Xܼ -> MNusing accuracyPremultiplier from configA]@59E?e@5YEd iE Bam@m@E.EE;E=;EJ@5 AEZjFNOT Ignoring new targets: 113.10 m.Bj'Jj' ProNav: ac range: 113.099998 m, nav range: 61.335587 m, bearing: 1.154767 deg, approach rate: 0.467066 m/s, LOS rate: -0.586628 deg/s, cmd heading: 118.923456 deg, new cmd heading: 118.280666 deg. 2jLɼHeadingCmd: 2.064387 target range: 113.099998 and range: 113.10 m. j@jjjih  $?Ihhhhfffrfbf@ɛE{BM;= QUr>IQ U<ɚQiQIUD=Im@iiim%=)m@)qE}rAE}sAJJ@AJKm3 KS}-KK"KJJJJJ :J:JJa@a@a@a@*F2F:FBFJFG=GHI Is IIsBI&I.I6Iw<:IN FBOj> Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262506@ew,Ae?YeF @e=9e:g=yeH NH`H?`x?o7Ǭ??ɨe?eB;eCy޵!B޵ Ii>I4< ==I%I%4٢ 4=9H-:Q E>QQ ]G٣YuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:23:00.8038 LVL= 16816, 32753, 24738, 32755, AGC= 68, IDX= 406,-0.44, 2.917, 1.164, 1.938, 2.186, PHS= 0.819,-0.975,-0.251, RAW= 113.6, 5.3, CAL= 124.0, 1.9, ROT= 26.0, -1.9 Ygot valid direction response: 22:23:00.8038 LVL= 16816, 32753, 24738, 32755, AGC= 68, IDX= 406,-0.44, 2.917, 1.164, 1.938, 2.186, PHS= 0.819,-0.975,-0.251, RAW= 113.6, 5.3, CAL= 124.0, 1.9, ROT= 26.0, -1.9 PDAT read: Bearing 26.0, -1.9 (Local) ~Local bearing/azimuth received: Bearing 26.0, -1.9 (Local) DAT read: Range 10 to 50 : 110.7 m (Round-trip 147.7 ms) speed 0.5 m/s ,DAT read: user:2556> BDAT read: Tx time:22:23:01.9019 $Ping request sent.i}yy}h?%6 F%w?)}XI}i}v }yy-:publishing transmit ping time-Fpublishing direction and range infoy9}H˿}<ӿ!m?yyyyy y)yIyiyyyyy y)yIyiyyy}h?%6 F%w?)yIyiyyyyyE M> UNusing accuracyPremultiplier from configQ]@59Uo?@5YU[ iU B1@@U.EU+"}(7Xy@rJJY@}H˿}<ӿ!m?Jk}v Rk}*}$ [D@2-g!@kH Y@}& m?>_g?.iޥ?"k}+ A*k}"Bk}) )֮?k}\Ys 2k}'Ckyk}Q kyk}vBk}Vb= addTargetRange:: Added new target pos. range: 110.699997 m, deltaT: 3.533286 s, deltaX: -2.400002 m, approachRate: -0.679255 m/s, rangeRepo size: 4  $?I Added new target pos. range: 110.699997 m, bearing: 12.228158 deg, lat: 36.905908 deg, lon: -122.119740 deg, deltaT: 3.533286 s, deltaX: -2.400002 m, approachRate: -0.679255 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 110.70 m.BjJj ProNav: ac range: 110.699997 m, nav range: 61.657494 m, bearing: 3.170647 deg, approach rate: 0.000000 m/s, LOS rate: -0.586628 deg/s, cmd heading: 118.280667 deg, new cmd heading: 117.362901 deg. 2jEHeadingCmd: 2.048369 target range: 110.699997 and range: 110.70 m. jEz@jIjIjqiqhqhyhyhyfyffrf̬[@bf燹?ɛ}B"$)= M>I \<ɚiI=I-z@i)i5=)5z@)1*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:22:23:01.9011 GE%=zKU#LKU+9KQKUKU2Tp~j[PF?:74.$ GB O->.mw,︱ABr?YBdX @B1=9Bf=yBHW8>@??@x??`?`?ɨBr?Bp;@yލBލI}Mb@Mb@Mb@yyy y)yY}%C?V-?Q롿y}ZD?}m=}\}v@ }$@)}AI}@yy}\@II4٢菽  =9o9Q >1 =G٣]YLGye e>Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configq@59u']?@5YuPT iu^ BE?:^@@u.EuTI <]<ɚiI'=IG.@iiS=)G.@) I*JR="Jp=JJJJJJ:JJ*F?2F:FBFJFG]0=G B) OE >H I  I M II TBI &I .I 3D6I <:I g FBIɜCJIɜCRIZI( =bI) =jIɦv5M Will construct direction to contact in vehicle frame from tetrahedron phase data.ttw,ڭұAN0?YN@Nΰ=9N-+]=yNH4)_;L3? =?`??ɨN0?N9я;NCyVBVIIbIb4٢faP jv=9jQ j?ll nG٣lyr r ? vNusing accuracyPremultiplier from configtz@59vP?z@5Yv1O iv> Bx~ @~@v.Ev ;vG;v(@5 B QA EZj15FNOT Ignoring new targets: 110.70 m.Bj=0Jj=0M ProNav: ac range: 110.699997 m, nav range: 61.996925 m, bearing: 2.710457 deg, approach rate: 0.456336 m/s, LOS rate: -0.618594 deg/s, cmd heading: 116.543887 deg, new cmd heading: 115.986327 deg. 2jMDԼUHeadingCmd: 2.024343 target range: 110.699997 and range: 110.70 m. jU׎@jQjQjYiYhYhYhYhafafafarfabfmǛ?ɛBF$= 隥\Z>I zW<ɚiI$ =I׎@iix2=)׎@)*F-?2F):F1BF50JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.G=o=G BO5>  $?Izw,챾A2?Y2``@2Bg=92M=y2HM*&vf0?:? *Ƶ??ɨ2?2;;2Cy>ҁBBI)D DMb@Mb@Mb@ )YS? ףp= ?X9vy/=?Q8=A ;@)AI@y@ImIm4٢} }@=94Q > G٣y > Nusing accuracyPremultiplier from config@59fA?@5YH i B=?:l @@.E>;7;K,@5 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 110.70 m.Bj"Jj" ProNav: ac range: 110.699997 m, nav range: 62.167870 m, bearing: 2.468689 deg, approach rate: 0.401811 m/s, LOS rate: -0.566721 deg/s, cmd heading: 115.986325 deg, new cmd heading: 115.263056 deg. 2jw¼HeadingCmd: 2.011720 target range: 110.699997 and range: 110.70 m. j@jjjih h h h RBfWill construct direction to contact in vehicle frame from tetrahedron phase data.>R=%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ff1rf9bf=,3?ɛeBm= imB#>Ii uw<ɚqiyI}D =I}@ii#=)@)*F ?2F :F BF)1JFGr=GBzKMK9KKKOI> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493719 I hw,9^A:?Y:@:Ux=9:'R?=y:H`q C r`!?`?@Zҧ??ɨ:?:s;:CJ\J^AAJdJfJdJdJdJf:JdJdynBnIIvIvK4٢~C̽ ~S=9Q >   G٣ y 菼  > Nusing accuracyPremultiplier from config%@593?%@5Y_B iB!- @-@.E*;.+;/@51 5A1ZjaeFNOT Ignoring new targets: 110.70 m.Bjm!Jjm!} ProNav: ac range: 110.699997 m, nav range: 62.323006 m, bearing: 2.248452 deg, approach rate: 0.399257 m/s, LOS rate: -0.565387 deg/s, cmd heading: 115.263062 deg, new cmd heading: 114.604028 deg. 2j}¼HeadingCmd: 2.000218 target range: 110.699997 and range: 110.70 m. j@jjjihhhhfffrfbf@US?ɛB*< =I 5<ɚiI =I@iiu=)@)H%>I I II'BI&I.I4D6I7<:I F*F?2F:FBFP5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745691GS=GBO>Lw,H A>Will construct direction to contact in vehicle frame from tetrahedron phase data.yy G٣ZLGy1ؼ > Nusing accuracyPremultiplier from config@59b$?@5YJ< iB3?:@@.EK;;Z3@5B eAE U $?IQZjFNOT Ignoring new targets: 110.70 m.Bj Jj  ProNav: ac range: 110.699997 m, nav range: 62.493736 m, bearing: 2.030579 deg, approach rate: 0.384429 m/s, LOS rate: -0.489236 deg/s, cmd heading: 114.604031 deg, new cmd heading: 113.952228 deg. 2j᧼HeadingCmd: 1.988842 target range: 110.699997 and range: 110.70 m. j\?jjjihhhh.BfffrfbfM@ɛMBM< U1G=U=IQ Uqø<ɚQiQI]e =I]\?iYies=)e\?)*FE?2FA:FABFEO5JFAG^=GBOj>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249705zK- BoHK- +9K) K- K- RK= ?JK= >؍w,:A2 ?Y2m@2=92(=y2H*`? t?05*? ??ɨ2 ?2_:;2CyNBRYIIV IV4٢^  bW=9b;Q b>dd fG٣dyf j> nNusing accuracyPremultiplier from confighr@59j?r@5Yj6 ijBpr@r@j.Ejh;j;j6@5x z=AxZjFNOT Ignoring new targets: 110.70 m.Bj%+Jj%+- ProNav: ac range: 110.699997 m, nav range: 62.646069 m, bearing: 1.832937 deg, approach rate: 0.430068 m/s, LOS rate: -0.556632 deg/s, cmd heading: 113.952226 deg, new cmd heading: 113.360762 deg. 2j55HeadingCmd: 1.978518 target range: 110.699997 and range: 110.70 m. j5@?jjjihhhhfff!rf!bf- @ɛBK< 隝I  I II BI &I .I 6I }<:I T FB O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755307w,SA2?Y2@2 ڳ=92=y2H@>߿b7?t߿^X?s!?s?ɨ2?2)[;0ynwBn=IIzIz4٢۽ F=9 p;Q  >    G٣y > =Nusing accuracyPremultiplier from config9E@59=k?E@5Y=0 i=BIM? @M@=.E=:=e:=Q:@5UB UAEZjFNOT Ignoring new targets: 110.70 m.BjCJjC% ProNav: ac range: 110.699997 m, nav range: 62.811295 m, bearing: 1.615205 deg, approach rate: 0.383848 m/s, LOS rate: -0.504495 deg/s, cmd heading: 113.360759 deg, new cmd heading: 112.709313 deg. 2j%-HeadingCmd: 1.967149 target range: 110.699997 and range: 110.70 m. j-?j)j)j)i)h)h1hyhyfyfyfyrfbf@ɛB < MͼIQ Uf<ɚQiQIU =I]?iYi]=)]?)*F-?2F1:F1BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005742 =$?I9G q'=Ga B O >ꚬw,mA6ia?Y6@6P=96c=y6H޿ !@?޿2?PD ?`?ɨ6ia?6=;6Cy>]BBI Mb@Mb@Mb@    ) Y E?K?S㥛y &? ^= /ݼ QA @) AI @ y (@II4٢ @=9:Q > G٣[LGy > Nusing accuracyPremultiplier from config@59w?@5Y* i\Bk(?: @@.EO; N;>@5 AEWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:23:04.4508 TRx dataTimestamp_ set to:1736374985.780756 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258866B*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 110.70 m.Bj5 Jj5 E ProNav: ac range: 110.699997 m, nav range: 62.971020 m, bearing: 1.411034 deg, approach rate: 0.386896 m/s, LOS rate: -0.493301 deg/s, cmd heading: 112.709316 deg, new cmd heading: 112.098379 deg. 2jEFMHeadingCmd: 1.956486 target range: 110.699997 and range: 110.70 m. jM n?jIjIjIiIhQhYhYh]BfYfafarfabfe@L @ɛn< 隝DI 8<ɚiI=I n?iix=) n?)zK=JK=9K9K=K=2, E5;=E9E9E~Ga YyzB*F?2F:FBFX3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ iյ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511448 ! I) G5 ;=J J J 0J J :J :J ـ3J G)B1OU>Тw,hϋAyn@BnI)p pprAIvIvH4٢ 7=9Q >    G٣ y > Nusing accuracyPremultiplier from config%@59렜?%@5Y$ i7B!!%@.E::A@5H}%>Iy I}II}BIy&Iy.I}3D6I}<:I}] FB AEZjFNOT Ignoring new targets: 110.70 m.BjJj5 ProNav: ac range: 110.699997 m, nav range: 63.141254 m, bearing: 1.195676 deg, approach rate: 0.367824 m/s, LOS rate: -0.464065 deg/s, cmd heading: 112.098376 deg, new cmd heading: 111.454072 deg. 2j5=UHeadingCmd: 1.945240 target range: 110.699997 and range: 110.70 m. jU?jQjQjQiQhQhYhYhYfYfafarfabfe` @ɛB__< 隝X I .<ɚiI^,=I?ii =)?) Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:23:04.4508 LVL= 17040, 32753, 27970, 32755, AGC= 64, IDX= 407, 0.49,-1.738, 2.571,-2.877,-2.558, PHS= 0.908,-1.107,-0.322, RAW= 112.7, 6.0, CAL= 123.0, 2.8, ROT= 27.0, -2.8 ]Ygot valid direction response: 22:23:04.4508 LVL= 17040, 32753, 27970, 32755, AGC= 64, IDX= 407, 0.49,-1.738, 2.571,-2.877,-2.558, PHS= 0.908,-1.107,-0.322, RAW= 112.7, 6.0, CAL= 123.0, 2.8, ROT= 27.0, -2.8 ePDAT read: Bearing 27.0, -2.8 (Local) m~Local bearing/azimuth received: Bearing 27.0, -2.8 (Local) }DAT read: Range 10 to 50 : 108.6 m (Round-trip 144.8 ms) speeds ESE=,DAT read: user:2557> BDAT read: Tx time:22:23:05.5519 $Ping request sent.i +H   ?h0մc꨺?) I սi @4 p  :publishing transmit ping timeFpublishing direction and range info 9 .q ӑOͿ¶ҿ_N?y     ) I i      ) I i    ?h0մc꨺?) I i    G3=GBOi> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:23:05.5511  I w,xA2Sb?Y2*P@2=92ea$BBI]Mb@Mb@Mb@YYY Y)YY]ʡE?&1?/$y]?]=]]`@ ]@)]3AI];@YyYuAAu@AI'I5٢ @=93;Q > G٣\LGys > Nusing accuracyPremultiplier from config @59Uޠ? @5Y iB=?=:= @=@.E<Y<E@5I MzAqkE|?kEa kA kE-A:kE3BBkEBZkE<"ELO8N<>"ELY@E.q ӑOͿ¶ҿ_N?JkE@4RkEp*E33B@Fe?x?gN|yY@E2W?r,]?H`?"kEk?*kEBkEƢ ?kEA 2kE&CkE?kAkAkEBcBkE_Ȟ<% addTargetRange:: Added new target pos. range: 108.599998 m, deltaT: 3.778060 s, deltaX: -2.099998 m, approachRate: -0.555840 m/s, rangeRepo size: 4 U Added new target pos. range: 108.599998 m, bearing: 1.426075 deg, lat: 36.905850 deg, lon: -122.119740 deg, deltaT: 3.778060 s, deltaX: -2.099998 m, approachRate: -0.555840 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 108.60 m.BjeJja ProNav: ac range: 108.599998 m, nav range: 56.814945 m, bearing: 1.110544 deg, approach rate: 0.000000 m/s, LOS rate: -0.464065 deg/s, cmd heading: 111.454071 deg, new cmd heading: 110.841209 deg. 2jHeadingCmd: 1.934544 target range: 108.599998 and range: 108.60 m. j$?jjjihhhh̀Bfffrf`f&[@bfe?ɛBM< BI %ĵ<ɚ!i!I%\=Im$?iiim=)m$?)qEyEy*Ey"Ey%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF JF G  G sAzK  LK 9K K K   G FM=G sAG sA Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>w,IJA "$?I$b?YbD@b#=9b Eh?ۿ`!ٶ?`{I??ɨb?b;bCyjBjIIvIv14٢f 0=9%恻Q %>11 =G٣9yE(ۼ M> ]Nusing accuracyPremultiplier from configYe@59]GР?e@5Y] i]Bae# @m@].E]":]":]I@5q uAqZjFNOT Ignoring new targets: 108.60 m.BjJj ProNav: ac range: 108.599998 m, nav range: 56.977654 m, bearing: 0.871846 deg, approach rate: 0.374270 m/s, LOS rate: -0.547497 deg/s, cmd heading: 110.841211 deg, new cmd heading: 110.127200 deg. 2j߻HeadingCmd: 1.922082 target range: 108.599998 and range: 108.60 m. j?jjjihhhhfffrfbf`?ɛt; 隝^I 7<ɚiIʂ=I?iiF=)?)*F?2F:FBFJFjH<bHp<H I  I 4II pBI &I .I 6I <:I X FGL=GWill construct direction to contact in vehicle frame from tetrahedron phase data.BOh>5w,u>޲A1?Y@:L=9Qyy }G٣yyؼ > Nusing accuracyPremultiplier from config@59m ?@5Y iB{?:A @@.E;;M@5 AEZj15FNOT Ignoring new targets: 108.60 m.Bj=Jj=m ProNav: ac range: 108.599998 m, nav range: 57.138981 m, bearing: 0.638846 deg, approach rate: 0.331973 m/s, LOS rate: -0.478103 deg/s, cmd heading: 110.127197 deg, new cmd heading: 109.430206 deg. 2jmuHeadingCmd: 1.909917 target range: 108.599998 and range: 108.60 m. ju,x?jqjqjyiyhyhhhBfffrfbf ?JJJJJ,:J:JJJ;aJ;aJyE;aJzE;aɛ .; >I <ɚiI=I%,x?i!i-VG=)-,x?)Y*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G AQ=G B O >Cw,+ABP?YBR?B=9B3Q $?IhH &>I  I II 8BI ) =&I .I 6I <:I s FBIYJIYRIYZIYbI]( =jI]ʙ4Ĭw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.D?<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990646>~?Y>?>e=9>FHDٿY{8?Yrٿ &??"?ɨ>~?>B;>Cy^BbIIjIj%4٢n rI=9r:Q r>tx zG٣xyz z> Nusing accuracyPremultiplier from config| @59~? @5Y~A  i~B  i @ @~.E~ :~*:~QT@5B dAEZjFNOT Ignoring new targets: 108.60 m.BjJj ProNav: ac range: 108.599998 m, nav range: 57.381702 m, bearing: 0.276820 deg, approach rate: 0.315989 m/s, LOS rate: -0.475520 deg/s, cmd heading: 108.948505 deg, new cmd heading: 108.346487 deg. 2j,HeadingCmd: 1.891003 target range: 108.599998 and range: 108.60 m. jb ?jjjihhh h f f f rfbf@@ɛ}B- 隕I w<ɚiIa=Ib ?ii=)b ?)*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248603 IGs=G B O >J- J- J) J) J- :J- :J) J) J- h;J- j;J- 9P;J- 9P;sʬw,,A yۀB}I))Mb@Mb@Mb@ )Y-?X9v?Mby??=A @)dAIp@y(AII4٢3 ;=9Q > G٣y > Nusing accuracyPremultiplier from config@593?@5Y iBV?: @@.E;3;X@5  AZjFNOT Ignoring new targets: 108.60 m.Bj~Jj~ ProNav: ac range: 108.599998 m, nav range: 57.529778 m, bearing: 0.066020 deg, approach rate: 0.336159 m/s, LOS rate: -0.477324 deg/s, cmd heading: 108.346485 deg, new cmd heading: 107.715739 deg. 2jʣHeadingCmd: 1.879994 target range: 108.599998 and range: 108.60 m. j?jjjih!h!h!h%ǀBf)f)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494610firfqbfu`I9@ɛ`M eIi m<ɚiiiImD3=Iu?iqiu=)u?)y*F=?2F9:F9BF=2JF9GErA GErAG-=GBzK5K5+9K1K5K5OE> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746481 $?I PѬw,FAZX?YZY6?Z=9Z h=yZH ׿(+Q@/?׿@? pܠ?#?ɨZX?ZF4;ZCyfـBf{IIz!Iz5٢7 %U=9-Q ->9A EG٣E^LGyEБ E> UNusing accuracyPremultiplier from configIU@59M?]@5YM iM|BY] @]@M.EMO;M;M[@5a mAiZjFNOT Ignoring new targets: 108.60 m.BjTJjT% ProNav: ac range: 108.599998 m, nav range: 57.656689 m, bearing: 359.876224 deg, approach rate: 0.335904 m/s, LOS rate: -0.501239 deg/s, cmd heading: 107.715737 deg, new cmd heading: 107.147621 deg. 2j%-HeadingCmd: 1.870079 target range: 108.599998 and range: 108.60 m. j-^?j)j1j1iQhQhQhYhYfYfYfarfabfe@6@ɛn I ݩ<ɚiI L=I^?iiS˜=)^?)ZH1RH5@AHE)>IA IEIIEBIE( =&IA.IE4D6IEְ<:IE F5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9EBDAT read: Rx Time:22:23:08.0977 MTRx dataTimestamp_ set to:1736374989.312984Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.003932Eu<H=*F2F:FBF0JFG =G ?G ?G B Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260952O=>*جw,QdA (I(:k?Y:?:]=9:K=y:H,׿ e?ŵ?@3׿e?9@9?`?ɨ:k?:;:CyрB qIMb@Mb@Mb@ )YzG?X9v?Mb`?y ?;A QA)I@yAI"I5٢ '=9oiQ > G٣ye̼ > Nusing accuracyPremultiplier from config@59:?@5Y5 igB?: @@.Ea;;_@5 AEJJJJJܫ:J :JJJ;J;JR;JR;Zj FNOT Ignoring new targets: 108.60 m.BjE JjE M ProNav: ac range: 108.599998 m, nav range: 57.815414 m, bearing: 359.633404 deg, approach rate: 0.315195 m/s, LOS rate: -0.480863 deg/s, cmd heading: 107.147623 deg, new cmd heading: 106.421204 deg. 2jUUHeadingCmd: 1.857400 target range: 108.599998 and range: 108.60 m. j}L?jyjyjyiyhyhhhрBfffrfbf@b? @ɛB V I! %<ɚ!i!I-=I=L?i9i==;=)=L?)AEEfm=*F2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:23:08.0977 LVL= 13664, 25345, 24050, 31411, AGC= 62, IDX= 407, 0.03, 2.073, 0.101, 0.840, 1.214, PHS= 0.947,-1.066,-0.377, RAW= 109.7, 5.7, CAL= 120.3, 2.9, ROT= 29.7, -2.9 Ygot valid direction response: 22:23:08.0977 LVL= 13664, 25345, 24050, 31411, AGC= 62, IDX= 407, 0.03, 2.073, 0.101, 0.840, 1.214, PHS= 0.947,-1.066,-0.377, RAW= 109.7, 5.7, CAL= 120.3, 2.9, ROT= 29.7, -2.9 PDAT read: Bearing 29.7, -2.9 (Local) ~Local bearing/azimuth received: Bearing 29.7, -2.9 (Local) DAT read: Range 10 to 50 : 106.2 m (Round-trip 141.6 ms) speed 0.4 m/s ,DAT read: user:2558> BDAT read: Tx time:22:23:09.2019 $Ping request sent.iٍnr?ٍrٍ%ٍx?ٍ%= ڍ[`@)ڍ4QO=Iڍm?iڍ4QOډډۍn*6?)ۍXy8Iۍ'ʽiۍ_Yۍ ۉۉ-:publishing transmit ping time-Fpublishing direction and range info؉9؍cCc̿ӱ4jͿI=y W?y؉؉؉؉ ى)ىIىiىىG==ىىى ډ)ډIډiډډډۍn*6?)ۉIۉiۉۉۉۉG B! OE >ެw,v~AzK,K. 9K,K.K.'$JG?YJH?JF=9JK=yJH`uֿez?$?`AVֿ@ʶ? ´'?@L?ɨJG?J ;Hy^̀B^lIIfIfk4٢%ӟ %W=9%לQ ->)) -G٣)y5 5> ]Nusing accuracyPremultiplier from configYe@59]~?e@5Y]  i]WBimO@m@].E]L:]L:]c@5 Ak}[۪?k;b k ktA:kfBBkBZk@"O pS7zg8Aq7,Y@cCc̿ӱ4jͿI=y W?Jk_YRk *K?@^L!PQY@]?q}+d#?"k*kAk5?kc 2k%Ck) )֮?kA k%CkJ.Bk@e addTargetRange:: Added new target pos. range: 106.199997 m, deltaT: 3.536886 s, deltaX: -2.400002 m, approachRate: -0.678563 m/s, rangeRepo size: 4  Added new target pos. range: 106.199997 m, bearing: 352.311732 deg, lat: 36.905721 deg, lon: -122.119742 deg, deltaT: 3.536886 s, deltaX: -2.400002 m, approachRate: -0.678563 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 106.20 m.BjJj ProNav: ac range: 106.199997 m, nav range: 43.572815 m, bearing: 359.019143 deg, approach rate: 0.000000 m/s, LOS rate: -0.480863 deg/s, cmd heading: 106.421205 deg, new cmd heading: 105.875462 deg. 2jWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:23:09.2011 HeadingCmd: 1.847875 target range: 106.199997 and range: 106.20 m. j.?jjjihhhhff!f!rf%̌Z@bf% ~? QIQɛ I ި<ɚiIV=I.?ii N=) .?) EE*E"EH]/>I]C I]II]BI]' =&IY.IY6I]<:I] F*FI 2FI :FI BFM Q5JFI "GU =GU = Will construct direction to contact in vehicle frame from tetrahedron phase data.G) G BO->w,2AFt?YF?F(=9F=yFHտ?`?īտB?@`l??ɨFt?F@x;FCyVҀBVrII^I^ʴ4٢fx< f4=9fQ j>hh jG٣n_LGynNȼ n> rNusing accuracyPremultiplier from configpv@59rs?v@5Yr irDBxz@z@r.Er;r ;rg@5~B AE%B*** querying acoustic contact ***j!j!Zj1=FNOT Ignoring new targets: 106.20 m.Bj=FJj=FM ProNav: ac range: 106.199997 m, nav range: 43.717800 m, bearing: 358.720656 deg, approach rate: 0.339102 m/s, LOS rate: -0.695807 deg/s, cmd heading: 105.875459 deg, new cmd heading: 104.983042 deg. 2jMUHeadingCmd: 1.832300 target range: 106.199997 and range: 106.20 m. j]̈?jYjYjYiYhYhYhahafafafirfibfm}M?ɛimu quIq uR<ɚqiqIu=I}̈?iyi}=)̈?)*F ?2F:FBF_05Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode. $?IhJFJAJEJAJAJAJE:JAJAJAJE;JEL;JEL;GGA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992800Aw,h@AyEՀBMvI Mb@Mb@Mb@    ) Y S?K7A?y&1|?y /?  > `; A @) AI @ y pAI%I%m4٢5p< 54=95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU@59Mf?U@5YM iM3B] ?]:]@e@M.EMp;Mm;Mj@5i uAuEZjFNOT Ignoring new targets: 106.20 m.BjCJjC ProNav: ac range: 106.199997 m, nav range: 43.872585 m, bearing: 358.409868 deg, approach rate: 0.342076 m/s, LOS rate: -0.684415 deg/s, cmd heading: 104.983040 deg, new cmd heading: 104.054053 deg. 2j꼝HeadingCmd: 1.816086 target range: 106.199997 and range: 106.20 m. ju?jjjihhhhBfffrfbf.?ɛBV  () CI  ͟Ie C Ie IIe BIe $ =&Ia .Ie 5D6Ie <:Ie g FB O >w,гA20?Y2n?2M=92F"=y2HԿD?`m0?̝Կ*?`Tر`I??ɨ20?25;2Cy>ڀB>|I)@ BADFAIJIJ4٢b< f^=9f,ǼQ f>hh jG٣hynpE n> rNusing accuracyPremultiplier from configpv@59r\?v@5Yri ir(Bxz@z@r.ErLC;rD;r2n@5 AZj!FNOT Ignoring new targets: 106.20 m.Bj9EJj9E ProNav: ac range: 106.199997 m, nav range: 43.995693 m, bearing: 358.156370 deg, approach rate: 0.335890 m/s, LOS rate: -0.689711 deg/s, cmd heading: 104.054052 deg, new cmd heading: 103.295733 deg. 2j켝HeadingCmd: 1.802851 target range: 106.199997 and range: 106.20 m. j?jjjihhhhfffrfbf?-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496827ɛAMذ IMII M<ɚIiQIU =IU?iYi]η=)]?)Y*F?2F:FBF_0JF!G=GBOC> Will construct direction to contact in vehicle frame from tetrahedron phase data.  I! - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751262y w,y곾Ab^k?Yb_?b=9bn1=ybHorӿ@z ǖ?k?Mӿ? '/? ?ɨb^k?b,;bCyhheMb@Mb@Mb@aaa a)aYe'1Z?V-?I +?ye"?e=e94 G٣`LGyN > Nusing accuracyPremultiplier from config@59Q?@5Y iB%?:@@.Ee";;q@5 Zjy}FNOT Ignoring new targets: 106.20 m.BjGJjG ProNav: ac range: 106.199997 m, nav range: 44.134407 m, bearing: 357.844166 deg, approach rate: 0.311062 m/s, LOS rate: -0.697906 deg/s, cmd heading: 103.295731 deg, new cmd heading: 102.362150 deg. 2j{=HeadingCmd: 1.786556 target range: 106.199997 and range: 106.20 m. j?jjjihhhhBfffrfbf?ɛB(R 隝I N<ɚiI=I?iii=)?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001765*F?2F:FBF`0JFG ~u=G B O >zK NK K K K !!"  BK :K pAJw,PPARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252913 j$?Ihzl?Yzm*?z3s=9zLn0=yzHҿ@N? Չ?ҿ@Ʊ?s ??ɨzl?z;xy]B]IImIm4٢< <9lQ > G٣y^ > Nusing accuracyPremultiplier from config@59G?@5Y iB@@.E::tu@5B cAEZj FNOT Ignoring new targets: 106.20 m.Bj VJjV% ProNav: ac range: 106.199997 m, nav range: 44.262806 m, bearing: 357.551726 deg, approach rate: 0.330572 m/s, LOS rate: -0.750722 deg/s, cmd heading: 102.362146 deg, new cmd heading: 101.487442 deg. 2j%-HeadingCmd: 1.771290 target range: 106.199997 and range: 106.20 m. j-?j)j)j)i)h)h)h1h1f1f9f9rf9bf=`I@ɛam$ im@Ii m_<ɚiiqIu=I}?iyi}=)}?)yEsAEJJJJJl:J:JJa@a@a@a@*F2F:FBF0JF Gs=GBH5>I IIIBI# =&I.I6I<:I FOG>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5047303w,4A2Y?Y2?2f=9217/=y2HkѿFڙ? ??ѿ`o۰?ؼ`Zܥ??ɨ2Y?2y;0y>B>IiB>IBC=IJIJ=4٢b( bW=9fQ f>dh jG٣hyj n> rNusing accuracyPremultiplier from configpv@59rZ>?v@5Yr ir BtvI@v@r.Er:r":rx@5~B ~oA~EB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 106.20 m.Bj5QJj5QE ProNav: ac range: 106.199997 m, nav range: 44.382687 m, bearing: 357.274745 deg, approach rate: 0.318236 m/s, LOS rate: -0.733286 deg/s, cmd heading: 101.487445 deg, new cmd heading: 100.658808 deg. 2jEMHeadingCmd: 1.756828 target range: 106.199997 and range: 106.20 m. jM?jIjIjQiQhQhQhYhYfYfYfarfabfe@o@ɛBhv 隕I Ph<ɚiI=I?ii=)?) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769412*F?2F:FBF1JFGt=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:23:11.7449  TRx dataTimestamp_ set to:1736374992.852733 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017943^ w, 8A ?YJ?rU=9X *=yH^ѿ Hc?`?>ѿw?`R@q8??ɨ ?;CyBIMb@Mb@Mb@ )Y rh?? G٣aLGy > Nusing accuracyPremultiplier from config@59c3?@5Yw iBr.?:?@.E&;;|@5 NAZjFNOT Ignoring new targets: 106.20 m.Bj^Jj^- ProNav: ac range: 106.199997 m, nav range: 44.527351 m, bearing: 356.910102 deg, approach rate: 0.309943 m/s, LOS rate: -0.778701 deg/s, cmd heading: 100.658806 deg, new cmd heading: 99.568571 deg. 2j-5HeadingCmd: 1.737799 target range: 106.199997 and range: 106.20 m. j56p?j1j9j9i9h9h9hAhE'BfAfAfIrfIbfMM @ɛB [I es<ɚaiaIe ` =Im6p?iiim=)m6p?)qzKOMKKKKRK ?JK>*FU?2FQ:FYBF]1JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269294 $?IhJK|3 KKK"KJ J J J J L:J :J J G {=G ZH RH AAH I  I II BI &I .I 6I $<:I " FBI˞CJI˞CRI˔CZI$ =bI% =jI[6B O= >9w,QAB?YB?B;F=9B*=yBH@ п/`1?@w?п`Dv?ĨI?P?ɨB?Bx;BCyJBJIIRIR4٢Z; ^s=9^9Q ^?`` bG٣`yb f? jNusing accuracyPremultiplier from configdn@59f+?n@5Yf ifBln?n@f.Ef:f:f@5t v?AvEZjFNOT Ignoring new targets: 106.20 m.Bj%^Jj%^5 ProNav: ac range: 106.199997 m, nav range: 44.630516 m, bearing: 356.647488 deg, approach rate: 0.306784 m/s, LOS rate: -0.779137 deg/s, cmd heading: 99.568572 deg, new cmd heading: 98.782601 deg. 2j5=HeadingCmd: 1.724082 target range: 106.199997 and range: 106.20 m. j=?j9j9jAiAhAhAhAhIfIfIfrfbf`x @ɛB iI  K<ɚ!i!I% =mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.520945Iu?iqi})=)}?)*Fe?2Fa:FiBFm3JFiGg=GQBaO}X>- Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:23:11.7449 LVL= 14880, 25057, 23106, 25539, AGC= 61, IDX= 409, 0.13, 2.886, 0.938, 1.439, 1.892, PHS= 1.082,-0.906,-0.456, RAW= 102.5, 3.1, CAL= 113.2, 0.9, ROT= 36.8, -0.9  Ygot valid direction response: 22:23:11.7449 LVL= 14880, 25057, 23106, 25539, AGC= 61, IDX= 409, 0.13, 2.886, 0.938, 1.439, 1.892, PHS= 1.082,-0.906,-0.456, RAW= 102.5, 3.1, CAL= 113.2, 0.9, ROT= 36.8, -0.9  PDAT read: Bearing 36.8, -0.9 (Local)  ~Local bearing/azimuth received: Bearing 36.8, -0.9 (Local)  DAT read: Range 10 to 50 : 104.0 m (Round-trip 138.7 ms) speed 0.4 m/s  ,DAT read: user:2559>  BDAT read: Tx time:22:23:12.8520  $Ping request sent.  G٣y > mNusing accuracyPremultiplier from config!u@59%\!?u@5Y% i%Buq3?}:}?}@%/E%0<%0<%@5 Ake,H?keF ka ke1 gA:keBBkeBZkez?@"e"k0=S&MY@eQĿ@Iͩ$zlb?Jke#RkeN㯿*ev-1@*u 6Y@ewj 8?]^oAN|/l?"ke*keAke(?ke!} 2ke&CkeƢ ?keÈC ke&CkeTBke@U addTargetRange:: Added new target pos. range: 104.000000 m, deltaT: 3.789189 s, deltaX: -2.199997 m, approachRate: -0.580598 m/s, rangeRepo size: 4  Added new target pos. range: 104.000000 m, bearing: 335.266185 deg, lat: 36.905672 deg, lon: -122.119768 deg, deltaT: 3.789189 s, deltaX: -2.199997 m, approachRate: -0.580598 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 104.00 m.BjJj ProNav: ac range: 104.000000 m, nav range: 39.582558 m, bearing: 352.404478 deg, approach rate: 0.000000 m/s, LOS rate: -0.779137 deg/s, cmd heading: 98.782601 deg, new cmd heading: 97.595388 deg. 2jHeadingCmd: 1.703361 target range: 104.000000 and range: 104.00 m. j?jjjihhhhQBfffrfZ@bf?ɛMBM69 IUIQ U<ɚQiQIU!=Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՅAJDAT read: TxSync time:22:23:12.8512 I?ii=)?)*Fu?2Fq:FqBFu@5JFqzK K 9K K K G =GQ Ba O} >@[!w,yABQ8?YBQv?B7 =9Byy G٣bLGyμ > I Nusing accuracyPremultiplier from config@59?@5Yw iB?@/E::!@5 AZj1=FNOT Ignoring new targets: 104.00 m.BjmJjm} ProNav: ac range: 104.000000 m, nav range: 39.703590 m, bearing: 352.083662 deg, approach rate: 0.356195 m/s, LOS rate: -0.941269 deg/s, cmd heading: 97.595385 deg, new cmd heading: 96.635965 deg. 2j}!HeadingCmd: 1.686616 target range: 104.000000 and range: 104.00 m. j?jjjihhhhfffrfbf?ɛUBUϋ QUIQ ]T<ɚYiYI]0"=JJJJJ1JJJ:J3JI?iim=)?)He6>IeC IeIIeBIa&Ia.Ia6Ie<:Ie F*F}?2Fy:FyBF}_0JFyGU5=G)B9OUu>eWill construct direction to contact in vehicle frame from tetrahedron phase data.*'w,VA2?Y2?2i=928hh jG٣hyn n> rNusing accuracyPremultiplier from configpv@59r?v@5Yr irBtz?z@r /Er; ;rK ;rm@5~ B ~AE%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 104.00 m.Bj=GJj=GM ProNav: ac range: 104.000000 m, nav range: 39.828659 m, bearing: 351.747934 deg, approach rate: 0.337898 m/s, LOS rate: -0.904183 deg/s, cmd heading: 96.635962 deg, new cmd heading: 95.632050 deg. 2jM"MHeadingCmd: 1.669094 target range: 104.000000 and range: 104.00 m. jU?jQjQjQiQhQhYhYhYfYfafarfabfe@?ɛ~BF H=隽kI *<ɚiI"=I?iiN=)?)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. $?IG-ti=G B O- >} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230333o-w,~QA61Q?Y61?6z<96ހB>IiB=IB7?EMb@Mb@Mb@AAA A)AYE +?J +?~jthyE6?E=EDEA EzA)AIEAAyE(AI]I]"4٢mW mA=9u+5Q u> G٣y¼ > Nusing accuracyPremultiplier from config@59?@5Y, iB8?:?@/EhH;F;=@5 rA EZj)-FNOT Ignoring new targets: 104.00 m.Bj5Jj=E ProNav: ac range: 104.000000 m, nav range: 39.981148 m, bearing: 351.353406 deg, approach rate: 0.350041 m/s, LOS rate: -0.902187 deg/s, cmd heading: 95.632047 deg, new cmd heading: 94.453151 deg. 2jMMHeadingCmd: 1.648518 target range: 104.000000 and range: 104.00 m. jM?jIjjihhhhJBfffrfbf?ɛm}Bm] q}nIy }`<ɚyiyI}M$#=I?ii >)?)zKAKEH9KAKEKE*F?2F:FBF`0JFG]=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483151GQBiO{> Ih*J "J C=J J J 0J J J :J ـ3J He 7>Ia  Ie IIe #BIe " =&Ia .Ia 6Ie Y<:Ie J F4w,(+ӴAyrBvII~I~~4٢Ep< EM=9UQ U>QQ ]G٣Yy] ]> mNusing accuracyPremultiplier from configam@59e?u@5YeI ieBqqu@e/Een:e~;e@5 ZAZjFNOT Ignoring new targets: 104.00 m.BjgJjg ProNav: ac range: 104.000000 m, nav range: 40.118263 m, bearing: 351.005271 deg, approach rate: 0.352988 m/s, LOS rate: -0.893166 deg/s, cmd heading: 94.453149 deg, new cmd heading: 93.412434 deg. 2j>HeadingCmd: 1.630355 target range: 104.000000 and range: 104.00 m. ju?jjjihhhhfffrfbf ?ɛ{Bt 9I! %쎉<ɚ!i!I%+#=I-u?i)i-]n>)-u?)1=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734406*F?2F:FBF0JFGu=GBO >% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994948 I Ȼ:w,A> ?Y> ?>a<9>YH-ȿc?0c?Uȿ@6?`s?D?ɨ> ?>CU; G٣cLGy̌ > Nusing accuracyPremultiplier from config@59?@5YŖ iB:?:?@/E;1;7@5 AZjFNOT Ignoring new targets: 104.00 m.Bj*Jj*} ProNav: ac range: 104.000000 m, nav range: 40.253632 m, bearing: 350.624548 deg, approach rate: 0.329785 m/s, LOS rate: -0.924392 deg/s, cmd heading: 93.412433 deg, new cmd heading: 92.274264 deg. 2jHeadingCmd: 1.610490 target range: 104.000000 and range: 104.00 m. j$?jjjihhhhNBfffrfbfv@ɛzB   NI  UP<ɚQiQIU#=I]$?iYi]d>)]$?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246331E8k=ErAErA`wA) ] Y] `wAye B*Fm ?2Fi :Fi BFm _0JFi GE >G B) OE >zK jIK h9K K K Aw,?A2?Y2!?21<92PP RG٣PyV  V> ZNusing accuracyPremultiplier from configX^@59Z1?b@5YZ iZB`b?b@Z/EZ-;ZW-;Z|@5f B jAjErWill construct direction to contact in vehicle frame from tetrahedron phase data.r>r%=vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498702Zj FNOT Ignoring new targets: 104.00 m.BjJjM ProNav: ac range: 104.000000 m, nav range: 40.374863 m, bearing: 350.277958 deg, approach rate: 0.322931 m/s, LOS rate: -0.920456 deg/s, cmd heading: 92.274264 deg, new cmd heading: 91.237735 deg. 2jM iImhuHeadingCmd: 1.592399 target range: 104.000000 and range: 104.00 m. ju?jqjqjqihhhhff!f!rf!bf%@ɛmyBm . 隕I /<ɚiI#_$=I?iiD >)?)EdO=H I  I II )BI &I .I 6D6I <:I x F*F-?2F):F)BF-_5JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751846GU m>GI BY Ou >Gw, A2@?Y2?@?2:<92qTT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b@59^R럜?b@5Y^n i^Bdf?f@^"/E^;^:^@5j B jVAjE~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 104.00 m.BjJj ProNav: ac range: 104.000000 m, nav range: 40.503990 m, bearing: 349.902007 deg, approach rate: 0.319496 m/s, LOS rate: -0.927230 deg/s, cmd heading: 91.237735 deg, new cmd heading: 90.113631 deg. 2jHeadingCmd: 1.572780 target range: 104.000000 and range: 104.00 m. jP?jjjihhhhfffrfbf @ɛ=wB=K 9=\I9 E<ɚAiAIE$=IMP?iIiM >)MP?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:23:15.3926 %TRx dataTimestamp_ set to:1736374996.6458695checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010554 u$?IqJJJJJ:J:JJJ6;aJ8;aJJ;aJJ;aE|(H=*F5?2F1:F1BF51JF1"G=>G== Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255100G  >Gi By O >PNw,m;=AN?YNZ?N*<9N>qq uG٣udLGy} }> Nusing accuracyPremultiplier from config@59B䟜?@5Y iBz8?:?@'/EJ;)K;"@5 AZjAMFNOT Ignoring new targets: 104.00 m.BjU)JjU)e ProNav: ac range: 104.000000 m, nav range: 40.645241 m, bearing: 349.466874 deg, approach rate: 0.290671 m/s, LOS rate: -0.892316 deg/s, cmd heading: 90.113630 deg, new cmd heading: 88.813001 deg. 2jeuHeadingCmd: 1.550079 target range: 104.000000 and range: 104.00 m. jui?jqjqjqiyhyhyhyh$Bfffrfbf`& @zKK9KKKɛuB 隕 I |<ɚiI(%=Ii?iiD>)i?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:23:15.3926 LVL= 14320, 23217, 20418, 30323, AGC= 60, IDX= 418, 0.19, 2.834, 0.784, 1.062, 1.598, PHS= 1.323,-0.767,-0.539, RAW= 95.7, -0.2, CAL= 104.4, -4.6, ROT= 45.6, 4.6 Ygot valid direction response: 22:23:15.3926 LVL= 14320, 23217, 20418, 30323, AGC= 60, IDX= 418, 0.19, 2.834, 0.784, 1.062, 1.598, PHS= 1.323,-0.767,-0.539, RAW= 95.7, -0.2, CAL= 104.4, -4.6, ROT= 45.6, 4.6 PDAT read: Bearing 45.6, 4.6 (Local) ~Local bearing/azimuth received: Bearing 45.6, 4.6 (Local) IDAT read: Range 10 to 50 : 102.3 m (Round-trip 136.5 ms) speed 0.4 m/s %,DAT read: user:2560> -BDAT read: Tx time:22:23:16.5020 U$Ping request sent.UI  I II BI ! =&I .I 6I n<:I Z F*F ?2F :F BF 0JF m Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:22:23:16.5012 GE+>GB)OE>Vw,>]A2?Y2>?2q8w<927<`B>7IiB=IB; F=F=ININ4٢RW V,=9V,Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f@59bݟ?f@5Ybv ibBdf?j@b,/EbB;bB;bJ@5p rLApkc?kzq= k kv7IA:kBBk1BZk|v@"巪"1 8RB?xY@wf1;m?e_R ?Jk iC@Rk%g*sm?AGhVLr'`Y@75e ?M9ӿj=r?"k*k8?kd?kX> 2kR&Ck5?kX> kk Bk@= addTargetRange:: Added new target pos. range: 102.300003 m, deltaT: 3.533891 s, deltaX: -1.699997 m, approachRate: -0.481055 m/s, rangeRepo size: 4 U Added new target pos. range: 102.300003 m, bearing: 281.936123 deg, lat: 36.905614 deg, lon: -122.119766 deg, deltaT: 3.533891 s, deltaX: -1.699997 m, approachRate: -0.481055 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 102.30 m.Bj]JjYm ProNav: ac range: 102.300003 m, nav range: 34.452095 m, bearing: 347.282628 deg, approach rate: 0.000000 m/s, LOS rate: -0.892316 deg/s, cmd heading: 88.813004 deg, new cmd heading: 87.566940 deg. 2jiHeadingCmd: 1.528331 target range: 102.300003 and range: 102.30 m. j]?jjjihhh!h!f!fAfIrfM@3Y@bfM N?ɛsB.M? 隝ѾI ry<ɚiI%=I]?ii`>)]?)*F?2F:FBF4JFG<>Will construct direction to contact in vehicle frame from tetrahedron phase data. 9IAGQBO5q>JmJmJiJiJm :Jm :JiJiJm;Jm;JmU;JmU;]w,ywA2 ?Y2I?26Q<92yx" G٣eLGy > Nusing accuracyPremultiplier from config@59ן?@5Y3o iB2?:?@1/E ;a;@5 AEZj FNOT Ignoring new targets: 102.30 m.Bj4Jj4% ProNav: ac range: 102.300003 m, nav range: 34.584576 m, bearing: 346.829026 deg, approach rate: 0.308009 m/s, LOS rate: -1.050546 deg/s, cmd heading: 87.566939 deg, new cmd heading: 86.211612 deg. 2j->4-HeadingCmd: 1.504676 target range: 102.300003 and range: 102.30 m. j-=?j1j1j1i1h1h9h9h=Bf9fAfArfAbfE5C?ɛmqBuPY qu>޾Iq }Fs<ɚyiyI}%=I=?ii$$>)=?)E*FM?2FI:FIBFM^0JFIGUsA GUsAzKk3IK9KKKBKrA:KnAG-u>Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 I= hGI BQ Om >,dw,ܐA2Ź?Y2?20<92a64 G٣y6 > Nusing accuracyPremultiplier from config@59 ӟ?@5Y h iB?@6/E;);@5B gAZj15FNOT Ignoring new targets: 102.30 m.Bj=LJj=LM ProNav: ac range: 102.300003 m, nav range: 34.703197 m, bearing: 346.413651 deg, approach rate: 0.293220 m/s, LOS rate: -1.023242 deg/s, cmd heading: 86.211611 deg, new cmd heading: 84.969950 deg. 2jM/uHeadingCmd: 1.483005 target range: 102.300003 and range: 102.30 m. juӽ?jqjqjyiyhyhyhyhfffrfbfm;?ɛoB %I! %-$m<ɚ!i!I%R&=I-ӽ?iqiuRb&>)uӽ?)qUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%_0JF!G>GrAGnAGPExceeded connect timeout, disconnecting.BO k> Will construct direction to contact in vehicle frame from tetrahedron phase data. A IA 3jw,ǪAJEJEJAJAJE:JE:JAJAJE;JE;JEJ;JEJ;yލyBލI) %Mb@Mb@Mb@!!! !)!Y%J +?+?:vy%(?%=%Լ! !)!I!!y!II4٢ +=9Q > G٣y > Nusing accuracyPremultiplier from config@596͟?@5Y_ ixB*?:'?@;/E;;@5 rAE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 102.30 m.Bj%Jj%5 ProNav: ac range: 102.300003 m, nav range: 34.844368 m, bearing: 345.944986 deg, approach rate: 0.299636 m/s, LOS rate: -0.990705 deg/s, cmd heading: 84.969951 deg, new cmd heading: 83.569948 deg. 2j5)=HeadingCmd: 1.458571 target range: 102.300003 and range: 102.30 m. j=r?j9j9j9iAhAhAhIhMBfQfQfQrfQbfU?ɛmB捼 隍I f<ɚiI&=Ir?iiY<>)r?)*F5?2F1:F9BF9JF9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.G} Oh#>GQ Ba O} >qw,ٯĵA6{a?Y6z?66<96;y6HKk?[? :ł?F@ p??ɨ6{a?6D;4yBdBBIININ4٢VK V=9ZƻQ Z?\\ ^G٣\y^U b? fNusing accuracyPremultiplier from config`j@59bʟ?j@5YbZ ibnBhj?j@b>/Eb2 ;b ;bk@5p rApZj FNOT Ignoring new targets: 102.30 m.Bj\Jj\- ProNav: ac range: 102.300003 m, nav range: 34.929222 m, bearing: 345.643382 deg, approach rate: 0.278839 m/s, LOS rate: -0.988688 deg/s, cmd heading: 83.569946 deg, new cmd heading: 82.667412 deg. 2j-)5HeadingCmd: 1.442819 target range: 102.300003 and range: 102.30 m. j5G?j1j1j1i9h9h9h9h9fAfAfArfAbfM ?ɛukBu- q}`Iy }`<ɚyiyI}'=IG?ii'>)G?) zK-BoHK-9K)K-K- $$# )MZ_bcWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997621 $?I*F2F:FBFo0JFG(>*J=%="J==GYBiO8>HqIq IuIIuBIq&Iq.Iq6IuV<:IuJ F] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248457LDww,z޵A2WDz?Y2V?2e<92r:y2H@sӧ oQ??ѧ?YbX??ɨ2WDz?2;0 BnManaging dock network, ignoring radio surface power offyFYBFIININ%4٢r+f rG=9r:Q v>tt vG٣vfLGyzWK z> Nusing accuracyPremultiplier from config @59RƟ? @5YS i`B?@B/EM;;@5 %wA!ZjAMFNOT Ignoring new targets: 102.30 m.BjMFJjMF ProNav: ac range: 102.300003 m, nav range: 35.039894 m, bearing: 345.235987 deg, approach rate: 0.269274 m/s, LOS rate: -0.988086 deg/s, cmd heading: 82.667412 deg, new cmd heading: 81.449279 deg. 2j)HeadingCmd: 1.421558 target range: 102.300003 and range: 102.30 m. j?jjjihhhhfffrfbfi4@ɛeiBeZ aeIa mopY<ɚiiiI0'=I?ii+>)?)*F?2F:FBF0JFGu;>G?G> I Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514029GaBOEs>JQJQJQJQJQJQJQJQJQJQJQJQOk}w,HA:)?Y:g?:$<9:y:H+46jB?M%}? 3?ɨ:)?:};:CyFGBFIiJ,>IJ=Mb@Mb@Mb@ )Y-?+?~jty5?ļA A)3AIzAyAI5 I5e4٢E EE=9Eɭ:Q E>II MG٣IyUI U>]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760429 uNusing accuracyPremultiplier from configiu@59mß?}@5YmL imSB}?:z?@mG/EmF-;m+;m@5B AEZjFNOT Ignoring new targets: 102.30 m.BjJj ProNav: ac range: 102.300003 m, nav range: 35.144054 m, bearing: 344.847655 deg, approach rate: 0.249732 m/s, LOS rate: -0.928289 deg/s, cmd heading: 81.449282 deg, new cmd heading: 80.287907 deg. 2jDHeadingCmd: 1.401288 target range: 102.300003 and range: 102.30 m. jj]?jjjihhhhBfffrfbfc@ɛfB>Լ I Q<ɚiI (=Ij]?iiu+>)j]?)*F?2F:FBF91JFzK5CMK5 9K1K5K5lnkjf`XRME<2+&##! "$  IhG Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:23:19.0406  TRx dataTimestamp_ set to:1736375000.176731 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013511G B O >Sw,l#AHI I_IIÀBI&I.I6I\<:IN FRl?YRĪ?Rk+<9RyRH`\sru?ls 6k?sv arw?ɨRl?Ra;RCyn8BnIIz Iz4٢ F=9:Q > G٣y0S > Nusing accuracyPremultiplier from config@595?@5YF iFB?@K/E-;6-;@@5 xAZjFNOT Ignoring new targets: 102.30 m.BjꄼJjꄼ ProNav: ac range: 102.300003 m, nav range: 35.243500 m, bearing: 344.462556 deg, approach rate: 0.240739 m/s, LOS rate: -0.929618 deg/s, cmd heading: 80.287904 deg, new cmd heading: 79.136031 deg. 2jHeadingCmd: 1.381184 target range: 102.300003 and range: 102.30 m. jʰ?jjjih!h!h!h!f)f)f)rf)bf-`ʮ @ɛ}dB}X 隅I ?>J<ɚiI0(=Iʰ?ii'z*>)ʰ?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264508*F2F:FBF_5JFGet<6>G!B)OER> I - Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520403w,!",A?Y?zL<9H2yHo?J??`?q?yX?ɨ?;騉yIMb@Mb@Mb@ )YAI MG٣MgLGyM M> ]Nusing accuracyPremultiplier from configYe@59]ܽ?e@5Y]> i];Be?e:e?m@]O/E];]r;]@5q u{AqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 102.30 m.Bj{Jj{ ProNav: ac range: 102.300003 m, nav range: 35.347862 m, bearing: 344.028603 deg, approach rate: 0.211809 m/s, LOS rate: -0.878121 deg/s, cmd heading: 79.136033 deg, new cmd heading: 77.838254 deg. 2jHeadingCmd: 1.358534 target range: 102.300003 and range: 102.30 m. jp?jjjihhhhBfffrfbf @ɛ aB <̼  I  @<ɚiIo')=Ip?iia>)p?)!*F?2F:FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:23:19.0406 LVL= 11760, 23217, 18610, 24979, AGC= 55, IDX= 413, 0.04,-0.689,-2.421,-2.642,-1.680, PHS= 1.079,-0.693,-0.965, RAW= 83.0, 6.1, CAL= 88.5, 6.2, ROT= 61.5, -6.2 Ygot valid direction response: 22:23:19.0406 LVL= 11760, 23217, 18610, 24979, AGC= 55, IDX= 413, 0.04,-0.689,-2.421,-2.642,-1.680, PHS= 1.079,-0.693,-0.965, RAW= 83.0, 6.1, CAL= 88.5, 6.2, ROT= 61.5, -6.2 PDAT read: Bearing 61.5, -6.2 (Local) ~Local bearing/azimuth received: Bearing 61.5, -6.2 (Local) DAT read: Range 10 to 50 : 100.8 m (Round-trip 134.4 ms) speed 0.3 m/s ,DAT read: user:2561> BDAT read: Tx time:22:23:20.1536 $Ping request sent.Gy G} sAG1 B9 O] >gw,EAy=*B=I)A AIMAIMIM4٢ y=9Q ?   G YIY٣ y] e? mNusing accuracyPremultiplier from configazKmMKmػ9KiKmKm  @59e@?@5Yeg9 ie3B@eR/Ee[;e;e@5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.k?k-Ca k k;A:kBBk6BZk.n@")D2<[R7@!)X@Ofǿ?C(A?Jk@Rk#c*9}O0* X@`,Ͽ{p"(ſoA RH?"kM*kk|?ke 2kH Ck(?kc kR&CkbAk@ addTargetRange:: Added new target pos. range: 100.800003 m, deltaT: 3.788647 s, deltaX: -1.500000 m, approachRate: -0.395920 m/s, rangeRepo size: 4  Added new target pos. range: 100.800003 m, bearing: 213.614846 deg, lat: 36.905479 deg, lon: -122.119781 deg, deltaT: 3.788647 s, deltaX: -1.500000 m, approachRate: -0.395920 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 100.80 m.BjJj ProNav: ac range: 100.800003 m, nav range: 22.173073 m, bearing: 329.286443 deg, approach rate: 0.000000 m/s, LOS rate: -0.878121 deg/s, cmd heading: 77.838256 deg, new cmd heading: 76.895295 deg. 2jHeadingCmd: 1.342076 target range: 100.800003 and range: 100.80 m. j&ɫ?jjjihhhhfffrf@33Y@bf |?ɛ_BhQ sI W9<ɚiIO)=I&ɫ?i i '>) &ɫ?) JeJeJaJaJeL:Je:JaJaam@am@am@am@H!I! I%4II%BI%! =&I!.I!6I%c<:I%T F*F?2F:FBF 5JFG >GiBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Fw,_A6?Y6?6ZV<96>y6H@޺?@#? ?@'D?x׊-؇?ɨ6?6Nj;6CyN)BNIIVIV4٢~7ϻ ~\=9:Q >   G٣ y s  > Nusing accuracyPremultiplier from config%@59꺟?%@5Y3 i*B!%?%@V/En: :@5) 5A1ZjFNOT Ignoring new targets: 100.80 m.Bj:Jj: ProNav: ac range: 100.800003 m, nav range: 22.294214 m, bearing: 328.845118 deg, approach rate: 0.349839 m/s, LOS rate: -1.267544 deg/s, cmd heading: 76.895294 deg, new cmd heading: 75.578758 deg. 2jyYHeadingCmd: 1.319098 target range: 100.800003 and range: 100.80 m. j5ب?jjjihhhhfffrfbf@?ɛ=]B= 9EIA Ea2<ɚAiAIEW<*=IM5ب?iIi_U'>)5ب?)E*FE?2FA:FIBFM_0JFI"GU=GU= IIQWill construct direction to contact in vehicle frame from tetrahedron phase data.G)>Ga Bq O >\w,yA6]?Y6图?6Y<96 y6H ?@{c$~?mڴ??6X?ɨ6]?6;6CyR!BRIMWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-oʡ? rh?Qy- ?-C=)-zA -A)-3AI-zA)y-AIEIE4٢] ]6=9]9Q e>aa eG٣ehLGym3 m> }Nusing accuracyPremultiplier from configq}@59u?@5YuX- iu B-?:M?@uZ/Eua;u8;u@5 (AEZjFNOT Ignoring new targets: 100.80 m.Bj >Jj >= ProNav: ac range: 100.800003 m, nav range: 22.432478 m, bearing: 328.315296 deg, approach rate: 0.305314 m/s, LOS rate: -1.162726 deg/s, cmd heading: 75.578755 deg, new cmd heading: 73.999509 deg. 2jE}GEHeadingCmd: 1.291535 target range: 100.800003 and range: 100.80 m. jEQ?jIjIjIiIhihqhqhuBfqfyfyrfybf}J?ɛZBm  I  )<ɚ i I*=IQ?ii->)Q?)*F?2F:FBFJFG69 >G?G?GBO> 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.E?R?zKqLK9KKKJ J J J J ,:J :J J H1 I1  I5 II5 BI5 " =&I1 .I1 6I5 ]<:I5 P Frw,lA2n?Y2l?2TZ<921y2H p>?`@aTg?H;?? \@}]q2?ɨ2n?2;2CyN$BRIiV=IV%= Va=Va=I^I^4٢fG< fg=9jHV9Q j>hh nG٣ly]Ri ]> eNusing accuracyPremultiplier from configam@59e?m@5Ye' ieBqu?u@e]/Ee:eb:;e@5 AZj FNOT Ignoring new targets: 100.80 m.Bj=妼Jj=妼M ProNav: ac range: 100.800003 m, nav range: 22.544163 m, bearing: 327.877978 deg, approach rate: 0.299596 m/s, LOS rate: -1.167288 deg/s, cmd heading: 73.999513 deg, new cmd heading: 72.694296 deg. 2jMFHMHeadingCmd: 1.268755 target range: 100.800003 and range: 100.80 m. jUf?jQjqjqiqhqhyhyhyfyffrfbf>?ɛWBs I vX"<ɚiIJs+=If?ii7.>) f?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFb0JFGX&>G B O > ) I- h Will construct direction to contact in vehicle frame from tetrahedron phase data.˪w,4HAyI}Mb@Mb@Mb@yyy y)yY}(\?X9v?Mby}?}}=}y y)}AIyyy}AII4٢L; $=9Q > G٣y > Nusing accuracyPremultiplier from config@59i?@5Y.! iB?:?@a/Et;;@5 AZj FNOT Ignoring new targets: 100.80 m.Bj BJjB% ProNav: ac range: 100.800003 m, nav range: 22.684801 m, bearing: 327.333063 deg, approach rate: 0.300178 m/s, LOS rate: -1.155835 deg/s, cmd heading: 72.694298 deg, new cmd heading: 71.070148 deg. 2j-OF-HeadingCmd: 1.240408 target range: 100.800003 and range: 100.80 m. j-Ş?j1j1j1i1h1h1h9h=Bf9f9fArfAbfE?ɛmTBu quIq u~<ɚqiyI}!,=I}Ş?iiBH>)Ş?)a*F?2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge kx->G9 BI Oe >w,fIǶAR?YR?R<9R;yRH ?ԅX]? ?? @?┿`[~?@?ɨR?R*;PyZ*B^IIf If4٢j= n=9rI)P?)zKK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F=?2F9:F9BFE`5JFAGc/>GGGBJ5J1J1J1J5L:J1J1J1OM0>HI IIIwBI&I.I5D6I<:Io FBIyJIyRIyZIybIyjI}ŏ4U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502228<߷w,ᶾAJɓ?YJ?J?<9J;yJH?]c`Y?`a?~?2?|~?@?ɨJɓ?JN%;JCyR.BRI)T TXZAI^I^4٢fߟ< jL=9jd;Q n>ll rG٣pyrj r> vNusing accuracyPremultiplier from configtz@59v?z@5Yv' ivB|~?~@vg/Ev ;vX;vF@5 AZjFNOT Ignoring new targets: 100.80 m.BjvJjv ProNav: ac range: 100.800003 m, nav range: 22.870581 m, bearing: 326.494929 deg, approach rate: 0.249375 m/s, LOS rate: -1.136277 deg/s, cmd heading: 69.970527 deg, new cmd heading: 68.566544 deg. 2jBHeadingCmd: 1.196712 target range: 100.800003 and range: 100.80 m. j-?jjjihhhhfff!rf!bf%8@ɛMNBM qu-Iq u <ɚqiqIuye-=I}-?iyi>)-?)*FI2FI:FIBFMO5JFI IG%F>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755031GBOUS>ow,A:Gɐ?Y:F?:?<9:>;y:Hb?<`>?:??$]?`g t?@?ɨ:Gɐ?:;:Cyb2BbIWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:23:22.6906 -TRx dataTimestamp_ set to:1736375003.956818-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007512mMb@Mb@Mb@iii i)iYm(\?)\(?yimGa=mmA m3A)mAIiiymQAII74٢Z< >=9R`;Q > G٣yc` > Nusing accuracyPremultiplier from config@59׽?@5Y0 iBh?:D?@k/EH;KG;@5 AZjFNOT Ignoring new targets: 100.80 m.BjJj ProNav: ac range: 100.800003 m, nav range: 22.974588 m, bearing: 325.987691 deg, approach rate: 0.249335 m/s, LOS rate: -1.210465 deg/s, cmd heading: 68.566541 deg, new cmd heading: 67.052090 deg. 2jOHeadingCmd: 1.170280 target range: 100.800003 and range: 100.80 m. j˕?jjjihhhhBff f rf)bf-@ɛ}KB} 隅 I <ɚiI&.=I˕?ii!1 >)˕?)*Fa2Fa:FaBFe/5JFa IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259507G AG>zK% a3JK% ͼ9K! K% K%   "('),-122755/" G B O >JY J] BAJKm3 KKK"KJm Jm Ji Ji Jm :Jm :Ji Ji H I  I II rBI &I .I 6I <:I m Fĭw,հAz?Yzީ?zP<9z@byzH ? sw?@s ?O??x E,j?ɨz?z[6;zCy6BII5I54٢E< EO=9E&;Q M>II MG٣MjLGyUu U> Nusing accuracyPremultiplier from config@59\?@5Y  iB?@n/E:P:@5B ~AEZjiFNOT Ignoring new targets: 100.80 m.Bj'Jj' ProNav: ac range: 100.800003 m, nav range: 23.069105 m, bearing: 325.509971 deg, approach rate: 0.225313 m/s, LOS rate: -1.134130 deg/s, cmd heading: 67.052090 deg, new cmd heading: 65.625113 deg. 2jBHeadingCmd: 1.145374 target range: 100.800003 and range: 100.80 m. j?jjjihhhhfffrfbf @ɛHB  I  h;ɚiIC.=I?ii>)?)!-Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: Range 10 to 50 : 99.6 m (Round-trip 132.9 ms) speed 0.1 m/s E,DAT read: user:2562> MBDAT read: Tx time:22:23:23.8036 M$Ping request sent.MGBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:23:23.8028 ˭w,.AV?YVͦ?VO<9VϖyVH}?@d?`?`?`Q?' Ar?ɨV?VD;TyޭCB޵IUMb@Mb@Mb@QQQ Q)QYUK7A`??{Gzt?yU ?UL=Uף;Q Q)QIUAQyQIeIe4٢u2Z= u+=91;Q > G٣yLM > Nusing accuracyPremultiplier from config@59"ğ?@5Y iB ?:?@r/E; ;@5 A addTargetRange:: Added new target pos. range: 99.599998 m, deltaT: 3.527317 s, deltaX: -1.200005 m, approachRate: -0.340203 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 100.80 m.BjJj ProNav: ac range: 100.800003 m, nav range: 23.176174 m, bearing: 324.933349 deg, approach rate: 0.237432 m/s, LOS rate: -1.272765 deg/s, cmd heading: 65.625113 deg, new cmd heading: 63.903786 deg. 2j_Z HeadingCmd: 1.115332 target range: 100.800003 and range: 99.60 m. j /Î?j jjihhhhBfffrf%`fX@bf%X?ɛDBϼ rI 4;ɚiIФ/=I/Î?ii&>)/Î?) *F?2F:FBF_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G ]!>GqByO>`ҭw,@iHA: ?Y:J?:N<9:1y:H`p ?@g?@N?f?= ?ɨ: ?:"ӊ;:CybJBbIInIn 4٢v/= v=9v!Q v ?xx zG٣xyz-| ~ ? Nusing accuracyPremultiplier from config @59Ɵ? @5Yx iB  ?@u/E:a:j@5 !I%h -A)EB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 100.80 m.Bje Jje u ProNav: ac range: 100.800003 m, nav range: 23.247070 m, bearing: 324.541592 deg, approach rate: 0.220956 m/s, LOS rate: -1.217222 deg/s, cmd heading: 63.903789 deg, new cmd heading: 62.732276 deg. 2juP}HeadingCmd: 1.094885 target range: 100.800003 and range: 99.60 m. j/%?jjjihhhhfffrfbfp?ɛBB aI ;ɚiI 90=I/%?ii&>)/%?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKCMK 9KKK*F?2F:FBF`0JFG GtAZHqRHu@AHI III|BI&I.I6I<:I FGD>GsAGGQBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004743w+حw,=DbA2_?Y2?2P<92WCy2Hg?[~ēI?d{?`7f?w?7隿~?ɨ2_?2;0yNTBRIIZIZ4٢b:L= fL=9fn>Q f>hh jG٣jkLGyj7V j> 5Nusing accuracyPremultiplier from config1E@595˟?E@5Y5 i5BAEa?M@5y/E5L;5L;5@5Q UAQZjy}FNOT Ignoring new targets: 100.80 m.BjٯJjٯ ProNav: ac range: 100.800003 m, nav range: 23.335562 m, bearing: 324.036616 deg, approach rate: 0.216354 m/s, LOS rate: -1.229926 deg/s, cmd heading: 62.732275 deg, new cmd heading: 61.223461 deg. 2jSHeadingCmd: 1.068551 target range: 100.800003 and range: 99.60 m. jGƈ?jjjihhhhfffrfbf?ɛ>Bͼ I ;ɚiI0=IGƈ?ii*>)Gƈ?)*F?2F:FBF~0JF I!G՛%>GIBQOu6>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256732JeJeJaJaJe:Je :JaJaJaauJaauJeR;auJeR;auUޭw, |A2?Y2ܞ?22L<92y2H]?F?C?ٷ??/S?ɨ2?2;0yBbBBI)D DFAD~Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509021Mb@Mb@Mb@vA )Y&1?X9v?Mbp?y?}=; A)A -Y-vAy-5BIzAyzAIIפ4٢l= -=9;Q > G٣y: > Nusing accuracyPremultiplier from config@59ϟ?@5Y iB ? : Ԭ? @}/Ew;; @5 AZjAMFNOT Ignoring new targets: 100.80 m.BjM浼JjM浼] ProNav: ac range: 100.800003 m, nav range: 23.441141 m, bearing: 323.445224 deg, approach rate: 0.228159 m/s, LOS rate: -1.272233 deg/s, cmd heading: 61.223459 deg, new cmd heading: 59.457864 deg. 2j]GZeHeadingCmd: 1.037735 target range: 100.800003 and range: 99.60 m. jeԄ?jajajiiihihqhqhu؀Bfqfyfyrfybf}~?ɛ:B4 隵׾I ;ɚiI1=IԄ?ii;2>)Ԅ?)*F?2F:FBFo0JF $?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760756zKM KM s9KI KM KM  Gm g%>Ga H I  I !II BI &I .I 6I 2<:I / FB O >AMw,?ɛU7B]0 Y]sʾIY ew̾;ɚaiiImF2=I}?iyi}qH0>)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013580*F?2F:FBF}2JFGeU*>G!B)OER> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264767zw,5%Am@y?YmGޘ?mq=9m! G٣lLGy9 > Nusing accuracyPremultiplier from config@59ڟ?%@5Y iB%B?%:%t?-@/E*<*<c@51 5\A1Zjy}FNOT Ignoring new targets: 100.80 m.Bj̹Jj̹ ProNav: ac range: 100.800003 m, nav range: 23.623896 m, bearing: 322.339898 deg, approach rate: 0.210315 m/s, LOS rate: -1.299501 deg/s, cmd heading: 58.157196 deg, new cmd heading: 56.156319 deg. 2j^HeadingCmd: 0.980113 target range: 100.800003 and range: 99.60 m. jz?jjjihhhh Bfffrfbf S@ɛ2B ̷I ?;ɚiIN3=I]z?iaie;>)ez?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517014*F-?2F):F)BF-0JF)G l3> I G B O >w,˷A6ܑs?Y6?6=96tZ8B>IiBi>IB< F=Fp=IJIJ4٢R= Ry=9VVN;Q V?TT VG٣XyZ Z? ^Nusing accuracyPremultiplier from config\b@59^~ߟ?b@5Y^ i^Bdf?f@^/E^a:^:^>@5l nAl~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 100.80 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768685Bj~żJj~ż ProNav: ac range: 100.800003 m, nav range: 23.692062 m, bearing: 321.902264 deg, approach rate: 0.215778 m/s, LOS rate: -1.381305 deg/s, cmd heading: 56.156320 deg, new cmd heading: 54.847435 deg. 2jlHeadingCmd: 0.957268 target range: 100.800003 and range: 99.60 m. ju?jjjihhhhfffrfbf@K@ɛU0BU Q]IY ]zѫ;ɚYiaIe3=Iu?iiWf;>)u?)zK7KKKKKH-7>I) I-@II-BI-# =&I).I)6I-N<:I-C F*FE?2FA:FABFE4JFIG5>GB O=P>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:22:23:26.3397 M TRx dataTimestamp_ set to:1736375007.484597M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021740w,Y巾AJ>m?YJ6?J$ =9Jg7m?Jʋ;JCyllIvIv49;Q > G٣ y Y  > Nusing accuracyPremultiplier from config%@59柜?%@5Y iB!%˟?-@/E.;.;@51 11ZjaeFNOT Ignoring new targets: 100.80 m.Bjm羼Jjm羼} ProNav: ac range: 100.800003 m, nav range: 23.775242 m, bearing: 321.347651 deg, approach rate: 0.200956 m/s, LOS rate: -1.335202 deg/s, cmd heading: 54.847433 deg, new cmd heading: 53.189904 deg. 2j}eHeadingCmd: 0.928339 target range: 100.800003 and range: 99.60 m. jm?jjjihhhhfffrfbf g @ɛ,Bѐ rI iף;ɚiIJ4=Im?iiF B>)m?) I*Fu?2Fq:FqBFu_0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272909JUJUJU0JQJUܫ:JU&:JUـ3JQJU;JU;G:>JU\;JU\;GqBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527050s-w,A>u h?Y>8N?>b =9>"Hp?`X?`?@y?aٛ?q??ɨ>u h?>|;>CyFBF IMb@Mb@Mb@ )Y/$?v/?Mb`y?xi=A 3A)AIypAII4٢9C< <9 ;Q > G٣mLGy T > Nusing accuracyPremultiplier from configA59ퟜ?A5Y iBY?:4?@/E>;=;A5  A Zj15FNOT Ignoring new targets: 100.80 m.Bj=|ǼJj=|ǼM ProNav: ac range: 100.800003 m, nav range: 23.862408 m, bearing: 320.734531 deg, approach rate: 0.199089 m/s, LOS rate: -1.395241 deg/s, cmd heading: 53.189904 deg, new cmd heading: 51.357923 deg. 2jMboUHeadingCmd: 0.896365 target range: 100.800003 and range: 99.60 m. jU+xe?jQjQjQiQhhhh$Bfffrfbf @ɛ-)B5]s QUIY ]^֚;ɚYiYI]5=Ie+xe?iaiegI>)e+xe?)i*F 2F :F BF JF  QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս%=Ս4=DAT read: Range 10 to 50 : 99.0 m (Round-trip 132.0 ms) speed 0.0 m/s ,DAT read: user:2563> BDAT read: Tx time:22:23:27.4536 $Ping request sent.G B H 5>I C I _II ÀBI $ =&I .I 6I /<:I * FBIJIRIZIbI# =jI5O% >ew,fA>Sb?Y>?>!&=9>KL;y>H?~ ϖ??`´?`ݜ?``}??ɨ>Sb?>7Z;>CyJBJ0I)L LRAPIbIb4٢nF= n\=9ru:Q r>tx zG٣xyzhl z> Nusing accuracyPremultiplier from config|A59~? A5Y~B  tIi~B  t? @~/E~;~;~A5B TAEE addTargetRange:: Added new target pos. range: 99.000000 m, deltaT: 3.782248 s, deltaX: -0.599998 m, approachRate: -0.158635 m/s, rangeRepo size: 4 ZjIMFNOT Ignoring new targets: 100.80 m.BjUǼJjUǼe ProNav: ac range: 100.800003 m, nav range: 23.933836 m, bearing: 320.214166 deg, approach rate: 0.192442 m/s, LOS rate: -1.397766 deg/s, cmd heading: 51.357924 deg, new cmd heading: 49.801893 deg. 2jeomHeadingCmd: 0.869207 target range: 100.800003 and range: 99.00 m. jmZ^?jijijiiihqhqhqhqfyfyfyrf}X@bf}?ɛ&B~ 隽ʼnI ;ɚiI5=IZ^?ii)N>)Z^?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF!JF!GAG>GBOD> U$?IUh Will construct direction to contact in vehicle frame from tetrahedron phase data.^5 w,43AJzJzJz/JxJzl:Jz :Jz(N3Jxa-@a-@a5@au@M{]?YM?MF=9Mό!;yMH y?N? J?d? [?  l.d?@?ɨM{]?ML;MCyeBe>IMb@Mb@Mb@ )YMb?QQ ]G٣Yy]* ]> mNusing accuracyPremultiplier from configauA59e?uA5Ye ieBu!?u:u?}@e/Ee*(;e;e&A5B AEZjFNOT Ignoring new targets: 100.80 m.BjʼJjʼ ProNav: ac range: 100.800003 m, nav range: 24.032255 m, bearing: 319.527401 deg, approach rate: 0.204029 m/s, LOS rate: -1.417844 deg/s, cmd heading: 49.801894 deg, new cmd heading: 47.750960 deg. 2jCsHeadingCmd: 0.833411 target range: 100.800003 and range: 99.00 m. jtZU?jjjihhhhABfffrfbf?ɛ"BP4 vI ;ɚiIY6=I%tZU?i!i%[>)%tZU?))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G KG>G rAG nAG B O > A IA Nw,MA6laX?Y6n?6 =96Ńy6H?`$f?`a?`? o̟?᡿ %vP?ɨ6laX?6/;6CyNBN@IIZIZK4٢zj< zy=9~Q ~?| G٣nLGyy ? Nusing accuracyPremultiplier from config A59 ?A5Y  i B?@ /E 5; V;  A5) -A1MB*** querying acoustic contact ***jIjI]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.ZjFNOT Ignoring new targets: 100.80 m.BjȼJjȼ ProNav: ac range: 100.800003 m, nav range: 24.097073 m, bearing: 319.061647 deg, approach rate: 0.195691 m/s, LOS rate: -1.402365 deg/s, cmd heading: 47.750959 deg, new cmd heading: 46.357747 deg. 2jpHeadingCmd: 0.809095 target range: 100.800003 and range: 99.00 m. j O?jjjihhhhfffrfbf@I?ɛ B^ lI ;ɚiIr6=I O?ii9^>) O?)zKBoIK9KKK*Fm?2Fq:FqBFu0JFqZHRH?AH3>I IxII׀BI&I.I6I<:I FGMIL>G BO5.> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2524273Hw,fA6_R?Y6?6=96)9y6H@?S@?? Z? j(?ڡg ?ɨ6_R?6U;6CyNBNCIiR=IR+? Rp=R=IVIVW4٢r6/< rK=9r Q v>tt vG٣tyzTb z> ~Nusing accuracyPremultiplier from config|A59~C ? A5Y~ i~B ;?@~/E~'8;~mb;~A5! %A!ZjamFNOT Ignoring new targets: 100.80 m.BjuF˼Jj}F˼ I ProNav: ac range: 100.800003 m, nav range: 24.173693 m, bearing: 318.487493 deg, approach rate: 0.190335 m/s, LOS rate: -1.421738 deg/s, cmd heading: 46.357747 deg, new cmd heading: 44.641286 deg. 2jsHeadingCmd: 0.779137 target range: 100.800003 and range: 99.00 m. juG?j!j!j!i!h!h)hIhQfQfQfQrfYbf]@?ɛB>3 *bI Á;ɚiI~7=IuG?iid>)uG?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505888*F?2F:FBF0JFJJJ0JJܫ:J :Jـ3JGݶZ>G ?G>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756439, w,Ay=B=:IMb@Mb@Mb@ )YV-?T㥛 ?~jty|?=DA A)vAIzAyII4٢=  E:=9EQ E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configYeA59]?eA5Y] i]BeT ?e:e?m@]/E]";];]oA5}B }A}EZjFNOT Ignoring new targets: 100.80 m.BjʼJjʼ ProNav: ac range: 100.800003 m, nav range: 24.257496 m, bearing: 317.854951 deg, approach rate: 0.188661 m/s, LOS rate: -1.419057 deg/s, cmd heading: 44.641287 deg, new cmd heading: 42.750942 deg. 2jxsHeadingCmd: 0.746145 target range: 100.800003 and range: 99.00 m. jW??jjjihhhh>Bfffrfbf?ɛ B uD kI Dv;ɚiI/)8=IW??ii%>)%W??)!*F?2F:FBF`5JF $?IGa>GYBaOZ>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008315zKe k3IKe 9Ka Ke Ke H 1>I  I II BI % =&I .I 6I \<:I H FW&w,pA6]E?Y6}?6=96HM :y6H? ? ??:?*`gfA??ɨ6]E?6=;6CyRBRDIIZIZ4٢~/0= ~[=92   G٣ oLGy   > Nusing accuracyPremultiplier from config%A59?-A5Y i{B15؋?=@/E;X;A5I MAIZjqFNOT Ignoring new targets: 100.80 m.BjɼJjɼ  ProNav: ac range: 100.800003 m, nav range: 24.316166 m, bearing: 317.338463 deg, approach rate: 0.160663 m/s, LOS rate: -1.410930 deg/s, cmd heading: 42.750943 deg, new cmd heading: 41.205613 deg. 2j rHeadingCmd: 0.719174 target range: 100.800003 and range: 99.00 m. j58?j9j9j9i9hAhAhIhQfffrfbf`/ @Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.261551ɛB)5 (m=UI ) l;ɚiIW8=I8?i i f>) 8?)*F2F:FBF5JF IG#ab>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512516߁,w,uAzWR>?YzRv?z"=9zmF;yzH;?`]I`ę? D? ??`d?5^Fh?@z?ɨzWR>?z ;zCyEBE3I)a aquAII٢| >=9]e;Q e>i G٣yw > Nusing accuracyPremultiplier from configA59k+?A5Y ijBT?@/E;;A5B >AEZj!%FNOT Ignoring new targets: 100.80 m.Bj-ɼJj-ɼ] ProNav: ac range: 100.800003 m, nav range: 24.384985 m, bearing: 316.689524 deg, approach rate: 0.149951 m/s, LOS rate: -1.409966 deg/s, cmd heading: 41.205613 deg, new cmd heading: 39.265072 deg. 2j]qeHeadingCmd: 0.685305 target range: 100.800003 and range: 99.00 m. je#p/?jajajaiahahihhfffrfbf@@ɛ B k@  jI  ^;ɚiI9=I#p/?ii'4p>)#p/?)!)5F= 1NG`wAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764599 5 Y5`wAy5B*F2F:FBF_5JF I hG 0d>G B O > 3w,z4ϸA6W7?Y6Ro?6(=96ȯ;y6H@8? HB>0IjWill construct direction to contact in vehicle frame from tetrahedron phase data.jBDAT read: Rx Time:22:23:29.9899 nTRx dataTimestamp_ set to:1736375011.264691nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.017541-Mb@Mb@Mb@))) )))Y-Cl?+?Mby-;?-=--3A -A)-AI-A)y-AIEIE4٢U> UK=9]zr;Q ]>YY ]G٣aye e> 5Nusing accuracyPremultiplier from config)5A59-5?=A5Y-E i-YB= ?=:=?=@-/E-;-;-A5mB mWAmEB*** querying acoustic contact ***jjZjzKBoHK59KKKRK?JK?H.>IC IIIBI& =&I.I4D6I<:Im FFNOT Ignoring new targets: 100.80 m.BjɼJj ɼ ProNav: ac range: 100.800003 m, nav range: 24.448101 m, bearing: 316.116065 deg, approach rate: 0.155821 m/s, LOS rate: -1.412072 deg/s, cmd heading: 39.265074 deg, new cmd heading: 37.549682 deg. 2jEr=HeadingCmd: 0.655366 target range: 100.800003 and range: 99.00 m. jE '?jAjAjAiAhAhAhIhM;BfIfIfQrfQbfU@*J]4="J]a=JaJeJaJaJaJe:JaJaJe;auJaauJeZ;auJeZ;auɛBRQ jI R;ɚiIE:=I '?iir>) '?)*F?2F:FBF_0JFG{j>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268838\9w,踾A pIpvj0?Yvh?v(0=9vcg@9?}II MG٣MpLGyUt U> ]Nusing accuracyPremultiplier from configYeA59]??eA5Y] i]IBam~?m@]/E]X:]:]b A5q u{AqZjFNOT Ignoring new targets: 100.80 m.BjcмJjcм ProNav: ac range: 100.800003 m, nav range: 24.502867 m, bearing: 315.580397 deg, approach rate: 0.149346 m/s, LOS rate: -1.457483 deg/s, cmd heading: 37.549682 deg, new cmd heading: 35.946711 deg. 2jzHeadingCmd: 0.627388 target range: 100.800003 and range: 99.00 m. j ?jjjihhhhfffrfbf @ɛ%B/l 隭noI G;ɚiI :=I ?iiIr>) ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 99.0 m (Round-trip 132.1 ms) speed 0.0 m/s ,DAT read: user:2564> BDAT read: Tx time:22:23:31.1037 $Ping request sent.G ?G ?GI Bq O >dAw,Ay=B=IiAIEp<Mb@Mb@Mb@ )Y ףp= ?MbX9? G٣y% %> -Nusing accuracyPremultiplier from config)5A59- L?5A5Y-o i-4B=?=:=o?=@-/E-;-y;-$A5A EAA ]$?IY addTargetRange:: Added new target pos. range: 99.000000 m, deltaT: 3.525763 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 100.80 m.BjIJjI ProNav: ac range: 100.800003 m, nav range: 24.574322 m, bearing: 314.933943 deg, approach rate: 0.149091 m/s, LOS rate: -1.344874 deg/s, cmd heading: 35.946712 deg, new cmd heading: 34.013764 deg. 2jfHeadingCmd: 0.593652 target range: 100.800003 and range: 99.00 m. j?jjjihhhh-Bfffrfbf?ɛ B+8` I 7;ɚiI;=I?ii >) ?) Em=EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%_0JF)G) G-sAH}->Iy I}II}BIy&Iy.Iy6I}[<:I}D FzKKKKKJJJJJ,:J:JJJ;J;JnN;JoN;GE ,p>G B) OE >Gw,qtA6cy"?Y6_Z?6==96C TT VG٣TyZ Z> bNusing accuracyPremultiplier from config\fA59^U?fA5Y^Ȕ i^$Bhj|?j@^/EWill construct direction to contact in vehicle frame from tetrahedron phase data.^J;^<^'A5B  AEZjFNOT Ignoring new targets: 100.80 m.Bj8Jj8 ProNav: ac range: 100.800003 m, nav range: 24.617998 m, bearing: 314.452134 deg, approach rate: 0.115740 m/s, LOS rate: -1.274485 deg/s, cmd heading: 34.013765 deg, new cmd heading: 32.571224 deg. 2j ZHeadingCmd: 0.568475 target range: 100.800003 and range: 99.00 m. j5?j1j1j1i9h9h9h9hAfAfAfArfAbfM?ɛ BB胼 隽I W*;ɚiI<=I?iioq>)?)EqEq*Eq"Eq qIq*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G U;>Ga Bq O >'Mw,Bz9A%z?Y%v|T?%`G=9%b;y%Hّ?@ț@rӢ??`?@?`A Eu?!?ɨ%z?%g;%Cy5}B5 IMb@Mb@Mb@ )Y"~?I +?{Gzy?9=ףIA vA) AIzAyAI I 4٢ټ 4=9%;Q %>!) -G٣-qLGy-c -> =Nusing accuracyPremultiplier from config1=A595Bb?EA5Y5 i5BE?E:EQ{?E@5/E5;5;5+A5MB UNAUEZjFNOT Ignoring new targets: 100.80 m.BjOȼJjOȼ ProNav: ac range: 100.800003 m, nav range: 24.673609 m, bearing: 313.848959 deg, approach rate: 0.129460 m/s, LOS rate: -1.400984 deg/s, cmd heading: 32.571226 deg, new cmd heading: 30.766411 deg. 2j^pHeadingCmd: 0.536975 target range: 100.800003 and range: 99.00 m. j4w ?jjjihhhh@Bfffrfbf`~?ɛB~ 隵cI g;ɚiIm==I4w ?ii%|>)4w ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JF E$?IAGU F>Ga Ge sAGI BY O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,)SA6~M?Y6xM?6чO=96>;y6H`m-? ԣ??#6??"`at?b?ɨ6~M?6O;6CyRdBRI)T TIZIZ@4٢%P %]=9-;Q ->)) 5G٣1y5 5>ZH9RH=@AHE+>IA IErIIEҀBIA&IA.IA6IE1<:IE$ FBICJICRIZI& =bI& =jI5 mNusing accuracyPremultiplier from configiuA59ml?uA5YmB imBy}t?}@m/Em^;m;m.A5B AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 100.80 m.BjٽJjٽ ProNav: ac range: 100.800003 m, nav range: 24.715950 m, bearing: 313.350535 deg, approach rate: 0.112995 m/s, LOS rate: -1.327834 deg/s, cmd heading: 30.766410 deg, new cmd heading: 29.274054 deg. 2jcHeadingCmd: 0.510929 target range: 100.800003 and range: 99.00 m. j8?jjjihhhhfffrfJJJJJl:JJJJ;J;JJbfm?zK1K5}9K1K5K5ɛMBM뭼 IMzII U ;ɚiIa>=I8?ii${>)8?)E E *F?2F:FBF1JFG^>GYBqOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.iAT****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode. I II ǻZw,mA67?Y6F?62^=96I;y6H?@}i z?wb?`??۫ /Br? ?ɨ67?6;6CyB^BBIIJIJ4٢~y ~M=9  G٣ y   > Nusing accuracyPremultiplier from configA59xx?A5Yo iB!%m?%@/E ;: ;T2A5-B 5JA=~EZjYeFNOT Ignoring new targets: 100.80 m.BjeWJjmWu ProNav: ac range: 100.800003 m, nav range: 24.755987 m, bearing: 312.828653 deg, approach rate: 0.101759 m/s, LOS rate: -1.324264 deg/s, cmd heading: 29.274054 deg, new cmd heading: 27.711350 deg. 2j}5c}HeadingCmd: 0.483654 target range: 100.800003 and range: 99.00 m. j>jjjihhhhfffrfbf%?ɛB I V:ɚiIX?=I>ii)>)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014126*FU?2FQ:FQBFU5JFQGu?|>G1B9Om>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264791aw,߆Ay~OBIMb@Mb@Mb@ )Ysh|??/$?{Gzy ?= A) AIAyAII4٢I >=9Q > G٣rLG Ihy > Nusing accuracyPremultiplier from configA59F?A5Yx iB ?:tn?@/E;&;6A5) -A1ZjFNOT Ignoring new targets: 100.80 m.BjJj  ProNav: ac range: 100.800003 m, nav range: 24.800014 m, bearing: 312.295313 deg, approach rate: 0.096599 m/s, LOS rate: -1.168097 deg/s, cmd heading: 27.711350 deg, new cmd heading: 26.114605 deg. 2j iH5HeadingCmd: 0.455786 target range: 100.800003 and range: 99.00 m. j5\>j9j9j9i9h9h9hAhEBfAfAfIrfIbfM@@ɛBԥ 隽I :ɚiI@=I\>ii  >) \>) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518191*F2F:FBF@5JFH*>I IFIIBI' =&I.I6Ic<:IH FJJJJJ:J:JJJ;J;JJ;JJ;zKyJKs9KKK z&O"pWF4& G 8z>G ?G >G B O >gw,AB >YB~6?B5=9B;yBH? ?`?-?_?``q??ɨB >B;BCyN6BNIijJ>Ij=rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768942IvIv4٢~{ ~Y=9~, G٣y '  > Nusing accuracyPremultiplier from configA59_?A5Y[| iB!%^?%@/Eu ; ;b9A5) -A)ZjFNOT Ignoring new targets: 100.80 m.BjJj ProNav: ac range: 100.800003 m, nav range: 24.827686 m, bearing: 311.828129 deg, approach rate: 0.077170 m/s, LOS rate: -1.301395 deg/s, cmd heading: 26.114605 deg, new cmd heading: 24.714909 deg. 2jH_HeadingCmd: 0.431357 target range: 100.800003 and range: 99.00 m. j>jjjihhhhfffrfbfmy@ɛ-B5i q=HʾI Ql:ɚiIA=I>ii)>)  $?I*F?2F:FBF_0JFGrA GG%>GBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:23:33.6402 TRx dataTimestamp_ set to:1736375014.793057checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022322mw,A>>Ys&?ÿ=9L>!;騝Cyޭ#BޭIuMb@Mb@Mb@qqq q)qYuGz?i|?5?/$yup>uq=uu`A u`A)u AIuzAqyu3AII4٢ 2=9n G٣y > Nusing accuracyPremultiplier from configA59?A5Y/x iBu>:EE?@/E;;d=A5B 'A{EZjFNOT Ignoring new targets: 100.80 m.Bj⥼Jj⥼ ProNav: ac range: 100.800003 m, nav range: 24.837948 m, bearing: 311.303939 deg, approach rate: 0.022722 m/s, LOS rate: -1.160215 deg/s, cmd heading: 24.714908 deg, new cmd heading: 23.143405 deg. 2jGHeadingCmd: 0.403929 target range: 100.800003 and range: 99.00 m. j>jjji!h!h!h)h-Bf)f)f)rf1bf5@ @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272961ɛB[ ۾I k:ɚi I WB=I >iiQ>)>)*Fu?2Fq:FqBFu^0JFq IhG F>G G rAG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530193B OE >wtw,8ԹAjHqbHqH})>Iy I}II}BI}( =&Iy.Iy6I}g<:I}J F8&>Y?=9ld;y B}IzKMQNKM}9KIKMKMIeIe4٢H K=9" G٣sLGy > Nusing accuracyPremultiplier from configA59?A5Yt iBM=?@/Ev::@A5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 100.80 m.BjJj ProNav: ac range: 100.800003 m, nav range: 24.842455 m, bearing: 310.843762 deg, approach rate: 0.011212 m/s, LOS rate: -1.144570 deg/s, cmd heading: 23.143404 deg, new cmd heading: 21.763406 deg. 2j`D HeadingCmd: 0.379843 target range: 100.800003 and range: 99.00 m. j z>j j j ihhhhfffrfbf%`|< @ɛMBM IMXII U:ɚQiQIUCdD=I]z>iYi]N>)]z>)a*F?2F:FBF_0JFG>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:23:33.6402 LVL= 13088, 15857, 18418, 21731, AGC= 54, IDX= 440,-0.04,-3.007,-2.846, 1.230, 2.766, PHS= 0.598, 0.718,-1.539, RAW= 27.3, 2.1, CAL= 26.5, 1.9, ROT= 123.5, -1.9 GBO> Ygot valid direction response: 22:23:33.6402 LVL= 13088, 15857, 18418, 21731, AGC= 54, IDX= 440,-0.04,-3.007,-2.846, 1.230, 2.766, PHS= 0.598, 0.718,-1.539, RAW= 27.3, 2.1, CAL= 26.5, 1.9, ROT= 123.5, -1.9 PDAT read: Bearing 123.5, -1.9 (Local) ~Local bearing/azimuth received: Bearing 123.5, -1.9 (Local) =DAT read: Range 10 to 50 : 99.3 m (Round-trip 132.4 ms) speed -0.1 m/s M,DAT read: user:2565> ]BDAT read: Tx time:22:23:34.7521 m$Ping request sent.mQ = h>)=Ii @iM0-V)¢ nW?)ϿIi??ȩԾ:publishing transmit ping timeaFpublishing direction and range info9Jс86.sG?er:?y )Ii )IiM0-V)¢ nW?)Ii $?I {w,"QAynBrpI)  IIk4٢mAu m`=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from configA59Դ?A5Ylq ivB@/E-/;J0;DA5 F AxEk-5kn?k-&. k) k-㹾A:k-BBk-:BZk- @"-L1fԶV@\/zD@-Jс86.sG?er:?Jk-??Rk-ȩԾ*-TħH`KQR@dUuD@-7ƌF +6? +?"k-FB*k-%Gk-}hQ?k-ݵ 2k-UBk-d?k)k-%Ck-Ak-f0@ addTargetRange:: Added new target pos. range: 99.300003 m, deltaT: 3.779905 s, deltaX: 0.300003 m, approachRate: 0.079368 m/s, rangeRepo size: 4  Added new target pos. range: 99.300003 m, bearing: 123.528897 deg, lat: 36.905326 deg, lon: -122.119781 deg, deltaT: 14.615233 s, deltaX: -1.500000 m, approachRate: -0.102633 m/s, posRepo size: 4 Zj DNOT Ignoring new targets: 99.30 m.Bj Jj mWill construct direction to contact in vehicle frame from tetrahedron phase data.m=m=} ProNav: ac range: 99.300003 m, nav range: 18.939245 m, bearing: 267.121969 deg, approach rate: 0.000000 m/s, LOS rate: -1.144570 deg/s, cmd heading: 21.763406 deg, new cmd heading: 20.492815 deg. 2jHeadingCmd: 0.357667 target range: 99.300003 and range: 99.30 m. j$ >jjjihhhhfffrf@3X@bf T?ɛ B  )5I1 5 9ɚ1i1I5E=I=$ >i9i={d>)=$ >)AJ#K+ـ3 K+ .K#K#"K#JJJJJJ:JJa@a@a@a@E8k=G*F?2F:FBF^0JFtA E YE tAyM B- Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 7oX>G B O% > w,(A2Hλ>Y2c?23ޟ=92x28;2Cy>B>\I AIAuMb@Mb@Mb@qqq q)qYuS?:v?/$yu>u G٣yf > Nusing accuracyPremultiplier from configA59?A5Yhn i^B>:$?@/E;b;GA5  AvEZjDNOT Ignoring new targets: 99.30 m.BjJj򙼝u ProNav: ac range: 99.300003 m, nav range: 19.061810 m, bearing: 266.681828 deg, approach rate: 0.301778 m/s, LOS rate: -1.076737 deg/s, cmd heading: 20.492815 deg, new cmd heading: 19.181123 deg. 2ju8HeadingCmd: 0.334774 target range: 99.300003 and range: 99.30 m. jwg>jjjihhhhBfffrfbf?ɛB XH  I  UɚiIpPG=I5wg>i1i5+Y>)5wg>)9E-dŇ=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFH}(>Iy I}II}XBIy&Iy.I}3D6I}T<:I}< FJJ@AzKM k3IKM ͼ9KI KM KM BK :K qAG R>G B O >w,~"AZ->YZz?ZŪ=9ZFPZV;ZCyfBfEIrWill construct direction to contact in vehicle frame from tetrahedron phase data.InIn4٢z? ~V=9~c G٣y P  > Nusing accuracyPremultiplier from configA59Π?A5Yk iGB!%?-@/Eu;};KA5A EU!AIZjy}DNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 19.169605 m, bearing: 266.257970 deg, approach rate: 0.278330 m/s, LOS rate: -1.088241 deg/s, cmd heading: 19.181123 deg, new cmd heading: 17.916917 deg. 2j:HeadingCmd: 0.312709 target range: 99.300003 and range: 99.30 m. jk>jjjihhhhfffrfbf?ɛBmu S= I >ɚiIMH=Ik>i!i%Z;>)%k>)! =$?I9E5=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF `0JF J J J J J J :J J G5 ~Y>GI GM pAG)B9OU>|w,l @Ay5B5-IMb@Mb@Mb@ )Y#~j?~jtI +y>D9 A )rAIQAyAIIP4-Will construct direction to contact in vehicle frame from tetrahedron phase data.٢=x = =9EQ E>II MG٣MtLGyU U> ]Nusing accuracyPremultiplier from configYeA59]ޠ?eA5Y]h i](Be>>m:m?m@]/E];]_;]OA5u B u!AusEZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 19.294008 m, bearing: 265.688683 deg, approach rate: 0.245631 m/s, LOS rate: -1.116778 deg/s, cmd heading: 17.916916 deg, new cmd heading: 16.220591 deg. 2j?HeadingCmd: 0.283103 target range: 99.300003 and range: 99.30 m. j>jjjihhhhBfffrfbf?ɛB f  I  ɚ iIJ=I>iiJL[>)>)E-rAE-qAE= )I)*F?2F:FBF0JFGS>GIBYO}z> Will construct direction to contact in vehicle frame from tetrahedron phase data. ? ?ZHy RH} AAH )>I  I II BI &I .I 6I <:I r Fm8w,ZA6>Y6>6e=96S6g;6CybjBbIIjIj4٢r< va=9vKxx zG٣xyz] z> Nusing accuracyPremultiplier from config A59(렜? A5Yg iBzKJK9KKK  >-@/E; ;RA51 5"A1UB*** querying acoustic contact ***jQjQZjYeDNOT Ignoring new targets: 99.30 m.BjePJjmP ProNav: ac range: 99.300003 m, nav range: 19.375854 m, bearing: 265.276171 deg, approach rate: 0.223414 m/s, LOS rate: -1.121257 deg/s, cmd heading: 16.220591 deg, new cmd heading: 14.988483 deg. 2j`@HeadingCmd: 0.261598 target range: 99.300003 and range: 99.30 m. j9>jjjihhhh f f f rf bf?ɛB: 隽I ^ɚiIeL=I9>iix7>)9>)E-E-*E"E%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode. $?I*F?2F:FBFp0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232893G D;>G ?G ?G B O >?w,wA6k>Y6t>6H=96B6Ž;6Cy>_BB IIF!IF5٢RL R5=9R`;Q R>TT VG٣VuLGyZz Z>J~J~J|J|J~l:J~ :J|J| UNusing accuracyPremultiplier from configQ]A59UC?eA5YUd iUBae>e@U/EU;U;UVA5i m"AupEZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 19.478727 m, bearing: 264.736867 deg, approach rate: 0.202609 m/s, LOS rate: -1.056541 deg/s, cmd heading: 14.988483 deg, new cmd heading: 13.379562 deg. 2jF5HeadingCmd: 0.233517 target range: 99.300003 and range: 99.30 m. j0o>jjjihhhhfffrfbf@@ɛeBei( aep Ii m9#ɚiiiImNN=Iu0o>iqiu<>)u0o>)y}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485578*F2F:FBFZ1JFG)8>GiBqO> ) I) $w,$bA6P>Y6P>6\=96=y6H a ?ڿN?@2?1?Ղ?b徠?Z?ɨ6P>6ٛ;6Cy><B>IDD Mb@Mb@Mb@    ) Y -?S㥫Zd;Oy 5> /] j vA A) I hA y 3AI-I-4٢= =A=9Eh;Q E>AA EG٣IyM킽 M> UNusing accuracyPremultiplier from configQ]A59UP ?]A5YUbc iUBe;>e:e>e@U/EU;U;UOZA5i mZ#AqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736647ZjY]DNOT Ignoring new targets: 99.30 m.Bje|Jje| ProNav: ac range: 99.300003 m, nav range: 19.546158 m, bearing: 264.264017 deg, approach rate: 0.173636 m/s, LOS rate: -1.213388 deg/s, cmd heading: 13.379562 deg, new cmd heading: 11.966209 deg. 2j/PHeadingCmd: 0.208850 target range: 99.300003 and range: 99.30 m. jU>jjjihhhhkBfffrfbf`h@HU->IQ IUYIIUBIU' =&IQ.IU4D6IUx<:IUZ FBIJIRIZI( =bI( =jIy4ɛeBeGC am'Ii mJBɚiiiIm P=IuU>iqiu:>)uU>)yzK &KK 9K K K    *F?2F:FBF`5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:23:37.2896  TRx dataTimestamp_ set to:1736375018.585601 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990675G {8> ) I) G B O >w,!\AB4>YB>Bb =9B=yBHb?mؿ ???Mq?`x ?@a?ɨB4>B5U;@yJBNIIVIVY4٢^ٱ ^J=9^"Z:Q b>`` bG٣`yfP f> jNusing accuracyPremultiplier from confighnA59j?nA5Yj#b ijBlr>r@j/Ej:j:j]A5v B v#AvmEZjDNOT Ignoring new targets: 99.30 m.Bj%Jj%5 ProNav: ac range: 99.300003 m, nav range: 19.610815 m, bearing: 263.787000 deg, approach rate: 0.169856 m/s, LOS rate: -1.248985 deg/s, cmd heading: 11.966209 deg, new cmd heading: 10.540187 deg. 2j5JV=HeadingCmd: 0.183961 target range: 99.300003 and range: 99.30 m. j=D`<>j9j9j9i9hAhAhAhAfIfIfIrfQbfU @ɛBh hf=0I _ɚiIuR=I D`<>i i :>) D`<>)*F?2F:FBF^0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.241509G:>GBO@>JJJ1JJ:JJ3J Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 99.9 m (Round-trip 133.3 ms) speed -0.4 m/s % ,DAT read: user:2566> % BDAT read: Tx time:22:23:38.4037 5 $Ping request sent.5 Y2>2i=92=y2H`=?ֿ!?;?3?@a(?c?7?ɨ2>24;2CyNBRI = $?I9Mb@Mb@Mb@ )Yjt?|?5^y>ҽ̼ A A)AIyAII4٢U$$ U(=9U'Q ]>YY ]G٣]vLGye}Y e> Nusing accuracyPremultiplier from configiA59m)?A5YmVa imB9>:0>@m/Em;ms;mbA5 ?$A= addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.539979 s, deltaX: 0.599998 m, approachRate: 0.169492 m/s, rangeRepo size: 4 Zj9EDNOT Ignoring new targets: 99.30 m.BjEíJjeí} ProNav: ac range: 99.300003 m, nav range: 19.665361 m, bearing: 263.173060 deg, approach rate: 0.108280 m/s, LOS rate: -1.215330 deg/s, cmd heading: 10.540187 deg, new cmd heading: 8.704141 deg. 2j}PHeadingCmd: 0.151916 target range: 99.300003 and range: 99.90 m. jُ>jjjihhhh}BfffrfX@bf@?ɛ-B-8C )53I1 5Mɚ1i1I53T=I=ُ>i9i=!>>)ُ>)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:23:38.4029 *F?2F:FBF4JFjHbHH1>IC I'IIBI& =&I.I6I<:I FzK MLK }9K K K G c0;>G B O >qw,PẾA2=Y2y>2K]=92m=y2H}?}Xտڹ?x? 4%?`:ey"X?`?ɨ2=2B,;2Cy>~B>IiB=IB= B=Bp=IFIF4٢NG Ns=9RBQ R?PT VG٣Xy^ ^? nNusing accuracyPremultiplier from confighvA59jg6?mA5Yj` ijBqur=u@j/Ejjjjihhh!h!f!f!f!rf)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.bfu?ɛB$j R5I E򐗻ɚAiIIM,V=IMJ>iQiU9>)UJ>)Q  $?I*F=?2FA:FABFE_0JFAG=>GBOi> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752562+w,ANZ=YNʷ>Nn=9N¬ G٣yTO > Nusing accuracyPremultiplier from configA59F?A5Yl` iaB=@/E=D=hA5 $A!ZjamDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 19.743853 m, bearing: 262.190210 deg, approach rate: 0.094642 m/s, LOS rate: -1.214684 deg/s, cmd heading: 7.416665 deg, new cmd heading: 5.762241 deg. 2jhPHeadingCmd: 0.100570 target range: 99.300003 and range: 99.90 m. j=jjjihhhhfffrfbf]?ɛB^V 隍6I ,ɚiIX=I=ii@$A>)=)]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008551 yIyE- =E5 sAE5 sA*F ?2F :F BF 4JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. > O? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256689H53>I1 I5II5MBI5$ =&I1.I55D6I5<:I5 FG%?>JUJUJU0JQJU:JU :JUـ3JQJU;a}JU;a}JU9P;a}JU:P;aGB O%?gƮw,A6=Y6>6a=96=y6Hsr?ҿ?@? ?[vńbƠ??ɨ6=6g;4yBBBIDFAzKuBIKu9KqKuKu}Z7" Mb@Mb@Mb@ )Yv/?Mbt A A)IyzAIIs4٢5= =9ܴQ > G٣wLGy# > Nusing accuracyPremultiplier from configA59[?A5Y@` i?B>:<@/E;:;}mA5 B E$AgEZj DNOT Ignoring new targets: 99.30 m.BjϼJjϼ% ProNav: ac range: 99.300003 m, nav range: 19.785254 m, bearing: 261.484983 deg, approach rate: 0.085531 m/s, LOS rate: -1.453853 deg/s, cmd heading: 5.762241 deg, new cmd heading: 3.651996 deg. 2j%qy%HeadingCmd: 0.063739 target range: 99.300003 and range: 99.90 m. j-Ɖ=j)j)j)i)h)h1h1h5xBf1f9f9rf9bf=?ɛeBeIM  I/I  ɚ i I Z=IƉ=ii#O>)Ɖ=)E  =Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509147*F?2F:FBF_0JF  $?IG L@>G B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760439 ͮw,M6A6n%e=Y6>6V=96˫=y6H?uKѿ`KE?`i? ?X#@#е@Š??ɨ6n%e=6;4y>BrII"I5٢=R; =R=9=%Q E>AA EG٣AyM| M> UNusing accuracyPremultiplier from configQ]A59Uj?]A5YU>` iU'BYe;e@U/EU;U* ;UpA5i m:$AiZjDNOT Ignoring new targets: 99.30 m.BjLJjL ProNav: ac range: 99.300003 m, nav range: 19.813526 m, bearing: 260.962814 deg, approach rate: 0.072169 m/s, LOS rate: -1.330972 deg/s, cmd heading: 3.651995 deg, new cmd heading: 2.088131 deg. 2j[dHeadingCmd: 0.036445 target range: 99.300003 and range: 99.90 m. jG=jjjihhhhfffrfbfD?ɛ ހBi^ 隕D-I ,һɚiI#\=IG=iiqbP>)G=)EE*E"E)m= uC5c~GuvA &YvAyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014044*F?2F:FBFJFGIL>Gi Bq O > I Ӯw,PA6ܾ6Ϋ=96S=y6H ?[Ͽ Ķ??@2?胿`s ?'?ɨ6ܾ<6;4yVBVI=Mb@Mb@Mb@999 9)=fDY=K? rh{Gzy=^>=C =#= A =A)=+AI=zA9y= AIUIU_4٢eȳ< eH=9evcQ m>ii mG٣iyu u> Nusing accuracyPremultiplier from configyA59}]|?A5Y}\` i}B?:@}0E}q+;};}vtA5 B $AdEZjaeDNOT Ignoring new targets: 99.30 m.BjmżJjmż ProNav: ac range: 99.300003 m, nav range: 19.842585 m, bearing: 260.371575 deg, approach rate: 0.068054 m/s, LOS rate: -1.382601 deg/s, cmd heading: 2.088131 deg, new cmd heading: 0.317607 deg. 2j7mHeadingCmd: 0.005543 target range: 99.300003 and range: 99.90 m. j;jjjihhhhBfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264629ɛEۀBEjP AMm)II m0ɚqiqIu^=I}|;iyi}#T>)};)yZHRH@AH6>IC III/BI&I.I6I<:Im F*F?2F:F BF o0JF G GtAJ=J=J9J9J=ܫ:J=:J9J9J=;J=;J=J;J=J;zKRMK}9KKK G- ,N>G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516431? ڮw,xjA . $?I<I@Y/I>ն=9=yHIJ?Pȿ?j?:b?ҐѳTi?0?ɨI@;Cy%4B%Ii-;>I-p< -=-=I5I54٢Eͫ= ML=9M‚Q M>QQ UG٣UxLGy] ]> mNusing accuracyPremultiplier from configamA59ee?uA5Ye` ieBquru@e0Ee;e`;ewA5 #AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 99.30 m.Bj|ڼJj|ڼ ProNav: ac range: 99.300003 m, nav range: 19.862358 m, bearing: 259.789432 deg, approach rate: 0.051958 m/s, LOS rate: -1.528110 deg/s, cmd heading: 0.317607 deg, new cmd heading: 358.573488 deg. 2jHeadingCmd: 6.258288 target range: 99.300003 and range: 99.90 m. jC@jjjihhhhfffrfbf@ɛـBU 隵vI λɚiIJ3`=I˼ii=>)C@)*F?2F:FBF0JFGgR>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768521GBOa>@ w,eAFzl@YF->F@C=9Fd G٣y > Nusing accuracyPremultiplier from configA59?A5Ya iB?:,c@0E+;:{A5 p#AaEZjy}DNOT Ignoring new targets: 99.30 m.BjDͼJjDͼ ProNav: ac range: 99.300003 m, nav range: 19.890083 m, bearing: 259.169225 deg, approach rate: 0.064270 m/s, LOS rate: -1.435670 deg/s, cmd heading: 358.573484 deg, new cmd heading: 356.716142 deg. 2jRvHeadingCmd: 6.225871 target range: 99.300003 and range: 99.90 m. jV:@jjjihhhhǀBfffrfbfC@ m $?IiɛEրBuDtI quIy }$dɚyiyI}a=IjiiÂE>)V:@)*FY2Fa:FaBFeN2JFi Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272969G} ƉR>G G rAH 8>I  I II CBI " =&I .I 6I <:I  FG9 BI Om >J= J= J= 1J9 J= :J= :J= 3J9 J= ;J= ;J= L;J= L;Cw,wA:@Y:D>:9^=9:\\ bG٣`yb b> fNusing accuracyPremultiplier from configdjA59f?jA5Yfa ifBlnn@f 0Ef ;f ;f~A5r B r"Av^EZjDNOT Ignoring new targets: 99.30 m.BjDJjD伝- ProNav: ac range: 99.300003 m, nav range: 19.912670 m, bearing: 258.591357 deg, approach rate: 0.062475 m/s, LOS rate: -1.596532 deg/s, cmd heading: 356.716137 deg, new cmd heading: 354.985057 deg. 2j-5HeadingCmd: 6.195658 target range: 99.300003 and range: 99.90 m. j5B@j9j9j9i9h9h9hAhAfAfAfArfIbfMp @zKBoJKs9KKKɛӀB R NI  ɚiIJc=IrAiiH>)B@) *F2F:FBF4JF"G=G=MWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: Range 10 to 50 : 101.4 m (Round-trip 135.3 ms) speed -0.6 m/s ],DAT read: user:2567> -]X#Rx 1: Read range message, but no direction.IyMBImT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.GwYM>GBOB> AIA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Tx time:22:23:42.0522  $Ping request sent. =9uA-Q u>qq uG٣}yLGy} > Nusing accuracyPremultiplier from configA59á?A5Y.b iBད@0E:@:A5 u"A- addTargetRange:: Added new target pos. range: 101.400002 m, deltaT: 3.528184 s, deltaX: 1.500000 m, approachRate: 0.425148 m/s, rangeRepo size: 4 Zj15DNOT Ignoring new targets: 99.30 m.Bj]ԼJj]Լm ProNav: ac range: 99.300003 m, nav range: 19.934483 m, bearing: 257.933329 deg, approach rate: 0.049334 m/s, LOS rate: -1.486619 deg/s, cmd heading: 354.985067 deg, new cmd heading: 353.013963 deg. 2jmuHeadingCmd: 6.161256 target range: 99.300003 and range: 101.40 m. ju)@jqjqjqiqhhhhfffrfYY@bf˛?ɛЀB^G4  I ɚiIPd=I%i!i%M>)%)@))*F?2F:FBF0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251447  $?I G rE>Gi By O >.Sw,#һA:@Y:\=:_n=9:Jii mG٣iyu섽 u> }Nusing accuracyPremultiplier from configyA59}ա?A5Y}zb i}B ?:\@}0E}o;}T:}%A5B !A[EZjDNOT Ignoring new targets: 99.30 m.BjݼJjݼ} ProNav: ac range: 99.300003 m, nav range: 19.968607 m, bearing: 257.333574 deg, approach rate: 0.088126 m/s, LOS rate: -1.546184 deg/s, cmd heading: 353.013956 deg, new cmd heading: 351.218385 deg. 2jHeadingCmd: 6.129917 target range: 99.300003 and range: 101.40 m. jH(@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505020hhBfffrfbf ?ɛu΀B}>!/ }9=}Iy }ɚyiyI&Kf=IaiiOR>jHbH<H9>I I!IIBI&I.I6I-<:I/ FBIeßCJIeßCRIaZIe$ =bIe# =jIe5)H(@)JJJ0JJ,:J:Jـ3JJ;J;JnN;JoN;*F?2F:FBF_0JFG}J>G9BAOex>zK K 9K K K e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755493 ! I! w,1컾ABz$@YB=BDoW=9BbB ZV=9^oQ ^>\` bG٣`ybm b> jNusing accuracyPremultiplier from configdjA59f桜?nA5Yfb ifBlnٛn@f0Ef ;f ;f{A5p v AteB*** querying acoustic contact ***jajaZjqDNOT Ignoring new targets: 99.30 m.BjѼJjѼ ProNav: ac range: 99.300003 m, nav range: 19.999193 m, bearing: 256.753505 deg, approach rate: 0.077489 m/s, LOS rate: -1.467313 deg/s, cmd heading: 351.218381 deg, new cmd heading: 349.481397 deg. 2j{HeadingCmd: 6.099601 target range: 99.300003 and range: 101.40 m. j/@jjjihhhhfffrfbf'?ɛ]ˀBe' ae۾Ia eɚaiaImZlg=Iu;iiY>)/@)ErAErA*FE?2FI:FIBFIJFIGUsA GUrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007800GM"N>G! B1 Oe >ew,Ay~B~gIi =I Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259754Mb@Mb@Mb@ )Y(\?MbP~jt?y?< A  A)I`Ay AI%I%4٢=%= =4=9=Q E>AA EG٣EzLGyM M> UNusing accuracyPremultiplier from configQ]A59U ?]A5YUvb iUBe)?e:e΃=e@U0EU;U;UrA5i m AmYEZjDNOT Ignoring new targets: 99.30 m.BjݼJjݼ $?I ProNav: ac range: 99.300003 m, nav range: 20.074011 m, bearing: 256.065679 deg, approach rate: 0.169420 m/s, LOS rate: -1.551695 deg/s, cmd heading: 349.481409 deg, new cmd heading: 347.426554 deg. 2jHeadingCmd: 6.063737 target range: 99.300003 and range: 101.40 m. j# @jjjihhhhZBfffrfbfd?ɛuɀBu quϾIq }s#ɚyiyI}ɮh=I`ii3z>)# @)*FA2FA:FABFE`0JFAG%߸U>GBOm>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511437H :>I  I YII BI &I .I 6D6I <:I $ FJ J AA'w,AR@YRR<R2=9R(tt vG٣tyzx z> ~Nusing accuracyPremultiplier from config|A59~ ?A5Y~^b i~B  < @~0E~Q:~Q:~A5 # AZjDNOT Ignoring new targets: 99.30 m.BjмJjм ProNav: ac range: 99.300003 m, nav range: 20.126596 m, bearing: 255.515554 deg, approach rate: 0.140044 m/s, LOS rate: -1.461220 deg/s, cmd heading: 347.426561 deg, new cmd heading: 345.780975 deg. 2jzHeadingCmd: 6.035017 target range: 99.300003 and range: 101.40 m. j@jjjihhhh f f f zK5BoHK5ŷ9K1K5K5BK=qA:K=pArfIbfUI?ɛǀB I NM(ɚiIi=I ~i id>)@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765253 $?IEG=*Fm?2Fi:FiBFm_0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015326G X>Gi By O >[w,K9J<J>/J<J>:J<J>(N3Jll rG٣pyrpW r> Nusing accuracyPremultiplier from configtA59v!?A5Yvgb ivB~@v 0Ev)Mu@)IE =*F?2F:FBF~0JFGD]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267681GqByO\> qIq>w,UA 2T)@Y28@2")=92{ G٣{LGyd > Nusing accuracyPremultiplier from configA595?A5Ya iBe ?:=@$0E";7!;+A5 {ASEZjDNOT Ignoring new targets: 99.30 m.Bj׼Jj׼ ProNav: ac range: 99.300003 m, nav range: 20.274023 m, bearing: 254.226556 deg, approach rate: 0.212488 m/s, LOS rate: -1.509618 deg/s, cmd heading: 343.756891 deg, new cmd heading: 341.929502 deg. 2jZHRHH;>I III BI! =&I.I6If<:IY FHeadingCmd: 5.967796 target range: 99.300003 and range: 101.40 m. j/@jjjihhhh|Bfffrfbf)@ɛ€B I! %xf1ɚ!i!I%7k=I-ziIiM y>)U/@)QEYEY*EY"EYzKqKuK9KqKuKuC *F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772118 m $?Ii G b>G B O >D)w,sA2Zh@Y2w@2=92y=y2H?`?"?zc?䠿b??ɨ2Zh@2Ë;2Cy>#B>IIFIF4٢N^C< N@=9R Q R>PP VG٣TyVc V> ^Nusing accuracyPremultiplier from configX^A59ZH?bA5YZ9a iZB`b=b@Z(0EZ]:Z:ZA5d jfAhzB*** querying acoustic contact ***jxjxZjDNOT Ignoring new targets: 99.30 m.Bj `ͼJj `ͼ ProNav: ac range: 99.300003 m, nav range: 20.357258 m, bearing: 253.612106 deg, approach rate: 0.195383 m/s, LOS rate: -1.436420 deg/s, cmd heading: 341.929515 deg, new cmd heading: 340.094363 deg. 2jsv%HeadingCmd: 5.935766 target range: 99.300003 and range: 101.40 m. j%@j!j!j!i!h!h)h)hfffrfbf` @ɛ B   II 5ɚiI"l=I౾iiD>)%@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:23:44.5941 TRx dataTimestamp_ set to:1736375025.894034checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026382*F2F:FBF`5JFGe>J%J%J%0J!J%,:J%:J%ـ3J!GyBO;>~G =YAyEcB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275318 I #w,ŌA6@Y6m@6R<96!! %G٣!y-Q -> 5Nusing accuracyPremultiplier from config1=A595\?=A5Y5M` i5BE@ ?E:E>E@5,0E5;5<;5ҟA5MB M*AUPEZjy}DNOT Ignoring new targets: 99.30 m.BjüJjü ProNav: ac range: 99.300003 m, nav range: 20.460072 m, bearing: 252.992451 deg, approach rate: 0.228097 m/s, LOS rate: -1.367797 deg/s, cmd heading: 340.094353 deg, new cmd heading: 338.245408 deg. 2jjHeadingCmd: 5.903496 target range: 99.300003 and range: 101.40 m. jq@jjjihhhhBfffrfbf_ @ɛBȹ I Ч9ɚiIiim=Imf¾iqiuЃ>)uq@)q*F%?2F!:F!BF%_5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data. 8DAT read: $Error in header  *Received a bad headerchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.544397HI IIINBI&I.I6I6<:I6 FGM 0w>G! B) OM >zKU aMKU @9KQ KU KU mB* /jL% :)w,A2߾@Y2@23<92?'B>IIFIF[4٢Nl Re=9RQ R>TT VG٣TyVĎ V> Nusing accuracyPremultiplier from configA59m?A5Y_ iB!%2=%@/0E6;X; A51 5JA9]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780353ZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 20.541529 m, bearing: 252.484041 deg, approach rate: 0.217000 m/s, LOS rate: -1.349002 deg/s, cmd heading: 338.245420 deg, new cmd heading: 336.726615 deg. 2jsgHeadingCmd: 5.876988 target range: 99.300003 and range: 101.40 m. jI@jjjihhh h f f frfbfH:@ u$?IqɛB I %g=ɚ)i)I--n=I5!Ͼi1i5#݃>)5I@)1EEsA*F2F:FBF 4JF "G% >G%!>GG>GBOf> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031369JKm3 KL.KK"KJ= J= J9 J9 J= :J= :J9 J9 0w,lyAb@YbQ%@b<9bĝ?m^`G?` G٣|LGy s  > Nusing accuracyPremultiplier from config%A59?%A5Y!_ iB!%=%@20Em ; ;A55B 5A5MEZjQeDNOT Ignoring new targets: 99.30 m.BjuYȼJj}Yȼ ProNav: ac range: 99.300003 m, nav range: 20.627371 m, bearing: 251.927900 deg, approach rate: 0.217198 m/s, LOS rate: -1.401271 deg/s, cmd heading: 336.726605 deg, new cmd heading: 335.065615 deg. 2jkpHeadingCmd: 5.847998 target range: 99.300003 and range: 101.40 m. j"@jjjihhhhfffrfbfx@ɛBz JI KAɚiIIn=I޾ii >)"@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284459*F?2F:F BF [0JF  m$?IiG ->G ?G "?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535396uG6w,*VڼAjHbH<H<>IC IIIgBI =&I.I6I<:In FzC@YzR@zZ@<9zk>A  A)rAI Ay AII[4٢ >=9⭻Q > G٣yUt U> eNusing accuracyPremultiplier from configYeA59]̒?eA5Y]A^ i]Bm?m:m>m@]60E];]:]vA5y }A}JEZjDNOT Ignoring new targets: 99.30 m.Bj2Jj2 ProNav: ac range: 99.300003 m, nav range: 20.729511 m, bearing: 251.367662 deg, approach rate: 0.228354 m/s, LOS rate: -1.246327 deg/s, cmd heading: 335.065612 deg, new cmd heading: 333.393681 deg. 2jUHeadingCmd: 5.818818 target range: 99.300003 and range: 101.40 m. j3@jjjihhhhBfffrfbf@@ɛB =G) B1 OU >6qhh jG٣hynV n> rNusing accuracyPremultiplier from configpvA59r顢?vA5Yr] irBxz]=z@r90ErU:r:rA5  AB*** querying acoustic contact ***jjZj1]DNOT Ignoring new targets: 99.30 m.BjeqJjeq ProNav: ac range: 99.300003 m, nav range: 20.808157 m, bearing: 250.918957 deg, approach rate: 0.202353 m/s, LOS rate: -1.150127 deg/s, cmd heading: 333.393691 deg, new cmd heading: 332.052924 deg. 2jTEHeadingCmd: 5.795417 target range: 99.300003 and range: 101.40 m. jt@jjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039777fffrfbfW3@ɛB 隥'I JɚiIykp=Iϼii>)t@)JJJJJJJJ*F?2F:FBFJFG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291470G B O > e $?Ia YCw,A2;@Y2@2<92L{B>TI Mb@Mb@Mb@    ) Y V-?p= ף?~jty > >   A / A)  AI  y Q AI%I%-4٢=Ľ =C=9=8AQ E>AA EG٣E}LGyMO M> UNusing accuracyPremultiplier from configQ]A59Uײ?]A5YUJ] iUBe>e:ew=e@U<0EU;U;U9A5mB mD!AmGEZj1UDNOT Ignoring new targets: 99.30 m.Bj]ܲJj]ܲm ProNav: ac range: 99.300003 m, nav range: 20.888531 m, bearing: 250.411356 deg, approach rate: 0.198848 m/s, LOS rate: -1.250975 deg/s, cmd heading: 332.052925 deg, new cmd heading: 330.536354 deg. 2jmVHeadingCmd: 5.768948 target range: 99.300003 and range: 101.40 m. j8@jjjihhhhZBfffrfbf@ɛuBu ) quP̾Iq }OɚyiyI}X'q=Iii>)8@)*F}?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543439H)I) I)I)I)&I).I)6I-<:I-m FBIJIRIZI! =bI! =jIƈ 5JJ?AG A>G sAG sAG B O >~Iw,2'AzK"yMK"59K K"K">۵@Y>[@><9>xlH;+?`?@B?̿*?c˝` ? ?ɨ>۵@>(;hh nG٣lyr팽 v> ~Nusing accuracyPremultiplier from configxA59z¢? A5Yz] izB  <=@z?0Ezh;z];zA5! %2"A!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804245ZjDNOT Ignoring new targets: 99.30 m.BjPJjP ProNav: ac range: 99.300003 m, nav range: 20.960657 m, bearing: 249.933794 deg, approach rate: 0.183711 m/s, LOS rate: -1.212186 deg/s, cmd heading: 330.536350 deg, new cmd heading: 329.108907 deg. 2jO $?I%HeadingCmd: 5.744034 target range: 99.300003 and range: 101.40 m. j% Ϸ@j!j)j)i)h)hQhYhYfafifqrfbf]@ɛBC7 I UɚiIq=I ii>) Ϸ@)EUۤ=*F?2F:FBFJF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055381G F>G B O5>ZQw,`EA~չ@Y~b@~<9~ G٣~LGyjS > Nusing accuracyPremultiplier from configA593آ?A5Y\ iB<@C0E;;EA5 F#A I%DEZjquDNOT Ignoring new targets: 99.30 m.Bj}౼Jj}౼ ProNav: ac range: 99.300003 m, nav range: 21.053902 m, bearing: 249.286837 deg, approach rate: 0.180108 m/s, LOS rate: -1.244078 deg/s, cmd heading: 329.108895 deg, new cmd heading: 327.177393 deg. 2jsUHeadingCmd: 5.710323 target range: 99.300003 and range: 101.40 m. j@jjjihhhhfffrfbfh@ɛEBM; IMdII M^ɚIiQIUr=IUiYi] >)]@)yE]Ց=*F?2F:FBFJFZHA RHA ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] =] =e checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559813HQ IQ  IU IIU IBIQ &IQ .IQ 6IU d<:IU X FGU K>G1 BA J] J] JY JY J] ,:J] /:JY JY JY ae JY ae J] ^;am J] ^;am O >xWw,x_A6@Y6b@6`|<96QB>IMb@Mb@Mb@ )Yy&1?X9v?ly`>}= )rAI Ayz AI% I%4٢5? 5d=9=('Q => G٣yi > Nusing accuracyPremultiplier from configA59 梜?A5Y] iBU>:@F0Eg;;A5 W$AZjimDNOT Ignoring new targets: 99.30 m.Bju Jju  ProNav: ac range: 99.300003 m, nav range: 21.090370 m, bearing: 248.843679 deg, approach rate: 0.096888 m/s, LOS rate: -1.175316 deg/s, cmd heading: 327.177399 deg, new cmd heading: 325.850473 deg. 2jIHeadingCmd: 5.687164 target range: 99.300003 and range: 101.40 m. j?@jjjihhhhBfffrfbf @uPExceeded connect timeout, disconnecting.ɛ5B}Ke y}Iy eɚiI.s=Iܔii->)?@)EE*E"EzKBoHK9KKK   Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.812003 $?I*F?2F:FBF`0JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063319GA GBOU>\^w,}Af@YfS-@fv<9fT:h G٣y% %> -Nusing accuracyPremultiplier from config!5A59%?5A5Y%^ i%oB1=!N=@%I0E%=;%=;%uA5EB M(%AMAEeB*** querying acoustic contact ***jajaZjquDNOT Ignoring new targets: 99.30 m.Bj};Jj}; ProNav: ac range: 99.300003 m, nav range: 21.125515 m, bearing: 248.296831 deg, approach rate: 0.080250 m/s, LOS rate: -1.246584 deg/s, cmd heading: 325.850485 deg, new cmd heading: 324.213140 deg. 2jUHeadingCmd: 5.658587 target range: 99.300003 and range: 101.40 m. j%@jjjihhhhff!f!rf!bf%l@ɛBsf 隕 I nɚiIt=Iii/?q>)%@)*F?2F:FBF62JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315551 IG% Z>G B O- >ܪew,XŗA:7@Y:4G@:ͳ<9:\mjL A ) AI Ay AI=I=B4٢MI MG=9M ;Q M>QQ UG٣ULGy]M ]> eNusing accuracyPremultiplier from configamA59e?mA5Ye` ieWBuH>u:uԾu@eL0Ee;e;e A5 s&AZjDNOT Ignoring new targets: 99.30 m.HI IIIBI! =&I.I6I[<:IR FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567521BjuJju ProNav: ac range: 99.300003 m, nav range: 21.119282 m, bearing: 247.774135 deg, approach rate: -0.015185 m/s, LOS rate: -1.273700 deg/s, cmd heading: 324.213152 deg, new cmd heading: 322.645016 deg. 2jZHeadingCmd: 5.631218 target range: 99.300003 and range: 101.40 m. j2@jjjihhhhBfffrfbf ka@ɛ B ੁ QU5IQ U2xɚQiQIUv=I]V&iYiepss>)e2@)aJJJ/JJ:J :J(N3JJ7;J8;J9P;J:P;*F?2F:FBF`5JFG\>GyBO^> }nManaging dock network, ignoring radio surface power offzKM LKM 9KI KM KM  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820951kw,aABG@YBBW@B%<9BC[    G٣ y > %Nusing accuracyPremultiplier from config!-A59%?-A5Y%b i%?B)-㾑-@%O0E%:%:%A59 ='A=>EZjaeDNOT Ignoring new targets: 99.30 m.BjmJjm} ProNav: ac range: 99.300003 m, nav range: 21.109472 m, bearing: 247.270398 deg, approach rate: -0.024860 m/s, LOS rate: -1.277212 deg/s, cmd heading: 322.645022 deg, new cmd heading: 321.133478 deg. 2j}"[HeadingCmd: 5.604836 target range: 99.300003 and range: 101.40 m. jZ@jjjihhhhfffrfbf@t @ɛBr Q/=隕HI IɚiI,w=IC-iiq>)Z@)*FQ2FY:FYBF] 4JFY Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.072664)F= Cm~G`wA %Y`wAyAG-4s>G B O5 >rw,-˽A $2Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326659I(y}B3I Mb@Mb@Mb@    ) Y T㥛 ?`"S㥫y ?  /]  A  A)  AI  y  AI%I%4٢5- 5+=95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIUA59M$?UA5YMf iMB]h?]:]!]@MS0EM;M ;MA5a m(AiZjDNOT Ignoring new targets: 99.30 m.BjüJjü ProNav: ac range: 99.300003 m, nav range: 21.053379 m, bearing: 246.618962 deg, approach rate: -0.117626 m/s, LOS rate: -1.369657 deg/s, cmd heading: 321.133474 deg, new cmd heading: 319.174764 deg. 2jjHeadingCmd: 5.570651 target range: 99.300003 and range: 101.40 m. jB@jjjihhhYh]ABfafafarfabfm 9k!@ɛB< VI чɚiIx=I%h6i!i% >)%B@))*F?2F:FBF 5JFjH<bH<HI I!IIBI =&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575663J J J 0J J ,:J :J ـ3J J ;J ;J DG;J EG;G q>G B O >xw,V彾A6v@Y6@6<96*}BBIiF)k@)*FE?2FA:FABFE_0JFIG)!u>GBOn>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079430Hw,2A6@Y6@6 <967;6Cy>}B>IIFEIF5٢NCֽ RK=9RTT ZG٣ZLGyZË Z> bNusing accuracyPremultiplier from config`fA59b)}+@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331941 IE=*F?2F:FBFJFG GG c>G B H I  I II ~BI ! =&I .I 6I g<:I ] FO >Mw,3A.Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583299>@Y>@>%<9>nH ?B?F?@9߿?@9y ??ɨ>@>[5;;Q > G٣yg > Nusing accuracyPremultiplier from configA59M? A5Yr iB 5? : EW@^0E@:;dI;LA5%B %)+A%=EJUJUJQJQJUL:JUK:JQJQJUP;JUQ;JUc;JUc;ZjaDNOT Ignoring new targets: 99.30 m.BjܼJjܼ ProNav: ac range: 99.300003 m, nav range: 20.826981 m, bearing: 244.878337 deg, approach rate: -0.241902 m/s, LOS rate: -1.539291 deg/s, cmd heading: 316.233032 deg, new cmd heading: 313.934108 deg. 2j HeadingCmd: 5.479184 target range: 99.300003 and range: 101.40 m. j%yU@j!j!j)i)h)h)h1h5Bf1f1f1rf9bf= #@ɛBꉤ 隭{I VɚiI|=IMii|}>)yU@)E=*Fu?2Fq:FqBFu^0JFyGUU'> $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836122G)zK-BoHK)K)K-K-BAOe>\w,6A2˰@Y2۷@2%<92wtx zG٣xyB  > -Nusing accuracyPremultiplier from config!A59%QZ?A5Y%w i%Bb^@%b0E%<%<%A5 +A:EZjDNOT Ignoring new targets: 99.30 m.Bj8ּJj8ּ  ProNav: ac range: 99.300003 m, nav range: 20.731991 m, bearing: 244.299922 deg, approach rate: -0.244935 m/s, LOS rate: -1.498276 deg/s, cmd heading: 313.934100 deg, new cmd heading: 312.191471 deg. 2j HeadingCmd: 5.448769 target range: 99.300003 and range: 101.40 m. jQ\@jjjihhh!h!f!f!f)rf)bf-̘$@ɛ]B] ]=]Ia eɚaiaIeL?~=ImLUiiim~>)mQ\@)qmWill construct direction to contact in vehicle frame from tetrahedron phase data.uG G G B O >{w,RA>ޯ@Y>z@>ʹ<9>EH@?@U0?O?`}+`E?`aś?`%?ɨ>ޯ@>D;>CyJ"}BJI%Mb@Mb@Mb@!!! !)!Y%"~j? rпˡEy%S#?%%'% A %A)% AI%`A!y!IM?IMZ 5٢]k ]/=9e+;Q e>ii mG٣mLGym* m> }Nusing accuracyPremultiplier from configyA59}i?A5Y}\~ i}Bd0?:r@}g0E};};}A5 #,AZjDNOT Ignoring new targets: 99.30 m.BjEsJjEsU ProNav: ac range: 99.300003 m, nav range: 20.582365 m, bearing: 243.528207 deg, approach rate: -0.337186 m/s, LOS rate: -1.751670 deg/s, cmd heading: 312.191473 deg, new cmd heading: 309.860853 deg. 2jUE]HeadingCmd: 5.408092 target range: 99.300003 and range: 101.40 m. j]@jYjYjihhhh_Bfffrfbf%@ɛ%B%V !%I) -ߨɚ)i)I-=I5!`i1i5>)5@)YE=:=ZHyRHyHI IRII1~BI&I.I6IG<:IF FBIMĠCJIMĠCRIIZIIbIIjIMđ4Will construct direction to contact in vehicle frame from tetrahedron phase data.G>GJu>GBJJJJJܫ:J :JJJ;J;J9P;J:P;O>Ԝw,4lA $I&h>@BWill construct direction to contact in vehicle frame from tetrahedron phase data.FBDAT read: Response Not Received F*response not receivedF,DAT read: user:2569> JBDAT read: Tx time:22:23:53.0023 J$Ping request sent.J9@><9>HX|??9z?@zx?]ӛ^??ɨ>@>;>Cy}(}B}II2I5٢j< G=9k;Q > G٣ys > }Nusing accuracyPremultiplier from configyA59}w?A5Y}߄ i}pB2z@}k0E} <}"<}eA5 B M,AM7EZjDNOT Ignoring new targets: 99.30 m.BjJj⼝ ProNav: ac range: 99.300003 m, nav range: 20.437063 m, bearing: 242.800782 deg, approach rate: -0.314591 m/s, LOS rate: -1.586093 deg/s, cmd heading: 309.860848 deg, new cmd heading: 307.664194 deg. 2jHeadingCmd: 5.369753 target range: 99.300003 and range: 101.40 m. jի@jjjihhhhfffrfbf  Bl&@ɛBk 隍8I uɚiI1ۀ=Iiii >)ի@)EE*E"E5Will construct direction to contact in vehicle frame from tetrahedron phase data.5<54==JDAT read: TxSync time:22:23:53.0015 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251111*F ?2F :F BF _0JF G?|> $?IGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504966BO] ?-w,؎AZ @YZE@Z<9Z G٣LGyY > Nusing accuracyPremultiplier from configA593?A5Y& iSB:=?:}@q0E{!;;A5 +AB*** querying acoustic contact ***jjZjquDNOT Ignoring new targets: 99.30 m.Bj}`Jj}` ProNav: ac range: 99.300003 m, nav range: 20.254173 m, bearing: 241.877454 deg, approach rate: -0.366265 m/s, LOS rate: -1.865720 deg/s, cmd heading: 307.664205 deg, new cmd heading: 304.871543 deg. 2j HeadingCmd: 5.321012 target range: 99.300003 and range: 101.40 m. jE@jjjihhhhzBfffrfbfg'@ɛB-7p )-=I1 5Ϡɚ1i1I5+ǁ=I=Pvi9i9)=E@)A*F?2F:FBFf0JFG>GYBiHIC III}BI&I.I6IR<:IN FO^>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753894J! J% BAw,(Afz$@Yf3@fi#<9f^Dk;fCyzF}B~II]I]&4٢m;= mL=9}Q }>yy }G٣yy > Nusing accuracyPremultiplier from configA599?A5Yɓ i>B@v0E+;+;YA5B +A6EZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 20.106455 m, bearing: 241.150564 deg, approach rate: -0.383669 m/s, LOS rate: -1.901773 deg/s, cmd heading: 304.871531 deg, new cmd heading: 302.675973 deg. 2j%%HeadingCmd: 5.282692 target range: 99.300003 and range: 101.40 m. j% @j!j!j!i!h)h) E$?IEhhAhAfIfIfIrfQbfU@1(@ɛ}B} y隅|I /ؾɚiIE=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005998I(ii) @)zK.SLK9KKK !(&&#! ! BKrA:KqA*F?2F:FBF0JFG_>G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257967J= J= J9 J9 J= ,:J= :J9 J9 aE @aE @aE @aE @Κw,L¾ABUS@YBb@B<9BP?ɨBUS@B;BCy^c}B^IIfIf4٢n= rT=9r:Q r>tt vG٣tyv z> Nusing accuracyPremultiplier from configx%A59z2?%A5Yz@ iz)B!%߅-@z{0Ez;z:zA51 5/+A1Zjy}DNOT Ignoring new targets: 99.30 m.Bj[Jj[ ProNav: ac range: 99.300003 m, nav range: 19.961622 m, bearing: 240.453684 deg, approach rate: -0.370479 m/s, LOS rate: -1.795496 deg/s, cmd heading: 302.675981 deg, new cmd heading: 300.571172 deg. 2jHeadingCmd: 5.245956 target range: 99.300003 and range: 101.40 m. jާ@jjjihhhhfffrfbf(@ɛMBM̋ qu_tIq użɚyiyI}O=I} ii)ާ@)*F5?2F9:F9BF=`5JF9 QIYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513842G $>GBO >gĶw,9bܾAjH<bH<HIC III}BI&I.I6IQ<:IF@YF@F[<9F G٣LGy,[ > Nusing accuracyPremultiplier from configA59D?A5Y iBq@?:@0E;;A5B *A3EZj9EDNOT Ignoring new targets: 99.30 m.BjEJjE ProNav: ac range: 99.300003 m, nav range: 19.796476 m, bearing: 239.584033 deg, approach rate: -0.357654 m/s, LOS rate: -1.899028 deg/s, cmd heading: 300.571162 deg, new cmd heading: 297.942392 deg. 2j颽HeadingCmd: 5.200076 target range: 99.300003 and range: 101.40 m. jg@jjjihhhhBfffrfbf)@ɛ}B 隅hI &̼ɚiI%^*=I%Vi!i))-g@ 9I9))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014112zK- HLK- ŷ9K) K- K-  RK9 JK= ?*F ?2F :F BF o0JF G-F>GBO->[w,8AJީ@YJx@J"<9J f9=9j:Q j>hh nG٣lyny n> rNusing accuracyPremultiplier from configpvA59r?vA5Yr ir Bxzz@r0Er ;r ;rA5| ~m)AZj!-DNOT Ignoring new targets: 99.30 m.5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266038Bj= Jj= M ProNav: ac range: 99.300003 m, nav range: 19.626808 m, bearing: 238.757714 deg, approach rate: -0.395422 m/s, LOS rate: -1.942367 deg/s, cmd heading: 297.942387 deg, new cmd heading: 295.443674 deg. 2jUUHeadingCmd: 5.156465 target range: 99.300003 and range: 101.40 m. jU@jYjYjYiYhYhYhahafafafirfibfm@*@ɛB 隝iUI ѼɚiI=I4ii)@).~G YyBJ-J)J)J)J-:J)J)J)*FE?2FA:FABFE05JFAGK>Gi $?IBWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522329O] >=ůw,A6@Y6@6#<96=9j9Q > G٣y] > Nusing accuracyPremultiplier from configA59ˣ?A5Y iB16?:@0E;o;RA5 (A5EB*** querying acoustic contact ***jjZj  DNOT Ignoring new targets: 99.30 m.BjJj% ProNav: ac range: 99.300003 m, nav range: 19.484474 m, bearing: 237.963338 deg, approach rate: -0.329940 m/s, LOS rate: -1.854809 deg/s, cmd heading: 295.443685 deg, new cmd heading: 293.044627 deg. 2j%-HeadingCmd: 5.114594 target range: 99.300003 and range: 101.40 m. j-@j)j)j)i)h1h1h9h=-Bf9f9f9rfAbfE@+@ɛmBmE< imFIq u׼ɚqiqIu=I})ii)@)HYIY I] II]}BIY&IY.IY6I]=<:I]? FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771504*F?2F:FBF 5JFGG B O5 > I h Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:23:55.5515  TRx dataTimestamp_ set to:1736375036.736598 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022972g˯w,/A6@Y6?#@6ku<96͋ ^[=9b:Q b>dd fG٣fLGyf f> nNusing accuracyPremultiplier from confighEA59j֣?EA5Yj ijBIMM@j0EjtvOүw,İIA6)@Y6r9@6p<96ǝ~BBIIJIJ14٢zZ> zG=9z7:Q z>|| ~G٣|yT >  Nusing accuracyPremultiplier from config A59 ᣜ?A5Y  i B@ 0E U9; 9; .A5) -%A)ZjQ]DNOT Ignoring new targets: 99.30 m.Bje Jje m ProNav: ac range: 99.300003 m, nav range: 19.213520 m, bearing: 236.516953 deg, approach rate: -0.363761 m/s, LOS rate: -1.928180 deg/s, cmd heading: 290.960868 deg, new cmd heading: 288.677144 deg. 2juiuHeadingCmd: 5.038367 target range: 99.300003 and range: 101.40 m. j}M:@jjjihhhhfffrfbf{1-@ %$?I)ɛEBMKWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 108.8 m (Round-trip 145.1 ms) speed -0.9 m/s ,DAT read: user:2570> %BDAT read: Tx time:22:23:56.6523 5$Ping request sent.5GY Bq O >{دw,cAy~B%IMb@Mb@Mb@ )YRQ?Zd;{Gz?y"?ף< A ) AIvAy AIIk4٢-= -8=9-Q 5>11 =G٣9y= => ENusing accuracyPremultiplier from configAMB59Em?UB5YE iEBU%?U:UU@E0EE;E ;EB5Y e %Aa addTargetRange:: Added new target pos. range: 108.800003 m, deltaT: 14.626431 s, deltaX: 7.400002 m, approachRate: 0.505934 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 19.091490 m, bearing: 235.737431 deg, approach rate: -0.275211 m/s, LOS rate: -1.769215 deg/s, cmd heading: 288.677153 deg, new cmd heading: 286.325033 deg. 2jƗHeadingCmd: 4.997314 target range: 99.300003 and range: 108.80 m. j@jjjihhhhBfffrf@33[@bfVG?ɛEBE QU IQ ]eɚYiYI]=IeFii)@) I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKKK9KKK"OLbU9% RK>JK>G Z>G B O >wޯw,v}AB P@YB_@B<9B ^e=9^Q ^>`` bG٣bLGyf% f>Will construct direction to contact in vehicle frame from tetrahedron phase data. jNusing accuracyPremultiplier from configh]B59jy?]B5Yjs ihY]$e@j0EjGm> IGP>Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >w,,HAy~rB~IMb@Mb@Mb@ )Y@5^I ?lS㥛?yb?/<rA  A)AI Ay( AII4٢a7> 9=9Q > G٣y > Nusing accuracyPremultiplier from configB59l?B5Y  iB ? :  @0E@;; B5 #A=B*** querying acoustic contact ***j9j9ZjAMDNOT Ignoring new targets: 99.30 m.BjMwJjMw뼝] ProNav: ac range: 99.300003 m, nav range: 18.883102 m, bearing: 234.425249 deg, approach rate: -0.237421 m/s, LOS rate: -1.646892 deg/s, cmd heading: 284.470357 deg, new cmd heading: 282.368529 deg. 2jeGmHeadingCmd: 4.928260 target range: 99.300003 and range: 108.80 m. jmO@jqjqjqiqhqhyhyh}$Bfyffrfbf`5A?ɛBf=e 隵̾I ɚiI9=I ᫿ii)O@)HI III~BI&I.I6I<:I FBIJIRIZIbIjI545Will construct direction to contact in vehicle frame from tetrahedron phase data.5>5@=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.*FQ2FQ:FQBF]0JFYJJAAGmF>GI BY O >  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496868w,&Ab@Yb@b<9bt -V=9-`Q 5>11 =G٣9y=o => ENusing accuracyPremultiplier from configAMB59E ?MB5YE, iEBQUU@E0EE ;E ;E^ B5]B ]>"Ae1EZjDNOT Ignoring new targets: 99.30 m.Bj߼Jj߼ ProNav: ac range: 99.300003 m, nav range: 18.787315 m, bearing: 233.833854 deg, approach rate: -0.252434 m/s, LOS rate: -1.566459 deg/s, cmd heading: 282.368517 deg, new cmd heading: 280.585896 deg. 2jaHeadingCmd: 4.897148 target range: 99.300003 and range: 108.80 m. jo@jjjihhhhfffrfbfN?ɛB[  I Q9ɚiIh==Iiii)o@)*F?2F:FBF!1JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748937G! G B O% >w,m˿Ay5B5XIIEIE4٢U> mH=9uQ u>qy }G٣}LGy} }> Nusing accuracyPremultiplier from configB599?B5Y iB Ih@0E;U;B5B r!A.EZjDNOT Ignoring new targets: 99.30 m.Bj ݼJj ݼ ProNav: ac range: 99.300003 m, nav range: 18.685854 m, bearing: 233.186583 deg, approach rate: -0.241638 m/s, LOS rate: -1.549863 deg/s, cmd heading: 280.585892 deg, new cmd heading: 278.634331 deg. 2j-HeadingCmd: 4.863087 target range: 99.300003 and range: 108.80 m. j-h@j)j)j)i)h1h1h1h1f9f9f9rf9bfEt@ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004071]G I l9ɚiIĉ=In*ii)h@)*F2F:FBF2JFjHbH<HI I:IIBI =&I.I6IƯ<:I FG K>G% rAG% qAM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254560G B Om >J= J= J9 J9 J= :J= :J9 J9 J= i;aM J= j;aM J= A;aM J= A;aM w,俾AZ@YZ; @Zo=9ZX8U̼Uף G٣y] > Nusing accuracyPremultiplier from configB59?B5Y> iB>:@0E;;B5  AZjDNOT Ignoring new targets: 99.30 m.Bj#̼Jj#̼ ProNav: ac range: 99.300003 m, nav range: 18.606647 m, bearing: 232.618030 deg, approach rate: -0.198065 m/s, LOS rate: -1.427761 deg/s, cmd heading: 278.634343 deg, new cmd heading: 276.921960 deg. 2jtHeadingCmd: 4.833200 target range: 99.300003 and range: 108.80 m. j@jjjihhhhBfffrfbfw@ɛeBe19 amhvI kɚiIR=I[ii)@) I*F ?2F :FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505239zKoKK9KKKRK ?JK?Gm A>GA BI Oe >w,Abx6@YbE@b; =9b.y G٣yt > Nusing accuracyPremultiplier from configB59$?B5Y iB@0E~ ; ;B5 8 AZjDNOT Ignoring new targets: 99.30 m.BjǼJjǼ  ProNav: ac range: 99.300003 m, nav range: 18.525368 m, bearing: 232.054414 deg, approach rate: -0.200523 m/s, LOS rate: -1.396558 deg/s, cmd heading: 276.921960 deg, new cmd heading: 275.224219 deg. 2j oHeadingCmd: 4.803569 target range: 99.300003 and range: 108.80 m. jֶ@jjjihhhh!f!f!f!rf!bf-6u@ɛU}BUMh5 QU:RIY ].ɚYiYI]ʊ=IeJ໿iaia)eֶ@)i*F)2F):F)BF-^0JF) "$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.061544G% F>G B O% >sw,Ay~B~II  I 4٢ R=9%Q %>!) -G٣-LGy- -> =Nusing accuracyPremultiplier from config1EB595T,?MB5Y5W i5 BIIM@50E5T`;5a;5wB5Y ]R AYZjDNOT Ignoring new targets: 99.30 m.Bj;ɼJj;ɼ ProNav: ac range: 99.300003 m, nav range: 18.448853 m, bearing: 231.507351 deg, approach rate: -0.196043 m/s, LOS rate: -1.407443 deg/s, cmd heading: 275.224221 deg, new cmd heading: 273.576705 deg. 2jzqHeadingCmd: 4.774814 target range: 99.300003 and range: 108.80 m. jG˘@jjjihhhhfffrfbf @ɛ{B5 TI ɚiIBJ=IMii)G˘@)H=>I III BI&I.I6I<:I F*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:23:59.2039 %TRx dataTimestamp_ set to:1736375040.518034-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263855GG?G ?GBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512835 w,Ve2AbX@Ybت@b=9bAA EG٣IyM' M> UNusing accuracyPremultiplier from configQ']TFailed to parse incomplete device message.BKa:KerAmB59U3?mB5YU! iU Biu(u@U0EU~;UC;UB5y }- A}+EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 99.30 m.BjmƼJjmƼE ProNav: ac range: 99.300003 m, nav range: 18.361353 m, bearing: 230.942733 deg, approach rate: -0.214057 m/s, LOS rate: -1.387832 deg/s, cmd heading: 273.576698 deg, new cmd heading: 271.875299 deg. 2jMnHeadingCmd: 4.745119 target range: 99.300003 and range: 108.80 m. jؗ@jjjihhhhfffrfbf @ɛMyB&. 隭FFI  ɚiIً=I,ÿi)i))-ؗ@))*F2F:FBFJF) = C%Will construct direction to contact in vehicle frame from tetrahedron phase data.%Ai%A5DAT read: Range 10 to 50 : 110.5 m (Round-trip 147.4 ms) speed -0.8 m/s =,DAT read: user:2571> =BDAT read: Tx time:22:24:00.3023 E$Ping request sent.MG B O >1w,JLA2dӞ@Y2@2=92`vTX ZG٣XyZ ^> bNusing accuracyPremultiplier from config`fB59b/:?fB5Yb i`djHj@b0Eb.:bP:bg"B5nB ns An-E addTargetRange:: Added new target pos. range: 110.500000 m, deltaT: 3.778616 s, deltaX: 1.699997 m, approachRate: 0.449899 m/s, rangeRepo size: 4 Zj !I!DNOT Ignoring new targets: 99.30 m.BjǼJjǼ ProNav: ac range: 99.300003 m, nav range: 18.275921 m, bearing: 230.409211 deg, approach rate: -0.222570 m/s, LOS rate: -1.396427 deg/s, cmd heading: 271.875297 deg, new cmd heading: 270.267693 deg. 2joHeadingCmd: 4.717061 target range: 99.300003 and range: 110.50 m. j*@jjjihhhhfffrf[@bf?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:24:00.3015 ɛwB46 >SI 1ɚiI [=I%vȿi)i1)5*@)i*F?2F:FBFJFZHRHH?>I IIIIBI! =&I.I6IP<:IL FG F>- Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >J J J J J m:J b9J J J ;J ;J 0.;J 0.;;w,fAR@YR @R1=9REE?`?ɨR@Rm;RCyb Bb}I z@z ~@~ ~@~  ~@~ II4٢G D=9Q > G٣y%G %> -bBottom track data is 0.4 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)5B59-@?=B5Y- i- B=+:9E:EᖿE@-0E-F;->-Z%B5I M AIZjyDNOT Ignoring new targets: 99.30 m.BjļJjļ ProNav: ac range: 99.300003 m, nav range: 18.180357 m, bearing: 229.836107 deg, approach rate: -0.228486 m/s, LOS rate: -1.377428 deg/s, cmd heading: 270.267689 deg, new cmd heading: 268.539894 deg. 2jTlHeadingCmd: 4.686905 target range: 99.300003 and range: 110.50 m. j!@jjjihhhhfffrfqbf} ?ɛuBR4 TI _ɚiI=Ivʿii)!@) Ih*F?2F:FBF0JFG GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.zK:MKŷ9KK KGGsAGsAG B O >?w,IA2Z@Y2@2g=92L<`d fG٣jLGynHvWill construct direction to contact in vehicle frame from tetrahedron phase data. u> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configyB59}F?B5Y} i} B ::N@}0E}*(;}qU?}'B5 S!AZjDNOT Ignoring new targets: 99.30 m.BjżJjż ProNav: ac range: 99.300003 m, nav range: 18.082249 m, bearing: 229.268013 deg, approach rate: -0.237504 m/s, LOS rate: -1.382699 deg/s, cmd heading: 268.539897 deg, new cmd heading: 266.826908 deg. 2j;mHeadingCmd: 4.657008 target range: 99.300003 and range: 110.50 m. j6@jjjihhhhfffrfbf`?ɛ%tB- F )-AI) -_9ɚ1i1I5bn=I=οi9i9)=6@)A*F?2F:FBF_5JF #$?IGA>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO= >'&w,љA:%P@Y:_@:~=9:0q%H%! %E A)%AI% A!y% AI=I=[4٢M棽 M@=9UL9Q U>QQ ]G٣Yy]b e> mNusing accuracyPremultiplier from configauB59eJ?uB5Ye ieBuT:u>u;}}@e0EeV;e;e<+B5 !AZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 17.992477 m, bearing: 228.835343 deg, approach rate: -0.223956 m/s, LOS rate: -1.084773 deg/s, cmd heading: 266.826913 deg, new cmd heading: 265.522665 deg. 2j:HeadingCmd: 4.634245 target range: 99.300003 and range: 110.50 m. jK@H=E>I=C I=II=SBI= =&I9.I=7D6I=:<:I=? Fjjqjqiqhyhyhyh}Bfffrfbf n?ɛrBK I ,7ɚiI=I{ӿi i ) K@))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF[5JFJJJJJ :J9JJJR;JS;J;J;GK>G B O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.R,w,!A6@@Y6@6,5=96QQ UG٣Qy]gq ]> mNusing accuracyPremultiplier from configamB59eN?mB5Ye ieBquu@e0EeL:e:e.B5y "AB*** querying acoustic contact ***jjZjzKBoHK}9KK KDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 17.899994 m, bearing: 228.402645 deg, approach rate: -0.228304 m/s, LOS rate: -1.073662 deg/s, cmd heading: 265.522675 deg, new cmd heading: 264.218112 deg. 2j68HeadingCmd: 4.611476 target range: 99.300003 and range: 110.50 m. j6@jjjihhhhfffrfbf?ɛ%qB-b )-I) -]ɚ)i)I5!=I=տi9i9)=6@)9*F?2F:FBFZ0JF"G>G>Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G5F>G) B9 OU >q:3w,YA2͚@Y2Lݡ@2%B=92JB @ID>IIfIfv4٢n| nQ=9r;Q r>pt vG٣vLGyzeu z> Nusing accuracyPremultiplier from config|B59~Q? B5Y~- i~B   @~0E~:~7:~-2B5B #A*EZj9EDNOT Ignoring new targets: 99.30 m.BjEJjEU ProNav: ac range: 99.300003 m, nav range: 17.808376 m, bearing: 227.986226 deg, approach rate: -0.235376 m/s, LOS rate: -1.075323 deg/s, cmd heading: 264.218109 deg, new cmd heading: 262.962637 deg. 2jU8eHeadingCmd: 4.589564 target range: 99.300003 and range: 110.50 m. jeݒ@jajajaiahihihihqfyfyfyrfybf@ɛoB2r 隭ʾI |ɚiI5=Iؿii)ݒ@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]^?]%=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264333*F]?2Fa:FaBFe_0JFiGA>jH9bH9HEO>IEC IEIIE?BIE =&IA.IE8D6IE<:IE FBIJIRIǔCZI =bI =jIU(6GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515211 d9w,NcA>/@Y> @>k=9>ϔHV$?_?et:Y@j?ƥfܣ ?{?ɨ>/@>؋;>Cy^BbIMb@Mb@Mb@ )YV-?tDA )+AIy AIm)Im5٢}n }3=9s;Q > G٣y\d > Nusing accuracyPremultiplier from configB59T?B5Y  iB>:@0E;;)6B5 $AZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 17.676783 m, bearing: 227.444517 deg, approach rate: -0.287641 m/s, LOS rate: -1.192879 deg/s, cmd heading: 262.962638 deg, new cmd heading: 261.325882 deg. 2jLHeadingCmd: 4.560997 target range: 99.300003 and range: 110.50 m. j@jjji h h hhBfffrfbf~@ɛEnBEA| AEII MɚIiIIU8=IUpܿiQiY)]@)a qIuh*F?2F:FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767922zKmk3IKm9KiKm KmG] P>G) BI Om >aO@w,LAF%@YF'5@FR, =9F7lp rG٣pyr r> vNusing accuracyPremultiplier from configt~B59v V?B5Yv ivB  @v0Ev/;vB;v99B5%B %%A--EZjq}DNOT Ignoring new targets: 99.30 m.Bj}Jj} ProNav: ac range: 99.300003 m, nav range: 17.573532 m, bearing: 227.032007 deg, approach rate: -0.288104 m/s, LOS rate: -1.157796 deg/s, cmd heading: 261.325879 deg, new cmd heading: 260.081285 deg. 2jFHeadingCmd: 4.539275 target range: 99.300003 and range: 110.50 m. jA@jjjihhhhfffrfbf o@JJJ1JJJ9J3Ja@a@a@a@ɛmB& I TɚiI᧐=Iw8߿i)i))-A@))*F?2F:FBFJF YIYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275395Ga GA Bq O >vFw,nA>PH@Y>W@>Ez=9><H?`?`??@•??ɨ>PH@> 1;Ya eG٣eLGye都 e> mNusing accuracyPremultiplier from configiuB59m&X?uB5Ym imxB} ?}:}/}@m0Em;mw;mIC IrIIBI =&IFD.I9D6I<:I2jtqHeadingCmd: 4.509005 target range: 99.300003 and range: 110.50 m. jI@jjjihhhhƀBfff1rf1bf=  @Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛkB'DAT read: 22:24:02.8557 LVL= 19952, 17521, 13378, 26147, AGC= 54, IDX= 437, 0.01, 0.632, 2.940, 2.691, 2.146, PHS=-1.426, 0.841, 0.542, RAW= 277.0, 0.4, CAL= 278.7, -0.3, ROT= 231.3, 0.3 I zɚiIx=IVii)I@)Ygot valid direction response: 22:24:02.8557 LVL= 19952, 17521, 13378, 26147, AGC= 54, IDX= 437, 0.01, 0.632, 2.940, 2.691, 2.146, PHS=-1.426, 0.841, 0.542, RAW= 277.0, 0.4, CAL= 278.7, -0.3, ROT= 231.3, 0.3  PDAT read: Bearing 231.3, 0.3 (Local)  ~Local bearing/azimuth received: Bearing 231.3, 0.3 (Local) DAT read: Range 10 to 50 : 111.9 m (Round-trip 149.3 ms) speed -0.3 m/s U,DAT read: user:2572> BDAT read: Tx time:22:24:03.9523 $Ping request sent. >s4??*R?0}?)V/@I|iD '>?e:publishing transmit ping time؁mFpublishing direction and range info9h]F?x9ߤ?3{fy )Ii )Ii> >s4??*R?0}?)Ii*F?2F:FBFJF Q IQ G% K> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:24:03.9515 G9 BA Oe >.Lw,5Absf@Ybu@b=9b:J~B[II-;I- 5٢]? ]I=9]Q ]>aa eG٣ayi > Nusing accuracyPremultiplier from configB59Y?B5Y iWB@0E:@:z@B5 'Ak%L?k% ) k! k%!u#A:k%BBk%FBzK%BHK%ж9K!K% K%6?^4 taPB5,$ BK1:K1Zk%@"%>m]#@U?M[%h]F?x9ߤ?3{fJk%D '>Rk%?*%rޣu@RUϜd[%_أx?A!̇%ÙV:"k%*k%@k%"?k% 2k%~@k!k%X> k%H Ck%^Ak%nx@ addTargetRange:: Added new target pos. range: 111.900002 m, deltaT: 3.532924 s, deltaX: 1.400002 m, approachRate: 0.396273 m/s, rangeRepo size: 4  Added new target pos. range: 111.900002 m, bearing: 320.623156 deg, lat: 36.905326 deg, lon: -122.119766 deg, deltaT: 29.006134 s, deltaX: 12.599998 m, approachRate: 0.434391 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 111.90 m.BjJj ProNav: ac range: 111.900002 m, nav range: 16.296108 m, bearing: 222.466776 deg, approach rate: 0.000000 m/s, LOS rate: -1.407303 deg/s, cmd heading: 258.346960 deg, new cmd heading: 256.540979 deg. 2jHeadingCmd: 4.477485 target range: 111.900002 and range: 111.90 m. jG@jjjihAhAhAhAfIfIfIrfM[@bfM?ɛjB† ǥ=隝%I tɚiIW1=I1!ii)G@)*Fu?2Fq:FqBFup0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ:Jm9Jـ3JG] _>G B! O= > 1 I1 ASw,NA6v@Y6^@6ۧ=96I^ 5٢f^# fU=9j(KQ n>lp rG٣pyrA r> zNusing accuracyPremultiplier from configtzB59vZ?~B5Yvr" iv9B|~i¿~@v0Ev ;v* ;vCB5 (A %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 111.90 m.Bj=Jj=⼝M ProNav: ac range: 111.900002 m, nav range: 16.163887 m, bearing: 221.894549 deg, approach rate: -0.363645 m/s, LOS rate: -1.586629 deg/s, cmd heading: 256.540976 deg, new cmd heading: 254.810807 deg. 2jMUHeadingCmd: 4.447288 target range: 111.900002 and range: 111.90 m. jU.P@jQjQjYiYhahahahafafifirfibfm)?ɛiBDz 隝*5I xhɚiIC=Iii).P@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.*F5?2F1:F1BF5Q5JF1GF>G ?G?GBO >ZHRHAAHX>IC IIIlBI =&I.I6I<:I6 F Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.957205wYw,6hAyM}BUIMb@Mb@Mb@ )Yx&1?RQi|?5y!?½q  A)AIyQ AII4٢-ս -6=95Q 5>99 EG٣ELGyM U> ]Nusing accuracyPremultiplier from configYeB59]\?eB5Y]) i]Be $?e:em@]0E] ;]Y;]GB5q u)AqZjFNOT Ignoring new targets: 111.90 m.BjJj ProNav: ac range: 111.900002 m, nav range: 15.988062 m, bearing: 221.089954 deg, approach rate: -0.390376 m/s, LOS rate: -1.805991 deg/s, cmd heading: 254.810807 deg, new cmd heading: 252.372032 deg. 2j횽HeadingCmd: 4.404723 target range: 111.900002 and range: 111.90 m. j}@jjjih IhhhXBfffrfbf@d?ɛhB*Ӫ !%@I! %4 ɚ!i!I% Ǔ=I-wqi)i1)5}@)1*F2F:FBFL5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.209346zK&kNK9KKK lo9 ' ] I }  E 1 7cy2:RK ?JK?G U>G B O > G- vA= A`w,A HYvAyIBbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.460227j@Yj@j=9jU G٣yo+ > %Nusing accuracyPremultiplier from config!-B59%!\?-B5Y%0 i%A)-ȿ-@%0E%v:%:%JB55B =t*A=/EZjamFNOT Ignoring new targets: 111.90 m.Bj}Jj} ProNav: ac range: 111.900002 m, nav range: 15.837211 m, bearing: 220.458835 deg, approach rate: -0.415027 m/s, LOS rate: -1.752861 deg/s, cmd heading: 252.372020 deg, new cmd heading: 250.461376 deg. 2j_HeadingCmd: 4.371376 target range: 111.900002 and range: 111.90 m. jO@jjjihJJJJJ:J9JJhhhfffrfbfc?ɛgBF 隕4MI %+ɚiI쪔=Irii)eO@)a IhuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.712077E O=*F ?2F :F BF o0JF H\>IC III~BI =&I.I:D6I<:I@ FGF>GrAGrA-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965518GaBqO ?hw,.8A:@Y:@:><9: G٣LGyԽ > Nusing accuracyPremultiplier from configB59[?B5Y: iA 6? :ɿ@0Eֈ;/;OB5! %*A)ZjiuFNOT Ignoring new targets: 111.90 m.Bj}* Jj}* u ProNav: ac range: 111.900002 m, nav range: 15.576748 m, bearing: 219.338966 deg, approach rate: -0.451745 m/s, LOS rate: -1.974646 deg/s, cmd heading: 250.461370 deg, new cmd heading: 247.049842 deg. 2jueHeadingCmd: 4.311833 target range: 111.900002 and range: 111.90 m. j@jjjihhhh2Bfffrfbf /@ɛEeBE, AE\TIA MɚIiIIM=IU@iQ yIiQ)@)*E="E=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.216322E]/=*F ?2F :F BF _0JF zK PPK 59K K K }GgD%}re\UNG>60+*'$ G P>GWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.468881ByO?wqw,(ABt@YB@B<9B?\`` bG٣`yf} f> jNusing accuracyPremultiplier from confighnB59jZ?nB5YjC ijRAprͿr@j0Ej ;ju:jTB5t v+AtJMJMJM1JIJM:JM"9JM3JIZjFNOT Ignoring new targets: 111.90 m.BjJj ProNav: ac range: 111.900002 m, nav range: 15.354891 m, bearing: 218.392926 deg, approach rate: -0.471671 m/s, LOS rate: -2.040262 deg/s, cmd heading: 247.049855 deg, new cmd heading: 244.173276 deg. 2jHeadingCmd: 4.261628 target range: 111.900002 and range: 111.90 m. jA_@jjjihhhhfffrfbf :@ɛudBuf qu~_Iy }aɚyiyI}F=I3aii)A_@)EE*E"E I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721559*F?2F:FBFo0JFG F>jHq bHu <H} _>Iy  I} YII} ;~BI}  =&Iy .Iy 6I} #<:I} J FG B O >*xw,fA2$@Y2@2<92S(}B>IuMb@Mb@Mb@qqq q)qYuRQ?V-QyuB?umuu A u A)uvAIuzAqyu AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972953I>I 5٢| 1=9ƂQ > G٣y > Nusing accuracyPremultiplier from configB59{Y?B5YL i!AFC?:ο@0E;8;XB5 <,AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 111.90 m.Bj%.Jj%. ProNav: ac range: 111.900002 m, nav range: 15.127103 m, bearing: 217.390819 deg, approach rate: -0.492392 m/s, LOS rate: -2.198686 deg/s, cmd heading: 244.173280 deg, new cmd heading: 241.124724 deg. 2jHeadingCmd: 4.208420 target range: 111.900002 and range: 111.90 m. ja@jjjihhhhBff f rfbf@ɛbBDpĽ 隍@gI qɚiI=IJii)a@)*F?2F:FBF2JF"G=G> AIA= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:22:24:06.5071 E TRx dataTimestamp_ set to:1736375047.828581M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225152G G ?G /?G9 BA O] >,)~w,eA2G@Y2–@2<92`d fG٣fLGyfV f> nNusing accuracyPremultiplier from confighrB59jW?rB5Yj;T ijAtvҿv@j0Ej;j;jV[B5~B ~+A~1EZj!-FNOT Ignoring new targets: 111.90 m.Bj-Jj-= ProNav: ac range: 111.900002 m, nav range: 14.940241 m, bearing: 216.582145 deg, approach rate: -0.503007 m/s, LOS rate: -2.203992 deg/s, cmd heading: 241.124720 deg, new cmd heading: 238.669940 deg. 2j=EHeadingCmd: 4.165576 target range: 111.900002 and range: 111.90 m. jEgL@jAjIjIiIhIhIhQhQfQfQfYrfYbf]X @ɛaBDսzKsNK9KKK     AEaIA EɚAiAIM:@=IMtiQiQ)UgL@)y*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477275G U> 9 I= hG B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:24:06.5071 LVL= 15568, 14577, 11746, 23123, AGC= 54, IDX= 433, 0.09,-2.040,-0.412, 0.502,-0.560, PHS=-1.392, 0.195, 1.058, RAW= 249.7, 1.3, CAL= 253.5, 2.3, ROT= 256.5, -2.3  Ygot valid direction response: 22:24:06.5071 LVL= 15568, 14577, 11746, 23123, AGC= 54, IDX= 433, 0.09,-2.040,-0.412, 0.502,-0.560, PHS=-1.392, 0.195, 1.058, RAW= 249.7, 1.3, CAL= 253.5, 2.3, ROT= 256.5, -2.3  PDAT read: Bearing 256.5, -2.3 (Local)  ~Local bearing/azimuth received: Bearing 256.5, -2.3 (Local)  DAT read: Range 10 to 50 : 112.8 m (Round-trip 150.5 ms) speed -0.1 m/s  ,DAT read: user:2573>  BDAT read: Tx time:22:24:07.6024  $Ping request sent. l?su@޹< Ĕ@)l$=IA@il$ ,vm w ?dB_?);@Ii ¿ ?::publishing transmit ping timeq>Fpublishing direction and range info9 h?Aۿoy )Ii )Ii ,vm w ?dB_?)Ii=@Y=•@= <9=5}BޕIHb>IC I II}BI =&I.I;D6I<:I FBIĥCJIĥCRIZI =bI =jIM6Mb@Mb@Mb@ )Y{Gz?kty&1yC? 0`e` A  A)AIy AIKI5٢q;  =9~zQ > G٣yZY > Nusing accuracyPremultiplier from configB59MT?B5Y` iA.D?:[Կ@0EM;;`B5! %+A!kڼo딜?kUhA k k><¾A:kBBkBZkGxG@"U˸ӫ@) BH ćvZY h?AۿoJk ¿Rk ?*LBG~?5a[YkSڿ=J?H "k?*k<k"Д?k)3A 2kk|?k kUBkBBkL@ addTargetRange:: Added new target pos. range: 112.800003 m, deltaT: 3.777778 s, deltaX: 0.900002 m, approachRate: 0.238236 m/s, rangeRepo size: 4  Added new target pos. range: 112.800003 m, bearing: 178.574683 deg, lat: 36.905083 deg, lon: -122.119691 deg, deltaT: 3.777778 s, deltaX: 0.900002 m, approachRate: 0.238236 m/s, posRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.iAJDAT read: TxSync time:22:24:07.6016 ZjQUFNOT Ignoring new targets: 112.80 m.Bj]JjY ProNav: ac range: 112.800003 m, nav range: 39.065327 m, bearing: 182.720648 deg, approach rate: 0.000000 m/s, LOS rate: -2.203992 deg/s, cmd heading: 238.669950 deg, new cmd heading: 234.611602 deg. 2jHeadingCmd: 4.094745 target range: 112.800003 and range: 112.80 m. j'@jjjihhhhBfffrf@33\@bf?ɛ^Bز _I! %~ɚ!i!I%g=Imy iiii)m'@)qJ J AAJ J J 0J J }:J ľ9J ـ3J J ;a- J ;a- J ;a5 J ;a5 *F ?2F :F BF 0JF y Iy GEF>Will construct direction to contact in vehicle frame from tetrahedron phase data.GB O%>8w,L6¾AF^@YFĔ@FI<9F輫G B I O >zՓw,P¾Aa@Y᱒@̀<96QY ]G٣]LGy] ]> mNusing accuracyPremultiplier from configamB59evL?mB5Yeo ieAqu࿑u@e1Ee;e ;eXgB5}B +A4EZjFNOT Ignoring new targets: 112.80 m.Bj[Jj[Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 112.800003 m, nav range: 38.948669 m, bearing: 181.856121 deg, approach rate: -0.170941 m/s, LOS rate: -1.121553 deg/s, cmd heading: 233.470264 deg, new cmd heading: 232.014521 deg. 2jm@UHeadingCmd: 4.049417 target range: 112.800003 and range: 112.80 m. j]Ԕ@jYjYjYiYhYhYhahafafafirfibfm?ɛ[B2.ƽ 隽JXI ޽$ɚiI=I ii)Ԕ@)*F?2F:FBF{1JFZHRH?AHd>I III}BI =&I.I6I<:I FGM A>u Will construct direction to contact in vehicle frame from tetrahedron phase data.G B) OM >*J] C="J] 4=Je Je Ja Ja Je :Je 9Ja Ja Je n;Je o;Je ' ;Je ' ;w,fj¾Ayޅ}BޅI I -Mb@Mb@Mb@))) )))Y-V-?Q롿y-|??-\--\ A -/ A)-AI- A)y-z AI=I=k4٢M|= MF=9UQ U>QY ]G٣Yye e> mNusing accuracyPremultiplier from configiB59mG?B5Ymw imA??:t߿@m 1EmY>Gi Bq O >zK >`JK s9K K K  3>A@AEITew|}{xrnicXM@8410-,+'RK ?JK ?"w, ¾A^О@Y^Q@^LQ<9^N11 5G٣1y5粽 => ENusing accuracyPremultiplier from configAMB59EG B O >)w,1¾A6:@Y6@6K<96I G٣LGy > Nusing accuracyPremultiplier from configB59I1 5N,ɚ1i1I==Ie`<iaia)eU~@)i Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252114*F?2F:FBFJFJCKK3 KK.-KCKC"KCJJJJJv:J9JJJU;JV;J ;J ; IG K>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502403Kw,Lŷ¾Ar%Ň@YrԎ@r71<9rr11 5G٣1y=9 E> MNusing accuracyPremultiplier from configAMB59E5?UB5YE iEAQUGU@E1EE:EX:E.uB5a ev)AaZjFNOT Ignoring new targets: 112.80 m.BjȑJjȑ ProNav: ac range: 112.800003 m, nav range: 38.655991 m, bearing: 180.194257 deg, approach rate: -0.228466 m/s, LOS rate: -1.019631 deg/s, cmd heading: 228.187618 deg, new cmd heading: 227.020374 deg. 2j.HeadingCmd: 3.962253 target range: 112.800003 and range: 112.80 m. j}@jjjihhhhfffrfbfo@ɛSB I3I  b.ɚiI⣝=I'ii)}@) *F ?2F :F BF 0JF) zK!NK9KKKBKqA:K!=vAUA YvAyB@`BWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754911GuF>GI BY O} > I 8w,¾AJц@YJ@J<9Jihl nG٣lyn n> vNusing accuracyPremultiplier from configpvB59ro-?vB5Yr ipxzz@r1Erp;r;rxB5B )A;EZj)5FNOT Ignoring new targets: 112.80 m.Bj=}Jj=}M ProNav: ac range: 112.800003 m, nav range: 38.560272 m, bearing: 179.797638 deg, approach rate: -0.243284 m/s, LOS rate: -1.010568 deg/s, cmd heading: 227.020380 deg, new cmd heading: 225.827749 deg. 2jMb-UHeadingCmd: 3.941438 target range: 112.800003 and range: 112.80 m. jU@|@jQjQjQiQhYhYhYhYfafafarfabfe ^@ɛ5RB5 9=d+I9 =L0ɚ9i9I=O=IE0iAmWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:22:24:10.1574 uTRx dataTimestamp_ set to:1736375051.356737}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007660iA)@|@)*F-?2F):F1BF52JF1jHu<bHu<H}e>Iy I}LII}'~BIy&Iy.Iy6I}<:I}L FGaGA Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. i A- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259510J1 J5 J5 1J1 J1 J5 ľ9J5 3J1 J5 T;J1 ]w,z¾AJm;Jm;V0څ@YV@V<9V蓗If<]Mb@Mb@Mb@YYY Y)YY]oʡ?Zd;MbP?y]-?]y]:Y ]E A)YI] AYy]p A IIuAIu=5٢= ?=9Q > G٣LGy< > Nusing accuracyPremultiplier from configB59#?B5Y iA-?:@!1Ei<i<Z|B5! %z(A!ZjFNOT Ignoring new targets: 112.80 m.BjJj ProNav: ac range: 112.800003 m, nav range: 38.449337 m, bearing: 179.398169 deg, approach rate: -0.249815 m/s, LOS rate: -0.902151 deg/s, cmd heading: 225.827747 deg, new cmd heading: 224.626070 deg. 2jHeadingCmd: 3.920465 target range: 112.800003 and range: 112.80 m. jz@jjjihhhhBfffrfbf @ɛ]PB]O Y]!IY e?2ɚaiaIe=Im6iiii)ez@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 113.1 m (Round-trip 150.8 ms) speed 0.0 m/s ,DAT read: user:2574> BDAT read: Tx time:22:24:11.2524 $Ping request sent.G B O >zK% BoHK% 9K! K% K% RK] ?JK] ?Ew,qVþAvWill construct direction to contact in vehicle frame from tetrahedron phase data.zJDAT read: TxSync time:22:24:11.2516 yC~B^II5BI55٢M= MO=9UQ ]>aa eG٣iyu }> Nusing accuracyPremultiplier from configB59?B5Y( iA@%1EX:C:B5 'AB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 113.099998 m, deltaT: 3.528589 s, deltaX: 0.299995 m, approachRate: 0.085019 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 112.80 m.BjbJjb ProNav: ac range: 112.800003 m, nav range: 38.347717 m, bearing: 179.024084 deg, approach rate: -0.266017 m/s, LOS rate: -0.981855 deg/s, cmd heading: 224.626070 deg, new cmd heading: 223.500994 deg. 2ju(HeadingCmd: 3.900828 target range: 112.800003 and range: 113.10 m. j+y@jjjihhhhfffrf`fF\@bf w?ɛNBT* 隭I 4ɚiI_=Ixii)+y@)  $?Ih*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GG B O >vǰw,DNþAHf>I I~IIx~BI&I.I6I<:I) FyލP~BލfIMb@Mb@Mb@ )YQ?(\µMbpy(?A )I/ Ay AI=I=T4٢M< M:=9QQ U>QQ UG٣QyY ]> eNusing accuracyPremultiplier from configamB59e?mB5Ye ie{Au[*?u:u|u@e*1Ee;e;eB5y }'AyZjFNOT Ignoring new targets: 112.80 m.BjOJjOE ProNav: ac range: 112.800003 m, nav range: 38.230759 m, bearing: 178.628282 deg, approach rate: -0.268501 m/s, LOS rate: -0.911414 deg/s, cmd heading: 223.500988 deg, new cmd heading: 222.310129 deg. 2jE_MHeadingCmd: 3.880044 target range: 112.800003 and range: 113.10 m. jMRx@jIjIjIiQhQhQhQh]ƀBfYfYfYrfbf` ?ɛMBY mI 6ɚiIA@=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750506Iii)Rx@) *F?2F:FBFP0JFJ J J J J J 9J J J J J ;J ; qIuhG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002531HͰw,#9þAJ\؂@YJ@JoI;9JzJhh nG٣nLGyn凾 n> vNusing accuracyPremultiplier from configpvB59r?zB5Yrj irvAxzz@r-1ErF;r;rB5 'A>EZj)5FNOT Ignoring new targets: 112.80 m.Bj=zJjEzM ProNav: ac range: 112.800003 m, nav range: 38.116932 m, bearing: 178.318650 deg, approach rate: -0.321683 m/s, LOS rate: -0.877652 deg/s, cmd heading: 222.310131 deg, new cmd heading: 221.378547 deg. 2jU]HeadingCmd: 3.863785 target range: 112.800003 and range: 113.10 m. j]?Hw@jYjYjYiYhahahahafififirfibfm ??ɛ=KB=, 9= I9 EK`8ɚAiAIE9=IMviIiI)M?Hw@)q*F?2F :F BF _0JF zKYKYKYK]K]BKmrA:KiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254344GMF>GA BQ Om > a Ia +԰w,RþA2݁@Y2d@2p3:92 ~~B>IIF IFe4٢f= fJ=9j»Q j>hl nG٣lyn# r> vNusing accuracyPremultiplier from configpzB59r?zB5Yrg irqA|~u~@r21Er1;r ;r@B5 &A @EZj)5FNOT Ignoring new targets: 112.80 m.Bj5^xJj5^xM ProNav: ac range: 112.800003 m, nav range: 37.981380 m, bearing: 177.969472 deg, approach rate: -0.335980 m/s, LOS rate: -0.868560 deg/s, cmd heading: 221.378548 deg, new cmd heading: 220.327402 deg. 2jMUHeadingCmd: 3.845438 target range: 112.800003 and range: 113.10 m. jUv@jQjQjQiQhYhYhahafafafarfibfm:?ɛJB?( 隥I :ɚiIH=I ii)v@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507304*Fi2Fi:FqBFu`0JFqZH)RH-@AH1I1 I5II5~BI1&I1.I16I5ӯ<:I5 FBIƦCJIƦCRIƓCZI =bI =jIƾK4GP>GGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758539ڰw,lþA6@Y6 @6Fȗ:96B G٣y)}  > Nusing accuracyPremultiplier from config B59 죜?B5Y  i fAM%?:% %@ 61E %; ; B5) -&A-CEZjQ]FNOT Ignoring new targets: 112.80 m.Bj]jJjejm ProNav: ac range: 112.800003 m, nav range: 37.825958 m, bearing: 177.607570 deg, approach rate: -0.351459 m/s, LOS rate: -0.821734 deg/s, cmd heading: 220.327395 deg, new cmd heading: 219.237366 deg. 2ju }HeadingCmd: 3.826414 target range: 112.800003 and range: 113.10 m. j}t@jyjyjyiyhyhyhh׀Bfffrfbf~?ɛIBmz 隽I ;ɚiILݡ=I;ii)t@)*F2F:FBFo0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.m(?m=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011495GK>G B O >zK K ŷ9K K K  w,=þA2@Y2F*@2:92XIV> V=Vp=IZ8IZ@ 5bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262592٢jå= j_=9jQ n>ll rG٣pyr r> vNusing accuracyPremultiplier from configtzB59vࣜ?zB5Yv iv]A|~ ~@v:1Ev ;v\ ;vQB5 &A %B*** querying acoustic contact ***j!j!Zj9FNOT Ignoring new targets: 112.80 m.Bj.hJj.h ProNav: ac range: 112.800003 m, nav range: 37.692799 m, bearing: 177.310819 deg, approach rate: -0.363060 m/s, LOS rate: -0.811947 deg/s, cmd heading: 219.237365 deg, new cmd heading: 218.344044 deg. 2jN HeadingCmd: 3.810822 target range: 112.800003 and range: 113.10 m. j s@j j j i h hh1h1f9f9f9rf9bf=@ɛHB0 隭I dd=ɚiI@d=JJJ0JJy:J[9Jـ3Ja@a@a@a@I1;ii)s@) I*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518194G F>G B OM >w,;þAHbg>I` IbIIbBI`&I`.I`6Ib<:Ib8 F~^~@Y~>@~{B:9~)) -G٣-LGy5| 5> =Nusing accuracyPremultiplier from config9EB59=ѣ?EB5Y= i=JAE&?M:MNM@=?1E=;=);=:B5Q U&AQZjyFNOT Ignoring new targets: 112.80 m.BjgJjg ProNav: ac range: 112.800003 m, nav range: 37.524532 m, bearing: 176.950447 deg, approach rate: -0.376565 m/s, LOS rate: -0.810092 deg/s, cmd heading: 218.344045 deg, new cmd heading: 217.258218 deg. 2j HeadingCmd: 3.791871 target range: 112.800003 and range: 113.10 m. jr@jjjihhhhBfffrfbf>@ɛGBR I >ɚiI=Iqii)r@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767719*FE?2FA:FABFE 1JFA $?IG K>G ?G ?GY Ba O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018371w,VþA29|@Y2U@2992~BBIIJ=IJw 5٢R== Rg=9R~Q R>TT VG٣TyV٤ Z> jNusing accuracyPremultiplier from configdvB59f3ţ?zB5Yf6 if;A  @fB1Ef JJJJJv:J9JJG B I O > w,/þA:z@Y:`]@:p9:T2xx zG٣xy~% ~> Nusing accuracyPremultiplier from config B59G? B5Yt i*A @G1E@::B5 %AZjAMFNOT Ignoring new targets: 112.80 m.BjMsJjMse ProNav: ac range: 112.800003 m, nav range: 37.221722 m, bearing: 176.345481 deg, approach rate: -0.433033 m/s, LOS rate: -0.850014 deg/s, cmd heading: 216.405323 deg, new cmd heading: 215.436073 deg. 2jemHeadingCmd: 3.760069 target range: 112.800003 and range: 113.10 m. jmp@jijijqiqhqhqhyhyfyfyfyrfbf1 @ɛEB 隭I ~AɚiI=Iz!ii)p@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522483*F5?2F1:F9BF=R0JF9jHbHp<HI IIIMBI&I.I6I<:I9 FGUK>G) B1 O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 112.9 m (Round-trip 150.6 ms) speed 0.0 m/s  ,DAT read: user:2575>  BDAT read: Tx time:22:24:14.9024  $Ping request sent.  G٣LGy > Nusing accuracyPremultiplier from configB59󦣜?B5Y iA!?:@K1E;;B5 %AKEE addTargetRange:: Added new target pos. range: 112.900002 m, deltaT: 3.779502 s, deltaX: -0.199997 m, approachRate: -0.052916 m/s, rangeRepo size: 4 ZjIUFNOT Ignoring new targets: 112.80 m.BjUC^JjUC^e ProNav: ac range: 112.800003 m, nav range: 37.054043 m, bearing: 176.007384 deg, approach rate: -0.383749 m/s, LOS rate: -0.777264 deg/s, cmd heading: 215.436078 deg, new cmd heading: 214.417312 deg. 2je[mHeadingCmd: 3.742288 target range: 112.800003 and range: 112.90 m. jmo@jijijqiqhqhqhyh}Bfyfyfyrf9\@bf?ɛMDBM׽ IMrII URCɚQiQIUx=I]"iYiY)]o@)Y*F?2F:F!BF%_0JF!MWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:22:24:14.9016 GA>GG c~G tAG A E YE tAyE ^BBI Oe >w,ľAzK:IKKKKbWill construct direction to contact in vehicle frame from tetrahedron phase data.y99IMIM49YQ e>aa eG٣ayi m> uNusing accuracyPremultiplier from configq}B59ud?}B5Yu iuAy@uO1Eue ;u ;uB5 B*** querying acoustic contact ***jjZjaeFNOT Ignoring new targets: 112.80 m.BjeTJjmTJJJJJJ9JJ ProNav: ac range: 112.800003 m, nav range: 36.906822 m, bearing: 175.705810 deg, approach rate: -0.361501 m/s, LOS rate: -0.743467 deg/s, cmd heading: 214.417315 deg, new cmd heading: 213.509064 deg. 2jHeadingCmd: 3.726436 target range: 112.800003 and range: 112.90 m. j}n@jjjihhhhfffrfbfW? e$?IaɛCB 隕߾I DɚiI=Iȡ#ii)}n@)*Fe?2Fi:FiBFiJFquWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.G G B O >w,!ľAH>f>I< I>II>lBI<&I<.I<6I><:I>3 F}t@Y}_@}69}mR;y}H` ?fx@ ~?`#Bq?. |?@?ɨ}t@}-;}Cyޕ~BޕIi%=I= p=-Mb@Mb@Mb@))) )))Y-"~j?#~jYY eG٣aye#[ e> uNusing accuracyPremultiplier from configi}B59my?}B5Ym imA$?:r@mS1Emb6;m|4;mB5 B %A NEZjQUFNOT Ignoring new targets: 112.80 m.Bj]BYJj]BY ProNav: ac range: 112.800003 m, nav range: 36.721947 m, bearing: 175.376248 deg, approach rate: -0.424078 m/s, LOS rate: -0.759771 deg/s, cmd heading: 213.509063 deg, new cmd heading: 212.515503 deg. 2j[HeadingCmd: 3.709095 target range: 112.800003 and range: 112.90 m. jam@jWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008137jjihhh h Bf ffrfbfg[?ɛBBT AEپIA EgiFɚAiAIE2=IM$iIiQ)Uam@)Q M$?II*F?2F:FBFJFG= P>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259434G B! O >FUw, <ľA6щr@Y6iT@6T96Q%~B>IIJ IJ4٢VT׼ Ve=9ZQ Z>XX ^G٣^LGy^ ^> fNusing accuracyPremultiplier from config`fB59b8z?jB5Yb ibAhjj@bW1Eb:b":b B5p r%ApZj  FNOT Ignoring new targets: 112.80 m.Bj |aJj|a% ProNav: ac range: 112.800003 m, nav range: 36.566273 m, bearing: 175.112368 deg, approach rate: -0.463222 m/s, LOS rate: -0.788537 deg/s, cmd heading: 212.515503 deg, new cmd heading: 211.720548 deg. 2j%J-HeadingCmd: 3.695221 target range: 112.800003 and range: 112.90 m. j-~l@j)j)j1i1h1h1h1h9fffrfbf?ɛ  ^꨽  ݾI  GɚiIS=I]6%iYi]y>)]~l@)a*F 2F :F BF o0JF zKyJK}9KKK %3:9843.)$!  BKqA:KpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511313GF> IJJJJJs:J9JJG B O- >=w,+UľA2_up@Y2`~@292!lIIF<IF 5٢N.; NK=9RrS:Q R>PT VG٣TyVr V> ZNusing accuracyPremultiplier from configXB59Zi?B5YZx iZA!%%@Z[1EZh)ȃk@)*Fm?2Fi:FiBFm0JFiZH)RH-?AHEg>IA IE!IIEBIA&IA.IA6IE[<:IEx FGGi By  Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ iձ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016476O > $?I ohw,0oľA6}n@Y6|@6<96ޅ~BBI)D DMb@Mb@Mb@ )Yx&1?)\(Qy!?Gau  A)rAIE AyG AI-=I-w 5٢=B< =@=9E;Q E>AA MG٣IyM M> Nusing accuracyPremultiplier from configQB59UX?B5YU# iUA1"?: @U`1EU):zj@)*F-?2F):F)BF-x4JF)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267558G>GBOI> Q"w,_ľA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519156zK6FJMK69K4K6K6RKJ?JKJ?R\l@YR]z@Rl9RiAA MG٣MLGyM M> ]Nusing accuracyPremultiplier from configQ]B59UG?eB5YUl iUAaee@Ud1EUq:U:UδB5i m%AuVEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 112.80 m.Bj0VJj0V ProNav: ac range: 112.800003 m, nav range: 36.019951 m, bearing: 174.225846 deg, approach rate: -0.468536 m/s, LOS rate: -0.749028 deg/s, cmd heading: 209.915127 deg, new cmd heading: 209.047837 deg. 2jHeadingCmd: 3.648573 target range: 112.800003 and range: 112.90 m. j9i@jjjihhhhfffrfbf@ }$?I}hɛ15 15ݾI1 =Kɚ9i9I=v=IE{(iAiEd>)E9i@)A*F2F:FBFU5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771260G@N}>G B O >|(w,OľAHaIa IaIaIa&Ia.Ia6Ieo<:Ie FBI!JI!RI!ZI!bI!jI%V4j@Yx@U9@U G٣y2 > Nusing accuracyPremultiplier from configB59(5?B5Y$ iAs!?:@h1E;a|;ŸB5  %A ZjQ]FNOT Ignoring new targets: 112.80 m.BjeHJjeHuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:24:17.4567 TRx dataTimestamp_ set to:1736375058.669922checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026023 ProNav: ac range: 112.800003 m, nav range: 35.816219 m, bearing: 173.904915 deg, approach rate: -0.442645 m/s, LOS rate: -0.701246 deg/s, cmd heading: 209.047843 deg, new cmd heading: 208.079671 deg. 2j𼝊HeadingCmd: 3.631675 target range: 112.800003 and range: 112.90 m. j_mh@jjjihhhhBfffrfbf`m^@ɛ@B 隍dI MɚiIa=IV)ii9\>)_mh@) iIqJJJ1JJy:J9J3JJ;aJ ;aJ2;aJ2;a*F2F:FBFP5JFGq>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2752156.w,#iľA6h@Y6v@6(玻96 `Α?@q?}?`f?ɨ6h@6p;6Cy^~BbIif>Ifp<Ij7Ij 5٢r= vm=9vQ v?tx zG٣xyz z?  Nusing accuracyPremultiplier from config B59&?B5Y iA@l1E~::ƻB5%B %%A%YEZjIUFNOT Ignoring new targets: 112.80 m.BjUJJjUJe ProNav: ac range: 112.800003 m, nav range: 35.658283 m, bearing: 173.666802 deg, approach rate: -0.468442 m/s, LOS rate: -0.709376 deg/s, cmd heading: 208.079678 deg, new cmd heading: 207.362213 deg. 2jek󼝊mHeadingCmd: 3.619153 target range: 112.800003 and range: 112.90 m. jm5g@jijqjqiqhqhqhhfffrfbfD @ɛ+ 隽ݾI ԮNɚiIn=I*ii\M>)5g@)*F?2F:FBF_0JFzK]yJK]@9KYK]K]BKerA:KerAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:24:17.4566 LVL= 22384, 25553, 12866, 26707, AGC= 57, IDX= 429, 0.09,-1.758,-1.424, 0.458,-0.880, PHS=-0.790,-0.498, 1.335, RAW= 217.3, -0.5, CAL= 216.8, -6.5, ROT= 293.2, 6.5 Ygot valid direction response: 22:24:17.4566 LVL= 22384, 25553, 12866, 26707, AGC= 57, IDX= 429, 0.09,-1.758,-1.424, 0.458,-0.880, PHS=-0.790,-0.498, 1.335, RAW= 217.3, -0.5, CAL= 216.8, -6.5, ROT= 293.2, 6.5 PDAT read: Bearing 293.2, 6.5 (Local) ~Local bearing/azimuth received: Bearing 293.2, 6.5 (Local) DAT read: Range 10 to 50 : 112.5 m (Round-trip 150.0 ms) speed 0.2 m/s ,DAT read: user:2576> MBDAT read: Tx time:22:24:18.5524 $Ping request sent.bdirection in FSK: [-0.008786,-0.835170,-0.549922] yI:publishing transmit ping timeQFpublishing direction and range infoؑ9ؕD=tVY嵹꿥.F5yؕBؑؕpWؕc ٕB2)ٕShIٕ9iٕq=JٕٕH?ٕr@ٕ5 ڕ*r@)ڕVIڕ@iڕV=ڑڑە^y499̝"v?0?)ەmT?IەTu)ڑIڑiڑڑڑە^y499̝"v?0?)ۑIۑiۑۑۑۑЌ5w,RGľA6g@Y65u@6𐑻96kxx zG٣LGy‰ > -Nusing accuracyPremultiplier from config!-B59%?-B5Y% i%A15v!5@%p1E%:%';%WB5 %AkbuJ?ka k k@1ľA:kBBkzBZk;1@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:24:18.5516 "bfSHᅤ8}W]ND=tVY嵹꿥.F5JkhʿRk?*Lf1MQ@ COS[5&qq?tX,"kB*kikW ݏ?kM? 2kWk"Д?k)3A kWk/Bk>@- addTargetRange:: Added new target pos. range: 112.500000 m, deltaT: 3.534988 s, deltaX: -0.400002 m, approachRate: -0.113155 m/s, rangeRepo size: 4 ] Added new target pos. range: 112.500000 m, bearing: 129.087662 deg, lat: 36.905010 deg, lon: -122.119657 deg, deltaT: 10.843079 s, deltaX: -0.300003 m, approachRate: -0.027668 m/s, posRepo size: 4 ZjamFNOT Ignoring new targets: 112.50 m.BjmJji ProNav: ac range: 112.500000 m, nav range: 43.921490 m, bearing: 170.684279 deg, approach rate: 0.000000 m/s, LOS rate: -0.709376 deg/s, cmd heading: 207.362207 deg, new cmd heading: 206.443599 deg. 2jHeadingCmd: 3.603121 target range: 112.500000 and range: 112.50 m. jf@jjjihhhh!f!f!f9rf= \@bf=?ɛm I PePɚiI=I.+iiD>)f@)jHbH<Hf>*F%?2F):F1BF1JF9I III&I.I6IK<:Ik FGU>G?G7?GB O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. e $?Ia J J |J 0J J J @9J ـ3J J J J z:J {:е;w,ľAyn~BrIMb@Mb@Mb@ )YʡE?+I +y?94 A  A)AI Ayp AII4٢2 >=9Q > G٣y > Nusing accuracyPremultiplier from configB59?B5Y iA ?: @t1E7%;";B5B -&A\EZjFNOT Ignoring new targets: 112.50 m.Bj.Jj%.- ProNav: ac range: 112.500000 m, nav range: 43.736774 m, bearing: 170.439737 deg, approach rate: -0.459436 m/s, LOS rate: -0.610807 deg/s, cmd heading: 206.443601 deg, new cmd heading: 205.706921 deg. 2j5Ѽ=HeadingCmd: 3.590263 target range: 112.500000 and range: 112.50 m. j=e@j9j9j9i9h9hAhAhMBfIfIfQrfQbfUf?ɛy 隅gI 7QɚiI~=IX,i)i-ZR>)5e@)1*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.GL>G B O >Bw,n žA"Will construct direction to contact in vehicle frame from tetrahedron phase data.zKNBoHKN}9KLKNKNZrc@YZq@Z89Zxx zG٣|y~ ~>  Nusing accuracyPremultiplier from config B59n? B5Y iA$@x1EX::\B5 m&A!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 112.50 m.BjUJjUe ProNav: ac range: 112.500000 m, nav range: 43.564457 m, bearing: 170.233649 deg, approach rate: -0.456471 m/s, LOS rate: -0.548089 deg/s, cmd heading: 205.706925 deg, new cmd heading: 205.086239 deg. 2jemHeadingCmd: 3.579430 target range: 112.500000 and range: 112.50 m. jmbe@jijijiiihihqhqhqfqfyfrfbf?ɛ 隵|I 8GSɚiI=IT -iis$>)be@) $?I*Fm?2Fq:FqBFu0JFqGMƉR>G BO-->Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H i>I C I II vBI &I .I 6I <:I ? F5Hw,$žAa@Yp@ 9!) -G٣-LGy-]Q -> =Nusing accuracyPremultiplier from config1EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.485511MB595Zݢ?MB5Y5 i5AU?U:U$U@5|1E5/;5^;5B5a e[&Ae_EZjFNOT Ignoring new targets: 112.50 m.BjJj ProNav: ac range: 112.500000 m, nav range: 43.345249 m, bearing: 169.971406 deg, approach rate: -0.456411 m/s, LOS rate: -0.548774 deg/s, cmd heading: 205.086238 deg, new cmd heading: 204.295583 deg. 2jOHeadingCmd: 3.565631 target range: 112.500000 and range: 112.50 m. jK3d@jjjihhhhBfffrfbfhi?ɛ@ I (UɚiII=I i-i i &) K3d@)  $?IE5PExceeded connect timeout, disconnecting.JeJe~JaJaJe}:Jef9JaJaJe;Je;Je:Je:*F]?2FY:FYBF]n0JFYGerA GenAG1 G9 G9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737754G B O5 >bNw,Ҭ>žAb_T`@Yb`sn@b 9bj=ybH%?*` ;?@CU??f?ɨb_T`@bf;bCyjz~BjIIv>Iv 5٢a u=9,Q ?    G٣ y ? Nusing accuracyPremultiplier from config%B59s΢?%B5Y  iA!-&-@1E;;pB51 5&A5bEZjY]FNOT Ignoring new targets: 112.50 m.Bje Jje  ProNav: ac range: 112.500000 m, nav range: 43.189777 m, bearing: 169.792143 deg, approach rate: -0.471574 m/s, LOS rate: -0.545694 deg/s, cmd heading: 204.295589 deg, new cmd heading: 203.755880 deg. 2j@) %HeadingCmd: 3.556211 target range: 112.500000 and range: 112.50 m.-~G j%c@j9j9EvAj9iI]AhQh YvAyuBhhfffrfbf=?ɛABA I QVɚiIs=I.ii9>)%c@)!*F?2F:FBF2JFGIL>GaBiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994382O\>zKk3IKKKK IUw,3XžA2x^@Y2yl@2 92=y2H `? [@@%щ?.? u???ɨ2x^@2;2CyBd~BBsI F=F=IJYIJ5٢RW VP=9V:Q V>XX ZG٣XyZs ^> Nusing accuracyPremultiplier from config%B59?%B5Y iA)-(-@1E::B51 5''A1ZjaeFNOT Ignoring new targets: 112.50 m.BjmJjm ProNav: ac range: 112.500000 m, nav range: 42.997368 m, bearing: 169.578197 deg, approach rate: -0.474425 m/s, LOS rate: -0.529886 deg/s, cmd heading: 203.755881 deg, new cmd heading: 203.111200 deg. 2jԵHeadingCmd: 3.544959 target range: 112.500000 and range: 112.50 m. jb@jjjihhhhfffrfbf@ɛ^ IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245505 HXɚiI鎫=I?/ii >)b@)*F?2F:FBF4JFGm:,>G)B1OM1>Hmj>Ii ImIImbBIm =&Ii.Im G٣LGyKe > Nusing accuracyPremultiplier from configB594?B5Y iAm"?:c(@1E;1;B5B {'AgEZjFNOT Ignoring new targets: 112.50 m.BjnJjn ProNav: ac range: 112.500000 m, nav range: 42.789749 m, bearing: 169.347231 deg, approach rate: -0.470603 m/s, LOS rate: -0.526061 deg/s, cmd heading: 203.111193 deg, new cmd heading: 202.414971 deg. 2jHeadingCmd: 3.532808 target range: 112.500000 and range: 112.50 m. jb@jjjihhhhBfffrfbf-@ɛ}BB}w 隅 I VZɚiI*=I00ii>)b@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750895*Fa2Fa:FaBFm4JFiG J!>G ?G ?G B O >bw,@žA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001453>W[@Y>Yi@>9>=y>H`@w?@\x߿ 49f?@ց?`? F?ɨ>W[@>׌;>CyJT~BHzKRKR59KPKRKR ?d}{yvrqnkfa^ZQI^UI^5٢= =Q=9=3Q E>AA EG٣AyMUj M> UNusing accuracyPremultiplier from configQ e$?IamB59Uٕ?mB5YU iUAim)m@U1EUQt;Ut;UB5y ~'AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 112.50 m.BjJj ProNav: ac range: 112.500000 m, nav range: 42.597343 m, bearing: 169.140104 deg, approach rate: -0.507162 m/s, LOS rate: -0.548433 deg/s, cmd heading: 202.414965 deg, new cmd heading: 201.790801 deg. 2j1HeadingCmd: 3.521914 target range: 112.500000 and range: 112.50 m. j ga@jjjihhhhfffrfbf2@ɛ)-* 15 I1 =[ɚ9i9I==IE0iAiE=)E ga@)I*Fm?2Fi:FiBFm_0JFiGE+>GB!OuX>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:24:21.1051 TRx dataTimestamp_ set to:1736375062.452703checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254510H} k>Iy  I} II} 9BIy &Iy .Iy 6I} ݯ<:I}  Fiw,#/žAdZ@Y܃h@x$9C,=yH6`3?9a3޿@p.?e?x??X?ɨdZ@;y-?~B-\I)9 9AEAMb@Mb@Mb@ )YˡE?Q?/$y'?u<rA  A)I Ay AI OI q5٢5 /=96Q >!! -G٣)y-YF -> 5Nusing accuracyPremultiplier from config1=B595a?=B5Y5 i5wAE(?MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.505433U:U(U@51E5d;5m};5,B5]B ]'A]jE E$?IMhZjMFNOT Ignoring new targets: 112.50 m.BjUU JjUU  ProNav: ac range: 112.500000 m, nav range: 42.364399 m, bearing: 168.871406 deg, approach rate: -0.483438 m/s, LOS rate: -0.560702 deg/s, cmd heading: 201.790795 deg, new cmd heading: 200.980326 deg. 2jgHeadingCmd: 3.507768 target range: 112.500000 and range: 112.50 m. jG`@jjjihhhhBfffrfbf @ɛCB 隽I ?^ɚiI`=In1iiuk=)G`@)*Fi2Fi:FiBFm3JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 22:24:21.1051 LVL= 21680, 27121, 13122, 30963, AGC= 54, IDX= 428, 0.35, 2.183, 1.944,-2.379, 2.792, PHS=-0.521,-0.801, 1.109, RAW= 202.2, 2.4, CAL= 202.3, -5.0, ROT= 307.7, 5.0 = Ygot valid direction response: 22:24:21.1051 LVL= 21680, 27121, 13122, 30963, AGC= 54, IDX= 428, 0.35, 2.183, 1.944,-2.379, 2.792, PHS=-0.521,-0.801, 1.109, RAW= 202.2, 2.4, CAL= 202.3, -5.0, ROT= 307.7, 5.0 E PDAT read: Bearing 307.7, 5.0 (Local) E ~Local bearing/azimuth received: Bearing 307.7, 5.0 (Local) U DAT read: Range 10 to 50 : 111.3 m (Round-trip 148.5 ms) speed 0.4 m/s ] ,DAT read: user:2577> ] BDAT read: Tx time:22:24:22.2025 e $Ping request sent.e ϷF<{0 xWտy B T i B3) xI 6i B` VM ? a@ += a@) ¸I $ګ@i ¸= l=[???) w?I ,i տ W>  :publishing transmit ping timea  Fpublishing direction and range info 9 rd>ϷF<{0 xWտy  ) I i ) I i l=[???) I i G ̼>Gi Bq O >"pw,tžAV Y@YV*g@V?9V$==yVH?}ݿ`n|;ȧ?`t? ??ɨV Y@V5;VCy ~BIII]FI]t5٢e mR=9mtQ > G٣LGydY > Nusing accuracyPremultiplier from configB59l?B5Y imAf)@1Ez;;B5B E(AmEkfA?kI k k#-žA:kBBkBZk?"$ǔ#Z}_ZBrd>ϷF<{0 xWտJkտRkW>*9BHX@@2TD,aZտ̞?p׿"k"B*kk6y?k8 2k[AkkM? kkBk{@ addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 3.780999 s, deltaX: -1.199997 m, approachRate: -0.317376 m/s, rangeRepo size: 4 M Added new target pos. range: 111.300003 m, bearing: 111.467826 deg, lat: 36.905010 deg, lon: -122.118929 deg, deltaT: 3.780999 s, deltaX: -1.199997 m, approachRate: -0.317376 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 111.30 m.BjUJjQ ProNav: ac range: 111.300003 m, nav range: 83.947235 m, bearing: 119.500602 deg, approach rate: 0.000000 m/s, LOS rate: -0.560702 deg/s, cmd heading: 200.980324 deg, new cmd heading: 200.292460 deg. 2jHeadingCmd: 3.495763 target range: 111.300003 and range: 111.30 m. j_@jjjihhhhfffrf@3[@bf1?ɛ15ɽ 15I9 =xR`ɚ9iYI]>=Ie!e2iaie=)e_@)i%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:22:24:22.2017 $?IzKmNK9KKKE8210+&$"!"   BK :K *F?2F:FBF_0JFGq=J~JJ/JJ{m:J9J(N3Ja%@a%@a%@a%@GBO >Ivw,ežA2W@Y2e@2b'g92&K=y2H ?Kۿ@@! ?`?n? ?ɨ2W@2t;2CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yN ~BR=IIV IV4٢D Q=9 :ɻQ  >    G٣ y X > =Nusing accuracyPremultiplier from config9EB59=Y?EB5Y= i=dAIM*M@=1E=:= :=B5Q U(AyZjFNOT Ignoring new targets: 111.30 m.Bj9Jj9U ProNav: ac range: 111.300003 m, nav range: 83.937431 m, bearing: 119.327805 deg, approach rate: -0.026827 m/s, LOS rate: -0.472892 deg/s, cmd heading: 200.292456 deg, new cmd heading: 199.774019 deg. 2j]E]HeadingCmd: 3.486714 target range: 111.300003 and range: 111.30 m. j]T&_@jajajaiahahahihifififrfbf"M?ɛDBX Ͻ I +&bɚiIBi=Ib2i i=)T&_@)HI IIIBI&I.I6I<:IC FBIçCJIçCRIZI =bIjI5*F?2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1G/= IG B O >|w,!?žA::qV@Y:??`?P?ɨ::qV@:O;:CyN}BR-IiV=IV< V=V%=uMb@Mb@Mb@qqq q)qYuS?~jt?I +yu/?uD=u9uA u A)u\ AIuE Aqyuz AIIH4٢m A=9Q > G٣yF > Nusing accuracyPremultiplier from configB59C?B5Y" i^A/?:(@1Ew;;B5 (ApEZj!%FNOT Ignoring new targets: 111.30 m.Bj-Jj-= ProNav: ac range: 111.300003 m, nav range: 83.934875 m, bearing: 119.131175 deg, approach rate: -0.006206 m/s, LOS rate: -0.477487 deg/s, cmd heading: 199.774017 deg, new cmd heading: 199.184131 deg. 2j=أEHeadingCmd: 3.476419 target range: 111.300003 and range: 111.30 m. jE}^@jAjAjAiIhIhIhIhMoBfffrfbf ?ɛ%EB-rͽ iu%Iq }WdɚyiyI=Will construct direction to contact in vehicle frame from tetrahedron phase data.I3iis=)}^@)*F?2F:FBFo0JFG]!=G1BAO]v>= Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I փw,PƾAzK"uMK"59K K" K" -8=>;520+(&$%!   RK*?JK*?>U@Y>/c@>59>i=y>H$]o?efٿ`N@? ]? [6??ɨ>U@>;>CyF}BHIRIR|4٢Z Z[=9Zg#Q Z>\JbJbJ`J`Jbs:Jb9J`J`\ jG٣jLGynj n> eNusing accuracyPremultiplier from configYeB59]/?mB5Y]% i][AimX*m@]1E]G:]:]B5}B }(A}sEB*** querying acoustic contact ***jjZj1=FNOT Ignoring new targets: 111.30 m.Bj=6JjE6 ProNav: ac range: 111.300003 m, nav range: 83.927635 m, bearing: 118.947531 deg, approach rate: -0.017813 m/s, LOS rate: -0.451858 deg/s, cmd heading: 199.184135 deg, new cmd heading: 198.633172 deg. 2j HeadingCmd: 3.466803 target range: 111.300003 and range: 111.30 m. j]@jjjihhhhfffrfbf@4?ɛFB`ν 隥l&I fɚiIt=I?4iil =)]@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.՝>՝k?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H I  I II ~BI &I .I 6I <:I " FG g=G B O >w,?)ƾA%S@Y% b@%м9%By=y%H`q?u4? dؿ~@߰?:? ?@/?ɨ%S@%}Ջ;%Cy5}BAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751416%Mb@Mb@Mb@!!! !)!Y%gfffff?l?YY ]G٣Yy] e> mNusing accuracyPremultiplier from config qIqa}B59e?B5Ye) ie_AA4?:4)@e1Eez;ey;eB5 (AZjFNOT Ignoring new targets: 111.30 m.BjJj ProNav: ac range: 111.300003 m, nav range: 83.925903 m, bearing: 118.736730 deg, approach rate: -0.004103 m/s, LOS rate: -0.499365 deg/s, cmd heading: 198.633171 deg, new cmd heading: 198.000783 deg. 2jZHeadingCmd: 3.455765 target range: 111.300003 and range: 111.30 m. jC+]@jjjihhhhfffrfbfu?ɛGB6н &I  hɚ i I =Iq4ii(q=)C+]@)*F?2F:FBF^2JFGZ=GQBYO}z> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003066萱w,tCƾA:S@Y:"a@:9:~8|=y:H B?p?@(׿w [?@~?~??ɨ:S@:΋;:CyN}BR$ITVAIZWIZ5٢b# bg=9f-Q f>hl rG٣pyv?, z> -Nusing accuracyPremultiplier from config!5B59%?5B5Y%, i%dA9E)*E@%1E%ƒ;%Ӄ;%B5UB U )A]vEZjFNOT Ignoring new targets: 111.30 m.BjJj ProNav: ac range: 111.300003 m, nav range: 83.921516 m, bearing: 118.562587 deg, approach rate: -0.011867 m/s, LOS rate: -0.471095 deg/s, cmd heading: 198.000777 deg, new cmd heading: 197.478336 deg. 2jHeadingCmd: 3.446647 target range: 111.300003 and range: 111.30 m. jޕ\@jjjihqhqhqhqfyfyfyrfybf1{@ɛHBLٽ *I jɚiI}=I։5ii:=)ޕ\@)Q*F?2F:FBF 5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256848 u$?IqzKMK9KK!KBK:KtAJJJ1JJJ9J3JG- Z=G B O- >,w,i]ƾA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507319:R@Y:`@:9:v=y:H?? ֿ`OY?`ؠ?`??ɨ:R@:;:CyF}BF#IIN/INC5٢jĝ jI=9no%Q n>pt vG٣vLGyvC v> ~Nusing accuracyPremultiplier from configxB59z?B5Yz-0 izkA,+@z1Ez;z;zB5 B -)AxEZj1=FNOT Ignoring new targets: 111.30 m.BjE JjE U ProNav: ac range: 111.300003 m, nav range: 83.913170 m, bearing: 118.371553 deg, approach rate: -0.021547 m/s, LOS rate: -0.493218 deg/s, cmd heading: 197.478336 deg, new cmd heading: 196.905198 deg. 2jU>UHeadingCmd: 3.436644 target range: 111.300003 and range: 111.30 m. j[@jjjihhhhfffrfbf4@ɛ=IB=bٽ AE+IA EylɚAiAIE=IM-6iIiM,=)U[@)QZHqRHuAAHI III~BI =&I.I6I<:I9 F*F ?2F :F BF ^0JF GuX=GB1O}X>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759191 QIY=w,׆wƾANmP@YN^@Nv19N M=yNHS/ 0?Z?տ' ~?@&4?r?` ?ɨNmP@N;NCyV}BZ$IMb@Mb@Mb@ )YOn?kt?{Gzty8? =ףA A)3 AI` AyQ AIOIq5٢zk; ==9%ƼQ > G٣yh > Nusing accuracyPremultiplier from configB59ء?B5Y3 iA9?:+@1E;;]B5B !)A{EZj%FNOT Ignoring new targets: 111.30 m.Bj%p Jj%p 5 ProNav: ac range: 111.300003 m, nav range: 83.901054 m, bearing: 118.157107 deg, approach rate: -0.027941 m/s, LOS rate: -0.494626 deg/s, cmd heading: 196.905201 deg, new cmd heading: 196.261799 deg. 2j==HeadingCmd: 3.425415 target range: 111.300003 and range: 111.30 m. j=9[@jAjAjAiAhIhIhQhUcBfQfQfYrfYbf]@ɛKB ս 隍-,I 0oɚiI]=I6iiqQ=)9[@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:24:24.7530 TRx dataTimestamp_ set to:1736375065.981800checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013763*FI2FI:FQBFU_0JFQ.~G YyfBGM"=G B O5 >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264004 M $?II $w,N`ƾAJPJRJR0JPJPJR9JRـ3JPzKZJKXKXKZ"KZŻO@Y]@pJ9x5G=yH`I?@?@dgԿCX? sK?cܨ?`R?ɨŻO@2u;y-}B-"IIELIE5٢U UQ=9U?}Q ]>YY eG٣aye e> mNusing accuracyPremultiplier from configiuB59mcá?}B5Ym7 imAy,@m1Em!.;m1.;mB5 ')A~EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 111.30 m.Bji Jji  ProNav: ac range: 111.300003 m, nav range: 83.888100 m, bearing: 117.964052 deg, approach rate: -0.033180 m/s, LOS rate: -0.494531 deg/s, cmd heading: 196.261797 deg, new cmd heading: 195.682564 deg. 2jHeadingCmd: 3.415305 target range: 111.300003 and range: 111.30 m. j\Z@jjjihhhhf!f!f!rf)bf- @ɛLBYؽ -I vqɚiI=IY7iiS=)\Z@)*F?2F:FBFJF"G=G=G8n=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBDAT read: 22:24:24.7530 LVL= 21488, 22001, 12786, 30995, AGC= 60, IDX= 422, 0.23, 2.127, 1.515,-2.710, 2.610, PHS=-0.394,-1.048, 0.961, RAW= 191.4, 5.5, CAL= 191.6, -3.0, ROT= 318.4, 3.0 Ygot valid direction response: 22:24:24.7530 LVL= 21488, 22001, 12786, 30995, AGC= 60, IDX= 422, 0.23, 2.127, 1.515,-2.710, 2.610, PHS=-0.394,-1.048, 0.961, RAW= 191.4, 5.5, CAL= 191.6, -3.0, ROT= 318.4, 3.0 PDAT read: Bearing 318.4, 3.0 (Local) ~Local bearing/azimuth received: Bearing 318.4, 3.0 (Local)  DAT read: Range 10 to 50 : 109.7 m (Round-trip 146.3 ms) speed 0.4 m/s ,DAT read: user:2578> On>UBDAT read: Tx time:22:24:25.8525 ]$Ping request sent.]ہہ:publishing transmit ping timeYFpublishing direction and range info؁9؅{_Eſ^˻!ᅧmĿy؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅ ʯT?TcD0?e(j?)ہIہiہہہہHq Iq  Iu IIu ~BIu  =&Iq .Iq 6Iu 1<:Iu ] FTw,*UƾA IWill construct direction to contact in vehicle frame from tetrahedron phase data.iJDAT read: TxSync time:22:24:25.8517 y-}B-3IuMb@Mb@Mb@qqq q)qYu~jt?:v?yu;?u=uuA q)u AIuvAqyu AIEI5JJBA٢G^= )=9Q > G٣LGy > Nusing accuracyPremultiplier from configB59?B5Y;; iA=?:>+@1EH;;B5B (AEk?kGi k k>ƾA:kfBBkBZk?"TT.2IQƭZ`31{_Eſ^˻!ᅧmĿJkG߿Rk7!>*tD13VuZ@VC7бÿ莿A?0%˿"kB*kklF7?k,V 2k Bk6y?kkkBkM @= addTargetRange:: Added new target pos. range: 109.699997 m, deltaT: 3.528937 s, deltaX: -1.600006 m, approachRate: -0.453396 m/s, rangeRepo size: 4 M Added new target pos. range: 109.699997 m, bearing: 99.174233 deg, lat: 36.905042 deg, lon: -122.118929 deg, deltaT: 3.528937 s, deltaX: -1.600006 m, approachRate: -0.453396 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 109.70 m.BjUJjQm ProNav: ac range: 109.699997 m, nav range: 82.285652 m, bearing: 115.526326 deg, approach rate: 0.000000 m/s, LOS rate: -0.494531 deg/s, cmd heading: 195.682570 deg, new cmd heading: 194.959733 deg. 2jiuHeadingCmd: 3.402689 target range: 109.699997 and range: 109.70 m. juY@jqjqjqiqhqhyhyh}ZBfffrfl[@bfo?ɛ=NBEWϽ AE'IA EtɚAiAIM(=IM Z8iQiU0=)UY@)q*F ?2F :F BFJF} Will construct direction to contact in vehicle frame from tetrahedron phase data.G JR=G B O >f6w,ƾA6HqN@Y6J\@6&96碄=y6Hv i?6?{)ӿ l4? )]???ɨ6HqN@6;#;6CyB~BBBIIJ(IJ)5٢RM= V=9V DQ V?XX ZG٣XyZ Z? bNusing accuracyPremultiplier from config`fC59b?fC5Yb= ibAdf,f@b1Eb":bC:bC5l nS(AlZj  FNOT Ignoring new targets: 109.70 m.BjqJjq% ProNav: ac range: 109.699997 m, nav range: 82.286003 m, bearing: 115.370122 deg, approach rate: 0.001174 m/s, LOS rate: -0.522614 deg/s, cmd heading: 194.959731 deg, new cmd heading: 194.491133 deg. 2j%U-HeadingCmd: 3.394511 target range: 109.699997 and range: 109.70 m. j-?Y@j)j)j)i)h1h1h1h1f9f9f9rfAbfEU?ɛuOBu q"I uɚiIa=I 8iiN=)?Y@) *F?2F:FBF0JFG6a=  $?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.GABQOm5>zKJQJK+9KK#KBK:KrA`w,ƾA&Will construct direction to contact in vehicle frame from tetrahedron phase data.:M@Y:\@:,9:{=y:H҃.?@d?׺ҿo|?!?` b??ɨ:M@:J;:CyF8~BFWIIN3IN 5٢V$= VJ=9V/Q Z>XX ZG٣Xy^ ^> fNusing accuracyPremultiplier from config`jC59b?jC5YbA ibAhn,n@b1Eb9;bI;b,C5rB r'ArEZj  FNOT Ignoring new targets: 109.70 m.BjJj ProNav: ac range: 109.699997 m, nav range: 82.285370 m, bearing: 115.162277 deg, approach rate: -0.001566 m/s, LOS rate: -0.514160 deg/s, cmd heading: 194.491139 deg, new cmd heading: 193.867625 deg. 2jnHeadingCmd: 3.383628 target range: 109.699997 and range: 109.70 m. j^X@jjjihhhhfffrfbf ?ɛ%PB- PϽ )-8I) -]wɚ)i1I5=I=X9i9i=e=)=^X@)9jH<bH4=H%l>I! I%II%~BI!&I!.I!6I%><:I%g F*F ?2F :F BF )4JF  IG =G?G?Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>J J }J J J J S9J J J ;a J ;a J :a J :a w,ƾA6M@Y6[@6J96n==y6H@= ?٬?twҿ_`}?`?W??ɨ6M@6 ;6Cy>O~BBeIEMb@Mb@Mb@AAA A)AYE~jt?I +?Q?yAE9=Eu=9uߐQ u>yy }G٣}LGy > Nusing accuracyPremultiplier from configC59fh?C5YsD iaA=?:.@1EJ;; C5 d'AEZjFNOT Ignoring new targets: 109.70 m.BjJj ProNav: ac range: 109.699997 m, nav range: 82.277481 m, bearing: 114.942904 deg, approach rate: -0.018366 m/s, LOS rate: -0.510772 deg/s, cmd heading: 193.867625 deg, new cmd heading: 193.209473 deg. 2jDHeadingCmd: 3.372141 target range: 109.699997 and range: 109.70 m. j*W@jjjihhhhjBfffrf bf @?ɛ=QB=nϽ =ӯ=EIA EƒyɚAiAIE"=IMN:iIiMI=)M*W@)Q]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF@5JFGap=GBO<> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.:uıw,ǾA2_M@Y2~[@2F92V=y2H̒ aw? a?fҿx?S?E??ɨ2_M@2;2CyJq~BJzIIf/IfC5zKzBoIKz 9KxKz$KzRK?JK?٢ =  P=9 kQ > G٣yj > -Nusing accuracyPremultiplier from config!-C59%"R?5C5Y%rG i%A15/5@%1E% ;%h;%Y C59 E&AA]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 109.70 m.BjukJjuk ProNav: ac range: 109.699997 m, nav range: 82.269745 m, bearing: 114.742609 deg, approach rate: -0.019775 m/s, LOS rate: -0.512035 deg/s, cmd heading: 193.209468 deg, new cmd heading: 192.608550 deg. 2jHeadingCmd: 3.361653 target range: 109.699997 and range: 109.70 m. jT%W@jjjihhhhfffrfbf`Q?ɛSBͽ ; I I  I II ~BI &I .I 6I ޯ<:I FBIJIRIZIbI =jIF4GA BQ Om > ʱw,,ǾA e $?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240278y~BIMb@Mb@Mb@ )YʡE?i|?5?V-?y=?q=<A A)AIAy AI:I# 5٢M= M+=9UQ U>QQ ]G٣Yy] ]> mNusing accuracyPremultiplier from configauC59ee6?uC5YeJ ieA}p>?}:}1}@e1EeH;eD;eC5JJJ1JJy:J9J3JJ;J ;Jg;Jh;B %AEZjFNOT Ignoring new targets: 109.70 m.BjBJjB ProNav: ac range: 109.699997 m, nav range: 82.247108 m, bearing: 114.497625 deg, approach rate: -0.046925 m/s, LOS rate: -0.507981 deg/s, cmd heading: 192.608548 deg, new cmd heading: 191.873438 deg. 2jOHeadingCmd: 3.348823 target range: 109.699997 and range: 109.70 m. jSV@jjjihhhhBff f rf bf V@ɛ=UB= 9=I9 Q}ɚiI"=I;ii=)SV@)EEqA*Fq2Fq:FqBF}4JFyGUp=G BO5>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e .?e =m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492599hѱw,]FǾA6HL@Y6gZ@6Ž96K~=y6HRw?u?` ѿ@?? Q?o?3?ɨ6HL@6ӎ;6CyV~BVII^-I^`5٢j{> j~=9nQ n ?lp rG٣pyr&X r ? zNusing accuracyPremultiplier from configtzC59v#?~C5YvL ivEA2@v1Ev,;v-;vVC5 B  %A EZj15FNOT Ignoring new targets: 109.70 m.Bj=zJjEzU ProNav: ac range: 109.699997 m, nav range: 82.228706 m, bearing: 114.332651 deg, approach rate: -0.057905 m/s, LOS rate: -0.519232 deg/s, cmd heading: 191.873442 deg, new cmd heading: 191.378420 deg. 2jU,eHeadingCmd: 3.340183 target range: 109.699997 and range: 109.70 m. jeU@jajajaiahahihihififqfqrfqbfuK@ɛVBȽ 隥I e~ɚiI=I$Zرw,aǾAbK@YbY@b-ҽ9b=ybH?@&?lhпD?9???ɨbK@b8F;`y~B~II )I 5٢5ڠ= =9=9=cQ =>AA EG٣ELGyEH E> UNusing accuracyPremultiplier from configQ]C59U ?]C5YUO iUAY]i3e@U1EU;U ;U4C5i u$AuEZjFNOT Ignoring new targets: 109.70 m.BjJj ProNav: ac range: 109.699997 m, nav range: 82.201241 m, bearing: 114.106453 deg, approach rate: -0.062028 m/s, LOS rate: -0.511004 deg/s, cmd heading: 191.378417 deg, new cmd heading: 190.699631 deg. 2jYHeadingCmd: 3.328336 target range: 109.699997 and range: 109.70 m. jwU@jjjihhhhZHRH?AHI IIIWBI&I.I6I<:I) FffIfIrfQbfU`@ɛXBQ !%׾I! %ɚ!i!I%ղ=I-==i)i-ď=)5wU@)1EE=*F?2F:FBF_0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:22:24:28.4007 =TRx dataTimestamp_ set to:1736375069.764817Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.254943JJJ0JJ:Jľ9Jـ3JJn;Jo;J;J;GU =G) B9 OU >t6ޱw,ǜ{ǾA6K@Y6&Y@6R޽96|=y6H M?f?˦Ͽ@-?Ļ?_?-?ɨ6K@6rr;4yR:BRI5Mb@Mb@Mb@111 1)1Y5333333?:v?Q?y59?5T<5\=5vA 5dA)57AI5A1y53 AIEIE4٢] > eI=9esQ e>ii mG٣iymƺ u> Nusing accuracyPremultiplier from configC59?C5YQ iB 9? : 8 @1E;;C5 #AEZjAEFNOT Ignoring new targets: 109.70 m.BjEw JjMw ] ProNav: ac range: 109.699997 m, nav range: 82.155075 m, bearing: 113.896939 deg, approach rate: -0.108948 m/s, LOS rate: -0.494718 deg/s, cmd heading: 190.699633 deg, new cmd heading: 190.070764 deg. 2j]©eHeadingCmd: 3.317361 target range: 109.699997 and range: 109.70 m. jmOT@jijijiiihihi}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500564hhBfffrfbf< @ɛZB |=隽ۼI sɚiI䳲=I=ii=)OT@)EE*E"E*F?2F:FBFJFG GsA I % Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 22:24:28.4007 LVL= 29856, 31041, 17138, 32755, AGC= 64, IDX= 416,-0.12,-2.005,-2.762,-0.718,-1.596, PHS=-0.321,-1.119, 0.875, RAW= 186.6, 6.6, CAL= 186.6, -2.4, ROT= 323.4, 2.4 e Ygot valid direction response: 22:24:28.4007 LVL= 29856, 31041, 17138, 32755, AGC= 64, IDX= 416,-0.12,-2.005,-2.762,-0.718,-1.596, PHS=-0.321,-1.119, 0.875, RAW= 186.6, 6.6, CAL= 186.6, -2.4, ROT= 323.4, 2.4 m PDAT read: Bearing 323.4, 2.4 (Local) m ~Local bearing/azimuth received: Bearing 323.4, 2.4 (Local) } DAT read: Range 10 to 50 : 108.0 m (Round-trip 144.1 ms) speed 0.4 m/s  ,DAT read: user:2579>  BDAT read: Tx time:22:24:29.5025  $Ping request sent. BKK 9K K &K  a/M# G B O >lw,ǾAVgJ@YVX@V9Vy=yVHKp?? mοX&? I?+??ɨVgJ@V͌;VCyU_BU IIe(Ie)5٢̡= 6=9YQ >)) -G٣-LGy5⯼ 5> =Nusing accuracyPremultiplier from config9EC59=rנ?EC5Y=S i=:B8@=1E=h<=5h<=C5 #AEk垜?kq k kǾA:kBBkBZk3?"5]pP`ZYM KAɿ;BC,? JktRkMН=*@ UT7Z@1H//0?NCĿ"kB*kBkiAiE=)E'S@)I*F?2F:FBFJFH5j>I1 I5SII5BI5 =&I1.I16I5ٯ<:I5 FGe ‘=G sAG sAu Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G B O >w,ǾAbI@YbW@b,9bfw=ybH 1?@Oz?@Ϳ @W?? ?I?ɨbI@b;bCyB5IJuJuJqJqJus:Ju9JqJqJu;Ju;Jug;Juh;=Mb@Mb@Mb@999 9)9Y=l?/$+?y=7?====A 9)=AI=\A9y= AIUIU4٢ue> u;=9}mQ }>yy }G٣yļ > Nusing accuracyPremultiplier from configC59:?C5YU ipB7?:^<@1E;;#C5B  "AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 108.00 m.BjJj񻝊 ProNav: ac range: 108.000000 m, nav range: 103.547440 m, bearing: 108.396102 deg, approach rate: -0.095302 m/s, LOS rate: -0.422351 deg/s, cmd heading: 189.369659 deg, new cmd heading: 188.866761 deg. 2j퐼HeadingCmd: 3.296347 target range: 108.000000 and range: 108.00 m. jYR@j j j i h h hh'BfffrfbfN?ɛ^B7 I oɁɚiI]8=I\(?ii0ϓ=)YR@)*F?2F:FBFo0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.) CUNGvA YvAyBG =G B O >w,^ǾA:5QI@Y:6pW@:R9:~=y:H`Ep?`?`(H̿@g?Z7?j?L?ɨ:5QI@:T;:CybBbZIin n=na=IrIr4٢z.> zh=9~GQ ~> G٣y   > Nusing accuracyPremultiplier from configC59?C5YV iB%<%@1E;;&C5-B -!A-EZjaeFNOT Ignoring new targets: 108.00 m.BjmfݻJjmfݻ} ProNav: ac range: 108.000000 m, nav range: 103.515495 m, bearing: 108.259091 deg, approach rate: -0.090231 m/s, LOS rate: -0.387125 deg/s, cmd heading: 188.866765 deg, new cmd heading: 188.455613 deg. 2jׄHeadingCmd: 3.289171 target range: 108.000000 and range: 108.00 m. jǁR@jjjihhhhfffrfbf?ɛ`B} bI ɚiI{=I?ii=)ǁR@) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000691*F]?2FY:FYBFe^5JFazK NK59KK'Kw2x{V-Ep=I9tK lCi?b(\:Gu}ܒ=GIBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251371w,gǾAjH0bH2<H4I4 I6II60BI4&I4.I46I6 <:I6? FJKH@YJLV@J^9J4u=yJH`5?ਪ?\˿"@   G٣y > %Nusing accuracyPremultiplier from config%C59ؑ?-C5Y-X iB15C=5@1EO;*b;!*C5A E AAZjimFNOT Ignoring new targets: 108.00 m.BjuݻJjuݻ ProNav: ac range: 108.000000 m, nav range: 103.477524 m, bearing: 108.101891 deg, approach rate: -0.093726 m/s, LOS rate: -0.388161 deg/s, cmd heading: 188.455615 deg, new cmd heading: 187.983854 deg. 2j2HeadingCmd: 3.280937 target range: 108.000000 and range: 108.00 m. jQ@jjjihhhhfffrfbf@V?ɛbBʞ =隥LI mɚiI䗱=I$@ii9s=)Q@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505674 $?IEu =*F?2F:FBFp0JFG =G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755898G B O >Uw,ȾA6cKH@Y6djV@6V 96p=y6H@Hx?@??Dʿ 2@?@q?`ŭ? ?ɨ6cKH@6i;6Cy>BBIMb@Mb@Mb@ )Y\(\?y&1+?y:?`e` A A)~AIy= AII4٢׹= +=9Q > G٣LGyu > Nusing accuracyPremultiplier from configC59u?C5YUY iB;?:@@1E;;M.C5 AEZj)5FNOT Ignoring new targets: 108.00 m.Bj5<Jj=<ໝE ProNav: ac range: 108.000000 m, nav range: 103.413681 m, bearing: 107.914471 deg, approach rate: -0.133477 m/s, LOS rate: -0.392083 deg/s, cmd heading: 187.983854 deg, new cmd heading: 187.421264 deg. 2jMUHeadingCmd: 3.271118 target range: 108.000000 and range: 108.00 m. jUZQ@jQjQjQiQhQhQhYh]@BfYfafarfabfe ^?ɛ-eB-ݗ )-%I) -mɚ1i1I5T=I5@i9i=o=)=ZQ@)9E =*F?2F:FBF`5JF u$?Iq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008975JU JU JQ JQ JU y:JU ľ9JQ JQ am @am @am @am @G =zK vPK K K (K vjc]XULHC?<:9;7443/.($$"!G B O >kw,jȾAZ G@YZU@Z9Zl=yZH +k?`?2ɿA ?7?@J?@?ɨZ G@Zw;ZCyf%BfI)h hllIr#Ir5٢z= zY=9~Q ~>|| G٣y >  Nusing accuracyPremultiplier from config C59 a^?C5Y /Z i MBmA@ 2E m ;  ; 1C5%B %OA-EZjIMFNOT Ignoring new targets: 108.00 m.Bj]>Jj]>ờm ProNav: ac range: 108.000000 m, nav range: 103.361931 m, bearing: 107.767003 deg, approach rate: -0.138142 m/s, LOS rate: -0.393849 deg/s, cmd heading: 187.421265 deg, new cmd heading: 186.978649 deg. 2jm%uHeadingCmd: 3.263393 target range: 108.000000 and range: 108.00 m. juoP@jqjqjqiyhyhyhyhyfffrfbf@ɛgB I TɚiID=IFDAii=)oP@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259401Hi>IC IIIwBI&I.I6I<:IF FE=#ے=*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514479  I G =J9 J= AAG B O >?P w,87ȾAyz,B~IMb@Mb@Mb@ )Y1Zd? ףp= :v?y";?Q< )QAIAy AII4٢< 3=9Q > G٣LGy > Nusing accuracyPremultiplier from configC59B?C5YZ iBIw,WȾAv5F@YvTT@v9vk=yvH(t? L?@8-ƿg`???ଘ?ɨv5F@v{x;ty@BIzKMknNKMs9KIKM)KM   I- I-4٢m= +=9WQ > G٣yM > Nusing accuracyPremultiplier from configC59/%?C5YI[ iBE@ 2E;;9C5 iAEZjIMFNOT Ignoring new targets: 108.00 m.BjU ڻJjU ڻe ProNav: ac range: 108.000000 m, nav range: 103.196831 m, bearing: 107.401029 deg, approach rate: -0.179271 m/s, LOS rate: -0.381266 deg/s, cmd heading: 186.442349 deg, new cmd heading: 185.879898 deg. 2jeԂHeadingCmd: 3.244216 target range: 108.000000 and range: 108.00 m. j=O@jjjihhhhfffrfbf@v @ɛmB PI  YɚiIj=Ix~Bii{͋=)=O@)Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ՝a=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268107*F?2F:FBF5JFG=GBO>Hg>I ILIIBI&I.I;D6Iد<:I FBIQJIQRIQZIU =bIU =jIUD15w, pȾAWill construct direction to contact in vehicle frame from tetrahedron phase data. u$?Iy%DAT read: 22:24:32.0481 LVL= 32752, 32753, 24466, 32755, AGC= 64, IDX= 421, 0.13,-0.889,-1.743, 0.276,-0.621, PHS=-0.181,-1.075, 0.894, RAW= 183.0, 4.3, CAL= 183.0, -4.4, ROT= 327.0, 4.4 ME@YMS@M9Mi=yMH@0 ?@? pIſmrHϴ?`!?g۬?ϖ?ɨME@Mi;MCy]CBeIim=Im< ua=u%=Ygot valid direction response: 22:24:32.0481 LVL= 32752, 32753, 24466, 32755, AGC= 64, IDX= 421, 0.13,-0.889,-1.743, 0.276,-0.621, PHS=-0.181,-1.075, 0.894, RAW= 183.0, 4.3, CAL= 183.0, -4.4, ROT= 327.0, 4.4 PDAT read: Bearing 327.0, 4.4 (Local) ~Local bearing/azimuth received: Bearing 327.0, 4.4 (Local) MDAT read: Range 10 to 50 : 106.1 m (Round-trip 141.5 ms) speed 0.6 m/s M,DAT read: user:2580> UBDAT read: Tx time:22:24:33.1525 U$Ping request sent.U G٣y=c => ENusing accuracyPremultiplier from configAMC59E?MC5YE[ iEBM:?U:UFU@E2EE/;E;EV>C5 B QAEk sʃr?k ݏ k  k sȾA:k 3BBk BZk 0?" rW1ia*ZI3Z5 gؗQ"Ŀ^% ¦T]Jk ޿Rk 06h<* >@%jTMbgZ@Uo# 2i! ;(?Џ"k ;B*k k Nq?k } 2k XBk lF7?k } k  Bk Bk ? addTargetRange:: Added new target pos. range: 106.099998 m, deltaT: 3.534402 s, deltaX: -1.900002 m, approachRate: -0.537574 m/s, rangeRepo size: 4 M Added new target pos. range: 106.099998 m, bearing: 90.953072 deg, lat: 36.905207 deg, lon: -122.118590 deg, deltaT: 3.534402 s, deltaX: -1.900002 m, approachRate: -0.537574 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 106.10 m.Bj]JjYm ProNav: ac range: 106.099998 m, nav range: 106.308670 m, bearing: 96.546229 deg, approach rate: 0.000000 m/s, LOS rate: -0.381266 deg/s, cmd heading: 185.879896 deg, new cmd heading: 185.238844 deg. 2jHeadingCmd: 3.233028 target range: 106.099998 and range: 106.10 m. jN@jjjihhhhbBfffrf`fZ@bfp?ɛ5qBEc6 IMලII MɚIiIIU2Ǯ=IU5CiQi];=)]N@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:24:33.1518 *F 2F :F BF K4JF G$=GBO>d#w,1ȾA6 %E@Y6 DS@68696Di=y6H@^;_??Ŀu?S? Ϭ?`?ɨ6 %E@6f;6CyhjIIrIr94٢Q; 5_=9=Q =>99 EG٣ELGyEӼ E> UNusing accuracyPremultiplier from configQ]C59U?]C5YU[ iU6BY]G]@U2EU;:U:UyAC5m B mGAuWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I EZjQUFNOT Ignoring new targets: 106.10 m.Bj]sJj]s ProNav: ac range: 106.099998 m, nav range: 106.285698 m, bearing: 96.407620 deg, approach rate: -0.069086 m/s, LOS rate: -0.416942 deg/s, cmd heading: 185.238842 deg, new cmd heading: 184.822931 deg. 2jHeadingCmd: 3.225769 target range: 106.099998 and range: 106.10 m. jrN@jjjihhhhfffrfbf t?ɛsBA| I ɚiI[=J-J-J)J)J-}:J-9J)J)ICiaie=)erN@)i*F?2F:FBF^0JFzK%< MK%+9K!K%*K%  RK5 ?JK5 ?G6=GBOa>- Will construct direction to contact in vehicle frame from tetrahedron phase data.H b>I  I II BI  =&I .I 6I <:I . F*w,ȾAJ|D@YJ}R@Jп9Jr=yJHdB }?@?3ÿ W?i? }??ɨJ|D@J,;HyZKBZIIfIf4٢n= rN=9r%{Q r>tt vG٣tyv v> MNusing accuracyPremultiplier from configxUC59z"؟?UC5Yz[ izhBY]G]@z2EzU= Will construct direction to contact in vehicle frame from tetrahedron phase data.,0w,LȾA6fDD@Y6gcR@696Sj=y6HI ?\Y?]¿x#.????ɨ6fDD@6;6Cy>CB>IDFAMb@Mb@Mb@ )Y~jt?X9vI +?y;?}94< A A)3@IrAyAI-I-P4٢=4 =C=9=.&Q =>AA EG٣AyMぼ M> UNusing accuracyPremultiplier from configQ]C59U?eC5YUb\ iUBeVzK5 ̭KK5 9K1 K5 +K5 BKA :KE pA57w,ȾA2C@Y2R@292c=y2HO(?o?`??"?\?ɨ2C@2fd;0y:JB:IIfIfB4٢j= nS=9n7Q n>pt vG٣vLGyz x > Nusing accuracyPremultiplier from config-C59?-C5Y\ iB1=E=@$2Eͩ;;KC5E B MAMEZjFNOT Ignoring new targets: 106.10 m.Bj.Jj.뻝 ProNav: ac range: 106.099998 m, nav range: 106.230072 m, bearing: 95.939434 deg, approach rate: -0.039215 m/s, LOS rate: -0.411223 deg/s, cmd heading: 183.877531 deg, new cmd heading: 183.418158 deg. 2jHeadingCmd: 3.201251 target range: 106.099998 and range: 106.10 m. jKL@jjjihhhhfffrfbf?ɛ{B읒 $ĽI "ɚiIĬ=Ik>Eii=)KL@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687534*Fi2Fq:FqBFun0JFqjHbHHZ>IC IIIBI =&I.I:D6I)<:IF FG=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.յ Aiյ A $?I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947589Z?=w,\ȾA6qUC@Y6rtQ@6^"96:$_=y6H9Z?t?`?? "??ɨ6qUC@6 ;;6CyN>BNI-Mb@Mb@Mb@))) )))Y--?/$y-5>?--- A -A)-@I-A)y-3AIEIE4٢;V ==9:Q > G٣y礼 > Nusing accuracyPremultiplier from configC59?C5Y] iBH>?:~B@)2E;{;OC5 B _AEZjFNOT Ignoring new targets: 106.10 m.Bj% Jj% 滝5 ProNav: ac range: 106.099998 m, nav range: 106.230209 m, bearing: 95.768962 deg, approach rate: 0.000324 m/s, LOS rate: -0.402237 deg/s, cmd heading: 183.418160 deg, new cmd heading: 182.906758 deg. 2j==HeadingCmd: 3.192325 target range: 106.099998 and range: 106.10 m. j=OL@jAjAjAiIhIhIhQhU BfQfQfYrfYbf],@ɛ~Bh 隕XI ZɚiI5=IEiiU=)OL@)*FE?2FA:FABFE0JFIc~GvAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.192033 %Y%vAy%wBGu|=Ga Bq O >8$Dw,^ɾA6B@Y6P@696ִ\=y6Hc?x? w@q?`Y}?@??ɨ6B@6;6CyR4BRI Z=Z=I^$I^d5٢~[ ~X=9:Q >  G٣ y   > Nusing accuracyPremultiplier from configC59t?%C5YS^ i)B!- C-@-2E?;7@; SC51 5A1]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.442799ZjimFNOT Ignoring new targets: 106.10 m.BjuJju $?I ProNav: ac range: 106.099998 m, nav range: 106.228737 m, bearing: 95.619225 deg, approach rate: -0.003869 m/s, LOS rate: -0.393474 deg/s, cmd heading: 182.906756 deg, new cmd heading: 182.457549 deg. 2jHeadingCmd: 3.184485 target range: 106.099998 and range: 106.10 m. jK@jjjihhhhfffrfbf;@ɛB fI }ɚiI=IQFii=)K@)*F?2F:FBF`5JFJ J J J J :J 9J J zKMBHKM9KIKM,KM RKU?JKU>GqT=G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694756B1 OM >H Q>I C I II BI  =&I GD.I 9D6I 7<:I H F4PJw,A+ɾA6%B@Y6DP@6X96[=y6Hkm̾??@n@@?`w? j??ɨ6%B@69;6Cy^1B^IIf,If5٢n~o nL=9r9Q r>pp vG٣vLGyvͼ v> ~Nusing accuracyPremultiplier from configxC59z\?C5Yz^ izWB  C @z22EzG;zH;zVC5 AEZjFNOT Ignoring new targets: 106.10 m.Bj|ٻJj|ٻ ProNav: ac range: 106.099998 m, nav range: 106.225021 m, bearing: 95.460554 deg, approach rate: -0.008905 m/s, LOS rate: -0.380283 deg/s, cmd heading: 182.457548 deg, new cmd heading: 181.981530 deg. 2j~HeadingCmd: 3.176177 target range: 106.099998 and range: 106.10 m. j{FK@jjjihhhhfffrfbf @ɛ5B=Л 9='I9 =z݄ɚ9iAIE4=IE:FiIiMҕ=)M{FK@)I*F!2F!:F)BF-:5JF1 $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:24:35.6951 TRx dataTimestamp_ set to:1736375076.833335checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962477JJG N=Gy B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206648 G٣y > Nusing accuracyPremultiplier from configC59/B?C5Y+` iBVzK JK K K -K fxolQ`Ww,,^ɾAF@@YFO@F&9Fٓ\=yFH`~kǹ?@ã?` vsO?c?=? ?ɨF@@F;FCyZ,BZIIhIh٢z< zV=9>9Q >   G٣ yͼ > Nusing accuracyPremultiplier from configC59)?C5Y8a iBP@@;2E;;]C5 B AEZjYeFNOT Ignoring new targets: 106.10 m.BjeJje㻝 ProNav: ac range: 106.099998 m, nav range: 106.254707 m, bearing: 95.135454 deg, approach rate: 0.033742 m/s, LOS rate: -0.397990 deg/s, cmd heading: 181.479629 deg, new cmd heading: 181.006390 deg. 2jHeadingCmd: 3.159158 target range: 106.099998 and range: 106.10 m. j/J@jjjihhhhfffrfbfM8@Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 22:24:35.6951 LVL= 32752, 32753, 21682, 32755, AGC= 63, IDX= 405, 0.18,-1.853,-2.790,-0.743,-1.687, PHS=-0.078,-1.056, 0.941, RAW= 180.7, 2.3, CAL= 180.9, -6.0, ROT= 329.1, 6.0 mYgot valid direction response: 22:24:35.6951 LVL= 32752, 32753, 21682, 32755, AGC= 63, IDX= 405, 0.18,-1.853,-2.790,-0.743,-1.687, PHS=-0.078,-1.056, 0.941, RAW= 180.7, 2.3, CAL= 180.9, -6.0, ROT= 329.1, 6.0 PDAT read: Bearing 329.1, 6.0 (Local) ~Local bearing/azimuth received: Bearing 329.1, 6.0 (Local) DAT read: Range 10 to 50 : 103.7 m (Round-trip 138.3 ms) speed 0.5 m/s ,DAT read: user:2581> BDAT read: Tx time:22:24:36.8026 $Ping request sent.IuC IuIIuBIu =&Iq.Iu7D6Iux<:Ium F`direction in FSK: [-0.129320,-0.991178,0.029026]:publishing transmit ping timeFpublishing direction and range infoɛ-B5 15>I1 =kɚ9i9I=u=9GI-xں2?yfB T)I?iw+`p?I@l$= 6J@)PwֽIͷ@iPw=IGi a6H]w,yɾAV4 @@YV5?N@V9VH[=yVHଇW?`c?z@]ư?O?{?`?ɨV4 @@V];VCyf+BfIMb@Mb@Mb@ )Y\(\?~jt?~jtx?y:?=;A v@)p@IAyAIIr4٢,Ļ 3=9o:Q >AA EG٣ELGyMӼ M> UNusing accuracyPremultiplier from configQ]C59Uf?}C5YUc iUB}~Cdw,YkɾA6~?@Y6M@696V=y6H@njt3?? `r?`h? ~?)?ɨ6~?@68܉;6CyB%BBIIJ$IJd5٢R, Rg=9VCQ V>XX ZG٣Xy^ ^> fNusing accuracyPremultiplier from config`fC59b`?jC5Yb[d ibBhj<j@bE2Eb];bn;bdC5p r*ApZj FNOT Ignoring new targets: 103.70 m.BjJj %$?I!-Will construct direction to contact in vehicle frame from tetrahedron phase data.E ProNav: ac range: 103.699997 m, nav range: 105.947426 m, bearing: 90.153376 deg, approach rate: 0.155398 m/s, LOS rate: -0.416089 deg/s, cmd heading: 180.467231 deg, new cmd heading: 180.062208 deg. 2jEǎMHeadingCmd: 3.142678 target range: 103.699997 and range: 103.70 m. jM!I@jIjIjIiIhQhQhQhQfQfYfYrfYbfen?ɛB$ާ  WI  ɚ i I H@=IHiiV=)!I@)!*F?2F:FBFJFzK* NKs9KK.Ki`M$ RK ?JK>G$=GWill construct direction to contact in vehicle frame from tetrahedron phase data.BO >H ?>I C I II BI " =&I .I 6D6I <:I ~ FBIɣCJIɣCRIɕCZI =bI =jIQ6jw,EGɾA2`>@Y2aL@2792W=y2H^?e?`c?`?I?@?ɨ2`>@2;2CyB2BBIiFR=IFp=ININ[4٢fz= fH=9fQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpvC59rវ?vC5Yre irNBxz<z@rI2Er;rY;rEhC5| ~A~IJEZj)5FNOT Ignoring new targets: 103.70 m.Bj5ۻJj5ۻE ProNav: ac range: 103.699997 m, nav range: 106.003120 m, bearing: 89.996207 deg, approach rate: 0.136161 m/s, LOS rate: -0.384043 deg/s, cmd heading: 180.062214 deg, new cmd heading: 179.590966 deg. 2jMȃMHeadingCmd: 3.134454 target range: 103.699997 and range: 103.70 m. jMH@jQjQjQiQhQhQhhfffrfbf ?ɛ B   CI 5oɚ1i1I5}¨=I=H@i9iEu=)EH@)A5Will construct direction to contact in vehicle frame from tetrahedron phase data. ]$?IY*Fm?2Fi:FqBFun0JFq"G=G=JJJJJ:J:JJJ;J;JDG;JEG;G҉=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.qw,$ɾAJ >@YJ+L@J39JAS=yJH͗@Ԭ?`?`&I1?f?@(??ɨJ >@J;HyV:BVI=Mb@Mb@Mb@999 9)9Y=1Zd?On?{Gz?y=";?=>=#<=7A =I@)=Z@I=I A9y=AIUIU4٢e~"= eA=9em;Q e>ii mG٣mLGyuR¼ }> Nusing accuracyPremultiplier from configC59dȞ?C5Yg iB??:8@N2E;;kC5 B tADzEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 103.70 m.Bj/ܻJj/ܻ ProNav: ac range: 103.699997 m, nav range: 106.081367 m, bearing: 89.832818 deg, approach rate: 0.184514 m/s, LOS rate: -0.385001 deg/s, cmd heading: 179.590972 deg, new cmd heading: 179.101180 deg. 2jHeadingCmd: 3.125905 target range: 103.699997 and range: 103.70 m. jH@jjjihhhh^Bfffrfbf?ɛB읽 E=8I ΆɚiII%=IH@i;8Nxw,9ɾA2F?=@Y2G^K@292U=y2H o?O?<7@]w?>? i?ח?ɨ2F?=@2;2Cy>JB>IIV9IV 5٢j_= jE=9nnB;Q n>ll rG٣pyr r> vNusing accuracyPremultiplier from configtC59v? C5Yvi ivB9@vS2EvԵ;v;voC5%B %A-ʲEZjIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995990UFNOT Ignoring new targets: 103.70 m.Bj>ڻJj>ڻ ProNav: ac range: 103.699997 m, nav range: 106.154572 m, bearing: 89.673684 deg, approach rate: 0.175667 m/s, LOS rate: -0.381609 deg/s, cmd heading: 179.101179 deg, new cmd heading: 178.624117 deg. 2j򂼝]HeadingCmd: 3.117579 target range: 103.699997 and range: 103.70 m. j]jG@jYjYjYiYhYhahahafafifrfbf@`@jHbHH<>IC IIIBI# =&I.I6IW<:IL FɛeBm imhIq u ɚqiqIuv=IjG@iiq=)jG@)*F]?2FY:FaBFeo0JFa I II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251287JE JE JA JA JE ܫ:JE :JA JA JE ;JE ;JE L;JE L;G ҂=GQ BY O} >߉~w,ɾA6m<@Y6J@6j96Z=y6H@ @ ?? " ?@? ? ?ɨ6m<@6P;6Cy>[B>I)@ @FAFA]Mb@Mb@Mb@YYY Y)YY]5^I ?Gz?~jt?y]8?]p=>]<] A ]@)]@I] AYy](Aim@AIu%Iu5٢i= >=97(;Q > G٣y > Nusing accuracyPremultiplier from configC59?C5Y l iB>?:K7@X2E;;[sC5 mAZjFNOT Ignoring new targets: 103.70 m.BjٻJjٻ ProNav: ac range: 103.699997 m, nav range: 106.242943 m, bearing: 89.510783 deg, approach rate: 0.206526 m/s, LOS rate: -0.380386 deg/s, cmd heading: 178.624118 deg, new cmd heading: 178.135834 deg. 2jHeadingCmd: 3.109057 target range: 103.699997 and range: 103.70 m. jF@jj j i h h hhFBfffrfbf~@ɛUBU%뙽 QUIY ]=ɚYiYI]:=IeF@iaiec=)eF@)*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505767Gs=GQBYOuX>  $?I rlw,ʾA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756208f;@YfI@f9f^=yfH ??j?+sQ?w?`??ɨf;@fQ;fCyruBrIIz.Iz5٢v>  S=9 rG:Q  > G٣y > %Nusing accuracyPremultiplier from config!-C59%?-C5Y%n i%.B1585@%]2E%:%:%vC5A EAEͲEZjimFNOT Ignoring new targets: 103.70 m.BjuػJjuػ ProNav: ac range: 103.699997 m, nav range: 106.320099 m, bearing: 89.364048 deg, approach rate: 0.199501 m/s, LOS rate: -0.379134 deg/s, cmd heading: 178.135828 deg, new cmd heading: 177.695952 deg. 2jHeadingCmd: 3.101379 target range: 103.699997 and range: 103.70 m. j}F@jjjihhhhfffrfbf`D@ɛuB}{ y}Iy }]ɚyiIл=I}F@iiiW=)}F@)zKjIKKK0KRK ?JK?E=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:24:39.3430  TRx dataTimestamp_ set to:1736375080.617728checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010683*F?2F:FBF0JFH;>I IIIBI$ =&I.I6I#<:I$ FG s=G B O >Mw,3ʾA6:@Y6I@6w96ǔ_=y6H">?@?.?@$????ɨ6:@6j;4y>B>IIFIF4٢R= R:=9V:Q V>XX ZG٣ZLGyZ: ^> bNusing accuracyPremultiplier from config\rC59^d?vC5Y^!p i^jBxz8~@^b2E^;^$;^zC5B A ҲEZj1=FNOT Ignoring new targets: 103.70 m.Bj=ջJj=ջ M$?IMhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263520E ProNav: ac range: 103.699997 m, nav range: 106.404411 m, bearing: 89.197867 deg, approach rate: 0.189768 m/s, LOS rate: -0.373739 deg/s, cmd heading: 177.695950 deg, new cmd heading: 177.197815 deg. 2jE?HeadingCmd: 3.092685 target range: 103.699997 and range: 103.70 m. jE@jjjihhh hfYfafiJJJ1Jrfqbf @J:J:J3JJ6;J7;JnN;JoN;ɛBb싽 I qɚiI =IE@i%2: Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ =Օ < DAT read: 22:24:39.3430 LVL= 32752, 32753, 20914, 32755, AGC= 64, IDX= 416, 0.03,-2.754, 2.617,-1.666,-2.648, PHS=-0.017,-0.971, 0.979, RAW= 180.7, 0.1, CAL= 181.2, -7.7, ROT= 328.8, 7.7  Ygot valid direction response: 22:24:39.3430 LVL= 32752, 32753, 20914, 32755, AGC= 64, IDX= 416, 0.03,-2.754, 2.617,-1.666,-2.648, PHS=-0.017,-0.971, 0.979, RAW= 180.7, 0.1, CAL= 181.2, -7.7, ROT= 328.8, 7.7  PDAT read: Bearing 328.8, 7.7 (Local)  ~Local bearing/azimuth received: Bearing 328.8, 7.7 (Local)  DAT read: Range 10 to 50 : 102.2 m (Round-trip 136.3 ms) speed 0.5 m/s  ,DAT read: user:2582>  BDAT read: Tx time:22:24:40.4526  $Ping request sent. ڑ ڑ ە 7WrKN?Ft?}`^?)ە ?Iە iە biԿە uۑ ۑ % :publishing transmit ping time % Fpublishing direction and range infoؑ 9ؕ ~o■?yؑ ؑ ؑ ؑ ّ )ّ Iّ iّ ّ ّ ّ ّ ڑ )ڑ Iڑ iڑ ڑ ڑ ە 7WrKN?Ft?}`^?)ۑ Iۑ iۑ ۑ ۑ ۑ *w,GMʾAyrBrYIiv)>Iv= va=va=Mb@Mb@Mb@ )Y333333?^I +? rh?y9?X9>C =~A @)@I Ayp@II4٢E> ,=9Q > G٣y > Nusing accuracyPremultiplier from config5C59zH?5C5Y_r iB5~??5:5G95@h2Eb;E;~C5A EHAEղEk$?kڊ k kGʾA:kfBBkBZkE?"jm"} oYe(Ҍ @~o■?JkbiԿRku*z$2!@@RYqY@IAo 3+P??N;o"kB*k Ak?k6 2krBkNq?kkXBkBkI? addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 3.535725 s, deltaX: -1.500000 m, approachRate: -0.424241 m/s, rangeRepo size: 4  Added new target pos. range: 102.199997 m, bearing: 85.170185 deg, lat: 36.905300 deg, lon: -122.118590 deg, deltaT: 3.535725 s, deltaX: -1.500000 m, approachRate: -0.424241 m/s, posRepo size: 4 Zj-FNOT Ignoring new targets: 102.20 m.Bj-Jj)= ProNav: ac range: 102.199997 m, nav range: 106.537369 m, bearing: 88.103604 deg, approach rate: 0.000000 m/s, LOS rate: -0.373739 deg/s, cmd heading: 177.197811 deg, new cmd heading: 176.648368 deg. 2j9 QIQeHeadingCmd: 3.083096 target range: 102.199997 and range: 102.20 m. jepQE@jijijiiihihihqhu{Bfqfqfyrf}̌Y@bf}@?ɛB8 R=I YɚiIbp=IpQE@iiרr=)pQE@) Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:24:40.4518 E)E)*E)"E)zK% K% 9K! K% 1K% BK5 rA:K5 rA*Fe ?2Fa :Fa BFe 0JFa  Will construct direction to contact in vehicle frame from tetrahedron phase data.GU X=H6>IC IIIQBI&I.I5D6I9<:I1 FG)BAOu?u皲w,8mʾAyEBEIIUIUЬ4٢m?$> m2=9iQ u>qq uG٣uLGyy }> Nusing accuracyPremultiplier from configC59 -?C5Yt iB@m2E;;C5B AزEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 102.20 m.BjoJjo⻝ ProNav: ac range: 102.199997 m, nav range: 106.630539 m, bearing: 87.930221 deg, approach rate: 0.212946 m/s, LOS rate: -0.395929 deg/s, cmd heading: 176.648363 deg, new cmd heading: 176.128685 deg. 2j܇HeadingCmd: 3.074025 target range: 102.199997 and range: 102.20 m. jռD@jjjihhhyhyfffrfbf?ɛBmwm h=I "ɚiIMǤ=IռD@iiU=)ռD@) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF:5JFGl=GBO>&áw,AdʾA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995059Bx8@YByF@B9B=yBHf5`I?` ?@L|???`H?ɨBx8@Bv;BCy~B~IMb@Mb@Mb@ )Y~jt?On?J +?y;?>H=A @)@Iy(@II4٢Z> G=9ùQ > G٣y > Nusing accuracyPremultiplier from configC59)?C5Yu iAB??:>@r2E 3;g1;NC5 AZjFNOT Ignoring new targets: 102.20 m.BjһJjһ ProNav: ac range: 102.199997 m, nav range: 106.690750 m, bearing: 87.772712 deg, approach rate: 0.141075 m/s, LOS rate: -0.368835 deg/s, cmd heading: 176.128681 deg, new cmd heading: 175.656432 deg. 2j }HeadingCmd: 3.065783 target range: 102.199997 and range: 102.20 m. j5D@jjjihhhhBf9f9f9rf9bfE?ɛ B 5U  fP>I tƆɚiIk=I5D@ii&=)5D@)!*F2F:FBFU0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247045JU JU JU 0JQ JU L:JU :JU ـ3JQ a] @a] @a] @a] @G ghs=G B O >w,y>ʾA6Ar8@Y6BF@6c96=y6HL0?x??P?g?p??ɨ6Ar8@6;6Cy>:BBIFADIJIJy4٢Rd> R]=9R2;Q V>TT VG٣Xy^- ^> fNusing accuracyPremultiplier from config`fC59b?jC5Ybv ibBhj>j@bv2Eb:bq:bC5zKlKn 9KlKn2KnRKv ?JKv>zB zYAz۲EZjFNOT Ignoring new targets: 102.20 m.Bj%NJj%N廝5 ProNav: ac range: 102.199997 m, nav range: 106.744843 m, bearing: 87.630331 deg, approach rate: 0.152403 m/s, LOS rate: -0.400947 deg/s, cmd heading: 175.656428 deg, new cmd heading: 175.229511 deg. 2j5=HeadingCmd: 3.058332 target range: 102.199997 and range: 102.20 m. j=C@j9j9j9i9hAhAhAhAfAfIfIrfIbfMm?ɛuB3 {\=>I dɚiI?=IC@ii B=) C@) }Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499987*F?2F:FBF_0JFG3+a=H%2>I! I%yII%BI%& =&I!.I!6I%<:I% FGBO@> I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754729JY JY l&w,YʾAE7@YEF@E͏9EV=yEH`Ԙ@?`?@J ? ??G?ɨE7@E1;ECyUfBU(IMb@Mb@Mb@ )Y/$?kt?y&1?y> =2=9=;Q E>AA EG٣ELGyMІ M> ]Nusing accuracyPremultiplier from configQ]C59U᝜?]C5YUw iUBe~>?e:eDe@U{2EU;U+;UC5i mAu޲EZjFNOT Ignoring new targets: 102.20 m.BjiݻJjiݻ ProNav: ac range: 102.199997 m, nav range: 106.781204 m, bearing: 87.453036 deg, approach rate: 0.079427 m/s, LOS rate: -0.387145 deg/s, cmd heading: 175.229514 deg, new cmd heading: 174.697824 deg. 2j؄HeadingCmd: 3.049052 target range: 102.199997 and range: 102.20 m. j#C@jjjihhhhBfffrfbf"h?ɛB@+ 隕>I ɚiI̷=I#C@ii F=)#C@)*Fe?2Fa:FaBFe`0JFieWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004982G (=G B O >Pw,ʾA2o7@Y2E@2. 92=y2Hk`7Ŧ?;?`*?@S???ɨ2o7@2;2CyBBBmIIJIJ4 R$?IT٢Z> Zj=9Z;Q Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdjC59fX̝?jC5Yfw if BhnUEn@f2Ef ;fK ;fC5rB r3ArEZjFNOT Ignoring new targets: 102.20 m.BjvݻJjvݻ- ProNav: ac range: 102.199997 m, nav range: 106.807533 m, bearing: 87.317550 deg, approach rate: 0.075270 m/s, LOS rate: -0.387232 deg/s, cmd heading: 174.697825 deg, new cmd heading: 174.291476 deg. 2j-5HeadingCmd: 3.041960 target range: 102.199997 and range: 102.20 m. j5yB@j1j1j1i9h9h9hAhAfAfAfArfIbfM@*@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258870ɛ%B5 9=>I9 =ɚ9i9I==IEyB@iAiEy@=)EyB@)IJ%J%J!J!J% :J%:J!J!*F-?2F):F)BF-p0JF)G7=GBOI>zKKs9KK3K Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507304H ->I C I II BI ( =&I .I 4D6I ]<:I A FBIʞCJIʞCRIʔCZI$ =bI% =jIQ5)w,dʾAy%ÁB%Ii-C>I-; 5=5=I=I=&4٢M/> MA=9MQ U>QQ UG٣Yye e> mNusing accuracyPremultiplier from configiuC59mz?uC5Ymjx imTBqq}@m2Em$;m%;mPC5  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 102.20 m.BjXݻJjXݻ ProNav: ac range: 102.199997 m, nav range: 106.840225 m, bearing: 87.153546 deg, approach rate: 0.077172 m/s, LOS rate: -0.387026 deg/s, cmd heading: 174.291470 deg, new cmd heading: 173.799619 deg. 2j΄HeadingCmd: 3.033376 target range: 102.199997 and range: 102.20 m. j"B@jjjihhhhfffrfbfc@ɛBݼ \ ?I Zɚi!I%I=I%"B@i)i-a=)-"B@)) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762043EPڀ=EEsA*FU?2FQ:FQBFU_0JFQG `C= Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:24:42.9891  TRx dataTimestamp_ set to:1736375084.145370 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013286G B! O= >.²w,F ˾Adp6@YeD@A9R=yHɚy@)?@hб????@×?ɨdp6@M<;CyEBEIMb@Mb@Mb@ )Y?:v?)\(?y@?<Ga=@ Z@)@I7AyQ@II~4٢ $>  2=9&;Q > G٣LGy > %Nusing accuracyPremultiplier from config!-C59%%?-C5Y% x i%B5@?5:5uF@5@%2E%n;%;%PC5=B =A=EZjy}FNOT Ignoring new targets: 102.20 m.Bj7Jj7ໝ ProNav: ac range: 102.199997 m, nav range: 106.843773 m, bearing: 86.973106 deg, approach rate: 0.007709 m/s, LOS rate: -0.392051 deg/s, cmd heading: 173.799614 deg, new cmd heading: 173.258331 deg. 2jHeadingCmd: 3.023928 target range: 102.199997 and range: 102.20 m. j A@jjjAiAhAhIhQhUTBfQfQfrfbfG @ɛ Bռ ?I =₽ɚ9i9I=Y=IE A@iAiESF=)E A@)IE5Y= I*F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263383Gnp_=JKm3 KS}-KK"KJUJUJQJQJU,:JU:JQJQGyBO>Ȳw,fN$˾AzKLKLKLKN4KNRKV?JKV?yB II-I-"4٢=o> =Z=9EQ E>AI MG٣IyM M> UNusing accuracyPremultiplier from configQ]C59U~?eC5YUw iUBaae@U2EU ;U? ;UC5i mhAuEZjFNOT Ignoring new targets: 102.20 m.BjJJjJ㻝 ProNav: ac range: 102.199997 m, nav range: 106.847481 m, bearing: 86.825114 deg, approach rate: 0.009958 m/s, LOS rate: -0.397423 deg/s, cmd heading: 173.258335 deg, new cmd heading: 172.814382 deg. 2j_HeadingCmd: 3.016180 target range: 102.199997 and range: 102.20 m. j A@jjjihhhhfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519365H*>IC I II}BI) =&I.I6I2<:I FɛB| !%0?I! %ɚ!i!I%7=IM A@iQiUf=)U A@)QEYEY*EY"EY $?I*F ?2F :F BF b0JF - Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 22:24:42.9891 LVL= 32752, 32753, 21330, 32755, AGC= 66, IDX= 408, 0.13,-2.063,-2.926,-1.071,-1.975, PHS= 0.001,-0.904, 0.902, RAW= 179.9, 0.0, CAL= 180.4, -7.8, ROT= 329.6, 7.8 } Ygot valid direction response: 22:24:42.9891 LVL= 32752, 32753, 21330, 32755, AGC= 66, IDX= 408, 0.13,-2.063,-2.926,-1.071,-1.975, PHS= 0.001,-0.904, 0.902, RAW= 179.9, 0.0, CAL= 180.4, -7.8, ROT= 329.6, 7.8  PDAT read: Bearing 329.6, 7.8 (Local)  ~Local bearing/azimuth received: Bearing 329.6, 7.8 (Local)  DAT read: Range 10 to 50 : 99.3 m (Round-trip 132.4 ms) speed 0.4 m/s  ,DAT read: user:2583>  BDAT read: Tx time:22:24:44.1026  $Ping request sent. ) ) - \8 ?PYвw,&C˾A @>95@Y>9C@>Yy 9>=y>H@ϲX?`Fc?ð?Ǡ? 㛳?@?ɨ>95@>E;>Cyv4Bz% I%Will construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYm%C?l񢿺I +?ymZD?mm94=mv@ mC@)mK@ImAiym@IIg4٢p= =9);Q >YY eG٣aye Ƽ m> uNusing accuracyPremultiplier from configiC59mZ?C5Ym)v im5BD?:=@@@m2Em ;mg;mC5B rAEkM?kv k k9˾A:kBBk:BZkm?"}ܪ&Fw!X:R.G@[dO^f"Y?JkMXԿRkR8*SghD0@itX@0vq K? p9х?CԀ{"kB*k*AkEʢ?kWe 2krBk ;?kcl kanBk]BkM,? addTargetRange:: Added new target pos. range: 99.300003 m, deltaT: 3.780076 s, deltaX: -2.899994 m, approachRate: -0.767179 m/s, rangeRepo size: 4  Added new target pos. range: 99.300003 m, bearing: 80.413817 deg, lat: 36.905330 deg, lon: -122.118617 deg, deltaT: 3.780076 s, deltaX: -2.899994 m, approachRate: -0.767179 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 104.682632 m, bearing: 84.678261 deg, approach rate: 0.000000 m/s, LOS rate: -0.397423 deg/s, cmd heading: 172.814386 deg, new cmd heading: 172.089179 deg. 2j HeadingCmd: 3.003523 target range: 99.300003 and range: 99.30 m. j9@@jjjihhh!h%Bf!f!f!rf-@3X@bf-o?ɛB H=?I ɚiIGj=I9@@ii]=)9@@)*F2F:FBFo0JFG GrA - $?I1  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J :J J GM f=G B O- >Vײw,^˾AB5@YB:C@B< 9B=yBH~@V?@?`sӰ????ɨB5@Bf;B Cy^aB^] IIvIvy4٢~<> t=9:Q ?    G٣ LGy  ? Nusing accuracyPremultiplier from config%C59E?%C5YBKK9KK5K BK:K*F]?2FY:FaBFeA5JFa]Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRH@AHQIQ IU IIU؂BIQ&IQ.IQ6IU><:IU& FGE\=G! B1 OU > = $?I9 zݲw,x˾A64@Y6B@6:` 96=y6H`6]zwB>y IIFIF4bWill construct direction to contact in vehicle frame from tetrahedron phase data.٢N= R=9 i;Q  >  G٣y > %Nusing accuracyPremultiplier from config%C59n,?-C5Y t iB)-?@-@2E:A;C5I UJ A]E}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 99.30 m.BjaJja ProNav: ac range: 99.300003 m, nav range: 104.654465 m, bearing: 84.378667 deg, approach rate: -0.039694 m/s, LOS rate: -0.416814 deg/s, cmd heading: 171.689482 deg, new cmd heading: 171.190300 deg. 2jHeadingCmd: 2.987834 target range: 99.300003 and range: 99.30 m. j8?@jjjihhhhfffrfbf?ɛMBuP y隅\?I {ɚiIBΜ=I-8?@i)i-yp=)-8?@)1NG|uA*F ?2F :F BF 25JF  eYe|uAymBuWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.GE g\=GM ?GM >G B) OE >bw,d˾A6t4@Y6tB@66] 96Kg=y6H;7V?͸??z? X?B?ɨ6t4@6R;4y>BB IiF=IF=Mb@Mb@Mb@ )Ysh|??(\µQ?yI?\=`@ @)5@I Ay@I-I-v}4٢= ;=9З;Q > G٣yڻ > Nusing accuracyPremultiplier from configC59?C5Y9r iBYK?:;@@2E;; $?IC5  AZjDNOT Ignoring new targets: 99.30 m.BjJj%= ProNav: ac range: 99.300003 m, nav range: 104.617859 m, bearing: 84.197613 deg, approach rate: -0.086835 m/s, LOS rate: -0.429636 deg/s, cmd heading: 171.190304 deg, new cmd heading: 170.646971 deg. 2j=m=HeadingCmd: 2.978352 target range: 99.300003 and range: 99.30 m. jEP>@jAjAjAiAhAhAhIhMÁBfIfIfQrfQbfUi?ɛ}B`Q; 隅Ge?I vFxɚiI=IP>@iiF=)P>@)Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.455966*F ?2F :F BF _0JF"G=G=Gl=GBOB>zKE +LKE h9KA KE 6KE RKU ?JKU ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706969H] (>IY  I] G!II] BI] * =&IY .IY 6I] <:I]  FCw,Ū˾A2#Z4@Y2#yB@2u92=y2Hz䝷>??< ?]?߳? ?ɨ2#Z4@2 ;2CyZBZ IIbIbg4٢Q= -Q=9-I;Q ->11 5G٣5LGy=P => ENusing accuracyPremultiplier from configAMC59E?MC5YE}p iE BIMO;@U@E2EE ;E ;E/C5]B ] A]EZjDNOT Ignoring new targets: 99.30 m.BjJJjJ ProNav: ac range: 99.300003 m, nav range: 104.583336 m, bearing: 84.029643 deg, approach rate: -0.088123 m/s, LOS rate: -0.428898 deg/s, cmd heading: 170.646976 deg, new cmd heading: 170.142913 deg. 2j,HeadingCmd: 2.969554 target range: 99.300003 and range: 99.30 m. j, >@jjjihhhhfffrfbf?ɛ ÀB PV;  yl?I IuɚiI =I, >@iiq=), >@)! $?IEemY=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958667J J J J J :J  9J J J ;aEJ ;aMJ O>;aUJ O>;*Fe?2Fa:FiBFm3JFiaG= ap=GA GE sAGB!O=>w,P˾AWill construct direction to contact in vehicle frame from tetrahedron phase data.7?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210676yrBr IMb@Mb@Mb@ )Y rh?MbX rh?yL?ʽC<3@ @)K@IhAy3@II4٢-VA= 5"=95Q 5>19 =G٣9y= => MNusing accuracyPremultiplier from configAMC59E֜?UC5YEn iEJ BU'N?U:Uk:@U@E2EEF;E;EC5eB e AeEZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 104.534554 m, bearing: 83.812777 deg, approach rate: -0.097309 m/s, LOS rate: -0.432794 deg/s, cmd heading: 170.142908 deg, new cmd heading: 169.492036 deg. 2jHeadingCmd: 2.958194 target range: 99.300003 and range: 99.30 m. j S=@jjjihhhhBfffrfbf@ɛǀB了 隵p?I EqɚiIe=I S=@ii+Q=) S=@)E&= $?I*Fu?2Fq:FqBF}\0JFyGM=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463228GABO>uw,P˾A6"3@Y6"A@6`{96\=y6Hʊ@"??e_??K? ?ɨ6"3@6-;6Cy>B> I)@ @DDIJIJ4٢R`< Rh=9Z<!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=C595侜?=C5Y5Fl i5s BAE9@M@52E5M;5pN;5ĵC5UB U AUEZjy}DNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 104.496460 m, bearing: 83.653489 deg, approach rate: -0.103619 m/s, LOS rate: -0.433441 deg/s, cmd heading: 169.492032 deg, new cmd heading: 169.014006 deg. 2jHeadingCmd: 2.949851 target range: 99.300003 and range: 99.30 m. j[<@jjjihhhhfffrfbf@ɛʀB,P<  q?I nzKJQJK9KK7KBKqA:KsAɚi I )=I [<@ii#=)[<@)E!E!*E!"E!EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.716585H'>I I!IIMBI&I.I6IN<:I/ F*F]?2Fa:FaBFe_0JFa Ih Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966308G =G ?G ?J! J% J! J! J! J% :J! J! J! J! J% J;J% J;G B OM >w,Z̾A2@Y@@@9=yHB`+=?@)? ] ?`U?T??ɨ2@;騕CyޭBޭ I=Mb@Mb@Mb@999 9)9Y=K7?~jty=IL?==9 =x@)=@I=QA9y=@IUIU?4٢eu< e%=9e ^ii mG٣mLGyu- u> }Nusing accuracyPremultiplier from configyC59}q?C5Y} j i} B6M?::@@}2E};}5;}C5B n AEB*** querying acoustic contact ***jjZjamDNOT Ignoring new targets: 99.30 m.Bju0Jju0 ProNav: ac range: 99.300003 m, nav range: 104.454384 m, bearing: 83.444899 deg, approach rate: -0.083978 m/s, LOS rate: -0.416484 deg/s, cmd heading: 169.014001 deg, new cmd heading: 168.388006 deg. 2jꎼHeadingCmd: 2.938925 target range: 99.300003 and range: 99.30 m. jY<@jjjihhhhBfffrfbf @ɛM΀BU@6: QUp?I jɚiI&=IY<@ii]=)Y<@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.219262*Fm?2Fi:FiBFiJFiGE=GB)OM> } $?Iy *8w,̾A:R22@Y:RQ@@:\9:ρ=y:H~K@?Q?,TJ?$;? ;+?E?ɨ:R22@:;:CyDHRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.470412IZIZ49fKH&>I I!IIWBI&I.I6It<:IJ FBIȜCJIȜCRIȓCZI* =bI* =jI4a w,B3̾AV1@YV?@Vi9VOЕ=yVHDy`;d5w?X?`/?"?@??ɨV1@Vvr;VCybBb IIjIj4٢r}B r<9v,xx zG٣|y~á ~>  Nusing accuracyPremultiplier from config C59m?C5YQf i B9@@2EP::C5 %$?I!-B 5 A5EZjQ]DNOT Ignoring new targets: 99.30 m.BjeJjeu ProNav: ac range: 99.300003 m, nav range: 104.382668 m, bearing: 83.115569 deg, approach rate: -0.096301 m/s, LOS rate: -0.433655 deg/s, cmd heading: 167.932960 deg, new cmd heading: 167.399699 deg. 2j}ΔHeadingCmd: 2.921676 target range: 99.300003 and range: 99.30 m. j:@jjjihhhhfffrfbf@@ɛԀB; k?I &eɚiI=I:@ii˒=):@)*Fm?2Fq:FqBFu2JFq"G}=G}=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.974661J J J J J :J :J J J 6;J 7;J I;J I;Gmq=GqGurAG1B9OU>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.226314?Jw,M̾Ab"1@Yb"-?@by׽9b=ybH`q¿`K?v?g´?{?D??ɨb"1@b;bCy~B~ IMb@Mb@Mb@ )YE?QMbpyF?@ b@)I3@y@II4٢^  >=9: G٣LGy˹ > MNusing accuracyPremultiplier from config]C59oR?]C5Yd i BeF?e:e<@e@2Eb<><WC5i m AqZjDNOT Ignoring new targets: 99.30 m.BjJj黝 ProNav: ac range: 99.300003 m, nav range: 104.359070 m, bearing: 82.933597 deg, approach rate: -0.052978 m/s, LOS rate: -0.408623 deg/s, cmd heading: 167.399699 deg, new cmd heading: 166.853679 deg. 2j7HeadingCmd: 2.912146 target range: 99.300003 and range: 99.30 m. j`:@jjjihhhhkBfffrfbf`@ɛ׀BHz; f?I aɚ i I =I`:@ii=)`:@) I*F2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.478514G<=G B O >uw,g̾A6r0@Y6r>@6ͽ96Œ=y6Hj@ÿ!?`?ω Pe?? ~?o?ɨ6r0@6l;6CyNBN IIZIZ4٢fSI f[=9fLOll nG٣lyr r> ~Nusing accuracyPremultiplier from configxC59zl:? C5Yzc iz B  0<@@z2Ezk;zL;zC5B  AEzKBoHK9KK9KBKrA:KrAZj Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.730503H5%>I1 I5y!II5HBI1&I1.I16I5i<:I5A FEDNOT Ignoring new targets: 99.30 m.BjMJjM뻝e ProNav: ac range: 99.300003 m, nav range: 104.336876 m, bearing: 82.774394 deg, approach rate: -0.057417 m/s, LOS rate: -0.411954 deg/s, cmd heading: 166.853680 deg, new cmd heading: 166.375981 deg. 2je\mHeadingCmd: 2.903809 target range: 99.300003 and range: 99.30 m. jm9@jijjihhhhfffrfbf<@ɛۀB @g; QU_?IQ ]^ɚYiaIe-=I}9@ii)9@)*FA2FA:FABFEP5JFA $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.982655G- =J J J J J \:J :J J J i;J k;J yE;J zE;G9 BI O >Z_ w,̾Au/@Yu=@uUaý9u=yuH@` |4ſ ??{?b??? ?ɨu/@u;uCyޅBޅ I5Mb@Mb@Mb@111 1)1Y5L7A`?L7A`?~jty5+G?5+=5D5@ 55@)5@I5@1y5@II4٢ /=92 G٣y, > Nusing accuracyPremultiplier from configC59;?C5Ya i; B^G?:@@@2E;#;C5  AE B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 99.30 m.Bj%MJj-M= ProNav: ac range: 99.300003 m, nav range: 104.336174 m, bearing: 82.575974 deg, approach rate: -0.001600 m/s, LOS rate: -0.452179 deg/s, cmd heading: 166.375977 deg, new cmd heading: 165.780736 deg. 2j=)EHeadingCmd: 2.893420 target range: 99.300003 and range: 99.30 m. jE-9@jAjIjIiIhIhIhQhUBfQfQfYrfYbf]E@ɛހB`'; 隍S?I  \ɚiIX=I-9@iirF=)-9@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.235221*Fa2Fa:FaBFeq3JFaGmsA GmsAG G G ? $?I GY Ba O >߅&w,[̾A60/@Y6O=@696=y6H@U>ƿ`?G?@m5?@`??8?BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.486507ɨ60/@6gA;6CyJBJ IIVIV4٢^u ^r=9b{=)8@)*F?2F:FBF_0JFGQH#>I IT!II*BI&IHD.I3D6I=<:I FzKBHK+9KK:KRK?JK?5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.738286G9BIOe>P,w,i8̾A24.@Y24<@292o==y2H3J:ǿ4?}?@_@̧?`۵?zU?T?ɨ24.@2;2C B$?I@yz|Bz III4٢%μ %D=9-9)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9EC59=L뛜?MC5Y=_ i=h BIMy?@M@=2E=:=:=LC5]B ] A] EZjDNOT Ignoring new targets: 99.30 m.BjJj󻝊 ProNav: ac range: 99.300003 m, nav range: 104.328468 m, bearing: 82.253696 deg, approach rate: -0.012561 m/s, LOS rate: -0.426582 deg/s, cmd heading: 165.347897 deg, new cmd heading: 164.813899 deg. 2jaHeadingCmd: 2.876545 target range: 99.300003 and range: 99.30 m. jQ8@jjjihhhhfffrfbf@ɛBЇ; uO=K?I 'WɚiIZ=IQ8@iie=)Q8@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.991645*F ?2F :F BF JF ) GvAGj= %iY-vAy5( BG B O- >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.242314ח3w,̾A:@-@Y:@;@:9:=y:H@:x\ɿe??L*?@̋?F?`?ɨ:@-@:";:CyBmBBl I-only read 0 of 1 data item for altitude. Device response is::BD, -64.11261.47, -12.20, 7.24, 0.00  @ @ @  @ II14٢-! -J=95P11 G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configC59ϛ?C5Y?^ i B+:\:>@@2E;>IC5  [ A EZjQ]DNOT Ignoring new targets: 99.30 m.Bj]Jj]ﻝm ProNav: ac range: 99.300003 m, nav range: 104.320312 m, bearing: 82.073481 deg, approach rate: -0.018963 m/s, LOS rate: -0.419050 deg/s, cmd heading: 164.813899 deg, new cmd heading: 164.273228 deg. 2jmˏHeadingCmd: 2.867109 target range: 99.300003 and range: 99.30 m. j~7@jjjihhhhfffrfbfG@ɛB@y B?I nTɚiIoɒ=I%~7@i!i%|u=)%~7@)) u$?Iq*F?2F:FBFJF"GG=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.494312JqJuJqJqJqJu9JqJqa@a@a@a@G =G sAG sAG B O >9w,}̾AZ )-@YZ H;@ZŚ9Z1݀=yZH +@=ʿH?E?O;`5?T?* ?s?ɨZ )-@ZfI;ZCyjiBjg IIzIz4٢㟼 L=9% C)) -G٣5LGy5ڼ => MbBottom track data is 0.8 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAUC59E?UC5YE\ iE BU :QU2:jH]<bHYHe!>IeC Ie(!IIeBIa&Ia.Ia6IeD<:Ie$ FU>@}@E2EEN;EP?EC5 { AZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 104.310654 m, bearing: 81.908653 deg, approach rate: -0.025171 m/s, LOS rate: -0.429590 deg/s, cmd heading: 164.273221 deg, new cmd heading: 163.778706 deg. 2jiWill construct direction to contact in vehicle frame from tetrahedron phase data.=%=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.746679zK5k3IK59K1K5;K5,AJJGA;4/(%!  uHeadingCmd: 2.858478 target range: 99.300003 and range: 99.30 m. j}L6@jyjyjyiyhyhyhhfffrfbfI@ɛB: ??I QɚiII=IL6@iiԅ=)L6@) *F?2F:FBFo0JF e$?Ia}PExceeded connect timeout, disconnecting.G{= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.998397G B O >*J a="J =6@w,;Aa,@Yπ:@*[9+(=yH#C̿ ?`?%?@?z˯??ɨa,@;騭CygBd I        Mb@Mb@Mb@ )YzG?{Gz?Mbpy 7?#>@ @)@I-@yz@II%4٢ ' 1=94 G٣yCټ > Nusing accuracyPremultiplier from configC59皛?C5Y\ i BT:;?:H@@2E;;C5B  AE%B*** querying acoustic contact ***j!j!Zj1=DNOT Ignoring new targets: 99.30 m.BjEJjE仝U ProNav: ac range: 99.300003 m, nav range: 104.355988 m, bearing: 81.726797 deg, approach rate: 0.099823 m/s, LOS rate: -0.400265 deg/s, cmd heading: 163.778702 deg, new cmd heading: 163.233387 deg. 2jUY]HeadingCmd: 2.848960 target range: 99.300003 and range: 99.30 m. j]]U6@jYjYjYiYhahahihmBfqfyfrfbf# @ɛB7 0GBO?Hw,c$;A6κ+@Y69@6m96|=y6H@Ϳ3?`Y?_Ŧ?Ͱ?@|??ɨ6κ+@6;6CyVeBVb I)` `Ij Ij4٢r r1=9r*tt vG٣tyzô z> Nusing accuracyPremultiplier from config|C59~m~?C5Y~\ i~ B  G@ @~2E~:~":~C5B  AEZjIMDNOT Ignoring new targets: 99.30 m.BjU Jj] 仝e ProNav: ac range: 99.300003 m, nav range: 104.399460 m, bearing: 81.542810 deg, approach rate: 0.094256 m/s, LOS rate: -0.398750 deg/s, cmd heading: 163.233393 deg, new cmd heading: 162.681681 deg. 2jeԈmHeadingCmd: 2.839331 target range: 99.300003 and range: 99.30 m. jm5@jqjqjqiqhqhqhyhyfyfyfrfbf@ɛBm 隵9?I 5LɚiIQ=I5@iid'=)5@)E}P=H >I I !IIBI+ =&I.I6I<:I FeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.754524zKm`MKm9KiKm<Km $ZB}  yfitwgWI<-" *F?2F:FBFv0JF IGiT=G B O >  nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.006365Nw,+>;A6*@Y69@6y96\=y6H!Ͽ ?~?`.@? g?+?v?ɨ6*@6,C;6CyNsBRs II^I^4٢f= fL=9jGhh jG٣jLGyn n> rNusing accuracyPremultiplier from configpvC59re?vC5Yrt\ ir Bxz-G@z@r2Er:rX:rC5| ~ AEJJ@AZj-DNOT Ignoring new targets: 99.30 m.Bj]ӻJjeӻ ProNav: ac range: 99.300003 m, nav range: 104.434311 m, bearing: 81.383612 deg, approach rate: 0.081142 m/s, LOS rate: -0.370531 deg/s, cmd heading: 162.681678 deg, new cmd heading: 162.204253 deg. 2jJ~%HeadingCmd: 2.830998 target range: 99.300003 and range: 99.30 m. j%/5@j!j)jQiQhYhahhfffrfbff @ɛ%B% !%>?I! MIɚIiIIMZِ=IU/5@iU < .Ww,T^;A6[A*@Y6[`8@6g96V=y6H@>п?x?>˧?`&߬?!??ɨ6[A*@6 ;6Cy>zB>| IJJJJJ̝:J9JJMb@Mb@Mb@ )Ykt?NbX9?Mbp?y 0?E>;@ )@I@y@I I4٢ <  =9U G٣y > %Nusing accuracyPremultiplier from config!-C59%uC?-C5Y%\ i% B-6?-:-@H5@%2E%;%;%C5]B ] AeEZjDNOT Ignoring new targets: 99.30 m.BjcJjc廝 ProNav: ac range: 99.300003 m, nav range: 104.501282 m, bearing: 81.163020 deg, approach rate: 0.121849 m/s, LOS rate: -0.401092 deg/s, cmd heading: 162.204248 deg, new cmd heading: 161.542929 deg. 2jHeadingCmd: 2.819456 target range: 99.300003 and range: 99.30 m. jq4@jjjihhhhBfffrfbf@h!@ɛB 3 隭@?I !FɚiI@d=Iq4@iiBy=)q4@)*F2F:FBF`0JFZH?ARH?AH>I I!IIBI, =&I.I6I<:I FBIƛCJIƛCRIZIbI+ =jIDI5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.762286zKJNOK9KK=Kyqke`YOJFC@<=97201-.*(%%"" G s= $?I G B O >N]w,w;A:݆)@Y:ݥ7@:4~V9:B=y:H@`=п@fI?&-?@f?̪?_?@?ɨ:݆)@:;:CyRBR II^I^4٢b:= fc=9fs8hh jG٣hyn n? rNusing accuracyPremultiplier from configpzC59r/?~C5Yr\ ir B H@r3Era Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.2704456dw,;AyB IMb@Mb@Mb@ )Yn?J +? rh?yV.?H>C<@ )@I@y@IIx4٢= ;=9Q %>!) -G٣-LG 5$?I9y= => ENusing accuracyPremultiplier from configAMC59E?C5YE\ iE* Bw5?:H@E3EEO+=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.522632GBOi>JJJJJ\:JJJi`jw,˅;AHN>IL IN"!IINBIL&IL.IL6IN<:IN Fbr'@Yb5@b,t+9b\=ybH%@ҿ?,? |<?`l??@?ɨbr'@bXȉ;bCy~B~ II I 4٢= V=9!! %G٣!y-; -> 5Nusing accuracyPremultiplier from config1=C595?=C5Y5{\ i5@ BAEjG@E@5 3E5;58;5 C5I M AM EZjyDNOT Ignoring new targets: 99.30 m.Bj߻Jj߻Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.774449 ProNav: ac range: 99.300003 m, nav range: 104.624878 m, bearing: 80.723592 deg, approach rate: 0.096955 m/s, LOS rate: -0.391001 deg/s, cmd heading: 160.649341 deg, new cmd heading: 160.225213 deg. 2j+HeadingCmd: 2.796458 target range: 99.300003 and range: 99.30 m. j)2@jjjihhhhfffrfbf#@zK5YNK559K1K5>K5 ɛBҽ< 隝Z?I O?ɚiIE=I)2@ii%=))2@)*F2F:FBF3JF 5$?I1GCf=M Will construct direction to contact in vehicle frame from tetrahedron phase data.U J @AJ ?AHqw,c;A TTyEڂBE I%Mb@Mb@Mb@!!! !)!Y%Gz? ףp= ?~jt?y%0?%Q8>%<%@ !)!I!!y%@I=I=4٢M> U+=9UQ ]>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiuC59m⚜?uC5Ym\ im` B}6?}:}E@}@m3Em ;mI;m7C5B A#EZjDNOT Ignoring new targets: 99.30 m.BjgݻJjgݻ ProNav: ac range: 99.300003 m, nav range: 104.662842 m, bearing: 80.539082 deg, approach rate: 0.079683 m/s, LOS rate: -0.387132 deg/s, cmd heading: 160.225214 deg, new cmd heading: 159.671903 deg. 2jׄHeadingCmd: 2.786800 target range: 99.300003 and range: 99.30 m. jZ2@jjjihhhhЀBfffrfbf$@ɛB[< k?IWill construct direction to contact in vehicle frame from tetrahedron phase data.] Will construct direction to contact in vehicle frame from tetrahedron phase data.]  -r=9-… BDAT read: Tx time:22:24:55.0527 $Ping request sent. I E}w,;AJ%@YJ3@Jr 9J+=yJHsA &Կ=?`?`79o=?kM?&߱?R?ɨJ%@J8|;HyV BV0!IiZhl nG٣lyr r> vNusing accuracyPremultiplier from configtzC59v;?zC5Yv[ iv BxzD@z@v3Ev;v ;vC5 9AZj)-DNOT Ignoring new targets: 99.30 m.Bj5Jj5ໝE ProNav: ac range: 99.300003 m, nav range: 104.711197 m, bearing: 80.258266 deg, approach rate: 0.065922 m/s, LOS rate: -0.392823 deg/s, cmd heading: 159.280558 deg, new cmd heading: 158.829670 deg. 2jEˆMHeadingCmd: 2.772101 target range: 99.300003 and range: 99.30 m. jMj1@jIjQjQiYhYhahihifqfyfyrfybf@&@ɛB= 隵|?I q5ɚiI=Ij1@iin0=)j1@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:22:24:55.0519 %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251220*Fm?2Fi:FiBFiJFic~G WYyAGm'=G) B9 Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. < < checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501344̂w,ξA:%@Y:3@:i9:{ob=y:H`B4Կ@G?>?1 f'?@? GF? ?ɨ:%@:;8yF/BF[!IMb@Mb@Mb@ )Y"~?X9v?X9v?y3?=< )@IK@y@I-I-4٢=P)> =C=9E:Q E>AI MG٣IyM'D M> ]Nusing accuracyPremultiplier from configQeD59U?eD5YUY iU Be6?e:e5>@e@U3EU;U;U3D5y }A})E $?IZj5DNOT Ignoring new targets: 99.30 m.Bj=ܻJj=ܻM ProNav: ac range: 99.300003 m, nav range: 104.711739 m, bearing: 80.095659 deg, approach rate: 0.001285 m/s, LOS rate: -0.385798 deg/s, cmd heading: 158.829670 deg, new cmd heading: 158.341863 deg. 2jMbMHeadingCmd: 2.763587 target range: 99.300003 and range: 99.30 m. jU0@jajajaiahahahihmBfiffrfbf&@ɛB< ĉ?I ”1ɚiIP=I0@ii==)0@)*Fe?2Fa:FaBFe`0JFa%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753635G- '2=G B O5 >孊w,,ξAH>IC I!II{BI&I.I6I<:I FZe%@YZd#3@Zt9Z }=yZH |Vտ?`|?`JQ?M?@Κ?@7?ɨZe%@ZY ;ZCyfTBj!IIrIrt4٢z7> zO=9z0P;Q z>|| G٣LGy >  Nusing accuracyPremultiplier from config D59 C?D5Y eX i  B=@@  3E ; ; D5%B %A-,EEB*** querying acoustic contact ***jAjAZjY]DNOT Ignoring new targets: 99.30 m.Bje߻Jje߻u ProNav: ac range: 99.300003 m, nav range: 104.710823 m, bearing: 79.942028 deg, approach rate: -0.002329 m/s, LOS rate: -0.390836 deg/s, cmd heading: 158.341858 deg, new cmd heading: 157.880970 deg. }Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0052112juHeadingCmd: 2.755543 target range: 99.300003 and range: 99.30 m. jZ0@jjjihhhhfffrfbfH'@ɛ B>'= Z?I !.ɚiI2=IZ0@ii&>=)Z0@)EzK:NKKK@K("p- ;N8  #*F]?2FY:FYBF]=1JFY IG5‹9=G9G=>GB)Oe>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257149J J J J J \:J 9J J J a J j;a J $7;a J %7;a w,:FξA}$@Y}2@}9}1=y}H տ^?@?)jh?@VW?@8o? "?ɨ}$@}Q;}Cy޽mB޽!I) ]Mb@Mb@Mb@YYY Y)YY]S?~jt?Mb?y]:?]=]=]@ Y)]@I]b@Yy]@IuIu4٢ = 3=9+;Q > G٣y > -Nusing accuracyPremultiplier from config!5D59%j?5D5Y%%V i% B=;?=:=9@=@%&3E%7;%06;%D5MB MAM/EZjquDNOT Ignoring new targets: 99.30 m.Bj}Jj}仝 ProNav: ac range: 99.300003 m, nav range: 104.685905 m, bearing: 79.752926 deg, approach rate: -0.052644 m/s, LOS rate: -0.399616 deg/s, cmd heading: 157.880970 deg, new cmd heading: 157.313551 deg. 2j HeadingCmd: 2.745639 target range: 99.300003 and range: 99.30 m. j/@jjjihhhhmBfffrfbf(@ɛ B= .?I Ɔ)ɚiI=I/@ii|F=)/@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510097*F?2F:FBF0JF u$?IqG Г>=Gy B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761102bw,z`ξAZ#@YZ1@ZW9ZG=yZHjֿ@???=@4?@g5?? V?ɨZ#@ZM;ZCybBb!IInIng4٢ve> vi=9vH;Q v?xx zG٣xyz ~? Nusing accuracyPremultiplier from config D59'W?D5Y~T i Be8@@*3E:G;G; D5! %A!ZjIMDNOT Ignoring new targets: 99.30 m.BjUtJjUt仝e ProNav: ac range: 99.300003 m, nav range: 104.666367 m, bearing: 79.620159 deg, approach rate: -0.058776 m/s, LOS rate: -0.399463 deg/s, cmd heading: 157.313545 deg, new cmd heading: 156.915174 deg. 2jmmHeadingCmd: 2.738686 target range: 99.300003 and range: 99.30 m. jmF/@jqjqjqiqhqhqhyhyfyffrfbfP)@ɛBv"g= ǡ?I P&ɚiI9=IF/@ii45=)F/@)*Fu?2Fq:FqBF}4JFyZH%@ARH!H)I) I-"II-ƒBI-- =&I).I)6I-R<:I-) FGUaD=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013247GB!OE>zKRNK9KKAKxC_S"  m $?Ii w,}zξA:b#@Y:1@:ܼ9:=y:H@ֿ@?W?|`*?? Vϳ?t?ɨ:b#@:;8yFBF!IININ4٢Z4= ^M=9bY;Q b>dd jG٣jLGyjܐ n> rNusing accuracyPremultiplier from configlzD59nF??zD5YnrR in Bxz7@z@n.3EnD;n*;n5D5| A2EZj)-DNOT Ignoring new targets: 99.30 m.Bj5SJj5S仝E ProNav: ac range: 99.300003 m, nav range: 104.641373 m, bearing: 79.459867 deg, approach rate: -0.062238 m/s, LOS rate: -0.399237 deg/s, cmd heading: 156.915168 deg, new cmd heading: 156.434192 deg. 2jEMHeadingCmd: 2.730292 target range: 99.300003 and range: 99.30 m. jM.@jIjIjIiIhQhQhQhQfYfYfYrfYbf] *@ɛ%B-UgK= )-?I) -!ɚ)i)I5R=I5.@i9i===)=.@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265904*F?2F:FBF\0JF"G!G%=JJJJJ<:J9JJJ;J;J<;J<;G4=GrAGsAGq B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517208IҤw,8ξA6,#@Y6+"1@6vѼ96&ģ=y6H -׿z? ^?@Ϸ@K?.?9q?'?ɨ6,#@6J;4y^B^!IibV>Ib4= IeMb@Mb@Mb@aaa a)aYeK7A?Mbp~jt?ye B?ee=9P;Q >  G٣ygV > %Nusing accuracyPremultiplier from config%D59 %?-D5Y(O i B-%B?-:-0@-@43EC*;(;D5=B =A=3EZjy}DNOT Ignoring new targets: 99.30 m.BjxJjx绝 ProNav: ac range: 99.300003 m, nav range: 104.576027 m, bearing: 79.279738 deg, approach rate: -0.146733 m/s, LOS rate: -0.404732 deg/s, cmd heading: 156.434186 deg, new cmd heading: 155.893476 deg. 2jኼHeadingCmd: 2.720855 target range: 99.300003 and range: 99.30 m. j{".@jjjihhhhBfffrfbf`+@ɛBF= ?I ɚiI.=I{".@iikJ=){".@)*Fi2Fi:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769536G>=Ga Bq O >H >I C I `"II BI , =&I .I 6I <:I FBIJIRIZI, =bI, =jI߭4jw, ξA6"@Y60@6ȼ96j=y6Hd׿`cЪ??@k۰?k?@?@?ɨ6"@6ti;4yBƒBB"IIJIJ4٢R֨= RZ=9V;;Q V>TT VG٣Xy^" ^> bNusing accuracyPremultiplier from config`fD59b?fD5YbvL ib* Bhjg0@j@b83Eb:b:b7D5 dA%6EEB*** querying acoustic contact ***jAjAZjQUDNOT Ignoring new targets: 99.30 m.]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021376Bj}Jj}仝 ProNav: ac range: 99.300003 m, nav range: 104.522827 m, bearing: 79.133576 deg, approach rate: -0.145413 m/s, LOS rate: -0.399711 deg/s, cmd heading: 155.893481 deg, new cmd heading: 155.454781 deg. 2j(HeadingCmd: 2.713198 target range: 99.300003 and range: 99.30 m. j-@jjjihhhhfffrfbff+@ɛ=B=}q= AE?IA EɚAiAIE=IM-@iIiU X=)U-@)qzK5NKKKBKRK?JK> $?I*F?2F:FBFJFG'K=GB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273209O% >J J J J J \:J 9J J J i;J j;J :;J :;汳w,ξA"@Y0@G9[=yH ׿ 8?4?`????ɨ"@ĝ;騁yӃB%"IMb@Mb@Mb@ )YuV?l{Gz?yrH?#<@ j@)@Iy=@IIļ4٢= +=9;Q > G٣ LGy   > Nusing accuracyPremultiplier from config%D59?%D5YTH i7 B-H?-:--@-@>3EU";;jD51 5A1ZjYeDNOT Ignoring new targets: 99.30 m.BjmJjm󻝊} ProNav: ac range: 99.300003 m, nav range: 104.433983 m, bearing: 78.932752 deg, approach rate: -0.188227 m/s, LOS rate: -0.425832 deg/s, cmd heading: 155.454778 deg, new cmd heading: 154.851816 deg. 2j}HeadingCmd: 2.702674 target range: 99.300003 and range: 99.30 m. j,@jjjihhhh݁Bfffrfbf,@ɛBSX= ?I ɚiI=I,@eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525241iim{n=)m,@)q*F?2F:FBFJFG%rA G%sA IhG] Z=Ge ?Ge ,?G1 BA Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777193 w,ξARL"@YR k0@RY9RA=yRH,׿@)M?r?@c?b?@? 7?ɨRL"@R1e;RCyڃB,"I) I!I!٢5a= 5k=9=;:Q =?AA EG٣AyE2 M? UNusing accuracyPremultiplier from configI]D59MAޙ?]D5YMVE iM@ BY]V-@e@MB3EMm ;M ;MoD5mB mAm8EZjDNOT Ignoring new targets: 99.30 m.BjvJjv ProNav: ac range: 99.300003 m, nav range: 104.370018 m, bearing: 78.788533 deg, approach rate: -0.184818 m/s, LOS rate: -0.416956 deg/s, cmd heading: 154.851822 deg, new cmd heading: 154.418909 deg. 2jHeadingCmd: 2.695118 target range: 99.300003 and range: 99.30 m. j|,@jjjihhhhfffrfbf_-@ɛEBE= IM?II M@ɚIiIIM=I|,@ii`Tz=)|,@)*F5?2F1:F1BF5o0JF1Gf=jHbHp<HI I"II2BI+ =&I.I6I=<:I FGBO J>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029114zK BoHK +9K K CK BK :K $?I 6w,kξA2 "@Y2+0@2}92 =y2HRؿ?@C?@Bǰ?? 6x?`?ɨ2 "@2*;2CynBn4"IIzIz 4٢< N=9":Q >    G٣ y Y > Nusing accuracyPremultiplier from config%D59ƙ?-D5YA iJ B15-@5@G3El;;D5MB UnAU;EZjDNOT Ignoring new targets: 99.30 m.Bj*Jj* ProNav: ac range: 99.300003 m, nav range: 104.296181 m, bearing: 78.622759 deg, approach rate: -0.184578 m/s, LOS rate: -0.414692 deg/s, cmd heading: 154.418911 deg, new cmd heading: 153.921251 deg. 2jLHeadingCmd: 2.686433 target range: 99.300003 and range: 99.30 m. j+@jjjihhhhfffrfbf,.@ɛB.= {?I op ɚiI=I+@ii`=)+@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282346*Fu?2Fq:FqBFuO1JFqJJJJJ̝:J9JJJ;J;J<;J<;G]l=G1BaO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533808Cųw,wϾA 6$?I4yB6"IMb@Mb@Mb@ )YV-?X9v~jthyM?}D@ @)IyII4٢; ==9Q > G٣LGy > Nusing accuracyPremultiplier from configD59Y?D5Y= iN B.N?:F+@@M3E>;%;#D5  ^A >EZj15DNOT Ignoring new targets: 99.30 m.BjEJjEU ProNav: ac range: 99.300003 m, nav range: 104.205040 m, bearing: 78.438366 deg, approach rate: -0.213767 m/s, LOS rate: -0.432865 deg/s, cmd heading: 153.921250 deg, new cmd heading: 153.367604 deg. 2jU]HeadingCmd: 2.676770 target range: 99.300003 and range: 99.30 m. j]2P+@jYjajaiahahahihmBfififirfqbf5/@ɛ!B'j= 隅 ?I 5JɚiIk=Im2P+@iqiu+=)u2P+@)qEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786121*F?2F:FBF0JF"G =G =G x\=G sAG rAG B O >H >I C I "II FBI , =&I .I 6I )<:I FG˳w,P/ϾAB!@YB /@Bsޮ9Bu=yBHؿ?`?`5p֙?aە?`G? a?ɨB!@B ;BCyJڃBN-"IiR=IR<IZIZ~4٢b b^=9b;;Q b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrD59n?rD5Yn3: inR Btv*@v@nR3En;n0;n&D5x zAxB*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 99.30 m.Bj-Jj-EWill construct direction to contact in vehicle frame from tetrahedron phase data.E%=AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.037595M ProNav: ac range: 99.300003 m, nav range: 104.125832 m, bearing: 78.281226 deg, approach rate: -0.214471 m/s, LOS rate: -0.425807 deg/s, cmd heading: 153.367608 deg, new cmd heading: 152.895844 deg. 2jMUHeadingCmd: 2.668536 target range: 99.300003 and range: 99.30 m. jUK*@jQjQjYiYhYhYhahafafafarfibfm/@ɛ#B*׌= ?I Rɚi!I%=I-K*@i)i-'G=)-K*@)1zK1K59K1K5DK5 ]$?Ia*F-?2F):F)BF- 5JF)G *=GB O%M>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290012) F= C5 ~GQ i Y y BJ J AA0ҳw,w0IϾAn'!@YnF/@nܪ9nKb=ynHcnؿ4??^ ;?0[?ai mG٣iymP m> Nusing accuracyPremultiplier from configD59Tz?D5Y5 iV B`*@@X3E:q:*D5B AAEZjDNOT Ignoring new targets: 99.30 m.BjJj%𻝊U ProNav: ac range: 99.300003 m, nav range: 104.025558 m, bearing: 78.084228 deg, approach rate: -0.214091 m/s, LOS rate: -0.421012 deg/s, cmd heading: 152.895847 deg, new cmd heading: 152.304304 deg. 2jUw]HeadingCmd: 2.658211 target range: 99.300003 and range: 99.30 m. j]# *@jYjYjYiYhYhYhahafafafirfqbfu%[0@ɛ'Bh_= ?I) -͎ɚ)i1I5P=I5# *@i9i=gM=)=# *@)9MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.541188*F?2F:FBFJF E$?IEhG "$=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793139lZسw,1 cϾA6c @Y6b.@6O96w=y6H k^@:ٿMp?[a?P@+? ??w?ɨ6c @6I;4yRBR "IJaJeJaJaJaJe9JaJaau@au@au@au@Mb@Mb@Mb@ )YCl?Q G٣ymN > -Nusing accuracyPremultiplier from config!-D59%?b?-D5Y%2 i%T B5P?=:=,@=@%]3E%B;%eA;%Q.D5EB EnAMDEZjy}DNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 103.952324 m, bearing: 77.914662 deg, approach rate: -0.190919 m/s, LOS rate: -0.442361 deg/s, cmd heading: 152.304298 deg, new cmd heading: 151.795256 deg. 2j˗HeadingCmd: 2.649327 target range: 99.300003 and range: 99.30 m. j)@jjjihhhhBfffrfbf`0@ɛ*B`{= ?I FɚiIɆ=I)@iiТ=))@)ZHiRHiH}>Iy I}"II}7BIy&Iy.Iy6I}3<:I} F*F?2F:FBF^0JFGsA G]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045185 Q IQ G u=zK BoIK 9K K EK G B O >޳w,|ϾA2'b @Y2&.@2#b92ȷ=y2H8G ٿ.? ? ;櫬?˔?`@?'?ɨ2'b @2D;2Cy:B:!I)< <IFIF4٢Jܽ Ne=9N7-:Q R>PP RG٣RLGyV V> ZNusing accuracyPremultiplier from configX^D59ZBL?^D5YZ. iZS B`b?,@b@Za3EZ;Z2;Zo1D5fB jAjEEZjDNOT Ignoring new targets: 99.30 m.Bj%Jj%5 ProNav: ac range: 99.300003 m, nav range: 103.884018 m, bearing: 77.759387 deg, approach rate: -0.190420 m/s, LOS rate: -0.433149 deg/s, cmd heading: 151.795258 deg, new cmd heading: 151.329140 deg. 2j5=HeadingCmd: 2.641192 target range: 99.300003 and range: 99.30 m. j=I )@j9j9j9iAhAhAhAhAfIfIfIrfIbfU1@ɛ,B= j?I |ɚiIXP=II )@i i =) I )@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299470*F?2F:FBF_0JFG=GABQOm5>m Will construct direction to contact in vehicle frame from tetrahedron phase data.m =m =u checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550166 = $?IA lw,ϾAyB!IMb@Mb@Mb@ )YʡE?Mb`?yO?;̼@ S@)@Iy@IIa4٢: 7=9Q > G٣y > eNusing accuracyPremultiplier from configmD59^0?mD5Y* iO BmO?m:m.@m@g3Eه<<R5D5y }UAyZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 103.814079 m, bearing: 77.564023 deg, approach rate: -0.153880 m/s, LOS rate: -0.430131 deg/s, cmd heading: 151.329138 deg, new cmd heading: 150.742672 deg. 2jHeadingCmd: 2.630956 target range: 99.300003 and range: 99.30 m. ja(@jjjihhhhBfffrfbf1@ɛ0B#FU= ?I! %Zɚ!i!I-_Ņ=I5a(@i1i5=)5a(@)9*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801337J}JyJyJyJ}\:JyJyJyG G B O >He >Ia  Ie y"IIe BIe - =&Ia .Ie 2D6Ie X<:Ie ) Fw,ϾA2LE@Y2Kd-@2?V92m=y2H `ڿ0??@b@;l?u?J??ɨ2LE@2fY;2CyRBR!IIZIZx4٢bǽ b^=9b;Q b>dd fG٣dyjiA j> nNusing accuracyPremultiplier from configlrD59nw?rD5Yn' inL Bpv-@v@nl3EnT:n&:n8D5x zAzHE=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.057221B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 99.30 m.Bj@Jj@ ProNav: ac range: 99.300003 m, nav range: 103.751961 m, bearing: 77.402701 deg, approach rate: -0.165700 m/s, LOS rate: -0.430580 deg/s, cmd heading: 150.742671 deg, new cmd heading: 150.258427 deg. 2j%HeadingCmd: 2.622504 target range: 99.300003 and range: 99.30 m. j%'@j!j!j!i!h!h)h)h)f)f)fQrfQbfU 1@ $?Iɛ3B5d= 15~?I1 =دڼɚ9i9I=G=IE'@iAiEa=)E'@)IzK BHK K K FK *F2F:FBFo0JF"G=G=G =GBOj>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310944w,kϾA:B@Y:@,@:皼9:1ds=y:H`<ۿ,?X?`\?\?f?`?ɨ:B@:'P;:Cy^pBb!IirR=Ir,>IID4٢EC  MA=9]:Q ]>iq uG٣}LGy  > MNusing accuracyPremultiplier from configAD59Ei?D5YE# iEH B-@@Er3EEy Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813104w,PϾA:@Y:,@:9:*tf=y:H& fۿ`??dѥ?ί? gɬ??ɨ:@:0;8yR`BR!IJMJMJIJIJM|:JM:JIJIMb@Mb@Mb@ )YMb?Dl?y&1yC?O=`@ j@)I5@y@II4٢$ @=9:Q  >    G٣ yм > %Nusing accuracyPremultiplier from config%D59w嘜?-D5Y  iC B-D?-:-2@-@w3E;j;?D5=B =@A=NEZj1=DNOT Ignoring new targets: 99.30 m.BjEJjE껝 ProNav: ac range: 99.300003 m, nav range: 103.632355 m, bearing: 77.038091 deg, approach rate: -0.101043 m/s, LOS rate: -0.410394 deg/s, cmd heading: 149.663078 deg, new cmd heading: 149.163978 deg. 2jӌHeadingCmd: 2.603403 target range: 99.300003 and range: 99.30 m. j&&@jjjihhhhFBfffrfbf`2@ɛ-:B-L= )-~?I) 5˼ɚ1i1I5W=I=&&@i9i=\=)=&&@)AjH bH <H>I IA"IIBI&I.I3D6I;<:I FBIĚCJIĚCRIZIbIjIĄ^5*F?2F:F!BF%0JF!Gݔ=]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.065609GBO> $?IzK! K% ]9K! K% GK% 8ck2(OplIRw,,ϾABE@YBd+@BO9BwwV=yBHNܿ(?? ??ʪ??ɨBE@B|;BCyRLBR~!IIZIZ4٢b޽ ba=9f";Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrD59nϘ?rD5Yn' in? BtvH1@v@n{3En:n:n CD5zB zAzQEZj%DNOT Ignoring new targets: 99.30 m.Bj%Jj% ProNav: ac range: 99.300003 m, nav range: 103.592537 m, bearing: 76.886187 deg, approach rate: -0.118718 m/s, LOS rate: -0.453078 deg/s, cmd heading: 149.163982 deg, new cmd heading: 148.708106 deg. 2jxHeadingCmd: 2.595446 target range: 99.300003 and range: 99.30 m. j&@jjjihhhhfffrfbfr!3@ɛu=BuzY= y}?Iy }żɚyiyI}=I&@ii=)&@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317416*F ?2F :F BF P5JF G GGM =GA BY e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569249O > $?I 2w,rоA2f@Y2d*@2c92tI=y2H_x ݿG,?3?`st?HL?+? ?ɨ2f@20;0y>8BBf!I)D D%Mb@Mb@Mb@!!! !)!Y%ʡE?y&1?I +y%=?%`=%9%b@ !)%@I%@!y%f@I= I=4٢E EB=9M:Q M>I G٣LGy > Nusing accuracyPremultiplier from configD59f?D5Yh i> B??:j4@@3E;N;FD5 wAZj)5DNOT Ignoring new targets: 99.30 m.Bj=iJj=i뻝M ProNav: ac range: 99.300003 m, nav range: 103.562279 m, bearing: 76.705105 deg, approach rate: -0.068761 m/s, LOS rate: -0.411624 deg/s, cmd heading: 148.708108 deg, new cmd heading: 148.164718 deg. 2jM?UHeadingCmd: 2.585962 target range: 99.300003 and range: 99.30 m. jUg%@jQjQjQiQhYhYhYh]Bfafafarfabfe3@ɛ@B'6= 隝/|?I gɚiI=Ig%@iip|=)g%@)*Fe?2Fa:FaBFeY0JFaG==Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824791GB O=Q>JUJUJQJQJU\:JU9JQJQH >I C I "II BI + =&I .I 6I W<:I - F5 w,1оA2@Y2)@2N92A=y2H #H`ݿg??@C? ?6??ɨ2@2$;2CyN.BRY!IIZIZ4٢j^ nR=9n%O;Q r>tt zG٣xyz z> Nusing accuracyPremultiplier from config|D59~? D5Y~ i~< B  3@ @~3E~P:~P:~:JD5Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073263 A-TEEB*** querying acoustic contact ***jAjAZjQUDNOT Ignoring new targets: 99.30 m.BjeJje뻝} ProNav: ac range: 99.300003 m, nav range: 103.533699 m, bearing: 76.550678 deg, approach rate: -0.076250 m/s, LOS rate: -0.412118 deg/s, cmd heading: 148.164712 deg, new cmd heading: 147.701314 deg. 2j}jHeadingCmd: 2.577874 target range: 99.300003 and range: 99.30 m. j$@jjjihhhhfffrfbfv3@ɛCB?= [u?I FɚiI#=I$@ii=)$@) =$?I9*F?2F:FBF_0JFzKMmOKMh9KIKMHKMq[6, wplh`VOHD@C !' `L?72,&##RK]?JK]>GGBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325194O>pw,KоAF@YF0)@Fcm9F<=yFH΀޿|?`Α??2?u??ɨF@Fn;F CyN!BNJ!IIVIV14٢^{ ^L=9b/@;Q b>dd fG٣dyj n> Nusing accuracyPremultiplier from configxD59z(?D5YzF iz9 B2@@z3Ez w,teоABB@YBa(@Ba9B/==yBHP5߿ ?F?@18?8?`讧?s?ɨBB@B);BCyN"BNK!IiRE`eE5@ A)AIE@AyEp@IIg4٢; 8=9r:Q > G٣LGy   > %Nusing accuracyPremultiplier from config!5D59%m?=D5Y% i%: B=4?=:=6@E@%3E%T;%;%QD5MB UAUZEZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 103.485413 m, bearing: 76.211907 deg, approach rate: -0.038698 m/s, LOS rate: -0.447326 deg/s, cmd heading: 147.203076 deg, new cmd heading: 146.684789 deg. 2jHeadingCmd: 2.560133 target range: 99.300003 and range: 99.30 m. j6#@jjjihhhhBfffrfbf-4@HI I!IIBI&I.I6IY<:I/ Fɛ-JB5<'= 15nl?I1 5e(ɚ1i9I=V=I6#@iiĊ=)6#@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.E w,оA>~@Y>'@>V?N9>@=y>H@߿? ?߫? lj??E?ɨ>~@>qu;>CyFBJ\\ ^G٣`yb b> fNusing accuracyPremultiplier from configdjD59fX?jD5Yf if; Bln5@n@f3Ef;f;fTD5p r|ApZj  DNOT Ignoring new targets: 99.30 m.Bj.Jj.%Will construct direction to contact in vehicle frame from tetrahedron phase data.% Will construct direction to contact in vehicle frame from tetrahedron phase data. ==@ =5@)=@I=@9y=3@IUIU4٢e = e@=9e9;Q m>ii uG٣qy} }> Nusing accuracyPremultiplier from configD59@?D5Y iA BG.?:$8@@3E';v&;XD5B :A[EZjDNOT Ignoring new targets: 99.30 m.BjT׻JjT׻ ProNav: ac range: 99.300003 m, nav range: 103.464508 m, bearing: 75.903920 deg, approach rate: -0.013440 m/s, LOS rate: -0.376508 deg/s, cmd heading: 146.244186 deg, new cmd heading: 145.760757 deg. 2j2HeadingCmd: 2.544005 target range: 99.300003 and range: 99.30 m. j"@jjjihhhhBfffrfbf ߓ5@ɛ5OB5(G= 1=?g?I9 =Qxɚ9i9I=f=IE"@iAiE:{=)E"@)I*F?2F:FBF0JFG G-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Response Not Received =*response not received=,DAT read: user:2585> -MH- >I)  I- !II- BI) &I) .I) 6I- <:I- v FTq,w,<0оAFWill construct direction to contact in vehicle frame from tetrahedron phase data.FBDAT read: Tx time:22:25:06.0028 J$Ping request sent.N G٣LGy׼ > %Nusing accuracyPremultiplier from config%D59y)?-D5Y  iG B)-n7@-@3E;::V\D59 =A=^E}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 99.30 m.BjջJjջ ProNav: ac range: 99.300003 m, nav range: 103.456413 m, bearing: 75.744390 deg, approach rate: -0.018907 m/s, LOS rate: -0.372652 deg/s, cmd heading: 145.760758 deg, new cmd heading: 145.282143 deg. 2jHeadingCmd: 2.535652 target range: 99.300003 and range: 99.30 m. jH"@jjjihhhhfffrfbf% i6@ɛQBT.= l?I ɚiI>B=IH"@i i q=) H"@) zK-3[NK)K)K-JK-:;=?@BDEBAB@;8554432234.//0-..00/,,+))+*('''$#!  *F?2F:FBF 1JFGf=GYBaO}z>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250157J AAJ @AJK KKK"KJ J J J J ̝:J 9J J J ;J ;J :;J :;rY3w,c оAFAS@YF>r%@F"9F1L=yFH+O ǡ??m%@w?`S??m?ɨFAS@F';FCyb.BbY!III94٢ K<  H=9K:Q %>1Q ]G٣Yym2ϼ > Nusing accuracyPremultiplier from configD59??D5Y  iM B6@@3E:;`D5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502196ZjDNOT Ignoring new targets: 99.30 m.BjϻJjϻ ProNav: ac range: 99.300003 m, nav range: 103.446129 m, bearing: 75.585364 deg, approach rate: -0.023409 m/s, LOS rate: -0.362004 deg/s, cmd heading: 145.282140 deg, new cmd heading: 144.805027 deg. 2jpxHeadingCmd: 2.527324 target range: 99.300003 and range: 99.30 m. j!@jjjihhh h f ffrfbf s6@ 5$?I1ɛ}TB}3= y隅l?I ɚiI[߀=I!@ii k=)!@)*FY2FY:FYBF]_5JFaG E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754972Gy B O >9w,%оAz@Yz$@zM<9z:q=yzH   M??%Q?`?Z"? A?ɨz@zsC;zCy>Bm!IMb@Mb@Mb@ )YPn?x?~jtx?y$?K7>; b@)@I@yz@I%I%4٢5= 5G=9=DQ =>9A EG٣AyE* E> MNusing accuracyPremultiplier from configIUD59M7?]D5YM  iMW B]a*?]:]T6@]@M3EM;Mh;MscD5eB m(AmaEZjDNOT Ignoring new targets: 99.30 m.Bj߻Jj߻ ProNav: ac range: 99.300003 m, nav range: 103.435738 m, bearing: 75.441099 deg, approach rate: -0.028098 m/s, LOS rate: -0.390128 deg/s, cmd heading: 144.805024 deg, new cmd heading: 144.372192 deg. 2jޅHeadingCmd: 2.519770 target range: 99.300003 and range: 99.30 m. jC!@jjjihhhhBfffrfbf`G6@ɛEVBEGn=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006287GBOe> IzK =NK 9K K KK   Yo@w,ѾAR'm@YR$$@R(09Rvn=yRH@ <@@?@ H?@2?(? Jҭ??ɨR'm@Rqߋ;Py~HB~z!Ii=II I ƕ4٢A]= ^=9%;Q %>!! %G٣%LGy- -> 5Nusing accuracyPremultiplier from config1=D595s關?=D5Y5 i5` BAE5@E@53E5:5:5fD5MB MAMdEZjquDNOT Ignoring new targets: 99.30 m.Bj}һJjһ ProNav: ac range: 99.300003 m, nav range: 103.424995 m, bearing: 75.305264 deg, approach rate: -0.029137 m/s, LOS rate: -0.368471 deg/s, cmd heading: 144.372195 deg, new cmd heading: 143.964655 deg. 2j|HeadingCmd: 2.512657 target range: 99.300003 and range: 99.30 m. j` @jjjihhhhfffrfbf07@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258191ɛYB ɵ^=  w?I  ɚiI=I` @iin=)` @)JJJ/JJ:J:J(N3JJ;J;JyE;JzE;*F?2F:FBF_0JFG-ck=G B9 Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.ե A?ե ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510471  $?I Fw,ѾA6@Y6$@6-96&o=y6Hu ?l?`s ?@???ɨ6@6 ;6Cy^_B^!IMb@Mb@Mb@ )YuV?ף<5@ =@)@I@y@II&4٢4= B=99Q > G٣y > Nusing accuracyPremultiplier from configD59ӗ?D5Y io B,?:1@@3Ej;i;\jD5 AZjDNOT Ignoring new targets: 99.30 m.Bj%/ӻJj%/ӻ5 ProNav: ac range: 99.300003 m, nav range: 103.394508 m, bearing: 75.148793 deg, approach rate: -0.071928 m/s, LOS rate: -0.369267 deg/s, cmd heading: 143.964651 deg, new cmd heading: 143.495111 deg. 2j5l}=HeadingCmd: 2.504462 target range: 99.300003 and range: 99.30 m. j=I @j9j9j9iAhAhAhAhEBfIfIfIrfIbfUN7@ɛ[BPX= 隭?I 1ɚiIYR=II @iinm=)I @)*F5?2F1:F1BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762398G- q=G B O= >H >I C I !II BI &I .I 6I k<:I ; FBIɛCJIɛCRIZI+ =bI+ =jI$y4Lw,}5ѾA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014144>=@Y>\#@>W 9>s t=y>H@@?b?k`[? ?F|? *?ɨ>=@>;< R$?IPyVtBV!IIbIb4٢j= jY=9j;Q n>pp rG٣pyr޼ r> zNusing accuracyPremultiplier from configtzD59v??~D5Yv iv| B|~1@~@v3Ev ;v ;vmD5 lA gEZj)5DNOT Ignoring new targets: 99.30 m.Bj=ԻJjEԻU ProNav: ac range: 99.300003 m, nav range: 103.365395 m, bearing: 75.009402 deg, approach rate: -0.077744 m/s, LOS rate: -0.372326 deg/s, cmd heading: 143.495116 deg, new cmd heading: 143.076833 deg. 2jU]HeadingCmd: 2.497162 target range: 99.300003 and range: 99.30 m. j]@jYjYjYiYhahahahafififirfibfm@d7@ɛ=]BEjz= AE?II MtɚIiIIM2z~=IU@iYi]Qb=)]@)YEmrAEmqA*F ?2F :F BF `0JF GrA GqAzK[MKKKLK     Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267964G]T}l=G) B1 OM >J J J 0J J J J ـ3J J J J J ESw,ROѾA>l@Y>j"@>9>c=y>HYl?~ ?aa@X?X}?L??ɨ>l@>K;>CyrBr!I)t tIzIz4٢-= 5E=9=i\;Q E>QQ ]G٣eLGymƼ u> Nusing accuracyPremultiplier from configD59?D5Y i B\0@@3E<!<[qD5ߓB A jE%B*** querying acoustic contact ***j!j!uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518178 $?IZjDNOT Ignoring new targets: 99.30 m.BjJj ProNav: ac range: 99.300003 m, nav range: 103.330368 m, bearing: 74.852286 deg, approach rate: -0.070927 m/s, LOS rate: -0.318257 deg/s, cmd heading: 143.076836 deg, new cmd heading: 142.605342 deg. 2j5jZ5HeadingCmd: 2.488933 target range: 99.300003 and range: 99.30 m. j=J@j9j9j9i9h9h9hAhAfAfifirfibfm{8@ɛ`B>Y= ?I bɚiIx}=I J@i =eYw,BiѾA \\yB!I]Mb@Mb@Mb@YYY Y)YY]|?5^?S㥻?I +?y]-?]/=]9 G٣y > Nusing accuracyPremultiplier from configD59鑗?D5Yi i B0?:,@@3E~$;;4uD5  AZjDNOT Ignoring new targets: 99.30 m.BjtJjtZHaRHeAAHiIi Im""IImуBIm+ =&Ii.Ii6Im<:ImN F  ProNav: ac range: 99.300003 m, nav range: 103.276779 m, bearing: 74.687004 deg, approach rate: -0.144181 m/s, LOS rate: -0.444922 deg/s, cmd heading: 142.605348 deg, new cmd heading: 142.109257 deg. 2j HeadingCmd: 2.480274 target range: 99.300003 and range: 99.30 m. jѼ@jjjihhhhFBfAfAfArfAbfEV8@ɛbB!= 隽?I TɚiI|=IѼ@ii>=)Ѽ@) IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:25:08.5157 TRx dataTimestamp_ set to:1736375109.860485checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027449*F?2F:FBFo0JFG Db=G ?G ?zK MMK K K MK       G B O >`w,FѾAj3@Yj1!@jdZǻ9jG=yjH/o 94? G|?}?`Bx???ɨj3@j;jCyvBv!IIIP4٢%= %e=9%F;Q ->)) -G٣)y5? 5> eNusing accuracyPremultiplier from configQmD59UC?mD5YU iU Bqu+@u@U3EU=;U;UXxD5}ޓB }RA}mEZjDNOT Ignoring new targets: 99.30 m.Bj3ջJj3ջ ProNav: ac range: 99.300003 m, nav range: 103.229607 m, bearing: 74.552450 deg, approach rate: -0.130635 m/s, LOS rate: -0.372789 deg/s, cmd heading: 142.109257 deg, new cmd heading: 141.705418 deg. 2jHeadingCmd: 2.473226 target range: 99.300003 and range: 99.30 m. jVI@jjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280041fQfQfYrfYbf] P99@ɛcB $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:25:08.5157 LVL= 25040, 27441, 17346, 27379, AGC= 65, IDX= 133,-0.20, 2.823, 1.488, 2.851, 2.468, PHS= 0.444,-0.932, 0.381, RAW= 147.7, 1.6, CAL= 150.7, -7.3, ROT= 359.3, 7.3  Ygot valid direction response: 22:25:08.5157 LVL= 25040, 27441, 17346, 27379, AGC= 65, IDX= 133,-0.20, 2.823, 1.488, 2.851, 2.468, PHS= 0.444,-0.932, 0.381, RAW= 147.7, 1.6, CAL= 150.7, -7.3, ROT= 359.3, 7.3 % PDAT read: Bearing 359.3, 7.3 (Local) % ~Local bearing/azimuth received: Bearing 359.3, 7.3 (Local) - DAT read: Range 10 to 50 : 81.4 m (Round-trip 108.6 ms) speed 0.5 m/s 5 ,DAT read: user:2586> = BDAT read: Tx time:22:25:09.6029 = $Ping request sent.= ٽ nٽ o>ٽ $@ٽ < ڽ aU(@)ڽ wIڽ ū@iڽ w>ڹ ڹ ۽ _\%S?.5?Ɯ?)۽ -Q>I۽ ?i۽ 2^Έ۽ }۹ ۹  :publishing transmit ping time9  Fpublishing direction and range infoع 9ؽ =sÿ ޏ?yع ع ع ع ٹ )ٹ Iٹ iٹ ٹ ٹ ٹ ٹ ڹ )ڹ Iڹ iڹ ڹ ڹ ۽ _\%S?.5?Ɯ?)۹ I۹ i۹ ۹ ۹ ۹ fw,9ѾA:m@Y:j$!@:9:=y:H`O^\??`e ?zw???ɨ:m@:;8yNŃBN"IiV=IV<Mb@Mb@Mb@ )Y^I +?T㥛 ? rh?yX9?=C<Z@ K@)@I@yp@I%I%V4٢= 5=9 G:Q > G٣LGy{ > Nusing accuracyPremultiplier from configD59=g?D5Y i B:?:&@@3E;r;W|D5ݓB A-pEkЧ?k;w k klѾA:k̢BBkBZkd C?"a)ILPU G@=sÿ ޏ?Jk2^Rk}*I@0a?G@ GE@ ̼?Փa?;s%?"k?B*kHBkF?k/2 2kBk?k6 krBkBkF? addTargetRange:: Added new target pos. range: 81.400002 m, deltaT: 25.465772 s, deltaX: -17.900002 m, approachRate: -0.702904 m/s, rangeRepo size: 4  Added new target pos. range: 81.400002 m, bearing: 43.651480 deg, lat: 36.905346 deg, lon: -122.118643 deg, deltaT: 25.465772 s, deltaX: -17.900002 m, approachRate: -0.702904 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 81.40 m.BjJj- ProNav: ac range: 81.400002 m, nav range: 101.399658 m, bearing: 73.086291 deg, approach rate: 0.000000 m/s, LOS rate: -0.372789 deg/s, cmd heading: 141.705416 deg, new cmd heading: 141.176449 deg. 2j15HeadingCmd: 2.463994 target range: 81.400002 and range: 81.40 m. j5@j9j9j9i9h9h9hhBfffrfYT@bf@?ɛfB1= Η?I 4ɚiI/z=I@iWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA JDAT read: TxSync time:22:25:09.6021 i%;[`=)%@)!JJJJJ<:J:JJa@a@a@a@*F?2F:FBF2JFHq Iq  Iu Z"IIu BIq &Iq .Iq 6Iu q<:Iu ? FG K=GY Bi O > mw,vѾA $?I2Will construct direction to contact in vehicle frame from tetrahedron phase data.F@YF @F͍Ż9F!=yFH jv?? F;?௱x?e\??ɨF@Fb;DynσBr "IIzIz4٢M]= Mb=9M;QQ M>QQ UG٣Qy}ǔ }> Nusing accuracyPremultiplier from configD59T?D5Y| i B(&@@3E:;:uD5 qAZjDNOT Ignoring new targets: 81.40 m.BjxJjx컝% ProNav: ac range: 81.400002 m, nav range: 101.335785 m, bearing: 72.944250 deg, approach rate: -0.185818 m/s, LOS rate: -0.413478 deg/s, cmd heading: 141.176445 deg, new cmd heading: 140.750063 deg. 2j-⍼-HeadingCmd: 2.456552 target range: 81.400002 and range: 81.40 m. j5&8@j1j1j9i9h9h9h9hAfAfAfArfAbfM ?ɛhBB`= ݙ?I 'ɚiIڌy=I &8@i i zXc=) &8@)zKLK+9KKNK OszyC,=Q]`]]`WG6' RK ?JK?*Fe?2Fa:FaBFe4JFaG=Y`n=) ~G55tAG9iBO> Y5tAyB +@Will construct direction to contact in vehicle frame from tetrahedron phase data.  B%sw,ѾAJ@YJ @J֛ 9J5=yJH@R ??ࣛ ڪ?@l?~b??ɨJ@J;JCyj܃Bj/"IIvIv#4٢~= ~O=9ٻQ >    G٣ yμ > Nusing accuracyPremultiplier from config%D59;@?%D5Y i B!%%@-@3E::߂D55ܓB 5A5qEB*** querying acoustic contact ***jj =$?I=huWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.ZjiDNOT Ignoring new targets: 81.40 m.Bj}ɻJj}ɻ ProNav: ac range: 81.400002 m, nav range: 101.263817 m, bearing: 72.788919 deg, approach rate: -0.163116 m/s, LOS rate: -0.352309 deg/s, cmd heading: 140.750063 deg, new cmd heading: 140.283748 deg. 2jqHeadingCmd: 2.448413 target range: 81.400002 and range: 81.40 m. jβ@jjjih h hhfffrfbfq?ɛejBC= 隭o?I  1ɚiI"[x=Iβ@ii_[=)β@)EVoQ=*F 2F :F BF \5JF G sA G % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242012J J J J J \:J :J J G 6a=G ?G 7?GBO>]^{w,ѾA2@Y2@2q928=y2Hږm% ܩ?F6?|?`?b? ~?ɨ2@2b;2Cy>B>="I)@ @jHbH<H I  I "II (BI &I .I 6I <:I g FMb@Mb@Mb@ )Y~jt?y&1? rh?y;?`<C@ x@)x@I@yII4٢0= =9Q >  G٣ LGy   > Nusing accuracyPremultiplier from configD59%?%D5Y i B%;?%:%-"@%@3El<l<eD5 G@tEZjDNOT Ignoring new targets: 81.40 m.BjJj ProNav: ac range: 81.400002 m, nav range: 101.149673 m, bearing: 72.583951 deg, approach rate: -0.240236 m/s, LOS rate: -0.431878 deg/s, cmd heading: 140.283753 deg, new cmd heading: 139.668182 deg. 2j2HeadingCmd: 2.437670 target range: 81.400002 and range: 81.40 m. j@j!j!j!i!h!h)h)h-Bf)f1f1rf1bf5? IɛlB0= ?I ɚiIHw=I@iWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494232iw=)@)!E #'=*F?2F:FBF4JFzKmMK9KKOKG g\= Will construct direction to contact in vehicle frame from tetrahedron phase data.յ Aiյ A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746050G B O >Bw,t| ҾA65@Y6T@696^%=y6HnY$?k? aj?ԁ?E? ?ɨ65@6‰;6C*Jl"Jn=yBC"II-I-"4٢]< eU=9e:Q e>ii mG٣iym u> Nusing accuracyPremultiplier from configD59p?D5Y i B!@@3E <B<NJD5 @ZjYeDNOT Ignoring new targets: 81.40 m.BjmJjໝ ProNav: ac range: 81.400002 m, nav range: 101.062988 m, bearing: 72.430798 deg, approach rate: -0.221603 m/s, LOS rate: -0.391860 deg/s, cmd heading: 139.668189 deg, new cmd heading: 139.208344 deg. 2jwHeadingCmd: 2.429644 target range: 81.400002 and range: 81.40 m. jI@jjjihhhhfffrfbf9?ɛEoBmW%= imd?Ii mRɚqiqIuu=I}I@iyi}9s=)}I@)yEE*E"E $?IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004478*F% ?2F! :F! BF- 5JF) GM kt=G!B1OM>Tiw,ty'ҾA6@>Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249922Y6 @6a96+=y6H`O@??B ?% ?PA??ɨ6@6c;6CyFBJ@"IJJJJJ̝:J:JJ5Mb@Mb@Mb@111 1)1Y5K7?Zd;O?Mb`?y5I?5j<5;5p@ 5K@)5@I5@1y5@IEIEg4٢# !=9YQ > G٣yG > Nusing accuracyPremultiplier from configD59?D5YK i BI?: @@3E;^;9D5 ۓB @wEZjYeDNOT Ignoring new targets: 81.40 m.BjJj ProNav: ac range: 81.400002 m, nav range: 100.936462 m, bearing: 72.214828 deg, approach rate: -0.252259 m/s, LOS rate: -0.431125 deg/s, cmd heading: 139.208339 deg, new cmd heading: 138.559646 deg. 2j𓼝HeadingCmd: 2.418322 target range: 81.400002 and range: 81.40 m. j@jjjihhhhBfffrfbf@* @ɛrB = 隽?I HɚiIt=I@iie-=)@)H>I I"IIFBI&I.I6Ii<:I9 FE9E=rA*F?2F:FBF^0JF"G=G= $?I-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501887G s=G rAG G B O >Kw,=AҾA6c@Y6@6jK96o=y6H`.@)?ʽ? ! *?^ ? I?@?ɨ6c@6;6Cy>B><"IiF%>IDIJIJʴ4٢R Rq=9RQ7Q V?TT VG٣VLGy^ޟ ^? fNusing accuracyPremultiplier from config`fD59b1喜?fD5Yb( ib Bhj\ @j@b3Eb7:b:b'D5zKnJKn59KlKnPKnvړB z;@zyEZjDNOT Ignoring new targets: 81.40 m.BjJj ProNav: ac range: 81.400002 m, nav range: 100.852249 m, bearing: 72.072560 deg, approach rate: -0.256376 m/s, LOS rate: -0.433477 deg/s, cmd heading: 138.559649 deg, new cmd heading: 138.132498 deg. 2jHeadingCmd: 2.410867 target range: 81.400002 and range: 81.40 m. jK@jjjihhhhfffrfbf p@ɛUsB]~M= Y]ǜ?IY ]᡻ɚaiaIeɕs=IeK@iiim=)mK@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754111*F?2F:FBF_0JFGj~=GyBO`> I M Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:25:12.1122 m TRx dataTimestamp_ set to:1736375113.392585} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012114uw,[ҾA~`@Y~]@~"_ 9~=y~H` !i? 2?[2? ֋?x?X?ɨ~`@~P;|yMBMB"IuMb@Mb@Mb@qqq q)qYuQ?Mb? rhyu\O?u)I MG٣QyUa U> ]Nusing accuracyPremultiplier from configYeD59]ʖ?eD5Y] i] BmrO?m:mo@@]3E]E;];]mD5 @|EB*** querying acoustic contact ***jjZj  DNOT Ignoring new targets: 81.40 m.BjrJjr ProNav: ac range: 81.400002 m, nav range: 100.721786 m, bearing: 71.859947 deg, approach rate: -0.263005 m/s, LOS rate: -0.429169 deg/s, cmd heading: 138.132503 deg, new cmd heading: 137.493866 deg. 2jDHeadingCmd: 2.399721 target range: 81.400002 and range: 81.40 m. j@jjjihhhhBfffrfbfm0 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262231ɛEwBEߌ= AE ?II MjiɚIiIIU'r=I]@iaiex=)e@)iJ%J%J!J!J%|:J%:J!J!*F?2F:FBFJFZH RH @AH% >I!  I% "II% KBI! &I! .I! 6I% g<:I% 7 FBIJIRIZIbIjIʉ4G q؃=G ?G > $?I G B O >rw,4gxҾA.Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: 22:25:12.1122 LVL= 20544, 26481, 18658, 29875, AGC= 65, IDX= 400, 0.11,-1.583,-3.012,-1.740,-2.135, PHS= 0.640,-0.830, 0.392, RAW= 140.9, -3.0, CAL= 146.0, -12.3, ROT= 4.0, 12.3 NYgot valid direction response: 22:25:12.1122 LVL= 20544, 26481, 18658, 29875, AGC= 65, IDX= 400, 0.11,-1.583,-3.012,-1.740,-2.135, PHS= 0.640,-0.830, 0.392, RAW= 140.9, -3.0, CAL= 146.0, -12.3, ROT= 4.0, 12.3 RPDAT read: Bearing 4.0, 12.3 (Local) R~Local bearing/azimuth received: Bearing 4.0, 12.3 (Local) ZDAT read: Range 10 to 50 : 78.8 m (Round-trip 105.1 ms) speed 0.6 m/s ^,DAT read: user:2587> ^BDAT read: Tx time:22:25:13.2029 b$Ping request sent.b.c@.PwV .e#@).[I.5=i.[>,,.?p?ALʪ).~>I.skV=i.Կ.?,, :publishing transmit ping time`Fpublishing direction and range info,9.ݺH^mR T;?y,,,, ,),I,i,,,,, ,),I,i,,,.?p?ALʪ),I,i,,,,yޭBޭ="IAAII4٢ 9=9Q > G٣y > Nusing accuracyPremultiplier from configD59𲖜?D5Y4 i B@3Ei:G*<2ZJ@.ݺH^mR T;?Jk.ԿRk.?*.$&,Sw,&ҾAF@YF'@F5 9F;=yFH@x>5Xɩ?GE? >????ɨF@FB;FCy^ރBb2"I)d dhjAI~I~t4٢ L  h=9;Q > G٣=LGy=9& => MNusing accuracyPremultiplier from configAUD59Eҟ?UD5YE iE B@@E3EEj% Will construct direction to contact in vehicle frame from tetrahedron phase data.S~w,CҾA6@Y6@6s96=y6H@u@R)?`?`W?@ⱀ?@s??ɨ6@6쉉;6CyB˃BB"IMb@Mb@Mb@ )Y?Q? G٣y   > Nusing accuracyPremultiplier from configD59?D5Y i BL?%:%^@%@3EL;#;D5-ؓB -fA5EZjY]DNOT Ignoring new targets: 78.80 m.BjeJjeu ProNav: ac range: 78.800003 m, nav range: 98.340157 m, bearing: 67.751927 deg, approach rate: -0.218010 m/s, LOS rate: -0.468623 deg/s, cmd heading: 136.423057 deg, new cmd heading: 135.841689 deg. 2juΠ}HeadingCmd: 2.370885 target range: 78.800003 and range: 78.80 m. j}@jyjjihhhhBfffrfbf?ɛ~B= 9?I gɚiIvn=I@iiD=)@)EH=>I9 I="II=ABI9&I9.I96I=<:I=m F*F%?2F!:F!BF%X2JF!"G-=G-= $?I}Will construct direction to contact in vehicle frame from tetrahedron phase data.G% =G) G- qAG B O5 >zK5 MK5 9K1 K5 RK5       Aew,nҾA2>@Y2]@2 92=y2H@ 2?@?`w蝦?@?՚?`r?ɨ2>@2ʼn;2Cy:ÃB:"IIFIFЬ4٢J{; Nd=9NjQ N>PP RG٣PyV V> ZNusing accuracyPremultiplier from configX^D59Zu?^D5YZa iZ B1=@=@Z3EZƕ;amJ]O>;am*F-?2F):F)BF5P5JF1 I Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա G =G B O >w,VҾA2 @Y2@2,92=y2H`W ?@ ?M@I?~?`E??ɨ2 @2R;2CyBBB!IiF=IF> F=F=Mb@Mb@Mb@ )Y!rh?333333?/$ylG?= )I@yp@I5I54٢# 9=9$:Q > G٣LGy蔼 > Nusing accuracyPremultiplier from configD59]?D5Y- i BkH?:"@@4EX%; $;D5דB 4AEB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 78.80 m.Bj-Jj5E ProNav: ac range: 78.800003 m, nav range: 98.189598 m, bearing: 67.393880 deg, approach rate: -0.173052 m/s, LOS rate: -0.460292 deg/s, cmd heading: 135.357383 deg, new cmd heading: 134.766755 deg. 2jE򝼝MHeadingCmd: 2.352123 target range: 78.800003 and range: 78.80 m. jM1@jIjIjIiIhQhQhQh]nBfYfYfYrfYbfe?ɛBXO= 隝e?I $ j:ɚiIc~l=I1@ii"=)1@)*FM?2FI:FIBFM^0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GijH- <bH) H5 >I1  I5 "II5 (BI1 &I1 .I1 6I5 Ȱ<:I5 ~ FGI BQ Ou > $?I ew,?ҾA"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002792>; @Y>8@>ɻ9>H@@4w? ?c?`8#y?B ??ɨ>; @>V;>CyFBF!IIRIR4٢Zm Z]=9ZƩ;Q Z>\\ ^G٣\yb b> jNusing accuracyPremultiplier from confighnD59jI?rD5Yj ij BprY!@r@j4Ej&;j:;jTD5t vAzEZjDNOT Ignoring new targets: 78.80 m.Bj-Jj- ProNav: ac range: 78.800003 m, nav range: 98.124969 m, bearing: 67.228672 deg, approach rate: -0.175237 m/s, LOS rate: -0.448250 deg/s, cmd heading: 134.766749 deg, new cmd heading: 134.270810 deg. 2jЙHeadingCmd: 2.343468 target range: 78.800003 and range: 78.80 m. j`@jjjihhhhfffrfbf`@ɛEBEw)= AE?IA M:ɚIiIIMlk=IU`@iaie,=)e`@)y*F2F:FBF_0JFGvAzK[LK9KKSK  $&**)*)))16;99999<>@ACDCEEFDCFFGHFFGEDAB =6Y=vAy=BGB=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257492G!G%?GBO] >Ju Ju Ju 1Jq Ju :Ju 9Ju 3Jq Ju ;Ju ;Ju 8;Ju 8;@Ĵw,LkӾA6A9 @Y6>X@6M큻96Q5w=y6H SK?V?`?=p?? ?ɨ6A9 @6 /;6CyBBB!IIJIJ4٢R RK=9R;Q R>TT ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`fD59bl4?fD5Ybү ib Bhj @j@b 4Eb;b;bخD5n֓B nArEZj DNOT Ignoring new targets: 78.80 m.Bj Jj % ProNav: ac range: 78.800003 m, nav range: 98.052040 m, bearing: 67.049594 deg, approach rate: -0.181447 m/s, LOS rate: -0.445871 deg/s, cmd heading: 134.270809 deg, new cmd heading: 133.733194 deg. 2j%%HeadingCmd: 2.334085 target range: 78.800003 and range: 78.80 m. j-a@j)j)j)i)h1h1h9h9fAfAfArfAbfE@3@ɛmBu?= quW?Iq @%;ɚiIfj=Ia@ii,=)a@) e$?IieWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510688*F2F:FBFJFG=GBOB> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759301ʴw,G-ӾAyB!I)! !)-AMb@Mb@Mb@ )YX9v?&1?I +y=?=9-@ )@I@y3@II4٢ 8=9Q > G٣LGy > Nusing accuracyPremultiplier from configD592?D5Y i B??:/#@@4Ej;;D5   AEZjAEDNOT Ignoring new targets: 78.80 m.BjM~JjM~H>I I`"IIBI&I.I6I><:I F  ProNav: ac range: 78.800003 m, nav range: 97.989441 m, bearing: 66.858956 deg, approach rate: -0.140862 m/s, LOS rate: -0.429252 deg/s, cmd heading: 133.733191 deg, new cmd heading: 133.160931 deg. 2j5K=HeadingCmd: 2.324097 target range: 78.800003 and range: 78.80 m. j=@j9j9j9i9hAhAhAhE+BfIfIfirfqbfu ,j@ɛBp = 隽؁?I \e;ɚiI*Di=I @i i g]=) @) U$?IQ*F?2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:25:15.7088 uTRx dataTimestamp_ set to:1736375116.917602}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013239G qT=G G sAG B O >Ѵw,$GӾAzK.~NK.+9K,K.TK.BA>=<=>?A????@@=5.'($ "&(-:A @Y:>@:9:e=y:H _98ţ?,?@MV`~ɤ?#??ຯ?!?ɨ:A @:;:CyBBF!IININ-4٢VW V`=9VXX ZG٣Xy^v ^> bNusing accuracyPremultiplier from config`fD59bc ?fD5Yb̦ ib Bdf!@j@b4Eb:b:bD5nՓB niAnEZjDNOT Ignoring new targets: 78.80 m.Bj Jj  ProNav: ac range: 78.800003 m, nav range: 97.932892 m, bearing: 66.702701 deg, approach rate: -0.155594 m/s, LOS rate: -0.430183 deg/s, cmd heading: 133.160931 deg, new cmd heading: 132.691906 deg. 2j%%HeadingCmd: 2.315911 target range: 78.800003 and range: 78.80 m. j%7@j)j)j)i)h)h)h1h1f1f1f9rf9bf=  @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262961ɛB5k= Q]}?IY ]M;ɚYiYI]@]h=Ie7@iaieڌ=)e7@)iJEJEJE0JAJE̝:JE9JEـ3JAJE;JE;JE<;JE<;*F-?2F):F)BF-~0JF)G6=GBOI> IIUhu Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 22:25:15.7088 LVL= 19824, 32753, 20402, 32755, AGC= 64, IDX= 415,-0.01,-1.685, 3.050,-2.080,-2.290, PHS= 0.692,-0.897, 0.207, RAW= 132.7, -0.0, CAL= 138.3, -8.8, ROT= 11.7, 8.8 e Ygot valid direction response: 22:25:15.7088 LVL= 19824, 32753, 20402, 32755, AGC= 64, IDX= 415,-0.01,-1.685, 3.050,-2.080,-2.290, PHS= 0.692,-0.897, 0.207, RAW= 132.7, -0.0, CAL= 138.3, -8.8, ROT= 11.7, 8.8 } PDAT read: Bearing 11.7, 8.8 (Local)  ~Local bearing/azimuth received: Bearing 11.7, 8.8 (Local)  DAT read: Range 10 to 50 : 76.3 m (Round-trip 101.8 ms) speed 0.9 m/s - ,DAT read: user:2588> - BDAT read: Tx time:22:25:16.8029 5 $Ping request sent.5 u 2:@u u {@)u nFIu Q>iu nF>q q u Y8?q1?slt`m@)u ub>Iu k:iu ⿉u eq q  :publishing transmit ping time1  Fpublishing direction and range infoq 9u &?Ce2㿘=`?yq q q q q )q Iq iq q q q q q )q Iq iq q q u Y8?q1?slt`m@)q Iq iq q q q ״w,`ӾAB$ @YBC@B:9B ^=yBH#@Z,???`?AT?`?ɨB$ @B8;@y{B!IMb@Mb@Mb@ )YtV?On?Qy2?>u )@Ix@y@II4٢S )=9m;Q %>!! %G٣!y-J -> }Nusing accuracyPremultiplier from configq}D59u'?}D5Yu iu B6?:%@@u4Eun;u;u5D5 AkOs?k4e k kZӾA:kBBkBZk,?"d#{2ɇbG^IӸM@&?Ce2㿘=`?JkRke*8EwD@e%=@#ouL@_+T??:?"kA*kK%Bk+o?k 2kRBk+o?k/2 kBksBk:S? addTargetRange:: Added new target pos. range: 76.300003 m, deltaT: 3.528261 s, deltaX: -2.500000 m, approachRate: -0.708564 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.=<JDAT read: TxSync time:22:25:16.8021  Added new target pos. range: 76.300003 m, bearing: 35.582704 deg, lat: 36.905412 deg, lon: -122.119196 deg, deltaT: 3.528261 s, deltaX: -2.500000 m, approachRate: -0.708564 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 76.30 m.BjJj- ProNav: ac range: 76.300003 m, nav range: 60.907349 m, bearing: 47.275467 deg, approach rate: 0.000000 m/s, LOS rate: -0.430183 deg/s, cmd heading: 132.691902 deg, new cmd heading: 132.029615 deg. 2j15HeadingCmd: 2.304352 target range: 76.300003 and range: 76.30 m. j5z@j9j9j9i9h9h9hahmBfififqrfu@3S@bfum?ɛB= /v?I Sq;ɚiIHg=Iz@ii[G=)z@)*F?2F:FBF_0JFHI I;"IIBI&I.I6I<:IP F e $?Ia G l=} Will construct direction to contact in vehicle frame from tetrahedron phase data.G B OE >{޴w,F|ӾA6] @Y6|@6Z;96Z=y6H Zԡ?a?`v &?Wk =?Z?ɨ6] @6\;6Cy>qBB!IiF=IF4< J=Jp=ININ4٢VS Vf=9Z;Q Z>XX ZG٣^LGy^ ^> fNusing accuracyPremultiplier from config`jD59bߕ?jD5Ybw ib Bhj$@j@b4Eb:b:bWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*J]R="J]a=J#K+cw3 K+S}.K#K#"K#JeJeJe/JaJe\:Je9Je(N3JaJei;Jej;Je:;Je:;]w,~ӾA6@Y6@65_;96`=y6Hޱ ???`"?k`??ɨ6@6Ԝ;6CyBpBB!IIJIJ4٢vۻ zG=9z.9Q z>|| G٣y >  Nusing accuracyPremultiplier from config D59 ʕ?D5Y J i  B %$?I!-$@-@ $4E jv; v; D55ӓB 5A5EZjDNOT Ignoring new targets: 76.30 m.Bj\7Jj\7 ProNav: ac range: 76.300003 m, nav range: 61.005322 m, bearing: 46.776025 deg, approach rate: 0.124839 m/s, LOS rate: -0.641228 deg/s, cmd heading: 131.344196 deg, new cmd heading: 130.532592 deg. 2jܼ%HeadingCmd: 2.278224 target range: 76.300003 and range: 76.30 m. j%j@j)j)eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.953460jihhhhff!f)rfQbf] )?ɛeB= n?I  ;ɚiIKe=Ij@ii{=)j@)*F?2F:FBFe1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.202912G X=G G nAG B O >w,[ӾA67V@Y64u@6&N;963_=y6H`ҁ`?@?w^?s??ɨ67V@6;6CyRwBR!ImMb@Mb@Mb@iii i)iYmJ +?K7A`?{Gztym(?m+>mףm@ m5@)iImb@iym@II4٢x = @=9[;Q >HI I"IĨBI* =&I.I6I~<:IJ FBIyJIyRIyZIybIyjI}4 G٣yȝ > Nusing accuracyPremultiplier from configD59?D5YP i .?:X&@@)4Ej;r;D5 AZj%DNOT Ignoring new targets: 76.30 m.Bj-9Jj-9E ProNav: ac range: 76.300003 m, nav range: 61.067520 m, bearing: 46.507708 deg, approach rate: 0.150908 m/s, LOS rate: -0.650332 deg/s, cmd heading: 130.532592 deg, new cmd heading: 129.728518 deg. 2jE(߼EHeadingCmd: 2.264190 target range: 76.300003 and range: 76.30 m. jM|@jIjIjIiIhIhIhQhU BfQfYfYrfYbf]Δ?ɛB3= 隕q?I L;ɚiIid=I|@ii.8=)|@) $?I*F?2F:FBF4JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.454827Gṷ=G9BIOeV>zK5 {yMK5 9K1 K5 VK5 nw,4ӾAJ&@YJ#@Jm<9J(W=yJH"5o? s:?? 큿`?c?ɨJ&@J;HbWill construct direction to contact in vehicle frame from tetrahedron phase data.b;?b=?fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.706559yfpBf!I)h hprAI I  4٢] ]N=9e!aa mG٣mLGymb m> Nusing accuracyPremultiplier from configqD59u?D5Yu iu B$@@u-4EugPw,!ӾAF!@YF@@FJ@<9FMY=yFH@/}4?ā?T@צ?%?`?ɨF!@F;DyRzBR!I5Mb@Mb@Mb@111 1)1Y5~jt?jt?MbP?y5$?5 >5:5@ 5@)5@I5x@1y5@IMIMg4٢e.A= eI=9ep;Q e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configyD59}ۏ?D5Y} i} Bq)?:#@@}14E}n;};}D5ғB AEZjDNOT Ignoring new targets: 76.30 m.Bj@Jj@ ProNav: ac range: 76.300003 m, nav range: 61.167538 m, bearing: 46.015450 deg, approach rate: 0.130113 m/s, LOS rate: -0.671693 deg/s, cmd heading: 128.995608 deg, new cmd heading: 128.253029 deg. 2j}漝HeadingCmd: 2.238438 target range: 76.300003 and range: 76.30 m. jB@jjjihhhh Bfffrfbf@ɛUB]P= Y]q?IY e<ɚiIb=IB@ii ԗ=)B@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210389*F]?2FY:FYBF]^0JFYG5=GBOn>jH<bHH>I I"IIǃBI&I.I6Id<:I6 F $?I u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462339w,ӾA6n@Y6ٍ@6ԯd<96rY=y6H Ps ??g,?@i*??ɨ6n@6X@;6CyRBR!IIZIZJ4٢f&= fU=9j;Q j>hh nG٣lyr r> vNusing accuracyPremultiplier from configtzD59v~?zD5Yv it|~"@~@v54EvU";v";vD5  }A %B*** querying acoustic contact ***j!j!Zj15DNOT Ignoring new targets: 76.30 m.Bj.Jj. ProNav: ac range: 76.300003 m, nav range: 61.211296 m, bearing: 45.780588 deg, approach rate: 0.113788 m/s, LOS rate: -0.610292 deg/s, cmd heading: 128.253030 deg, new cmd heading: 127.548984 deg. 2jkѼHeadingCmd: 2.226150 target range: 76.300003 and range: 76.30 m. j=y@jjjihhhhfffrfbf@ɛ=B=%= 9=t?I9 =<ɚAiAIE!/b=IM=y@iQiI_=)=y@)*F-?2F):F)BF-`0JF)zK]JKh9KKWKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714429GMZ=G) BA O] >w,ԾA DIDV@YV@V<9V`#]=yVH+?@O?t@kj?b@?@?ɨV@V?;TybBb!Iif4>If< j=jR=InIn4٢vu,< vH=9v&;Q z>xx zG٣zLGy] ]> eNusing accuracyPremultiplier from configamD59ej?mD5Ye iaim"@m@e:4Ee.:e:eD5}ѓB }fA}EZjDNOT Ignoring new targets: 76.30 m.Bj.Jj. ProNav: ac range: 76.300003 m, nav range: 61.256969 m, bearing: 45.524478 deg, approach rate: 0.109128 m/s, LOS rate: -0.611467 deg/s, cmd heading: 127.548988 deg, new cmd heading: 126.781280 deg. 2jѼHeadingCmd: 2.212751 target range: 76.300003 and range: 76.30 m. j @jjjihhhhfffrfbf@@5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.967078ɛ-BUie= Y]8u?IY e)<ɚaiaIev_a=I @i1i5)=)= @)A*F%?2F!:F!BF!JF!GM h=GQ GU rA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:25:19.3052  TRx dataTimestamp_ set to:1736375120.697698 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220704G! B) OM >J} J} Jy Jy J} \:J} 9Jy Jy a @a @a @a @T w,1ԾA:@Y: @:>6<9:W^=y:H @{3%ף;! %@)!I%K@!y%=@HAIA IE"IIẼBIE+ =&IA.IA6IE7<:IE FI]I] 4٢m= mB=9m;Q m>qq G٣yͼ > Nusing accuracyPremultiplier from config D59X?5D5YS i50(?5:58 @5@>4Ec;;ED5A E*AAZjDNOT Ignoring new targets: 76.30 m.Bj'Jj' ProNav: ac range: 76.300003 m, nav range: 61.295959 m, bearing: 45.266447 deg, approach rate: 0.088820 m/s, LOS rate: -0.587424 deg/s, cmd heading: 126.781275 deg, new cmd heading: 126.007723 deg. 2j ɼHeadingCmd: 2.199250 target range: 76.300003 and range: 76.30 m. j @jjjihhh!h%Bf!f!f) u$?Iqrf)bf  @ɛ=B== AE>x?IA M,8<ɚIiIIU`=Im @iiim=)m @)iEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.471198*F?2F:FBFo0JF)Y Y G ! G- = u Yq yu oBGA BI Oe >xw,,~KԾAzK.BoIK.9K,K.XK.RWill construct direction to contact in vehicle frame from tetrahedron phase data.nDAT read: 22:25:19.3052 LVL= 30496, 32049, 28082, 32755, AGC= 65, IDX= 410,-0.44,-0.048,-1.592,-0.574,-0.546, PHS= 0.586,-0.999,-0.031, RAW= 127.3, 6.5, CAL= 134.6, 1.1, ROT= 15.4, -1.1 rYgot valid direction response: 22:25:19.3052 LVL= 30496, 32049, 28082, 32755, AGC= 65, IDX= 410,-0.44,-0.048,-1.592,-0.574,-0.546, PHS= 0.586,-0.999,-0.031, RAW= 127.3, 6.5, CAL= 134.6, 1.1, ROT= 15.4, -1.1 vPDAT read: Bearing 15.4, -1.1 (Local) z~Local bearing/azimuth received: Bearing 15.4, -1.1 (Local) ~DAT read: Range 10 to 50 : 73.5 m (Round-trip 98.1 ms) speed 0.6 m/s ,DAT read: user:2589>  BDAT read: Tx time:22:25:20.4030  $Ping request sent. iRnFPPRW?%~IRTiR*%R]iuPP]:publishing transmit ping time ]Fpublishing direction and range infoP9R#Ͽkr j0?yPPPP P)PIPiPPPPP P)PIPiPPPRW?%~ G٣yʼ > Nusing accuracyPremultiplier from configD59F?D5Y6~ i B@@B4E;j;D5ГB AEkR13?kRN- kP kRLԾA:kRBBkRBZkRK>"R B2}  CݐrN@R#Ͽkr j0?JkR*%RkR]iu*R1BME@)b]7+@4l)M@RO=j?k-Ѳ?''3/d?"kRYA*kRj*BkRnL?kR 2kRBBkPkR< kRBkRoBkRC? addTargetRange:: Added new target pos. range: 73.500000 m, deltaT: 3.779166 s, deltaX: -2.800003 m, approachRate: -0.740905 m/s, rangeRepo size: 4 5 Added new target pos. range: 73.500000 m, bearing: 17.714153 deg, lat: 36.905412 deg, lon: -122.119218 deg, deltaT: 3.779166 s, deltaX: -2.800003 m, approachRate: -0.740905 m/s, posRepo size: 4 Zj1=DNOT Ignoring new targets: 73.50 m.BjEJji} ProNav: ac range: 73.500000 m, nav range: 59.914234 m, bearing: 43.656868 deg, approach rate: 0.000000 m/s, LOS rate: -0.587424 deg/s, cmd heading: 126.007728 deg, new cmd heading: 125.222287 deg. 2jyHeadingCmd: 2.185541 target range: 73.500000 and range: 73.50 m. j @jjjihhhhfffrf`R@bf*?ɛB+= 隭*?I jOG<ɚiIt_=I @iil=) @) e$?Ia*F?2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiG =G B O >6w,fԾAJn@YJj@J<9J`=yJH`o~ ܎[h??p ?$ݓ@?#?ɨJn@Jw;HyrBv!I)x xzAxWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YuV?K7A?y&1?yr(? >`e<-@ 5@)@Iy@II4٢K< #=9:Q >)) -G٣-LGy-q 5> ENusing accuracyPremultiplier from config1mD5950?mD5Y5x i5 Bm+?m:m!@m@5H4E5|;5T;5$D5y }~AyJJJJJ̝:J9JJZj DNOT Ignoring new targets: 73.50 m.Bj HJj H ProNav: ac range: 73.500000 m, nav range: 59.956661 m, bearing: 43.334770 deg, approach rate: 0.092562 m/s, LOS rate: -0.702214 deg/s, cmd heading: 125.222284 deg, new cmd heading: 124.256769 deg. 2jE𼝊MHeadingCmd: 2.168690 target range: 73.500000 and range: 73.50 m. jM @jIjIjIiIhIhQhQhUEBfQfYfYrfYbf9?ɛBFŤ= ?I ~U<ɚiI>^=I @iiE=) @)HI I5"IIBI&I.I6If<:I7 F*F?2F:FBF0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.G R=G B O >P w,OԾA65@Y6T@6!<96?G=y6H9`?`?.?僔_ܨ??ɨ65@6BT;6CyBBB!IININ4٢R= V=9Z];Q z?|| ~G٣|y~$ ?  Nusing accuracyPremultiplier from config D59#?5D5Yu i B1=s@=@K4E|;;D5A E AEEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 73.50 m.Bj8Jj85 ProNav: ac range: 73.500000 m, nav range: 59.981537 m, bearing: 43.136238 deg, approach rate: 0.080712 m/s, LOS rate: -0.643890 deg/s, cmd heading: 124.256768 deg, new cmd heading: 123.661442 deg. 2j5ܼ=HeadingCmd: 2.158299 target range: 73.500000 and range: 73.50 m. j=! @j9j9jAiAhAhAhIhIfyfyfyrfybf}@?ɛBÁ= ۃ?I Ol`<ɚiI8]=I! @ii3=)! @)I*F?2F:FBF+5JFzK}k3IKyKyK}YK}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G뜮=GBOe> = $?I9 Lv&w,ԾA6@Y6}@6X<967L=y6H?@R?@;?@*f??ɨ6@6s;6CyRBR"IIZIZ4٢r}R= rG=9r:Q r>tt vG٣tyz,ļ z> ~Nusing accuracyPremultiplier from config|D59~?D5Y~gp i~ B @ @~O4E~;~:~`D5 A%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247208)ZjquDNOT Ignoring new targets: 73.50 m.Bj8Jj8 ProNav: ac range: 73.500000 m, nav range: 60.011978 m, bearing: 42.881136 deg, approach rate: 0.077195 m/s, LOS rate: -0.646575 deg/s, cmd heading: 123.661436 deg, new cmd heading: 122.896566 deg. 2jݼHeadingCmd: 2.144950 target range: 73.500000 and range: 73.50 m. jF @jjjihhhhfffrfbfAs?ɛBCy= O?I  n<ɚ1i1I=]=IuF @iqi}u=)}F @)*F2F:FBFI2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498826G =Ju Ju Ju 1Jq Ju \:Ju 9Ju 3Jq G B O >HA IA  IE N"IIE BIA &IA v,w.Iq6Iu<:IuZ F,ԾA6,@Y6(@6P<96PN=y6Hd 37]'?7?@?Ž? {?ɨ6,@6 ;6CyBăBB"IiF=IF> Jp=J=Mb@Mb@Mb@ )YFx?RQ?MbP?y+?=:@ K@)@Iy@II4٢B= >=9ҭ;Q > G٣y > Nusing accuracyPremultiplier from configD59$?D5Yk i B}-?:@@T4E;; D5 $?IhϓB ZAEZjDNOT Ignoring new targets: 73.50 m.Bj:Jj:- ProNav: ac range: 73.500000 m, nav range: 60.028606 m, bearing: 42.603959 deg, approach rate: 0.039170 m/s, LOS rate: -0.652745 deg/s, cmd heading: 122.896564 deg, new cmd heading: 122.065324 deg. 2j-߼5HeadingCmd: 2.130442 target range: 73.500000 and range: 73.50 m. j5)Y@j1j1j9i9h9h9hAhEbBfAfAfArfIbfM=9?ɛ}B}-= 隅?I |<ɚiI=\=I)Y@ii=))Y@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751003*FM?2FI:FIBFM^0JFIPExceeded connect timeout, disconnecting.Gu=GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002825zK BoHK 9K K ZK 3w,BԾA2[ @Y2W,@2^<92oK=y2H@n`at@/?`2t?@S@?'?i?S?ɨ2[ @2;2Cy:̃B:"IIFIF4٢J-:= N]=9N>;Q N>PP RG٣RLGyVt V> ZNusing accuracyPremultiplier from configX^D59Z%?^D5YZrf iZ B\^(@b@ZX4EZ ;Zm ;ZZD5d fAdZjDNOT Ignoring new targets: 73.50 m.Bj-Jj-% ProNav: ac range: 73.500000 m, nav range: 60.041008 m, bearing: 42.365369 deg, approach rate: 0.031623 m/s, LOS rate: -0.608257 deg/s, cmd heading: 122.065330 deg, new cmd heading: 121.349748 deg. 2j%м%HeadingCmd: 2.117953 target range: 73.500000 and range: 73.50 m. j-@j)j)j)i)h)h)h1hQfQfYfYrfYbf]`@ɛB^ʺ= 隥?I `E<ɚiIY[=I@ii=)@)EEsA I*F ?2F :F BF_0JFG%rA G%rAEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255532GM =G! B1 OM >9w,ԾAy!Mb@Mb@Mb@ )Y"~?㥛 ?Mbp?y3?=;@ )@Ib@y(@IIa49 Q  >  G٣y > %Nusing accuracyPremultiplier from config!-D59%ޔ?-D5Y%P` i% B54?5:5@5@%]4E%;%;%LD5EΓB EAEEZjiuDNOT Ignoring new targets: 73.50 m.BjuKJjuK ProNav: ac range: 73.500000 m, nav range: 60.046425 m, bearing: 42.060874 deg, approach rate: 0.012676 m/s, LOS rate: -0.712466 deg/s, cmd heading: 121.349744 deg, new cmd heading: 120.436422 deg. 2jzHeadingCmd: 2.102012 target range: 73.500000 and range: 73.50 m. j^@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506850jjjihhhhuBfffrfbf/@ɛ^= n?I  <ɚiI+sZ=I^@ii0=)^@)JJ?AJJJ0JJ<:J9Jـ3J*F?2F:FBFJFHI If"II BI* =&I.I6IL<:I$ FBIJIRIZIbIjI4 $?IG G ?G >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759527Gi Bq O > } nManaging dock network, ignoring radio surface power off@w,υվAFWQ?YF @F-<9F@=yFH  s? 9??@??ɨFWQ?F);DyVЃBV!"II^I^ 4٢fF< f<9f{;Q j>hh jG٣hynu n> rNusing accuracyPremultiplier from configpvD59rJД?vD5YrI[ ir Bxz`@z@ra4Er:r:rxD5| @%B*** querying acoustic contact ***j!j!Zj)5DNOT Ignoring new targets: 73.50 m.Bj5@Jj5@E ProNav: ac range: 73.500000 m, nav range: 60.046432 m, bearing: 41.816057 deg, approach rate: 0.000021 m/s, LOS rate: -0.674424 deg/s, cmd heading: 120.436425 deg, new cmd heading: 119.702018 deg. 2jMl缝MHeadingCmd: 2.089194 target range: 73.500000 and range: 73.50 m. jM\@jQjQjQiQhQhQhYhYfafafarfabfe`@ɛB= 隝H?I *<ɚiI?Y=I\@ii:x=)\@)*F?2F:FBF0JFG:I=GBO!>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:25:22.9017 TRx dataTimestamp_ set to:1736375124.224724checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013036zKBoIKh9KK[K I Fw,AcվA2?Y2 + @2<92Yr8=y2H@@ ? ? 7?Oo ?@?ɨ2?2;2CyBуBB""IIJIJa4٢f; fJ=9fX:Q f>hh jG٣jLGyjWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263398 > Nusing accuracyPremultiplier from configD59N?D5YCU i B@@f4EC::Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:25:22.9017 LVL= 22320, 30065, 26226, 32755, AGC= 64, IDX= 405, 0.12,-2.365, 2.407,-3.003,-2.847, PHS= 0.571,-0.982,-0.159, RAW= 122.0, 8.5, CAL= 130.2, 4.2, ROT= 19.8, -4.2  Ygot valid direction response: 22:25:22.9017 LVL= 22320, 30065, 26226, 32755, AGC= 64, IDX= 405, 0.12,-2.365, 2.407,-3.003,-2.847, PHS= 0.571,-0.982,-0.159, RAW= 122.0, 8.5, CAL= 130.2, 4.2, ROT= 19.8, -4.2  PDAT read: Bearing 19.8, -4.2 (Local)  ~Local bearing/azimuth received: Bearing 19.8, -4.2 (Local) 5 DAT read: Range 10 to 50 : 70.9 m (Round-trip 94.6 ms) speed 0.5 m/s = ,DAT read: user:2590> E BDAT read: Tx time:22:25:24.0030 E $Ping request sent.E {o?yص̍Bرص0Wصqu ٵrf)ٱIٵ@iٵ-?ٵZd{ٵ"ٵ{F@ٵ> ڵOo@)ڵQ =Iڵ;>iڵQ ڱڱ۵#0Ӡ?̠7 ??)۵# =I۵6i۵ ۵ڃ۱۱u :publishing transmit ping timeA u Fpublishing direction and range infoر9ص !c+ҿ|"~fzۿ͂>{o?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵#0Ӡ?̠7 ??)۱I۱i۱۱۱۱G =G B H I  I y"II BI &I .I 6I O<:I & FO >Lw,C6վA:?Y:Bq @:<9:3=y:HE`RC4K? BA?:@c?u??ɨ:?:z;8yj҃B~#"I m$?IiMb@Mb@Mb@ )YA`"?A`"?MbPy9?Y=K@ @)@Ij@yp@II4٢M: *=9%e:Q %>!! %G٣!y-7 -> =Nusing accuracyPremultiplier from config1=D595᭔?ED5Y5N i5 BE9?E:E @E@5k4E5 ;5 ;52D5u͓B u@uEku.?k@  k k.վA:k̍BBkьBZk="q 4p>$ WijdN@ !c+ҿ|"~fzۿ͂>{o?Jk Rkڃ*#7)B@Q@SLM@?3I/? ?"kp@*kBk-?kZ 2kBkk kRBk>QBkdm? Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:25:24.0022 - addTargetRange:: Added new target pos. range: 70.900002 m, deltaT: 3.527477 s, deltaX: -2.599998 m, approachRate: -0.737070 m/s, rangeRepo size: 4 = Added new target pos. range: 70.900002 m, bearing: 5.705641 deg, lat: 36.905412 deg, lon: -122.119366 deg, deltaT: 3.527477 s, deltaX: -2.599998 m, approachRate: -0.737070 m/s, posRepo size: 4 Zj9eDNOT Ignoring new targets: 70.90 m.BjmJji} ProNav: ac range: 70.900002 m, nav range: 52.310814 m, bearing: 30.310207 deg, approach rate: 0.000000 m/s, LOS rate: -0.676067 deg/s, cmd heading: 118.829637 deg, new cmd heading: 117.874207 deg. 2jyHeadingCmd: 2.057293 target range: 70.900002 and range: 70.90 m. j@jjjihhhhBfffrfQ@bf@2?ɛ15m4= 15`?I1 =|<ɚ9i9I=ٹW=Ie@iaie =)e@)i*F?2F:FBF0JFG {= Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >zK5 k3IK5 s9K1 K5 \K5 RK= >JK= >Sw,<PվARpu?YR @R<9Rj))=yRH@~n?Zl?U?Mt!??ɨRpu?RYu;RCy^̃B^"I b=b=IfIf\4JrJrJr1JpJr\:Jr:Jr3JpJri;azJrj;azJryE;azJrzE;az٢~ ~u=9Q ? G٣ y   ? Nusing accuracyPremultiplier from configD593?D5YI i B!%@%@o4E ;u ;D5-B -@)ZjQUDNOT Ignoring new targets: 70.90 m.Bj]%mJj]%mm ProNav: ac range: 70.900002 m, nav range: 52.345795 m, bearing: 30.048274 deg, approach rate: 0.110829 m/s, LOS rate: -0.829318 deg/s, cmd heading: 117.874203 deg, new cmd heading: 117.088981 deg. 2jmIuHeadingCmd: 2.043588 target range: 70.900002 and range: 70.90 m. ju&@jqjqjyiyhhhhfffrfbf]?ɛuBuG= y}?Iy }<ɚyiyI}hV=I&@ii_=)&@)*F-?2F1:F1BF53JF9 QI]hG- =GB O%M>-Will construct direction to contact in vehicle frame from tetrahedron phase data.Zw,+iվAVM ?YV$ @V:R<9V=yVH8jϐ? ?nE?@Xiٌ??ɨVM ?V5;VCyfÃBf"I]Mb@Mb@Mb@YYY Y)YY]V-?Mb? G٣LGy>ּ > Nusing accuracyPremultiplier from configE59?E5YC i B3@?:@@t4E+;2*;E5 @@ZjDNOT Ignoring new targets: 70.90 m.BjgJjg ProNav: ac range: 70.900002 m, nav range: 52.393917 m, bearing: 29.704704 deg, approach rate: 0.113513 m/s, LOS rate: -0.809678 deg/s, cmd heading: 117.088977 deg, new cmd heading: 116.059330 deg. 2j HeadingCmd: 2.025617 target range: 70.900002 and range: 70.90 m. j @j j uWill construct direction to contact in vehicle frame from tetrahedron phase data.j ihhhhBfffrfbf nG?ɛ ž= )5?I1 5p<ɚ1i1I5:V=I=@i9i=Z =)E@)A*F%?2F!:F!BF%^0JF!G-sA G-nAZHRH?AHI III&I.I6I<:Iz F =$?IAG% TU=G- ?G- >G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.O5 >;`w,=҃վAy%B- "IEH~G]|uAy Y|uAy]BIIh4٢ F=9Q > G٣y > %Nusing accuracyPremultiplier from config!-E59%?-E5Y%< i%{ B)15@%y4E%~ ;%%;%zE59 =t@=E]B*** querying acoustic contact ***jYjYZjamDNOT Ignoring new targets: 70.90 m.BjmlgJjmlg ProNav: ac range: 70.900002 m, nav range: 52.443466 m, bearing: 29.364817 deg, approach rate: 0.118092 m/s, LOS rate: -0.809296 deg/s, cmd heading: 116.059326 deg, new cmd heading: 115.040740 deg. 2j HeadingCmd: 2.007840 target range: 70.900002 and range: 70.90 m. jr@jjjihhhhfffrfbfۯ?ɛ3= ?I C<ɚiIUU=Ir@ii >)r@)*Fm?2Fi:FiBFu_0JFqGE|+=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GB O-N>zK]BHK]9KYK]]K]JJJ0JJ<:J9Jـ3JJ;J;JZ5;JZ5; ) I) gw,"վA2vl?Y26@2E'<92N/hh jG٣hynLg n>rWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746489 zNusing accuracyPremultiplier from configx~E59zq?E5Yz6 izq BQ@@z~4Ez;z`;zE5   AZj1=DNOT Ignoring new targets: 70.90 m.Bj=gJj=gM ProNav: ac range: 70.900002 m, nav range: 52.482510 m, bearing: 29.068691 deg, approach rate: 0.107038 m/s, LOS rate: -0.811222 deg/s, cmd heading: 115.040740 deg, new cmd heading: 114.153099 deg. 2jM/ UHeadingCmd: 1.992347 target range: 70.900002 and range: 70.90 m. jU>?jYjYjYiYhYhYhahifififirfqbfu ҄?ɛQ]= ae?I }A<ɚiIp9T=I>?ii>#>)>?) *F%?2F!:F)BF)JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997679Ge LM=Gi Gi G9 BI Om >H I  I m"II BI + =&I .I 6I ]<:I 1 Fp G٣LGy > Nusing accuracyPremultiplier from configE59a?E5Y<0 ia B>?:@@4E>;v&;m E5B ;AEZj DNOT Ignoring new targets: 70.90 m.BjcJjc- ProNav: ac range: 70.900002 m, nav range: 52.537018 m, bearing: 28.725398 deg, approach rate: 0.126243 m/s, LOS rate: -0.794250 deg/s, cmd heading: 114.153102 deg, new cmd heading: 113.124405 deg. 2j-E5HeadingCmd: 1.974393 target range: 70.900002 and range: 70.90 m. j5?j9j9j9i9h9h9hAhEBfAfAfIrfQbfU=@ɛy} 1= y隅I?I <ɚiI\S=I?iil>)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250651*F 2F :F BFo0JF"G=G>G=GBOA> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501527$tw,VaվA6}?Y6: @6<96 G٣y=R => ENusing accuracyPremultiplier from configAME59EyR?ME5YE1* iES BQU @U@E4EEq:E:EE5y }A}EZjDNOT Ignoring new targets: 70.90 m.Bj5`Jj5` ProNav: ac range: 70.900002 m, nav range: 52.579720 m, bearing: 28.415438 deg, approach rate: 0.108107 m/s, LOS rate: -0.784074 deg/s, cmd heading: 113.124407 deg, new cmd heading: 112.195370 deg. 2j HeadingCmd: 1.958179 target range: 70.900002 and range: 70.90 m. j ?j j j i h h h1h1f9fAfArfIbfM@@ $?IhɛXȸ= G~?I <ɚiIwR=I-?i)i-'K>)5?)1*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.753842G >G B O >Pzw,CվA6?Y6!@6<96jIFp; J=JR=eMb@Mb@Mb@aaa a)aYeOn?&1?~jtye8?e=eļeC@ e@)aIaaye @I}I}4٢a  B=9:Q > G٣ye > Nusing accuracyPremultiplier from configE59B?E5Y# i@ B:?:.@@4EE;6D;wE5B AEZjDNOT Ignoring new targets: 70.90 m.BjbJjb ProNav: ac range: 70.900002 m, nav range: 52.632103 m, bearing: 28.089615 deg, approach rate: 0.127730 m/s, LOS rate: -0.793685 deg/s, cmd heading: 112.195372 deg, new cmd heading: 111.218974 deg. 2j,HeadingCmd: 1.941137 target range: 70.900002 and range: 70.90 m. j0w?j!j!j!i!h!h!h)h-rBf)f)f1rf1bf5(@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:22:25:26.4987 ]TRx dataTimestamp_ set to:1736375127.752772echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006815ɛqu = y}z?Iy }<ɚyiyI}oQ=I0w?iiX >)0w?)JJBA*FE?2FI:FIBFM>5JFIH)I) I-T"II-BI-* =&I).I)6I-;<:I- FGE B>GB)OER> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2577626w,־A2 ?Y2 /@2+=92z!hh jG٣jLGyn n> vNusing accuracyPremultiplier from configpzE59r4?zE5Yr% ir/ Bx~:@~@r4Er(;ry;rE5 eAZjDNOT Ignoring new targets: 70.90 m.Bj"TJj"T ProNav: ac range: 70.900002 m, nav range: 52.676945 m, bearing: 27.794492 deg, approach rate: 0.112815 m/s, LOS rate: -0.741845 deg/s, cmd heading: 111.218976 deg, new cmd heading: 110.334435 deg. 2jHeadingCmd: 1.925699 target range: 70.900002 and range: 70.90 m. jP}?jjjihhhhfff rf bf@Y @ɛq}2= 隅q?I <ɚi)I-P=I5P}?i1i5l >)5P}?)9mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 3JFDAT read: 22:25:26.4987 LVL= 22400, 29617, 24482, 32755, AGC= 64, IDX= 407,-0.42,-0.797,-2.423,-1.704,-1.468, PHS= 0.758,-0.909,-0.239, RAW= 113.5, 5.4, CAL= 123.8, 2.1, ROT= 26.2, -2.1 eYgot valid direction response: 22:25:26.4987 LVL= 22400, 29617, 24482, 32755, AGC= 64, IDX= 407,-0.42,-0.797,-2.423,-1.704,-1.468, PHS= 0.758,-0.909,-0.239, RAW= 113.5, 5.4, CAL= 123.8, 2.1, ROT= 26.2, -2.1 mPDAT read: Bearing 26.2, -2.1 (Local) m~Local bearing/azimuth received: Bearing 26.2, -2.1 (Local) uDAT read: Range 10 to 50 : 68.7 m (Round-trip 91.6 ms) speed 0.6 m/s ,DAT read: user:2591> BDAT read: Tx time:22:25:27.6030 $Ping request sent.iuQ qquݿg.? &ƈ/?)uIuiuG u崘qq-:publishing transmit ping timeة-Fpublishing direction and range infoq9uBE̿)i/ҿ.\?yqqqq q)qIqiqqqqq q)qIqiqqquݿg.? &ƈ/?)qIqiqqqq $?I Ge 7>Gi Gi GA BI Oe >aw,־A6=?Y6{=@6!h=96'aa eG٣aym m> Nusing accuracyPremultiplier from configqE59u6%?E5Yu iu BG @@u4Eu;u;uuE5 AEk:_R?k59 k kt־A:kfBBkrBZkk@"hO!.݈2 `4eEO@BE̿)i/ҿ.\?JkG Rk崘*;j99@V 甓iO@ƃ(M?;,a i67?"k?*kAkW`?kq9 2kCknL?k kBBk5 addTargetRange:: Added new target pos. range: 68.699997 m, deltaT: 3.529111 s, deltaX: -2.200005 m, approachRate: -0.623388 m/s, rangeRepo size: 4  Added new target pos. range: 68.699997 m, bearing: 357.063194 deg, lat: 36.905405 deg, lon: -122.119530 deg, deltaT: 3.529111 s, deltaX: -2.200005 m, approachRate: -0.623388 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 68.70 m.BjJj ProNav: ac range: 68.699997 m, nav range: 47.052315 m, bearing: 11.915370 deg, approach rate: 0.000000 m/s, LOS rate: -0.741845 deg/s, cmd heading: 110.334439 deg, new cmd heading: 109.370054 deg. 2jHeadingCmd: 1.908868 target range: 68.699997 and range: 68.70 m. jU?jjjih h hhfff9rfE,Q@bfE;?ɛ= +k?I <ɚiIP=IU?iiW >)U?)*F?2F:FBFV5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.H% >I!  I% ."II% ܃BI! &I! .I! 6I% [<:I% 1 FBIJIRIZI* =bI* =jI i4G5 > I G B O5 >zw,:־AytB!I) !%AMb@Mb@Mb@ )Y> ףp=?Zd;?~jty1?=@ @)C@Iy@II4٢4 4=9Q > G٣y   > Nusing accuracyPremultiplier from configE59}?E5Y  i B%4?%:%i@%@4E;;kE5) 5A1UB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 68.70 m.BjeiJjmi} ProNav: ac range: 68.699997 m, nav range: 47.195644 m, bearing: 11.568074 deg, approach rate: 0.338375 m/s, LOS rate: -0.817408 deg/s, cmd heading: 109.370057 deg, new cmd heading: 108.331453 deg. 2j}> HeadingCmd: 1.890741 target range: 68.699997 and range: 68.70 m. j?jjjihhhhFBfffrfbf?ɛBm=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. aeg?Ii ms<ɚiiiImJO=Iu?iqiuB>)u?)y*F]?2FY:FYBFec0JFaG >G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966331zKM KM 9KI KM `KM `唵w, T־ARK&?JK&>B-?YBg@B=9B>Q`d fG٣fLGyf f> nNusing accuracyPremultiplier from configlrE59n?rE5Yn  in Btv @v@n4En:n:n E5zB zUAzEZjDNOT Ignoring new targets: 68.70 m.Bj%C]Jj%C]5 ProNav: ac range: 68.699997 m, nav range: 47.305386 m, bearing: 11.286689 deg, approach rate: 0.302475 m/s, LOS rate: -0.773766 deg/s, cmd heading: 108.331452 deg, new cmd heading: 107.489320 deg. 2j5=HeadingCmd: 1.876043 target range: 68.699997 and range: 68.70 m. j=*"?j9j9jAiAhAhAhAhIfIfIfQrfQbfU?ɛy}깿= y}b?I R<ɚiIN=I*"?ii`S>)*"?) =$?I9*F%?2F!:F)BF-_0JF)G)>GBO$>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218565, w,Mn־A>J?Y> @>u=9>GHۿ`i`4?9ۿ?@m?,?ɨ>J?>P;>CyNcBR!I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.470291mMb@Mb@Mb@iii i)iYmK7?K7?/$ym)?mI >mm@ m@)iImb@iym @II4٢ >=9Q > G٣y > Nusing accuracyPremultiplier from configE59?E5Y i Be-?:@@4E;;\$E5 AZjDNOT Ignoring new targets: 68.70 m.Bj^PJj^P  ProNav: ac range: 68.699997 m, nav range: 47.435242 m, bearing: 10.971912 deg, approach rate: 0.301433 m/s, LOS rate: -0.728683 deg/s, cmd heading: 107.489323 deg, new cmd heading: 106.547667 deg. 2j HeadingCmd: 1.859608 target range: 68.699997 and range: 68.70 m. j%?j!j!j!i!h!h!h)h-:Bf)f)f1rf1bf=~?ɛae{= ae_?Ia m<ɚiiiImyM=JK 3 K .-KK"KJJJJJ:J9JJa@a@a@a@Iu?iIiUZ>)U?)QZHRHHI I "IIBI&I.I6Io<:I@ F*F?2F:FBFJF 1I5hG ?> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723086G B O >w,0־A2-v?Y2Z@2 =92a# Va=TIZIZ4٢bp! bY=9b;Q f>dd fG٣dyj.C j> rNusing accuracyPremultiplier from configlvE59n드?vE5Yn' in Btvn @v@n4En7:n:n'E5~B ~A~EZj!-DNOT Ignoring new targets: 68.70 m.Bj-yQJj-yQ= ProNav: ac range: 68.699997 m, nav range: 47.546227 m, bearing: 10.694721 deg, approach rate: 0.293992 m/s, LOS rate: -0.732545 deg/s, cmd heading: 106.547666 deg, new cmd heading: 105.718096 deg. 2jE^EHeadingCmd: 1.845129 target range: 68.699997 and range: 68.70 m. jE/-?jIjIjIiIhIhIhQhQfQfQfYrfYbf]?ɛB7= 隕 \?I 5:a<ɚ1i1I5i M=I=/-?i9i=é>)=/-?)A*F?2F:FBFn0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.975336G3X>GaBiO9>zKBoIK]9KKaKBK qA:K pA $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227979Z w,־AB?YB?BA=9BI;yBH`6ٿKF?ٿ ?w<.}?T?ɨB?BMd;BCyJSBJ!IIVIV[4٢^& ^K=9^;Q ^>`` bG٣bLGybO f> nNusing accuracyPremultiplier from configlrE59niޓ?rE5YnK in Btv @v@n4Enz:n:n0+E5Q UAYZjyDNOT Ignoring new targets: 68.70 m.BjtLJjtL ProNav: ac range: 68.699997 m, nav range: 47.661201 m, bearing: 10.396558 deg, approach rate: 0.276377 m/s, LOS rate: -0.714994 deg/s, cmd heading: 105.718098 deg, new cmd heading: 104.825841 deg. 2jXHeadingCmd: 1.829556 target range: 68.699997 and range: 68.70 m. j.?jjjihhhhfffrfbf9@ɛ]BN= 隕9X?I O<ɚiIOL=I.?iiE\c >)E.?)I*F2F:FBF`0JFG%rA G%sAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479055JJJJJ|:J:JJH >I  I !II BI &I .I 6I _<:I 5 FG ->  I G B O- >Nw,־Ay XB !IMb@Mb@Mb@ )YV-?t@ @)Z@IyII 4٢< 9=9Q > G٣y > Nusing accuracyPremultiplier from configE596Г?E5Y[ i B#?: @@4E;; /E5  A UB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 68.70 m.BjmtFJjmtF} ProNav: ac range: 68.699997 m, nav range: 47.786911 m, bearing: 10.094327 deg, approach rate: 0.289425 m/s, LOS rate: -0.694003 deg/s, cmd heading: 104.825843 deg, new cmd heading: 103.921615 deg. 2j}$HeadingCmd: 1.813774 target range: 68.699997 and range: 68.70 m. j)?jjjihhhh/Bfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730322ɛBȻ= f[?I =ɚiIvK=I)?iiS>))?)*F) 2F:FBFC1JFNG%vA9 mYmvAymBG # >GBOd>u Will construct direction to contact in vehicle frame from tetrahedron phase data.u >u %=} BDAT read: Rx Time:22:25:30.0957 } TRx dataTimestamp_ set to:1736375131.280992 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983638J.w,ܺ־A2+?Y2 ?2n'=92|:y2H.k׿``j`?uo׿?.`YkS?#?ɨ2+?2H^;0yBRBB!I)D DDDIJIJ4٢V Za=9ZE\\zKpKr+9KpKrbKr G٣y% ֽ %> -Nusing accuracyPremultiplier from config)5E59-ē?5E5Y-% i- B15 @5@-4E->;-;-S2E5eB eAeE $?IhZjDNOT Ignoring new targets: 68.70 m.BjDJjD ProNav: ac range: 68.699997 m, nav range: 47.886684 m, bearing: 9.832845 deg, approach rate: 0.262829 m/s, LOS rate: -0.687372 deg/s, cmd heading: 103.921615 deg, new cmd heading: 103.138855 deg. 2j뼝%HeadingCmd: 1.800113 target range: 68.699997 and range: 68.70 m. j%j?j!j)j)i)h)h)h1h1f1f9f9rf9bf=<> @ɛ<Ϻ= 隍X?I k=ɚiIJ=Ij?ii=)j?)*F%?2F!:F!BF%`5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235126G- >G! B1 Om >6Xw,%־AMWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:25:30.0957 LVL= 20304, 32753, 31986, 32755, AGC= 62, IDX= 407, 0.20, 2.848, 0.999, 1.798, 2.140, PHS= 0.795,-1.094,-0.345, RAW= 113.2, 7.9, CAL= 122.9, 4.8, ROT= 27.1, -4.8 Ygot valid direction response: 22:25:30.0957 LVL= 20304, 32753, 31986, 32755, AGC= 62, IDX= 407, 0.20, 2.848, 0.999, 1.798, 2.140, PHS= 0.795,-1.094,-0.345, RAW= 113.2, 7.9, CAL= 122.9, 4.8, ROT= 27.1, -4.8 PDAT read: Bearing 27.1, -4.8 (Local) %~Local bearing/azimuth received: Bearing 27.1, -4.8 (Local) -DAT read: Range 10 to 50 : 66.3 m (Round-trip 88.5 ms) speed 0.7 m/s 5,DAT read: user:2592> =BDAT read: Tx time:22:25:31.2030 =$Ping request sent.=iMK?M1MףM'?M0 > MG @)M=IM*>iMIIMV#y?L_υ?)MIM iM>\MkٕIIe:publishing transmit ping time9eFpublishing direction and range infoI9Mпw IҿTGy?yIIII I)IIIiIIIII I)IIIiIIIMV#y?L_υ?)IIIiIIIIyޥUBޥ!IJ=J=J9J9J= :J=:J9J9jH<bH<H >I I!IIBI&I.I6I<:IX FMb@Mb@Mb@ )YA`"?p= ף?tC@ @)@I@yG@II~4٢%< % =9-Q ->)) 5G٣5LGy5 5> eNusing accuracyPremultiplier from configYeE59]N?eE5Y]t i] Bm?m:m? @m@]4E];]/;]X7E5q uAkMTI?kM[s kI kMB־A:kMBBkMBZkM@"MIaq1rl_=2|*N@Mпw IҿTGy?JkM>\RkMkٕ*M#'37@@![exN@M6߱e?)o'Xá?"kM *kMAkMW?kM 2kMBkM-?kMZ kMBkM"BkM@- addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.528237 s, deltaX: -2.399994 m, approachRate: -0.680225 m/s, rangeRepo size: 4 m Added new target pos. range: 66.300003 m, bearing: 343.138163 deg, lat: 36.905345 deg, lon: -122.119621 deg, deltaT: 3.528237 s, deltaX: -2.399994 m, approachRate: -0.680225 m/s, posRepo size: 4 ZjiDNOT Ignoring new targets: 66.30 m.BjJj ProNav: ac range: 66.300003 m, nav range: 40.642906 m, bearing: 359.791391 deg, approach rate: 0.000000 m/s, LOS rate: -0.687372 deg/s, cmd heading: 103.138855 deg, new cmd heading: 101.938654 deg. 2jHeadingCmd: 1.779165 target range: 66.300003 and range: 66.30 m. j?jjjihhhhPBfffrf@3P@bf?ɛeBe)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:25:31.2022 *F ?2F :F BF p0JF "G =G =G/>GBO?~õw,׾A2?Y2'?2;=92Yy2H ,Կr]`Ǎ\U?2Կ8(?_"u?ɨ2?2;0y>TB>!IIbfWill construct direction to contact in vehicle frame from tetrahedron phase data.Ibh4٢nF nm=9raG1BAOU2>}Will construct direction to contact in vehicle frame from tetrahedron phase data.&ʵw,*׾A=>?Y=3-?=P8=9=Sy=H<ӿ`|?Kӿ ?`f`?ɨ=>?=%;=CyUYBU!Iie=Ie< m=m=Mb@Mb@Mb@ )Y7A`?p= ף?Mb`y? p@)@Ix@y@IIy4٢}2< }3=9`Q > G٣y > Nusing accuracyPremultiplier from configE59ş?E5Yw ip B)?:@@4E;5;Q>E5 AZjDNOT Ignoring new targets: 66.30 m.BjTOJjTO ProNav: ac range: 66.300003 m, nav range: 40.890202 m, bearing: 359.208054 deg, approach rate: 0.306709 m/s, LOS rate: -0.725044 deg/s, cmd heading: 101.184014 deg, new cmd heading: 100.194181 deg. 2j HeadingCmd: 1.748718 target range: 66.300003 and range: 66.30 m. j ?jjjihh!h)h-nBf1f9f9rfAbfE1?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ]B]= Y] ^?IY e` =ɚaiaIe H=Iu?iqiu=)u?)y*J"JJJJJJ,:J :JJH">IC III) =&I.I4D6I}<:IN F*F5?2F1:F1BF5P5JF1 $?IGu )>GI Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. ѵw,[D׾A6'?Y6?6<=96jEy6H*ҿ@s>?`7ҿ? s ?ɨ6'?6|~;4yvbBv!I|~@AII4٢E= e=9X;;Q > G٣%LGy%H %> -Nusing accuracyPremultiplier from config)=E59-?=E5Y- i-e B9=@E@-4E-?a;-a;-nAE5I U~AQuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 66.30 m.BjNJjN ProNav: ac range: 66.300003 m, nav range: 40.997093 m, bearing: 358.948035 deg, approach rate: 0.297785 m/s, LOS rate: -0.722482 deg/s, cmd heading: 100.194183 deg, new cmd heading: 99.416213 deg. 2jHeadingCmd: 1.735140 target range: 66.300003 and range: 66.30 m. j?jjjihhhhfffrfbf@j?ɛB= b?I q=ɚiI3?H=I?ii=)?)*F?2F:FBF_0JFGmm>G9BIOe4>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. I zK] K] s9KY K] dK]   !_vZM=- RKm ?JKm ?a1׵w,N+^׾AFy?YFַ?FP/@=9FixyFH@+ѿS@?{#ѿ?`9?ɨFy?FI;Dy^kBb!IIjIj4٢nL-= rN=9r;Q r>tt vG٣tyvn3 z> ~Nusing accuracyPremultiplier from configxE59z?E5Yz izY B@@z4Ez2 ;z2 ;zDE5B 4AEZj1EDNOT Ignoring new targets: 66.30 m.BjM\RJjM\Rm ProNav: ac range: 66.300003 m, nav range: 41.113422 m, bearing: 358.657448 deg, approach rate: 0.295336 m/s, LOS rate: -0.735651 deg/s, cmd heading: 99.416211 deg, new cmd heading: 98.546985 deg. 2juouHeadingCmd: 1.719969 target range: 66.300003 and range: 66.30 m. ju'?jyjyjyihhhhfffrfbf?ɛBm= g?I Ge=ɚiIXG=I'?iiZX=)'?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735877)*F?2F:FBFJFG?E=GBOEQ>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987937ZH RH AAH% $>I!  I% !II% BI% ( =&I% GD.I! 6I% ˰<:I% FBIJIRIZIbI) =jI(5`ݵw,Lx׾A2f?Y2[#?2LH=92W?y2HϿ` z?`TϿߧ?@3g,?ɨ2f?2Cm;0 DIHyRiBV!I)\ \`bA%Mb@Mb@Mb@!!! !)!Y%\(\?:v?Mb`y%?%=!%@ %Z@)%@I%@!y%@I=I=a4٢Mƻ U5=9U;Q U>QY ]G٣Yy]6 ]> mNusing accuracyPremultiplier from configauE59e ?uE5YeO ieJ Bu'?u:u?}@e4Ee';e;eHE5 >AEZjDNOT Ignoring new targets: 66.30 m.BjTJjTM ProNav: ac range: 66.300003 m, nav range: 41.233360 m, bearing: 358.309733 deg, approach rate: 0.257198 m/s, LOS rate: -0.743473 deg/s, cmd heading: 98.546987 deg, new cmd heading: 97.506999 deg. 2jMUHeadingCmd: 1.701818 target range: 66.300003 and range: 66.30 m. jU.?jQjYjYiYhYhYhaheyBfififirfibfuv@ɛEBM= IMh?II M=ɚQiQIUF=IU.?iYi]j=)].?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240760*F?2F:FBFJFG t=G ?G ?G B O >Dw,׾A6b?Y6W?6O=96f:y6H hͿq$"`?FoͿ/?{_?`m?ɨ6b?6;6Cy>tB>!IIJIJ4٢Ns= Rk=9R;Q R?TT VG٣VLGyVgY Z? ^Nusing accuracyPremultiplier from confignWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.491857XuE59Z|?uE5YZ$ iZ> By}?}@Z4EZWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748371pw,6˫׾AuI?Yu?ufMV=9u;yuH|8˿`DEr$9?@n6˿`?ƪ@@{?`?ɨuI?u\R;uCyޅzBލ!IMb@Mb@Mb@ )Yףp= ?+η?y?v=-@ )I@y3@I5I54٢=< E2=9E\;Q E>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configYeE59]bt?mE5Y] i]/ Bm~ ?m:m?u@]4E];]A;]OE5y }AyZjDNOT Ignoring new targets: 66.30 m.BjoJjo ProNav: ac range: 66.300003 m, nav range: 41.435314 m, bearing: 357.674891 deg, approach rate: 0.257374 m/s, LOS rate: -0.838120 deg/s, cmd heading: 96.703321 deg, new cmd heading: 95.607400 deg. 2jHeadingCmd: 1.668664 target range: 66.300003 and range: 66.30 m. jǖ?jjjihhhhBfffrfbf@@ɛBm= q?I l=ɚiIZE=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:25:33.6924 TRx dataTimestamp_ set to:1736375134.814368checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998773I ǖ?i i D=) ǖ?)H%>I I!IIBI&I.I6I^<:I9 F*F?2F:FBFJF IG -=G B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ i՝ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248093yUw,=׾AjiR?Yj^?jzY=9j]) G٣y7- %> 5Nusing accuracyPremultiplier from config!5E59%m?5E5Y%o i%$ B9=?=@%4E%F;%$;%SE5A M[AMEeB*** querying acoustic contact ***jajaZjquDNOT Ignoring new targets: 66.30 m.Bj}qcJj}qc ProNav: ac range: 66.300003 m, nav range: 41.522091 m, bearing: 357.384459 deg, approach rate: 0.238148 m/s, LOS rate: -0.795387 deg/s, cmd heading: 95.607397 deg, new cmd heading: 94.737992 deg. 2jwHeadingCmd: 1.653490 target range: 66.300003 and range: 66.30 m. j?jjjihhhhfffrfbf N @ɛB= w?I q=ɚiID=I ?i i =) ?)*FE?2FA:FABFE1JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500102JJJJJ,:J:JJJ;J;JnN;JoN; I G B =G B O >zK eKK h9K K fK RK ?JK ?w,s׾Ay)-!II]I]ļ4٢uYt uD=9}Q }> G٣LGy > Nusing accuracyPremultiplier from configE59Sf?E5Y i B@4E;;VE5 ]AZjDNOT Ignoring new targets: 66.30 m.BjaJja  ProNav: ac range: 66.300003 m, nav range: 41.623066 m, bearing: 357.052400 deg, approach rate: 0.240526 m/s, LOS rate: -0.789052 deg/s, cmd heading: 94.737989 deg, new cmd heading: 93.744333 deg. 2j a HeadingCmd: 1.636147 target range: 66.300003 and range: 66.30 m. jFm?jjjihhhh!f!f!f!rf!bf-6@ɛUB]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:25:33.6924 LVL= 12000, 24561, 19154, 32755, AGC= 59, IDX= 406, 0.10,-0.274,-2.241,-1.618,-1.233, PHS= 1.047,-0.961,-0.388, RAW= 106.1, 3.4, CAL= 117.2, 0.9, ROT= 32.8, -0.9 Ygot valid direction response: 22:25:33.6924 LVL= 12000, 24561, 19154, 32755, AGC= 59, IDX= 406, 0.10,-0.274,-2.241,-1.618,-1.233, PHS= 1.047,-0.961,-0.388, RAW= 106.1, 3.4, CAL= 117.2, 0.9, ROT= 32.8, -0.9 PDAT read: Bearing 32.8, -0.9 (Local) ~Local bearing/azimuth received: Bearing 32.8, -0.9 (Local) DAT read: Range 10 to 50 : 63.9 m (Round-trip 85.3 ms) speed 0.4 m/s ,DAT read: user:2593> ]BDAT read: Tx time:22:25:34.8030 ]$Ping request sent.]I  I "II BI &I .I 6I <:I s FG B O% >w,Q׾A IJt?YJi?J[=9J&?@,?ɨJt?J;JCyf}Bf!IMb@Mb@Mb@ )YS㥛?#~j?~jthy$&?=DZ@ p@)@I@y@I-I-4٢]  e<=9eX:Q e>ii mG٣iym > Nusing accuracyPremultiplier from configE59O_?E5Y i Bo'?:?@4E3;;ZE5B AEkL?k#> k k Y׾A:kBBk}BZk@"$9&ot%Ng"N@j˷&ƿ}ſxcf ?JkDRkG*Vjq *@ڷ:Xag 'O@+?6fOjrQ3?"k *kSPAk&?kޘ(? 2k CkW`?kq9 kBkAk@e addTargetRange:: Added new target pos. range: 63.900002 m, deltaT: 3.782617 s, deltaX: -2.400002 m, approachRate: -0.634482 m/s, rangeRepo size: 4  Added new target pos. range: 63.900002 m, bearing: 336.746061 deg, lat: 36.905216 deg, lon: -122.119654 deg, deltaT: 3.782617 s, deltaX: -2.400002 m, approachRate: -0.634482 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 63.90 m.BjJj ProNav: ac range: 63.900002 m, nav range: 27.884670 m, bearing: 348.879558 deg, approach rate: 0.000000 m/s, LOS rate: -0.789052 deg/s, cmd heading: 93.744333 deg, new cmd heading: 92.676228 deg. 2jHeadingCmd: 1.617505 target range: 63.900002 and range: 63.90 m. jj ?jjjihhh h Bf f f rf@3O@bfz?ɛ]B]u= Y]0u?IY ed%=ɚaiaIe][C=Ij ?iis=)j ?)eWill construct direction to contact in vehicle frame from tetrahedron phase data.*FI2FI:FIBFMN5JFQ}G|uAA rY|uAy0BG]{=G]?G]>G1BIO}>w,E.ؾA2pu?Y2e?2IEW=92rnpp rG٣pyvݼ v> zNusing accuracyPremultiplier from configx~E59zY?~E5Yz iz B?@z4Ez` ;z ;z]E5  A Zj15DNOT Ignoring new targets: 63.90 m.Bj=Jj=U ProNav: ac range: 63.900002 m, nav range: 27.990892 m, bearing: 348.464537 deg, approach rate: 0.318961 m/s, LOS rate: -1.241471 deg/s, cmd heading: 92.676228 deg, new cmd heading: 91.436095 deg. 2jUUHeadingCmd: 1.595861 target range: 63.900002 and range: 63.90 m. j,E?jjjihhhhfffrfbf`?ɛeBedn= mW=m8w?Ii mۃ(=ɚiiiJJJJJ:J:JJJ;J;JL;JL;IϪB=I,E?ii=),E?) $?Ih*Fe?2Fi:FiBFm_0JFiGu Gu"GuGuzKBoHK9KKgKuWill construct direction to contact in vehicle frame from tetrahedron phase data.uAiuAGBO% >' w,+-ؾA]?Y]C?] RR=9]y G٣LGyƼ > Nusing accuracyPremultiplier from configE596S?E5Y& i BB*?:f?@4E9;;aE5 AZjDNOT Ignoring new targets: 63.90 m.Bj"Jj" ProNav: ac range: 63.900002 m, nav range: 28.129169 m, bearing: 347.904117 deg, approach rate: 0.298527 m/s, LOS rate: -1.203925 deg/s, cmd heading: 91.436098 deg, new cmd heading: 89.763606 deg. 2jNHeadingCmd: 1.566670 target range: 63.900002 and range: 63.90 m. j?jjj!i!h!h!h)h-Bf)f)f1rf1bf=?ɛeBWill construct direction to contact in vehicle frame from tetrahedron phase data.e= !%t?IA E<+=ɚAiAIEA=IM?iIiM, >)U?)QHiIi Im "IImBIi&Ii.Ii6Im`<:Im; F*J"J I*F5?2F9:F9BF=^0JF9GBO5q>} Will construct direction to contact in vehicle frame from tetrahedron phase data.w,$GؾA> ?Y>?>Q=9>ةH` @Lj?p?bl?@-63??ɨ> ?> ;>CyF|BF!IIRIR4٢V9< Zm=9Z)ǹQ Z?X\ ^G٣\yb b? fNusing accuracyPremultiplier from configdjE59fwN?jE5YfS if Bhj?n@f4EfP;f ;fdE5p rArE B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 63.90 m.Bj`Jj%`- ProNav: ac range: 63.900002 m, nav range: 28.231327 m, bearing: 347.489193 deg, approach rate: 0.296189 m/s, LOS rate: -1.198641 deg/s, cmd heading: 89.763603 deg, new cmd heading: 88.523537 deg. 2j5M5HeadingCmd: 1.545027 target range: 63.900002 and range: 63.90 m. j=s?j9j9j9i9h9hAhAhAfAfAfIrfIbfM)_?ɛB= u?I p.=ɚ!i!I%,*A=I%s?i)i-j>)-s?))*F?2F:FBF`0JFGIGMpAG!BIOu6>Will construct direction to contact in vehicle frame from tetrahedron phase data.ս=I>>IBIB4٢Jb0 JM=9Nz:Q N>LP RG٣PyR R> ZNusing accuracyPremultiplier from configTZE59VJI?^E5YV iV B\^?^@V4EV;:V:V"hE5` fAdZjtzDNOT Ignoring new targets: 63.90 m.BjzYJj~Y  ProNav: ac range: 63.900002 m, nav range: 28.348078 m, bearing: 347.007884 deg, approach rate: 0.293614 m/s, LOS rate: -1.205434 deg/s, cmd heading: 88.523534 deg, new cmd heading: 87.085875 deg. 2j NHeadingCmd: 1.519935 target range: 63.900002 and range: 63.90 m. j=?jjjihhhhff!f!rf!bf%??ɛIUp= QUq?IQ U1=ɚQiQI]h@=I]=?iaimE>)m=?)q5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984875EI*F2F:FBF_0JFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235192HU '>IQ  IU "IIU BIQ &IQ .IQ 6IU ^<:IQ I J J w,5zؾAygB!IMb@Mb@Mb@ )Y?333333?y&1y,?=`e@ )$@I@y @IID4٢5V 9=9Q > G٣LGy > Nusing accuracyPremultiplier from configE59mC?E5Y i B-?:"?@4E;;kE5 AAEZj)-DNOT Ignoring new targets: 63.90 m.Bj5Jj5E ProNav: ac range: 63.900002 m, nav range: 28.482553 m, bearing: 346.469280 deg, approach rate: 0.304557 m/s, LOS rate: -1.214037 deg/s, cmd heading: 87.085875 deg, new cmd heading: 85.478137 deg. 2jEKPMHeadingCmd: 1.491875 target range: 63.900002 and range: 63.90 m. jM?jIjIjIiIhQhQhYh]BfYfafarfabfe@g@ɛB-V= 15[l?I1 55=ɚ1i1I5Ӡ?=I=?i9iE4>)E?)AEm?=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.488255*F%?2F!:F)BF-o0JF)Ge PQ=G9 BI Oe >$w,qؾAB]?YBQD?B|R=9Bpt vG٣tyvD v> ~Nusing accuracyPremultiplier from configx~E59z ??E5Yz[ iz B?@z4Ez ;z` ;z@oE5  AZj9MDNOT Ignoring new targets: 63.90 m.BjMHJjMHe ProNav: ac range: 63.900002 m, nav range: 28.591808 m, bearing: 346.011405 deg, approach rate: 0.291977 m/s, LOS rate: -1.218954 deg/s, cmd heading: 85.478137 deg, new cmd heading: 84.110036 deg. 2je#QmHeadingCmd: 1.467997 target range: 63.900002 and range: 63.90 m. jmT?jijijiiihihqhqhqfqfyfyrfybf}f@ɛB>= 隭b?I 7=ɚiI>=IT?iiV->)T?)EE*E"E IhJJJJJܫ:J:JJzKBIK+9KKiK-,T_Y0q[ 4 *F?2F:FBF0JFG=G ?G ?UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:22:25:37.2904 eTRx dataTimestamp_ set to:1736375138.592769uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.993685GBO> +w,\ؾA}%?Y}c?}R=9}$ G٣y >  Nusing accuracyPremultiplier from configE599?E5Y'{ i Bh,?:%?%@5E;;asE51 5.A1ZjY]DNOT Ignoring new targets: 63.90 m.BjeJjeu ProNav: ac range: 63.900002 m, nav range: 28.727119 m, bearing: 345.438154 deg, approach rate: 0.285505 m/s, LOS rate: -1.203836 deg/s, cmd heading: 84.110037 deg, new cmd heading: 82.398922 deg. 2juN}HeadingCmd: 1.438133 target range: 63.900002 and range: 63.90 m. j}?jyjyjyihhhhBfffrfbf`+/ @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243613ɛp= %^?I *;=ɚiI$>=I?ii;<>)?)H(>I I!IIBI&I.I6Iu<:IM FBIĜCJIĜCRIZI( =bI( =jIĘ:4 $?I*F)2F):F)BF54JF1GmA#>GQByO>] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:25:37.2904 LVL= 16368, 26001, 19410, 25187, AGC= 57, IDX= 416,-0.49,-0.254,-2.397,-2.075,-1.543, PHS= 1.377,-0.806,-0.534, RAW= 96.6, -0.4, CAL= 105.3, -5.0, ROT= 44.7, 5.0  Ygot valid direction response: 22:25:37.2904 LVL= 16368, 26001, 19410, 25187, AGC= 57, IDX= 416,-0.49,-0.254,-2.397,-2.075,-1.543, PHS= 1.377,-0.806,-0.534, RAW= 96.6, -0.4, CAL= 105.3, -5.0, ROT= 44.7, 5.0  PDAT read: Bearing 44.7, 5.0 (Local)  ~Local bearing/azimuth received: Bearing 44.7, 5.0 (Local)  DAT read: Range 10 to 50 : 62.4 m (Round-trip 83.2 ms) speed 0.4 m/s  ,DAT read: user:2594>  BDAT read: Tx time:22:25:38.4031  $Ping request sent. ?)ڕ¸IڕG?iڕ¸=ڑڑە\?ltٿz)ەlѾIە;iەCە׷ۑۑZ:publishing transmit ping timeZFpublishing direction and range infoؑ9ؕc㔶Rh}L.?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑە\?ltٿz)ۑIۑiۑۑۑۑy^:Bzi!IIIx4٢% %m=9-YQ -?)) 5G٣5LGy5" 5? Nusing accuracyPremultiplier from configE59b6?E5Yt in B?@5E : :vE59 EAAkP{œ?kZ k k>$ؾA:kyBBkwBZk|@"X^.*&ܿq3O@c㔶Rh}L.?JkCRk׷*(3[?ai.- =B+O@n6r?j??"kq *k?k yƓ?kD9 2kBkW?kkBkbAk@ addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.528027 s, deltaX: -1.500000 m, approachRate: -0.425167 m/s, rangeRepo size: 4  Added new target pos. range: 62.400002 m, bearing: 307.926229 deg, lat: 36.905188 deg, lon: -122.119654 deg, deltaT: 3.528027 s, deltaX: -1.500000 m, approachRate: -0.425167 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 62.40 m.BjJjm ProNav: ac range: 62.400002 m, nav range: 25.798227 m, bearing: 343.194757 deg, approach rate: 0.000000 m/s, LOS rate: -1.203836 deg/s, cmd heading: 82.398924 deg, new cmd heading: 80.888284 deg. 2jiuHeadingCmd: 1.411767 target range: 62.400002 and range: 62.40 m. juǴ?jqjqjqiyhyhyhyhyfffrf@33O@bf, ?ɛB= V?I />=ɚiIh==IǴ?i)i5HF>)5Ǵ?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:25:38.4023 *F?2F:FBFJ5JF qIuhG l3>G B O >zK= nOK= s9K9 K= jK= O _ m a ;   Qhbz6irF) yhZK=2* xskRKE ?JKE ?8w,( ؾA|W?Yp?;U=9oQQ UG٣Yy]k ]> eNusing accuracyPremultiplier from configamE59e2?mE5Yen ieW Bqu?u@e5Eem ;e ;eyE5}B }KAEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 62.40 m.BjJjἝ ProNav: ac range: 62.400002 m, nav range: 25.916430 m, bearing: 342.666001 deg, approach rate: 0.354485 m/s, LOS rate: -1.578468 deg/s, cmd heading: 80.888284 deg, new cmd heading: 79.309673 deg. 2jiHeadingCmd: 1.384215 target range: 62.400002 and range: 62.40 m. j-?jjjihhhhfffrfbf@?UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ɛ= L?I ^@=ɚiI_<=I-?iiP>)-?)*F?2F:FBF_0JFGm{8>GBOk> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752711jH <bH 4=H *>I C I !II BI ' =&I .I 6I a<:I @ F a Ia J J J 1J J :J J 3J J a J a J nN;a J oN;a rF>w,ؾA6?Y6?6T=96E ;y6Hx#7;n?@I? zF?@IE9w? ?ɨ6?6;6CyNBN7!IiV=IV= V=V=}Mb@Mb@Mb@yyy y)yY}L7A`?{Gz?:vy}+'?}ף=}Լ}@ y)};@Iyyy}@II4٢ E=9<.Q > G٣y > Nusing accuracyPremultiplier from configE59/?E5Yf i> B(?:?@ 5EN;U=;}E5B AEZjDNOT Ignoring new targets: 62.40 m.Bj EJj E% ProNav: ac range: 62.400002 m, nav range: 26.038813 m, bearing: 342.130884 deg, approach rate: 0.294545 m/s, LOS rate: -1.281818 deg/s, cmd heading: 79.309670 deg, new cmd heading: 77.712302 deg. 2j%[-HeadingCmd: 1.356336 target range: 62.400002 and range: 62.40 m. j-g?j)j)j)i)h)h1h1h=yBf9f9fArfIbfM(@?ɛuBu= y}B?Iy }5B=ɚyiyI}(<=Ig?ii~0\>)g?)*F%?2F!:F!BF!JF)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004324GMD>G) B1 OU >-Ew,پA6[?Y6ڙ?6mS=96ll nG٣pyr> r> vNusing accuracyPremultiplier from configtzE59v(,?zE5Yv|` iv' B|~B?~@v5Ev;vM;vE5 A Zj1=DNOT Ignoring new targets: 62.40 m.Bj= JjE M ProNav: ac range: 62.400002 m, nav range: 26.148403 m, bearing: 341.643116 deg, approach rate: 0.290425 m/s, LOS rate: -1.287196 deg/s, cmd heading: 77.712301 deg, new cmd heading: 76.255460 deg. 2jU\UHeadingCmd: 1.330909 target range: 62.400002 and range: 62.40 m. jU9[?jYjYjYiYhahahahafififirfibfu@ܣ? Iɛae= ae??Ia mIE=ɚiiiImb;=Iu9[?ii}a>)9[?)*F5?2F9:F9BF9JF9G L>GBOE>zKW'PKKKkKc_[XUQLKHHCA=<;5/,,)'&%%$! "!   BK:KpA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510433XKw,d/پAyޝBޥ!III 4٢ B e8=9mQ m>iq uG٣uLGyu }> Nusing accuracyPremultiplier from configyE59}(?E5Y}X i} B@}5E}=7;},;}߄E5 AZjDNOT Ignoring new targets: 62.40 m.Bj%Jj% ProNav: ac range: 62.400002 m, nav range: 26.283123 m, bearing: 341.060085 deg, approach rate: 0.295891 m/s, LOS rate: -1.273950 deg/s, cmd heading: 76.255463 deg, new cmd heading: 74.515901 deg. 2jZHeadingCmd: 1.300548 target range: 62.400002 and range: 62.40 m. jZx?jjjihhhhfffrfbf?ɛ5B5= 9=i3?I9 =lG=ɚ9i9IE :=IEZx?iAiM'}>)MZx?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760292H,>I I!IIWBI&I.I5D6IE<:I- F I*F ?2F :F BF o0JF J#K+m3 K+S}-K#K#"K#JJJ0JJ:J :Jـ3JJi;Jj;JcW;JdW;Gm ݶZ>GA BI Om >) 5 ~GU vAm A Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ AiՁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013032 Y vAy 2BARw,wIپA6?Y6?6d=96Gy6Hי?d ?:/??@#房?ɨ6?6;6Cy>߂BB I)D D=Mb@Mb@Mb@999 9)9Y=S?+η?S㥛y=?=v==/ݼ=@ =@)=Q@I99y9IUIU4٢mĽ mU=9m7qy }G٣yy}% }> Nusing accuracyPremultiplier from configE59)&?E5YR i B?:d?@5Ee";j!; E5 xAZjDNOT Ignoring new targets: 62.40 m.BjJj ProNav: ac range: 62.400002 m, nav range: 26.384125 m, bearing: 340.618752 deg, approach rate: 0.271485 m/s, LOS rate: -1.181716 deg/s, cmd heading: 74.515902 deg, new cmd heading: 73.197216 deg. 2jJHeadingCmd: 1.277532 target range: 62.400002 and range: 62.40 m. j/?jjjihhhhFBfffrfbf @ɛ15y= 15S*?I1 =JI=ɚ9i9I=a:=IE/?iAiE^d>)E/?)IEQEUqA*F?2F:FBFD1JFGa>GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264069 IhkXw,OcپA6^?Y6v?6>n=96/}y6H@?@`琿?5?F?Э`擿`?ɨ6^?6$ ;4zKB-NKB59K@KBlKB      RKF ?JKF>yJӂBJ IITIT٢r9| vS=9v;Q v>tx zG٣xyz z> Nusing accuracyPremultiplier from config|E59~#$? E5Y~L i~ B  #? @~5E~@:~:~E5 AE5B*** querying acoustic contact ***j1j1ZjAEDNOT Ignoring new targets: 62.40 m.BjMJjM] ProNav: ac range: 62.400002 m, nav range: 26.485283 m, bearing: 340.158363 deg, approach rate: 0.261522 m/s, LOS rate: -1.185676 deg/s, cmd heading: 73.197218 deg, new cmd heading: 71.821606 deg. 2j]nKeHeadingCmd: 1.253523 target range: 62.400002 and range: 62.40 m. jeus?jajijiiihihihqhqfqffrfbf (@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516202ɛBd)= $?I K=ɚiIe9=I5us?i1i=e>)=us?)A*F=?2F9:F9BFEo0JFA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768712ZH RH @A I J J J J J <:J :J J a @a @a @a @Gu Iz>GI BY O} > (_w,پAB?YBv7?B!y=9ByBH@w? l 7? L??01 ?ɨB?B;BCyJłBN IIVIV_4٢^X} ^;=9^;Q ^>`` bG٣bLGyfBy f> 5Nusing accuracyPremultiplier from config1=E595h"?=E5Y5rE i5 B9=?E@5!5E5:5n:5kE5I MGAIZjquDNOT Ignoring new targets: 62.40 m.Bj}QJj}Q ProNav: ac range: 62.400002 m, nav range: 26.597979 m, bearing: 339.622961 deg, approach rate: 0.251808 m/s, LOS rate: -1.191216 deg/s, cmd heading: 71.821604 deg, new cmd heading: 70.222644 deg. 2jaLHeadingCmd: 1.225616 target range: 62.400002 and range: 62.40 m. j?jjjihhhhfffrfbf@ɛBK= +?I N=ɚiIu9=I?iiNh>)?)*F?2F:FBF@5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:22:25:40.8883 5TRx dataTimestamp_ set to:1736375142.130209Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023845GGqBO<> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272133fw,OپA $I$^l?Y^?^u=9^y^H@0?@/@y????@?`o?ɨ^l?^";\yfBf Iij;>Ijp<IrIr4٢zt^ zG=9~;Q ~> G٣yx  > Nusing accuracyPremultiplier from config E59 p!?E5Y ? i  B%%?%@ %5E R; ; E5) -A)ZjQ]DNOT Ignoring new targets: 62.40 m.Bj]Jjeu ProNav: ac range: 62.400002 m, nav range: 26.693783 m, bearing: 339.145510 deg, approach rate: 0.240317 m/s, LOS rate: -1.193337 deg/s, cmd heading: 70.222643 deg, new cmd heading: 68.795743 deg. 2j}LHeadingCmd: 1.200712 target range: 62.400002 and range: 62.40 m. j?jjjihhhhfffrfbf`* @ɛBн= ?I T P=ɚiqIu%9=I}?iyi9d>)?)*Fm?2Fi:FiBFqJFq' TFailed to parse incomplete device message.=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9mDAT read: 22:25:40.8883 LVL= 11984, 23665, 19010, 26387, AGC= 53, IDX= 428,-0.40,-1.942, 2.496, 2.326,-2.985, PHS= 1.131,-0.755,-0.976, RAW= 84.5, 6.0, CAL= 90.4, 5.9, ROT= 59.6, -5.9 Ygot valid direction response: 22:25:40.8883 LVL= 11984, 23665, 19010, 26387, AGC= 53, IDX= 428,-0.40,-1.942, 2.496, 2.326,-2.985, PHS= 1.131,-0.755,-0.976, RAW= 84.5, 6.0, CAL= 90.4, 5.9, ROT= 59.6, -5.9 PDAT read: Bearing 59.6, -5.9 (Local) ~Local bearing/azimuth received: Bearing 59.6, -5.9 (Local) DAT read: Range 10 to 50 : 60.8 m (Round-trip 81.1 ms) speed 0.3 m/s U,DAT read: user:2595> ]BDAT read: Tx time:22:25:42.0031 e$Ping request sent.e 9)9I9i99999 9)9I9i999=&:lw,kHپA=Y?Y=L4?=(T=9=ݼy=H? J@?`?@<Dz?汿@u?ɨ=Y?=H;=CyuB} IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:25:42.0023  @  @   @    @  II4 )I)H51>I5C I5(!II5BI5% =&I1.I16I5<:I5x F٢U2 U)=9U\[Y G٣LGy: > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configE59!?E5Y*7 i| B +: :?@*5E!<(?dE5! %A)*J=C="J=p=k]W4?k] kY k]vپA:k]3sBBk]qBZk]d]@"]"0'^Ż^(@0M@]uU<8ȿ;}I?N?Jk]%.@Rk]dդ*]W3-d&.#R*qWM@]^Ͽ#:ê?JJJJJ:JB:JJJaJaJ#b;aJ$b;a"k]R*k]3qk]3^+?k]y  2k]Bk]&?kYkYk]Ak]Q>@- addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 3.536279 s, deltaX: -1.600002 m, approachRate: -0.452454 m/s, rangeRepo size: 4 e Added new target pos. range: 60.799999 m, bearing: 198.490812 deg, lat: 36.905087 deg, lon: -122.119654 deg, deltaT: 3.536279 s, deltaX: -1.600002 m, approachRate: -0.452454 m/s, posRepo size: 4 ZjimDNOT Ignoring new targets: 60.80 m.BjmJj ProNav: ac range: 60.799999 m, nav range: 16.888123 m, bearing: 324.515090 deg, approach rate: 0.000000 m/s, LOS rate: -1.193337 deg/s, cmd heading: 68.795742 deg, new cmd heading: 66.896770 deg. 2jHeadingCmd: 1.167569 target range: 60.799999 and range: 60.80 m. jr?jjjihhhhfffrf`ffN@bf@k)?ɛuBu&= u8++=u@?Iq }R=ɚyiyI}C8=Ir?iiM>)r?)*F%?2F!:F!BF%P5JF!= Will construct direction to contact in vehicle frame from tetrahedron phase data.GM ge>G! B) OM >osw,[%پAVSǔ?YVF?VS=9VՓyVH?p@=re[??`Hв? ~Fen?ɨVSǔ?V;VCybBb IIIʴ4٢U UK=9Utn;Q U>YY ]G٣Yye~ e> ubBottom track data is 0.9 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}E59mg"?}E5Ym0 im_ B} :y}c:}?@m-5Em(;mpc?mE5 5AZjDNOT Ignoring new targets: 60.80 m.BjQJjQ ProNav: ac range: 60.799999 m, nav range: 17.020391 m, bearing: 323.847771 deg, approach rate: 0.372545 m/s, LOS rate: -1.864906 deg/s, cmd heading: 66.896772 deg, new cmd heading: 64.911213 deg. 2jHeadingCmd: 1.132914 target range: 60.799999 and range: 60.80 m. jW?jjjihhhhfffrfbf@k?ɛB= !%?I! %26T=ɚ!i)I-Ƈ8=I-?i1i5PhZ>)5W?)1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF !I!G a>GQBaO}Y>zKU m$JKU 9KQ KU nKU  !&&''#! m Will construct direction to contact in vehicle frame from tetrahedron phase data.yw,9DپA-+?Y-i?-t=9-y-H[[?@A լ?*? i?@O?M b?ɨ-+?--;-CyEBE I)I IQUAI]I]y4٢e eX=9m.qq uG٣qyu }> bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from configyE59}#?E5Y}* i}C B98:?@}15E}8;}?}dE5 aAEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 60.80 m.Bj+Jj+񼝊 ProNav: ac range: 60.799999 m, nav range: 17.145046 m, bearing: 323.201520 deg, approach rate: 0.327750 m/s, LOS rate: -1.686775 deg/s, cmd heading: 64.911215 deg, new cmd heading: 62.987320 deg. 2jHeadingCmd: 1.099336 target range: 60.799999 and range: 60.80 m. j ?jjjihhhh fififirfibfux?ɛBVf= 隽?I NV=ɚiIR8=ISj?iiQ>) ?)*F?2F:FBFJFGJ}N>GBOi>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IhjH <bH <H2>I I IIBI$ =&I.I6Iذ<:I FJY J] @Aw,ھAy=B= I        Mb@Mb@Mb@ )YRQ?l?!) -G٣)y > Nusing accuracyPremultiplier from configE59$?E5Y$ i. BT:?:?@55EX ;;AE5 *AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474877Zj  DNOT Ignoring new targets: 60.80 m.Bjd˼Jjd˼% ProNav: ac range: 60.799999 m, nav range: 17.268730 m, bearing: 322.567994 deg, approach rate: 0.279734 m/s, LOS rate: -1.422542 deg/s, cmd heading: 62.987322 deg, new cmd heading: 61.101077 deg. 2j%t-HeadingCmd: 1.066415 target range: 60.799999 and range: 60.80 m. j-I?j)j1j1i1h1h1h9h=3Bf9f9f9rfAbfEYZ?ɛuBu= qu?Iy }WX=ɚyiyI}8=I4?ii|>)I?)E2g=*Fe ?2Fa :Fa BFe ^0JFi Gu rA Gu nA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726605 I J} J} J} 1Jy J} L:J} :J} 3Jy a @a @a @a @Gm ,N>GABQOm>w,&S!ھA6N?Y6}?6=967\\ ^G٣^LGy^ b> fNusing accuracyPremultiplier from config`fE59bP'?5E5Ybj ib B15?=@b85EbNnMK59KKoKEeb_bb`_YTNIEB<961- =  ?I  Z=ɚiI68=Iԅ?iiQ>)~?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979466E#'=*F?2F:FBF_0JFGu S>GQBaO}z> Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ ?Օ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230876 I w,;ھAH64>I4 I6 II6ӂBI6# =&I4.I66D6I6[<:I6F FBICJICRIZI% =bI% =jI5yޑޕ Ii8>Ip> p=a=Mb@Mb@Mb@ )Y{Gz?ˡE?Mb`?y?=;@ @)@I@y3@II4٢Uĺ U=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiuE59m*?uE5YmQ im Bu?}:}ι?}@m<5Em;m;meE5 9AZjDNOT Ignoring new targets: 60.80 m.BjռJjռ ProNav: ac range: 60.799999 m, nav range: 17.516508 m, bearing: 321.207151 deg, approach rate: 0.281925 m/s, LOS rate: -1.493713 deg/s, cmd heading: 59.307482 deg, new cmd heading: 57.049856 deg. 2j#HeadingCmd: 0.995708 target range: 60.799999 and range: 60.80 m. j~?jjjihhhh@Bfffrfbf`@ɛB-g= ?I kf\=ɚiI%7=I-~?i1i5>)5~?)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482752EM ++=*F ?2F :F BF JF G 3x>G B O >73w,UھA6G?Y6?6=963)x?) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736160EE*E"EJJJ0JJ,:J:Jـ3J*F-?2F1:F1BF1JF1zK sMK }9K K pK -,*'%"   RK- ?JK- ? Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:25:44.4868  TRx dataTimestamp_ set to:1736375145.657345 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988754G= 8z>G B O5 >Ww,ޓoھABoz?YBu?B@=9B`` fG٣fLGyj8 j> vNusing accuracyPremultiplier from configpzE59r%0?~E5Yr irB|~?~@rB5ErS;r.F;rE5 AEuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 60.80 m.Bju̼Jju̼e ProNav: ac range: 60.799999 m, nav range: 17.687695 m, bearing: 320.154061 deg, approach rate: 0.228680 m/s, LOS rate: -1.430017 deg/s, cmd heading: 55.678486 deg, new cmd heading: 53.906981 deg. 2jeZuHeadingCmd: 0.940854 target range: 60.799999 and range: 60.80 m. jp?jjjihhh!h!fQfYfarfabfm @ɛ]}B]O= Ye?Ia eT``=ɚaiaI8=Ip?ii^>)p?) I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239091ZH RH AAH6>IC I IIɂBI&I.I6Ig<:IP F*F5?2F1:F1BF50JF1G0w>GBO>U .~Gi Y y kB`@w,~qھA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:DAT read: Range 10 to 50 : 59.6 m (Round-trip 79.5 ms) speed 0.0 m/s :,DAT read: user:2596> ->X#Rx 1: Read range message, but no direction.0y2fnB0BT****** received valid address query ******BR****** received valid ping request ******BQuerying Benthos address 50 with one ping in standard two-way mode.J>yr?YJz?J7=9Jsyr?J̄;JCyޅBޅ I) Mb@Mb@Mb@ )Y"~j?333333?{Gz?yS?=#<;@ )@I@yp@I I 4٢ )=95!! %G٣!y-b -> 5Nusing accuracyPremultiplier from config1=E595w5?=E5Y5 i5BE?E:E?E@5F5E5j;5;5E5I UAQ addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 3.527888 s, deltaX: -1.200001 m, approachRate: -0.340147 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 60.80 m.RjPowering the camera and arming the capture device at range: 59.60 m."jBjݼJjݼ ProNav: ac range: 60.799999 m, nav range: 17.794134 m, bearing: 319.431497 deg, approach rate: 0.229745 m/s, LOS rate: -1.550251 deg/s, cmd heading: 53.906981 deg, new cmd heading: 51.753330 deg. 2jHeadingCmd: 0.903266 target range: 60.799999 and range: 59.60 m. jq)mq2JFy IhWill construct direction to contact in vehicle frame from tetrahedron phase data.%=%=%BDAT read: Tx time:22:25:45.6031 -$Ping request sent.-G B O- >Sjw,KھA:)ʚ`?)zKMKs9KKqK m: BKrA:KrA*FU]>2FQ:FQBFUP0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252136G}YV>GqBO> I % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501496H 7>I  I II ΂BI " =&I .I 6I <:I F9w,&ھA:@b?Y:?:=9:2  G٣LGyڇ > Nusing accuracyPremultiplier from configE59??E5Yl iBl ?:?@M5Eb;`;VE5 rAZjDNOT Ignoring new targets: 60.80 m.RjPowering the camera and arming the capture device at range: 59.60 m."jBjJj弝 ProNav: ac range: 60.799999 m, nav range: 17.954788 m, bearing: 318.243976 deg, approach rate: 0.213082 m/s, LOS rate: -1.607011 deg/s, cmd heading: 50.269134 deg, new cmd heading: 48.208375 deg. 2j܉HeadingCmd: 0.841395 target range: 60.799999 and range: 59.60 m. jeW?jj j i "j h h hhBfffrfbfZ?ɛMxBU= QU#?IQ ]>f=ɚYiYI]D{8=IeeW?iaie"g>)eeW?)i*F-<2F):F)BF-T0JF)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753508GV>GBO >~w,t ھA20\?Y2 >?2b=92ib =y2H8?3%J??`?`k?@ ?'?ɨ20\?28;0yBłBB IiFXX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`fE59bE?fE5YbH ibBdj,?j@bP5Eb:b:bE5i mNAq $?IZjDNOT Ignoring new targets: 60.80 m.RjPowering the camera and arming the capture device at range: 59.60 m."jBj7ۼJj7ۼ ProNav: ac range: 60.799999 m, nav range: 18.032505 m, bearing: 317.630549 deg, approach rate: 0.195095 m/s, LOS rate: -1.533238 deg/s, cmd heading: 48.208377 deg, new cmd heading: 46.376687 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0055892jHeadingCmd: 0.809426 target range: 60.799999 and range: 59.60 m. j6O?jjji"jhhhhfffrfbf;?ɛewBm = P=&?I jh=ɚiI8=ITR?ii9;^>)%6O?)!JJJ1JJJ:J3J*FO92F:FBF_0JF"G>G=Ga>GBOb>zK rMK 9K K rK  $-113657<<AC?=:62,'"    Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262388RK ?JK ?w,ھA2T?Y2ȥ?2>92K=y2H`7{?@8?@w?r??7R?ƹ?ɨ2T?2=J;2CyjƂBj IIvIvv4٢~ < ~F=9~8 G٣y   > Nusing accuracyPremultiplier from configE59L?E5Y itB!%?%@T5E;;@E5) 5?A1mB*** querying acoustic contact ***jijiZjDNOT Ignoring new targets: 60.80 m.RjPowering the camera and arming the capture device at range: 59.60 m."jBjJj𼝊 ProNav: ac range: 60.799999 m, nav range: 18.113907 m, bearing: 316.958598 deg, approach rate: 0.204801 m/s, LOS rate: -1.682945 deg/s, cmd heading: 46.376687 deg, new cmd heading: 44.370757 deg. 2j_HeadingCmd: 0.774416 target range: 60.799999 and range: 59.60 m. j@F?jjji"jhhhhfffrfbf`?ɛ vB Ru=  U(?I  vj=ɚiI 9=IH?iiJh>)@F?) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511334*FE62FA:FABFAJFIH8>I I IIӂBI! =&I.I6I{<:I` FG f>Ga Bi O >¶w,s ۾A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762109>,L?Y> ?>:0>9>D}H[?@'5)?@z ? S?в?y ׉? ?ɨ>,L?>!;=9< G٣LGy= > Nusing accuracyPremultiplier from configE59T?E5Y iTB?:ϔ?@X5E;(;E5B AEZj!-DNOT Ignoring new targets: 60.80 m.Rj)-Powering the camera and arming the capture device at range: 59.60 m."j1Bj5Jj==M ProNav: ac range: 60.799999 m, nav range: 18.196615 m, bearing: 316.241892 deg, approach rate: 0.194230 m/s, LOS rate: -1.675398 deg/s, cmd heading: 44.370756 deg, new cmd heading: 42.231462 deg. 2jMUHeadingCmd: 0.737078 target range: 60.799999 and range: 59.60 m. jU&)&GI BQ O} >ȶw,$۾ARD?YRu}?R* >9R)) -G٣)y- 5> =Nusing accuracyPremultiplier from config9EE59=\?EE5Y= i=8BAEِ?E@=[5E=z:=X:=[E5Q ULAQZjyDNOT Ignoring new targets: 60.80 m.RjPowering the camera and arming the capture device at range: 59.60 m."jBjJj켝 ProNav: ac range: 60.799999 m, nav range: 18.265888 m, bearing: 315.606540 deg, approach rate: 0.181152 m/s, LOS rate: -1.655141 deg/s, cmd heading: 42.231463 deg, new cmd heading: 40.333370 deg. 2jHeadingCmd: 0.703950 target range: 60.799999 and range: 59.60 m. j64?jjji"jhhhhfffrfbf@ɛtB^= (?I n=ɚiI9=I>>6?iizn>)64?)zKMMKM@9KIKMsKM    *|7 eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268076E.=EqAE*F12F:FBFm0JFGqA GqAGs>Gi B O > I h- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524376H I  I I I " =&I .I 6I t<:I Z Fζw,ͱ>۾A*J0"J2a=J4J6J60J4J4J6:J6ـ3J4J6;a>J6;a>J6yE;aBJ6zE;aBF49F! G٣y֒ > %Nusing accuracyPremultiplier from config!-E59%f?-E5Y% i%B5?5:5Y?5@%_5E%;%;%/E59 ENAAZjamDNOT Ignoring new targets: 60.80 m.RjiuPowering the camera and arming the capture device at range: 59.60 m."jqBj}nJj}n𼝊 ProNav: ac range: 60.799999 m, nav range: 18.342707 m, bearing: 314.867970 deg, approach rate: 0.175643 m/s, LOS rate: -1.681598 deg/s, cmd heading: 40.333370 deg, new cmd heading: 38.128088 deg. 2jBHeadingCmd: 0.665461 target range: 60.799999 and range: 59.60 m. j[*?jjji"jhhhhBfffrfbf@<@@ɛrBP= I)?I fGq=ɚiID\:=I[*?ii}>)[*?)EXR=*FE/2FA:FABFE@5JFA]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773578G ;u>Ga Bi O >Bնw,XX۾A6u5?Y6m?6K>96FTT VG٣VLGyZ Z> ^Nusing accuracyPremultiplier from config\bE59^-n?fE5Y^@ i^Bdf?j@^b5E^g5;^5;^OE5l nAl $?IZjDNOT Ignoring new targets: 60.80 m.RjPowering the camera and arming the capture device at range: 59.60 m."jBjJj- ProNav: ac range: 60.799999 m, nav range: 18.402054 m, bearing: 314.263900 deg, approach rate: 0.164633 m/s, LOS rate: -1.670299 deg/s, cmd heading: 38.128090 deg, new cmd heading: 36.322355 deg. 2j5I=HeadingCmd: 0.633945 target range: 60.799999 and range: 59.60 m. j=3J"?j9j9j9i9"j9hAhAhIhIfIfIfQrfQbfU" @ɛy}u= 隅 ?I !s=ɚiI:=I$?iinit>)3J"?Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:25:48.0862 TRx dataTimestamp_ set to:1736375149.440608checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026476)QEYEY*EY"EY*F,2F:FBF?5JFu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279446zK GMK K K tK G M|>G B O >Kܶw,~s۾AN&J.?YN f?N1>9N=ll nG٣lyn% r> vNusing accuracyPremultiplier from configp~E59r_x?E5Yr irB   ?@rf5Ery;r;r E5 "AEEB*** querying acoustic contact ***jAjAZjIUDNOT Ignoring new targets: 60.80 m.RjQUPowering the camera and arming the capture device at range: 59.60 m."jQBj]nJj]n=u ProNav: ac range: 60.799999 m, nav range: 18.469128 m, bearing: 313.541509 deg, approach rate: 0.156059 m/s, LOS rate: -1.674622 deg/s, cmd heading: 36.322355 deg, new cmd heading: 34.164133 deg. 2j}HeadingCmd: 0.596277 target range: 60.799999 and range: 59.60 m. j?jjji"jhhhhfffrfbf`D @ɛqB Ae= +?I M+xu=ɚQiQ II};=I?ii>)?)E%?E%?MWill construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: Range 10 to 50 : 59.1 m (Round-trip 78.9 ms) speed 0.0 m/s ],DAT read: user:2597> eBDAT read: Tx time:22:25:49.2032 e$Ping request sent.eG>JJJJJJ:JJJ;JJC;JC;G2Fx>GIBQOmx> Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  JDAT read: TxSync time:22:25:49.2024 +w,I۾A6:'?Y6_?6.>96⨞ G٣yp > Nusing accuracyPremultiplier from config E59 3?%E5Y % i B-?-:-O?-@ j5E ~y; ax; E5 lA addTargetRange:: Added new target pos. range: 59.099998 m, deltaT: 3.785891 s, deltaX: -0.500000 m, approachRate: -0.132069 m/s, rangeRepo size: 4 Zj%DNOT Ignoring new targets: 60.80 m.Rj)uPowering the camera and arming the capture device at range: 59.10 m."jqBjuJj}缝 ProNav: ac range: 60.799999 m, nav range: 18.535822 m, bearing: 312.802084 deg, approach rate: 0.146620 m/s, LOS rate: -1.619653 deg/s, cmd heading: 34.164135 deg, new cmd heading: 31.954997 deg. 2j񊽝HeadingCmd: 0.557720 target range: 60.799999 and range: 59.10 m. j?jjji"jhhhhBfffrf-̌M@bf5 A?ɛpB'= ?I w=ɚiI):<=I?ii >)?)*F}@'2Fy:FyBF}R0JFy $?Ih]Will construct direction to contact in vehicle frame from tetrahedron phase data.G %s>Gy B O >Uw,$۾A6# ?Y6 7Y?6,>96銡XX ZG٣ZLGyZ Z> bNusing accuracyPremultiplier from config`fE59bw?fE5Yb ibwBdf?f@bm5Eb:b7:b E5l nA A]EZjDNOT Ignoring new targets: 60.80 m.RjPowering the camera and arming the capture device at range: 59.10 m."jBjJj꼝% ProNav: ac range: 60.799999 m, nav range: 18.587946 m, bearing: 312.194273 deg, approach rate: 0.141119 m/s, LOS rate: -1.640919 deg/s, cmd heading: 31.954996 deg, new cmd heading: 30.137321 deg. 2j-Č-HeadingCmd: 0.525995 target range: 60.799999 and range: 59.10 m. j-?j1jQjQiY"jYhYhYhahafafafarfibfm?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛoBb=  ?I Ay=ɚiI<=I?ii)?)zKMRIKM}9KIKMuKM%/<J[dhkQ> ( X b~U2ytpjc`\]\]YBK]pA:K]qA*F%2F:FBF_0JFGCx>GYBqO]> I u Will construct direction to contact in vehicle frame from tetrahedron phase data.u >u !@H 9>I  I II BI ! =&I .I 6I <:I x FJ J J J J \:J U:J J J j;J k;J e;J e;9Ffݤ G٣y' > Nusing accuracyPremultiplier from configE59𗓜?E5Y iFB ?:t?@q5E;2;E5B  AEZjamDNOT Ignoring new targets: 60.80 m.RjimPowering the camera and arming the capture device at range: 59.10 m."jiBjJj= ProNav: ac range: 60.799999 m, nav range: 18.640974 m, bearing: 311.485640 deg, approach rate: 0.125922 m/s, LOS rate: -1.677905 deg/s, cmd heading: 30.137322 deg, new cmd heading: 28.018491 deg. 2j񏽝HeadingCmd: 0.489015 target range: 60.799999 and range: 59.10 m. j*`>j) jji"j%~Gh)=5tAh1}A =iY5tAy^BhhBfffrfbf -?ɛ9=B= Eu=E?IA EK/{=ɚiiiIm==Iu*`>iqiq)u*`>)yEWill construct direction to contact in vehicle frame from tetrahedron phase data.*FE"2FA:FABFE`0JFAGe A>GA Bq O >Dmw,۾A ,I,>؊?Y>K?>9>9>8H3?@n? ?`U?@: ? ÿ ?8?ɨ>؊?>*;>CyJdBJa IIVBIV5٢^ѽ ^X=9bN 9Q b>`d fG٣dyfZ j> nNusing accuracyPremultiplier from confighrE59jH?rE5Yj3 ijBprjQjQjYiY"jYhYhYhahafafafarfibfm`V?ɛnB= >I |=ɚiI~>=I5>i1i9)=>)9*F2F:FBF K3JF G%K>Will construct direction to contact in vehicle frame from tetrahedron phase data.GB O% >zK OK K K vK UUVWZ^cijgbYQJC;1,)2zV0QZ9" Fw,N۾AyLBC II-I-,5٢=? =C=9EQ E>AA MG٣MLGyM M> UNusing accuracyPremultiplier from configQ]E59U?]E5YUe iUBiim@Ux5EUt;UH;UE5 ! AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 60.80 m.RjPowering the camera and arming the capture device at range: 59.10 m."jBjJj弝m ProNav: ac range: 60.799999 m, nav range: 18.734514 m, bearing: 310.190220 deg, approach rate: 0.119103 m/s, LOS rate: -1.602228 deg/s, cmd heading: 26.173316 deg, new cmd heading: 24.143548 deg. 2jusHeadingCmd: 0.421384 target range: 60.799999 and range: 59.10 m. j>jjji"jhh! u$?IyhhfffjHm<bHiH;>I Iy IIxBI&I.I6If<:IT FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.rfbf@M@ɛQU := QU>IQ ]MN~=ɚYiYI]e ?=Ir>ii)>)JJJJJ:J9JJJQ;JR;J1;J1;*F=2F9:F9BFE1JFEGy GY e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279842Bq O >w,ܾAy=1B=# IiM;>IM%= U=U%=Mb@Mb@Mb@ )YE?ˡE?X9vy?'=@ 3@)IZ@y3@I`I5٢   ;=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-E59%?-E5Y%Ի i%B-L?-:-_?5@%|5E%@;%;%E59 = A=EZjDNOT Ignoring new targets: 60.80 m.RjPowering the camera and arming the capture device at range: 59.10 m.lFinal approach. Armed for intercept at range: 59.10 m.\Transitioning guidance mode to: FINAL_APPROACH*j@Bj׼Jj׼ ProNav: ac range: 60.799999 m, nav range: 18.774569 m, bearing: 309.509800 deg, approach rate: 0.089085 m/s, LOS rate: -1.510054 deg/s, cmd heading: 24.143549 deg, new cmd heading: 22.107551 deg. 2j%HeadingCmd: 0.385850 target range: 60.799999 and range: 59.10 m. j%>j!j!j!i!h!h)h)h-ˁBf)f1f1rfqbfuz6@ɛ= >I So=ɚiI?=I4>ii)>) )I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531382EuQ=E}pAEy*F 2F :F BF 0JF G <>GBO> w,'2.ܾA*Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783005FL>YF\.?F>9F˄Fa;Dy~B~ IIBI5٢%ӽ %3=9%<zK-sRNK)K)K-wK-34D?`>&KSWk:qP3o^PB6-%BK1:K5rAQ =>99 EG٣AyEv E> UNusing accuracyPremultiplier from configIUE59Mvȓ?]E5YM iMBY]4C?]@M5EMa:M:ME5i m AiZjDNOT Ignoring new targets: 60.80 m.RjBjJj鼝 ProNav: ac range: 60.799999 m, nav range: 18.793404 m, bearing: 308.786487 deg, approach rate: 0.042496 m/s, LOS rate: -1.630264 deg/s, cmd heading: 22.107550 deg, new cmd heading: 19.940876 deg. 2jڋHeadingCmd: 0.348034 target range: 60.799999 and range: 59.10 m. j1>jjjihhhhfffrfbf@ɛmBX֮= >I yN=ɚiI@=I#>i i ) 1>) E@p=*F}2Fy:FyBF}5JFy IH=>IC I: IIEBI =&I Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:25:51.6865 5TRx dataTimestamp_ set to:1736375152.988563checking for new query: numPingsReceived=0, elapsed TxPingTime=3.041575.I7D6IZ<:IN FG A>GY Ba O} >w,GܾA6>Y6'?6+>96,6%;6CyRBRI5Mb@Mb@Mb@111 1)1Y5Zd;?{Gz?X9vy5>5#<15`@ 1)5 AI5@1y5p@ImIm4٢3 ?=9:Q > G٣LGyՀ > Nusing accuracyPremultiplier from config E59Փ? E5Y& iYBi>:j-?@5E;;YE5-B - A-EZjQUDNOT Ignoring new targets: 60.80 m.RjQBj]ϼJj]ϼm ProNav: ac range: 60.799999 m, nav range: 18.794590 m, bearing: 308.168071 deg, approach rate: 0.002789 m/s, LOS rate: -1.453663 deg/s, cmd heading: 19.940876 deg, new cmd heading: 18.086428 deg. 2jmhy}HeadingCmd: 0.315668 target range: 60.799999 and range: 59.10 m. j}3>jyjyjyiyhhhhBfffrfbf @ɛ= >I ɀ=ɚiIA=IN >ii)3>)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287814E]| u=Eu?Eu8>*F2F:FBF3JFG GrA $?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 22:25:51.6865 LVL= 12688, 13025, 13794, 19299, AGC= 52, IDX= 439,-0.05,-1.353,-1.809, 2.589,-2.239, PHS= 0.974, 0.477,-1.457, RAW= 41.2, 0.1, CAL= 40.8, -1.7, ROT= 109.2, 1.7 e Ygot valid direction response: 22:25:51.6865 LVL= 12688, 13025, 13794, 19299, AGC= 52, IDX= 439,-0.05,-1.353,-1.809, 2.589,-2.239, PHS= 0.974, 0.477,-1.457, RAW= 41.2, 0.1, CAL= 40.8, -1.7, ROT= 109.2, 1.7 m PDAT read: Bearing 109.2, 1.7 (Local) u ~Local bearing/azimuth received: Bearing 109.2, 1.7 (Local)  DAT read: Range 10 to 50 : 59.3 m (Round-trip 79.1 ms) speed -0.1 m/s  ,DAT read: user:2598>  BDAT read: Tx time:22:25:52.8032  $Ping request sent. % ~% X8?% : % K6?)% I% ?i% G B O>w,jeܾAZ>YZ ?Z!>9Z7tZdf;XyޅBޅI) II4٢5% 5-=9=tQ =>A G٣yje > Nusing accuracyPremultiplier from configE599哜?E5Yy i%B&?@5Eb;;E5 5AQkV1҇?kKVTv k k&:_ܾA:k3mBBkkBZks@"^?f?QjG@%lA@Og? N̊?Ro\F?Jk?RkU|%*2==6Ϭ֭D@EleB@?WPؿoVjQ?X~1q?"kn%B*k9kz?kn 2kBk yƓ?ky  kBk"Ak@ addTargetRange:: Added new target pos. range: 59.299999 m, deltaT: 3.541904 s, deltaX: 0.200001 m, approachRate: 0.056467 m/s, rangeRepo size: 4  Added new target pos. range: 59.299999 m, bearing: 118.577699 deg, lat: 36.904981 deg, lon: -122.119601 deg, deltaT: 10.855683 s, deltaX: -1.500000 m, approachRate: -0.138176 m/s, posRepo size: 4 Zj%DNOT Ignoring new targets: 59.30 m.Rj!Bj-Jj)= ProNav: ac range: 59.299999 m, nav range: 10.160309 m, bearing: 267.941916 deg, approach rate: 0.000000 m/s, LOS rate: -1.453663 deg/s, cmd heading: 18.086428 deg, new cmd heading: 15.871974 deg. 2j9HeadingCmd: 0.277018 target range: 59.299999 and range: 59.30 m. jUՍ>jjjihhhhfffrf`fM@bfB?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:25:52.8024 ɛ9=[= 9E>z>IA ES=ɚAiAIEC=IMUՍ>iIiI)MUՍ>)yEE*E"EzKC`PK9KKxK|zvnif`[UONNMLJJIHE@;6100--/)'%$#  ! *F 2F :F BF 0JF  I hH >>I  I II BI  =&I .I 6I o<:I _ F Will construct direction to contact in vehicle frame from tetrahedron phase data.J J BAG]:>G1BAO] ?!w,öܾA6f>Y6U?6$>96 kc? h?~h?`Ʊ?]ÿ6?`?ɨ6f>6;6CyBȁBBIzPExceeded connect timeout, disconnecting.}Mb@Mb@Mb@yyy y)yY}v/?y&1y}x>}̼}`}v@ }`@)} AI}@yy} @II 4٢ =9EQ > G٣LGyXM > Nusing accuracyPremultiplier from configE59?E5YW iBB>:T ?@5E;p;E5 MAEB*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 59.30 m.Rj)Bj-Jj5u ProNav: ac range: 59.299999 m, nav range: 10.287881 m, bearing: 266.881890 deg, approach rate: 0.263569 m/s, LOS rate: -2.162775 deg/s, cmd heading: 15.871975 deg, new cmd heading: 12.734648 deg. 2ju}HeadingCmd: 0.222262 target range: 59.299999 and range: 59.30 m. j}c>jyjyjyiyhhhhBfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ!-Q= )-4>I) -l=ɚ)i1I52cD=I5c>i9i9)=c>)a*F2F:FBFP5JF $?I G G B O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994764S'w,ܾAJ2J2J21J0J2<:J2u9J23J0y]B]IImIm4٢j M=9Q > G٣y > Nusing accuracyPremultiplier from configE59z?E5Y iB@5E':v:E5 AZjDNOT Ignoring new targets: 59.30 m.RjBj PJj P ProNav: ac range: 59.299999 m, nav range: 10.390151 m, bearing: 266.070442 deg, approach rate: 0.256964 m/s, LOS rate: -2.018709 deg/s, cmd heading: 12.734648 deg, new cmd heading: 10.325766 deg. 2j-HeadingCmd: 0.180219 target range: 59.299999 and range: 59.30 m. j:8>jjjihhhhfffrfbf@ ?ɛAMO= )->I) -=ɚ)i1I5^E=I=N7L>i9i9)E:8>)iEy*F2F:FBF4JF"G  >G >Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247551zK4NK+9KKyK   G G B O '.w,_ܾA2>Y2V?2l>92I@2;2C PIPy>BVkIiV>IV?I^I^ļ4٢r۽ vX=9zFQ z>   G٣y- ->H?>I IIIˁBI&I.I6Is<:Ic FBIuCJIuCRIqZIu =bIu =jIu&5EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501642 Nusing accuracyPremultiplier from configIE59M[? E5YM iMB)-]?5@M5EM{=M7{=ME59 =A9ZjDNOT Ignoring new targets: 59.30 m.RjBjJj ProNav: ac range: 59.299999 m, nav range: 10.485240 m, bearing: 265.268532 deg, approach rate: 0.207263 m/s, LOS rate: -1.732000 deg/s, cmd heading: 10.325766 deg, new cmd heading: 7.943304 deg. 2jHeadingCmd: 0.138637 target range: 59.299999 and range: 59.30 m. j >jjjihhhhfffrfbf-"?ɛUnB]8u= Y]=IY ]q=ɚYiYIeF=Ie>iiii)m >)i*F2F:FBFP0JF! nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750684Ge >G9 BI Oe >5w,?ܾAyeBeaIMb@Mb@Mb@ )Y}?5^I?y&1{GzyM>`eףhA v@)\ AI@yAI I 4٢ 8=9Q >!! %G٣%LGy- -> 5Nusing accuracyPremultiplier from config1=F595?=F5Y5 i5~BEW>E:Ez>E@55E5;5;5F5MB A EZjQUDNOT Ignoring new targets: 59.30 m.RjYBj]!Jje!u ProNav: ac range: 59.299999 m, nav range: 10.579386 m, bearing: 264.372117 deg, approach rate: 0.239530 m/s, LOS rate: -2.260316 deg/s, cmd heading: 7.943303 deg, new cmd heading: 5.280019 deg. 2ju}HeadingCmd: 0.092154 target range: 59.299999 and range: 59.30 m. j}=jyjjih $?IhhhBfffrfbf f?ɛ= =I j,=ɚiIG=I=ii)=)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002844JJJ0JJ:J9Jـ3J*F2F:FBFJFG ɯ>G B O >9;w,ܾA:^U>Y:&?:>9:Y:D;:CyBBBHIIJ IJ4RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254891٢Zq Ze=9bQ b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrF59n;*?rF5Yn in_Bpv(>v@n5En@:n:nF5x zAxzKMKŷ9KKzK "Et$EZjDNOT Ignoring new targets: 59.30 m.RjBjJj% ProNav: ac range: 59.299999 m, nav range: 10.651706 m, bearing: 263.618978 deg, approach rate: 0.202570 m/s, LOS rate: -2.095173 deg/s, cmd heading: 5.280019 deg, new cmd heading: 3.037153 deg. 2j%-HeadingCmd: 0.053008 target range: 59.299999 and range: 59.30 m. j-BY=j)j)j)i)h)h)hQhQfQfYfYrfYbf]@ɛi= ō=@=I ^9=ɚiIǀH=IFI=ii)BY=)*FE2FA:FABFE_0JFAGMrA GMsA IjH<bHp<HA>I IfIIBI =&I.I6IL<:IH FeWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510387GM >GU qAGU rAG! B) OM > NG vA A - :YF3>F>9FF^;FCyVvBV<I)X XEMb@Mb@Mb@AAA A)AYE/$?x&MbyE>E7EEA E@)E AIE@AyEpAI]I]k4٢el, m?=9mBQ m>qq uG٣qyu }> Nusing accuracyPremultiplier from configF598?F5Y i?B\>:a>@5E;:F5 AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 59.30 m.RjBjnJjn ProNav: ac range: 59.299999 m, nav range: 10.728699 m, bearing: 262.729394 deg, approach rate: 0.191985 m/s, LOS rate: -2.202202 deg/s, cmd heading: 3.037153 deg, new cmd heading: 0.389546 deg. 2j뼽HeadingCmd: 0.006799 target range: 59.299999 and range: 59.30 m. j;jjjih h h1h5Bf9f9f9rf9bfE`K@ɛoBWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiյAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759836:3= eG B O% >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:25:55.2873 m TRx dataTimestamp_ set to:1736375156.512758m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011907wLHw,"ݾAJ"J"J J J":J"9J J ^Յc>Y^>^=>9^令^%B;^CyjpBj5II I 14٢] ]K=9]|Q ]>aa eG٣ayeՏ m> uNusing accuracyPremultiplier from configiF59mF?F5YmO im"B>@m5EmWg;mg;m F5 AZjDNOT Ignoring new targets: 59.30 m.RjBjJj ProNav: ac range: 59.299999 m, nav range: 10.799468 m, bearing: 261.888521 deg, approach rate: 0.176107 m/s, LOS rate: -2.078691 deg/s, cmd heading: 0.389546 deg, new cmd heading: 357.885145 deg. 2jRHeadingCmd: 6.246274 target range: 59.299999 and range: 59.30 m. jz@jjjihhhhfffrfbf@ɛ)-s= )5:I1 5@=ɚ1i1I=J=I=iAiA)Ez@)A*F2F:FBF%2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262764G2>zKmMKm9KiKm{Km_svmcT?1"}xrlhca\UOKHDA><7861-.*'('$"! BKrA:KGBO>7xNw,<ݾA I$H=C>I=C I=@II=zBI9&I9.I96I=`<:I=Y F%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:25:55.2873 LVL= 17168, 19921, 19074, 25251, AGC= 54, IDX= 431, 0.33,-1.192,-0.509,-2.936,-1.517, PHS= 0.413, 1.055,-1.422, RAW= 15.5, -0.4, CAL= 15.2, -2.0, ROT= 134.8, 2.0 Ygot valid direction response: 22:25:55.2873 LVL= 17168, 19921, 19074, 25251, AGC= 54, IDX= 431, 0.33,-1.192,-0.509,-2.936,-1.517, PHS= 0.413, 1.055,-1.422, RAW= 15.5, -0.4, CAL= 15.2, -2.0, ROT= 134.8, 2.0 PDAT read: Bearing 134.8, 2.0 (Local) ~Local bearing/azimuth received: Bearing 134.8, 2.0 (Local) DAT read: Range 10 to 50 : 59.9 m (Round-trip 79.9 ms) speed -0.3 m/s ,DAT read: user:2599> BDAT read: Tx time:22:25:56.4032 $Ping request sent.;>;?y%oB!%C%M %J)%bI%6i%t>%= ?%%c>% %ԇ>)%5I%@i%5=!!%1HϿgE})%]I%{X;i%?%Hc!!:publishing transmit ping timeFpublishing direction and range info!9%VZ+?KI"? >;>;?y!!!! !)!I!i!!!!! !)!I!i!!!%1HϿgE})!y޽nB3II!i!!!!Mb@Mb@Mb@ )YS?)\(Mbpy/>GaA A)I$@y=AI5I5D4٢E E=9MQ M>iq uG٣uLGy} > Nusing accuracyPremultiplier from configF59[?F5Y0 iB>:6>@5E+<*<YF5B $AEk%A ?k% k! k%E,AݾA:k%oBBk%mBZk%A?"%2-m@n#M@|?l*@%VZ+?KI"? >;>;?Jk%?Rk%Hc*%(bO3 IK@<}QG+@%EbԿƹ+f?N%?"k%%\B*k%}k%X4h?k%+2 2k%Bk%3^+?k%D9 k%Bk%bAk%i@ addTargetRange:: Added new target pos. range: 59.900002 m, deltaT: 3.530403 s, deltaX: 0.600002 m, approachRate: 0.169953 m/s, rangeRepo size: 4  Added new target pos. range: 59.900002 m, bearing: 109.334694 deg, lat: 36.904828 deg, lon: -122.119595 deg, deltaT: 3.530403 s, deltaX: 0.600002 m, approachRate: 0.169953 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 59.90 m.RjBjJj  ProNav: ac range: 59.900002 m, nav range: 21.423176 m, bearing: 208.644267 deg, approach rate: 0.000000 m/s, LOS rate: -2.078691 deg/s, cmd heading: 357.885138 deg, new cmd heading: 353.971130 deg. 2j  HeadingCmd: 6.177962 target range: 59.900002 and range: 59.90 m. j ݱ@j j j i h h h h BfA fA fI rfM @3M@bfM @?ɛ pB = Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:25:56.4024 I #==ɚ i I QL=I `׽i i ) ݱ@) EEHu= $?I*F2F:FBF0JF"G!>GuWill construct direction to contact in vehicle frame from tetrahedron phase data.GG?G>GBO0?¶Yw,8hݾAF>YFw>F(>9F-F<;FCyZbB^$IIEIEb4٢]+E ]%=9eM>Q e>ai mG٣iym( u> }Nusing accuracyPremultiplier from configyF59}l?F5Y} i}Bp>@}5E}:}:}F5 AZjVStarting intercept timer at range: 59.90 m.DNOT Ignoring new targets: 59.90 m.RjBjJj ProNav: ac range: 59.900002 m, nav range: 21.626776 m, bearing: 208.497646 deg, approach rate: 0.437724 m/s, LOS rate: -0.312257 deg/s, cmd heading: 353.971139 deg, new cmd heading: 353.535424 deg. 2jLVHeadingCmd: 6.170357 target range: 59.900002 and range: 59.90 m. js@jjjihhhhfffrfbf?ɛ-qB-;|= 15 I1 =0/=ɚ9iAIEpM=IEĵiIiI)Ms@)QE-p,=-Will construct direction to contact in vehicle frame from tetrahedron phase data.-Ai-A*F2F:FBF_0JFzKOKKK|K  8tv^= G:>G B I O >ZH RH @AH E>I  I .II kBI  =&I .I 6I 1<:I 8 F Will construct direction to contact in vehicle frame from tetrahedron phase data.`w,ђݾAJbJbJ`J`Jb:Jb9J`J`Jb8;afJb9;afJ`ajJb1;ajeP=Ye_>eO >9e8?Д?3\??ɨeP=e:m;eCyucBu%I-Mb@Mb@Mb@))) )))Y-w/?Q~jth?y->--D;-A ))-rAI-;@)y-AIEIE4٢Uw; U<=9UcͻQ ]>YY ]G٣]LGye(~ e> mNusing accuracyPremultiplier from configiuF59m|?uF5Ym imB}m>}:}E>}@m5Em9;m;mlF5 AEZjTStopped intercept timer at range: 59.90 m.DNOT Ignoring new targets: 59.90 m.RjBjJj ProNav: ac range: 59.900002 m, nav range: 21.816391 m, bearing: 208.381461 deg, approach rate: 0.436775 m/s, LOS rate: -0.265304 deg/s, cmd heading: 353.535427 deg, new cmd heading: 353.189905 deg. 2j6HeadingCmd: 6.164327 target range: 59.900002 and range: 59.90 m. j*B@jjjihhhhBfffrfbf?ɛrBo)|= % I! %!=ɚ!i!I-%N=I-<#i1i1)5*B@)1E9E9*E9"E9=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :FBFP0JFG5 2> $?I G B! O= >u6>96+XX ^G٣\y^ ^> fNusing accuracyPremultiplier from config`jF59b?jF5Ybt ibBhj z>n@b5Eb~:b.:bF5p rxApB*** querying acoustic contact ***jjZjVStarting intercept timer at range: 59.90 m.DNOT Ignoring new targets: 59.90 m.RjBj%ܤJj%ܤ5 ProNav: ac range: 59.900002 m, nav range: 21.981495 m, bearing: 208.271065 deg, approach rate: 0.434379 m/s, LOS rate: -0.288264 deg/s, cmd heading: 353.189902 deg, new cmd heading: 352.861205 deg. 2j5E=HeadingCmd: 6.158590 target range: 59.900002 and range: 59.90 m. j=+@j9j9j9i9h9hAhIhIfIfIfIrfQbfU=?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛsB{= PI %=ɚ!i!I%imO=I-ti)i))-+@)1JJ@A*F2F:FBF{0JFG:>GB O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709302zKe [eMKe }9Ka Ke }Ke BKu qA:Ku pA[mw,ݾAB7׆=YB>B>9Bctt vG٣tyzZy z> ~Nusing accuracyPremultiplier from config|F59~˙?F5Y~g i~B  `>@~5E~Hv;~Qt;~OF55B 5~AEEZjDNOT Ignoring new targets: 59.90 m.RjBjJj ProNav: ac range: 59.900002 m, nav range: 22.157619 m, bearing: 208.143064 deg, approach rate: 0.423677 m/s, LOS rate: -0.305464 deg/s, cmd heading: 352.861206 deg, new cmd heading: 352.480263 deg. 2jQHeadingCmd: 6.151941 target range: 59.900002 and range: 59.90 m. j@jjjihhhhfffrfbf?ɛ}tB}{!{= 隅xI =ɚiIFdP=Idi Ii)@)HF>I I'IIfBI =&I.I8D6I8<:I? F*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966091J%J%J!J!J%m:J%O9J!J!J%;J%;J%e,;J%f,;G*>G B O >\Ctw,~ݾA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215018yrcBr%I}Mb@Mb@Mb@yyy y)yY}K7A`?{Gzt?~jtx?y}>}ף;};}IA }zA)yI}@yy}QAII4٢7 >=9Q > G٣LGy > ]Nusing accuracyPremultiplier from configYeF59]K?eF5Y]ә i]vBe >e:m>m@]5E]+;];];#F5y }AyZjTStopped intercept timer at range: 59.90 m.DNOT Ignoring new targets: 59.90 m.RjBj؀Jj؀ ProNav: ac range: 59.900002 m, nav range: 22.358574 m, bearing: 208.041834 deg, approach rate: 0.451284 m/s, LOS rate: -0.225291 deg/s, cmd heading: 352.480272 deg, new cmd heading: 352.179313 deg. 2j HeadingCmd: 6.146688 target range: 59.900002 and range: 59.90 m. j5@j1j1j1i1h1h9h9h=ԁBf9fAfArfAbfE@8@ɛvBz= 隝pI =ɚiIhQ=Iii)@)ErAErA $?I*F2F:FBF1JF"GG!>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466934G 2>Gq By O >.ozw,ݾA66>96dB>&IiB>IB< F=FR=IJIJ4٢RR; R\=9RkQ V>TT VG٣TyZa Z> Nusing accuracyPremultiplier from config%F59ҷ?%F5Y ibB!%~>%@5E*::h&F5) 5A5EZjVStarting intercept timer at range: 59.90 m.DNOT Ignoring new targets: 59.90 m.RjBjJj ProNav: ac range: 59.900002 m, nav range: 22.519463 m, bearing: 207.941377 deg, approach rate: 0.439126 m/s, LOS rate: -0.272225 deg/s, cmd heading: 352.179307 deg, new cmd heading: 351.880093 deg. 2j:HeadingCmd: 6.141466 target range: 59.900002 and range: 59.90 m. j@jjjihhhhfffrfbf@ɛ}wBKx= 隅XI =ɚiI ;R=UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719706Ieiaiq)u@)*F%2F):F)BF-P5JF)zKRIK9KK~K qIqG :>H G>I  I I I  =&I .I 6I <:I FBIUɡCJIUɡCRIQZIU =bIU =jIU!5G  Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:22:25:58.8886 = TRx dataTimestamp_ set to:1736375160.049876M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979579Bi O >J= J= J9 J9 Ww,޾AJe:Je=9JaJaJe;Je;Je*;Je*;e<@YeZ>e>9e"y=L=9=A =A)9I=@9y=AIUIU4٢e e1=9mqQ m>iq uG٣qyu7Z u> Nusing accuracyPremultiplier from configyF59}Ȕ?F5Y} i}JB>:^>@}5E};};}V*F5 AZjTStopped intercept timer at range: 59.90 m.-DNOT Ignoring new targets: 59.90 m.Rj)Bj5lbJj5lbE ProNav: ac range: 59.900002 m, nav range: 22.729242 m, bearing: 207.851384 deg, approach rate: 0.465739 m/s, LOS rate: -0.197953 deg/s, cmd heading: 351.880090 deg, new cmd heading: 351.612605 deg. 2jmmHeadingCmd: 6.136797 target range: 59.900002 and range: 59.90 m. ju`@jqjqjqiqhqhqhyh}؁Bfyfyfrfbf@y @ɛ5xB5Qu= 9=WI9 Eeρ=ɚYiYIw,&޾A65@Y6zC>6P=96y[BBIIFIF4٢N*$ Ri=9RiݻQ R>TT VG٣VLGyV) Z> ^Nusing accuracyPremultiplier from config\bF59^1֔?bF5Y^ i^8B`b͗>b@^5E^z:^:^f-F5jB jAjE~B*** querying acoustic contact ***j|j|Zj VStarting intercept timer at range: 59.90 m. DNOT Ignoring new targets: 59.90 m.Rj Bj>Jj>% ProNav: ac range: 59.900002 m, nav range: 22.891922 m, bearing: 207.773254 deg, approach rate: 0.473917 m/s, LOS rate: -0.225990 deg/s, cmd heading: 351.612592 deg, new cmd heading: 351.379869 deg. 2j%-HeadingCmd: 6.132736 target range: 59.900002 and range: 59.90 m. j-_?@j)j)j1i1h1h1h9h9f9f9fArfAbfE& @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477595ɛmyBu}jq= quoIq u-=ɚyiyI}^S=Ixii)_?@)*Fe2Fa:FaBFeP0JFaGi GmrAG2>GrAGU Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: Range 10 to 50 : 60.9 m (Round-trip 81.3 ms) speed -0.4 m/s m ,DAT read: user:2600> u BDAT read: Tx time:22:26:00.0032 u $Ping request sent.u zK K ŷ9K K K ww,9޾A2^@Y2@+>2:==92܊xx zG٣xy~Pf >  Nusing accuracyPremultiplier from configF59攜?F5YT i#B>@5E::1F5! %A!U addTargetRange:: Added new target pos. range: 60.900002 m, deltaT: 3.783453 s, deltaX: 1.000000 m, approachRate: 0.264309 m/s, rangeRepo size: 4 ZjYeDNOT Ignoring new targets: 59.90 m.RjiBjukJj}k ProNav: ac range: 59.900002 m, nav range: 23.083099 m, bearing: 207.671382 deg, approach rate: 0.464623 m/s, LOS rate: -0.245530 deg/s, cmd heading: 351.379874 deg, new cmd heading: 351.076794 deg. 2j(HeadingCmd: 6.127446 target range: 59.900002 and range: 60.90 m. j @jjjihhhhfffrf@3sN@bf? Iɛ{Bn= I  =ɚiIT=HH>I I.IIkBI =&I.I6I<:I~ FI] ziaia)e @)aWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJM:J*9JJJ;J ;J(;J(;*Fe2Fi:FiBFuX0JFq) G%tA=A mH YutAyuMBG5 :>e Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >w,U޾AR@YR>Rϋ=9R*/qq uG٣qy}gC }> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configF59E?F5Y i B+::>@5E%H;>*4F5B AAEZjDNOT Ignoring new targets: 59.90 m.RjBjӎJjӎ ProNav: ac range: 59.900002 m, nav range: 23.288488 m, bearing: 207.552517 deg, approach rate: 0.435363 m/s, LOS rate: -0.249737 deg/s, cmd heading: 351.076805 deg, new cmd heading: 350.723358 deg. 2jd+HeadingCmd: 6.121277 target range: 59.900002 and range: 60.90 m. j@jjjihhhhfffrfbf@ ?ɛM}BMi= QUܼIQ Un=ɚQiQIUU=I@%isF)@) %$?I!*FU2FQ:FQBFU^0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.G} 2>GQ Ba O >!)w,n޾A6I@Y6=6=963=y6Hɍ? >Q/? 7? ?xƖI??ɨ6I@6;6Cy>FBBIIHIH٢R RX=9R#Q V>TT VG٣VLGyZ Z> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config\F59^?F5Y^ i^B% :!%:%h>%@^5E^qa<^U?^R6F5) 5zA1ZjQ]DNOT Ignoring new targets: 59.90 m.RjaBje=Jjm=} ProNav: ac range: 59.900002 m, nav range: 23.460960 m, bearing: 207.443347 deg, approach rate: 0.476535 m/s, LOS rate: -0.299416 deg/s, cmd heading: 350.723356 deg, new cmd heading: 350.398258 deg. 2j}|MHeadingCmd: 6.115603 target range: 59.900002 and range: 60.90 m. j@jjjihhhhfffrfbf %h?ɛ~B(a= \߽I mF=ɚiInV=I+i5jM)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFo0JF"G>G%>Gm:>GABQOm5>zKBHK9KKK IZHQRHUAAH]J>I]C I]'II]fBI] =&IY.IY6I]O<:I]R Fu Will construct direction to contact in vehicle frame from tetrahedron phase data.ww,޾A6@Y6@T=6b=96-=y6H`?@ޙ@?Y? ?@o6}??ɨ6@6D@;6CyR9BRIiV=IV9? - - -- -5  5 5 5Mb@Mb@Mb@111 1)1Y5gfffff?kt?~jty53>5 =5D5`A 5A)5AI5@1y5AIMAAIUIU4٢eo e?=9e%Q e>ii mG٣iym[y u> Nusing accuracyPremultiplier from configF59M?F5YV iB%T:%:>%:%>%@5E ; ;=:F5) -A5~EZjTStopped intercept timer at range: 60.90 m.DNOT Ignoring new targets: 59.90 m.RjBjJj ProNav: ac range: 59.900002 m, nav range: 23.671387 m, bearing: 207.339149 deg, approach rate: 0.472674 m/s, LOS rate: -0.231976 deg/s, cmd heading: 350.398267 deg, new cmd heading: 350.088454 deg. 2j4HeadingCmd: 6.110196 target range: 59.900002 and range: 60.90 m. j@jjjihhhh݁Bfffrf bf ?ɛ]B]]= Y]2 IY ee=ɚaiaIeJW=Im$1i`tU)@)*F%2F!:F!BF%~0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.GM 6> $?I G! B) OM >;w, ޾A6F@Y6i=6=96 #B>IIFIFa4٢V VW=9VQ V>XX ZG٣Xy^  >%Will construct direction to contact in vehicle frame from tetrahedron phase data. -Nusing accuracyPremultiplier from config-F59%?5F5Y+ iB15>5@5EO;;{=F5A EAE|EB*** querying acoustic contact ***jjZjVStarting intercept timer at range: 60.90 m.DNOT Ignoring new targets: 59.90 m.RjBj呻Jj呻 ProNav: ac range: 59.900002 m, nav range: 23.844828 m, bearing: 207.243784 deg, approach rate: 0.467362 m/s, LOS rate: -0.255105 deg/s, cmd heading: 350.088449 deg, new cmd heading: 349.804439 deg. 2j/HeadingCmd: 6.105239 target range: 59.900002 and range: 60.90 m. j^@jjjihhhhfffrfbfP?ɛBI=  =I  a=ɚ i I W=I|76iuW[)^@)!JJBAJJJ/JJm:J9J(N3Ja@a@a@a@*F2F:FBF_5JFG>>GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zK= KK= 9K9 K= K= H60579bBKA :KE qAew,c޾A2#@Y2bE=2=92tt zG٣zLGyzc z> Nusing accuracyPremultiplier from config F595?F5Y iB!-j>5@5E;;@F5EB EAEyEZjimDNOT Ignoring new targets: 59.90 m.RjiBju2Jju2HI IIIQBI =&I.I6IB<:IJ F] ProNav: ac range: 59.900002 m, nav range: 24.031389 m, bearing: 207.132054 deg, approach rate: 0.468428 m/s, LOS rate: -0.278359 deg/s, cmd heading: 349.804450 deg, new cmd heading: 349.471866 deg. 2j] ?eHeadingCmd: 6.099435 target range: 59.900002 and range: 60.90 m. je.@jajajaiahihihihifffrfbf @ɛB C= aI Z=ɚiI=X=I)).@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.277814*Fu2Fy:FyBF}O5JFG GGs2h>G)G-sAGBO-o> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526932Mw,->޾A6@Y6<6^K=96Ga=ļvA A)AI`@yAII94٢ :=9/Q >  G٣ y C  > Nusing accuracyPremultiplier from configF59 G?%F5Y9 iB%>%:%>%@5E;0;DF5) 5A1ZjTStopped intercept timer at range: 60.90 m.DNOT Ignoring new targets: 59.90 m.RjBjmǻJjmǻ5 ProNav: ac range: 59.900002 m, nav range: 24.229542 m, bearing: 206.972070 deg, approach rate: 0.435464 m/s, LOS rate: -0.348708 deg/s, cmd heading: 349.471874 deg, new cmd heading: 348.995860 deg. 2j5Po=HeadingCmd: 6.091127 target range: 59.900002 and range: 60.90 m. j=@j9jAjAiAhAhAhIhMB $?IfffrfbfT@ɛB3= I) -=ɚ)i)I-Y=I5Di1i59@>)5@)9*F2F:F!BF%@5JF!=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778773*Ja="JJJJ0JJݒ:J9Jـ3JG- g>G B O5 >Fww,n޾A67@Y6;6%=96ll nG٣pyrd r> vNusing accuracyPremultiplier from configtzF59vU?zF5Yv ztIivsB|~=}@v5Ev^)=?@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:22:26:02.4908 -TRx dataTimestamp_ set to:1736375163.8540995checking for new query: numPingsReceived=0, elapsed TxPingTime=3.049891*F2F:FBFQ0JFGa>GaBiO9>zK= OK9K9K=K=}sica^^_YX[ZYXWWWUWTRRRSONNNLJKIFFFDDDBAB>>=:8:;955431RKM?JKM> $?IjH<bH4<HK>I III)BI&I.I6I8<:ID F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.3020534_·w, ߾AJ@YJ%@J=9J}=yJH?ԇ? r?`֠Q?`R긿@?`?ɨJ@Jr;JCyfрBfqIMb@Mb@Mb@ )Ye;O?~jt?Mby<A A)AIyfAII[4٢ :=9P?Q > G٣LGyṽ > Nusing accuracyPremultiplier from configF59g?F5Y iPB>: < @5E;:KF5 1AZjMMTStopped intercept timer at range: 60.90 m.MDNOT Ignoring new targets: 59.90 m.RjIBj Jj  ProNav: ac range: 59.900002 m, nav range: 24.580704 m, bearing: 206.623121 deg, approach rate: 0.442067 m/s, LOS rate: -0.491592 deg/s, cmd heading: 348.581354 deg, new cmd heading: 347.956651 deg. 2j HeadingCmd: 6.072989 target range: 59.900002 and range: 60.90 m. j U@j j j iahihihhBfffrfbf@s @ɛ%BN= 隕 I @k}=ɚiIgY[=I=Wii>)U@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 62.4 m (Round-trip 83.3 ms) speed 0.0 m/s ,DAT read: user:2601> BDAT read: Tx time:22:26:03.6048 $Ping request sent.G?G?GBO > q Iq ȷw,#߾A2W@Y2$g@2+=92=y2Hf?6??`i`?I{/`? Q?ɨ2W@2 Y;2CyVBVUII^I^_4٢fX j\=9jSQ j>ll nG٣lyn@O n> vNusing accuracyPremultiplier from configpzF59ru?zF5Yr ir3B|~v:~@r5Er/;r/;rOF5 B A sE%B*** querying acoustic contact ***j)j)= addTargetRange:: Added new target pos. range: 62.400002 m, deltaT: 3.555307 s, deltaX: 1.500000 m, approachRate: 0.421905 m/s, rangeRepo size: 4 Zj9EDNOT Ignoring new targets: 59.90 m.RjABjMo JjMo ] ProNav: ac range: 59.900002 m, nav range: 24.738195 m, bearing: 206.440969 deg, approach rate: 0.424300 m/s, LOS rate: -0.487612 deg/s, cmd heading: 347.956638 deg, new cmd heading: 347.413678 deg. 2j]RmWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:22:26:03.6041 }T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.HeadingCmd: 6.063512 target range: 59.900002 and range: 62.40 m. jK@jjjih h h h fffrf@33O@bfw?ɛB]< 隕GѾI @|=ɚiI\=I`iivo>)K@)JKـ3 K .KK"KJJJJJ-:JJJ*F2F:FBF_0JFG@>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.492259G B O > I II ηw,=߾AzKNK@9KK6˹@Y6H@6J =K0/..)%" !!   '-1231011./-)(BK:rA:K:rA96 =y6H`?f?`?t@? 9h?w?ɨ6˹@6qQ;6CyFBF5IIrIr4٢z zH=9~Q ~>|| ~G٣|yA >  Nusing accuracyPremultiplier from config F59 6?F5Y  i BҔ@ 5E  ; : RF5! %A!ZjIMDNOT Ignoring new targets: 59.90 m.RjQBjUhJjUhe ProNav: ac range: 59.900002 m, nav range: 24.909697 m, bearing: 206.235965 deg, approach rate: 0.422454 m/s, LOS rate: -0.501504 deg/s, cmd heading: 347.413665 deg, new cmd heading: 346.802911 deg. 2jeuHeadingCmd: 6.052853 target range: 59.900002 and range: 62.40 m. ju@jqjqjqiqhyhyhyhyfffrfbf5 ?HI IIIBI&I.I6I/<:I= FBIUCJIUCRIQZIU =bIU =jIUw-5ɛBP < 5I z=ɚiI;\=ITkii ď>) @)*F 2F :F BF o0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746701Gk9>GB9O]>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994562kշw,W߾AyBIMb@Mb@Mb@ )Ygfffff? rhly3>C  A A)\ AIQAy3AIIļ4٢ ==9Q > G٣LGy > ]Nusing accuracyPremultiplier from configeF59.?eF5Yc iBe>m:m m@5E{<';pVF5q uAupEZjDNOT Ignoring new targets: 59.90 m.RjBj&Jj& ProNav: ac range: 59.900002 m, nav range: 25.077988 m, bearing: 205.974128 deg, approach rate: 0.377482 m/s, LOS rate: -0.583365 deg/s, cmd heading: 346.802910 deg, new cmd heading: 346.022721 deg. 2j-ȼHeadingCmd: 6.039236 target range: 59.900002 and range: 62.40 m. jkA@jjjihhhhRBfffrfbf`Z? $?IɛB<  I x=ɚiI%s]=I%yi!i-I>)-kA@))E9*F2F:FBF0JFG>GGrAGaBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246617J J J J J :J 9J J ۷w,iq߾AynlBrIvAvAIzIz4٢- -V=9)Q ->11 5G٣9y9 => ENusing accuracyPremultiplier from configAMF59E0?MF5YE  iEBIQU@E5EE* ;E ;EYF5Y ]aAYZjDNOT Ignoring new targets: 59.90 m.RjBjo0Jjo0] ProNav: ac range: 59.900002 m, nav range: 25.227270 m, bearing: 205.745448 deg, approach rate: 0.405183 m/s, LOS rate: -0.617010 deg/s, cmd heading: 346.022711 deg, new cmd heading: 345.340765 deg. 2j]ӼeHeadingCmd: 6.027333 target range: 59.900002 and range: 62.40 m. je@jajajaiahihihqhqfqfqfqrfybf}1?ɛB%< 隵WI w=ɚiI׶^=Iii'>)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499657*F)2F):F)BF-_5JF) $?IzKMKŷ9KKK)'&''$# HI IYIIBI&I.I6I<:I2 FGm+>GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755981 c~G vA A+w,*W߾A "Y"vAy"9ByލYBލI @ @ @  @ II4٢S ==9Q >    G٣ y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%F59+?%F5Y͎ iB-+:)-:)-@5E7;>\F55B 5A=mEZjDNOT Ignoring new targets: 59.90 m.RjBj !Jj ! ProNav: ac range: 59.900002 m, nav range: 25.396601 m, bearing: 205.490039 deg, approach rate: 0.377068 m/s, LOS rate: -0.564955 deg/s, cmd heading: 345.340757 deg, new cmd heading: 344.579685 deg. 2jEHeadingCmd: 6.014050 target range: 59.900002 and range: 62.40 m. jEs@jAjAjAiAhAhIhIhIfIfQfQrfQbfU ?ɛB|֚< zI t=ɚiI7_=Ỉii1>)s@)!*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003459G:{!>GBO> I+w,߾A:F@Y:@:XG=9:V=y:H?ap?nH? S?`|C`??ɨ:F@:[q;:CybCBbII~I~%4٢ [=9%Q ->11 5G٣1yE' M>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255592 }bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configQF59Uŕ?F5YU iUB ::vM@U5EU7) @)*F2F:FBF4JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510439G H&>G ?G =?G B O > $?I w,M߾AzK*LK*}9K(K*K*+h C kBB@YBQ@Bʛ=9Bc_=yBH?Uf?'?@s¿`&?st`ʫ?@3?ɨBB@B#;BCyJ5BNIiRa>IR4<IVIV 4٢^< ^O=9^=Q b>`` bG٣bLGyf" f> nbBottom track data is 1.2 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighnF59jԕ?rF5YjƐ ijqBr9prl:r(]r@j5Ej';jʙ?j`F5zB z'AzlEZjDNOT Ignoring new targets: 59.90 m.RjBj%HJj%HH1I1 I5II5BI1&I1.I16I5I<:I5Q FU ProNav: ac range: 59.900002 m, nav range: 25.684635 m, bearing: 204.999805 deg, approach rate: 0.411807 m/s, LOS rate: -0.702870 deg/s, cmd heading: 343.863579 deg, new cmd heading: 343.117344 deg. 2jU/񼝊]HeadingCmd: 5.988527 target range: 59.900002 and range: 62.40 m. j]@jYjYjYiYhahahahafififirfqbfutf@ɛ=B=x; 9=:0I9 eRp=ɚiiiIm ka=I}lݖiyiJ>)@)*FM2FQ:FQeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759467BFmP0JFiG=R!>GBO5q> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:26:06.0943  TRx dataTimestamp_ set to:1736375167.380690 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011755w,߾A˼@YE@1 =9l^=yHt~?`2?G?ЬĿ?@0@?E?ɨ˼@O;Cy-)B-I        Mb@Mb@Mb@ )Yjt?Qly?/ A A) AIAyAI Ie4٢ U  6=9Q > %G٣!y%y %> 5Nusing accuracyPremultiplier from config)5F59-敜?5F5Y-  E$?IEhi-LBUT:U?U:UʾU@-5E-;-ۢ;-dF5Y ]AaZjDNOT Ignoring new targets: 59.90 m.RjBj3mJj3m ProNav: ac range: 59.900002 m, nav range: 25.840437 m, bearing: 204.622614 deg, approach rate: 0.344717 m/s, LOS rate: -0.829511 deg/s, cmd heading: 343.117340 deg, new cmd heading: 341.992742 deg. 2jRHeadingCmd: 5.968899 target range: 59.900002 and range: 62.40 m. j9@jjjihhhhBfffrfbfX@ɛB < 6I o.n=ɚiIEMb=I꠾ii- >)9@)*Fq2Fq:FqBFu^0JFqGM>G BO5O>eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262843w,]߾ABJ@YBY@Bk=9BGT=yBH j?%?@?Iƿm?@.ߩu??ɨBJ@Bł;@yfBfIInInk4٢v va=9v'Q v>xx zG٣xy~2 ~> Nusing accuracyPremultiplier from configF59A?F5Y i0B?Ҿ@5EB;B;gF5! %A%iEZjIMDNOT Ignoring new targets: 59.90 m.RjIBjUI k=ɚiIc=Iiik >)~@)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 63.9 m (Round-trip 85.3 ms) speed -0.5 m/s ,DAT read: user:2602> BDAT read: Tx time:22:26:07.2033 $Ping request sent.IA IEIIE]BIA&IA.IA6IEE<:IEO FG>GGsAGQBYO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:26:07.2025 J- J- J- 1w,. AJQJU:JU9JU3JQJUl;aJUm;a"JU;%;a&JU;%;a&%׻@Y%E@%=I=9%ZJ=y%H W?7?@sͫ?@6nȿY?3%OA??ɨ%׻@%;%Cy=B=I)A AMb@Mb@Mb@ )YS㥛?(\¿Qy?z A )\ AIhAyAII4٢ :=9)Q > G٣LGy > UNusing accuracyPremultiplier from configIUF59MG?UF5YM iMB]* ?]:]f]@M5EM{;M;MkF5a e"Ai addTargetRange:: Added new target pos. range: 63.900002 m, deltaT: 3.527727 s, deltaX: 1.500000 m, approachRate: 0.425203 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 59.90 m.RjBjbJjb ProNav: ac range: 59.900002 m, nav range: 26.116398 m, bearing: 203.909913 deg, approach rate: 0.336235 m/s, LOS rate: -0.897949 deg/s, cmd heading: 341.080222 deg, new cmd heading: 339.866397 deg. 2jHeadingCmd: 5.931787 target range: 59.900002 and range: 63.90 m. j4ѽ@jjji)h)h)h)h5Bf1f1f1rf5@3O@bf=ڨ?ɛEBE; IMAII Mri=ɚIiIIMc=IUj곾iQi]>)]4ѽ@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.i*F2F:FBF_0JFG@ >GBO> 5$?I1^& w,`&A6ml@Y6{@6Yv=96h=y6HD?@?`\.?Mʿ@? ^@Ю?`?ɨ6ml@6S;6CyBBBIIJIJ4٢Vݼ Vc=9V\Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`jF59bo?jF5Yb* ibBhnn@b5EbB;bC;bnF5rB rNArfEZj  DNOT Ignoring new targets: 59.90 m.Rj BjJj- ProNav: ac range: 59.900002 m, nav range: 26.235271 m, bearing: 203.588252 deg, approach rate: 0.340195 m/s, LOS rate: -0.916361 deg/s, cmd heading: 339.866388 deg, new cmd heading: 338.905871 deg. 2j-9-HeadingCmd: 5.915023 target range: 59.900002 and range: 63.90 m. j5G@j1j1j1i1h1=Will construct direction to contact in vehicle frame from tetrahedron phase data.hAhAhAfIfIfQrfQbf`?ɛ}B}|z8 y隅}DI f=ɚiIˬd=Iii>)G@J@AJ@A)*Fe2Fi:FiBFm1JFiG >Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga By O > ! I! u w,q8@A6[@Y6@60Vc=96oW=y6H .?`9?uХ??˿@*?9 g2? ?ɨ6[@68;6Cy> BR{IzK^[NK^ 9K\K^K^BKd:KdI^I^P4HrN>Ip IrIIrDBIr =&Ip.Ip6Ir<:Ir F٢W E=92:Q >    G٣ y > Nusing accuracyPremultiplier from config%F59%?%F5Y iB!%-@5E ;:rF51 5A1MB*** querying acoustic contact ***jIjIZjYeDNOT Ignoring new targets: 59.90 m.RjaBjeJje񁼝u ProNav: ac range: 59.900002 m, nav range: 26.373465 m, bearing: 203.209855 deg, approach rate: 0.333666 m/s, LOS rate: -0.908841 deg/s, cmd heading: 338.905872 deg, new cmd heading: 337.776785 deg. 2ju}HeadingCmd: 5.895317 target range: 59.900002 and range: 63.90 m. j}p@jjjihhhhfffrfbf?ɛBJ HI aYd=ɚiI`e=Iƾii>)p@)*FY2FY:FYBF]@5JFa"Gm=Gm=UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.Gu >G?G>GIByJJJ0JJJJـ3JJJJJ<%;Oew> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506295Gw,WZABԁ@YBQ@BS=9BG=yBH`?@f??Ϳ@?e]t?`W?ɨBԁ@B;BCy^B^Iib=Ib=Mb@Mb@Mb@ )Y?(\¿~jtyf? I A A)I AI~AyII(4٢P= ==9NQ > G٣LGy > Nusing accuracyPremultiplier from configF59H7?F5Y iB ?:@5E;^;LvF5 NAcEZj!%DNOT Ignoring new targets: 59.90 m.Rj!Bj-1Jj-1E ProNav: ac range: 59.900002 m, nav range: 26.518696 m, bearing: 202.809816 deg, approach rate: 0.334961 m/s, LOS rate: -0.917589 deg/s, cmd heading: 337.776787 deg, new cmd heading: 336.583424 deg. 2jEnMHeadingCmd: 5.874489 target range: 59.900002 and range: 63.90 m. jM@jIjIjIiIhIhIhQhUBfYfYfYrfYbf]@?ɛB_; 隝 EI )@)*F-2F):F)BF-4JF)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759520G>*JC="J%=Gi Bq O >aw,sA2 @Y2P@2D=92-7=y2H`>? Ķ? -?WqϿ#?:ܦ?`^?ɨ2 @27;0yBBBIIJIJ[4٢R < Ra=9V$Q V>TT VG٣XyZ Z> ^Nusing accuracyPremultiplier from config\bF59^E?bF5Y^w i^Bdf_f@^6E^:^:^xyF5h jAAhZjDNOT Ignoring new targets: 59.90 m.RjBjsyJjsy ProNav: ac range: 59.900002 m, nav range: 26.639248 m, bearing: 202.473964 deg, approach rate: 0.314549 m/s, LOS rate: -0.872345 deg/s, cmd heading: 336.583417 deg, new cmd heading: 335.580530 deg. 2jHeadingCmd: 5.856985 target range: 59.900002 and range: 63.90 m. jll@jjjihhhhfffrfbf,?ɛ A  DI  32_=ɚ i If=I6ھii >)ll@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011383*F2F:FBFP0JFG$> $?IGiBO?>HI III:BI&I.I6Is<:Is FBIJIRIZIbI =jIƑ45zKUBHKU9KQKUKU    RKe?JKe>e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262764J J J /J J -:J 9J (N3J J ;J ;J p#;J q#;_#w,%A@Y @?4=9*=yH`?@i?@E?ۆп?AwG@V??ɨ@ ;CyBIMb@Mb@Mb@ )Y?p= ףI +y94 A)I Ay(AII4٢S 4=9 Q >    G٣ y  > Nusing accuracyPremultiplier from configF59W?%F5Y iB%| ?%:%-@6E;;p}F5=B =^A=`EZjYeDNOT Ignoring new targets: 59.90 m.RjaBjmJjm} ProNav: ac range: 59.900002 m, nav range: 26.793034 m, bearing: 202.064795 deg, approach rate: 0.354436 m/s, LOS rate: -0.937608 deg/s, cmd heading: 335.580526 deg, new cmd heading: 334.360258 deg. 2j} HeadingCmd: 5.835687 target range: 59.900002 and range: 63.90 m. j@jjjihhhhBfffrfbf]@ɛB: FI o\=ɚiIGg=I|ii#'>)@)*FA2FA:FABFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514264 u$?IqGe=>GmqAGmrAG9 BI Oe >)w,6A6 ;@Y6J@6"=96'=y6H?@ph?Tԛ?Nѿ?W]??ɨ6 ;@6\;6Cy>B>I)@ @IJIJ4٢VÇ= Zc=9Z'EQ ^>`` bG٣bLGyfU f> nNusing accuracyPremultiplier from configlvF59nf?vF5Yn inBtz+z@n6EnUX;nH;nF5Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767070y AZjDNOT Ignoring new targets: 59.90 m.RjBj6qJj6q  ProNav: ac range: 59.900002 m, nav range: 26.914574 m, bearing: 201.738987 deg, approach rate: 0.316102 m/s, LOS rate: -0.843533 deg/s, cmd heading: 334.360245 deg, new cmd heading: 333.387333 deg. 2j =HeadingCmd: 5.818707 target range: 59.900002 and range: 63.90 m. j=2@j9j9j9iAhAhAhAhAfIfIfIrfIbfm>@ɛB: @I Y=ɚiI g=I5&i1i5g*>)52@)9*F2F:FBF[0JFGR$>GaBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018246 i Ii k0w,LAH6M>I4 I6II6IBI4&I4.I46I69<:I6H FVܸ@YV'@V:%=9V3i#=yVH@6??KF?%ҿ`?`C`# {h?W?ɨVܸ@Vύ;VCyb(BbIIjIj4٢rhi= vG=9vY-Q v>tx zG٣xy~ >  Nusing accuracyPremultiplier from config F597v?F5Y iB@ 6E:U:.F5! %A%]E=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 59.90 m.RjIBjUJjUzK])MK]9KYK]K]BKeqA:Ka} ProNav: ac range: 59.900002 m, nav range: 27.051481 m, bearing: 201.369649 deg, approach rate: 0.354074 m/s, LOS rate: -0.950350 deg/s, cmd heading: 333.387325 deg, new cmd heading: 332.285063 deg. 2j} #HeadingCmd: 5.799469 target range: 59.900002 and range: 63.90 m. j?@jjjihhhhfffrfbf @ɛ" ;I kW=ɚiI ;h=Iii1>)?@)) ~G*F2F:FBFm0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270188 YyB @vBJJJ0JJM:J=9Jـ3JJ;J ;J*;J*;GV%>GqByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5222366w,ǝAyr5BrI $?IMb@Mb@Mb@ )YQ?y?̽\ A 3A)/ AIAyAI I4٢i= :=9Q > G٣y >  Nusing accuracyPremultiplier from config F59 ?F5Y  i vBT ?:@ 6E ; d; F5! %:A!ZjDNOT Ignoring new targets: 59.90 m.RjBjnJjn ProNav: ac range: 59.900002 m, nav range: 27.210136 m, bearing: 200.995762 deg, approach rate: 0.356609 m/s, LOS rate: -0.835478 deg/s, cmd heading: 332.285069 deg, new cmd heading: 331.170097 deg. 2jXHeadingCmd: 5.780009 target range: 59.900002 and range: 63.90 m. j@jjjihhhh0Bfffrfbf `* @ɛuBuT; qu4Iq }U=ɚyiyI}Ƭh=I-iiB>)@)*F 2F :F BF JFGaQ/>G?GGBOd>-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777540tt vG٣zLGyz z> ]Nusing accuracyPremultiplier from configYeF59]x?eF5Y]| i]oBaem@]6E]L:]*:]UF5uB uAu\EZjDNOT Ignoring new targets: 59.90 m.RjBj{Jj{ ProNav: ac range: 59.900002 m, nav range: 27.345947 m, bearing: 200.666321 deg, approach rate: 0.363675 m/s, LOS rate: -0.877791 deg/s, cmd heading: 331.170109 deg, new cmd heading: 330.186799 deg. 2jHeadingCmd: 5.762847 target range: 59.900002 and range: 63.90 m. j>i@jjjihhhhfffrfbf f @ɛ:  ,I  8S=ɚ i I fh=I4iiK:>)>i@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026143*F2F:FBF2JF $?IHeL>Ia IeIIebBIe =&Ia.Ia6IeC<:IeN FzKKK@9KKKG g41>GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- =- <- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278502±Cw,~AeY@Yeʾ@e<9e =yeHn[?E:?`!?.Կ V?``@??ɨeY@e΋;eCyޕSBޕI%Mb@Mb@Mb@!!! !)!Y%p= ף?v/{Gzt?y%?%xi%ף;% A %A)!I%A!y%QAI5I5~4٢E$_= E5=9M0Q M>IQ UG٣QyUۼ U> eNusing accuracyPremultiplier from configYeF59]?mF5Y] i]kBm?m:m[ܾm@]6E]{;];]-F5q }SAyZjAEDNOT Ignoring new targets: 59.90 m.RjIBjMARJjMAR} ProNav: ac range: 59.900002 m, nav range: 27.508209 m, bearing: 200.325510 deg, approach rate: 0.352146 m/s, LOS rate: -0.735271 deg/s, cmd heading: 330.186808 deg, new cmd heading: 329.170518 deg. 2j}NHeadingCmd: 5.745110 target range: 59.900002 and range: 63.90 m. j׷@jjjihhhhCBfffrfbfM@ɛ B @< iw= v&I  ǕP=ɚiQIUQ8i=I]W iYi]r@>)]׷@)auWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532051*F2F:FBF/1JF IGk9>GBO>Iw,/)AN%X@YNg@Nd<9N=yNH@, G٣y > Nusing accuracyPremultiplier from configF59)Z@)*F-2F):F)BF-4JF)G5sA G1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034114Gu9>GrAGG B I hO >HY IY  I] II] BIY &IY .IY 6I] ><:I] J FPw,CA6*@Y6@6<96h^B>I)D DIJIJ4٢R< VM=9VQ V>XX ZG٣ZLGyZ ^> bNusing accuracyPremultiplier from config\fF59^@ǖ?fF5Y^ i^eBdf)龑f@^6E^m ;^:^ЕF5l nAl~B*** querying acoustic contact ***j|j|Zj DNOT Ignoring new targets: 59.90 m.Rj Bj \Jj \% ProNav: ac range: 59.900002 m, nav range: 27.785421 m, bearing: 199.735725 deg, approach rate: 0.362580 m/s, LOS rate: -0.771641 deg/s, cmd heading: 328.290529 deg, new cmd heading: 327.410168 deg. 2j%d5HeadingCmd: 5.714386 target range: 59.900002 and range: 63.90 m. j5?ܶ@j1j1j1i1h9h9zK=k3IK=ŷ9K9K=K=  hIhQfQfQfQrfQbf]@ɛ%; !% I! %L=ɚ!i)I-Mi=I-ٜi1i5;D>)5?ܶ@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288313*F2F:FBFP0JFGq8@>GBO5P>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538241Vw,i\A 2$?I4y~kB~IMb@Mb@Mb@ )Y}?5^I? rhMbP?yM?C: A) AIAy AII4٢p= :=9Q > G٣y >  Nusing accuracyPremultiplier from config F59 ؖ?F5Y  i aB`?:A¾@  6E ; ; F5! %A%WEZjDNOT Ignoring new targets: 59.90 m.RjBj;Jj;  ProNav: ac range: 59.900002 m, nav range: 27.953337 m, bearing: 199.432209 deg, approach rate: 0.365481 m/s, LOS rate: -0.656655 deg/s, cmd heading: 327.410172 deg, new cmd heading: 326.505173 deg. 2j TἝUHeadingCmd: 5.698590 target range: 59.900002 and range: 63.90 m. jUZ@jQjQjQiQhYhYhYh]Bfafafarfabfm @ɛY]| 8< YeWIa eaJ=ɚaiyI}^i=IiifMS>)Z@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790742J}J}J}/JyJ}ݒ:J}*9J}(N3JyEx=*Fe 2Fa :Fa BFe _5JFa "G} =G} >G/B>G?G ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043802GiBq IO?^w,}AR@YRr(@RX8V<9RTxx ~G٣|y~] ~>  Nusing accuracyPremultiplier from configF59떜?F5YH i^BϾ@$6Ef;';ٝF5ԓB %A!ZjIMDNOT Ignoring new targets: 59.90 m.RjIBjUBJjUB ProNav: ac range: 59.900002 m, nav range: 28.133926 m, bearing: 199.094206 deg, approach rate: 0.366325 m/s, LOS rate: -0.681231 deg/s, cmd heading: 326.505172 deg, new cmd heading: 325.497782 deg. 2j鼝HeadingCmd: 5.681008 target range: 59.900002 and range: 63.90 m. jʵ@jjjiZHRH?AHI I:IIBI&I.I6I<:Iz Fhhhhfff rf bf  ׸@ɛQU,7< I  H=ɚiIi=IK(iiI>)ʵ@)zKuLKu9KqKuKu 41|2B)el>u*p[J<60-&Ew=*Fi2Fi:FiBFm4JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296438GezH>GqBO} >1ew,A28@Y2@2.<92 G٣LGye > Nusing accuracyPremultiplier from configF59w?F5YT i[B ?:@'6E;;F5 ATE]Will construct direction to contact in vehicle frame from tetrahedron phase data.]AiYechecking for new query: numPingsReceived=0, elapsed TxPingTime=6.554522ZjDNOT Ignoring new targets: 59.90 m.RjBj~AJj~A ProNav: ac range: 59.900002 m, nav range: 28.296677 m, bearing: 198.813923 deg, approach rate: 0.395189 m/s, LOS rate: -0.676664 deg/s, cmd heading: 325.497774 deg, new cmd heading: 324.661823 deg. 2j1輝HeadingCmd: 5.666418 target range: 59.900002 and range: 63.90 m. jKS@jjjihhhh $?If ffrfbfHU@ɛ< 隵;I F=ɚiIi=IiiJ>)%KS@)AEQEQ*EY"EY*Fi 2Fi :Fq BFu D5JFq - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811401JE JE JE 0JA JE M:JE 9JE ـ3JA G QQ>GiBqO>qlw,AF@YFǻ@F*;9F4?ɨF@FP;FCyNyBRIIZIZ34٢bq< b6=9beQ b>dd fG٣dyj܁ j> nNusing accuracyPremultiplier from configlrF59n?rF5Yn inXBpr];v@n+6En:n:n{F5x ~A|Zj!%DNOT Ignoring new targets: 59.90 m.Rj!Bj-oIJj-oI= ProNav: ac range: 59.900002 m, nav range: 28.466198 m, bearing: 198.509618 deg, approach rate: 0.394773 m/s, LOS rate: -0.704426 deg/s, cmd heading: 324.661813 deg, new cmd heading: 323.754416 deg. 2j=񼝊EHeadingCmd: 5.650580 target range: 59.900002 and range: 63.90 m. jEѴ@jAjIjIiIhIhQhQhQfQfYfYrfYbf]k@ɛB8< 隕iI ((D=ɚiIi=Ie!ii?>)Ѵ@)*F 2F :F BF ]0JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.062359 $?IGGQ>GBO">HyIy I}YII}BI} =&Iy.Iy6I}<<:I}H FBI9JI9RI9ZI9bI9jI=4zK OK K K K   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314896J AAJ AA?sw,AF0>@YFM@F(ɽ;9F`@F|;FCyuwBuI) IIa4٢ 0=9GQ > G٣y > Nusing accuracyPremultiplier from configF59? ?F5Y, iUBԾ@.6En$;~;F5 ՓB AQEMB*** querying acoustic contact ***jIjIZjY]DNOT Ignoring new targets: 59.90 m.RjYBj=Jj= ProNav: ac range: 59.900002 m, nav range: 28.640965 m, bearing: 198.191836 deg, approach rate: 0.367197 m/s, LOS rate: -0.663607 deg/s, cmd heading: 323.754409 deg, new cmd heading: 322.806970 deg. 2j㼝HeadingCmd: 5.634045 target range: 59.900002 and range: 63.90 m. jJ@jjjihhhhfffrfbf2@ɛ9=1< aeIa mA=ɚiiiImۮi=Iu.&iqiu^A>)uJ@)y*F2F:FBFT0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.566319 IG] HJ>G1 BA Oe >yw,#ARз@YRMǺ@R`ʛ;9R5`e< A ) AIyAII=4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818351٢> Y=9R4Q > G٣LGy 2 > Nusing accuracyPremultiplier from configF59.?F5Y) iQB>:վ@16E=;<;ԬF5 4AZj)-DNOT Ignoring new targets: 59.90 m.Rj)Bj5AJj5AM ProNav: ac range: 59.900002 m, nav range: 28.779047 m, bearing: 197.943602 deg, approach rate: 0.378445 m/s, LOS rate: -0.677071 deg/s, cmd heading: 322.806980 deg, new cmd heading: 322.065896 deg. 2jMU輝UHeadingCmd: 5.621110 target range: 59.900002 and range: 63.90 m. jU#@jQjQjQiYhYhYhYh]nBfafafarfabfmb@ɛЩ; 隝;I  @=ɚiIյi=I})iiL>>)#@)J#K+|3 K+L.K#K#"K#JJJJJ:JO9JJ*FE2FA:FABFM_0JFIG%TE>GBO%M>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070415 $?I ؀w,TAjHbHHK>I IfIIȀBI =&I.I6I<:I F^2@Y^ B@^1{;9^Iq|| ~G٣|y21 >  Nusing accuracyPremultiplier from config F59 Jj]>m ProNav: ac range: 59.900002 m, nav range: 28.916632 m, bearing: 197.691475 deg, approach rate: 0.366006 m/s, LOS rate: -0.667522 deg/s, cmd heading: 322.065904 deg, new cmd heading: 321.313167 deg. 2jm弝uHeadingCmd: 5.607973 target range: 59.900002 and range: 63.90 m. jut@jqjyjyiyhyhyhhfffrfbfq @ɛBh; I P>=ɚiIi=I,ii7;>)t@)zKKKŷ9KKK -NGI*FU2FQ:FQBFU0JFQy 6YycAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324605G/B>GBO>w,mA IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575712>@Y> @>a;9>SHf?@|?` v&}ݿ@e?/G`@>SJ;>CyJlBJIiNQQ UG٣Qy > Nusing accuracyPremultiplier from config F59M?5F5Y iDB5^?5:55@86E%;d;F5A EJAAZjDNOT Ignoring new targets: 59.90 m.RjBjEJjE ProNav: ac range: 59.900002 m, nav range: 29.069033 m, bearing: 197.382504 deg, approach rate: 0.342803 m/s, LOS rate: -0.691335 deg/s, cmd heading: 321.313163 deg, new cmd heading: 320.391196 deg. 2j:-HeadingCmd: 5.591881 target range: 59.900002 and range: 63.90 m. j-@j1j1j1i1h1h1h9h=lBf9f9fArfAbfE \!@ɛ)-0; 15I1 5<=ɚ1i1I5i=I=Q0i9i=;>)E@)A*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%=%=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826394G <>G G G B O >f.w,AI7A:"@Y:]2@:J;9:ړ$?Ñ3^i {?`?ɨ:"@:[;8yF_BFIININ74٢VY VU=9Z oQ Z>X\ ^G٣^LGy^}> b> fNusing accuracyPremultiplier from config`fF59bZ?jF5YbK ib<BhjPj@b;6EbH:b ;bF5r֓B rAvKEZj DNOT Ignoring new targets: 59.90 m.RjBj=PJj=P- ProNav: ac range: 59.900002 m, nav range: 29.194729 m, bearing: 197.122734 deg, approach rate: 0.353897 m/s, LOS rate: -0.728232 deg/s, cmd heading: 320.391197 deg, new cmd heading: 319.615291 deg. 2j-5HeadingCmd: 5.578339 target range: 59.900002 and range: 63.90 m. j5@j1j1j1i9h9h9h9h9fAfAfArfAbfM "@ɛ}B}p# y}Iy W:=ɚiIi=Ip4iiF29>)@)*F2F:FBF5JF %$?I!5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078643H!I! I%_II%ÀBI% =&I!.I!6I%L<:I%R FG;>GBO>zK +KK 9K K K BK rA:K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330155J J J 1J J M:J =9J 3J J a- J a- J a- J a- w,QAyޭVB޵III4٢-) =5=9EQ M>aa mG٣iy > Nusing accuracyPremultiplier from configF59k?F5YG i1B@?6Ee;~;'F5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 59.90 m.RjBj=Jj= ProNav: ac range: 59.900002 m, nav range: 29.355881 m, bearing: 196.794709 deg, approach rate: 0.327501 m/s, LOS rate: -0.662966 deg/s, cmd heading: 319.615287 deg, new cmd heading: 318.636716 deg. 2j~㼝HeadingCmd: 5.561260 target range: 59.900002 and range: 63.90 m. j@jjjihhhhfffrfbf#@ɛ-B-+; )-?#I1 57=ɚ1i1I5ήi=I=8i9i=?&I>)=@)A*F2F:FBFP5JF $?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.582272G% k9>G- ?G- >G B O% >~@w,jAF6@YF&@FL:;9Fyy }G٣yyl > Nusing accuracyPremultiplier from configF59lz?F5Ya i'B ?: @B6E;1;F5דB fAJEZj9=DNOT Ignoring new targets: 59.90 m.Rj9BjEiJjEi ProNav: ac range: 59.900002 m, nav range: 29.490593 m, bearing: 196.477151 deg, approach rate: 0.348311 m/s, LOS rate: -0.817322 deg/s, cmd heading: 318.636712 deg, new cmd heading: 317.688481 deg. 2j: HeadingCmd: 5.544710 target range: 59.900002 and range: 63.90 m. jDn@jjjihh!hAhEEBfIfIfIrfIbfM#@ɛBi 隅(I ~5=ɚiIi=I =ii7>)Dn@)*Fu2Fq:FqBFuD5JFqGM>wD> IG! B1 ] Will construct direction to contact in vehicle frame from tetrahedron phase data.m ZH RH @AH I  I SII BI &I .I 6I <:I 2 F)w,/A2@Y2@2PC;92Ȍ)@)zK-BoHK-9K)K-K-bMf D *F-2F):F)BF-\0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > I U Will construct direction to contact in vehicle frame from tetrahedron phase data.U ii mG٣iyu u> }Nusing accuracyPremultiplier from configyF59}d?F5Y}J i}B?:(@}I6E};}M;}F5ؓB 5AGEZjDNOT Ignoring new targets: 59.90 m.RjBjJj򀼝 ProNav: ac range: 59.900002 m, nav range: 29.759359 m, bearing: 195.798744 deg, approach rate: 0.345916 m/s, LOS rate: -0.901882 deg/s, cmd heading: 316.860645 deg, new cmd heading: 315.662968 deg. 2jHeadingCmd: 5.509358 target range: 59.900002 and range: 63.90 m. jL@jjjihhhhBfffrfbf`.d%@ɛEBEq AE64II M1=ɚIiIIM&i=I5Fi1i5bL>)5L@)9*F%2F!:F!BF%V0JF!G?>GGWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2603> -zw,A6!@Y6@6"<`;96)e ɯ@)i }$?I}hWill construct direction to contact in vehicle frame from tetrahedron phase data.i%BDAT read: Tx time:22:26:18.1534 %$Ping request sent.-I I-IIBI&I.I6I:I3 FGM:>G) B9 OU >zK V;OK }9K K K M - HXzgYPF9*  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250102J J J 0J J :J 9J ـ3J J ;J ;J p#;J q#;bw,IdAyލBޕIII\4٢M U4=9eQ e>qy G٣LGy > Nusing accuracyPremultiplier from configF59?F5Y iB@P6Eh<<F5 ADEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 59.90 m.RjBj2vJj2v ProNav: ac range: 59.900002 m, nav range: 30.020809 m, bearing: 195.083642 deg, approach rate: 0.318769 m/s, LOS rate: -0.860966 deg/s, cmd heading: 314.742384 deg, new cmd heading: 313.527467 deg. 2jHeadingCmd: 5.472086 target range: 59.900002 and range: 63.90 m. jU@jjjihhhhfffrfbf'@ɛ%B%Ż )-s=I) -&,=ɚ)i)I-Cj=I5,Oi1i=O>)=U@)A u$?Iq*F2F:FBFn0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502957G Q:>G B O >w,cCA6a@Y6*q@6<<);96k=y6H`+?@g?Rig'?'e̡?`?ɨ6a@6p;6Cy>B>IEMb@Mb@Mb@AAA A)EAYEV-?KS㥛yEh?E^E/ݼE A EIA)AIEAAyEA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753934II4٢d 5=9pQ > G٣yE > Nusing accuracyPremultiplier from configF59Bŗ?F5Y iBl?:2E@T6E;o;F5 AAZjyDNOT Ignoring new targets: 59.90 m.RjBjJj ProNav: ac range: 59.900002 m, nav range: 30.150721 m, bearing: 194.671688 deg, approach rate: 0.303431 m/s, LOS rate: -0.958036 deg/s, cmd heading: 313.527458 deg, new cmd heading: 312.297120 deg. 2j_$HeadingCmd: 5.450613 target range: 59.900002 and range: 63.90 m. jlk@jjjihhhhBfffrfbf '@ɛB /=I \)=ɚiIkj=Iq#UiiR@>)lk@)*F2F:FBF0JFGuD>G1BA QIYOm>- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006762jH bH <H M>I  I II BI &I .I 6I 5<:I D FBIJIRIZI =bI =jI˭4tw,TA2$ʭ@Y2ٴ@2LX:92v =y2H?x?`N?+[%??ɨ2$ʭ@2?Ҋ;2CyBBBIIJIJ4٢R# R=9VpGQ V?TT ZG٣XyZy Z? bNusing accuracyPremultiplier from config\bF59^ϗ?bF5Y^ i^BdfIf@^W6E^:^@:^RF5h jBAhZj  DNOT Ignoring new targets: 59.90 m.RjBjJj% ProNav: ac range: 59.900002 m, nav range: 30.238731 m, bearing: 194.385629 deg, approach rate: 0.302379 m/s, LOS rate: -0.979951 deg/s, cmd heading: 312.297122 deg, new cmd heading: 311.441509 deg. 2j-"(-HeadingCmd: 5.435680 target range: 59.900002 and range: 63.90 m. j-@j1j1j1i1h1h1hhfffrfbf܇(@ɛMBMR QU]BIq }{'=ɚyiyI}j=IXii8>>)@)'TFailed to parse incomplete device message.*F2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258941JJJ1JJݒ:J9J3JJ;J;J;J;G5N>G B1 Oe > A IA = Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= AE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510245TǸw,wAy] B]~IMb@Mb@Mb@ )Y ףp= ?V-yQ?̼/ A 3A)AIAyI I  4٢% %4=9%Q %>)) -G٣-LGy- 5> =Nusing accuracyPremultiplier from config9EF59=Zߗ?EF5Y= i=BEQ?E:ERM@=\6E=;=M;=GF5UٓB ]lA]AEZjDNOT Ignoring new targets: 59.90 m.RjBjfJjf ProNav: ac range: 59.900002 m, nav range: 30.370518 m, bearing: 193.930647 deg, approach rate: 0.291774 m/s, LOS rate: -1.002945 deg/s, cmd heading: 311.441518 deg, new cmd heading: 310.082763 deg. 2j,HeadingCmd: 5.411965 target range: 59.900002 and range: 63.90 m. j.@jjjihhhhBfffrfbf0h)@ɛB> CI $=ɚiIj=IC_iiKU>).@)*Fi2Fq:FqBFu3JFqGEG>GB)OEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762111\͸w,59A:@Y:г@:;9:- =y:H3?\?`㑿C`-/?d 7q`X?8?ɨ:@:\;:Cy^BbIIjIj4٢rƕ< ra=9r#;Q r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from configxF59z뗜?F5Yz} izBZ @z_6Ez? ;z:zsF5 TACEZjIMDNOT Ignoring new targets: 59.90 m.RjIBjU JjU e ProNav: ac range: 59.900002 m, nav range: 30.471203 m, bearing: 193.562628 deg, approach rate: 0.276539 m/s, LOS rate: -1.007443 deg/s, cmd heading: 310.082775 deg, new cmd heading: 308.982510 deg. 2je,mHeadingCmd: 5.392762 target range: 59.900002 and range: 63.90 m. jm@jijijiiihqhqhqhyfyfyfrfbf`"*@ɛB 隵AI ɨ"=ɚiIk=IciibE>)@) $?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015139*F2F:FBFR0JFHmL>Ii ImIImrBIm =&Ii.Ii6ImJ<:ImR F)Q QGi>>~GGG -,Y)y-AGBO% >zK CLOK ŷ9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266028J9 J= J= 0J9 J9 J= 9J= ـ3J9 J9 J9 J= ';J= ';ZԸw,ծSAr,@YrD<@r(&;9rB=yrH` ?@*?`n8,?AuDw??ɨr,@rˉ;rCyBIII٢M2 UD=9m3R;Q u> G٣y) > eNusing accuracyPremultiplier from configY}F59]@?}F5Y] i]By_@]c6E]o=]=]`F5ړB aA@EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 59.90 m.RjBjOJjO5 ProNav: ac range: 59.900002 m, nav range: 30.593296 m, bearing: 193.105725 deg, approach rate: 0.248279 m/s, LOS rate: -0.925404 deg/s, cmd heading: 308.982513 deg, new cmd heading: 307.617547 deg. 2j5=HeadingCmd: 5.368939 target range: 59.900002 and range: 63.90 m. j=YΫ@j9j9j9i9h9hAhAhAfafifirfibfm"+@ɛBI 隽AI = $?IɚiI%Ik=I jiiDL>)YΫ@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519277*F2F:FBFP0JFG E>G B O >ڸw,mA2Y@Y2׳@2 ;92=y2H?7?tێ [ {? 'p|H;? ?ɨ2Y@2;2Cy>B>IEMb@Mb@Mb@AAA A)AYES?rh|I +yE/?EE9E A EA)E`AIE`AAyE A]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770077IeIe4٢}; G=9M;Q > G٣LGy- > Nusing accuracyPremultiplier from configF59?F5Y iBg ?:3e@g6E ;7 ;F5 VAZjDNOT Ignoring new targets: 59.90 m.RjBjܩJjܩ ProNav: ac range: 59.900002 m, nav range: 30.696655 m, bearing: 192.705913 deg, approach rate: 0.308171 m/s, LOS rate: -1.188036 deg/s, cmd heading: 307.617541 deg, new cmd heading: 306.422326 deg. 2jK HeadingCmd: 5.348079 target range: 59.900002 and range: 63.90 m. j v#@j j j i h hhh׀Bfffrfbf%+@ɛMBM IM?II M=ɚQiQIUΑk=I]"coiYi]P>)]v#@)aJqJu@A*F 2F :F BF _0JF G+kI>GBOE> I Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:26:20.6532  TRx dataTimestamp_ set to:1736375182.009337% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023861He K>Ia  Ie IIe gBIe  =&Ia .Ia 6Ie R<:Ie X FPw, A2 @Y2@2<92Khh jG٣hyjH n> rNusing accuracyPremultiplier from configpvF59r#?vF5Yr irBtz jz@rk6Er*:r*:r F5~ۓB ~cA~=EZj!%DNOT Ignoring new targets: 59.90 m.Rj!Bj-Jj-E ProNav: ac range: 59.900002 m, nav range: 30.798759 m, bearing: 192.300030 deg, approach rate: 0.265822 m/s, LOS rate: -1.053180 deg/s, cmd heading: 306.422340 deg, new cmd heading: 305.208920 deg. 2jE4MHeadingCmd: 5.326900 target range: 59.900002 and range: 63.90 m. jMu@jIjQjQiQhQhQhYhYfYfYfarfabfeR,@ɛ B Ĭl  V?I =ɚiIk=Iti!i% Q>)%u@)!*F2F:FBFo0JFzKBoIK9KKKBKqA:KMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275160G?L>G?G?G BA Ou > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 71.7 m (Round-trip 95.7 ms) speed -0.2 m/s  ,DAT read: user:2604>  BDAT read: Tx time:22:26:21.7534  $Ping request sent. B>I)@ @-Mb@Mb@Mb@))) )))Y-ʡE?@5^I ¿Mby-?-b-- A ))-vAI-3A)y-AII4٢k< 1=9;Q > G٣y, > Nusing accuracyPremultiplier from configF59]!?F5Y> iB!?:u@p6En;;F5! %HA! addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 14.627126 s, deltaX: 7.799995 m, approachRate: 0.533256 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 59.90 m.RjZTarget missed at range: 71.70 m. Rolling out."jNTransitioning guidance mode to: ROLLOUT*j@ jjjji"jhhhhπBfffrfQ@bf$?ɛBz< 隵))#&Changing to mode: 1#Standby mode.#52Commanding positive:54396Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ<Յ=JDAT read: TxSync time:22:26:21.7526 *F2F:FBF`0JFJJJJJ-:J=9JJa@a@a@a@G Q>G B O >yw,gA6@Y6@6O%<969=y6H`W???]g`@S?%֞RRF?p?ɨ6@6p; >$?I@4yFBFIIRIR(4٢Vu+= Va=9Z}H;Q Z>\\ ^G٣^LGy^&J b>fRemoving expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -22.00 mm.nRemoving expired estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 21.81 mm.nRemoving expired estimator for commanded vars: speed 1.00 m/s, pitch 0.00 deg, mass-position 21.81 mm. rNusing accuracyPremultiplier from configpvF59r,,?vF5Yr@  irBtz7zu@rs6Er2))HIII IMIIMbBII&II.II6IMd<:IMe F*F]2FY:FYBF]0JFYG5L>G=G=G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK @9K K K RK ?JK ?G B O >\w,}A:D@Y:=T@:,<9:-=y:H9?>V?`K xW`}?@՛?"?ɨ:D@:U;8yJ'BJIIVIV-5٢^= ^J=9bwr:Q b>bb fG٣dyfG f> rNusing accuracyPremultiplier from configpF59r7? F5Yr irwB9@rw6Er ))-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F`"2F:FBF?5JFGe A>Bq O >w,YA:@Y:@:ڿ3<9:=y:H8v?@b? ˗o?w?C?BWill construct direction to contact in vehicle frame from tetrahedron phase data.ɨ:@:ϧ;:CyJ*BJIiR=IR>-Mb@Mb@Mb@))) )))Y-Q?X9v~jty-(?--D- A -3A)- AI-A)y-AIEOIEq5٢U< UA=9]Ð:Q ]>aa eG٣aye> e> uNusing accuracyPremultiplier from configiuF59mD?}F5Ym immB}"?}:}|}@m|6Em;m;mF5 AJJJJJ:J9JJ:lqMMDNOT Ignoring new targets: 59.90 m. jjjji"jhhhhBffrfbf/?]"?]"?]@]@ڿ3<  ׾ID9 ɚÌi)) $?IEUpu=5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%2F:FBF_1JFG *N2>B O >HQ IQ  IU IIU mBIQ &IQ .IQ 6IU <:IU  Fpw,\< A2@Y2@25<925=y2H?b=?7@@?@乣b N?n?ɨ2@2?,;0yB7BBIIJIJ_,5٢V= VV=9V9Q V>XX ZG٣Xy^{^ ^> bNusing accuracyPremultiplier from config`fF59bN?fF5Yb ibdBdff@b6Ebz:b:bF5l n#AlBlxMzztCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseLz uAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseDNOT Ignoring new targets: 59.90 m. jjjji"jhhhhffrfbf/J?] ] ] ] @]5< Y]=ʾI]B9 aɚe۾ie)q)yEMgW=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKK9KKKBK:KoA*FP'2F:FBFO0JFG>">B OER> q Iq = Will construct direction to contact in vehicle frame from tetrahedron phase data.rw,$A:|@Y:.@:e<9:U=y:H? ?`N?G`ZT??ɨ:|@:J&;:CyFBBFIMb@Mb@Mb@ )YX9v?i|?5I +y?94 A A) AIy\AI5I575٢EwD= EA=9E7;Q M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYmF59]Y?mF5Y]# i]YBm?m:uu@]6E]8;]6;]F5 A9E%DNOT Ignoring new targets: 59.90 m. j)j)j)j)i)"j)h)h1hQhUBfYfYrfYbf]b@]?]?]T@] @ e< 15ѾI=l9 9ɚ=Li=Bq O > Y IY \w,>A>[@Y> @>s<9>‚=y>H`B?@d? 1?@8T?@?ɨ>[@>q;>CyJHBJI)L LIRIRB-5٢bE< bR=9bdd fG٣dyjQ" j> nNusing accuracyPremultiplier from configlrF59nEc?rF5Yn( inMBprv@n6En:n7:nF5x zA|DNOT Ignoring new targets: 59.90 m. j!j!j!j!i!"j!h!h)h)h1f1f1rf9bf=`@]a]a]a]e @us< qu˾I}ͷ9 yɚ}iyIyItiiy=))UWill construct direction to contact in vehicle frame from tetrahedron phase data.*E]="E]=HI IIIwBI =&I.I6I3<:I@ FBIJIRIZIbIjI 5Em"*F-2F:FBFJF G7>BO > Will construct direction to contact in vehicle frame from tetrahedron phase data.zKU BHKU @9KQ KU KU  (-$SlbC)  %2#e PExceeded connect timeout, disconnecting.%w,WAB3@YB@B<9B3=yBH f?#?D즿`+? mQ"_@? ?ɨB3@B;@y PB III%.5٢-%%= -D=959911 EG٣AyU ]> Nusing accuracyPremultiplier from configyG59}m?G5Y}t. i}?B6@}6E}<}<}G5 `A $?IuDNOT Ignoring new targets: 59.90 m. jqjqjqjqiq"jyhyhyhyhyffrfbf`@]]]]4B@< QþI9 ɚ-iII-ti)i-"=)1)9EAEA*EE"EEeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:26:24.2554 mTRx dataTimestamp_ set to:1736375185.548628*F /2F :F BF JF G \=B O >4w,ʩqAbWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJM:J9JJyޭWBޭI=Mb@Mb@Mb@999 9)9Y=S㥛?Cl绿{Gzy=?=;߽=#= A =A)= AI=3A9y=(AIUtIU$5٢e< e8=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from configyG59}w?G5Y}3 i}2B?:ㇿ@}6E}GH;}E;}tG5ݓB 5A8EmDNOT Ignoring new targets: 59.90 m. jijijijiii"jihqhqhqhuBBfyfyrfybf} @]?]?]p@]@ IL9 ɚvKiIItiiMm=)I)Q 1I5h*F522F1:F1BF5`0JF1"G==G==mWill construct direction to contact in vehicle frame from tetrahedron phase data.u8DAT read: $Error in header u*Received a bad headerZH RH ?AH I  I II BI  =&I .I 6I d<:I d F iG vA - !GY- vAy- p?BG= =BI Oe >"w,.ANܥ@YNn@Nي=9NF=yNHd??ڬ`}@6? xj ?C?ɨNܥ@N= ;NCyVeBVIiZ=IZp=IbvIb%5٢jߝ= nf=9n=Q r>pt vG٣tyv v> zNusing accuracyPremultiplier from configx~G59z~?~G5Yz,8 iz$B@z6Ez ;zc;zG5  A=DNOT Ignoring new targets: 59.90 m. j9j9j9j9i9"j9hAhAhIhIfIfIrfIbfUำ @]q]q]q]uPa@ي= 隍ݾI]9 ɚdiIItii=))*F32F:FBF%4JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy=BO > %nManaging dock network, ignoring radio surface power off'5TFailed to parse incomplete device message.  I m Will construct direction to contact in vehicle frame from tetrahedron phase data.m Aii (w,VA6W@Y6՞@611=96n=y6H&?E?@-`?oa`k$@E?,?ɨ6W@6;6CyrlBrIMb@Mb@Mb@ )Y^I +?J +ȽtA A)/ AIAyAI|Ib(5٢ = ==9s G٣y > Nusing accuracyPremultiplier from configG59񆘜?G5Y!= iB>:@6EQ;u;T G5 A DNOT Ignoring new targets: 59.90 m. jjjji"jhhhhgBffrfbf@]E>]E>]E@]Eh@}11= y}I}p9 yɚ}[iyIItiiψ=))*FE62FA:FABFE4JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.*JC="JR=G- !{=B9 OU >  I! &/w,2A6"J@Y6Y@6-S=96=y6H??qέi ?Br?a?ɨ6"J@6l;6Cy>qB>IIJuIJH%5٢NE< R^=9RTX ZG٣XyZۻ Z> bNusing accuracyPremultiplier from config\fG59^?fG5Y^`A i^Adff@^6E^:^z:^G5h ncAlDNOT Ignoring new targets: 59.90 m. jjjj i "j h h hhffrfbf@ @]]]]7$@-S= GI9 ɚiIEWill construct direction to contact in vehicle frame from tetrahedron phase data.I]tiYi]u=)Y)aHI I!IIBI&I.I6I<:I F*F-82F):F)BF-O0JF)Gِ=BO--> Will construct direction to contact in vehicle frame from tetrahedron phase data.JK3 K.KK"KJ J J J J m:J 9J J J ;a J ;a J a J a zK% RMK% 9K! K% K% 8{P0  e45w, Ab@Yb@bSx=9b4=ybH ?? Ȣ/~v?@۾F?@\?ɨb@b;bCyjpBjI)l lIrIr|+5٢w E=9!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=G595?=G5Y59F i5AAEE@56E5;5;52G5MޓB MoAM5EuDNOT Ignoring new targets: 59.90 m. jqjyjyjyiy"jyhyhhhffrfbf @ $?I]A]A]A]E@Sx= I9 ɚiII-ti1i5_=)1)9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F};2Fy:FyBFyJFyG "=B O >#vB>IRWill construct direction to contact in vehicle frame from tetrahedron phase data.-fonly read 3 of 4 data items for beam range. Device response is::RA, 0.09, 80.54, 89.03, 82.57  f@f f@f f@f  f@f IjvIj%5٢m< mC=JyJ}AA9ul G٣yƅ > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configG59ʝ?G5YK iA+::z@6E`+;0>.G5 ;A DNOT Ignoring new targets: 59.90 m. j j j j i "j hhhhff!rf!bf%`i@M"P= QUIU9 QɚUiQIYI]tiYieI=)a)a*F=2F:FBF_0JFG=BO$> IUWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I 'II BI &I .I 6I F<:I N F Cw,] A6ꭤ@Y6h@6ј=96x=y6Hk?a?`<ҩ`O`?:Wγ B??ɨ6ꭤ@6;6Cy>BB IIFIF.5٢R5= RX=9R;TT VG٣TyZ>a Z> ^bBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\bG59^?bG5Y^mO i^VAf :df:f&j@^6E^Vk;^K?^NG5l rAp DNOT Ignoring new targets: 59.90 m. j j j j i "jhhhhffrfbf%H@ј= I9 ɚjiIItiiz8=))Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ/JJݒ:J9J(N3JJ;J;J!;J!;zKNK9KKKJ"xRh=#RK ?JK?DEv9*F?2F:FBFJF Iu Will construct direction to contact in vehicle frame from tetrahedron phase data.G 6a=B O- >5Iw,&AR=@YR@R=9Rڕ=yRHL?z? 5a?@¿?̵俿?`Ţ?ɨR=@R;RCynxBnIir  9 nA A) AI A y  AI-I-|4٢E E3=9MȋQQ ]G٣Yy] ]> eNusing accuracyPremultiplier from configamG59e˫?mG5YeT ieAuT:uJ>u:uu@e6Ee;eZ;eQG5 .A7EDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf@]J>]J>]y@]KO@= (Ij9 ɚԵiII ti i ^+=) )D *F2F:FBF0JFG]fO=BiO]>Will construct direction to contact in vehicle frame from tetrahedron phase data.=< I Pw,w@A65v@Y6@6=96<>y6H]9??@h ?7ÿ筷@oB? ;?ɨ65v@6I;6CynwBnIIvIv4٢~mԻ a=9    G٣ y ݻ  > %Nusing accuracyPremultiplier from config%G59i?-G5YW iA)-R-@6E::{G55ߓB ==A=4EeDNOT Ignoring new targets: 59.90 m. jajajajaiahihihihifqfqrfqbfu`+@]]]]+;@= 隵IA9 ɚiIItii#=))Will construct direction to contact in vehicle frame from tetrahedron phase data.Dg9H=I>I9 I=!II=BI= =&I9.I96I=a<:I=a F*F)2F):F)BF5G5JF1G<=BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J a=J J J 1J J J 9J 3J J J J ';J ';zK] NK] K9KY K] K]  GVw,iTZARdU@YRd@RQ=9R9 >yRH??Kft ?:ſ e캿@?7?ɨRdU@R";RCyjoBjII-I-4٢=g =F=9EMII UG٣QyeP e> }Nusing accuracyPremultiplier from configq}G59uɷ?G5Yu[ iuȀ@u6Eu;u;u#G5 }ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@]I]I]I]M@ $?Ih-Q= Q] I]9 aɚeiiIItiiuI=)) %Will construct direction to contact in vehicle frame from tetrahedron phase data.DM9*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G k%=B O>I]w,y6H`X??uu ?ƿ`X?n{?ɨ6L@6;6Cy>nB>I Mb@Mb@Mb@    ) Y Q?(\µy&1y \>  ` A @) AI A y \ AI%I%4٢=V =2=9E,GAI MG٣IyM M> UNusing accuracyPremultiplier from configQG59Uz?G5YU4` iUQA\>:=@U6EUJ]\>]$q@]d@{;= (I9 ɚ iII%ti!i%`=)!)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHyRH}AAHJ>I IIIBI&I.I6I<:I FBIAJIARIAZIAbIE =jIE#5D9*F 2F :F BF 0JF G =B O >dw,A"Will construct direction to contact in vehicle frame from tetrahedron phase data. "4=ZK@YZ@[@ZM=9Z6>yZH ?`ʫ?r`?AƿམV?`s?ɨZK@ZS֋;ZCyfgBfIIr"Ir5٢z z7=9zb4 G٣yI  > Nusing accuracyPremultiplier from config G59  Ř?G5J%J%J%0J!J%:J%u9J%ـ3J!J%8;J%9;J%/;J%/;Y d i A9EAE@ 6E ; ; *G5I MAIuDNOT Ignoring new targets: 59.90 m. jqjqjqjyiyhhhhffrfbfw@zKKK 9KKK]]]]@M= U,IU9 Qɚ]iYIYI]tiaia)a)aBDm=:Dml>D5`9*F?2F:FBF84JF QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O= >$)kw,ϮAycBIMb@Mb@Mb@ )YHzG?Zd;OQy=>j&A QA)AIAy AI%I5٢ό ==9Q > G٣y > Nusing accuracyPremultiplier from configG59ʘ?G5Yh iA8>;@6E;;.G5 A 5DNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf @]8>]8>]D@]QO@ .I9 ɚ%. i!I!I%ti)i)))UWill construct direction to contact in vehicle frame from tetrahedron phase data.)YD19E 9I9*Fm ?2Fi :Fi BFm `5JFi "Gu =Gu = Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I II rBI &I .I 6I `<:I a F) M GGu e=B O >rw,gA2!G@Y2V@2[=>`wA92 6>y2H;?`?i@n}?@mǿt?i?Lɨ2!G@2_;;2C bYb`wAyfByjYBjIIrIr4٢~B ~C=9   G٣ y   > Nusing accuracyPremultiplier from configG59И?G5Yl ieA!%%@6E;;o2G5) -4A51EDNOT Ignoring new targets: 59.90 m. jjj!j!i!h!h!h)h)f)f)rf1bf5y!@]]]]H@[= .3I,9 ɚ+iIItii+B=))Will construct direction to contact in vehicle frame from tetrahedron phase data.zKBoIKU9KKK   De9*F?2F:FBFV5JF $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G =B O >_:yw,A6ED@Y6S@6]z>96>y6H? m?񝥿mgw?ȿD?e?ɨ6ED@6E;6CyBPBBIMb@Mb@Mb@ )YK7?+η+y>vjA A)AIyG AII4٢7 4=9 ;Q > G٣yH > Nusing accuracyPremultiplier from config G59֘?G5Yp iA;>;7@6El;p;m6G5%B -|A53EeDNOT Ignoring new targets: 59.90 m. jajajajiiihihihqhuBfqfqrfqbf} X"@];>];>]@]B@E]z> IMGIMf9 IɚM9iIIIIUtiQi];=)Y)YD=9*F?2F:FBFP0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.JQJUJQJQJQJU9JQJQa]@a]@a]@a]@G= e=BA Oe >  I w,yA6(D@Y6S@6B>96>y6H?¸?ʜkq?ȿ I?`?ɨ6(D@6ڌ;6Cy>HB>IIJ"IJ5٢VM+ V`=9V;Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`fG59bۘ?fG5Ybct ibAdj4j@b6Eb:b7:b9G5l nAp DNOT Ignoring new targets: 59.90 m. j j j jihhhh!f!f!rf!bf%#@]A]A]A]EB@]B> Y]KI],9 aɚeDiaIaImtiiii)i)iD9Will construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<HK>I IIIXBI&I.I6I7<:ID F*F?2F:FBF_0JFG GtAG=BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,`WAzK.LK,K,K.K.>?@Y>O@>D>9>]$>y>H??Rl ~i?ȿ@]?u\?ɨ>?@>M;>Cy^tt vG٣tyv z> Nusing accuracyPremultiplier from configx G59zXᘜ? G5YzFx izaA  E @z6Ez|O;zkO;z-=G5 AEDNOT Ignoring new targets: 59.90 m. jAjAjAjAiIhIhIhIhIfQfQrfQbf]`#@]q]q]q]un>@D> 隍QI9 ɚZRiIItii,9=)) IDa9 Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A*F?2F:FBFP0JFG =B O >6qw,/4AB%:@YBI@Bwo >9B >yBH?Y?9ݥm@^`?E/ɿ pA? ?X?ɨB%:@Bg;BCyJ1BJIeWill construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYmL7A`?MbXJ +ym+>mʽmHmA mhA)mSAIiiym=AII_4٢nJ ?=9ˉ;Q > G٣y˺ > Nusing accuracyPremultiplier from configG59昜?G5YI| iA >;9@6E;-;@G5 uADNOT Ignoring new targets: 59.90 m. jjjjihh h h ߁Bf frfJJJJJ:J9JJbf-`$@] >] >]W@]r@wo >  WIj9 !ɚ%`i!I!I-ti)i- =)q)q IhD9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF JF H L>I  I II ?BI &I .I 6I i<:I i FG ˸=B O >l)w,tQA63@Y6/C@6: >96>y6Ho??PpjW?@nɿ )O@n? T?ɨ63@6UP;6Cy>+BBIIJ"IJ5٢V V?=9V[;Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`nG59bT옜?rG5YbK ibAtvOv@b6Eb;bԳ;bDG5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfУ%@]]]]@: >  ZI9 ɚni I Itii[ =))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2606> BDAT read: Tx time:22:26:32.7035 $Ping request sent.GE>'TFailed to parse incomplete device message. IG Jh=B9 O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:26:32.7027 _Rw,JkA^%@Y^]5@^ >9^H>y^H??i wI?ɿVl`'? R?ɨ^%@^Oc;^Cy5B5Ii=M뽹MmMA MA)MAIMzAIyMAIeIeH4٢uy> u%=9}:Q }>yy G٣y*_ > Nusing accuracyPremultiplier from configG59G?G5Y iA;>;ϙ@6E;c;HG5  A0EMDNOT Ignoring new targets: 59.90 m. jIjIjIjIiIhIhQhQhUȁBfQfYrfYbf]`&@];>];>]j@]蛢@ > zTIڡ9 ɚ}iIItii$=))Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ:Jb9J3JDe 9 I *F 2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I II BI  =&I .I 6I <:I FG=B)OM?pw,}\AyBII5I54٢U ]==9]Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configi}G59mq?}G5YmF imA@m6Em1;m!E;mLG5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@=s'@]]]] 隭\Iۚ9 ɚ煶iIItii2=))Will construct direction to contact in vehicle frame from tetrahedron phase data.J@AJ@ADZ9zK}KK}`9KyK}K}RK>JK?*F2F:FBF_0JF $?I G 3;=B O >7@w,ͦAJWill construct direction to contact in vehicle frame from tetrahedron phase data.yޅBޅI}Mb@Mb@Mb@yyy y)yY}HzG?ʡET㥛 y}=>}ケ}}A }hA)}AI}Ayy}\AIIJ4٢]< -=9Q > G٣y > Nusing accuracyPremultiplier from configG59?G5Y܍ i$A`>:*@6E;;PG5 nADNOT Ignoring new targets: 59.90 m. jj j j i h h hhBffrfbf !d(@]=`>]=`>]=ؿ@]=S@Q QUhIU9 ɚ܍iIItii))D+9E!MWill construct direction to contact in vehicle frame from tetrahedron phase data.J J J /J J :J 9J (N3J *F 2F :F BF ^0JF G  G sA ) I- hGsc=B!O=> w,aA>X@Y> @>> >9>>y>H`?`g?ū8?FɿN?!R?ɨ>X@>;>CyF BFI)P PIV'IV5٢^vμ ^K=9^Q b>`` bG٣`yf˻ f> jNusing accuracyPremultiplier from confighnG59j?nG5YjǑ ijAprqr@j6Ej:j:jcTG5vB vAv2EDNOT Ignoring new targets: 59.90 m. jjjji!h!h!h)h)f)f)rf1bf53)@]Q]Q]Q]Ucs@e> > aekIm9 iɚmMiiIiIutiqiuk]<)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.HI IxIIBI&I.I6I]<:Ia FBIJIRIZI =bIjI4D59*F?2F:FBF`0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3;=B O >zK BHK 9K K K  Aw, mA2j@Y2%@2V >92&#>y2H?@?@Z`6?`9ɿgh?M?ɨ2j@2d;2Cy:B:sIIB+IB~5٢J/] JM=9N>:Q N> pIp  G٣ y J:  > Nusing accuracyPremultiplier from configG59?%G5Yŕ iEA!%K%@6E ; ;WG5) -A1UDNOT Ignoring new targets: 59.90 m. jYjYjYjYiYhYhahahafafirfibfm *@]]]]|@V > 隽qIӕ9 ɚiIItiii<))D9*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G<BO@>kw,IAWill construct direction to contact in vehicle frame from tetrahedron phase data.:m@Y:#@:: >9:$&>y:H@??|-/?\"ʿRs@{?H?ɨ:m@:"ٌ;:CyRBRtIMb@Mb@Mb@ )YB`"?X9vMby> zA)AIyAI0I5٢d; 7=9`M:Q > G٣y   > Nusing accuracyPremultiplier from config-G59 ?-G5Y iA5>=:==@6E+;j;[G5I MAQDNOT Ignoring new targets: 59.90 m. jjjjihh!h!h%Bf!f)rf)bfM%*@]m>]m>]m:@]m@: > 隥3sI9 ɚEiIItii5<)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<HM>I I_IIBI&I.I6IV<:I] FDw9! } Yy y NA*F ?2F :F BF 0JF "G =G =G <B O >Źw,XA6@Y6 @6 >96!'>y6Hy??@?;ʿm?F?ɨ6@6@;6CyNBNkIiR=IR<IZIZ4٢b bD=9f$Q j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpvG59r?vG5Yr9 irWAxzKz@r6Er;rD;rk_G5| ~,A~/E%DNOT Ignoring new targets: 59.90 m. j!j)j)j)i)h)h)h1h1f1f1rf9bf=+@]Y]Y]Y]]}@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:26:35.2103 TRx dataTimestamp_ set to:1736375196.388622 > vI@9 ɚiIIti!i%<))))JiJmJm1JiJiJm9Jm3JiJml;auJmm;a}Jm;a}Jm;a}zKK#9KKK 9I9DMH9*F2F:FBF_5JF] Will construct direction to contact in vehicle frame from tetrahedron phase data.G :^<B O >8˹w,/A>x@Y> @>{ >9>(>y>H?? ?ZFʿ pjr?E?ɨ>x@>.;u"A hA) AIy\AI5I54٢Ev MC=9MnKQ M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configYeG59]?mG5Y]V i]Am >m:mWm@]6E];]';]cG5y }.AyDNOT Ignoring new targets: 59.90 m. jjjjihhhh΁Bffrfbf,@]] >]] >]]갿@]]:@m{ > 隕hIڗ9 ɚiIItiiF<))Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 77.0 m (Round-trip 102.7 ms) speed -0.2 m/s ,DAT read: user:2607> -X#Rx 2: Read range message, but no direction.yBD(9 9I9*Fa2Fa:FaBFeI5JFaGU <Ba } Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Tx time:22:26:36.3035  $Ping request sent. I  I SII BI  =&I .I 6I T<:I O >wTҹw,IA%@Y%@%Xh >9%q(>y%H`[? h?4`?4ʿF_@M?F?ɨ%@%U;%CyޕBޝxII0I5٢kB= ;=9NQ > G٣yZ  > Nusing accuracyPremultiplier from configG59)?G5Y ioA%@6E":":fG5Q UAQ addTargetRange:: Added new target pos. range: 77.000000 m, deltaT: 14.379895 s, deltaX: 5.300003 m, approachRate: 0.368570 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrf@S@bf?]]]]-@Xh > 隍cI}9 ɚ iIItii<))}Will construct direction to contact in vehicle frame from tetrahedron phase data.J)J-J-0J)J)J-9J-ـ3J)J)J)J-!;J-!;De9*F 2F :F BF O5JF G!  G% tA $?I zK K 9K K K GaBO>ٹw,DiAWill construct direction to contact in vehicle frame from tetrahedron phase data.m@Ymo@m >9m)>ymHZ?6? 8?kAʿQ`?QE?ɨm@m&׉;mCy} Bޅ}I) AuMb@Mb@Mb@qqq q)qYuMb?Cl绿:vyu>u;߽uTuOA q)uAIu AqyuAII4٢x< =9QQ > G٣y̺ > Nusing accuracyPremultiplier from configG59!?G5Ys iA>;@6E;p;`kG5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhh Bf f rf bf 2?]5>]5>]5/%@]5㓢@ > 3sI֚9 ɚĶiIItii5<)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F ?2F :F BF Q5JF  I G=t'<BqO>Yw,:A:ӣ@Y:M@:( >9:o(>y:H??@Z? ɿ @?I?ɨ:ӣ@:xd;:CyB BFIININ[4٢VH< VF=9VQ Z>XX ZG٣Xy^ ^> fNusing accuracyPremultiplier from configdjG59f%?jG5YfT ifAhjPn@f6Ef:f:fnG5p rAZHtRHv@AHxIzC IxIxIx&Ix.Ix6IzA<:IzP F Will construct direction to contact in vehicle frame from tetrahedron phase data.=DNOT Ignoring new targets: 59.90 m. j9j9j9j9i9hAhIhIhIfIfQrfQbfUP?]i]i]i]m{@( > 隵3rI)9 ɚ̶iIItii<))Dt9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5 ?2F1 :F1 BF5 R5JF1 JCKKm3 KKg.KCKC"KCJ} J} Jy Jy J} ݒ:J} *9Jy Jy J} ;J} ;J} (;J} (; I hzK9 K= ۵9K9 K= K= !R!$ "',(G <B! OE >nw,W_A2ޣ@Y2@2>92)>y2H@c??ȱ ?@e ʿ ?G?ɨ2ޣ@2;2CyJBJII^I^34٢u= u2=9EQ > G٣y%+; %> Nusing accuracyPremultiplier from configG59y+?G5Y iA@6E<<<HsG5=Will construct direction to contact in vehicle frame from tetrahedron phase data.B nA1E5DNOT Ignoring new targets: 59.90 m. j9j9jajaiahihihqhyffrfbf ?]]]]S@E> AMLnIM=9 QɚU3նiYIYI}tiyi}<)y)D e9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F} ?2Fy :Fy BF 1JF "G =G I G} <BO?8w,7TA6H@Y6@6 >96Ɠ+>y6H#? ?@ V?/DʿN.@]'? .D?ɨ6H@6;6CyB!BBIiF>IF{> F=F=Mb@Mb@Mb@ )YI +?+η{Gzy9>v#A ~A)AIAyAII4٢uC= u=9}:Q }> G٣y ; >Will construct direction to contact in vehicle frame from tetrahedron phase data.HR>I I_IIBI =&I.I9D6I<:I F eNusing accuracyPremultiplier from configmG59;1?mG5Y^ iAu>u;uu@6E#;!;wG5y } A/EDNOT Ignoring new targets: 59.90 m. jjjjihhhhBf!f!rf!bf-(@]>]>]@]o'@ > 隽p}I9 ɚ_޶iIIEtiAiE5%<)A)IDE 9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*J9 "J9 JM JM JM 1JI JM :JM 9JM 3JI JM 8;JM :;JM ;JM ;*F ?2F :F BF 0JF q Iy zKMZONKMk9KIKMKM"wnh^TKE<6/,('&#!   BKUrA:KUtAG%<B9O} ?Iw,,A@YQ@B >9 3->yH??o ? sʿBY?`XA?ɨ@;Cym*BuIWill construct direction to contact in vehicle frame from tetrahedron phase data.II%4٢mJ= u=9:Q > G٣y: > Nusing accuracyPremultiplier from configG59N7?G5Y i7A@6EO;;|G5 ADNOT Ignoring new targets: 59.90 m. jjjjihhh h f f rfbf`ĉ@]Q]Q]Q]U|/@mB > quxIue9 qɚuiqIqI}tiyi}~<)y)!DU9*F?2F:FBF=5JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.G <B! OE > 1 I1 -w,ܼAy~2B~I m@m m@m m@m  m@m I}I}14٢)"= Z=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configG59v;?G5Y7 iA+::@6E-J;>(G5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrf bf @| @  uI59 ɚ7iII ti1i5q<)1)1BD=<:D=;D Þ9jHbHWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:26:38.8116 TRx dataTimestamp_ set to:1736375200.169436*F?2F:FBF4JFG GG g<B O >Vw,BAWill construct direction to contact in vehicle frame from tetrahedron phase data.y?BI) I I %4٢n= B=9Q >!! %G٣!y! -> 5bBottom track data is 0.8 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config)=G59--@?EG5Y- i-AE :AE:AE@-6E-F;-K?-G5I UAQDNOT Ignoring new targets: 59.90 m. jjjjihhhhf $?If)rf1bf5@ @y 隅nI9 ɚiIItii))' TFailed to parse incomplete device message.Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: Range 10 to 50 : 77.9 m (Round-trip 103.9 ms) speed -0.2 m/s D]^9,DAT read: user:2608> BDAT read: Tx time:22:26:39.9036 $Ping request sent.> w,8A>@Y>@> >9>/>y>H?e?h?@ʿ 7?;?ɨ>@>ᎊ;>CyF:BFI       % %Mb@Mb@Mb@!!! !)!Y%Fx?S㥫~jty%Ƌ>%/]%ļ%I"A %zA)%AI%A5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:26:39.9028 !y%fAJJJ0JJ:J:Jـ3Ja@a@a@a@I%I%4٢Uc ]+=9]u;Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}G59uD?}G5Yu iuMA}T:}>}>;@u6Eu;uj;uG5 AA  addTargetRange:: Added new target pos. range: 77.900002 m, deltaT: 3.782429 s, deltaX: 0.900002 m, approachRate: 0.237943 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 59.90 m. jjjjihhhhmBff!rfEyS@bfE@N?]>]>]@]@ I > ̌I9 ɚiII ti i N<) ))Q QHS>I IIIBI =&I.I6I<:I) FBICJICRIZI =bI =jI5D9Will construct direction to contact in vehicle frame from tetrahedron phase data.c~G vA) ] yY] vAy] A*F] ?2Fa :Fa BFe 2JFa Ge~<BO> w,$WA>@ӣ@Y>@>e >9>TP:>y>Hמ??[L?`y˿`l?@-?ɨ>@ӣ@>N;>CyZCBZIIfIfx4٢nc%= n<=9niQ r>pp rG٣pyv v> zNusing accuracyPremultiplier from configx~G59z,I?~G5Yz izA|돿@z6Ezz:z:zG5  A =DNOT Ignoring new targets: 59.90 m. j9j9jAjAiAhAhAhIhIWill construct direction to contact in vehicle frame from tetrahedron phase data.fIfrfbfv'?]]]]@=e > 9EIE9 IɚMoiIIIIUtiQiU<)Q)Y2DetA*DetADe˗9 III*F?2F:FBFO0JF"G%=G%=zKMKKM#9KIKMKM %,0/)'" GE K< Will construct direction to contact in vehicle frame from tetrahedron phase data.B OM >Vw,^qAyDBi%R=I%]>Mb@Mb@Mb@ )Yi|?5?J +~jtyq>H A)AIAyAII4٢t: <=9Q > G٣y > Nusing accuracyPremultiplier from configuG59L?uG5Y iA} x>}[;}ᐿ}@6E7<<YG5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhbBffrfbf?] x>] x>]͂@]qפ@ Iߍ9 ɚiII ti i (<) )Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJ9JJ AIAD9*FM ?2FI :FI BFM 5JFQ HA IA  IE IIE +BIE  =&IA .IA 6IE <:IE " F Will construct direction to contact in vehicle frame from tetrahedron phase data.G V<B O >_#w,#A6|£@Y6Ѫ@6]n >96uK5>y6H \? f?T9 ?C˿k6T? '3?ɨ6|£@6W;6Cy>EB>IIFIFa4٢Nv; NH=9R{;Q R>PT VG٣XyZ` ^> bNusing accuracyPremultiplier from config\bG59^9P?fG5Y^h i^Adf<f@^6E^:^2 ;^G5nB nAn,EDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf $?]]]]@]n >  GI 9 ɚ, iIItii<))!Will construct direction to contact in vehicle frame from tetrahedron phase data.D_9*FE?2FA:FABFEO0JFA IzK kMK 9K K K G B O >?)w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.ѣ@Y,@Ml>9T4>yH@? ?H@?h˿4?R2?ɨѣ@-;騥CyHBIuMb@Mb@Mb@qqq q)qYu$C?I +L7A`堿yuZ>u94u+ux!A uzA)qIqqyqIIH4٢< =9r;Q > G٣yh; > Nusing accuracyPremultiplier from configG593T?G5Y iTADa>q;@6EU;;G5B A.EDNOT Ignoring new targets: 59.90 m. jjjjihhhhfBffrfbfv@]MDa>]MDa>]M@]M@}Ml> y}I}S9 ɚiIItiie<))BD%=:D=% Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J M:J 9J 3J D B9 A IA *F ?2F :F BF G5JF G  G rAG~<BO%?32w,AH"R>I  I"II"0BI" =&I .I 6I"3<:I"H FBO@YB@BK#>9B|3>yBHo?r?N Úv?@&˿¿?S1?ɨBO@Bn;BCZWill construct direction to contact in vehicle frame from tetrahedron phase data.\i^Ay=?B=I)I II]I]4٢e m6=9mt;Q m>qq uG٣qy}7; }> Nusing accuracyPremultiplier from configG59W?G5Y: iA@6E<;;oG5 (ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf q@]]]]&@K#> ቿI9 ɚi!I!ItiiN<))*FY2FY:FYBFeP0JFaG=<BAO}7>mWill construct direction to contact in vehicle frame from tetrahedron phase data.*J! "J% = a Ie hܸ8w,JA6z@Y6@6fQ>96r3>y6H?@\\zK^V$KK^9K\K^K^ "BKd:KfsA fG٣dyjR; j> nNusing accuracyPremultiplier from configlrG59nZ?rG5Yn inApvv@n6Ena:n@:nĜG5x zAxDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@]!]!]!]%9+@}fQ> 隅;I9 ɚiIItii<))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:26:42.4126 TRx dataTimestamp_ set to:1736375203.701360*Fu?2Fq:FyBF}\0JFG+^<BO>} Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,xAJJJ0JJ:JJـ3JR@YRC@RD>9R92>yRH?@?cԎ?@۾˿`d¿?/?ɨR@R;;RCyf&BfI |ImMb@Mb@Mb@iii i)iYm$C?)\(MbyimGam@m#A i)mAIiiymfAI I4٢J  6=9?;Q > G٣y08; %> -Nusing accuracyPremultiplier from config!5G59%]?5G5Y%] i%A5Yf>5k;5Ĕ5@%6E%;%;%G5A EAAmDNOT Ignoring new targets: 59.90 m. jijijijqiqhqhqhhYBffrfbf> @]Yf>]Yf>]@]ޣ@D> 隕̌I9 ɚiIItii<))*F?2F:FBF_0JF"G=G=HeS>Ia IeIIe%BIa&Ia.Ia6Ia:IaWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 78.6 m (Round-trip 104.9 ms) speed -0.2 m/s ,DAT read: user:2609> BDAT read: Tx time:22:26:43.5036 $Ping request sent.pEw,IA6r@Y6@6]>962>y6H`³?V?@23?@˿{¿`?`/?ɨ6r@60;6CybBbIif>If4<IhIh٢roD v_=9z:Q z>xx zG٣|y~a: ~> Nusing accuracyPremultiplier from config G592`? G5Y4 iNA@6E::ߣG5 %6A!m addTargetRange:: Added new target pos. range: 78.599998 m, deltaT: 3.525648 s, deltaX: 0.699997 m, approachRate: 0.198544 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 59.90 m. jyjyjjihhhhffrf`fS@bfo|?]]]]ߣ@]>  I9 ɚ#iIItii<))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:26:43.5028 *FU?2FQ:FQBFU?1JFQ $?IzK]"KK]k9KYK]K]..)$ Gu-<BO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iU A}Kw,$2AV[@YV @Vf>9V03>yVH@?h?Cn`D?`-˿¿= ?/-?ɨV[@V"C;VCybBbI}Mb@Mb@Mb@yyy y)yY}}?5^I?~jtZd;y}Mb>}}y} A y)yI}Ayy}AII4٢B, ?=9;Q > G٣y9; > Nusing accuracyPremultiplier from configG59b?G5Y iATw>[;]@6ES;;G5 uAyDNOT Ignoring new targets: 59.90 m. jjjjihhhh8Bffrfbf ̦?]Tw>]Tw>]{v@]x@ f>  I9 ɚv(iIItiiZ<))!2D%*D%BD-:D-*F%?2F!:F!BF%1JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.JAAJBAJ}J}JyJyJ}:J}9JyJy IGM %<BQ Ou >HA IA  IE IIE BIE  =&IA .IA 6IE <:IE ) F1Rw,:LA6@Y6S@6o{>967>y6H̬? ?ή ?` )̿~¿?(?ɨ6@6J~;6CyBBBxIIJIJ4~Will construct direction to contact in vehicle frame from tetrahedron phase data.٢eꄽ mN=9m7Q m>qq uG٣qy}j }> Nusing accuracyPremultiplier from configyG59}#e?G5Y} i}Aw@}7E};};}G5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf o?]]]]r@o{> BI҅9 ɚ,iII%ti!i%<)!)!*F2F:FBF!5JFG GtAG F<BO5>Will construct direction to contact in vehicle frame from tetrahedron phase data. I Yw,eA :٣@Y:W@:3>9:i5>y:H??>ܜ`(? _˿ u¿R?y+?ɨ:٣@:;9;:CyVBViI)X XIbIb34٢f~ jU=9jBll nG٣lyr r> zNusing accuracyPremultiplier from configtzG59vmg?zG5Yv ivKA|~Ӟ}@v7Ev OID9 ɚe1iIItiit<))!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF%i4JF!GM _<BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.@_w,A I$V@YV~@V>9Vp3>yVH ک?`?'? [̿ 9¿ ?j+?ɨV@VS;Ty^B^XIMMb@Mb@Mb@III I)IYMV-?KlyM|>M^MM|!A MA)M=AIM AIyMpAIe#Ie5٢6 >=9H;Q > G٣y; > Nusing accuracyPremultiplier from config G59 8j?G5Y z i A>%B;%U%@ 7E ),; S*; SG5) -A)]DNOT Ignoring new targets: 59.90 m. jYjYjYjaiahahahahmBfifirfibfmF?]>]>](Ľ@]@> I?9 ɚ5iIIti iR4<))*F!2F!:F!BF%P0JF!m~G`wAZHRHAAHV>I IeIIBI&I.I6I><:IR FBIJIRIZI =bI =jIs5 Y `wAy AWill construct direction to contact in vehicle frame from tetrahedron phase data.GE <BQ Oq fw,殙A67@Y6@6>962>y6HD?`?2?v(̿@U¿? *?ɨ67@6;6CyFBJKIIRIR4٢Z] ZY=9Z?;Q Z>\\ ^G٣\ybM: f> jNusing accuracyPremultiplier from confighnG59j}l?nG5Yj ij~AprJr@j7Ej :j.:j{G5t v AxDNOT Ignoring new targets: 59.90 m. jjjjihh!h!h!f!f)rf)bf-@]Q]Q]Q]U2@e> aeIeׅ9 iɚm9iiIiIutiqiuB<)y)yEmWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ}:J9JJJ;aJ;aJaJa*F?2F:FBF^0JF"G=G= IIIG %<BO5q>zKk3IK9KKK% Will construct direction to contact in vehicle frame from tetrahedron phase data.uBlw,kA28@Y2@28>92Gg3>y2H`??@ ?<̿&¿`? )?ɨ28@2`R;2CyRBR@Ii^)>I^=Mb@Mb@Mb@ )YFx?y&1#~jyƋ>`役㥽 A ~A) AIyAII4٢S% <=9:Q > G٣y5 > Nusing accuracyPremultiplier from configG59)o?G5Y iA>-;a@7E;N;GG5 X ADNOT Ignoring new targets: 59.90 m. jjjjihhh!h%Bf!f!rf)bf-0d@]M>]M>]M@]Mnw@e8> aeIe,9 aɚe>iiIiImtiqim<))*F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս>Ս%= AIAGb<BO>H I C I :II BI  =&I FD.I 6I <:I ; FE*sw,FAbl@Yb@b >9b3>ybH???@K̿lÿ?(?ɨbl@bш;bCvWill construct direction to contact in vehicle frame from tetrahedron phase data.zBDAT read: Rx Time:22:26:46.0134 ~TRx dataTimestamp_ set to:1736375207.238315yB.II%I%4٢5 5S=9!:Q > G٣yz > Nusing accuracyPremultiplier from configG59q?G5Y iAe@7E1;t2;ּG5  A%+EmDNOT Ignoring new targets: 59.90 m. jijijijiiihihqhhffrfbfy@]]]]nv@% > )-I-9 IɚUBiQIQIutiqiu<)q)yDMݍ9E]sAE]sAWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J9JJJR;JS;J;J; 9 I9 *F 2F :F BF P0JF G rA G zKKKKKGMe~<BaO}>izw,A2@Y2|@2c>924>y2HB?V?l?@W̿`A ÿ"?'?ɨ2@2j;2Cy<<IVIV49^9Q ^>\\ ^G٣`yb b> fNusing accuracyPremultiplier from configdjG59f[t?jG5Yf ifAlntn@f 7Efi:fi:fG5p ptDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfWL @Will construct direction to contact in vehicle frame from tetrahedron phase data.iDAT read: Range 10 to 50 : 79.2 m (Round-trip 105.7 ms) speed 0.0 m/s ,DAT read: user:2610> BDAT read: Tx time:22:26:47.1036 %$Ping request sent.% I/9 ɚGiIItiiE<))*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:26:47.1028  I G- Vv<B9 OU >Ew,VA:o@Y:@:>9:A4>y:H ˣ?`]?D 1m?[̿n ÿ`*?'?ɨ:o@:,;:CyRzBRI)T T5Mb@Mb@Mb@111 1)1Y5(\?S㥛sh|?y5z>5$55 A 5A)5AI5A1y5pAI]I]H4٢m m<9uy8Q u>qq }G٣yy}KѺ }> Nusing accuracyPremultiplier from configG59v?G5Y iA`>!;@ 7E);1;aG5B B!A-E] addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.540450 s, deltaX: 0.599998 m, approachRate: 0.169470 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 59.90 m. jajajajaiahahahihmсBfifirfS@bfdU?]`>]`>]|@],@> IMIUL9 QɚUKiQIYIetiaieyB<)aHuU>Iq IuIIuvBIq&Iq.Iq6IuX<:Iug F)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fi2Fi:FiBFmp0JFiGM Ԅ<BY O} >pw,1A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:SΣ@Y:ݪ@:S>9: 8>y:H`>??̐ ?`p̿`¿@?:$?ɨ:SΣ@:&o;:C PIPJ^J\J\J\J^:J\J\J\J^l;J^m;J\J\yfrBfIIrIr4٢z zS=9zNQ z>|| ~G٣|y >  Nusing accuracyPremultiplier from config G59 x?G5Y  i A@  7E T: S; G5! %^!A!DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf ?]I]I]I]M_"@}S> y隅I9 ɚOiIItiiHX<))*F)2F):F)BF-\5JF)"G5=G5=zKjIK9KKK*7AJKFBBA?>:60*''&#$!   Will construct direction to contact in vehicle frame from tetrahedron phase data.GV<BO >w, 9Ay~B~$IMb@Mb@Mb@ )Y1Zd?x&{Gzy">7 ף zA)IKAyII[4٢'= >=9Q > G٣y > Nusing accuracyPremultiplier from configG59{?G5Y iA>;몿@7E;;G5 !A%DNOT Ignoring new targets: 59.90 m. j!j!j!j!i!h!h)h)h-ցBf)f1rf1bf5@ ?]U>]U>]UӼ@]U U@ IN9 ɚTiIItii4<))UWill construct direction to contact in vehicle frame from tetrahedron phase data. Ih*F2F:FBFG5JFGN<BOHq Iu C Iu IIu WBIq &Iq .Iq 6Iu <:Iu  F Will construct direction to contact in vehicle frame from tetrahedron phase data. i w,RA2@Y2Ϊ@2ؿ>92c6>y2H_?k?@H@?A̿ ¿n?0'?ɨ2@2l:;2CyBBB!IiF=IF> Fp=Fa=IJIJP4٢fu+ f[=9fiƺQ f>hh jG٣hyj n> rNusing accuracyPremultiplier from configpvG59r}?zG5Yr ir.Axz4z@r7ErWH;rI;rG5 &!A-DNOT Ignoring new targets: 59.90 m. j)j)j)j1i1h1h1hhffrfbf`?]9]9]9]=B@Mؿ> y}I}9 yɚ}w,lAzK!MK`9KKK BK:KqA:sɣ@Y:ت@:N>9:\56>y:H?`? ?Zh̿¿g?@%?ɨ:sɣ@:;:CyF{BFIININY4٢V_ VL=9Vy;Q Z>XX ZG٣Xy^KP; ^> bNusing accuracyPremultiplier from config`fG59b4?fG5Yb/ ibAhjj@b7Eb ;b;bHG5l n=!Ap DNOT Ignoring new targets: 59.90 m. j j j j i h h hhffrfbf?]9]9]9]=J@MN> IMRIMA9 QɚUM\iQIQI]tiYi]<)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFGsA GrAG5~<BAO]v> i Ii } Will construct direction to contact in vehicle frame from tetrahedron phase data.w,AFiУ@YFߪ@F>9F5>yFH V?d? @8?@ʁ̿ ÿ W?$?ɨFiУ@F;DyRBR)I5Mb@Mb@Mb@111 1)1Y5S?K7#~jy5/>5I 5㥽5I"A 5A)1I11y5AIMIM4٢e$= e?=9el@;Q e>ii mG٣iyuu; u> }Nusing accuracyPremultiplier from configyG59}ǂ?G5Y} i}4A >;|@}7E}D;}^;}G5  ADNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf5c@] >] >]d@]0@ >  fI ы9 ɚ`iIItii*<))H%V>I! I%II%CBI!&I!.I!6I%4<:I%L F*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Y IY 4ǧw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.:Hԣ@Y:@:x>9:5>y:H ѕ?@?խ ?̿`I<ÿX?#?ɨ:Hԣ@:7;:CyFBF6I)H HLNAIRIR4٢Z8e= ZU=9^/;Q ^>\\ ^G٣\ybV: b> MNusing accuracyPremultiplier from configIUG59M0?UG5YM iMAQUqU@M7EM":MC:MG5a e AaDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf% ȶ@]a]a]a]et3@}x> y}I}j9 yɚdiIItii{<))*F2F:FBF^0JFzKKK9KKK '(%!$''& RK>JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:26:49.6141 TRx dataTimestamp_ set to:1736375210.768609G <B1 O >t譺w,UA2أ@Y2K@21>925>y2H`?`?.q`ʖ? ̿;SÿZ? "?ɨ2أ@2`;2CyNBR>I-Mb@Mb@Mb@))) )))Y-㥛 ?p= ףMbX9y->--ʡ-x!A )))I-zA)y-AII4٢.< ==9:Q > G٣y5: > Nusing accuracyPremultiplier from configG59?G5Y i@A>!;-@7E+;w;%G5 n ADNOT Ignoring new targets: 59.90 m. jjjjih h h h BffrfbfJ @]5>]5>]5@]5D@M1> IMIM9 IɚMiiQIQI]tiYi]<)Y)Y $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJM:J9JJa@a@a@a@*F2F:FBFo0JF"G=G)= CG+^<B1M>GOu>q YyAH W>I C I II MBI &I .I 6I <:I 3 FBIȤCJIȤCRIZI =bI =jIȓ4 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 79.8 m (Round-trip 106.4 ms) speed -0.3 m/s  ,DAT read: user:2611> -% X#Rx 6: Read range message, but no direction. y B дw,r3ABqڣ@YB@BN>9B2^6>yBH?/?j ?̿`ÿj?`!?ɨBqڣ@BX;BCy=B=GIIMAAIMIM4٢m+= mN=9m:Q m>qq uG٣qy: > Nusing accuracyPremultiplier from configG59?G5Y  iA$@7Ea::G5 0 AM addTargetRange:: Added new target pos. range: 79.800003 m, deltaT: 3.532381 s, deltaX: 0.600006 m, approachRate: 0.169859 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 59.90 m. jQjqjqjqiqhqhyhyhyfyfrf@3S@bf,?]]]]F@N> I9 ɚ*miIIti i !<) ))*F?2F:FBF0JF Ih]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Tx time:22:26:50.7036 e$Ping request sent.e7w,AzK.wMK.#9K,K.K. .@QZahmsyyxxz{|~~|yuqomjd_ZZXRLJHDDA?b@Y@SY>9u7>yHY?`?tq?y̿wÿ р?`?ɨb@m;Cy%B-]Ii5=I54< 5=5=I=I=4٢Mz= ML=9U:Q U>YY ]G٣Yy]?J; ]> mNusing accuracyPremultiplier from configamG59e8?uG5Ye  ieTAquu@e7Ee;e;eG5y ADNOT Ignoring new targets: 59.90 m. jjjjWill construct direction to contact in vehicle frame from tetrahedron phase data.ihhhhffrfbf-?]]]][Q@SY> QxI9 ɚpi!I!I%ti)i-#<)))Dmx9 I*F 2F :F BF _0JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J =9J J G- <B9 O] >Ijºw,G! A:Σ@Y:ݪ@:>9:y)>y:Hq?@? ?@_˿ Oÿ?3?ɨ:Σ@:;:CyBBBaIMb@Mb@Mb@ )Y rh?K7AʡEyC>  )IKAypAI5I5&4٢ML< M;=9M8Q M>QQ UG٣QyU˻ ]> eNusing accuracyPremultiplier from configYmG59][?mG5Y]' i]Am>m+;m#m@]7E];];]G5y }A}/EjH<bHHV>I IIIlBI&I.I6ID<:IX FDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf@+?]]>]]>]][@]]@m> imIuk9 qɚuuiqIyItii]<))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm[4JFiGU Hn<Ba O > I m Will construct direction to contact in vehicle frame from tetrahedron phase data.Ⱥw,t#ANԣ@YNa@Na>9N K,>yNH ؕ??̡%y?̿Pÿ 0?/?ɨNԣ@NG;NCyVBVoIIbIb4٢j\t= jT=9jڃ8Q j>ll nG٣pyr% ; r> vNusing accuracyPremultiplier from configtzG59vC?zG5Yv ivmAx~~@v!7Evj;v8;vPG5 B 5A,E=DNOT Ignoring new targets: 59.90 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfMD?]i]i]i]my@}a> 隍+IR9 ɚUyiIItii?O<))*F?2F:FBFO0JFzKEZNK9KKK=;5520,()%#""!    Will construct direction to contact in vehicle frame from tetrahedron phase data.G5<BAO|>κw,Ω=A23@Y2@2>92/>y2H@? ?T@?+̿aEÿ?`,?ɨ23@27;2CyNBRITVA aIa}Mb@Mb@Mb@yyy y)yY}K7A?v/㥛 y} >}x齹}y y)} AI}zAyy}AII4٢:= >=9RQ > G٣ye; > Nusing accuracyPremultiplier from configG59f?G5Y iA]>8;}@#7E;;G5 ADNOT Ignoring new targets: 59.90 m. jjj j i h h hh/BffrfbfA%?=Will construct direction to contact in vehicle frame from tetrahedron phase data.]E]>]E]>]E⏻@]E0@JqJqJ}J}JyJyJ}:J}9JyJy> fI 9 ɚiIItii%<)!)!*F?2F:FBFJFHI I-IIBI&I.I6I<:I1 FG <BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Fպw,WA6@Y6@6Z?>962>y6H`?k?!`|?@+̿@tÿO?&?ɨ6@6;6CyB&BBIIJIJ4٢j= jY=9j|;Q j>ll nG٣lyr-; r> vNusing accuracyPremultiplier from configtzG59vM?zG5Yv@ ivAxz z@v$7Ev:v:v^G5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@@]]]]dM@Z?> ?IA9 ɚi!I!I%ti)i-<))))*F?2F:FBFP0JF QIYEWill construct direction to contact in vehicle frame from tetrahedron phase data.GHn<BO>zK] bMK] ۵9KY K] K] ۺw,c}qABK:KtA6& @Y6@6>96e4>y6H'??o`xv*?d̿ÿ+?!?ɨ6& @6$;6Cy>0B>IJWill construct direction to contact in vehicle frame from tetrahedron phase data.IF IF4٢RG= VL=9VV;Q V>XX ZG٣Xy^V; ^> bNusing accuracyPremultiplier from config\fG59^W?fG5Y^ i^.Adjj@^&7E^;^;^G5l nAlDNOT Ignoring new targets: 59.90 m. jjjji h h hhffrfbf@I@]A]A]A]E)d@m> imImT9 qɚu:iqIqI}tiyi}0!<)y)2D*DBD :D *F?2F!:F!BF%_0JF! 9I9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge <BiJJJJJ:JJJO>w,?AZHYRHYHeX>Ia IeYIIeBIa&Ia.Ia6Ie<:Ie Fyޝ9BޭIuMb@Mb@Mb@qqq q)qYui|?5?&1Q뱿yuq>uнu\uI"A qWill construct direction to contact in vehicle frame from tetrahedron phase data.)uAIqqyqIIY4٢f= "=9Q > G٣y > Nusing accuracyPremultiplier from configG59ޘ?G5Y iAm>G;@(7El;;HG5 eA5DNOT Ignoring new targets: 59.90 m. j1j1j1j1i1h9h9h9h=SBfAfArfbf@@]%m>]%m>]%@]%j@q qufIu9 qɚu,NiyIyItii<))ErAE*Fu?2Fq:FqBF}P0JFy ) I) ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] !>] <e BDAT read: Rx Time:22:26:53.2152 m TRx dataTimestamp_ set to:1736375214.549008Gm <B O >w,Ar@Yr /@r(>9r6>yrH-?`?@si?@ 8Ϳ`ÿl?x?ɨr@r%;rCyTBII Ie4٢%)> -=9-};Q - ?)1 5G٣1y5; = ? ENusing accuracyPremultiplier from configAMG59Ey?MG5YE iE`AQUFU@E)7EE:E:EG5Y ]AYDNOT Ignoring new targets: 59.90 m. jjjjihh!h!h!f)f)rf1bfU. @]]]]P@(>  eI9 ɚiIItii%2=)!)!*F?2F:FBFo0JFzKM>BKKM9KIKMKM %+/1034212/.,-+**,)()++'  Will construct direction to contact in vehicle frame from tetrahedron phase data.G N<B O >w,oA:7%@Y:4@:%M >9:z77>y:H ?@?oe> ?@8WͿÿ`d?`?ɨ:7%@:;:CyBbBFI `I`%Mb@Mb@Mb@!!! !)!Y%1Zd?ˡEX9vy%"[>%什%}% A %v@)!I!!y%zAI= I=4٢E = MH=9U:Q U>YY ]G٣Yy]Q: e> mNusing accuracyPremultiplier from configamH59e?uH5Ye" ieAus>u_;ugu@e*7Eey;e;eH5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhXBffrfbf@R$@]s>]s>];Z@] v@Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: Range 10 to 50 : 80.5 m (Round-trip 107.4 ms) speed -0.3 m/s -,DAT read: user:2612> 5BDAT read: Tx time:22:26:54.3037 5$Ping request sent.5 隵zI’9 ɚsiIItiiC=))*F?2F:FBF1JFH]W>IY I]II]BI] =&IY.IY6I]<:I]; FG+=BO> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:26:54.3029 Lw,:A6J(@Y67@6!>96?47>y6H??*@{b ?jͿ` ĿQ? ?ɨ6J(@6;4yBoBBIIJIJ 4٢R…= RU=9V ;Q Z>XX ZG٣Xy^: ^> bNusing accuracyPremultiplier from config`fH59b?fH5Yb$ ibAhj_j@b,7Ebn:bn:bH5l rAp addTargetRange:: Added new target pos. range: 80.500000 m, deltaT: 3.779185 s, deltaX: 0.699997 m, approachRate: 0.185224 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 59.90 m. jjjjihhh!h!f!f!rf% T@bf-`?]I]I]I]Mx@!> ztI.9 ɚiIItii|Y=)) I*F?2F:FBF05JF"G=Gp=%Will construct direction to contact in vehicle frame from tetrahedron phase data.JmJmJiJiJm:Jm9JiJiJm;auJm;auJm{;a}Jm|;a}Gl=BO>uw,A:2@Y:@:>9:$5>y:H?`?Z q`?!ͿÿN@?!?BWill construct direction to contact in vehicle frame from tetrahedron phase data.ɨ:2@:;:CyJ|BJIzKNMKNu9KLKNKNIZIZ4٢fv= fH=9f?BQ j>hh jG٣hyn8 n> rNusing accuracyPremultiplier from configpvH59rР?vH5Yr<& irWAtz͢z@r-7Er:rz:rH5| ~PA|%DNOT Ignoring new targets: 59.90 m. j!j)j)j)i)h)h)h1h1f1f1rf1bf=@?]Q]Q]Q]U\\@m> im-nIm09 iɚu5iqIqI}tiyi} <)y)*F%?2F!:F!BF-P0JFi IG=BO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.*J"J NG vA E YE vAyM JAw,^ AHI III5BI =&I.I6I#<:I? FBIJIRIZIbIjI4yEBEIMMb@Mb@Mb@III I)IYMx?)\(J +yMK7>MGaMHM"A MA)M|!AIM~AIyMAImIm.4٢5= ,=9Q > G٣y  > Nusing accuracyPremultiplier from configH59V?H5YD( iA5F>%;%%@.7E;^; H5) -A)UDNOT Ignoring new targets: 59.90 m. jYjYjYjYiYhYhYhaheBfafarfibfm5?Will construct direction to contact in vehicle frame from tetrahedron phase data.]5F>]5F>]ą@]@ 隵=I 9 ɚ݀iIItii<))*FY2FY:FYBF]4JFYPExceeded connect timeout, disconnecting. I G <B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J :J 9J 3J J ;J ;J ';J ';% w,]&A6@Y67"@6d>965>y6H`??+ep?)Ϳÿ2M?@?ɨ6@6r;6Cy>B>>IIFIF4٢R> Rx=9VFQ V?TT ZG٣XyZnv: Z? bNusing accuracyPremultiplier from config\bH59^?fH5Y^) i^Adff@^/7E^;^.;^H5l nAp DNOT Ignoring new targets: 59.90 m. j j j j i h h hhffrfbfV?]]]]@d>  I Ќ9 ɚiIIEtiAiEa<)A)I*F?2F:FBFP0JFG GtAWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝AzK2KK9KKKG<BO=> w,RC@A IN)@YNZ9@NN!>9N6>yNH?`2?H멿 Qa ?*jͿĿ.s??ɨN)@N8N;NCyZBZEIEMb@Mb@Mb@AAA A)AYEl?l/$yE>EE,E|!A EA)EAIAAyEpAI]I]4٢m< m>=9uw\;Q u>qy }G٣y; > Nusing accuracyPremultiplier from configH59@?H5Y#+ iA">;@07Ev\;Z;[H5 A=Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 59.90 m. jjjjihhhh‚Bffrfbf`2Y@] ">] ">] 8@] @N!> I%9 !ɚ%i!I!I-ti)i-i#=)1)1*F2F:FBFJFHV>I III]BI =&I.I6I$<:IG<BO > Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,EZA6;@Y6CK@6">96k7>y6H0??`eU f?DͿ@6?Ŀ?s?ɨ6;@6?:;6Cy>B>MIIFIFD4٢Ra= RX=9Vd;Q V>TT VG٣XyZվ; Z> ^Nusing accuracyPremultiplier from config\bH59^?bH5Y^f, i^VAdfjf@^17E^* ;^":^H5h jAh MnManaging dock network, ignoring radio surface power offDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfW@] ] ] ] O@%"> !%I%69 )ɚ-i)I)I5ti1i=$=)9)9 =$?IEhEWill construct direction to contact in vehicle frame from tetrahedron phase data.JuJuJu0JqJuݒ:Ju9Juـ3JqJu;Ju;Ju!;Ju!;*F}?2Fy:FBFS0JFG 3;=B O >aw,csA2L@Y2[@2O#>927>y2H`d?h?J#? Ϳ\Ŀ??ɨ2L@2 Lj;2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.zKVjIKV-9KTKVKV?6<m?$ yZÀB^`IIfIf4٢n= nG=9nf;Q r>pp rG٣pyvߞ; v> Nusing accuracyPremultiplier from config %H59 6?%H5Y - i A!%(-@ 27E *b; hH; ;H51 5A1 DNOT Ignoring new targets: 59.90 m. j j j jihhh!h!f!f!rf!bf-o@]]]]Ť@O#> 隭<I.9 ɚMiIItii=)) 1I1*FY2FY:FYBF]_0JFY"Ge=Ge=UWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:26:56.8160 ]TRx dataTimestamp_ set to:1736375218.084544Ge #=Bq O >vI#w,XɍA6c`@Y6o@6Y$>96u6>y6H ??@`>5?ͿtĿ8e? ?ɨ6c`@6˴;6Cy@@ZH RH @AHT>IC IIIBI =&IGD.I6IF<:IV FMb@Mb@Mb@ )YʡE? G٣y; > Nusing accuracyPremultiplier from configH59?H5Y. iA=;@37Eu*;(;H5  5DNOT Ignoring new targets: 59.90 m. j1j1j1j1i1h9h9h9h=΂BfAfArfAbfE` @]m=]m=]m\S@]m_$@Y$> I 9 ɚ i I I5ti1i5;=)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiձ*F?2F:FBF1JFG{=BO > 9 I9 e Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: Range 10 to 50 : 81.1 m (Round-trip 108.2 ms) speed -0.1 m/s u ,DAT read: user:2613> J J J J J M:J b9J J J ;J ;J 0.;J 1.;} BDAT read: Tx time:22:26:57.9037  $Ping request sent. !! %G٣)y5 => ENusing accuracyPremultiplier from configAMH59Eܮ?MH5YE/ iEAyy@E47EE  I ]0w,7AJl@YJ}|@JJ\$>9JM6>yJH@??Bڧ6%@?ӹͿ`tĿV`??ɨJl@J<݇;JCynʀBniIir=Ir;Mb@Mb@Mb@ )YB`"۹?~jt~jty=D  A)AIAyzAIIЬ4٢퉼 O=97Q > G٣y=; > Nusing accuracyPremultiplier from configH59?H5Y0 iA]=;z@;S;$H5B A+EWill construct direction to contact in vehicle frame from tetrahedron phase data.EDNOT Ignoring new targets: 59.90 m. jAjAjAjAiAhIhIhIhUBfQfQrfQbfU@d?]u]=]u]=]uG@]u8@J\$> 隍zIz9 ɚĵiIItii4z"=))*F!2FY:FYBF] 5JFYGi GmsAHQ>I I-IIBI&I.I6I<:I5 FG =B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >6w,\A2Za@Y2p@2#>92)*>y2H?`?=`8L?̿cĿ?'?ɨ2Za@2~;2Cy>πBBoIIJIJ4٢RS< R`=9RsǺQ R>TT VG٣TyZ` Z> ^Nusing accuracyPremultiplier from config\bH59^-?bH5Y^1 i^_A`f|f@^57E^>;^p;^B'H5h jAh DNOT Ignoring new targets: 59.90 m. j j j j i hhhhffrfbf%@?]A]A]A]Eq@U#> Y]{xI]ّ9 Yɚ]iYIaIetiaim6=)i)i I*F?2F:FBFO0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G=BO>aa eG٣aym m> uNusing accuracyPremultiplier from configq}H59u ?}H5Yul2 iu/Ayy@qui ;u ;u*H5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf`p?]i]i]i]i %wI%.9 IɚMziQIQItii=))BD=:D= IEWill construct direction to contact in vehicle frame from tetrahedron phase data.JeJeJaJaJe:Je9JaJaam@am@am@am@D9E*F ?2F :F BF _5JF "G G =jH bH <H O>I  I @II BI  =&I .I 8D6I <:I / FGm1=ByO>`Dw,A>N@Y>ͫ@>EF#>9>*2>y>H`-?T?/ե[n? [Ϳ@RĿ`? ?ɨ>N@>Hi;>CyJȀBJfI)L L-Mb@Mb@Mb@))) )))Y-Zd;O?~jty-j=--L- A -@)-OAI-hA)y-QAMWill construct direction to contact in vehicle frame from tetrahedron phase data.I=I=4٢]- ]+=9]~Q ]>aa eG٣iym/v< m> uNusing accuracyPremultiplier from configq}H59u?}H5YuS3 iuA=;@u67Eu0;u-/;u./H5 ADNOT Ignoring new targets: 59.90 m. jjjjihyhhhBffrfbf?]=]=]|@]ɧ@EF#> QxI|9 ɚ0i9I9IEtiAiE7=)A)ID59*F2F:FBFP0JFG G"GG IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.{??B O >;Jw,-A2%ä@Y2ҫ@2#>9294>y2HK?}?@O`?HͿ$bĿF ?@?ɨ2%ä@2֊;2CyBBB\IIJ IJ4٢R  RX=9V:Q V>TX ZG٣XyZuM< Z> ENusing accuracyPremultiplier from config9MH59='?MH5Y=4 i=AQUTU@=77E=A;=~;=2H5i m7AqDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf`{@]]]]@%#> )-|I-59 )ɚ-~"i)I)I5ti9i=F=)9)9D9mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJFBO>zKKu9KKK Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.J9 J= AAJKm3 KS}-KK"KJE JE JA JA JE :JE 9JA JA 0Qw,kdGA6٤@Y6Y@6b#>964>y6H]?`o?Yޥ-g?Ϳ-VĿ` +??ɨ6٤@6Y;4yRBRNI) 5Mb@Mb@Mb@111 1)1-KGY5:v?Q롿DlE`wAy5=5\a5O1 5A Y`wAyNA)1I5A1y5zAIIB4٢'@ ,=9JQ > G٣y; >  Nusing accuracyPremultiplier from config-H59?5H5Y5 icA5>5;5v5@;-;6H59 EAADNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf@r2@]>]>]w@]?2@Mb#> IUzIU-9 QɚU3iQIQI]tiYi]1N=)YHqIuC IqIqIq&Iq.Iq6Iu<:Iu5 FBI5ģCJI5ģCRI1ZI1bI5 =jI55)2DsA*DsAD*Fy2Fy:FyBFyJFyWill construct direction to contact in vehicle frame from tetrahedron phase data.BO> 9 I9 %Ww,>aA:D@Y:@:u=#>9:4>y:Hr?@a`?M@ ?ͿQĿ`p3?@Y?ɨ:D@:A;:CyFBF3IiJY>IJ=IR#IR5٢j> jq=9jd޹Q j?ll nG٣lyr< r? vNusing accuracyPremultiplier from configtzH59v?zH5Yv5 iv&Axzz@v87Ev':v:v9H5 FA 5DNOT Ignoring new targets: 59.90 m. j1j1j1j1i1h9h9hAhAfAfArfIbfM`@]i]i]i]mN@}u=#> y隅 I9 ɚiIItiiY=))DWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:27:00.4163 TRx dataTimestamp_ set to:1736375221.612956*F?2F:FBF0JFBAOe> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK jIK 9K K K  ]^w,a{AB{@YB@B/">9BC5>yBHpw?`H\?@ /@?`=ͿQ0Ŀ@B?@ ?ɨB{@BY;BCybBb*IInInk4٢[ ==9uQ > G٣y: > eNusing accuracyPremultiplier from configYuH59].?}H5Y]6 i]Aޒ@Y]=<]@<]=H5 I |A]DNOT Ignoring new targets: 59.90 m. jYjajajaiahahahihffrfbf @]]]]VX@/"> IX9 ɚ@iII ti i ]Z=) )Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 81.3 m (Round-trip 108.4 ms) speed -0.1 m/s ,DAT read: user:2614> *JR="Ja=JJJ1JJL:J :J3JBDAT read: Tx time:22:27:01.5037 $Ping request sent.Gdw,A2@Y21@2A!>927>y2H?@S?z⦿`̻?>ͿĿ`g|??ɨ2@2 ;0y>B>I Mb@Mb@Mb@    ) Y L7A`?T㥛 Ky +>=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:22:27:01.5029  ^ 9A v@) "AI QA y AI I4٢ F=9Q > G٣y|r;  > Nusing accuracyPremultiplier from config H59 U?H5Y 8 i rAe0>;%@ 97E ;  ; @H5) -A)] addTargetRange:: Added new target pos. range: 81.300003 m, deltaT: 3.528041 s, deltaX: 0.200005 m, approachRate: 0.056690 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 59.90 m. jajajajaiahahihihmGBfifqrfu@3ST@bfuy?]e0>]e0>]Ϻ@]%@A!> ^Iܘ9 ɚiIItii_=))!*F2F:FBFP5JFGHC%=BO@> IWill construct direction to contact in vehicle frame from tetrahedron phase data.#)kw,ϮA6@Y6q@6>96"8>y6Hy?@X?1 ?wlͿÿ@?9?ɨ6@6;6CyRyBRI)T TIZIZg4٢f f_=9fջQ f>hh jG٣hyn r> vNusing accuracyPremultiplier from configpvH59rh?zH5YrA9 irAxxz@r:7Er:r@:r.DH5 rA-DNOT Ignoring new targets: 59.90 m. j)j)j1j1i1h1h1h9h9f9f9rfAbfE?]a]a]a]eB@> lgI–9 ɚ~6iIIti i X=) ) *F2F:FBF31JFGsA GsAMWill construct direction to contact in vehicle frame from tetrahedron phase data.zK}2LKKKKGYW=BQO> I Will construct direction to contact in vehicle frame from tetrahedron phase data.J% J% J% 0J! J% |:J% 9J% ـ3J! rw,ҪAyEqBEIMb@Mb@Mb@ )YS?RQCl绿y/>½;߽ )IyII|4٢    7=9Q > G٣y %> -Nusing accuracyPremultiplier from config!-H59%?-H5Y%+; i%A5Oe>5m;5خ5@%;7E%;%%;%HH5A EAIuDNOT Ignoring new targets: 59.90 m. jqjqjyjyiyhyhyhh.Bffrfbfɡ?]Oe>]Oe>]ո@]Y@ 隽^IP9 ɚqiIItii Y=))HI>I IIIwBI =&I.I6I{<:Iv F*F92F9:F9BFEP0JFAeWill construct direction to contact in vehicle frame from tetrahedron phase data.GM4X=BaO}> I ;xw,ƅA6G@Y6@6D>96M7>y6Ho?^?@= `"?@5̿ÿ ?`#?ɨ6G@6+A;6Cy>nB>IIFIF[4٢rwc r_=9vQ v>tt zG٣xyz'̻ z> Nusing accuracyPremultiplier from config|H59~? H5Y~< i~!A  宿 @~<7E~ :~:~DKH5 AMDNOT Ignoring new targets: 59.90 m. jIjIjIjQiQhQhQhQhYfYfarfabfe`~?]]]]wV@D> 隕`I9 ɚǓiIItii?Q=))2D*DBD:DWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ@A*F?2F:FBFO0JFGW=BO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.zK .JK k9K K K    f~w,0hA2@Y2@2ec>92b^7>y2H@ky?V?Q:[ _?@>̿¿ Ҍ?%?ɨ2@2߈;0yN_BRIIj Ij<4٢ro rJ=9rDQ r>tt vG٣tyzF`; z> ~Nusing accuracyPremultiplier from config|H59~?H5Y~> i~A   @~=7E~:~e:~NH5 BA qIqDNOT Ignoring new targets: 59.90 m. jj!j!jIiIhQhQhQhQfYfYrfYbf]&?]]]]e@ec> gI9 ɚiIItiiW=))*F?2F:FBFP0JF"G=G>5Will construct direction to contact in vehicle frame from tetrahedron phase data.G JR=jH <bH <H H>I  I II XBI  =&I .I 6I <:I FB9 OU >Nw,pBA6)@Y6@651>96= 6>y6Hy?V?@?p̿¿@Nd?S(?ɨ6)@6 ;6CyN[BNI5Mb@Mb@Mb@111 1)1Y5S?Mb`"y5/]>555A 5I@)5AI5`@1y5G AIM IM4]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]A٢m mB=9m5Q u>qq }G٣yy}$ }> Nusing accuracyPremultiplier from configH591™?H5Y@ iA>>;ϳ@?7E<<zRH5 ^AMDNOT Ignoring new targets: 59.90 m. jIjIjIjIiIhIhqhqhuBfyfyrfybf}р@]>]>]@]@51> GI99 ɚ˵iIItiiҞV=))*F2F:FBF_0JF iIi*JC="JJJJJ Will construct direction to contact in vehicle frame from tetrahedron phase data.J:J:JJJ7;a% J8;a% JC;a% JC;a- G5 TV=BA Om >92B6>y2H y?@#V?`?P̿S¿l?`)?ɨ2@2;0yRUBRIIZIZ|4٢jr jU=9jZuQ n>ll rG٣pyr[ r> vNusing accuracyPremultiplier from configtzH59v_Ù?zH5YvC ivA|~~@v@7Ev0;vR;vUH5 A 5DNOT Ignoring new targets: 59.90 m. j1j1j1j1i1h1h9h9h9fAfIrfIbfMk@]i]i]i]m@}P> 隅JIN9 ɚiIItiiU=))*F12F1:F1BF511JF1mWill construct direction to contact in vehicle frame from tetrahedron phase data.zK=^LK=9K9K=K=RKU ?JKU>GkW=BQO> I Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:22:27:04.0167 % TRx dataTimestamp_ set to:1736375225.148695}_w,IA2@Y2/@2)>92ֈ7>y2Ht?X?@ ëv@+?;̿ N¿?)?ɨ2@2t;2CyBWBBIMb@Mb@Mb@ )YX9v?l¿X9vy}>nA @)XAI3@y AII4٢b< :=9>Q > G٣y > Nusing accuracyPremultiplier from config H59ę? H5Y F iA>);@B7E;;YH5 %A!UDNOT Ignoring new targets: 59.90 m. jQjQjQjQiQhYhYhYh]Bfafarfabfe@]>]>]2ط@]N̛@)> .IG9 ɚDiIItiivR=)) HC>IC IIIDBI =&I.I7D6I<:I F*F?2F:FBF/1JFG rA G }Will construct direction to contact in vehicle frame from tetrahedron phase data.GM R`U=BY Ou > I 䊘w,|cA29ؤ@Y2@2qD>927>y2Hi?.`? \`?̿¿?@+?ɨ29ؤ@2';2CyN^BNIIVIV4٢b= b_=9f,Q f>dd jG٣hyj٨ j> rNusing accuracyPremultiplier from configlrH59nƙ?vH5YnH ingAtv8v@nC7En;n;n\H5x ~IA|-DNOT Ignoring new targets: 59.90 m. j)j)j)j)i)h)h1h1hffrfbf @]]]]@qD> *Ia9 ɚiII%ti!i%ÙK=)!))JJAAJJJJJ:Will construct direction to contact in vehicle frame from tetrahedron phase data.J:JJJ;J;JL;JL;Dό9*FM?2FI:FIBFM0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.9 ms) speed 0.0 m/s  ,DAT read: user:2615>  BDAT read: Tx time:22:27:05.1037  $Ping request sent. w,-}AzKgKK-9KKKbǤ@Yb)׫@bD>9b6>ybH]?)i?Ȭq`$?˿@ ʂ?.?ɨbǤ@bXȇ;bCykBII%I%|4٢n= AII e6=9uU$Q > G٣y6 > Nusing accuracyPremultiplier from config%H59Ǚ?-H5YK iA1]ye@E7E8<<aH5 A addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.787949 s, deltaX: 0.299995 m, approachRate: 0.079197 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrf`ffT@bf%1?]q]q]q]uj@D> 隥#IM9 ɚ~iIItii6E=))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9~G|uA)*Fi2Fi:FiBFmn4JFi b!Y|uAyBZH RH AAH B>I  I II ?BI  =&I .I 6I <:I x FBIeɢCJIeɢCRIaZIe =bIe =jIe5G H=B O >-w,AEWill construct direction to contact in vehicle frame from tetrahedron phase data."@Yī@>9k6>yHKP?@r?@Q ?˿`zv?[0?ɨ"@0;CyyBI a=p=Mb@Mb@Mb@ )YMb?{GzĿCl绿y>#;߽A @)AAII@y\ AIIg4٢]w= 2=9[Q > G٣yE > Nusing accuracyPremultiplier from configH59ș?H5YN i$AU>%;E@G7E;;dH5  lA=DNOT Ignoring new targets: 59.90 m. j9j9j9j9i9h9hAhAhEˁBfIfIrfIbfM?U?]uU>]uU>]u/@]u`@> 隍(Iϧ9 ɚiIItii!==)) IIQDu9*F2F:FBF5JFJJJ1JJl:J:Will construct direction to contact in vehicle frame from tetrahedron phase data.J3JJ;J;JoN;JoN;G ߛC=B O% >]ūw,^A65@Y6ī@6 >969<+>y6HQ?!v?8`s!@ʦ?Wʿ?pA?ɨ65@6;6Cy>B>IIJIJ4٢nw= r=9rQ r?tt vG٣tyvP7 z? ~Nusing accuracyPremultiplier from configxH59zə?H5YzP izA@zH7Ez ;z ;z~gH5  A-EEDNOT Ignoring new targets: 59.90 m. jAjAjAjAiIhIhIhIhIfQfQrfQbfUk%?]q]q]q]uߟ@ > 隍Iܥ9 ɚiIItii>=))2DsA*DoAD9*F-?2F):F)BF-P0JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data.zKBoHK9KKK3AB;3+& G<=B) QI]hO> Will construct direction to contact in vehicle frame from tetrahedron phase data.­w,G96g/>y6HN?bv?SZ&?hʿ@W?=?ɨ6y@6$;6CyBBB1I]Mb@Mb@Mb@YYY Y)YY]X9v?jtĿ ףp= y]s>] ]Q]XA Y)]AIYYy] AIuIu4٢= @=9{Q > G٣yQ׺ > Nusing accuracyPremultiplier from configH59ʙ?H5YS i;A>1;@J7E;;7kH5 QADNOT Ignoring new targets: 59.90 m. jjjjihhhhہBffrfbf`?]>]>]f@]@5, > 15I5Ϭ9 9ɚ=$i9I9IEtiAiE'<=)A)AHUA>IUC IUIIUSBIU =&IQ.IQ6IU#<:IU- FD9]Will construct direction to contact in vehicle frame from tetrahedron phase data.*FI2FQ:FQBFQJFQ I II Gu >=B O >6w,ɯA6@Y6ū@6 >96y3>y6HWT?^o?@Ƣ#/?Xʿ"p?@9?ɨ6@6Ҍ;6CyJBJOI)P PIVIV4٢b/= bR=9byQ b>dd fG٣dyf*; j> nNusing accuracyPremultiplier from configlrH59nZ˙?rH5YnV inApr)r@nL7En:n:nnH5x ~A|DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfF?JYJ]J]0JYJYJ]:J]ـ3JYJYJ];J]L;J]L;}Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]ř@ > I9 ɚiIItii?i?=))D9*F% ?2F! :F! BF% O0JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK -9K K K Gm <=By O >҃w,(A 6$?I8@Y:ū@tL>9~5>yH T?`qm?宿@%`y?@r˿e?8?ɨ@pV;騩y5рB=rIMb@Mb@Mb@ )YRQ?HzG= tA @)AI3@y AII 4٢5O= ==9EQ E>II MG٣IyM U> Nusing accuracyPremultiplier from configQH59U˙?H5YUyY iUFAy>Y;@UN7EU;U;U4sH5 A=Will construct direction to contact in vehicle frame from tetrahedron phase data.UDNOT Ignoring new targets: 59.90 m. jQjYjYjYiYhahahihmBfqfyrfybf6@]y>]y>]3K@]>@tL> 隽zIR9 ɚiIItii>=))D9*Fa2Fa:FaBFe\0JFijH<bH<H@>I III|BI&I.I6D6IA<:IA FG A=B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >ܤƻw,AyBII-I-4٢EGQ> Er=9MQ M?II UG٣QyU U? eNusing accuracyPremultiplier from configYeH59]7̙?eH5Y]][ i]Aiim@]O7E]:]e:]%vH5q uAyDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@d@]]]] I%>9 !ɚ!i!I!I-ti)i->=)))1D1 qIq*F?2F:FBF0JF"GG=]Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ :J:JJJ<J<JDG;JEG;GГ>=BO >̻w,ػ5Ay-B-Ii5i>I5R=IEIE4٢M= UJ=9QQ U>YY ]G٣Yya e> mNusing accuracyPremultiplier from configiuH59m̙?uH5Ym] imAqq}@mP7Em ;m* ;myH5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@]]]]) )-I-'9 1ɚ5i1I1I=ti9i9)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչBDAT read: Rx Time:22:27:07.6174 TRx dataTimestamp_ set to:1736375228.929944Dˍ9*F!2F!:F!BF%1JF!zKEBHKAKAKEKE yIG- >=B9 OU >e Will construct direction to contact in vehicle frame from tetrahedron phase data.ӻw,OA2@Y2ū@2ݒ>92w4>y2HEV?@el?殿 D&Ǟ?2ʿ ??;?ɨ2@2;2Cy:&B:IH?>I ISIIBI =&I.I6Ie<:IZ FMb@Mb@Mb@ )Y̽YSA @)AIy AI-I-&4٢= > E<=9E}Q E>AI MG٣IyM8 U> ]Nusing accuracyPremultiplier from configQ]H59U͙?eH5YUx_ iUBAe;>e;eye@UQ7EU;U;U}}H5q u AqDNOT Ignoring new targets: 59.90 m. jjjjihhhhJBffrfbfgm @];>];>]i@]d@ݒ> I9 ɚiIItii,?=))Will construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad headerDَ9*F% ?2F) :F) BF- p0JF) G5  G5 "G5 G5 i Ii B O >1ڻw,jAFWill construct direction to contact in vehicle frame from tetrahedron phase data.fxͤ@Yfܫ@f>9f$6>yfHh?]?@{`X?ʿF?58?ɨfxͤ@f;fCyn?BnIIvIv4٢~m> ~U=99Q >   G٣ y L;  > Nusing accuracyPremultiplier from config%H59a͙?%H5Ya iA!%%@R7E::׀H5) 5BA1eDNOT Ignoring new targets: 59.90 m. jajajajaiahihihihifqfqrfbfa@]Q]Q]Q]U@> 隅IX9 ɚiIItiiI=))Dm95Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 0JF B O5 >zK K K K K   I \w,MA@Y@C@>98>yH{?N?w`I?#˿u ?5?ɨ@4];Cy%VB%I)) )Mb@Mb@Mb@ )Y+η?V-Zd;Oyv=hj<A @)AIyIIg4٢= /=9:Q > G٣y  ;  > %Nusing accuracyPremultiplier from config%H59͙?-H5Ybb iA->-;-ſ5@S7E5;@;H59 EAAWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J:JJa@a@a@a@uDNOT Ignoring new targets: 59.90 m. jqjqjyjyiyhhhhyBffrfbfT@]E>]E>]EG2@]E5Η@UC@> QUIUj9 Qɚ}#iyIyItiiS=))Du 9ZHRHHI IIIBI&I.I6I^<:IT F*F ?2F :F BF O5JF B!O}>= Will construct direction to contact in vehicle frame from tetrahedron phase data.\Iw,⏞A2@Y2G@2P>92/6>y2H`?`H?@-? @˿@t?d8?ɨ2@2&;2CyBrBB7IIfIf4٢n&> nr=9n&D9Q n?pp rG٣pyr; v? zNusing accuracyPremultiplier from configx~H59z͙?H5YzNc izAĿ@zT7Ez,;z:,;zއH5 A=DNOT Ignoring new targets: 59.90 m. jAjAjAjAiAhAhAhIhIfIfQrfQbfU`nw@]q]q]q]u_ԗ@P> 隍I9 ɚiIItii/!X=))BD;?:D4? QIQD*F]?2FY:FYBF]P0JFYBiO>Will construct direction to contact in vehicle frame from tetrahedron phase data.kw,IAyBMII5I54٢M= UD=9]Q ]>aa eG٣iyu u> Nusing accuracyPremultiplier from configH59͙?H5Ywd iNA@ ::H5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf9%@Will construct direction to contact in vehicle frame from tetrahedron phase data.] ] ] ] ! !%I%39 !ɚ%i!I!I-ti)i5UW=)1)1D]09*F?2F:FBF_0JF IIQzK]KK]9KYK]K]    )9 9 GU @A= Will construct direction to contact in vehicle frame from tetrahedron phase data.յ =յ = #GB vA J J J 1J J L:J J 3J O% > E YM vAyM B @ ASw,#A6@Y6D@6U>96_3>y6H?@9?b`?ʿ`$?=9%9Q %>!! -G٣)y-< -> =Nusing accuracyPremultiplier from config1=H595͙?=H5Y5&e i5AE=E Iֲ9 ɚiIItii41d=))Will construct direction to contact in vehicle frame from tetrahedron phase data.D>9 9I9*F- ?2F) :F) BF- P0JF)  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J GU 8U=BY O} >w,eA6%@Y6n5@6 >96EO4>y6H Ŭ?,? `?˿ @9?A:?ɨ6%@6~;6Cy>B>hIIzIz4٢|= J=9:Q >  G٣y; > %Nusing accuracyPremultiplier from config!-H59%͙?5H5Y%e i%A15ʿ5@!%;%;%ҒH59 EoAAmDNOT Ignoring new targets: 59.90 m. jijijijiiihqhqhqhqfyfyrfybf} 隽oI9 ɚĴiIItii^?m=))D-9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFW0JF ! I) zK MLK 89K K K 9STE=87451/,&%"  BK :K G a=Ba O >:w,?W A /@Y 8?@ >9 Z4>y H@U? D&?1̬l?E˿`:?:?ɨ /@ o; y-B5uIWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YJ +?V-y&1yH=`eJK(3 K(.KK"KJ-J-J)J)J-:J- :J)J)A )\AI@yAII4٢5.= +=99Q > G٣y% ; %> 5Nusing accuracyPremultiplier from config)5H59-Ι?5H5Y-[f i-A]=]&<]]@-V7E-%;-l;-H5a mAiDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbfGz@]-=]-=]-@]-g@]> Y]GI]Ĺ9 aɚe>iaIaImtiiimEXp=)i)jH<bH4<HI I.IIkBI! =&I.I6I;<:I9 FDmM9*F?2F:FBF _0JF "Ga=G=u Will construct direction to contact in vehicle frame from tetrahedron phase data.GM l=BY Ou >_Zw,#A $I$:~C@Y:R@:9>9: 5>y:H?`? |` ?"˿cR_?_8?ɨ:~C@:׈;:CyFBFxI)H HIRIR34٢Zx< Zt=9Zʴ9Q Z?\\ ^G٣\yb6; b ? fNusing accuracyPremultiplier from configdjH59fhΙ?jH5Yff ifxAhj&j@df:f:fH5y }ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf`@]]]]J@%9> )-޾I-l9 )ɚ-i)I)I=ti9i== y=)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.<<D_9*F12F1:F1BF5`0JF1GU q=Ba O} >w,>=AWill construct direction to contact in vehicle frame from tetrahedron phase data.:_O@Y:^@:z>9:$6>y:H?`?@Q C`d?I,˿@ep?7?ɨ:_O@:܈;:CyJBN~IIVIV=4٢^< ^G=9b굹Q b>`d fG٣dyf'g; j> nNusing accuracyPremultiplier from confighnH59jΙ?rH5Yj2g ij@Aprީr@hj:hjH5x zAxDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfIbfM@]]]]@z> GپIo9 I  !ɚ-8i)I)IMtiIiM1}=)I)IzKMK9KKKRK?JK>DMm9Will construct direction to contact in vehicle frame from tetrahedron phase data.J5J5J50J1J5|:J5&:J5ـ3J1*F?2F:FBFo0JFH >>I  I SII BI &I .I 6I x<:I f FG }z=B O >w,/iXA2W@Y2 g@28q>92r#7>y2H? ??3˿R?6?ɨ2W@2̣;2Cy>B<Mb@Mb@Mb@ )Y?V-L7A`尿yL=+A @)IyAImIm 4٢}* }6=9}Q > G٣y; > Nusing accuracyPremultiplier from configH59=ϙ?H5Yg iA=<*@;;kH5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf)@]=]=]E>@]Yş@%8q> !%fI-B9 )ɚ-MUi)I)I5ti1i5=)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.D!*F2F:FBF5JFGsA GrA YIaG{=BO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.Ow,#rA6[@Y6mk@6e>96l5>y6H@?6 ?@`?˿B`b]?:?ɨ6[@6x;4yRBRIiVhh nG٣lyn: n> vNusing accuracyPremultiplier from configpvH59rϙ?vH5Yrh irAxzXz@rW7Er:r:rH5 A-DNOT Ignoring new targets: 59.90 m. j)j)j)j)i)h1h1h1h1fIfIrfQbfU@]q]q]q]uԹ@e> I *9 ɚ qi I Iti1i5߀=)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F?2F:FBFP5JF QIYzK KK u9K K K G Š}=B O >##w,+A:Will construct direction to contact in vehicle frame from tetrahedron phase data.FX@YFeh@Fۇ>9F3>yFH?` ?hs"? ʿ?>?ɨFX@F'z;FCyNBN{IMb@Mb@Mb@ )YMbX9?J +ˡEyʡ=H什A Z@)AI@yAII4٢ 1=9@Q  > G٣y%9Q %> =Nusing accuracyPremultiplier from config1UH5958Й?UH5Y5i i5aA]=e;e뮿e@15;5;5ΨH5}B A*EDNOT Ignoring new targets: 59.90 m. jjjjiZHARHE?AHIII IMfIIMBII&II.II6IM<:IM FhhhhRBffrfbf @]=]=]K@]U@ۇ>  I b9 ɚ i I Itii=))%Will construct direction to contact in vehicle frame from tetrahedron phase data.D*FU ?2FQ :FQ BFU `5JFQ I GuF}=BO>v*w,A6g^@Y6m@6>96x2>y6H@?p?s (?;ʿ `~?@!@?ɨ6g^@6ni;6Cy>B>tIIJIJ~4٢NԼ N;=9RWӺQ R>PT VG٣TyZi: Z> bNusing accuracyPremultiplier from config\bH59^Й?fH5Y^i i^ Adfۮf@^X7E^;^);^H5l n&Al-Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 59.90 m. jjJJJ1JJ̶:JJ3JJ;aJ;aJ\;aJ\;ajjihhhhffrfbf໬!@]]]]X@M> QU®IU 9 QɚU䏵iQIQI]tiYie=))D9*FY2Fa:FaBFeP5JFa"Gm=Gm=Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IQ G Š}=B O >1w,5AzK.BHK.-9K,K.K.NfX@YNg@Nc=>9N4>yNH? ?@"?@0ʿ/\A7?p??ɨNfX@NT܈;NCyZBZiI)\ \IbIb4٢vF$ m?=9}aQ > G٣yOպ > Nusing accuracyPremultiplier from config%H59^љ?MH5Yj iAY]e@w<܊<H5 lA]DNOT Ignoring new targets: 59.90 m. jYjYjjihhhhffrfbf`"@Will construct direction to contact in vehicle frame from tetrahedron phase data.] ] ] ] !h@]c=> Y]Ie9 aɚeiaIaImtiiim8=)i)qHyIy IyIyIy&Iy.Iy6I}g<:I}X FD E! E! *F ?2F :F BF `5JF } Will construct direction to contact in vehicle frame from tetrahedron phase data. I Gf=BO>Z9w,:AZN@YZ]^@Z:>9Zz^8>yZH ?` ? -?ʿK` ?w G٣yL > Nusing accuracyPremultiplier from configH59bҙ?H5Y l i;Ū@Y7Es;r;ԴH5B JADNOT Ignoring new targets: 59.90 m. jjjjihhhh9Bffrfbf #@]%>]%>]%7@]%^@=:> 9=I=9 IɚMiIIIIetiaie+{=)a)i%Will construct direction to contact in vehicle frame from tetrahedron phase data.D]9JJ@AJJJJJl:J :JJJ <J <Jw;Jw;*F?2F:FBFO0JFG =B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.@w,zA>G@Y>=W@>`]=9>lE7>y>H ?`[?@ ?? \ʿ՜?@??ɨ>G@>;>CyJBJgIIRIR4٢^! ^Z=9^Q ^>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrH59n)ә?rH5Ynm inApr調v@nZ7Enj:n3;nH5x zAx IDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfQ$@]]]]U@`]= I`9 ɚiIItii%2x=)!))zKK9KKK595.*&&eNG 6YyAD9-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF12JFG GsAjH bH <H ;>I C I `II BI =&I .I 6I W<:I L FBIJIRIZI! =bI! =jIɽ4G ~=B O >kFw,JAyBcIi =I =-monly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00 +0.00, 20.00,2132, -97, -3,A  m@m m@u u@u  u@u IuIu4٢H 7=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configH59ԙ?H5YDn i~A+:;@f;o>@H5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf *%@ Will construct direction to contact in vehicle frame from tetrahedron phase data.iA9 9=fIEx9 AɚEIiAIAIUtiQiUPey=)Q)Q 1I1DΖ9*F2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:2617>  BDAT read: Tx time:22:27:16.0538  $Ping request sent. pLw,5AV.@YV$>@Vǹ=9V> 4>yVH? ?@4G ?@ɿ`#ľ9:?>G?ɨV.@V;TynBngIIvIv4٢n< K=9Q >!! %G٣!y- -> UbBottom track data is 0.9 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQ]H59Uԙ?eH5YU_o iU Ae :ae`;ese@U[7EU(;U}Z?UH5q uAqDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf%@mǹ= imfIu9 qɚuŵiqIqI}tiyi}m=)y)D9Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:27:16.0531 *F92F9:F9BF=_0JF9 IG= vpx=BI O >zK ŵLK k9K K K "! RK JK >=Sw,ROAWill construct direction to contact in vehicle frame from tetrahedron phase data.6!@Y6)@6 =96d`5>y6H૬?%?`@?&ɿoH`5e?@6G?ɨ6!@6_;6CyBBBiI        Mb@Mb@Mb@ )Y/$?)\(~jty>GόĽA @) AIQ@y3AII4٢< @=9Q > G٣y > Nusing accuracyPremultiplier from configH59jՙ?H5Y5q iAT:X>{;B@\7E;;AH5 sA,E-DNOT Ignoring new targets: 59.90 m. j)j)j)j)i)h1h1HI IYIIBI" =&I.I6IC<:I; FhhBffrfbf&@]=X>]=X>]=@]=N@M = imIm9 qɚuʵiqIqI}tiyi}Pe=)y)Dm9*F?2F:FBFk0JF"GG=Will construct direction to contact in vehicle frame from tetrahedron phase data. I G m=B O= >JYw,1iA @ND@YN'@N =9NyNHu?%?`@Xk?`aɿ`\E?J?ɨND@N;NCyjBjoI)t tII4٢6< M=9]Q > G٣ye > Nusing accuracyPremultiplier from configH59ՙ?H5Yr iDA>@]7Ev:v:H5 OADNOT Ignoring new targets: 59.90 m. j j j j i h h hhffrfbf'@]9]9]9]=O@M = IMfIM9 QɚUϵiQIYI]tiaie2f=)a)a5Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJ:JJJ <JJu;Ju;D9*F-?2F1:F1BF5_0JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. i G }xd=B OU >Q`w,x A I&h:u @Y:@:=9:6>y:H?@0)?Z ?[Sɿ`>&?LI?ɨ:u @:ˉ;:Cy^B^wIIjIj4٢r;= rW=9vj̻Q v>tx zG٣xyzx z> Nusing accuracyPremultiplier from config|H59~W֙? H5Y~t i~A    @~^7E~:~:~H5 AEDNOT Ignoring new targets: 59.90 m. jAjAjAjAiAhIhIhIhIfQfQrfQbf _(@]Q]Q]Q]Uڇ@}= y}I9 ɚ2ӵiIItii `=))zK.ELK89KKKBK:KqAUWill construct direction to contact in vehicle frame from tetrahedron phase data.DU9H<>I III# =&I.I6I<<:I7 F*F2F:FBFt0JFG 6gw,@A2@Y2H@2]=926>y2H`?.?<`?@&0ɿ@ܼ?`J?ɨ2@2;0y>B>IzWill construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}{Gz?rh|Zd;Oy}#>}}j}/A }@)} AI}Z@yy}AIIr4٢n= 6=9<&Q > G٣y= > Nusing accuracyPremultiplier from configH59֙?H5Yv igAc>o;~ÿ@`7EA;@;H5 ADNOT Ignoring new targets: 59.90 m. j j j j i h hhhBffrfbf[F)@]Ec>]Ec>]E@]EM0@U]= QUDIU9 Yɚ]ֵiYIYIetiaie\=)a)i IDE!9*F2F:FBF5JFGrA GqAG6a=BOB>Will construct direction to contact in vehicle frame from tetrahedron phase data.]mw, A2@Y2M@2k=926>y2H ?@,?@] `=?ɿ!ޕ?K?ɨ2@2';0y>BBIiF>IFt>ININ4٢Vx= V\=9VPQ V>XX ZG٣Xy^[.: ^> bNusing accuracyPremultiplier from config`fH59b֙?fH5Yb~x ibAdfiÿj@ba7Eb:b:b;H5l nJAp DNOT Ignoring new targets: 59.90 m. j j jjihhhhffrf!bf%d*@]A]A]A]Ed5@Uk= Y]I]<9 aɚe|ٵiaIaImtiiimA^=)i)iDE9EErAWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fa2Fa:FiBFmP0JFi IGnp_=BO>zK K 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J ':J J a% @a% @a% @a- @Ctw,PAV@YV @V=9V15>yVH๙?0?>W( ?@ȿq u?aM?ɨV@V@;VCyҁBIH;>I IrIIBI" =&I.I6I<:I F-Mb@Mb@Mb@))) )))Y-@5^I ?ˡEy-b>--什) -@)-3 AI))y-AImIm[4٢؟= /=96Q > G٣y > Nusing accuracyPremultiplier from configH59֙?H5Yz iAnR>;Ϳ@b7E3;<;QH5 ADNOT Ignoring new targets: 59.90 m. jjjji h h hhBffrfbf*@]=nR>]=nR>]=ڱ@]=@M= QUԣIU.9 QɚUFܵiQIQI]tiYi]Z=)Y)a2DmrA*DmrAD-09*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data. yIyG k.^=B O >mzw,+AB5@YB @BW=9B5>yBH+?@0? &q D?ȿ B<Qq?SN?ɨB5@Bb;BCyJBJIIRIRg4٢Z= Zn=9^$Q ^? G٣y  > Nusing accuracyPremultiplier from config H59 v֙?H5Y | i ?AͿ%@ c7E ;  ; _H5) -A)eDNOT Ignoring new targets: 59.90 m. jajajajaiahahihihififqrfqbfu D+@]]]]9@W= 隥81I9 ɚiIItiiZ=))}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:27:18.5686 TRx dataTimestamp_ set to:1736375239.765208DP9*Fm?2Fi:FiBFm_0JFi"Gu=Gu=G@Z=BO>% Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia AVw,A6O@Y6 @6=96}5>y6H@?G0?`` @T?ȿ@ n?@O?ɨ6O@6;6Cy>B>I)@ @IFIF4٢Nc#= RL=9RQ R>TT VG٣TyZ 8 Z> bNusing accuracyPremultiplier from config\bH59^C֙?fH5Y^} i^AdfͿf@^d7E^v:^3:^H5h nAlDNOT Ignoring new targets: 59.90 m. jjjji h h h h ffrfbf p,@]]]]@= @߼I9 ɚJiIItiiZ=))Db9zKBoHK9KKK*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.աե4=DAT read: Range 10 to 50 : 82.9 m (Round-trip 110.6 ms) speed 0.0 m/s JJJ0JJJ!:Jـ3Je,DAT read: user:2618> mBDAT read: Tx time:22:27:19.6539 m$Ping request sent.mI IIIBI! =&I.I6I<:Iz FGBO>w,?sA66@Y6@6=96<6>y6Hw?`V5? l?ȿлj?LN?ɨ66@6;6CybBbIrWill construct direction to contact in vehicle frame from tetrahedron phase data.vJDAT read: TxSync time:22:27:19.6531 eMb@Mb@Mb@aaa a)aYeS㥻?y&1 G٣yL > Nusing accuracyPremultiplier from configH59ՙ?H5Yn iA/>;ؿ@e7E;>;H5 mA I  addTargetRange:: Added new target pos. range: 82.900002 m, deltaT: 14.368856 s, deltaX: 1.300003 m, approachRate: 0.090474 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 59.90 m. j j j jihhhh Bf!f!rf%T@bf%1v?]/>]/>]X@]ߒ@= I9 ɚsi!I!I%ti)i-U=)))1D^9Will construct direction to contact in vehicle frame from tetrahedron phase data.*J"J*F) 2F) :F) BF- O0JF) GU `hZ=BY O} >ny6H?/9?TvT?ȿᎻ@F?.M?ɨ6@6H;6Cy^BbIInIn4٢r= vC=9vCQ v>xx zG٣xy~Q5 ~> Nusing accuracyPremultiplier from config|H59~ ՙ? H5Y~ i~.A  ؿ@~f7E~;~;~FH5 AEDNOT Ignoring new targets: 59.90 m. jAjAjAjIiIhIhIhQhQfYfYrfYbf]?]y]y]y]}|ߒ@= 隕tIu C Iu IIu BIu " =&Iq .Iu 5D6Iu <:Iu FBI5̟CJI5̟CRI1ZI5" =bI5" =jI5.5O >BHw,'VAB@YB~@BJu=9B.9>yBHK?@9?_㳿 ?ȿ`iA@?L?ɨB@B;BCyN"BN IiR%=IR%= V=V= @ @ @  @ II 4٢= ?=93Q > G٣yh > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configH59mԙ?H5Y iA+:z;ؿ@g7E;>bH5  :A UDNOT Ignoring new targets: 59.90 m. jQjQjYjYiYhYhhhffrfbf@֡?uJu= quX8=IM9 ɚ J2iIItii P=))D9Will construct direction to contact in vehicle frame from tetrahedron phase data. iIi*Fq2Fq:FqBFu0JFqGM JR=BY O} >"gw,oA:@Y:*@:#=9:s8>y:HS?9? 2?ȿ׺8?O?ɨ:@:;:CyB3BF% IININW4٢V]= VX=9VyQ V>XX ZG٣Xy^K ^> bbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`fH59bә?jH5Ybك ibAj :hjK;jؿj@bh7Eb?';bO?b|H5p v AtWill construct direction to contact in vehicle frame from tetrahedron phase data. B*** querying acoustic contact ***j j %DNOT Ignoring new targets: 59.90 m. j!j!j!j!i!h!h!h)h)f)f)rf1bf56?JJAA#= =I/9 ɚm2iII ti i O=) )D9*Fm?2Fi:FiBFm15JFiGEP=BWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.O> q Iq Ow,1A>@Y>b@>,a=9>B6>y>H? 9?v`-c?fȿE=?`Q?ɨ>@>;>Cyb=Bb2 IIzIz4٢ @= D=9:Q >!! -G٣)y5Uu: 5> UbBottom track data is 1.2 s old, using for 20.0 s. UNusing accuracyPremultiplier from configA]H59EOә?]H5YE^ etIiE.Ae9am$;mؿm@Ei7EE;E?EpH5 ] ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf ?zKK9KKK,a= =I9 ɚh3iIItiiQ=))Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989991JJJ0JJ:J:Jـ3JD5Þ9ZHRH@AH3>I IIIBI# =&I.I6Iv<:IZ F*F?2F:FBFP5JFG CXP=B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iչ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238820 Y IY w,nA6b@Y6@6=96<4>y6H`?5?+@ =?``ȿ`+]?S?ɨ6b@6q;4yZRBZK I)\ \ } } }} }}  } } }Mb@Mb@Mb@yyy y)yY})\(?㥛 V-y}Ga=}}m}vA }b@)}zAI}@yy}@IIs4٢e= @=9`:Q > G٣y3; > Nusing accuracyPremultiplier from configH59ҙ?H5Y4 iAT:=;鿑@M;; H5  A DNOT Ignoring new targets: 59.90 m. j j j jihhhh4Bff!rf!bf-`i@]E=]E=]E`u@]E@]= Y]u=I]9 Yɚ])3iYIaIetiiim U=)i)iD՞9EE Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490854*FE?2FA:FABFEA5JFAGm 0P=By O >qʮw,} A6@Y6`@66=96B3>y6H=?`6?ײ <V?Mȿ *>?`T?ɨ6@6;j;6Cy>^B>Y IIJIJ\4٢Ru= RX=9R@4Q V>TT VG٣XyZR* Z> bNusing accuracyPremultiplier from config`fH59bљ?fH5Yb ibAhj鿑j@bj7Eb;b[;bpH5l nZ AlDNOT Ignoring new targets: 59.90 m. jj j j i h hhhffrfbf`@]]]]֡@6= L=I9 ɚ3iIItiizT=))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742796 IDmҟ9*F?2F:FBF0JFzKK9KKKRK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998646JE3KE3 KE.KAKA"KAJu Ju Ju 1Jq Ju :Ju ":Ju 3Jq H 2>I  I . II ;BI $ =&I .I 6I G<:I 6 FG R`U=B1 OM >9w,BAJ@YJC@J:=9J.4>yJH {?'/?@?gȿ <3U_?@R?ɨJ@J;JCybjBfi IMb@Mb@Mb@ )YI +?V-Qy94=mu K@)AI@y @II4٢_= 8=95I9Q 5>19 =G٣9y=Q; => ENusing accuracyPremultiplier from configAMH59Erљ?UH5YE iEoAU5=U ջw,A6d@Y6@6=96V5>y6H ?`0.?@! `U?vtȿ+y?`Q?ɨ6d@6؇;6Cy>mB>l IiF)>IF<RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.498715IJIJ 4٢Z< Za=9^1Q 5>19 =G٣9yMV9 M> uNusing accuracyPremultiplier from configiH59mЙ?H5Ym5 im6A'近@ime;m;mH5  ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf @]A]A]A]E@= د=IW9 ɚ 4iIItiiY=))D%9*F2F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQeDAT read: Range 10 to 50 : 83.1 m (Round-trip 110.9 ms) speed 0.0 m/s m,DAT read: user:2619> uBDAT read: Tx time:22:27:23.2539 u$Ping request sent.u<¼w,1} A]@Y] @]0=9]6>y]H ֚?,?Nm?zȿ{#?P?ɨ]@]4;]CyuxBuy IzKK-9KKKBK:KrAIIʴ4٢,= )=9%Q %>19 =G٣9yU-9 ]> Nusing accuracyPremultiplier from configyH59}oЙ?H5Y} i}AWill construct direction to contact in vehicle frame from tetrahedron phase data.翑@}k7E}D<};D<}H5  AHM1>II IMZ IIM^BIM% =&II.II6IMe<:IMK Fu addTargetRange:: Added new target pos. range: 83.099998 m, deltaT: 3.775471 s, deltaX: 0.199997 m, approachRate: 0.052973 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 59.90 m. jqjyjyjyiyhyhhhffrf`fT@bfB?]]]]@50= 15p=I]9 Yɚ]R)4iYIYIetiaimWZZ=)i)iDU(9*F2F:FBF]0JF] Will construct direction to contact in vehicle frame from tetrahedron phase data. I G B O >ɼw,=&Ay {B } IMb@Mb@Mb@ )Y~jt?)\(p= ףy=Ga A 5@)AIyp@IIF4٢D< T=9Q >!! -G٣)y- 5> =Nusing accuracyPremultiplier from config9mH59=ϙ?uH5Y=j i=Au=uI9 ɚuH4iIItiig+Z=))D9UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG G"GGJJJJJ:J%:JJJt?ϼw,E?A:d@Y:@:=9:1>y:H ?;?ղ ?@ ǿV`?[?ɨ:d@:t;8yFBF I)H HLNAIRIR%x4٢Z= Ze=9ZQ Z>\\ bG٣`yb b> fNusing accuracyPremultiplier from configdnI59fϙ?nI5Yf if{Apr￑r@dfS;fS;f0I5t v; AxDNOT Ignoring new targets: 59.90 m. jjjjihh!h!h!f!f)rf)bf-?]I]I]I]MJ@e= ae >Ie9 iɚm?i4iiIiIutiqiu|O=)q)y ID=69EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF5JFBO>zKBoIK9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data.H />I  I y II xBI &I .I 6I '<:I  Fq(ּw,YA2 @Y2@2=92+3>y2H{? 9? "`?`ǿ :?X?ɨ2 @2%߈;2CyBzBB} IUMb@Mb@Mb@QQQ Q)QYUMb?Mb㥛 yU@=UUU3 A U@)U AIU@QyU=@IeIeF4٢u }>=9tQ > G٣yǹ > Nusing accuracyPremultiplier from configI59Ι?I5Y i.A=;$꿑@l7E;;I5 o A%DNOT Ignoring new targets: 59.90 m. j)j1j1j9i9hAhAhAhEBfIfIrfIbfM?]m=]m=]m@]m@}= 隅k>I9 ɚ4iIItii-c)P=)))1D E9 IUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF5JFBO=P>Qܼw,sA6ݤ@Y6@6s=965>y6H?.:?%@? ǿ4ùu?@V?ɨ6ݤ@6;6Cy>}B> IIJIJ\4RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢ZlK< ZX=9Z,Q Z>\\JbJbJb0J`Jbl:Jb :Jbـ3J`Jb <Jb <Jbw;Jbw; ^G٣lyr r> vNusing accuracyPremultiplier from configtzI59veΙ?zI5Yv1 ivAxz鿑~@tv:v ;vHI5 \ A5DNOT Ignoring new targets: 59.90 m. j1j1j1j1i9h9h9hAhAfAfArfIbfM?] ] ] ] Y@=s= Q]Vp>I]9 Yɚ]4iYIYIetiaieYN=)a)iD5A9*F2F:FBFP0JFBO"> IUWill construct direction to contact in vehicle frame from tetrahedron phase data.) E vAa Cw,A *Q&Y*vAy*O BN@YNk@NL=9N@c6>yNH-?a6?4`!? vǿѹ`?JU?ɨN@N;LyZBZ Ii^p>I^> b=b=IfIfs4٢n1< nF=9n :Q r>tt vG٣tyz: z> ~Nusing accuracyPremultiplier from config|I59~͙?I5Y~ً i~A 鿑 @~m7E~f9;~9;~ I5 . AEDNOT Ignoring new targets: 59.90 m. jAjAjAjAiAhIhIhIhIfQfQrfQbfU`@]]]]M@L= 隵{>I9 ɚ4iIItiaieSOQ=)a)izKK#9KKKDw9Will construct direction to contact in vehicle frame from tetrahedron phase data.H.>IC I IIBI&I.I6I˰<:I FBIEĞCJIEĞCRIAZIE% =bIE$ =jIE=m5*Fi2Fi:FqBFqJFqG B O > q Iq M Will construct direction to contact in vehicle frame from tetrahedron phase data.dw, cA6Ѥ@Y6@6T=96E5>y6H`}?@@?@9I-`S?ǿ@Sm?W?ɨ6Ѥ@6;6CyvBv IMb@Mb@Mb@ )YZd;? rh+yy=C @)I@yG@IIЬ4٢ h  9=9Q > G٣y꡻ > -Nusing accuracyPremultiplier from config!5I59%v͙?=I5Y% i%LA==E;EڿE@!%Ր;%F;%I5 G ADNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf}@]==]==]=1@]=R@mT= q}>I}9 yɚ}4iyIyItiiH=))2D*DWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J$:JJJM<JM<J~;J~;D t9*F ?2F :F BF 4JF G rA G rA y Iy uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:22:27:25.7692 }TRx dataTimestamp_ set to:1736375247.089742GrQ=BO>w,tAn㦤@Ynb@n=9nrd2>ynH`f]?Y?: PH`?Gǿ `{? N]?ɨn㦤@nE;nCy5|B5~ II]I]s4٢mgw u0=9uQ u>yy }G٣yy}5 > Nusing accuracyPremultiplier from configI59 ͙?I5Y iAۿ@n7E););I5 d ADNOT Ignoring new targets: 59.90 m. jjjjihh)h)h1f1f1rf1bf=@]q]q]q]u&@= 隭>I]9 ɚ 5iIItii)6=))zKBHK-9KKKD9eWill construct direction to contact in vehicle frame from tetrahedron phase data.H1I1 I5 II5BI5& =&I1.I16I5<:I5g F*F?2F:FBFP0JFG H=B O >w,#A2`@Y2ߞ@2=92p2>y2HiK?@(f? ZPWS?!ǿຸ@?;^?ɨ2`@2bA;2Cy>zB>| I)@ @FAFA hIl5PExceeded connect timeout, disconnecting.}Mb@Mb@Mb@yyy y)yY}bX9ȶ? ףp= y}E=}̽}Q} A }@)}~AI}x@yy}@IIP4٢w <=9;>Q > G٣y%ػ > Nusing accuracyPremultiplier from configI59\̙?I5Y iA.%>;ݿ@;;I5 q AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 83.4 m (Round-trip 111.2 ms) speed 0.2 m/s  ,DAT read: user:2620>  BDAT read: Tx time:22:27:26.8539 $Ping request sent.] .%>] @] @m= im>Iu[9 qɚu$5iqIItii-.=))D9*Fm?2Fi:FiBFmO0JFiGE9=BIOm> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J  JDAT read: TxSync time:22:27:26.8531 J J J J J J (:J J J J J ;J ;6w,,A6i@Y6Dy@6""=96T3>y6H@}.?y?> oS?ƿ:3?{^?ɨ6i@6;4yBxBBz IIJIJ@4٢f2 fZ=9fQ f>hh jG٣hynH n> vNusing accuracyPremultiplier from configpvI59r˙?vI5Yr ir5Axz<޿z@ro7ErH:rH:rI5 B  A 1EDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf?] ] ] ] Ā@""= !%G>I%n9 !ɚ%75i!I!I-ti)i-=)1)1D59 I*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G‹9=BO>w,}AzKK6Will construct direction to contact in vehicle frame from tetrahedron phase data.K9KKK)|]0[@U-bC/! H+>I III$ =&I.I6I[<:I? FqA@YP@b=9*>yH?•?Aܳ/{? ƿԷ@o?*l?ɨqA@ݢ;騝CyyB{ IMb@Mb@Mb@ )YB`"۹?PnMby= A @)hAIb@y@II4٢: "=9ELQ > G٣ye > Nusing accuracyPremultiplier from configI59Aʙ?I5Yؑ iAkA>;B鿑@p7E;5;8I5  AEDNOT Ignoring new targets: 59.90 m. jAjAjAjIiIhIhIhQhUBfYfYrfYbfe `?]}kA>]}kA>]}x @]}:@b= 隕q>IA9 ɚQ5iIItiiXE=)) $?I 5nManaging dock network, ignoring radio surface power offWill construct direction to contact in vehicle frame from tetrahedron phase data.iD9E*F ?2F :F BF P0JF G%=B1OM?9 w,5A6:1@Y6@@6=96y.>y6H??-%j?~0ƿ@V ?@g?:Will construct direction to contact in vehicle frame from tetrahedron phase data.ɨ6:1@6[;6CyBBF IiF4=IFa= N=Na=IRIR4٢^W= ^L=9^᝻Q ^>`` bG٣`yf f> 5Nusing accuracyPremultiplier from config)=I59-ə?=I5Y-Z i-NAAE鿑E@-q7E-2*;-;-"I5i u) AqDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfD?]Q]Q]Q]UɎ@e= ae=>I9 ɚl5iIItii=)) IDƧ9-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F= ?2F9 :FA BFA JFA G N=B O- >Iw,75QAB;@YB$@Be=9BO1>yBHR? ?iR?@.ƿ ?e?ɨB;@By;BCyJBN IIVIV4٢^ b==9brQ b>dd fG٣dyf_ j> nNusing accuracyPremultiplier from configlrI59nǙ?rI5Yn inApr>鿑r@nr7En:n:n&I5x z9 AxDNOT Ignoring new targets: 59.90 m. jjj!j!i!h!h!h)h)f)f)rf1bf5`7s?]Y]Y]Y]];@me= im=>Im9 qɚu5iqIqI}tiyi}<)y)zKuMKu9KqDը9Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ,:J!:JJa @a@a@a@HE(>IA IAIAIE& =&IA.IE4D6IEȰ<:IE FKuKuRK?JK?*F2F:FBF0JF IG= k =BI Ou >] Will construct direction to contact in vehicle frame from tetrahedron phase data.]@w,ajA:z@Y:@: =9:2>y:H#?@ǭ?æ%@eF?`ƿ䋶 "?@Ad?ɨ:z@:W;:CyFBF IUMb@Mb@Mb@QQQ Q)QYUrh|?l¿+ηyU=UUvUzA U@)U@IQQyU@ImIm4٢}p< }?=9}gQ }> G٣yY > Nusing accuracyPremultiplier from configI59fƙ?I5YĖ itAZ>x;忑@s7E`;;:*I5  ADNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf-$@] Z>] Z>] I@] @ = !%H>I%9 !ɚ%"5i!I!I5ti1i5<)9)9DEEqA*F!2F!:F!BF%05JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.GE <<BY Oq I h+!w,AZ@YZ@Z6Ұ=9Z73>yZH?@߾?6``,?ſ?4?@d?ɨZ@Z4.;ZCynBn I)p pItIt٢= R=9 *Q  >Will construct direction to contact in vehicle frame from tetrahedron phase data.i  %G٣!y%h* %> -Nusing accuracyPremultiplier from config)5I59- ř?5I5Y-~ i-A9=濑=@-t7E- ;- ;--I5A E AA-DNOT Ignoring new targets: 59.90 m. j)j)j1j1i1h1h1h9h9f9f9rf9bfEv@]y]y]y]}׏@6Ұ= 隵>I9 ɚ5iIItii.<))D9*F2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKBoHKKKKHM '>IM C IM IIM BII &II .II 6IM <:IM z FJ J J 1J J ;:J q:J 3J J S'w,AFWɣ@YFت@F 9=9F4>yFH=?[?@ݷ?ſhf?{c?ɨFWɣ@F?;FCyRBR ImMb@Mb@Mb@iii i)iYmPn?MbX9ĿKym>m!m^mA mx@)m`@Im-@iym@II4٢8.= A=9DQ > G٣y > Nusing accuracyPremultiplier from configI59Ù?I5Yw iAd>m;翑@v7E;;V1I5 ; A=DNOT Ignoring new targets: 59.90 m. j9j9j9j9i9hAhAhAhEBfIfI QIYrfIbf] *@]}d>]}d>]}鴬@]}@ 9= ?I9 ɚ5iII%ti!i%<)!))D5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:27:29.3693 =TRx dataTimestamp_ set to:1736375250.618410*F2F:FBF 4JFG 9f<B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.{-w,獸A6@Y6@6=966>y6H`?q?}@ ?@ſcYຐ?@b?ɨ6@6 R;6Cy>BB IIJIJy4٢R0= R\=9R!Q R>TT VG٣TyVC Z> ^Nusing accuracyPremultiplier from configXbI59Z4™?bI5YZ4 iZ>A`f-近f@Zw7EZ!I;ZI;Z4I5l n AlDNOT Ignoring new targets: 59.90 m. jjjji h h h hffrfbf z @]1]1]1]5v@M= QU?IU9 QɚU5iYIYI]tiaieF<)a)aDu(9*F?2F:FBFP0JFGN<BO)> III=Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: Range 10 to 50 : 83.4 m (Round-trip 111.2 ms) speed 0.0 m/s M,DAT read: user:2621> UBDAT read: Tx time:22:27:30.4539 U$Ping request sent.Uy:H@G|?1?+"?ſ@?@b?ɨ:.@:;:Cy^Bb Iif>If=IjIj4٢r,]= rF=9rmQ r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|I59~?I5Y~" i~A近 @~x7E~:~:~-8I5  AM addTargetRange:: Added new target pos. range: 83.400002 m, deltaT: 3.527936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 59.90 m. jQjQjQjQiQhQhYhYhYfYfarfabfe;?]]]][@= 隝 ?I9 ɚ5iIItii<))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:27:30.4531 H&>I I IIBI( =&I.I6I<:Iu FBICJICRIZI& =bI& =jI5JuJuJu0JqJu|:Juh:Juـ3JqJu<Ju<JuMi;JuNi;zKBoIK-9KKKD*Fm?2Fi:FiBFiJFi AIAG <B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.ٌ:w,-@AyÂB IMb@Mb@Mb@ )Yrh|?+ÿ/$y=IA 5@)3@I@y@II%x4٢= <=9Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9EI59=侙?EI5Y=( i=eAE\>Mv;M뿑M@=y7E= ;=; ;=]\>]h)@]vH@ \?I 9 ɚ5iIItii<))D-69*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JaJeBAG}喇<BOb> ! I! uAw,A~Will construct direction to contact in vehicle frame from tetrahedron phase data.y߂B IIIq4٢%^> -V=9)Q ->11 5G٣1y1 => ENusing accuracyPremultiplier from config9EI59=j?MI5Y=ڡ i= AIIM@=z7E=P:=:=Q?I5Q ]NAYDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf s?]]]] ]?I9 ɚiIItii))D 9*FI2FI:FIBFM0JFIG-p<B9OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.յ>յM?H$>I I IIBI&I.I6I<:Ih FJ J J 1J J ̶:J K:J 3J J ;J ;J c;J c;zK K k9K K K PGw,fA2"@Y2@2n=92x6>y2H?n3? Ly?Ŀ`i?@zf?ɨ2"@2M;2CyRBR!I)T TZAXMb@Mb@Mb@ )Yi|?5?Onÿ{Gzy=ףA )@I@y@II{4٢O= B=9JmQ > I G٣ya > Nusing accuracyPremultiplier from configI59?I5Y iA*S>;쿑@|7Eq ; ;CI5 ADNOT Ignoring new targets: 59.90 m. jjjj!i!h!h)h1h5Bf9fArfAbfMSC?]*S>]*S>]:@]@Mn= QU)?IU9 QɚU~&4iQIQIetiaiei!:)a)i Will construct direction to contact in vehicle frame from tetrahedron phase data.DV9*Fi 2Fi :Fi BFm \0JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data.*Jq "Ju =GU oT<Ba O} >\Nw,->yBH?B?@ ^`b?UĿ?f?ɨB@B;BCyN BN0!IIZIZפ4٢b= bG=9b!IQ f>dd fG٣hyj j> nNusing accuracyPremultiplier from configlrI59n?rI5Yn{ inGAxz쿑~@n}7EnG;nԷ;nFI5 AEDNOT Ignoring new targets: 59.90 m. jIjIjIjIiIhIhQhQhQfQfYrfYbf]@?]y]y]y]}SՍ@ؘ= 隝))?I9 ɚiIItiig9)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.DMw9*F2F:FBFo0JFG !<B O% >=Uw,PUA6آ@Y6j@6 =967>y6H?rF?@;`clZ?`Ŀ@`?e?ɨ6آ@6B;6CyBBBF!IIHIH٢%=  G=9 U}9Q  > G٣y > %Nusing accuracyPremultiplier from config!-I59%q?-I5Y%E i%A)--@%~7E%:%:%/JI5QeWill construct direction to contact in vehicle frame from tetrahedron phase data.Hu#>Iq Iu!IIuBIq&Iq.Iq6Iua<:Iu< F UTADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfI@zKu&~JKu9KqKuKuRK?JK?]]]]ύ@M = IM)2?IU9 Yɚ]E4iYIYImtiiiu D)q)qDa I*F?2F:FBF~1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ;B O >g[w,oAJ믢@YJj@J)=9J8>yJH@~?[?V`z@9?@MsĿ вY?Ff?ɨJ믢@J ;JCyV8BVf!IiZ,>IZ4 G٣yB > Nusing accuracyPremultiplier from configI59?I5Y iA9->; @7E%;;MI5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhh Bf f rf bf`t@]-9->]-9->]-@]-L@E)= AE?IE9 AɚEiAIIIMtiQiU㿘)Q)QD9}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F!2F!:F!BF%4JF)J5J5J1J1J5 :J5B:J1J1a=@a=@a=@a=@GA GAG%9BAOeU> q Iu h Will construct direction to contact in vehicle frame from tetrahedron phase data.Obw,AZ@YZ @Z=9Z~7>yZH?\i?˻%?5MĿ`>??g?ɨZ@Zy;ZCyjEBjv!IIrIr4٢z΅= zV=9zQ ~> G٣y x  > Nusing accuracyPremultiplier from configI59?%I5Y  iKA!%l%@7E4;5;9QI5) 5A1mDNOT Ignoring new targets: 59.90 m. jijijijiiqhqhqhqhqfyfyrfybf@]]]]4@= 隵%?I9 ɚ0#4iII=ti9i=Q)9)ADe9HaIa IeA!IIeBIe) =&Ia.Ie3D6Ie<:IeZ FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF:5JFzK>KKk9KKKBK :K Y Ia G !B O >Ohw,AfЂ@YfO@f_ݓ=9fM8>yfH`?Wr?3?@<@Ŀw?f?ɨfЂ@fX;fCy`B!IMb@Mb@Mb@ )YL7A`?EԸV-y+=ƽmA @)@I@yz@II4٢ l= 0=Will construct direction to contact in vehicle frame from tetrahedron phase data.9%;Q ->)1 5G٣1y=| => MNusing accuracyPremultiplier from configAUI59E?]I5YE@ iEA]>];]e@AE^;EY[;EOUI5i uBAyDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbfl @]>]>]E@]@_ݓ= (?I9 ɚiII5ti1i5A)1)1Dʰ9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*FA 2FA :FI BFM _5JFI "GU =GU =J ـ3K (3 K (.KK"KJ J J 0J J J &:J ـ3J GM UBY O} >ow,A:l@Y:;|@:=9:#7>y:H@`?@>~?@=' D?@(ĿR?g?ɨ:l@:!q;8y^wBb!IIjIj.4٢r= v_=9vɺQ v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config| I59~x? I5Y~. i~A  @ @~7E~:~v:~zXI5 A!MDNOT Ignoring new targets: 59.90 m. jIjIjIjIiQhQhQhYhYfYfarfabfeD@]]]]@= 隝C4?I: ɚiIItii&h4)) AIAD*F-?2F):F)BF-^0JF)%Will construct direction to contact in vehicle frame from tetrahedron phase data.GB!Om>]uw,AH&">I$ I&!II&RBI$&I$.I$6I&k<:I&A FBWill construct direction to contact in vehicle frame from tetrahedron phase data.ByH>??0?ÿ &@Q? wi?ɨV@\; CyEBE!IIUIUK4٢%= %8=zK=KK=-9K9K=K=QqH- 95ȺQ }> G٣y> > Nusing accuracyPremultiplier from configI59?I5Y] izA@7E;<\I5! -A1DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@]A]A]A]E@}PS= 隅@?I9 ɚiIItiiV)) )I)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm Ʊ9*F 2F! :F! BF% 1JF! GEF5BQOu?}w,6A2G@Y2W@2<=6Will construct direction to contact in vehicle frame from tetrahedron phase data.92'5>y2Hz??`lj? ÿ? k?ɨ2G@2"|;2CyBBB!IJ-J-J)J)J-:J-U:J)J)Mb@Mb@Mb@ )Yl? rhy=CLA @)@I@y=@IIW4٢u= %=9Q > G٣y{ > Nusing accuracyPremultiplier from configI59?I5Y iw,A>i1@Y>@@>ُ=9>f4>y>H`Vh???@Jÿrp?`l?ɨ>i1@>k.;>CyJBN!IIVIV4٢^;x= ^L=9^ݶQ ^>`` bG٣`yfݻ f> jNusing accuracyPremultiplier from confighnI59j?nI5Yj ijAlnor@j7EjU:jv:j.dI5t vAtDNOT Ignoring new targets: 59.90 m. jjjjih!h!h!h!f)f)rf)bf- @]Q]Q]Q]U(X@eُ= aeA?Ie1: iɚm4iiIiI}tiyi})y)jH-<bH)H=!>I9 I=!II=BI9&I9.I96I=<:I=v FBICJICRIZI) =bI( =jI4Dm9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFzKM$MKIKIKMKM  IGrBO->= Will construct direction to contact in vehicle frame from tetrahedron phase data.0)w,.A6#@Y6?3@6o=96L4>y6H\??`\%J`?xÿ!걿n?l?ɨ6#@6S;6Cy>B> "I=Mb@Mb@Mb@999 9)9Y=~jt?MbMby=D<=@=@= A =@)=@I=@9y=@IIII٢eE= eA=9mQ m>ii mG٣qyuˀ u> Nusing accuracyPremultiplier from configyI59}?I5Y}  i}AS=D<@y};};}gI5 XADNOT Ignoring new targets: 59.90 m. jjjjihhhh=Bffrfbf@ٯ@]S=]S=]˞@]e{@o= @?Ie: ɚ5iIIti!i%(a)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.D=9*JeR="Jea=JuJuJqJqJu\:Ju:JqJq*F?2F:FBF[0JF I G 'B O >w,aHA68 @Y6@6"1=96I4>y6HqI?ັ?_R?``ÿ|±`s?l?ɨ68 @6,;6Cy>˃B>"IIJIJh4٢Rϓ= RX=9RѺQ R>TT VG٣TyVs Z> ^Nusing accuracyPremultiplier from configXbI59Zڬ?fI5YZP iZAdff@XZ:;Z:;Z2kI5h jAlWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf[F@]]]]WD{@"1= G?I: ɚE5iII ti i >) )D] 9*F2F:FBF_0JFH9I=C I="II=BI9&I=HD.I96I=C<:I=" FWill construct direction to contact in vehicle frame from tetrahedron phase data.zK >BKK 89K K K G D&B O- >C;w,bA DIDV@YV@V? =9V:5>yVH`@?@o?``2?#ÿ@ ?k?ɨV@Vg;TyjʃBj"I)l leMb@Mb@Mb@aaa a)aYe~jth?Mb ףp= yeD;eeQ8e@ e@)ep@Ie@aye @IIݜ4٢h 5=9+Q %>!! %G٣!y-\; -> 5Nusing accuracyPremultiplier from config1=I595?=I5Y5v i5A=b=EoB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.fw,Nd|AJd@YJ@J=9Jnt6>yJH/??輿`52? ÿ󛱿 ?5k?ɨJd@J;JCyVփBZ("IIvIvt4٢ ~=  ]=9Q >)) -G٣)y5.ٻ 5> MNusing accuracyPremultiplier from configAUI59Et?]I5YE iEXAae%e@AE|;E|;EkrI5q }AyDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf\@]]]]Ow,[DA2Y@Y2@2=9216>y2H$?o? `NH?@{ÿ ?k?ɨ2Y@2);0y>ۃB>/"IIFIFQ4٢Nj< RQ=9RQ R>TT VG٣TyV V>  Nusing accuracyPremultiplier from configXI59Zͪ?I5YZ iZ1A%@Z7EZ/[- Will construct direction to contact in vehicle frame from tetrahedron phase data.0ww,Ayn݃Br1"Iiv G٣y > Nusing accuracyPremultiplier from configI59ީ?I5Y̯ iA}=V<5@;;yI5 ZADNOT Ignoring new targets: 59.90 m. jjjjih!h!h!h%4Bf)f)rf)bf-7@]U}=]U}=]Un@]Ut\@a ae{T?Im: iɚm5iiIiIutiqiuǼ)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.D}99*F2F:FBF4JF q Iq G5 QļBI Oe >gw,A6@Y6̨@6=965>y6H`_?`?| y?Eÿ 7[{?l?ɨ6@6 ;4yJփBJ("IIRIR4٢Zp  ^[=9^}Q ^>`` bG٣`yb= b>jWill construct direction to contact in vehicle frame from tetrahedron phase data. nNusing accuracyPremultiplier from configlrI59n?rI5Yn inAxz5z@lnW;nW;n|I5| ~A5DNOT Ignoring new targets: 59.90 m. j9j9j9j9i9h9h9hAhAfAfIrfIbfM( @]]]]R\@= .Q?I: ɚ5iII%ti)i-K))))D$9H >I IN"IIBI&I.I6Iİ<:I F*FY2FY:FYBF]O0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.JE JE JA JA JE ̶:JE :JA JA JE ;JE ;JE J;JE J;zK LK 9K K K RK- >JK- ? Y IY G S&żB O >w,A F@YF@F=9FWf4>yFH?`c?F j?ÿ&.b?@o?ɨF@FO݇;FCyNЃBR!"IMb@Mb@Mb@ )YktZd;y 0yQA @)$@Ib@y@II4٢@м 1=9úQ > G٣y3 > Nusing accuracyPremultiplier from configI59񧙜?I5Y iAؘ=1<U.@^;W;I5B A 6E]DNOT Ignoring new targets: 59.90 m. jYjYjajaiahahahihm Bfqfqrfqbf}~!@%Will construct direction to contact in vehicle frame from tetrahedron phase data.]ؘ=]ؘ=]˖@]lc@= c?I\: ɚ6iIItiibP))DZ9*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. = =G B O >Ñw,^cA>a@Y>੨@>P=9>64>y>Hd??@5`_?`ÿ`g? o?ɨ>a@>Ç;>CyJʃBJ"I)L LLNAIRIR4 \I\٢bI bB=9fMQ f>hh jG٣hynn n> rNusing accuracyPremultiplier from configlrI59n覙?vI5Yn, inZAtz].z@ln;n4;nI5| ~A|%DNOT Ignoring new targets: 59.90 m. j!j!j!j!i)h1h9hQhYfYfYrfYbfe!@]y]y]y]}c@P= 隕q`?I1: ɚ6iIItii¸))Will construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F?2F:FBFP0JFH I  I T"II BI &I .I 6I e<:I 9 FG nB O >ݳƽw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.:1@Y:@:s^=9:C5>y:H5?`?x`(U?V¿ 谿}?`n?ɨ:1@:;:CyFBF "IJrJrJr1JpJrL:JrK:Jr3JpJr@ <JrA <Jrc;Jrc;I=I=4٢@ ==9Q > G٣ya > Nusing accuracyPremultiplier from configI59إ?I5YR iAi.@7E;;_I5 LAzKjIKu9KKKBK:KDNOT Ignoring new targets: 59.90 m. j j j1j1i9h9hAhqhyff $?Irfbf`"@]]]] c@-s^= 15=[?I5: 1ɚ="6i9I9IMtiIiUO)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F= ?2FA :FA BFE O0JFA GerBqWill construct direction to contact in vehicle frame from tetrahedron phase data.O?~νw,y:H`??{@M- 7?@¿.|? j?ɨ:m@:A*;:CyFBF!IiJ=IJp=Mb@Mb@Mb@ )YMb?x&V-y=7h3@ j@)@Iy@II4٢ > =9IQ > G٣Qye޻ e> mNusing accuracyPremultiplier from configiuI59mF?uI5Ym imA}e=}<}}@im #;mj!;mI5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhǁBffrfbf@#@]e=]e=]@] @= u?I: ɚ36iII ti i 0) )Will construct direction to contact in vehicle frame from tetrahedron phase data.) 5~GIa ,YyADi *F ?2F :F BF 5JF He>Ia IeG"IIeBIe* =&Ia.Ia6Ie4<:Ie FBI5ΛCJI5ΛCRI1ZI1bI5) =jI5Μ4UWill construct direction to contact in vehicle frame from tetrahedron phase data.J%J%J%0J!J%<:J% :J%ـ3J!J%5;J%6;J%cW;J%dW;GmMByO ?׽w, _Af!T@Yfc@f=9fP8>yfH??@:@#?`¿3? k?ɨf!T@f;fCyzB~!II=I=y4٢uF }!=9Q >zKk3IKKKK 7@FUk|RK>JK? G٣y׻ > QIQ Nusing accuracyPremultiplier from configI59?I5Yı idA@7Eru<r<ӑI5! %A!mDNOT Ignoring new targets: 59.90 m. jijijijiiihqhqhhffrfbf/$@]Q]Q]Q]U@e= aeuo?Im: iɚm>E6iiIiItiiݑ))mWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fi 2Fi :Fi BFm O5JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received %*response not received%,DAT read: user:2622> -%޽w,~AyeBe!ImMb@Mb@Mb@iii i)iYmx&?RQ{Gzym7=m½mףmI@ m/@)iIm@iymG@II4٢] = I9Q > G٣y > Nusing accuracyPremultiplier from configI59?I5Y iA>;@;;I5 jA DNOT Ignoring new targets: 59.90 m. jjjjihhhhBf!f!rf!bf%@%@]E>]E>]Es@]E}@Q Y]G?I]: Yɚ]V6iaIaImtiiim^")q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:22:27:41.4040 $Ping request sent.w, 5ANWill construct direction to contact in vehicle frame from tetrahedron phase data.R-@YR@Ru=9R7>yRH v?`(?\y_x??¿ N?m?ɨR-@RH;RCyEBM!I)q qII4٢_~ ?=9Q > G٣y螼 > Nusing accuracyPremultiplier from configI591?I5Y iA@7Ez;:;I5  AJ-J-J)J)J-:J-&:J)J)J-<J-<J-\;J-\;DNOT Ignoring new targets: 59.90 m. jjjji h h h h ffrfbf&@]Q]Q]Q]UR@zKMK9KK IK}|wng`ZTTTIBB><74/'! -u= 15{?I=: aɚmg6iiIiItiiXg;))MWill construct direction to contact in vehicle frame from tetrahedron phase data.De 9Eq *F ?2F :F BF P5JF G  G GB)OE>Zw,4A>@Y>U@>n=9>&IJ>y>H'\?`#?`Ap d?I&ÿح 0?`S?ɨ>@>;>CyFBF!I^Will construct direction to contact in vehicle frame from tetrahedron phase data.=Mb@Mb@Mb@999 9)9Y=1Zd? ףp= y="===Q=@ =@)=@I=@9y=@IUIUƕ4٢e M e&=9m cQ m>*Ju4="JuR=qy }G٣yy} > Nusing accuracyPremultiplier from configI59?I5YԵ i1A @>;뿑@7ER;Q;&I5 <AUDNOT Ignoring new targets: 59.90 m. jQjQjQjQiQhQhYhYh]bBfYfarfabfe@ '@] @>] @>]s@]:$@n= ?I: ɚ Qz6i I I tii܊E)) ID9mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F= ?2FA :FA BFA JFA G %:B) OM > =w,A6ߠ@Y6@61h=96H>y6H4M?h,?xy@Sk?¿b@K?@U?ɨ6ߠ@6uǏ;6Cy>|B>!IIJIJy4٢jcм jU=9j@|Q n>lp rG٣pyr> r> zNusing accuracyPremultiplier from configtzI59vU?zI5Yv> ivA|~뿑@v7EvpN;vO;v~I5  dA=DNOT Ignoring new targets: 59.90 m. j9j9j9jAiAhAhAhAhIfIfIrfIbfM@(@]i]i]i]m/@1h= 隍n?IU : ɚ'6iIItii="L))HI I "IIBI&I.I6Ia<:I6 FDWill construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F):F)BF-Y0JF1 IzKMPNKM-9KIKMKMRK>JK?G5f:BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.gw,^Ay=wB=!IMb@Mb@Mb@ )Y/$?~jtÿZd;Oy1>j@ @)x@I@yp@IIb4٢ q  8=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-I59%?-I5Y%J i%aA-Dc>-o;-뿑5@%7E%/;% ;%_I59 =A9eDNOT Ignoring new targets: 59.90 m. jijijijiiihqhqhyh}4Bfyfyrfybf@j)@]Dc>]Dc>]̭@]'@ 隵?I> : ɚ6iIItiiyK))D*F2F:FBF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ<:JK:JJa@a@a@a@GIBO >  I NPw,N A:z@Y:@:_=9:y:H?"N?YU@q`q!?@¿nw ?`a?ɨ:z@:o;:CyBvBB!IIJIJЬ4٢RU Vd=9VƻQ V>XX ZG٣XyZ ^> fNusing accuracyPremultiplier from config`fI59b?jI5Yb ibAhj쿑j@b7EbL:b*:bI5p rAp DNOT Ignoring new targets: 59.90 m. j jjjihhh!h!f!f!rf)bf-@#*@]Q]Q]Q]U@e_= im}?Im: iɚma6iiIiIutiyi}#e)y)=Will construct direction to contact in vehicle frame from tetrahedron phase data.DUۺ9*F2F:FBF0JFGB1O]>jHbH<H >I I!IIBI, =&I.I6Id<:I9 F Will construct direction to contact in vehicle frame from tetrahedron phase data.yw,#AJۂ@YJZ@J\Z=9JR=>yJH??c?@ թ?@DH@7u? ki?ɨJۂ@ TITJG;JCy^uB^!IInIn4٢u D=9-TQ 5>IQ UG٣Yym' u>zK}BHK}u9KyK}K}BKqA:K Nusing accuracyPremultiplier from configI59?I5Y iA x@7E <<UI5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfH!+@]1]1]1]5±@m\Z= imJ?Ime : qɚu6iqIqI}tiyi}:3r)y)MWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F ?2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J :J J GdeBO>w,6ZBAV[@YVj@VM1S=9Vu9>yVH?y?3@K`?  +ci?6o?ɨV[@V;VCyb|Bb!I)d d 9I9eMb@Mb@Mb@aaa a)aYeCl?{GzĿMbyed;>e#ee@ e@)eb@Ie@aye@I}I}4٢< $=9gQ > G٣y # > Nusing accuracyPremultiplier from configI59?I5Yǿ iAp>K;ܿ@7EBM;lK;I5 bAUDNOT Ignoring new targets: 59.90 m. jQjQjQjQiQhYhYhYh]Bfafarfabfee+@]p>]p>]^@]@M1S= R?I: ɚ6iII ti i s))Will construct direction to contact in vehicle frame from tetrahedron phase data.iABDAT read: Rx Time:22:27:43.9195 TRx dataTimestamp_ set to:1736375265.232887DU9*F2F:FBF]0JFH5 $>I5 C I5 !II5 BI5 + =&I1 .I5 4D6I5 ް<:I5 FG qB1 OM >!6w,:?^A.Will construct direction to contact in vehicle frame from tetrahedron phase data.Va<@YVK@V:M=9V8>yVH`o???@` ?q?ɨVa<@VI;VCybBb!IInIns4٢r= vE=9v\fQ v>tx zG٣xy~ ~> Nusing accuracyPremultiplier from config|I59~? I5Y~7 i~A  ݿ @~7E~:~H:~I5! %A!DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf,@]]]]bˑ@:M= +?I: ɚiII%tiIiM)I)Q AIID]9zKKk9KKKRK ?JK?*FE?2FI:FIBFU0JFQG5g<~BQOZ> Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 83.4 m (Round-trip 111.3 ms) speed -0.1 m/s ,DAT read: user:2623> %BDAT read: Tx time:22:27:45.0041 %$Ping request sent.-949@ )@I@y@II4٢E= ;=9Q > G٣y > Nusing accuracyPremultiplier from config I59瓙?I5Y i3A3>?;߿@7E?F;C;I5 PA!] addTargetRange:: Added new target pos. range: 83.400002 m, deltaT: 14.616013 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 59.90 m. jYjYjYjYiahahahahm3Bffrfbf"6?]-3>]-3>]-ᥱ@]-%@9 9E?IEy : AɚE4iIIImWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:22:27:45.0033 I}tiyi}}$)y)2D*DJKm3 KS}-KK"KJ1J5J1J1J1J5&:J1J1 9I9Dm.9*F2F:FBFl0JF"GG> |uA A Y |uAy ^B Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >$w,>ʓAyB!Ii=Ia= a=a=I%I%{4٢5= 5G=91Q 5>99 =G٣9yA E> MNusing accuracyPremultiplier from configAUI59Ei?UI5YE iEȽAQQU@E7EEh;E2;EI5a eAaDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf?]]]] ?I^: ɚb!5iIItii))H&>I I!IIBI&I.I6I<:IV FBIJIRIZI+ =bI+ =jI5Will construct direction to contact in vehicle frame from tetrahedron phase data.D III*FM?2FQ:FQBFU0JFQzK BHK -9K K K BK- rA:K- qAGM e|Bi O >5*w, A2@Y2 @2;=92x<>y2H(? ? %^?ac``p?`l?ɨ2@2(;2Cy:ЃB:!"IbWill construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}K?K7A`ſ㥛 y}^:>}+}y }@)}@I}@yy}@I}I]4٢ > >=9(Q > G٣y¼ > Nusing accuracyPremultiplier from configI59?I5Y5 igA>N;⿑@7E#;^;DI5 AUDNOT Ignoring new targets: 59.90 m. jQjQjQjQiQhYhYhYh]PBfafarfabfej?]>]>]M@]f@;= IU?IU : QɚUiQIQI]tiYi]_)Y)aDO9}Will construct direction to contact in vehicle frame from tetrahedron phase data.*FI 2FI :FI BFM 1JFI J J J J J ̶:J h:J J  I Gu B O >2w,AZ@YZ+@Z.=9Z"8>yZH?p? =  ?N٥L?t?ɨZ@Z@;ZCybBbH"IInsInK4٢v> vC=9zQ z>|| ~G٣|y~a >  Nusing accuracyPremultiplier from configI59 ?I5Y i A㿑@7E ;. ;I5B %}@%9EMDNOT Ignoring new targets: 59.90 m. jQjQjQjQiQhQhQhahafafarfabfm֘?]]]]$@.= 隝 ?I: ɚiIItii &))BDD?:DK?Will construct direction to contact in vehicle frame from tetrahedron phase data.DIEE*F)2F):F)BF-_5JF)G1 G5pAH%>I I"IĨBI' =&IGD.I6IR<:I1 FGДB O- >= Will construct direction to contact in vehicle frame from tetrahedron phase data.8w,PA 8I:hN@YN@N.=9N6>yNH`"n?`?~nKR?`@ ҥL?v?ɨN@N!;NCy^Bbt"I)h hI~I~4٢ O1>  I=9 RQ  > G٣y > %Nusing accuracyPremultiplier from config!-I59%a?-I5Y%( i%A)-㿑-@%7E%:%:%uI59 ==@9DNOT Ignoring new targets: 59.90 m. jjjjihhhh ff!rf!bf-o?zKBoHK9KKK]]]]]@.=  ?I{: ɚiIItiiަ))DWill construct direction to contact in vehicle frame from tetrahedron phase data.*FY2FY:FYBF]P0JFaGe {FBq O >A>w,:?A>i@Y>虦@>.=9>`(6>y>H`P? \?g y&p?澿`? rw?ɨ>i@>o;>CyF0BF"IzWill construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}333333?M¿V-y}>}n}m}p@ }@)}@I}@yy}@II4٢> @=JJ@A9Q > G٣yŠ > Nusing accuracyPremultiplier from configI59?I5YL iaA^\>v; 翑@7E5;`;/I5 @;EDNOT Ignoring new targets: 59.90 m. jjjjihhhhBff!rf!bf- t@]M^\>]M^\>]M@]MlM@].= aef?IeJ: aɚaiaIaImtiqiu:)q)q IIIDe]9*F2F:FBFJFGԣBOH>Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew, A6Cz@Y6‰@6-=96<7>y6H`3??%.@%R?@@? u?ɨ6Cz@6o;6CyBVBB"IIJIJ#4٢VL> V\=9V޼Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`fI59bQ?fI5Yb( ibAhj>翑j@b7Eb:bC:bjI5l r*@p DNOT Ignoring new targets: 59.90 m. jjjjihhhhf!f!rf!bf%`i@]A]A]A]E&@@U-= QU?I_: ɚiIjH9bH=<HAIA IEf"IIE BIE) =&IEHD.IA6IE<:IE| FI]tiaie)a)q2Dy*D}sAD5o9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF"G=G=JJJJJ:J:JJJh;aJj;aJ@;a J@;a  AIAGBO% >zK BIK u9K K K :g`6  Will construct direction to contact in vehicle frame from tetrahedron phase data.zKw, 1ARvo@YR~@R.=9R 8>yRH ??`13`k=?@M¥?`t?ɨRvo@R1Lj;RCyn|Br"Iiv>IvR=uMb@Mb@Mb@qqq q)qYuCl?v//$yu;=ux齹u,u@ q)u@Iu@qyu@IIK4٢0> <=99Q > G٣yF > Nusing accuracyPremultiplier from configI59ň?I5Y iA#'>U;UU@7Ej<X<6I5Y ]@aDNOT Ignoring new targets: 59.90 m. jjjjihhhh݁Bffrfbf @]#'>]#'>]:6@]@M.= im?Im: qɚqiqIqI}tiyi}@))Will construct direction to contact in vehicle frame from tetrahedron phase data.%=D}9 1 I1 *F 2F :F BF Q0JF G 8B O >Sw,J&OAJhj@YJy@JX+=9JU7>yJH`?`?( 5R6?`־ph?`u?ɨJhj@J;JCybBb*#InWill construct direction to contact in vehicle frame from tetrahedron phase data.IMIM҅4٢1>> 3=9kQ > G٣y/ > Nusing accuracyPremultiplier from configI59$?I5Y iA@7E#;U;3I5  @DNOT Ignoring new targets: 59.90 m. jjjjihhhhff rf bf  @])])])]-i@EX+= AE?IM: IɚIiIIIIUtiQiUV)Y)YDH$>I I"II[BI' =&I.I6Io<:ID F*FE?2FA:FABFMZ0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.JE JE JA JA JE :JE :JA JA JE ;JE ;JE A;JE A; y I GM ЭBq O >Zw,4jAzKRMKR-9KPKRKRp@YI@V+=9-8>yH#?m?`24A?߾9i?t?ɨp@ ;CyDŽBP#IMb@Mb@Mb@ )YˡE?MbX9y&1y'=ʡ` z@)@IyII̍4٢> /=9iQ > G٣y: > Nusing accuracyPremultiplier from config I59Y? I5Y\ i|A=< @n; x;FI51 =@9UWill construct direction to contact in vehicle frame from tetrahedron phase data.mDNOT Ignoring new targets: 59.90 m. jqjqjqjqiqhqhqhyh}(Bfyfyrfbf&@]=]=]@]t@V+= 隵?IZ: ɚiIItiiͮ))BD>?:D'?D9*F ?2F :F BF S0JF G  G sA Will construct direction to contact in vehicle frame from tetrahedron phase data. I G 孽B O >aw,ZA6Mw@Y6̆@6j,=96ɭ7>y6H@|.?@;?/L?.뾿 ʔ?fu?ɨ6Mw@6;6Cy>B>#I)@ @DDIJIJm4٢RjO> RU=9Vc:Q V>TX ZG٣XyZ; Z> ^Nusing accuracyPremultiplier from config\bI59^?fI5Y^ i^ZAhj j@^7E^+?;^?;^I5l n@l DNOT Ignoring new targets: 59.90 m. j j j jihhhhffrfbf`@]]]]@-j,= 15?I5: 1ɚ1i1I1I=ti9iEd)A)aWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBF]0JFH] !>IY  I] 5#II] BI] & =&IY .IY 6I] {<:I] K Fu Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >2hw,ZcAJ.J.J.1J,J.:J.9J.3J,J.'<J.'<J.<;J.<;F~@YF @FH/=9Fۚ7>yFH@/;?c? X+W?@e祿?@Ju?ɨF~@F};FCyNBN#II^I^t4٢b= b@=9f:Q f>hh jG٣hyj ; n> rNusing accuracyPremultiplier from configlrI59n??vI5Yn in4Atz z@ln;nR;nUI5| ~-@| U$?IYDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfq@]!]!]!]%@UH/= QUT?I]: YɚYiYIYItiiZ))zKBHK#9KKK",11.+))''# BKA:KErAD9MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-`0JF1GM ЭBY Ou >mnw,Ay "B #IMb@Mb@Mb@ )Y~jt ףp= {GzyļQ8ףQ@ )@I@y@IIHo4٢;= 8=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)5I59-n?5I5Y- i-A5b`==r<=%E@=@-7E-U;-s;-EI5A Ei@AmDNOT Ignoring new targets: 59.90 m. jijqjqjqiqhyhyWill construct direction to contact in vehicle frame from tetrahedron phase data.hhtBffrfbf,@]b`=]b`=])@]%E@ ?I_: ɚiIItii1'))2D*DrA !I!DaEiEmsA)1 5CNG*F?2F:FBF|0JF"G=G=vA A E ?YE vAyE B5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G aB O >԰uw,aA6`@Y6ߡ@66=968>y6HQ]??z` "t?@՟Ҧy? s?ɨ6`@6;6Cy>;B>#IiB=IB<IJIJq4٢R> VS=9V;Q V>XX ZG٣Xy^ ; ^> bNusing accuracyPremultiplier from config`fI59b~?fI5Yb ibAdjIC I#IIBI' =&I.I6If<:I9 FBIuœCJIuœCRIqZIu' =bIu' =jIu*5D 9*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJL:J:Jـ3JJO;JP;JnN;JoN; QIYG! Bi O >zK sMK -9K K K   RK ?JK >{w,8A"Will construct direction to contact in vehicle frame from tetrahedron phase data.6О@Y6O@6 ;=96J8>y6Hr??`n `†?x_`?@r?ɨ6О@6;6Cy~AB~#IMb@Mb@Mb@ )YQ뱿~jtZd;Oy\ļjh@ d@)@I@yII_v4٢< 6=9;Q >! %G٣!y%]; %> -Nusing accuracyPremultiplier from config)I59-|?I5Y-" i-A=+<h@@-7E-<-̖<-I5 p@DNOT Ignoring new targets: 59.90 m. jjjjihh h h Bffrfbf@]5=]5=]5r3^@]5h@E ;= AM?IM`: IɚU;4iQIQI]tiYi]`)Y)aD9Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IQ *Fm ?2Fi :Fi BFm 2JFi G B O >`yw,OA2䧟@Y2c@2>=929>y2Hh? i?Ol&@?@"@ا@x?q?ɨ2䧟@2i;0y:EB>#IIFIFb4٢Nd< NJ=9R;Q R>PT VG٣TyV3; V> ZNusing accuracyPremultiplier from configX^I59Z:{?bI5YZ iZݺA`bv@b@XZ;Z;Z I5d j3@h~DNOT Ignoring new targets: 59.90 m. j|j|jjihhh h f f rf bf`@]]]]mv@Will construct direction to contact in vehicle frame from tetrahedron phase data.>= x?I: ɚ25iIItii))!BD-C?:D->?DHE >IA IE#IIEDBIE* =&IA.IA6IE<:IE` F*F)2F1:F1BF5P5JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. I G B O >w,E)Ar8@YrĦ@r#C=9r D9>yrHW? ?PW^`?@4Oz@y?q?ɨr8@r<;py%QB%#I)) )15@AIIv}4٢ A= 5-=9EE);Q E>qy }G٣yy[; >zKmMnLKm9KiKmKm Nusing accuracyPremultiplier from configI59y?I5Y iźA@@7E;:e:[I5 }@EWill construct direction to contact in vehicle frame from tetrahedron phase data.mDNOT Ignoring new targets: 59.90 m. jijijijiiihqhqhqhqfyfyrfybf}*@@]]]]i@-#C= 15R?I5: 1ɚ5:5i1I1I}tiiv))D 9*F 2F :F BF B1JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.*J a="J a=J J J J J :J :J J a @a @a @a @  I GBO?qw,JAB@YBEЦ@BJ=9B 9>yBH??1? ?`Ł V?`p?ɨB@BU;BCyNGBN#I-Mb@Mb@Mb@))) )))Y-+ηaa eG٣aye@; m> Nusing accuracyPremultiplier from configI59v?I5Y iA=< @@3;;I5  @]DNOT Ignoring new targets: 59.90 m. jYjYjYjYiYhYhahahBffrfbf@]=]=]8LU@]W @%J= !%?I%k: )ɚ-D5i)I)I5ti1i5֞)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.D9H1 I1  I5 $II5 mBI1 &I1 .I1 6I5 <:I5 J F*F} ?2Fy :Fy BF} 2JFy  Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ =Օ = I G ĠB O >w,hA>ǟ@Y>֦@>bN=9>8>y>H??A` ?@v`ɩ@>?p?ɨ>ǟ@>e;>CyJ?BN#IIZIZ4٢f j;=9n;Q n>lp rG٣pyv : v> ~Nusing accuracyPremultiplier from config|I59~t? I5Y~ i~A @@~7E~a;~a;~WI5! %@!eDNOT Ignoring new targets: 59.90 m. jqjqjyjyiyhyhhhffrfbf@]]]]\ @bN= %?I%: )ɚ-,5i1I1IUtiQi]))2D*DDzKBoHKKKK]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F):F1BF5q4JF1G] ̞By O >lw,qǁA2 ǟ@Y2֦@2O=928>y2Hw?? @ɾ?` 奔`$? lp?ɨ2 ǟ@2$͇;2Cy:&B>#I DFp=^Will construct direction to contact in vehicle frame from tetrahedron phase data.J}@AJyJJJJJ:J :J IJuMb@Mb@Mb@qqq q)qYukt~jt~jtyu uļuDu@ q)u@Iur@qyuz@II4٢g <=9c1:Q > G٣y6 > Nusing accuracyPremultiplier from configI59r?I5Y7 idA=<Y@@7E;>;I5 -@DNOT Ignoring new targets: 59.90 m. jjjjihhhhTBffrfbf` @]=]=]zZ@]Y@EO= AE{?IE: AɚEiAIIIutiqiuH)q)yD9*F%?2F!:F!BF%P0JF!mWill construct direction to contact in vehicle frame from tetrahedron phase data.G HB O5 >|w,oA>?Ɵ@Y>զ@>pP=9>K8>y>H?9?H 5?`1 ??q?ɨ>?Ɵ@>-;\\ ^G٣\yb7 b> fNusing accuracyPremultiplier from configdjJ59f q?jJ5Yf if@Ahj]@n@dfA;fS;fUJ5t z6@xDNOT Ignoring new targets: 59.90 m. jjjji!h!h!h!h!f)f)rf)bf-@w!@ZHARHE@AHE!>IA IE"$IIErBIE) =&IA.IA6IEW<:IE- F]y]y]y]}]@pP= 隕T?I: ɚ4iIItii))D19Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFM_0JFI IG5͸BAOe>} Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K -9K K K C:[IprT;`7 Q)cB*BK :K Lw,BwA2e@Y2Φ@2^~O=927>y2H??`U@ ?`Y쩿R?`r?ɨ2e@2/J;2Cy:B:#IMb@Mb@Mb@ )YQ롿y&1V-y\`eh@ 7@)K@IS@y@II4٢! 8=9 `Q  >  G٣y %> -Nusing accuracyPremultiplier from config)=J59-n?=J5Y-^ i-AE=EE]DNOT Ignoring new targets: 59.90 m. jYjYjYjYiahahahaheBfifrfbf`~n"@]=]=]@]|9@^~O= ?IF: ɚiII tiiok))BDUE?:DUj?Will construct direction to contact in vehicle frame from tetrahedron phase data. IJJJJJ|:J :JJDm@9*F ?2F :F BF P0JF "G =G =G ̞BO>w,wA:Will construct direction to contact in vehicle frame from tetrahedron phase data.>@Y>}ʦ@>L=9>D8>y>H`?@? ? r٘{?q?ɨ>@>h;>CyJӄBJ_#I)L LIRIRݜ4٢^ ^A=9^iȺQ b>`` bG٣`yf f> jNusing accuracyPremultiplier from confighnJ59jl?rJ5Yj7 ijApr}9@z@hj;jP;j J5  O@ }DNOT Ignoring new targets: 59.90 m. jyjyjyjyiyhyhhhffrfbf;#@]]]]O}9@%L= )-T?I-R: )ɚ)i)I)I5ti1i5*)9)9H}>Iy I}#II}SBI}' =&Iy.Iy6I}Z<:I}/ FDR9%Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBFO0JFG B O- >$"w,[A@Y;@rD=99>yHY|?j? c- ? sN $ ?p?ɨ@;騝CyBH#IWill construct direction to contact in vehicle frame from tetrahedron phase data.zKOK9KKK{xqmhc]WRONHD?:884200.,*,+*(+*(% RK?JK>Mb@Mb@Mb@ )YX9v?Mbkty< @  @)@I/@yQ@IIb4٢%J % =9%ÁQ ->)) -G٣)y5r 5> =Nusing accuracyPremultiplier from config9EJ59=j?EJ5Y= i=JAED>M;MSM@=7E=;=;=^J5Q U|@QDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf 8$@]D>]D>]@]}@erD= ae?Iee: iɚm4iiIiIutiqi#))Dr9U Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF P0JF I J J J J J \:J B:J J GBec~GOm?yþw,6A GYy*A@Y@H4=9*;>yH`Z?o?ɨ@=;CyB#II%I%ݜ4٢=@ =7=9EQ E>AI MG٣IyM& M> UNusing accuracyPremultiplier from configQ]J59Uh?]J5YU iUAaeEe@QU:UT ;UDJ5i m,@qDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf`J%@]]]]+}@H4= ^?I: ɚiIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D`9jHm<bHiH}>Iy I}#II}BI}% =&Iy.I}3D6I}E<:I} FBI5ǛCJI5ǛCRI1ZI5) =bI5( =jI5- 6*F2F!:F!BF%O0JF!G) G)5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 <5 <= BDAT read: Response Not Received = *response not receivedE ,DAT read: user:2624> M BDAT read: Tx time:22:27:55.9541 M $Ping request sent.M ܸɾw,(AE?l@YE{@E +=9E9>yEH"??f4R6?A`_ #?{r?ɨE?l@Eb;ECyeBe"Iim=Imp<I}I}4٢ս H=9DQ > G٣yM > Nusing accuracyPremultiplier from configJ59f?J5Y] iAI@7EB;C;J5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf`%@]Y]Y]Y]]}@ += 隕?I: ɚiIItiil))Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:27:55.9533 zK FNK k9K K K    DeK9*F2F:FBF[0JFG 8B O >оw,BAF%O@YF^@F=9FJ8>yFH?m?aC # ?@m$@?7u?ɨF%O@FD;FCyRbBR"I%Will construct direction to contact in vehicle frame from tetrahedron phase data. AIAMb@Mb@Mb@ )YK7A?Dl&1y >O нZ@ @)@I@y@IvI&Q4٢h I=9ܻQ > G٣y > Nusing accuracyPremultiplier from configJ59d?J5Y *JC="J=i)AZ>x;쿑@7EJ;H;gJ5 _@DNOT Ignoring new targets: 59.90 m. jjjjihhh!h%$Bf)f)rf)bf-ο&@]MZ>]MZ>]M@]M׍@e= ae\?Ie: aɚaiiIiImtiqi툶))Du9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF _0JF GU aBq O >H >I C I g#II ڄBI ( =&I .I 2D6I o<:I 7 Fo׾w,#1_A @y=MB="IIMIM4٢] ];=9eQ e>ai mG٣iym m> uNusing accuracyPremultiplier from configq}J59uEc?J5Yu iuA@u7Eu;uy;u8J5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@'@]]]] ?I: ɚf4iI IWill construct direction to contact in vehicle frame from tetrahedron phase data.ItiiĶ))JK KKK"KJJJJJ:J:JJJ;aJ;aJI;aJI;aD9E%sAE%rA*F2F:FBFJF"G=G> Will construct direction to contact in vehicle frame from tetrahedron phase data.zKu LKu 89Kq Ku Ku  G .qB O >,ݾw,*zAn@Yn)@n=9n>>ynH`@? 8?@ÿ@]5?9ڠ?9n?ɨn@np;nCyv;Bv"I)x xuMb@Mb@Mb@qqq q)qYuCl?bX9ƿ|?5^yuO>uE6uҽuC@ u@)u@Iu@qyu@IIy4٢v >=9hQ ->)) -G٣)y5m 5> =Nusing accuracyPremultiplier from config9EJ59=a?EJ5Y= i=4AM>M7;M࿑M@=7E=;=;= !J5Q U@QDNOT Ignoring new targets: 59.90 m. jjjjihhhhـBffrfbf (@]>]>]@]ې@= R?I: ɚ]5iIItii)) 9IA]Will construct direction to contact in vehicle frame from tetrahedron phase data.]?]?D9*F9 2FA :FA BFE o0JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge ]Bq O >aw,GA6@Y67@6B<96>>y6HEG?& ?@aÿ@op`gx?`]t ?n?ɨ6@6A;6CyB8BB"IIJIJ4٢R* RF=9VQ V>TX ZG٣Xy^F b> fNusing accuracyPremultiplier from configdJ59f_?J5Yf if¶AEῑ@f7Ef2I) I-#II-BI-* =&I).I)6I-3<:I- F*F?2F:FBFO5JFGB!O=P> I-Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J :JJJ;J;JR;JR;] PExceeded connect timeout, disconnecting.҆w,XA:P̞@Y:ۥ@:<9:`>>y:H?? ÿ p=?`N|A?`7o?ɨ:P̞@:v;:CyB2BF"II^I^4٢f; fH=9j Q j>hh nG٣lyrz< r> vNusing accuracyPremultiplier from configtzJ59vE^?zJ5Yv( ivNAxzῑz@v7EvX:vX:v$(J5 \@-DNOT Ignoring new targets: 59.90 m. j1j9jAjAiAhIWill construct direction to contact in vehicle frame from tetrahedron phase data.hhhffrfbf  <*@zKmRKKm9KiKmKm!*27<LYdnv|~]]]]Ӡ@< +?I: ɚ5iIItiiѽ))D9*F ?2F :F BF 0JF G  G tA $?I M Will construct direction to contact in vehicle frame from tetrahedron phase data.G NB O >!w,#A@Y@<9=>yH[?)?ÿ@I?{@ؕ?@lq?ɨ@u;Cy5?B5"IiE>IE4<Mb@Mb@Mb@ )Y r?zGʿ~jty> WĽ@ @)=@IyG@I I {4٢%i4= %=9%Q %>)) -G٣)y-$ 5>EWill construct direction to contact in vehicle frame from tetrahedron phase data. MNusing accuracyPremultiplier from configIUJ59M[?UJ5YM iMA]>];]G߿]@M7EM(;M?';M -J5a m@iDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf` >+@]>]>]#@]=@< G?I: ɚ+6iIItiiTؽ))H>I I"IItBI&I.I6Ic<:I- FD 9 y Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:27:58.4699  TRx dataTimestamp_ set to:1736375279.598593*F 2F :F BF o0JF J J J 1J J :J @:J 3J J ?%<J @%<J ;J ; nManaging dock network, ignoring radio surface power offGVνBO=?Y>w,(Ay PB "II%I%4٢U= U:=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configauJ59eY?uJ5YeY ie2Aqy}@e7EeV;e;e0J5 u@DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf  ",@uWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]] ?I: ɚ[/6iIItii ؽ))zK]NK]-9KYK]K]~zriZNGGBAA@?@@>;53553011/,-0.*)'%    RKm?JKm?D*Fq2Fq:FqBF}_5JFyG}ԽBO> y I  Will construct direction to contact in vehicle frame from tetrahedron phase data.e w,[AyuB"IMb@Mb@Mb@ )Y"[ l@)I@y@II4٢ /> C=9Q > G٣y > Nusing accuracyPremultiplier from configJ59 X?J5Y iĴA>;>ڿ@7E;;4J5 ,@UDNOT Ignoring new targets: 59.90 m. jQjQjQjYiYhYhYhYheۀBfafarfabfe ,@]>]>]Ӝ@]6@ 隝f?I$: ɚiIItii׽))D9*F2F:FBF 3JF }Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 83.7 m (Round-trip 111.6 ms) speed 0.0 m/s ,DAT read: user:2625> BDAT read: Tx time:22:27:59.5541 $Ping request sent.jH <bH H >I C I I I + =&I .I 6I <:I d FUNw,|"AR)@YRr9@RI<9Ry8>yRH@t?`1`?7ÿ`j@E?ԗ@I`?`gz?ɨR)@Rz;RCyZB^#I)` `IfIfv}4٢ ->  W=9 yQ > I!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=J595dV?=J5Y5 i5cA9=#ܿE@57E5 ;5;:57J5I M"@M@E addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 14.616012 s, deltaX: 0.299995 m, approachRate: 0.020525 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfT@bf`U?Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J:JJJ;J;JA;JA;])])])]-@I< ?I": ɚiII%ti!i-Xv))))2D1*D5sADa*F?2F:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.zK NK 9K K K BK :K qAGq B O >tw,+y6Hb?@Zj?`Ŀ@?W?y?ɨ6Y @6z';6CyJBN4#IMb@Mb@Mb@ )YV-?&1ʿv/y|>Pxi@ )S@IyI]I$4٢= ?=9Q > G٣y > Nusing accuracyPremultiplier from configJ59 T?J5Y iA>#;2俑@7E F;hH;;J5 @MDNOT Ignoring new targets: 59.90 m. jIjIjIjQiQhQhQhYh]BfYfYrfYbfe?]}>]}>]}@]}%@X[< 隕f?Ip#: ɚiIItii$)) I%hD-9-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFG}cBO_>)]= aNG|uA - b Y- |uAy- B\w,}VA2"@Y2@2U2<929>y2HK~?`s? aBĿ?@KR\{?#y?ɨ2"@2V;0y>ۄB>j#IBWill construct direction to contact in vehicle frame from tetrahedron phase data.INmIN3A4٢Vk> V_=9VNQ V>XX ZG٣Xy^7 ^> fNusing accuracyPremultiplier from configdjJ59fQ?jJ5Yf ifdzAhj俑n@f7Ef:fB;f>J5p r@pDNOT Ignoring new targets: 59.90 m. jjjjihhh!h!f!f!rf!bf-?]i]i]i]m@U2< !%3?I%': !ɚ!i!I!I-ti)i-w)))QD59E=rAE=sAH >I I#IIBI, =&I.I1D6I3<:I FBI]ĚCJI]ęCRIYZI]* =bI]* =jI]A5*F2F:FBF_0JF I5Will construct direction to contact in vehicle frame from tetrahedron phase data.G 9B! OU >w,[pA:ԝ@Y:Y@:U<9:#@;>y:HI?{?`ߜĿ`%?`ָ ؀ zF?%w?ɨ:ԝ@:O;:CyBBB#IiF=IF= HHINQIN4٢Z> ZJ=9ZٻQ Z>\\ ^G٣`yb` b> fNusing accuracyPremultiplier from configdjJ59fO?jJ5Yf* ifxAln俑n@f7Ef.;fsU;fRBJ5B @CEEDNOT Ignoring new targets: 59.90 m. jAjAjIjIiIhIhIhQhQfQfQrfYbf])?]]]]׏@U< 隵@?I%: ɚiIItii,))Will construct direction to contact in vehicle frame from tetrahedron phase data.zK:6LKKKKD9*F5?2F1:F9BF9JF9 I G B O% >E Will construct direction to contact in vehicle frame from tetrahedron phase data.J AAJ BAJ J J 0J J :J :J ـ3J a @a @a @a @q"w,=Ay52B=#IMb@Mb@Mb@ )Y/$?ʡEƿ+y&1>-2@ ?@)@I@y@IwIR4٢r> 8=9Q > G٣y >  Nusing accuracyPremultiplier from config J59 L?J5Y  i 7Ah~>U;@ 7E F; ; 6FJ5! %^@!UDNOT Ignoring new targets: 59.90 m. jQjQjQjQiQhQhQhYh]BfYfarfabfeT,?]h~>]h~>]D֯@]$@q y}?I}I: yɚyiyIyItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DM#9*F 2F :F BF Z0JF ZH RH AAH >I  I #II BI &I .I 6I <:I F I G BO5>*)w, AWill construct direction to contact in vehicle frame from tetrahedron phase data.>@Y>@>];9>9>y>H?@?Ŀ >g?/c@r?pz?ɨ>@>;>CyN^BN $II^I^q4٢jO> n>=9nL Q r>pp vG٣tyz z> Nusing accuracyPremultiplier from config|J59~J?J5Y~a i~A@~7E~ՠ<~<~IJ5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhAhAfIfIrfIbfM`@]]]]NY@]; 隭?ID": ɚiIItii'8))DC9*Fq2Fq:FqBFu0JFq"G>G8>Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq zK} k3IK} k9Ky K} K} B O >k0w,"A6`@Y6߬@6;;968>y6H1??Ŀo Yi?X r@?z?ɨ6`@6;F;4y^Bb@$I)d dMMb@Mb@Mb@III I)IYM(\µ?PnyM=MM̼M@ MV@)M@IM@IyM@I}I}Ho4٢J> @= I9[Q > G٣yP9 > Nusing accuracyPremultiplier from configJ59iG?J5Y iϲA@ >;@7E ;?;MJ5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhہBffrfbf A2@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]@ >]@ >]p@]ʅ@JJJ1JJJ:J3J;; ?I : ɚiIIti!i%O)!)!2DI*DMrAD!*F2F:FBF0JFG 0B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:28:02.0698  TRx dataTimestamp_ set to:1736375283.388641W6w,ԜA6ß@Y6B@6;96=8>y6H?/?`Ŀ ll?j qt ??{?ɨ6ß@6;4yBBBs$IIJqIJJH4٢R^> R[=9Vl:Q V>TX ZG٣XyZLM: Z> bNusing accuracyPremultiplier from config`fJ59b E?fJ5Yb ibAdff@b7Eb@;b;bPJ5l ]G@iDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf @]]]]'̅@; ?I*: ɚiIItii5))H] >I]C I]#II]SBI]. =&IY.IY6I]W<:I] FDd9 I*F?2F:FBF4JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.GiBO>hyBH??>Ŀ_?C鴿'~x #?@x?ɨBb@B6;BCyb҅Bf$II~IT_4Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 83.6 m (Round-trip 111.5 ms) speed -0.1 m/s ,DAT read: user:2626> BDAT read: Tx time:22:28:03.1541 %$Ping request sent.% u:=9;Q >:publishing transmit ping time!y G٣y; > }Nusing accuracyPremultiplier from configyJ59}B?J5Y} i}{Af@}7E}[;}t;}$UJ5 Z@zKK9KKKe addTargetRange:: Added new target pos. range: 83.599998 m, deltaT: 3.541999 s, deltaX: -0.099998 m, approachRate: -0.028232 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 59.90 m. jijijijiiihqhqhqhqfyfyrf`fT@bf( ?]Y]Y]Y]]܅@; 隭?I: ɚiIItiiYB)) qIqm Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:22:28:03.1534 D v9J J J /J J <:J :J (N3J *F} ?2F :F BF x0JF G  G sAG=;BIOe? 3Ew,A嶝@YdƤ@ނ;9yO:>yH`g?@>?*Ŀ@ ?9P0z@(?x?ɨ嶝@ȇ;Cy=B=$IiE=IE4=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y~jth?+qq }G٣yy}: }> Nusing accuracyPremultiplier from configJ59R??J5Y! i[A=%<*@x;;gYJ5 D@DNOT Ignoring new targets: 59.90 m. jjjjihhhhdBffrfbfU?]=]=]@]Ntg@ނ; ?I%: !ɚ!i)I)I-ti1i5X)1)1HE >IA IE$IIEBIE/ =&IA.IA6IE<:IEV F QIYD9m Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF 0JF G B O >*+Lw, 3A6@Y6 Τ@6j;96J7>y6H@D!?`?@PĿa@S?`L x?`|?ɨ6@6{;4yBBB$IIJ^IJ&4٢R&> RM=9RoDQ V>|| ~G٣|y; >  Nusing accuracyPremultiplier from config J59 =?J5Y ~ i AA*@ 7E : : \J5! %1@!MDNOT Ignoring new targets: 59.90 m. jQjQjQjQiQhQhQhYhYfYfYrfabfeU\?]]]]5g@j; 隝$?I": ɚiIItii))D95Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF4JFzKU>`JKU9KQKUKU IG= 0BA Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.JU JU JU 1JQ JU l:JU :JU 3JQ u Sw,LAy]&Be%IMb@Mb@Mb@ )YT㥛 /$I +y,9@ ?@)I@y@I OI  4٢e= 6=9%Q %>!! %G٣)y- -> 5Nusing accuracyPremultiplier from config1=J595:?=J5Y5 i5'AE{=E(G=H I  I $II BI 0 =&I .I 6I <:I R F $?I G B O >BYw,R)hA6Q@Y6@60<96oM7>y6Ha?@{?`c(Ŀ?^ƀ 5?|?ɨ6Q@63;6CyB0BB %I)H HNANAIRIR_v4٢b7L= bU=9f;Q f>hh jG٣hrWill construct direction to contact in vehicle frame from tetrahedron phase data.yv8< v> Nusing accuracyPremultiplier from configxJ59z8? J5Yz izA #@@z7EzD;zO/;z3dJ5! %z@)DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf`?]Y]Y]Y]]#@m0< iu!?I!: ɚr5iIItii&))Du9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F= ?2FA :FI BFM @5JFI zK ]JK k9K K K     RK- ?JK) G B O >p;aw, +A I6@Y69@6,<967>y6HG? `n?Ŀ`??@?@|?ɨ6@6 ;4yN5BR%I-Mb@Mb@Mb@))) )))Y-ˡE{GzV-y-什-ף--@ -V@)-@I))y-@IIi4٢@< '=9;Q  >  G٣y< > %Nusing accuracyPremultiplier from config%J596?%J5Y iAUǶ=U`hw,#A^80@Y^?@^@e<9^_8>y^H?q\?aÿ@V?/@*?@z?ɨ^80@^[;^Cy~3B~%I IIIb4٢- -8=9511 =G٣9y=N< => ENusing accuracyPremultiplier from configAMJ59E5?MJ5YE iEձAQU @U@AEP#;E+;EVlJ5a eG@iDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf?@]]]]ѐ @@e< ?Ib#: ɚ5iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F?2F:FBF3JFG GE Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:28:05.6700 m TRx dataTimestamp_ set to:1736375286.921918G% Ba O >Dnw,AzKbLKb-9K`KbKb  5@@Y5EP@5dz<95~8>y5H ? V? ~ÿ`o? _`.?`tz?ɨ5@@5c;5Cyu,Bu%Ii}=Iy }=}=-Monly read 0 of 1 data item for BIT error. Device response is::TS,25010814291225,35.0, +10.9, 0.0,1493.:RA, 0.00, 68.64, 55.39, 61.85, 60.83  @ @ @  @ IIv}4٢ 9=9?;Q > G٣y; > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configJ59,3?J5Y# iA+:; @@7E&;>woJ5 @5DNOT Ignoring new targets: 59.90 m. j1j1j1j1i1h1h9hhffrfbfL @%dz< !%k?I%: !ɚ%6i!I)I-ti)i5p)1)1 I Will construct direction to contact in vehicle frame from tetrahedron phase data.D%9*F?2F:FBF0JFG {B O >Svw,nANS@YNb@N<9N*9>yNH[,?` N?&ÿU`E?@Lѐ@N?@Xy?ɨNS@Nȇ;NCyVBZWill construct direction to contact in vehicle frame from tetrahedron phase data.Z=Z=^8DAT read: $Error in header ^*Received a bad headerV$IIjIj҅4٢r" rN=9v 6;Q v>xx zG٣xy~ ; ~> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config J591?J5Ym iA :; @@6;W?qJ5 %@!MDNOT Ignoring new targets: 59.90 m. jQjQjQjQiQhQhQhYhYfYfYrfabfe`c @< 隝?I#: ɚ"76iIItii))HI I[%IIpBI&I.I6I<:IF F IDm9*F2F :F BF P0JF mWill construct direction to contact in vehicle frame from tetrahedron phase data.*J R="J a=J! J% J! J! J! J% :J! J! J% h;a5 J% i;a5 J% nN;a5 J% nN;a5 GE BQ Om > G|w,9A6WX@Y6g@6y<96x8>y6H5?L? ÿ`:? % B ?z?ɨ6WX@6;6Cy> BB$IIFIF4٢n6 nI=9rދ:Q r>pp rG٣tyv : v> ~bBottom track data is 1.2 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configxJ59z/?J5Yz izA9 ;  @ @z7Ez;(;zƟ?zsJ5 @FEEDNOT Ignoring new targets: 59.90 m. jAjAjAjIiIhIhIhYhYfYfYrfYbfey@y< 隍Q?I,!: ɚS6iIItiis))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9zK}KK9KKK*F-?2F):F1BF5^0JF1 IU Will construct direction to contact in vehicle frame from tetrahedron phase data.G] ȇBi O >_*w,F A6m[@Y6j@6<96{8>y6H9;?K?"ÿ@?`?9z?ɨ6m[@6C;6Cy>B>$I                Mb@Mb@Mb@    ) Y MbI +A`"y  9 Y  @) @I @ y (@ImIm҅4٢ ==9;:Q > G٣yd: > Nusing accuracyPremultiplier from configJ59.?J5Yn iUAT:=I<_@@;;fwJ5 @%DNOT Ignoring new targets: 59.90 m. j!j!j!j!i!h!h)h)h-$Bf)f1rf1bf5 @]U=]U=]Uo@]Ud_@e< ae?Imz$: iɚms6iiIiIutiqiu+p)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBFJFjH <bH <H >I  I U%II kBI 2 =&I .I 6I <:I F I G B O= >Ɖw,)A^IZ@Y^i@^{<9^RB8>y^H@.9?`L?vÿq?v <?z?ɨ^IZ@^uA;^CynۅBn$II~I~]4٢b F=98Q %>!) -G٣)=Will construct direction to contact in vehicle frame from tetrahedron phase data.y=쯹 E> MNusing accuracyPremultiplier from configAUJ59E.?UJ5YE* iE&AQ]b@]@AE#;E#;E{J5a e@aDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf3@]]]]b@{< ?I": ɚiIItiJJAAJ3K(3 KϚ.KK"KJJJ1JJ :J :J3JJr<Js<JU;JU;i ))BD%Eݐw,CA2Q@Y2`@2]<929>y2H(?O?Nÿ 2?됿@? ~y?ɨ2Q@2c;2Cy>ƅB>$I lIlMb@Mb@Mb@ )Y{Gz?~jti|?5yף<Dqx@ )@Iz@y@II:4٢s½ :=9Q > G٣y' > Nusing accuracyPremultiplier from configJ59-?J5Y iA=(<h @7Ej;;~J5   @ DNOT Ignoring new targets: 59.90 m. jjjjihhhhՁBffrfbf  @]E=]E=]En@]E[@U]< Y])?I]": Yɚ]5iYIYIetiiim)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.D9ErAErA*Fy 2F :F BF JF G  G  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge ȇBq O >w,`A6J@Y6Z@6 <969>y6H`&?fP?ÿ% }?@Vⷿ@2 ?[x?ɨ6J@6;6Cy>B>r$IiB%=IB=IJIJt4٢R RJ=9RQ V>TT VG٣XyZ Z> ^Nusing accuracyPremultiplier from config\fJ59^F,?fJ5Y^ i^AdjZ j@\^@>;^>;^cJ5l nC@lH|I| I~#%II~BBI|&I|.I|6I~f<:I~# F%DNOT Ignoring new targets: 59.90 m. j!j!j!j)i)h)h)h1h1f1f1rf1bf=`p@])])])]-^b@] < aeO?Im%: qɚu5iqIq IItiiA))D*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JuJuJu0JqJu:Ju:Juـ3JqJu;Ju;JuL;JuL;GB O% >rȝw,_yA><@Y>K@>|p<9>]:>y>H1?PU?LĿ`bf?ݚK!*?@w?ɨ><@>z;>CyFBJX$IIZIZv}4٢jͽ jH=9j6Q j>ll rG٣pyr! r> vNusing accuracyPremultiplier from configtzJ59vn+?zJ5YvA ivzA|~W ~@tv ;v ;vJ5 @ %Will construct direction to contact in vehicle frame from tetrahedron phase data.}DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfF@]Q]Q]Q]Ud@e|p< im?Im>": ɚiIItiiB))zKIKMu9KIKMKMRKe?JKe> ID&9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm ?2Fi :Fi BFm 0JFi G sB O >Ӄw,!A21@Y2WA@2x]<92:>y2H ?X?4"Ŀ ;V?@S ̮@4?w?ɨ21@2䫇;2Cy>~B>2$I=Mb@Mb@Mb@999 9)9Y=MbX9?I +L7A`尿y=ʡ==9=+=5@ =Ϋ@)=@I=7@9y=Q@IeIe_v4٢u }*=9Q > G٣y* > Nusing accuracyPremultiplier from configJ59*?J5Y i*A >;@7E;;%J5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhiBffrfbf @] >] >]4@]ь@Will construct direction to contact in vehicle frame from tetrahedron phase data.x]< @I7(: ɚiIItiix"))ZHYRHYHe >Ia Ie$IIeBIa&Ia.Ia6IeS<:Ie F ID-89*F?2F:FBF0JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ,:J :J J J <J <J S;J S;G B O- >w,ƲAF@YF<-@F¿C<9F:>yFH ? 5`?=Ŀ`" 7?@ܶ wu1?`w?ɨF@Fq;FCyRsBR$$I)T TZAZAI^I^)4٢b^ fG=9f{Q j>hh jG٣hynĻ n> rNusing accuracyPremultiplier from configpvJ59r(?vJ5Yr irAxz.z@r7Er;rE;rJ5| ~C@|-DNOT Ignoring new targets: 59.90 m. j)j1j1j1i1h1h1h9h9f9f9rf9bfE@]a]a]a]e'Č@u¿C< qu"@Iu=(: yɚ}t5iyIyItii|q))D*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G%B9OU>zK}K}9KyK}K}BK:K IRw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.f@@Yf@f+<9f=:>yfH ? Jf?LĿ | ?k@}&?px?ɨf@@f];fCyniBr$I)  Cq YyAU@yBMb@Mb@Mb@ )Yp= ף?MbDly>O@ @)z@IM@y@II4٢' +=9|GQ > %G٣!y%ف %> 5Nusing accuracyPremultiplier from config)5J59-'?5J5Y- i-A=G>=;=쿑=@-7E-;-j;-J5A E@IuDNOT Ignoring new targets: 59.90 m. jqjqjqjqiqhqhyhhOBffrfbf@]G>]G>]`-@]" @+< 隽3@I$: ɚ؉5iIIMtiIiMv)I)QBD]5?:D]D?Will construct direction to contact in vehicle frame from tetrahedron phase data.DmX9Eq*F ?2F :F BF _5JF G sA G rAH >I  I $II ݅BI &I .I 6I <:I f FBIIJIIRIIZIM2 =bIM2 =jIM@4 I G-jBAOe>+0w,sAV@YV@Vj;9V't9>yVHe?v?wĿ_@A?L| ?`y?ɨV@VS;TybZBb$IIjIj4٢r rL=9vQ v>tx zG٣xyzR z> Nusing accuracyPremultiplier from config J59|%? J5Y| i@A  쿑 @7E7::dJ5Will construct direction to contact in vehicle frame from tetrahedron phase data.! %@!UDNOT Ignoring new targets: 59.90 m. jQjQjYjYiYhYhYhahafafarfibfmJG@]]]]@j; 隝`@I&): ɚ&5iIItiiS))Dy*F ?2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.=G5 ăBA O] >.w,A ,I,>Ν@Y>Bޤ@>Dn;9>#+9>y>H@>?~?ĿQ? Ís?Vz?ɨ>Ν@>z;>CyFSBF#IzKNBoHKN9KLKNKNiV Ϋ@)d@I @y@II#4٢F >=9DQ > G٣yŻ > Nusing accuracyPremultiplier from configJ59O#?J5Y iAn>c;p@7EZ;;%J5 =@DNOT Ignoring new targets: 59.90 m. jjj j i h h hh%Bffrfbf`~ @]Un>]Un>]Uo@]Uͳ@Dn; @I ': ɚ < 6i I Itii))%Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ:J&:J3Ja@a@a@a@D-g9*F?2F:FBF4JFG #B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.6Aǿw,mA6@Y6*ˤ@6V9;96V[9>y6H*?B?`Ŀ@??@**g@ ?` z?ɨ6@6;4y>OB>#IIJzIJ=X4٢^ɚ b\=9bQ b>dd fG٣dyf̻ j> nNusing accuracyPremultiplier from confighrJ59ji!?rJ5Yj  ijAprr@j7Ej;j;jgJ5x zv@x%DNOT Ignoring new targets: 59.90 m. j!j!j!j)i)h)h)h)h1f1f1rf1bf5=!@]]]]@V9; O@I -: ɚ )6i I jHbHH!I! I%t$II%BI%1 =&I!.I!6I%<:I%7 FIutiyi})y)y2D*DsA QIQD=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JF"G=G=G B O >jͿw,9A:6@Y:@:rl:9:Yq9>y:H -?_?ĿC?M ?z?ɨ:6@:9;:CyF[BF$IININ4٢VW\= VB=9ZQ Z>XX ^G٣\y^ ^> fNusing accuracyPremultiplier from config`fJ59bA?jJ5Yb  ibZAhjj@b7Ebr;bQ;bJ5t z@xDNOT Ignoring new targets: 59.90 m. jjjjihh Will construct direction to contact in vehicle frame from tetrahedron phase data.hhffrf9bf='"@]y]y]y]}暍@rl: 隕@IC): ɚ5M6iIItii )) IzK%BHK%u9K!K%K%(DP8,  U D9*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.J} J} Jy Jy J} ,:J} /:Jy Jy G B O >_Կw,~RTA:4@Y:@:(昺9:9>y:H ?`Q?ſ q?`yS? #?y?ɨ:4@:~;:CyBcBB$I)D DHJAuMb@Mb@Mb@qqq q)qYubX9?+ǿZd;yuE6>uv>uyu@ u@)u7@Iqqyup@IIk4٢= 6=9Q > G٣yq > Nusing accuracyPremultiplier from configJ59-?J5Y iAv>H;@7E; ;J5 6@DNOT Ignoring new targets: 59.90 m. jjjj i h h h h!Bffrfbf "@]5v>]5v>]59@]5@M(昺 IMR@IMx,: QɚUo6i]I IT$IIBI3 =&I.I6I<:I= F )I)*F?2F:FBF\0JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > 0ۿw,nA*J.C="J.p=>)@Y>@>a39>X9>y>H?`?^!ſ`e?@ zf?d?Uy?ɨ>)@>]ֈ;>CyNkBN$IIVIV4٢^ = ^S=9^OQ b>`` bG٣`yf: f> nNusing accuracyPremultiplier from configlrJ59n?rJ5YnG inAtvv@n7End*;n*;nfJ5| ~@~HEDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfN#@]]]]@-a3 )-K @I-F-: )ɚ-h6i-ic'w,Ay vB($IMb@Mb@Mb@ )Y333333?-ƿy>?5L@ @) @I @y@II%x4٢>= 4=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1=J5952?EJ5Y5 i5pAEs>E_;EJE@57E5;5;5YJ5Q U@Q}DNOT Ignoring new targets: 59.90 m. jyjyjyjyiyhWill construct direction to contact in vehicle frame from tetrahedron phase data.hhh.Bffrfbf`$@]s>]s>]K@]X@JMJMJM0JIJM:JM:JMـ3JI 隕@I*: ɚj6i#I  I [$II BI 2 =&I .I 6I <:I 7 F $?I hGB)OM>+Qw,AFy@YF@FĻ9F%8>yFH ??͛?9ſ`hD?`CƱx?@d?@z?ɨFy@F E;FCyNBN:$IiRdd fG٣dyj j> nNusing accuracyPremultiplier from configlrJ59n?rJ5Yn in*Atvv@n7En_;n;nJ5x z @xDNOT Ignoring new targets: 59.90 m. j!j!j!j!i!h!h)h)h)f)f1rf1bf5%@]q]q]q]u@Ļ  @I:*: ɚ06i׼ BDAT read: Tx time:22:28:14.1042 $Ping request sent.0w,&A $I$o@Yu@H98>yH?ϟ?6ſF9?lI ~??{?ɨo@U;Cy-B-K$IzKh3PK9KKK\XTMJF;8550-+(($$"    BK:KMb@Mb@Mb@ )Y@5^I ?-ƿJ +yb>H@ ) @I@y(@II_v4٢%'Q= %=9%BQ %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9EJ59=?EJ5Y= i=׬AMm>Me;MWM@=7E=1;=[0;=J5UB U?@]KEDNOT Ignoring new targets: 59.90 m. jjjjihhhh]m>]hR@]@H  @I): ɚ#6iGe ?>e Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,AN:k@YNz@N9N98>yNH܉?J?Wſ)3?@(??z?ɨN:k@N[(;LyZBZh$IIbMIb{4Hn >Il Int$IInBIn1 =&Il.Il6In<:In F٢~= ~F=9~QQ ~> G٣y b  > Nusing accuracyPremultiplier from configJ59 ?J5Y iAY%@7E*:*:&J5) -@)]DNOT Ignoring new targets: 59.90 m. jYjYjYjYiYhYhYhahafafarfibfm \'@]]]]@ 隥 @I-: ɚif7w,A6`@Y6Vp@6*96];>y6Hv??@ſX"!?ﰿZ?]?`u?ɨ6`@6Չ;4yBBB$I)D DHJAILIL٢V= VP=9VŅQ V>XX ZG٣Xy^S ^> %Nusing accuracyPremultiplier from config!-J59%?-J5Y% i%SA115@%7E%:%:%J5a e{@aDNOT Ignoring new targets: 59.90 m. jjjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.hhhhff!rf!bf%6(@]]]]@* h@I,: ɚiiJK?D9*F2F:FBF0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data. |uA Y |uAy BG `B O >qw,(A2D\@Y2k@2FM92^Y;>y2H@[n?h?Bſ`$?@Y]ন?PI?@v?ɨ2D\@2u;2Cy>˅B>$ImMb@Mb@Mb@iii i)iYmPn?{GzĿ/$ym>m#m,m@ i)m@Im @iymz@I3Iʴ3٢O= 4=9vQ > G٣y > Nusing accuracyPremultiplier from configJ59?J5Y  iAV>};@7E;;J5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhyBffrfbf@)@]V>]V>]~@]@FM 隽= @I+: ɚ5i0:IItii ))%Will construct direction to contact in vehicle frame from tetrahedron phase data.jH]<bHYHYIY I]$II]݅BIY&IY.IY6I]<:I]P FBIJIRIZI1 =bIjI6R5 1I9Dm9*F ?2F :F BF 1JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ,:J ^:J J J a J a J g;a J g;a G- 9 BA O >EO w,b3ABx@YB4@B!T9B_ :>yBH@?@"?3ſ8`NU? H Ӛ?"? ^x?ɨBx@B ;@yNBN$IIZIZ{4٢^e> bA=9bQ b>dd fG٣dyj< j> nNusing accuracyPremultiplier from confighnJ59j?rJ5Yj" ij٫Aprv@j7Ej ;jq ;j?J5x z@xDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf~)@]]]])!@!T  @I,: ɚ=i=驻I9IEtiAiE )A)ID59*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IGC BI O >zK% yJK! K! K% K% )w,CMABI@YBȖ@B Y9BC :>yBH??Yſ@@p?TK !??xx?ɨBI@B;@yJBJ$IiV)>IV4< Z=Za=EWill construct direction to contact in vehicle frame from tetrahedron phase data.uMb@Mb@Mb@qqq q)qYu{Gz?Pn~jtyuף=uuq q)qIqqyqIIHo4٢= >=9tQ > G٣y; > ]Nusing accuracyPremultiplier from configeJ59?eJ5Yt# iAe; >e;ee@7E/<<J5q @DNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf)*@]]; >]]; >]]U@]]H@ Y 隝= @I): ɚz5iNIItii|R))D*F=?2F9:FABFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.G% 9 B1 OU >H I  I $II BI 2 =&I .I 6I ð<:I g F I Vw,t(gA6Y@Y6ئ@6N\96 :>y6H?J?uſ_ c?@T? ?px?ɨ6Y@6*;6CyVBZ$IIbwIbR4٢j-= jX=9nQ n>pp rG٣pyrx; v> zNusing accuracyPremultiplier from configtJ59v?J5Yv$ ivwA  l @v7Ev8;vH;vNJ5 @!eDNOT Ignoring new targets: 59.90 m. jajijijiiihihqhyhyffrfbfP+@]]]]Y@N\ J @I%3: ɚ5iIItii))Dm9MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF\0JF*J 4="J JJJ0JJ:J :Jـ3JJ<J<Jw;Jw;G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.= w,A6@Y6@6X(b96֗9>y6H ??ſ`E?lG D?? y?ɨ6@6m;4yN BN$IIVvIV&Q4٢^_= ^L=9bWQ b>`d fG٣dyf`; f> ]Nusing accuracyPremultiplier from configYuJ59]?}J5Y]& i]DAP@]7E]A<]:F<]J5) -e@Q IDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf?},@]]]]rg@5X(b 15D@I=): 9ɚ=i=ܼI9IEtiiimZ)i)izKKu9KKK)Qi&8Q)t2kR@1'! UWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*FE ?2FA :FA BFE P0JFA G#(BO>'w,, AWill construct direction to contact in vehicle frame from tetrahedron phase data.: @Y:@:`h9:9>y:H:?~?@sſ |w? B@ ??@x?ɨ: @:mZ;:CyB!BF$IuMb@Mb@Mb@qqq q)qYuQ?RQL7A`堿yuu=u½u+u@ ut@)qIuݸ@qyu@IbI-4٢y; =9BQ > G٣y9; > Nusing accuracyPremultiplier from configJ59?J5YB' iA=;U@7E;;JJ5 U@DNOT Ignoring new targets: 59.90 m. jjjjihhhh BZH RH ?AH >I I%II8BI&I.I6I۰<:Ix Ff9f9rfAbfE\-@ I]E=]E=]EҨ@]E@]`h Y]p @Ie*: ɚ"5iIItii7))Will construct direction to contact in vehicle frame from tetrahedron phase data.AiADe)9JJJ1JJ:J :J3JJ<J<JcW;JcW;*F ?2F :F BF O0JF GEBIOm>.w,FA6kĝ@Y6Ӥ@6h969>y6H W+?v? §ſE? Z?? x?ɨ6kĝ@6o;6CyB4BB%IIJIJq4٢V = V9=9VnQ V>XX ^G٣\y^U; ^> bNusing accuracyPremultiplier from config`fJ59b?fJ55Will construct direction to contact in vehicle frame from tetrahedron phase data.YbT( ibAIU.U@b7Eb ?Da I*F?2F:FBF^0JFzK-OK-9K)K-K- /;0$BK9:K9Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Bq O >5w,A>Н@Y>ߤ@>E-n9>9>y>Hh@?q?ſH@?`Vcō?`?x?ɨ>Н@>p;>CyJ7BN%I-Mb@Mb@Mb@))) )))Y-+?J +y-=-H-̼-@ )))I-@)y-@I}zI}=X4٢fl< ==9'AQ > G٣yW; > Nusing accuracyPremultiplier from configJ59?J5Y( iɪA=D<@;;J5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhǁBffrfbf@Y/@]-=]-=]-N@]-Y@=E-n 9E@IE/: AɚEs5iAIAIMtiIiM3 )Q)QD\9EEMWill construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FI:FIBFU`0JFQ"Ge=Ge=HI IH%IIaBI3 =&I.I6I<:I6 F IG ƎB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.;w,AJ+3K+O3 K+(.K#K#"K#J6J6J4J4J6,:J6/:J4J4J6<J6<J6^;J6^;b>@Yb@b6m9bƮ9>ybH@Ca?i?pſ`?ir@b??x?ɨb>@bÉ;`yEIBE,%I IM=IUrIUJ4٢e!= eN=9m7Q m>qq }G٣yy}_; }> Nusing accuracyPremultiplier from configJ594?J5Y) iAx@::iJ5B @DNOT Ignoring new targets: 59.90 m. jjjjihhhh1f9f9rf9bf=/@]y]y]y]}1@6m 隭N@I/: ɚ6iIItiiv:))DJ9*F!2F!:F!BF%0JF!]Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge %*Bq O ) I) Bw, A2@Y2@2v928>y2Hqo? 7g?wſ&?@IV?@c?y?ɨ2@2r;2Cy@B+%IzKnؐLKlKlKnKnRKv ?JKv?UMb@Mb@Mb@QQQ Q)QYUkt?x&MbyU 0=U7UQ Q)Uݸ@IQQyU=@IevIe&Q4٢u"{ }I=9}Q }> G٣yj; > Nusing accuracyPremultiplier from configJ59?J5Y7* iA=<@7E1;-/;J5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhӁBffrfbf`Z0@] =] =] @] ˆ@v @I91: !ɚ%86i!I!I-ti)i-)))1Will construct direction to contact in vehicle frame from tetrahedron phase data.Dj9*Fa2Fi:FiBFmo1JFiGM cBQ Ou >e Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH p<H I  I t%II BI 2 =&I .I 6I <:I c FHw,_%A6@Y6t @6INw9678>y6H ?``?ſJB?pU@|?@b??z?ɨ6@6,;6Cy>SB>7%IIFIFa4٢NP= NY=9RZQ R>PP VG٣TyV; Z> b$?Id fNusing accuracyPremultiplier from config\fJ59^?jJ5Y^* i^jAhjjj@\^s;^s;^>J5x za@|DNOT Ignoring new targets: 59.90 m. jjjjihhhhf f rfbf50@]]]]چ@INw @I/: ɚI]6iIItiiK))Will construct direction to contact in vehicle frame from tetrahedron phase data.Du|9*F ?2F :F BF 0JF G  G G5 8BA O] >aPw,cAAWill construct direction to contact in vehicle frame from tetrahedron phase data.%=<:@Y:<@:[x9:7>y:H?@C[?sſ]? Q@??@:{?ɨ:@: ;:CyBRBD)\ \IbIbq4٢M( %4=9%1Q %>)) -G٣)yUր; U> ]Nusing accuracyPremultiplier from configYeJ59]}?eJ5Y]+ i]BAamPm@]7E]:];]?J5 j@DNOT Ignoring new targets: 59.90 m. jjjjihhh h f f rfbf21@ I]]]]@[x @I-: ɚ6iIItii))zKuBoIKu9KqKu Ku) BK:K!=vAaDm9 7YvAywBWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J&:JJa@a@a@a@*F 2F :F BF 0JF G% B1 Oe >Ww,]Ayn^BrE%IMb@Mb@Mb@ )YˡE?v/Mby'=xi )Ʒ@Iݸ@y@IIy4٢F= 2=9Q > G٣y > Nusing accuracyPremultiplier from configJ59m?J5Y_, iA = +< B @3;b;CJ5 @=Will construct direction to contact in vehicle frame from tetrahedron phase data.MDNOT Ignoring new targets: 59.90 m. jIjIjIjIiIhQhQhYh]ށBfYfYrfYbfe1@]=]=]@]@ 隝@I.: ɚ~6iIItii))HI I%IIBI3 =&I.I6I<:IZ FBIYJIYRIYZI]2 =bIYjI]4D  I*F?2F:FBF5JFG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.p<]w,#wA:] @Y:/@: 9:gX8>y:H@/?@P?@ſA?$L1a?|?z?ɨ:] @:yՉ;:CyF[BFA%IININ%x4٢V V^=9VQ Z>XX ZG٣Xy^< b> jNusing accuracyPremultiplier from confighnJ59j?nJ5Yj, ijApr r@j7Ej[;j;jtJ5vB v@vNE B*** querying acoustic contact ***j j %DNOT Ignoring new targets: 59.90 m. j!j!j!j!i!h!h!h)h)f)f)rf1bf5$2@]Y]Y]Y]] @m qu@Iv4: ɚǥ6iIItiix))Du9*F ?2F :F BF P0JF "G=G=EWill construct direction to contact in vehicle frame from tetrahedron phase data. M2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode. yIyG5 0BO] >zK K 9K K K %]gonnljgeb]^_^]ZUQQMGE@1$!!   =$dw,^A2#@Y23@2292#O8>y2H`?:N?yſ-?F?C?@z?ɨ2#@2$;2Cy:ZB:@%IiB=IBC=RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.560787JuJuJu0JqJu:Ju :Juـ3Jq-Mb@Mb@Mb@))) )))Y-~jt?Zd;L7A`堿y-D=-y-+-j@ -G@))I-@)y-@IErIEJ4٢Ma U2=9Q > G٣ytX: > Nusing accuracyPremultiplier from configJ59?J5Y- iԩA=<@y;;J5 @ DNOT Ignoring new targets: 59.90 m. jjjjihhhhЁBffrf!bf%`z2@]E=]E=]Ep!@]Ed@U2 QUG@IU,: Yɚ]6iYIYIetiaieY)a)aD9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813428*FI 2FI :FI BFM 4JFI ZH RH AAH I  I %II BI 2 =&I .I 6I <:I _ F i Ii G B! Oe >jw,uAF4@YFD@F)˓9FŴ7>yFHJ?F?ſ?#y?)?6{?ɨF4@F;FCyN\BNC%IIZqIZJH4٢^MF< bS=9b[JQ f>dd fG٣hyjd; j> nNusing accuracyPremultiplier from configlrJ59n혜?rJ5Ynq. inAtv_v@n7En;nV;nJ5x z@|%DNOT Ignoring new targets: 59.90 m. j)j)j)j)i)h)h)h1h1f1f1rf9bf=`)2@]Y]Y]Y]]w@m)˓ im@Iu4: qɚuI6iqIqI}tiyi})y)2D*DsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064981D%9*F?2F:FBFP0JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316699G -B) Q IQ Ou >qw,AV?@YV#O@V (9V7>yVH$ ?@A? Ԏſ`?? ?{?ɨV?@V;TybbBbJ%IIjyIjxV4٢rn< rF=9v Q v>tx zG٣xyzV; z> ~Nusing accuracyPremultiplier from config|J59~옜?J5Y~-/ i~A)-+5@|~;~;~nJ5Q ]i@YDNOT Ignoring new targets: 59.90 m. jjjjihhh9h9f9f9rfAbfE`T3@]]]]@ ( 隽A@I,: ɚk6iIItiiH))zKZNKk9KK KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568829JMJMJM1JIJM :JMK:JM3JID9EE*F 2F :F BF O0JF G rA G U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823913G B O>xw,kAH,I, I.%II.BI,&I,.I,6I.V<:I. FBKB@YBQ@BE9BW!7>yBH ?@? !ſ@M?2 ??{?ɨBKB@B ;BCyNeBNM%I)P PPRA IMb@Mb@Mb@ )YX9v?V- rhy}=hC @ @)@Iݸ@y@IpIF4٢-?< -#=95Q 5>99 =G٣9y\&: > Nusing accuracyPremultiplier from configJ59g똜?J5YP0 i`A8=<p@7E;ˁ;J5B @@PEMDNOT Ignoring new targets: 59.90 m. jIjIjIjIiIhQhQhQhUƁBfYfYrfbfE3@]8=]8=]_ĭ@]@E @Is.: ɚ6iIIti i 2))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072843D}m9*F ?2F :F BF P0JF G=BIOe>w,O#AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325033>IM@Y>\@><9>7>y>H o!? :?ſb?` IM@>s;>CyFdBDIvIvHo4٢?n ;=9_Q >!! %G٣!y%M; -> =Nusing accuracyPremultiplier from config1=K595Vꘜ?EK5Y5D1 i59AAE5E@15:5:5K5Q UC@QDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf44@]]]]@< @I3: ɚ7iIItii)) ID9*F}?2Fy:FyBF}_0JFyzK-K-9K)K- K-RKU?JKU ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576841GeBiJJJ0JJ:J :Jـ3JO>;w,AN4R@YNa@NA9Nt7>yNH*? 7?xſC?@ѧ?`?\z?ɨN4R@N_Y;LyZfBZO%IuMb@Mb@Mb@qqq q)qYuv/?+Qyuxi=uuuj@ u1@)qIuƷ@qyu\@II%x4٢ < C=9Q > G٣y: > Nusing accuracyPremultiplier from configK59蘜?K5Y/2 iA,=<F@7E;;HK5 &@DNOT Ignoring new targets: 59.90 m. jjjjihhh h Bf f rf bf@4@]-,=]-,=]-@]-@EA AEz@IE2: IɚM 7iIIIIUtiYi]u6)Y)YUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829192jHIbHM<HYIY IYIYIY&IY.IY6I]<:I]F F ID9*F?2F:FBFS0JF"G>G!> Will construct direction to contact in vehicle frame from tetrahedron phase data. (dw,*8A28Y@Y2h@2ش928>y2H6? 63?`ſֶz?u~??Py?ɨ28Y@2n4;0y>jB>T%IiB G٣y n ;  > Nusing accuracyPremultiplier from configK59瘜?K5Y3 iA/%@7E@:@:K5) -@)]DNOT Ignoring new targets: 59.90 m. jYjYjYjYiYhahahahififirfibfm`5@]]]]@ش 隭@IV4: ɚ7iIItii]))Will construct direction to contact in vehicle frame from tetrahedron phase data.Bw,QA2|\@Y2k@2d092y8>y2H> G٣ye: > MNusing accuracyPremultiplier from config)UK59-嘜?UK5Y-@4 i-ǨA]=];]]@)-;-;- K5i m,@iDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbfy5@]-=]-=]- @]-4@md0 iu @Iu /: qɚu 7iqIqI}tiyi}%N))2D*DrAD 9*F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. I  I %II BI &I .I 6I +<:I F ) I) G B O >>tw,kA6(a@Y6p@6Ƽ968>y6HrD?B.?ſ@?^`И??x?ɨ6(a@6G߉;6CyJhBJR%IIRqIRJH4٢Zl< Zi=9Z>Q ^>\\ ^G٣`yf<: f? jNusing accuracyPremultiplier from confighnK59j䘜?nK5Yj5 ijAlnr@j7Ej:j:jK5t v@tDNOT Ignoring new targets: 59.90 m. jjjjihhh!h!f!f!rf)bf- -5@]Q]Q]Q]U@eƼ ae]@Iej@: iɚm(7iiIiIutiqiuV )q)yD9*F?2F:FBF5JFG  G sA]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Response Not Received e*response not receivedm,DAT read: user:2629> uBDAT read: Tx time:22:28:25.0543 }$Ping request sent.} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:28:25.0536  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250181Uw,A dId Jj@Y y@ ͼ9 8>y HT?`)?ſȮ8#?(^@0?}?x?ɨ Jj@ P; Cy=pBE[%I)I IQUBAIUuIUaO4٢e}= e@=9mFQ m>iq uG٣qyu,; u> Nusing accuracyPremultiplier from configyK59}㘜?K5Y}!6 i}A@}7E}:}:}K5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfA6@]]]]e@ͼ C@I2: ɚ $37i9IAItiiWW))ImtAA qYtAyXAzKBoHKu9KKKRK% ?JK%?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501178Dm>9*F ?2F :F BF 0JF G-B9OU>~w,QAjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753288ZHQRHU@AH] >IY I]%II]BIY&IY.IY6I]<:I]H FBI!JI!RI!ZI!bI!jI%93yޅmBޅX%I I-uonly read 0 of 1 data item for altitude. Device response is::BD, -71.57, +1339 -20.20, 5.69, 0.00  u@} }@} }@}  }@} I]I$4٢$ !=9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configK59ᘜ?K5Yg7 iVA+:;@7Eu;i?K5 @MDNOT Ignoring new targets: 59.90 m. jQjQjQjQiQhYhYhahafifirfibfuc6@ 隵@ID/: ɚ=7iIItii))BD=?:DH?D%9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005409J J J 0J J L:J B:J ـ3J J @ <J @ <J "b;J #b;*F ?2F :F BF 0JF G B O >5w,A6%n@Y6}@6I޼96?+>y6H-[?z8?)Ŀ ;?@{uݛ?rL? ?ɨ6%n@6<;6Cy>jB>T%IIJ,IJ3٢N; RP=9R4Q R>PT VG٣TyZ: Z> ^bBottom track data is 0.9 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXbK59Zߘ?bK5YZb8 iZ3Ab :df;ff@XZI8;ZGg?Z]K5h j@lDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@<-7@ I޼  @I6: ɚUG7iIItiir)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257366)I I hD}M9EEnA*F12F1:F1BF53JF1"G==G=>G B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509290zK K 9K K K GVw,SA:v@Y:W@:9:`U.>y:Hj? 0?`ſIJ?̩ d֜??`]?ɨ:v@:l;:CyBaBBI%IiF=IF> Jp=J= M M MM MM  M M MMb@Mb@Mb@III I)IYM+?B`"۹QyM=MνIMj@ I)Ml@IMƷ@IyM @IeQIe4٢uh  u>=9}Q }>y G٣y2"; > Nusing accuracyPremultiplier from configK592ݘ?K5YD9 i AT:=;@7E=;;K5 v@}DNOT Ignoring new targets: 59.90 m. jyjyjyjyiyhhhhBffrfbf`Ś7@]5=]5=]5@]5)@E AE@IM2: IɚM=Q7iIIiIutiqiu )y)yeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761202H >I I%IIƆBI3 =&I.I6Iʰ<:Ik F IDu_9*F 2F :F BF P5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013810GU BY O} >nw,A*J "J4=JJJ1JJ\:J9:J3JJ<J<JX`;JX`;Jؚ@YJW@J9Jk.5>yJH?`?ſ;྇?_??|?ɨJؚ@JϠ;HyVfBVO%II^eI^34٢f@< fB=9jiQ n>ll nG٣lyr9+< r> vNusing accuracyPremultiplier from configt5K59vژ?=K5Yv": ivA9=c=@v7EvB0K;w,AyMbBMJ%IMb@Mb@Mb@ )Yl?Cl绿Mby=;߽S@ @)V@I@yµ@IpIF4٢z 2=9 Q  > G٣y > %Nusing accuracyPremultiplier from configzK%BoHK%9K!K%K%=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519351EK59ט?EK5Y; iAM=M;M)M@;i;$K5Q Uf@Y}DNOT Ignoring new targets: 59.90 m. jjYjYjaiahahahihmBfifirfibfu~8@]=]=]D@]}@ @IZ1: ɚe7iI ItiAiEPٽ)A)ID}9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773309*F 2F :F BF "5JF jH% <bH% < 9 I9 H) I)  I) I) I) &I) .I) 6I- <:I- 8 FGQ  GQ GoܽBO> w,0A2 @Y2˥@2D192ߑ7>y2H??ƿ@F?Z@ޤ??x?ɨ2 @2';2Cy>eB>M%I)@ @IfrIfJ4٢n+< n7=9n6Q r>pp vG٣tyv< z> Nusing accuracyPremultiplier from config|K59~<՘? K5Y~ < i~A   @~7E~>;~;~(K5 @@EDNOT Ignoring new targets: 59.90 m. jAjAjAjIiIhIhIhIhQfQfQrfQbfUq8@]y]y]y]}H~@D1 隝@It6: ɚn7iIItiiy/ҽ))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:28:27.5701 TRx dataTimestamp_ set to:1736375308.856831checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026528J=J=J9J9J= :J=-.:J9J9J=<J=<J=u;J=v;DE9*F2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277360 I G uٽB O >~w,vJA6˞@Y6Xۥ@696*8>y6H??4ƿ`?d ??w?ɨ6˞@6׎;6CyBWBB=%IIJqIJJH4٢R RO=9V\ºQ V>TT ZG٣XyZ; Z> bNusing accuracyPremultiplier from config\bK59^Ҙ?fK5Y^< i^_Adff@^7E^:^:^(,K5h j@l DNOT Ignoring new targets: 59.90 m. j j jjihhhhffrfbfR9@]]]]n~@] Y]T@Iel5: aɚex7iaIaItiik}Ͻ))D*F2F:FBF\0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 83.7 m (Round-trip 111.6 ms) speed -0.1 m/s ,DAT read: user:2630> %BDAT read: Tx time:22:28:28.6543 %$Ping request sent.%tw,zPdA:+ٞ@Y:@:\9:O8>y:HB??`?ƿ{`?@D`qw??}w?ɨ:+ٞ@:;:Cy^PBb4%IUMb@Mb@Mb@QQmWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:22:28:28.6536 H >I III2 =&I.I6I<:IS F aIQ Q)QYU rh?q= ףp rhyUC =U뽹UC Q U@)U?@IQQyUp@IIt4٢k :=9ȺQ > G٣y|q; > Nusing accuracyPremultiplier from configK59Ϙ?K5Y= i/AG=;9@7E;;0K5B ~@SE- addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 25.466952 s, deltaX: 0.099998 m, approachRate: 0.003927 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 59.90 m. jQjQjQjQiYhYhYhaheBfafirfT@bf`?]G=]G=]@]{@\ R@I 3: ɚ e7i I ItiiV̽))PExceeded connect timeout, disconnecting.Du9 Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J U:J ـ3J J ;J ;J e;J e;*F ?2F :F BF O0JF "GM =GM =GMӽBYOu>w,䞂A>ڞ@Y>J@>S 9><9>y>H@??7mƿ zzU?⪿)?? u?ɨ>ڞ@>鼍;>CyFHBF*%IiN=INR=IRWIR44٢^ ^:=9^JQ ^>`` bG٣`yb9 f> jNusing accuracyPremultiplier from configdnK59f̘?nK5Yf> ifAln*n@dfP:f:f3K5t v@tDNOT Ignoring new targets: 59.90 m. jj!j!j!i!h!h!h)h)f)f1rf1bf5?]Q]Q]Q]U{@eS imQ@Im8: iɚu7iqIqI}tiyi}4̽)y)yMWill construct direction to contact in vehicle frame from tetrahedron phase data.M=M4= u$?IqD9*FU?2FQ:FQBF][0JFY Will construct direction to contact in vehicle frame from tetrahedron phase data.zKu LKu 9Kq Ku Ku RK ?JK >GU uνBY O >w,8gAVo֞@YV@V t9V?8>yVH? ?xƿ%|@9?z7@͡?U?u?ɨVo֞@VT;VCyr=Br%IuMb@Mb@Mb@qqq q)qYu/$?Zd;+yu,=uuu=@ q)u(@Iqqyu̴@I6Im3٢N ==9 G٣y# > Nusing accuracyPremultiplier from configK59ʘ?K5Y? i˦A >;@7E;;7K5 @DNOT Ignoring new targets: 59.90 m. jjjjihhh!h%pBf!f!rf!bf-@s?]E >]E >]Eg@]E@ t @I4: ɚ<7iIItiiν)) D aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFZHRH?AH >I I%IIBI3 =&I.I6I<:Ia FG VνB O > } nManaging dock network, ignoring radio surface power offw,W=A2v՞@Y2@2)92>o8>y2Hj? J?ຊƿ|???u?ɨ2v՞@25Ȍ;2Cy>2B>%IIJ@IJ3٢Rd R]=9RŻQ R>TT VG٣TyZ% Z> ^Nusing accuracyPremultiplier from configXbK59Zǘ?bK5YZ@ iZA`bb@Z7EZ ;Z ;Z:K5h j[@hrWill construct direction to contact in vehicle frame from tetrahedron phase data. DNOT Ignoring new targets: 59.90 m. j j j jihhhhffrfbf%?]]]]@) UF@IU:: Yɚ]7iYIYIetiaia)a)iDu9EyE}qA*F%?2F!:F!BF%X2JF)G9 G=rA QIYWill construct direction to contact in vehicle frame from tetrahedron phase data.GM uνBY Ou >)- ſ= - Cw,>]A6c~GFvAZA I%Y vAy PB]$@Y]@]9]8>y]HB? ?gƿo@-?h@??u?ɨ]$@]j;]Cyޝ*Bޥ%I) A-only read 0 of 1 data item for BIT error. Device response is::TS,25010814293661,35.0, +10.9, 0., 0  @ @ @  @ IIk4٢] "=9M:Q > G٣yg; > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configK59Ę?K5YA icA+:;Will construct direction to contact in vehicle frame from tetrahedron phase data.@7E?;?o>K5 @5DNOT Ignoring new targets: 59.90 m. j1j1j9j9i9h9hAJ3K3 K/.KK"KJIJMJIJIJIJM:JIJIae@ae@ae@ae@hAhafifirfibfmP@zKk3IKKKK 3@IJ0: ɚ97iII%ti!i%ǽ)!))DM 9*F 2F :F BF `0JF ! I! Hi } Will construct direction to contact in vehicle frame from tetrahedron phase data.Ii  Im %IIm BIm 2 =&Ii .Ii 6Im i<:Im $ FBIJIRIZI3 =bI3 =jI˜4GBO >mw,$A2@Y2R@22928>y2H@i??qƿe`JT?.Ţ?H?`v?ɨ2@2hь;2Cy<<IFfIF449jK)Q j>ll rG٣pyr; r> zbBottom track data is 0.9 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~K59v]?~K5YvB iv2A~ :|;@v7EvUw;vi?v@K51 11eDNOT Ignoring new targets: 59.90 m. jajajajaiahahihihifqfqrfqbfu`|@2 隡I9: ɚ7iIItii0sý))%Will construct direction to contact in vehicle frame from tetrahedron phase data.DM9*F2F:FBF0JF Y Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data.GM N̽BY Ou >dw,5 A6@Y6D(@6n]96kZ8>y6H??~ƿ#] t? ?`m?`v?ɨ6@6;6Cy>B>$IIFuIFaO4٢V ^<9fתQ f>dA EG٣AyE; M> UbBottom track data is 1.3 s old, using for 20.0 s. UNusing accuracyPremultiplier from configQ]K59U?]K5YUC iUAe9aeQ;e{e@U7EU(;Un?UBK5q u@qDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf`@n] @Ia6: ɚ7iIItii))D)*F?2F:FBF5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.AiJJJJJ:J:JJzKBoHK9KKK  G= ]ŽBI Oe >ew,6#AJW0@YJ?@J9J9>yJH'?`a?@ƿQ ӡ?So??kt?ɨJW0@J;JCyVBV$IiZ,>IZp= Z=Za= I        Mb@Mb@Mb@ )YˡE?Dl/$y=O , @)@Iy׳@I vI &Q4٢% %5=9%Q ->)) -G٣)H9I9 I=%II=BI9&I9.I96I=<:I=L FuWill construct direction to contact in vehicle frame from tetrahedron phase data.y5; 5> ENusing accuracyPremultiplier from config9MK59=?MK5Y=E i=ĥAuT:u)>u;uu@=7E=';=E;=FK5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhh;Bffrfbf- @]e)>]e)>]e@]e@} y}@I}3: yɚ}7iIItiiS;))D 9- Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 0JF J J @AG2BO>Hw,|&CA6;@Y65K@6G$969>y6H?`x?Nƿ$L?%@!? ;?%s?ɨ6;@6f;6CyBBB$IIfqIfJH4٢n r6=9rOQ r>tt vG٣tyzJ; z> ~Nusing accuracyPremultiplier from config|K59~?K5Y~F i~A  @~7E~:~e ;~fJK5 K@=DNOT Ignoring new targets: 59.90 m. j9jAjAjAiAhAhAhIhIfIfQrfQbfU @]y]y]y]}B@G$ 隍@Im;: ɚ7iIItii7))2D*D 1I1Will construct direction to contact in vehicle frame from tetrahedron phase data.D5!9*F2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.J% J% J% 1J! J% :J% :J% 3J! zK .LK -9K K K C~wrolg_[VQKD?;3*# G% !HB1 OM >;w,M\A2;@Y2K@2k*92St9>y2H9?? ƿK?Ve K? ?` s?ɨ2;@2T;2Cy:B:$IMb@Mb@Mb@ )YB`"۹?V-¿ly=h/@ ן@)Iy@I}I}r4٢; ?=9kQ > G٣y/ > Nusing accuracyPremultiplier from configK59{?K5YH i[Aj6>;@7E;;0NK5! %;@)DNOT Ignoring new targets: 59.90 m. jjjjihhhh3Bffrfbf`@]j6>]j6>]@]/@k* )@I6: ɚ(7i!I!I-ti)i-)))) !I!H >I It%IIBI&I.I6Iv<:I/ FWill construct direction to contact in vehicle frame from tetrahedron phase data.D09*F% ?2F! :F! BF% X5JF! G)  G) GM ?BQ Ou >bw,/yAWill construct direction to contact in vehicle frame from tetrahedron phase data.*JVR="JV%=ZA@YZQ@Z`N/9ZzK9>yZH`?y?`ƿ Hl?@姿??@r?ɨZA@Z>;ZCy`d)h hhhInnInB4٢z zC=9z:Q z>|| ~G٣|y`: > Nusing accuracyPremultiplier from config K59 ?K5Y iJ i *A_@ 7E : 7: QK5! -B@)UDNOT Ignoring new targets: 59.90 m. jQjQjQjYiYhYhYhYhafafarfabfmTP@]]]]8@`N/ 隥@I`<: ɚ7iIItii+))DMB9 IhWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 4JF G% B9 OU >$w,V AuE@Yu8U@u49u8>yuH[?? ƿ=F:?G;?`? r?ɨuE@u;uCy޽B޽$III٢]; 2=9=Q > G٣yL: > Nusing accuracyPremultiplier from configK59]?K5YHL iAE@7E;x;UK5  5@=DNOT Ignoring new targets: 59.90 m. j9EWill construct direction to contact in vehicle frame from tetrahedron phase data.j9jAjIiIhIhIhQhQfQfQrfQbf].@]y]y]y]}>@4 隍5@I$6: ɚV7iIItii\~))JJJJJ:J:JJDyzKjNK9KKKRK?JK ?*F ?2F :F BF P0JF I Gu eZHy RH} AAH I  I a%II uBI &I .I 6I <:I = FB  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >+*w,ìA6D@Y6iT@6E;968>y6H b??WǿF"?@f? ?r?ɨ6D@6-ˊ;6Cy>B< Mb@Mb@Mb@    ) Y y&1?ףp= ÿ rhy `=  C  ) @I @ y IupIuF4٢' `=9vQ > G٣y > Nusing accuracyPremultiplier from configK59 ?K5YM iʤAF>;@7E;;XK5B -@VEDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf8@]F>]F>]Ѫ@]T@-E; )-)@I-@: 1ɚ57i1I1I=ti9i=)9)ADuP9*F?2F:FBF_0JF"G=G>]Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B1 OU >N1w,ǟA6L@Y6)\@6@968>y6H?@? ǿBt?  b?`? q?ɨ6L@6;;6CyBBB$IiF=IF=IJtIJM4 PIT٢ZX= ^X=9^HQ ^>`` bG٣`yf#; f> jNusing accuracyPremultiplier from confighnK59j?nK5YjO ijAlnr@j8Ej. ;j ;jM\K5t v@tDNOT Ignoring new targets: 59.90 m. jjjjihhh!h!f!f!rf)bf-@]Q]Q]Q]U^@m@ imo@Im>: iɚu7iqIqWill construct direction to contact in vehicle frame from tetrahedron phase data.Itiihݵ))Db9*F?2F:FBF^0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.q iq zK% BIK% 9K! K% K%  BK1 :K5 rAGU 57w,AyM1BU%IMb@Mb@Mb@ )YA`"?w/ĿV-y=&@ )@Iy@IIr4٢5= 51=95Q 5>99 =G٣9y= E> MNusing accuracyPremultiplier from configIUK59MF?UK5YMQ iMmAUMI>U;UU@M8EMQ;M;MV`K5eB ed@eXEDNOT Ignoring new targets: 59.90 m. jjjjihhhhABffrfbf@]MI>]MI>]S?@] @ @I7: ɚ(7iIIti i 36) )  E$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.HI It%IIBI3 =&I.I6IQ<:I FDE_9*F2F:FBF_0JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J /:J J J a J a J ^;a J ^;a G 5B) OM >l>w,ABU@YBie@BJ9Be9>yBH ?B?Gǿ<?`.,Q? ? ?p?ɨBU@B(ʋ;BCyJ>BJ%IIRjIR;4٢bہ= bS=9bpڻQ b>dd fG٣dyf>; j> nNusing accuracyPremultiplier from configlrK59nt?rK5Yn^S inCAprr@n8En:n:ncK5x z@x}DNOT Ignoring new targets: 59.90 m. jyjyjyjyihhhhffrfbf@]]]]鱇@J @I =: )ɚ-57i)I)I5ti1i=)9)9Dq9*F?2F:FBF]1JFG! G! aIiWill construct direction to contact in vehicle frame from tetrahedron phase data.Օ%=ՑG U BI } NG 9 m Yi yu BO} >sEw,7AeV@Yee@eIP9e?89>yeH?w?`WǿF< ?R?%?o?ɨeV@e \;eCyލRBލ6%I) AWill construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y5Mb?@5^I ¿Mby5=5b55@ 1)5@I11y1IMtIMM4٢]= ]3=9]zFQ ]>ai mG٣iym^8 u> }Nusing accuracyPremultiplier from configq}K59u?K5Yu(U iu!AL.>;~@u8Euj;u;ugK5 Z@DNOT Ignoring new targets: 59.90 m. jjjjihhhhaBffrfbf2[@]L.>]L.>]Ϝ@]Ї@zKKK9KKKIP @I=i7: 9ɚ=7iAIAIMtiIiMQ)I)Q QIQD9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF _0JF H I  I %II BI &I .I 6I _<:I  FBIJIRIZI2 =bIjI4G2B)OE>JLw,C4A2b@Y2Lr@2rS92U9>y2H??ciǿ6@p?rp`? ? )o?ɨ2b@20;0y>dB>L%IIJdIJ?14٢V= VF=9VںQ V>XX ZG٣Xy^v; ^> bNusing accuracyPremultiplier from config`fK59b?fK5YbV ibAdfaM@b8EbxSw,zNA2e@Y2t@2W92&9>y2H ?E? oǿ4 ?ݣ@ ?`u?Eo?ɨ2e@2Ί;0y:yB:f%IIFbIF-4٢N}= RL=9R;Q R>TT VG٣TyV4: Z> ^Nusing accuracyPremultiplier from configXbK59Zq?bK5YZWX iZA`b[b@Z8EZq ;ZP ;ZnK5d j@h~DNOT Ignoring new targets: 59.90 m. jjjjihhh h f f rfbf@ۚ@]1]1]1]5F@W 隥"@I9: ɚiIItii-))D9-Will construct direction to contact in vehicle frame from tetrahedron phase data.EA*F?2F:FBF3JF"GGzKmBoHKmk9KiKmKmG &B O% > 9 IA Yw,ihAft@Yf@fY9fuu9>yfH$?@x?{ǿb- \;?@g飿91??n?ɨft@f;fCyvBv|%Iiz=Izp<Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս=Ս<HI I%IIцBI2 =&I.I6I0<:I FMb@Mb@Mb@ )YZd;?V-y&1|yy=`@ )Iy@II٢= -=9fvQ > G٣y|; > Nusing accuracyPremultiplier from configK59?K5YY iͣAe>;M @8E;;rK5 @DNOT Ignoring new targets: 59.90 m. jjj!j!i!h!h!h)h-Bf)f)rf1bf5 @]Ue>]Ue>]UI@]Uh@eY aep@Im1: ɚ4*5iIItiiK))Dm95 Will construct direction to contact in vehicle frame from tetrahedron phase data.*J 4="J 4=J J J J J <:J :J J J 4;J 5;J -Y;J .Y;*F 2F :F BF 1JF G-gB9Ou>/aw,>AF@YF#@F\9FU9>yFHT??ǿ l?C飿瘫? ?n?ɨF@F=;DyNBN%I \I\IbJIb)4٢j= jG=9nQ n>ll nG٣pyr{< r> vNusing accuracyPremultiplier from configtzK59v Will construct direction to contact in vehicle frame from tetrahedron phase data.%gw,yAzK0K29K0K2K2RK6?JK6>>v@Y>@>^9>q9>y>Hm??ǿX ? 棿տ? ?@1n?ɨ>v@>;>CyJBJ%IUMb@Mb@Mb@QQQ Q)QYUMb?A`"~jthyU G٣yU; > Nusing accuracyPremultiplier from configK59D?K5Y[ iA=;@8E};;BzK5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhԁBffrfbfj"@] =] =] (@] Qs@-^ 1@I3: ɚ5iIItii)) IDHaIa Ie &IIeBIe3 =&Ia.Ia6Ie<:Ie5 FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG GG% 'B1 OU >smw,UA>@Y> Ħ@>_]9>9>y>H?|?ǿr?R@]? ?n?ɨ>@>;>Cy^B^%I)` `Ij[IjK!4rWill construct direction to contact in vehicle frame from tetrahedron phase data.٢v6= vT=9z3:Q z>|JeJeJe1JaJe|:Je:Je3JaJe<Je<Jewp;Jexp;y }G٣yy'; > Nusing accuracyPremultiplier from configK59t?K5YE\ iA@ 8E2*;*;}K5 @DNOT Ignoring new targets: 59.90 m. jjj1j1i1h9h9h9h9fAfArfAbfE@?#@]]]]hs@_] 隝@I"5: ɚ#6iIItii))D9*F?2F:FBF ^0JF G#mBO%M> IWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑՑPtw,9A6d˟@Y6ڦ@6I[962$9>y6H?r?lǿ*?`ȟ@+p??n?ɨ6d˟@6*;4y^ÆB^%IIfeIf34٢r(N= rK=9vW`:Q v>tt vG٣xyz; z> ~Nusing accuracyPremultiplier from config|K59~?K5Y~\ i~A  t @|~:~7:~'K5 J@EDNOT Ignoring new targets: 59.90 m. jAjAjAjAiAhIhIhIhIfIfQrfQbf] j#@]y]y]y]}Ts@I[ 隍@I:: ɚI6iIItii))DWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFzKk3IKKKKBK:KG憧BO> I H9 I9  I= 6&II= "BI= 2 =&I9 .I= 2D6I= :<:I=  F Will construct direction to contact in vehicle frame from tetrahedron phase data. zw,ZA6@Y6@6Y96a9>y6H|? e? 'eǿ?D Z??n?ɨ6@66;6CyvцBv%IuMb@Mb@Mb@qqq q)qYuZd;OʡEyujuuuj@ q)u(@Iuݸ@qyup@IdI?14٢J= ?=9:Q > G٣yf< > Nusing accuracyPremultiplier from configK59?K5Y ] iwA=%<;@ 8ED;B;K5B b@[EDNOT Ignoring new targets: 59.90 m. jjjjih h h h Bffrfbf@$@]=]=] @]#W@Y R@I`1: ɚGr6iIItiim))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBFX0JF"G=G= y Iy G HB OE >Zw, A6@Y6a@6΋V96b`9>y6H d?X?VǿH.?ۥ VΪ??o?ɨ6@6_;4yZ׆BZ%Ii\I^= ``IfjIf;4٢nY< nG=9n:Q n>pp rG٣pyv< v> zNusing accuracyPremultiplier from configx~K59zT?~K5YzP] izjA|~:@xz*:z:zwK5 @MDNOT Ignoring new targets: 59.90 m. jQjQjQjYiYmWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Response Not Received u*response not receivedu,DAT read: user:2631> }BDAT read: Tx time:22:28:39.6044 }$Ping request sent.G @B O >̈w,$AJ@YJ%@JyJH@?;O?`Rǿ` O?s*?`?o?ɨJ@J<2;JCyjΆBj%I IMb@Mb@Mb@ )YJ +T㥛 MbpyH @)?@Iy@I5TI54٢UD U.=9]h9Q ]>Ya eG٣aym; m> }Nusing accuracyPremultiplier from configyK59}D?K5Y}*] tIi}YA=&<"?@@} 8E}>e;}w;}K5jH<bH4< @DNOT Ignoring new targets: 59.90 m. jjjjihH)I) I-U&II-;BI-3 =&I).I)6I-N<:I- Fh9hAhEBfAfIrfIbfM&@Will construct direction to contact in vehicle frame from tetrahedron phase data.] =] =] @] "?@m Will construct direction to contact in vehicle frame from tetrahedron phase data.0w,2>Ay~ІB~%II :I 3٢}S< a=9%Q %>!! -G٣)y- -> 5Nusing accuracyPremultiplier from config1=K595션?EK5Y5 ] i5LAAAE@153";5";5K5I Uh@QDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfV'@]]]] W@I+=: ɚ6iIItii4))D%9*FI2FI:FIBFM!5JFIGQ GQ $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G5B9)Y YO>c~G|uA = Y= |uAyE Bٕw,XAy ņB %I) AI1I3٢5X 5I=9AQ M>aa mG٣iyy > Nusing accuracyPremultiplier from configK596?K5Y\ i=A@ 8Ej<<fK5 @eWill construct direction to contact in vehicle frame from tetrahedron phase data.iimAJJJJJ:J:JJeDNOT Ignoring new targets: 59.90 m. jijijijqiqhqhqhyhyfyfyrfbf /F(@]]]] @It.: ɚ~6iIItiiٍ))!zKk3IK9KKK q\)  IDmE9H9 I9  I9 I9 I= 2 =&I9 .I9 6I= 4<:I= FBI)JI)RI)ZI)bI-2 =jI-H4 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F% ?2F! :F! BF% 0JF) GIBYOu>w,vA6/@Y6>@6EX96->y6H8l?R?`6ƿy ?8N ?l?~?ɨ6/@6Í;6CyBBB%I Mb@Mb@Mb@    ) Y J +)\(y&1|y  Ga `  ) (@I @ y I]#I]%x3٢m%v m*=9urQ u>qy }G٣yy}j; }> Nusing accuracyPremultiplier from configK59r?K5Y\ i+A=3<:@@;d;K5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf)@]=]=]@]:@EX !% @I-04: 9ɚ=6i9I9IEtiAiE)A)IMWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F!2F!:F)BF-3JF) iIi Will construct direction to contact in vehicle frame from tetrahedron phase data.G B Om >) w,AfV@Yftf@fNS9f1>yfH`?`:? gƿ A? K"|?@ ?`nz?ɨfV@f|;fCyvBv%II~eI~34٢ mؽ  O=9^<;Q > G٣yGI< > %Nusing accuracyPremultiplier from config!-K59%~?5K5Y%\ i%A15;@5@% 8E% ;% ;%K59 =[@ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf))@]9]9]9]=;@UNS QU]@IU0: QɚUiYIYI]tiaiA))EWill construct direction to contact in vehicle frame from tetrahedron phase data.De9Jـ3K(3 K(.KK"KJJJJJ:J&:JJE E *F?2F:FBFP5JF"GG>zK ǑLK -9K K K  9 I9 GM jBa O >cw,hAH >I I/&IIBI3 =&I.I1D6I<:IN FBz@YB@BN9BL4>yBHV?@>"?Ъƿ@ z?֩?y?v?ɨBz@B;BCyVBV%IiZ?>IZ<=Will construct direction to contact in vehicle frame from tetrahedron phase data.]Mb@Mb@Mb@YYY Y)YY] rhX9vMby]C ]}]]S@ Y)]?@I]Ʒ@Yy]p@I5rI5J4٢]m ]2=9e5;Q m>iq uG٣qy}-4< > Nusing accuracyPremultiplier from configK59{?K5Y\ iAy=7<5H@R;A;K5 5@DNOT Ignoring new targets: 59.90 m. jjjjihhhhсBffrfbf`f*@]Uy=]Uy=]U@]UtI@N 隍R@I/: ɚ"5iIItiin))DE9Will construct direction to contact in vehicle frame from tetrahedron phase data.J J AA*F ?2F :F BF JF I G%wB)O]>Pw,ضA6ݢ@Y6\@6J966>y6H??ƿ`)?dJIW??@s?ɨ6ݢ@6o;4y^tB^a%IIjjIj;4٢rc rA=9v(;Q v>tt zG٣xyzt#< z> Nusing accuracyPremultiplier from config|K59~)y?K5Y~\ i~A  G @~8E~L:~:~K5 +@MDNOT Ignoring new targets: 59.90 m. jIjIjIjIiIhIhQhQhQfYfYrfYbf] +@]]]]$J@5Will construct direction to contact in vehicle frame from tetrahedron phase data.MJ IMe@I}`/: ɚiIItiiv$a))2D*DsAD9*FM?2FI:FIBFU4JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:28:42.1203  TRx dataTimestamp_ set to:1736375323.481532J J J 1J J :J :J 3J Gu !rB O >w,QA:G@Y:ȧ@: qI9:58>y:H@u.??`nƿ.? C +?@?r?ɨ:G@:ϋ;:CyBZBBA%IzK~BoHK~u9K|K~K~ ,6;>COY`jmptx-Mb@Mb@Mb@))) )))Y-~jtx333333Zd;Oy-Ļ--j-=@ ))-@I-ݸ@)y-@IEsIEK4٢U" U>=9UK:Q ]>YY ]G٣aye; e> mNusing accuracyPremultiplier from configiuK59mv?uK5Ym\  IimȢA!=(<*@imȢI I%IIBI2 =&I.I6I<:IT FWill construct direction to contact in vehicle frame from tetrahedron phase data.DI*F ?2F :F BF 5JF G  G sA Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 83.7 m (Round-trip 111.7 ms) speed 0.2 m/s  ,DAT read: user:2632>  BDAT read: Tx time:22:28:43.2044  $Ping request sent. tw,AjhҠ@Yj@jzJ9j8>yjH D?)?ƿ,C?i@?`? p?ɨjhҠ@jqъ;hyrEBr&%I) AAImI3A4٢M U1=9UsQ U>YY ]G٣Yy]; ]> Nusing accuracyPremultiplier from configK59rt?K5YV] iA*@8En;;K5 @ ] addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 14.619030 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 59.90 m. jYjYjyjihhhhffrfbf@/?]]]]1^g@zJ O@I/: ɚ 5i I Itii0N)) !I!D*F?2F:FBFP0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:22:28:43.2037 GU |[Ba O} >w,AF:@YFΧ@FR9Fu8<>yFH 3??Mrǿ( 5?` R? G]?Yk?ɨF:@F ;FCyV%BV%IWill construct direction to contact in vehicle frame from tetrahedron phase data.IFI%3٢E M==9/Q > G٣yש > ENusing accuracyPremultiplier from configAuK59Er?uK5YE] iEAy}*}@AEI;E;EK5JJJ0JJ :J:Jـ3J @5DNOT Ignoring new targets: 59.90 m. j1j1j1j1i1h9h9h9h9fAfArfAbfm '?]]]]Jg@R \@I+,: ɚiIItiiX))1zKeMK#9KK K{{||wlIA;8567795/*'%"""       RK?JK> !I!jHbHp<HI I%IIBI3 =&I.I6IO<:I FM Will construct direction to contact in vehicle frame from tetrahedron phase data.DU 9*F ?2F :F BF d3JF G%NB1OU?=w,;A6@Y6/@6GzX96:>y6H$? ?fǿj)?` ?0?l?ɨ6@6;6Cy>B>$IEMb@Mb@Mb@AAA A)AYEl?zGếS㥛yE=E ׽E/ݼE/@ A)AIAAyE̴@I]>I]3٢mH u,=9uJQ u>yy }G٣yy} > Nusing accuracyPremultiplier from configK59o?K5Y^ i[A=;@8E$1;;cK5B 1@Will construct direction to contact in vehicle frame from tetrahedron phase data.^EDNOT Ignoring new targets: 59.90 m. jjjjihhhhFBffrfbfiG?]=]=]K@]T@GzX @I3: ɚ5iIItii2Y_)) IDe9*F?2F:FBF P0JF ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] >] =G A,[B O >rw,#VA>@Y> @>e3a9>:U:>y>H%? ?{ǿ ? -?@"? ?@l?ɨ>@>;>CyNBN$IiV=IVdd fG٣dyj: j> nNusing accuracyPremultiplier from configlrK59npm?rK5Yn_ in8Atvv@n8En:n:nK5x z7@|-DNOT Ignoring new targets: 59.90 m. j1j1j1j1i1h1h1h9h9f9f9rfAbfEخ?]a]a]a]e@ue3a qu@I}2: yɚ}iyIyItii]))-Will construct direction to contact in vehicle frame from tetrahedron phase data.D5Q:*F?2F:FBFJF qIqzK6MK9KK!K       BKqA:KpAH I  I g%II zBI &I .I 6I ̰<:I m FG NaB  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >w,̗pA>i@Y>ͧ@>1`9>9>y>H1?/?`_cǿX`v9? ?@ ? m?ɨ>i@>;>CyNBN$IMb@Mb@Mb@ )Y(\µ?p= ףS㥛y= @)IƷ@y(@II_v4٢k 9=9S":Q > G٣y z;  > Nusing accuracyPremultiplier from config%K59"k?%K5Y1a iA-o!>-;--@8EY;r;ŹK51 5^@9eDNOT Ignoring new targets: 59.90 m. jajajajaiahahihihm Bfifqrfqbfu?]o!>]o!>]S@]W@U1` QU@I]0: Yɚ] '5iYIYIetiaieMeW)a)iMWill construct direction to contact in vehicle frame from tetrahedron phase data.DJ=J=J9J9J=,:J=%:J9J9J=w,،ABe̠@YBۧ@B`9B9>yBH=?@?@hǿ,yE?Y(? ? Wm?ɨBe̠@BΈ;@yjυBj$IIrIr%x4٢zs ~H=9~1 Q ~> G٣y;  > Nusing accuracyPremultiplier from config K59 i?K5Y b i A@ 8E : : SK5! -t@)]DNOT Ignoring new targets: 59.90 m. jajajajaiahahahihiuWill construct direction to contact in vehicle frame from tetrahedron phase data.fyfyrfybf}'@]]]]f@u~GvA` 隵@Iw5:  "YvAy2B ɚ5iII ti i Q) )DZ:*Fu?2Fy:FyBF}o0JFy5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge XB O >5w,bA6Ƞ@Y6^ا@6~e969>y6H^:??`gǿ`?D?l??m?ɨ6Ƞ@6J;6Cy^˅Bb$I)d d pIpzK}9MK}u9KyK}"K}     5Zt}yrkfb^YRJD@?:50( RK ?JK ?Mb@Mb@Mb@ )YQ?+ÿy=̼S@ )Iݸ@y@IIq4٢% %9=9%,Q ->)1 5G٣1y=~ => MNusing accuracyPremultiplier from configAUK59Ef?]K5YEd iEA](K>];]]@E8EEdE;EC;E2K5a m@iHI I)%IIGBI2 =&I.I6I_<:I FBIiJIiRIiZIm3 =bIm3 =jImu4DNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf@](K>](K>]Yǫ@]ۢ@5~e 15@I5.: 9ɚ=s5i9I9IEtiAiE'T)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*FA 2FA :FA BFE _0JFA = Will construct direction to contact in vehicle frame from tetrahedron phase data.J= J= J= 1J9 J= :J= q:J= 3J9 J= <J= <J= k;J= k;GmSByO>=w,@4AyB$III%x4٢UeT ]5=9]Q ]>aa mG٣iyu u> }Nusing accuracyPremultiplier from configq}K59ud?K5Yuf iuA@u8E $?Iu:ujr;u#K5 n@DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf K @]]]] u@I3: ɚ 6iII%ti!i-BS))))BD58?:D5'?UWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*F?2F:FBFJFG lSB O >w,QAWill construct direction to contact in vehicle frame from tetrahedron phase data.iea@YeƧ@ew9eV9>yeH@C*??`Ѹǿ :?4f`??xk?ɨea@e;eCyޕBޕv$I%Mb@Mb@Mb@!!! !)!Y%S㥛?ˡEĿ rhy%$>%'%C%@ !)!I%Ʒ@!y%׳@I=uI=aO4٢M  M'=9UqQ U>QQ ]G٣Yy]Ï ]> mNusing accuracyPremultiplier from configauK59e;a?uK5Yesi ieoAuW>u|;u{u@e8Ee;ej;eeK5  @DNOT Ignoring new targets: 59.90 m. jjjjihhhhـBffrfbf1 @ I]W>]W>]F]@]@ w @IT/: ɚK6iIItii[))zKjNKk9KK#KHI I%II)BI3 =&I.I6I<:I; FWill construct direction to contact in vehicle frame from tetrahedron phase data.D% :*F ?2F :F BF JF GSBO>=w,:A>v@Y>@>~9>>[9>y>H'"?6?%ǿV5?`ʯ??j?FWill construct direction to contact in vehicle frame from tetrahedron phase data.ɨ>v@>f;`` fG٣dyf+. f> jNusing accuracyPremultiplier from confighrK59j^?rK5Yjk ijOApvv@j8Ej=;jQ>;jK5x z@xDNOT Ignoring new targets: 59.90 m. jjj!j!i!h!h!h)h)f)f)rf)bf5@:@]I]I]I]M@JmJmJm0JiJm;:Jm*:Jmـ3JiJm<Jm<Jm;Jm;~ 隍E@I6: ɚs6iIItii* _)) IDz:*F?2F:FBFo0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G T[B Om >hFw,QAvB@Yv@v. 9v`'9>yvHK? ?`ǿ(,?v@^?@?@i?ɨvB@v;ty ŅB $III٢-7= -?=95HQ 5>11 5G٣9yEv E> MNusing accuracyPremultiplier from configIUK59MY\?UK5YMm iM.AQU]@M8EM" ;M ;MK5a e@aDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@]]]]ދ@U. Q]~@I]Q5: Yɚ]I6iYIYIetiaied)a)i2Dq*DqD9eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFU5JF IhzKBoHK`9KK$KRK>JK>HI III&I.I6I<:IA FG ф`B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.R w,q3A2@Y2w@2!ꅽ92]9>y2H@?`?#ȿ , +?@o6??`h?ɨ2@2];2CyRȅBR$I-Mb@Mb@Mb@))) )))Y-L7A`?/$ƿMbpy-+>-&1--/@ -@))I-@)y-@IxIT4٢d< C=9HZQ > G٣yF{ > %Nusing accuracyPremultiplier from config!-K59%Y?-K5Y%p i%A-^>-s;-5@%8E%;%;%iK5]B ]@]`EDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf@]^>]^>]7@]*ӊ@!ꅽ @I2: ɚ%h6i!I!I-ti)i-9Re)))1Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ:J@0:J3JJ<J<J@;J@;D :*F 2F :F BF 0JF "G =G = I G deB O>Xw,QA&Will construct direction to contact in vehicle frame from tetrahedron phase data.>[@Y>ڢ@>R9>9>y>Hz ?@?@ ȿ %?@'?S?h?ɨ>[@><;>CybمBf$I)h hIrtIrM4٢z,= z?=9z~Q z>|| ~G٣|y~lF >  Nusing accuracyPremultiplier from config K59 V?K5Y >r i A@ 8E : : K5! %@!MDNOT Ignoring new targets: 59.90 m. jIjQjQjQiYhYhYhahafafirfibfm@T@] ] ] ] PɊ@R % @I%4: !ɚ%6i!I!I-ti)i-j)))1D Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FYBF]i2JFY ) I) G eB O >yw,kAH8I8 I:#%II:BBI8&I8.I86I:<:I:a FzKBBHKB9K@KB%KB BKJrA:KJrAR>@YR@R9Ri9>yRH&?@? @ȿ@%?l`}? ??g?ɨR>@Rq;RCyZBZ$I=Mb@Mb@Mb@999 9)9Y=|?5^?/$ſMbp?y===,=;=S@ 9)9I= @9y=µ@IUwIUR4٢= %2=9%)) -G٣)y-\ 5> =Nusing accuracyPremultiplier from config1EK5950S?MK5Y5Wt i5AUI>U;UiU@58E5;5;5K5q ua@yDNOT Ignoring new targets: 59.90 m. jjjjihhhh3BfWill construct direction to contact in vehicle frame from tetrahedron phase data.frfbf@5@]I>]I>]ne@]Z@  @I/-: ɚiII5ti1i9)9)9BDEI?:DEC?Dw:*F) 2F) :F) BF- J1JF1  Will construct direction to contact in vehicle frame from tetrahedron phase data. I GujBO>ɚ"w,AR(@YR@Rp9R8>yRH? ?2Iȿ ?)Muޱ?P?`Lg?ɨR(@Rw;RCy^ B^$IIfiIf:4٢n>= n8=9nw[Q %>)) -G٣)y5 => ENusing accuracyPremultiplier from configAMK59EO?MK5YEjv iEݠAIMyM@E 8EE:E:EK5]B ]@]cEDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf g@]]]]RS@p @If4: ɚiIItii ~m))uWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*F2F:FBF_5JFG! G%rA- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- AJ= J= J= 4J9 J= :J= :J= 3Ga J9 a @a @a @a @B O} >W)w,/A PIPb@Yb@bm9bc9>ybH?6?okȿ`j#?)?:?e?ɨb@b8;`yjBn$Iir=Ir4<Mb@Mb@Mb@ )YV-?7A`¿~jt?ym=D<@ 1@)(@I7@y@II٢-= -)=95Q 5>11 5G٣9y=9 => ENusing accuracyPremultiplier from configAMK59EK?UK5YEw iEҠAUI">U;UU@E!8EE ;Ef;E7K5Y e@aDNOT Ignoring new targets: 59.90 m. jjjjihhhh}Bffrfbf@H >I IU%IIkBI2 =&I.I6IW<:I F]I">]I">]~Ң@]l@mzK }\KK 89K K &K   @I+: ɚ #5iI!I%ti)i-l))))eWill construct direction to contact in vehicle frame from tetrahedron phase data.Du:*F 2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G- mB9 OU >0w,$A6䋠@Y6c@6w968>y6H?? oȿ@` %?<j??e?ɨ6䋠@6 I;4y>2B>%IIJcIJy/4٢R= RS=9V(Q V>TT ZG٣XyZr8 Z> ^Nusing accuracyPremultiplier from config\bK59^H?bK5Y^=y i^ʠAdff@^"8E^:^:^K5l n<@l DNOT Ignoring new targets: 59.90 m. j j jjihhhhffrfbf`a|@]]]]ፁ@w @I(3: ɚiIItiiQl))Q2Dq*Dq I) D4: ~G!9mWill construct direction to contact in vehicle frame from tetrahedron phase data. XYy;A*Fa2Fa:FaBFe@5JFaG lB O >7w,A6ȑ@Y6G@696k9>y6H|? ??`~ȿ`*?!ʚ?@?5e?ɨ6ȑ@6d3;4y>QB>5%IIFRIFW4٢NL> NE=9R"Q R>PT VG٣TyZ: Z> ^Nusing accuracyPremultiplier from config\bK59^9E?bK5Y^z i^A`bb@^#8E^:^a:^:K5 O@DNOT Ignoring new targets: 59.90 m. jjjjihhh)h)f)f)rf)bf5:@mWill construct direction to contact in vehicle frame from tetrahedron phase data.]y]y]y]}C@ 隽@I1: ɚiII%ti!i%i)))1JIJMBAJeJeJe1JaJe:Je@0:Je3JaD+: 1I1*FM?2FQ:FQBFUP0JFQ"Ge=Ge=Hm >Ii Im%IImBIm3 =&Ii.Ii6Im<:Im9 FBI1JI1RI1ZI1bI1jI5Džv4zK= KK=u9K9K='K=% Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu mB O >_<=w,܃AF@YFn@F^9F 9>yFH`6?P?ȿєX3?՜ ?F?d?ɨF@Fh;DyRdBRM%I)T TTVAMb@Mb@Mb@ )Y~jth?Zd;AA MG٣IyM ; U> ]Nusing accuracyPremultiplier from configYeK59]2A?eK5Y]b{ i]Am=m;m%m@]$8E];];]5K5q }@yDNOT Ignoring new targets: 59.90 m. jjjjihhhhЁBffrfbf`h@]=]=]K@]l@^ @I0: ɚl5iIItiie))Will construct direction to contact in vehicle frame from tetrahedron phase data.D54: =$?I9*F?2F:FBFJFG gB! 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.OM >Dw,a AyE{BEh%II]MI]{4٢:= >=9Q > G٣y > Nusing accuracyPremultiplier from configK59=?K5Y| iA@%8E;;K5 @ DNOT Ignoring new targets: 59.90 m. j j j j i h hhhffrfbf @]9]9]9]9Q Q]U@I]Z1: Yɚ]iYIaIetiaimDUf)i)iBDu1?:Du?D]:Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJl:J&:Jـ3J*F ?2F :F BF JF Q IY jH <bH <H I  I %II ۆBI 2 =&I .I 2D6I <:I V FG eB! O9 {>Kw,9)/ AzK*RIK*9K(K*(K*-9<;.,,&'7B61-& "!"Ha>-# B@YB'ϧ@B9B8>yBH -?`?ȿ@`R?7KVڲ?z?d?ɨB@BU;BCyJBJv%IMb@Mb@Mb@ )YA`"bX9ȶ~jt?yYE<@ ^@)V@Iz@y@IPI 4٢zJ= <=96|Q > G٣y(< > Nusing accuracyPremultiplier from configK599?K5Y| iA=;H@;;K5 @DNOT Ignoring new targets: 59.90 m. jjj Will construct direction to contact in vehicle frame from tetrahedron phase data.jihhhh Bffrf!bf%#!@]M=]M=]M曅@]MqKI@ \@I,: ɚ5iIItiYi]+U)Y)YD]:EaEesA*F?2F:FBF_0JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > Q IQ &Rw,I AyEBE%IiMqq uG٣qyu }> Nusing accuracyPremultiplier from configyK59})6?K5Y}| i}A@}&8E} ;}K ;}K5 <@DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfq"@]]]]  @I1: ɚ5iII%ti!i%W))))D5B:*F?2F:FBF0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G% ZB) OM >QXw,b A>Will construct direction to contact in vehicle frame from tetrahedron phase data.j@Yj@j59jJ8>yjHQ?H?@cpȿm "t??7?ye?ɨj@jsP;jCyrBv%IIdI?14٢B O=9 ;Q > G٣!y%O< %> ENusing accuracyPremultiplier from config9JQJUAAJ3Kw3 K@o/KK"KJeJeJaJaJe:Je@0:JaJa}K59=2?}K5Y=| i=AH@='8E= <= <=K51 =c@9 I 5DNOT Ignoring new targets: 59.90 m. j1j1j1j1i1hYhYhYhafafarfabfm@k#@]]]]I@5 @I): ɚZ5iIItiiD))HAIA IE&IIEBIE3 =&IA.IA6IEt<:IE- FzKjNK-9KK)KBK:KpA%Will construct direction to contact in vehicle frame from tetrahedron phase data.DT:*F ?2F :F BF ]0JF G]tVBiO>P`w,rS A>@Y>'@>9> 9>y>H`f??tȿ@aA?w6{??`d?ɨ>@>;>CyDF%I-Mb@Mb@Mb@))) )))Y-Kv//$?y-^-xi-<-@ -t@)-l@I-@)y-@IEGIE3UWill construct direction to contact in vehicle frame from tetrahedron phase data.٢]\V: e(=9ej:Q e>ii mG٣iyu; u> }Nusing accuracyPremultiplier from configyL59}.?L5Y}{ i}A=;#,@@}(8E}w;};}L5B T@fEDNOT Ignoring new targets: 59.90 m. jjjjihhhh/Bffrfbf3$@]=]=]l@]#,@ ) @I -: ɚ 6i I Itii;)) ID: Will construct direction to contact in vehicle frame from tetrahedron phase data. %= %=*F! 2F! :F! BF% ^0JF! GE \GB O >$gw, A6@Y6 $@6e996(9>y6Hw??bȿW ?@) c?`?e?ɨ6@6#;6Cy>B>}%I)@ @DDIJiIJ:4٢R RA=9R9k:Q V>TT VG٣TyZ; Z> ^Nusing accuracyPremultiplier from config\fL59^"+?fL5Y^z i^AdfI,@j@\^-;^-;^wL5l n@lmDNOT Ignoring new targets: 59.90 m. jijijijiiihihihhffrfbf%@]]]]QI,@e9  @I\-: ɚ96iIItiiGx4)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.Di*F?2F:FBF@2JF yIZHRH?AHI I&II BI&I.I6I<:I5 FzK a3JK 9K K *K G f:B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:2633>  BDAT read: Tx time:22:28:54.1545  $Ping request sent. y=H? ?gXȿ`L`?@:?@Q?e?ɨ=7*@=I;=CyMBUq%IMb@Mb@Mb@ )YS㥻I +~jt?y/ݽ94D<@ )@I@yz@ITI4٢ " M)=9Uv:Q U>QQ ]G٣Yy]; ]> eNusing accuracyPremultiplier from configauL59e7'?uL5Yez ieAu=u;u @}@e)8Ee51;e_/;e L5 ;@DNOT Ignoring new targets: 59.90 m. jjjjihhhh0Bffrfbf &@]=]=]ma@] @ 隝= @I': ɚ}`6iIItii+))BDG?:DN?5Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:22:28:54.1538 JJJJJ[:J?:JJJfy2H@??\EȿCw?`s??f?ɨ2=@2};2CyRkBRU%IIZIZM3٢bϽ b==9f:Q f>hh jG٣hyj; n> rNusing accuracyPremultiplier from configlrL59n#?vL5YnQy inAtv!@z@n*8En;nj;ns L5| @-DNOT Ignoring new targets: 59.90 m. j)j)j)j)i)h1h1h1h1f9f9rf9bf=;&@]Y]Y]Y]]Q!@u` qup@Iu+: qɚuiqIyItii#))Will construct direction to contact in vehicle frame from tetrahedron phase data.D)*F?2F:FBF0JF IH >I  I &II BI 2 =&I .I 1D6I ~<:I 4 FG  .B O5 >{w," A2 '@Y26@2,92=$>y2H?e?JƿM?v?`y?ʀ?ɨ2 '@2ɉ;2CzKVKV-9KTKV+KVyfUBf:%Ii]=I]p; e=ep=}Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ>Յ;?=Mb@Mb@Mb@999 9)9Y=K~jth?y=^=L=D;=@ =@)=l@I=@9y=̼@IMaIM+4٢] e4=9eyQ e>ai mG٣iymǻ > Nusing accuracyPremultiplier from configL59N ?L5Yx iA=;'@@+8E;3;L5 %@!mDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf '@]=]=]7i@]'@, % @I%': iɚmL5iIItii/))D:- Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J D:J J J r<J s<J *;J *;*Fe ?2Fa :Fa BFe o0JFa I G,&BO>Z2w.~G&|uA,( A, FHYF|uAyJAyޝ4Bޝ%II)IW3Will construct direction to contact in vehicle frame from tetrahedron phase data.٢  (=9Q >!! %G٣!y% -> 5Nusing accuracyPremultiplier from config)=L59-?=L5Y- x i-A99=@-,8E-K;-;-L5I M@IuDNOT Ignoring new targets: 59.90 m. jyjyjyjyiyhyhhhffrfbf (@]]]] s@I&: ɚiIItiiZ3.))D:*Fi 2Fi :Fi BFq JFq } Will construct direction to contact in vehicle frame from tetrahedron phase data."G =G = $?I G JY1B O >w,a. AjH bH4<H >I I%IIƆBI&I.I6I<:I\ FBIiJIiRIiZIm2 =bIm2 =jImyU4yB$IMb@Mb@Mb@ )Yy&1Q{Gzty`euף@ Ϋ@)@Iy½@IIy4٢ :=9Q > G٣y > Nusing accuracyPremultiplier from configL59?L5Yw iAe=!<;@@;;L5 (@-DNOT Ignoring new targets: 59.90 m. j)j)j)j)i)h1h1h1h5ՁBf9f9rf9bf=`)@]e=]e=]}@];@zKBoHK9KK,K  !%@I-': )ɚ)i)I)I5ti1i1)1)9mWill construct direction to contact in vehicle frame from tetrahedron phase data.DE:*F?2F:FBF[5JFG 0B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J {:J X:J J J <J <J /;J /;w,)H A2@Y2m@2-92R1>y2H ??@\rǿ:?4@!??6q?ɨ2@2qÍ;2Cy:B:$I)@ @DDIJIJ{4٢Rf R`=9R;Q V>TT VG٣TyZ= Z> ^Nusing accuracyPremultiplier from config\bL59^l?bL5Y^w i^A`fT<@f@^-8E^ ;^: ;^L5h j@hDNOT Ignoring new targets: 59.90 m. jjjjihh h h f frfbf l]*@ !I!]]]]T<@- g@I,: ɚiIItiig))D :*F2F:FBFO0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.G3,)BO>w, b A6E@Y6ķ@64964>y6H$?z?`ǿ @? 3?`2r?l?ɨ6E@6Ȍ;6Cy^DžB^$IIjIjHo4٢r# rF=9v;Q v>tx zG٣xyzc&< z> Nusing accuracyPremultiplier from config|L59~? L5Y~w i~qA  <@ @|~q:~:~N L5 @EDNOT Ignoring new targets: 59.90 m. jAjAjAjIiIhIhIhIhQfQfQrfQbfe`1+@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]:<@54 qu[?IuM&: qɚqiyIyI}tii))DM: )I)*F?2F:F BFP0JFG=qA G=sAG%W H5 >I1 I5g%II5zBI1&I1.I16I5<:I5z FBO^>zKm Km 89Ki Km -Km  Will construct direction to contact in vehicle frame from tetrahedron phase data.OFw,H{ AF@YF9@F9F6>yFH@^?2t?zǿ`}9?`m@??`j?ɨF@F;DyRBRW$IMMb@Mb@Mb@III I)IYMMbP?RQy&1yM:M½M`eI M@)IIM@IyIImIm]4٢}wI }A=9}gQ > G٣y ; > Nusing accuracyPremultiplier from configL59?L5Yx iWA= <"@.8E;-;#L5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhh_Bffrfbf ,@]=]=]"@],o@ 隽@IH*: ɚiIItii))D:Will construct direction to contact in vehicle frame from tetrahedron phase data.AiA*Fu?2Fy:FyBF}O0JFyJJJ1JJ:JU:J3JJY<JZ<J;J; I!G GB O >-w, A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:è@:;q9:=*8>y:H?mo?Gȿ@ ?YR ? ?g?ɨ:@:=;:CyFyBF+$IiJ!>IJ Jp=Ja=IRIR_v4٢ZD; ZX=9ZvQ Z>\\ ^G٣\yb/: b> fNusing accuracyPremultiplier from configdjL59f?jL5Yfx if?Ahj"n@dfX:fz:fN'L5p r@riEuDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf",@]]]]&9o@;q A@I+: ɚi I I tiiL))D&:*Fm?2Fi:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.GɨBO> ) I1 H! I!  I% $II% BI! &I! .I! 6I% <:I% e FcYw, A2@Y2}@2Q92X18>y2Hh?`u?@^/ȿ ?`$M?`n?3g?ɨ2@2`';2Cy:^B: $I Mb@Mb@Mb@    ) Y Dl?L7A`Mby O= +  @ ) I @ y p@I%I%Ho4٢5 5B=95t Q =>9A EG٣AyE=e E> MNusing accuracyPremultiplier from configIUL59M# ?L5YMz iM"Af>;Z@M/8EM]f>]5@]@Q R@I): ɚiIItiin)))UWill construct direction to contact in vehicle frame from tetrahedron phase data.zKmBIKiKiKm.KmRKu?JKu ?DU:*F2F:FBFP0JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data.  I G UB) OU >2IJw,c Ab@Yb@b9b8>ybH?w?Uȿ@ ?Jɡ??e?ɨb@b;bCy 1B#II%I%_v4٢5L 5;=95Q 5>99 =G٣9y=, E> MNusing accuracyPremultiplier from configAUL59E ?UL5YE{ iEAQUeU@E08EE ;E* ;E.L5a e7@aDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfK.@]]]]܆@ @IJ): ɚiIItiic))UWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*F%?2F!:F!BF%^0JF!GI BQ Ou >5w,į AJWill construct direction to contact in vehicle frame from tetrahedron phase data.NAiLyzB~#I) AJuJuJqJqJu:Ju]:JqJqa}@a@a@a@I I F4 I٢x .=9Q >! MG٣IyU ]> Nusing accuracyPremultiplier from configqL59u?L5Yu} iuA@u28Eu)I I$IIȅBI&I.I6IW<:I FDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf/@]]]]   ?I: ɚiIIUtiQiU4)Y)YUWill construct direction to contact in vehicle frame from tetrahedron phase data.zKBoIK9KK/KBK:KrAD5 =:*F ?2F :F BF P0JF Gr Will construct direction to contact in vehicle frame from tetrahedron phase data.BO5?aw, A64z@Y6@696&8>y6H??`Ј?ȿ t?۟@Vl? M?c?ɨ64z@6);6Cy>B>#ImMb@Mb@Mb@iii i)iYmV-?w/ĿMbymh>m&mm@ m@)m@Im@iymf@IIv}4٢X *= I9Q > G٣y > Nusing accuracyPremultiplier from configL59h?L5Y iȟA]>u;쿑@38Ep3;1;7L5 z@DNOT Ignoring new targets: 59.90 m. jjjjihh h h ʀBf frfbf/50@]5]>]5]>]5@]5Y@M IMf@I*: ɚ5iIItii))D1uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFQ0JFG B O >`w,$# A>*i@Y>x@>e(9>^8>y>H 6?@d?1ȿ@(?߳??[b?ɨ>*i@>ފ;>CyNBNt#IIVpIVF4٢^ ^K=9^6Q ^>`` bG٣`yfX f> nNusing accuracyPremultiplier from confighrL59jf?rL5Yj߁ ijApr쿑r@j58Ej6-;j7!;j:L5x z @xDNOT Ignoring new targets: 59.90 m. jj!j!j!i!h!h!h)h)f)f1rf1bf5ছ0@]Q]Q]Q]UЍ@me( qu@@I}): ɚiIItii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ[:JX:Jـ3J ID:jHbH=H)I) I-5$II-BI)&I).I)6I-X<:I- F*F?2F:FBF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.zKU JKU 9KQ KU 0KU  PExceeded connect timeout, disconnecting.GM c/ Bi O >w,f= A>+O@Y>^@>뒣9>8>y>Hf?@?rȿ+5?[h l???3a?ɨ>+O@>֨;>CybۄBbj#Iif=If< j=j=Mb@Mb@Mb@ )YS?NbX9ȿy/>E@ )@Iy @IoID4٢ 8=9Q > G٣y > Nusing accuracyPremultiplier from configL59?L5Y iA>M;)@68EA;;|>L5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf1@]e>]e>]eZ@]egō@u뒣 y}@I}^%: yɚ}l5iyIyItii_))Will construct direction to contact in vehicle frame from tetrahedron phase data. ID)q y *F ?2F :F BF JF "G =G ~G vA!  Y vAy B Will construct direction to contact in vehicle frame from tetrahedron phase data.G gB O>kw,Z AB@YB+*@B9Bn8>yBH`&x?਴?&)ɿMj?[b??-^?ɨB@Bӈ;BCy\\IrIr_v49}Q }>yy G٣yg > Nusing accuracyPremultiplier from configL59?L5Y iA@88E::rBL5 DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf`ـ1@]]]]@ I%): !ɚ%5i!I!I-ti)i-6)1)1DE:*F?2F:FBF2JFGGBOH>5Will construct direction to contact in vehicle frame from tetrahedron phase data.JJBAJJJ1JJ:JY:J3J IH I  I $II YBI &I .I 6I :I BIJIRIZIbIjI<4Rw,:t AyrτBr[#IMb@Mb@Mb@ )YNbX9?EȿMb?yE>F<5@ @)@I@yQ@Will construct direction to contact in vehicle frame from tetrahedron phase data.IIy4٢ <9Q > G٣y > Nusing accuracyPremultiplier from configL59?L5Y iAY>A; 近@:8E;; FL5 W@DNOT Ignoring new targets: 59.90 m. jjjjihhh)h-Bf)f1rf1bf5 ?1@]UY>]UY>]Uد@]U @a ae@Ie): iɚmM5iiIizKuBHKu89KqKu1Ku +EKF?5+! ItiiV 3)) nManaging dock network, ignoring radio surface power offDf :*FU?2FQ:FQBFU0JFQG]sA G]rAM Will construct direction to contact in vehicle frame from tetrahedron phase data. I G} B O >w,8 A2'@Y2@2Eܵ92%9>y2H`H??zɿsf`X?d8㳶? g?Z?ɨ2'@2D;0yB߄BBn#IIJIJb4٢R= RX=9RCQ R>XX ZG٣XyZ ^> bNusing accuracyPremultiplier from config\bL59^?fL5Y^: i^Adf近f@^<8E^;^W;^ZIL5l nT@lDNOT Ignoring new targets: 59.90 m. jjjji h h h h ffrfbf K2@]9]9]9]=H׎@MEܵ QU@IU,: QɚU6iQIQI]tiYi]L)Y)a]Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F=?2F9:F9BF=i2JFAG P<3B1 O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. i Aw,> A*JRC="JRp=JZJZJZ0JXJZ:JZ[O:JZـ3JXΠ@Y.ާ@ 9L:9>yH`4?`? ɿ pu?@9?? Y?ɨΠ@t;y5ބB5m#I M$?III]I]Ho4٢m m?=9uQ u>qq }G٣yy}һ }> Nusing accuracyPremultiplier from configL59?L5Y7 iA;鿑@>8E:X:ML5 t@kEDNOT Ignoring new targets: 59.90 m. jjjjiQhQhYhYhYfYfarfabfe2@]!]!]!]% @HI I#IISBI&I.I6Ic<:I" F !%b@Iu&: yɚ},6iIItiiS))}Will construct direction to contact in vehicle frame from tetrahedron phase data.zKmT MKm9KiKm2KmRK} ?JK}?D :*F 2F :F BF T1JF G3BO>Rw,? AWill construct direction to contact in vehicle frame from tetrahedron phase data.V+@YVɧ@V9V8>yVHr"?`.?|ɿ y*f?a??@'X?ɨV+@V҇;VCy^Bb#IUMb@Mb@Mb@QQQ Q)QYUoʡ?x&1ȿV-?yU->UAU G٣ Iy > Nusing accuracyPremultiplier from configL59?L5Y] iA>P;@@8E;F;dQL5 @eDNOT Ignoring new targets: 59.90 m. jijijijiiihihihqhuBfqfyrfybf:3@]>]>]$@]r@ @I#: ɚO6iIIMtiIiMZ)I)QD :Will construct direction to contact in vehicle frame from tetrahedron phase data.*F= ?2FA :FA BFE 2JFA "GM =GM =G NB) OE >w, A6@Y6n@6q96r9>y6H ?@v?ɿ`2@U?A*?l?V?ɨ6@6};4yRBR#IIZsIZK4٢~[> S=9Q >    G٣ y h > Nusing accuracyPremultiplier from config%L59*?%L5Yѕ iA!%%@A8E ; ;TL5) 5@1]DNOT Ignoring new targets: 59.90 m. jYjYjYjYiahahihihififqrfqbfuF3@]]]]Γ@q 隭@I-: ɚiIItiivd))2D*DDUWill construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFMP0JFQ IhHI I"$IIrBI&I.I6ID<:I FG_NBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5 KK5 u9K1 K5 3K5 BKA :KE qABFw, Ayr#Br#IMb@Mb@Mb@ )YCl?ˡEĿ~jt?y;='=x@ @)ݸ@I@y@InIB4٢= ?=9Q > G٣y > Nusing accuracyPremultiplier from configL59헜?L5Y՗ iA ]M> ;  @C8E;d;XL5%B %@%nE]DNOT Ignoring new targets: 59.90 m. jYjYjajaiahihihqh}GBfyfyrfybf}u 4@]]M>]]M>]E@]N@ 隵 ?Iu#: ɚ/5iIItii(c))eWill construct direction to contact in vehicle frame from tetrahedron phase data.J=J=J9J9J=:J=Y:J9J9J=w, A.Will construct direction to contact in vehicle frame from tetrahedron phase data.F"@YF@FDbƽ9F!9>yFH?@? fʿ`@? \¸??T?ɨF"@FLJ;FCyN?BR#IIVuIVaO4٢^ > bD=9b3Q f>dd jG٣hyjU n> rNusing accuracyPremultiplier from configlrL59nꗜ?vL5YnǙ inAtvv@nD8EnL:n*:n%\L5| ~X@|%DNOT Ignoring new targets: 59.90 m. j!j!j!j!i!h)h)h)h1f1f1rf1bf=q4@]Y]Y]Y]] @uDbƽ qu?Iu'': qɚuiyIyI}tiio))D5 :*F2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. I jH bH <H I  I a$II BI &I .I 6I <:I 6 FGM XbB O >[M w,[3 Au@Yu@ucUǽ9ujS9>yuH??ʿő~>?0~`?0?T?ɨu@u*y;uCyޅ]Bޅ $I=Mb@Mb@Mb@999 9)9Y=Q?S㥛kt?y=\==$= 0==@ =?@)=@I=@9y=p@IUdIU?14٢e= e,=9mQ m>ii uG٣qyuS u> }Nusing accuracyPremultiplier from configyL59}旜?L5Y} i}ϟA>;S@}E8E}a;};}J`L5 |@DNOT Ignoring new targets: 59.90 m. jjjjihhhhBWill construct direction to contact in vehicle frame from tetrahedron phase data.=<ffrfbf4@] >] >] &@] wy@cUǽ !%?I%: !ɚ!i!I!I5ti1i5yo))BD:?:DF?zKBIK9KK4KD*FM?2FI:FIBFU_0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data.G mB O > i Iq J;ـ3K;3 K;.K3K3"K3J} J} Jy Jy J} :J} U:Jy Jy J} <J} <J} ;J} ;6*w,EFM A2/{@Y2@2įȽ929>y2HU?? ʿ 7?bz ??S?ɨ2/{@2m;2CybnBb$IIjYIj4٢r4= rh=9vQ v>tt vG٣xyz{H z> ~Nusing accuracyPremultiplier from config|L59~㗜?L5Y~ i~ߟA  f @~F8E~@:~@:~]cL5 l@EDNOT Ignoring new targets: 59.90 m. jAjIjIjIiIhIhIhQhQfQfQrfQbf]wE5@]q]q]q]uy@įȽ 隕?I): ɚ4iIItiiȖs))D :*Fi2Fi:FiBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>Tw,"g A6@Y6:@6EwȽ96t9>y6H?`?Uʿ ntt vG٣tyv: z>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Response Not Received m*response not receivedu,DAT read: user:2634> -uzK% BoHK% C9K! K% 5K% ,< w,a A6{@Y6@6u Ƚ96 9>y6H p?B?ʿɒ G٣y`9 > Nusing accuracyPremultiplier from configL59Fܗ?L5Y* iA=;<@;;jL5  @DNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf9 6@] =] =] y@]  V@u Ƚ 隍?I#: ɚiIItiisp))uWill construct direction to contact in vehicle frame from tetrahedron phase data.D : IJJJJJJ;:JJJJJ;J;*F2F:F!BF%{2JF!=NGUvAmA YvAyAG B! O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.g&w,ښ A6}@Y6i@6^ǽ969>y6H?@5? ʿ`|9?|S?D?[T?ɨ6}@6`;6Cy>B>Z$IIJHIJ<3٢Rx= R[=9R7:Q R>TT VG٣TyV Z> bNusing accuracyPremultiplier from config\fL59^ؗ?fL5Y^a i^Adf<f@^H8E^z:^X:^mL5h nR@9DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@~6@]]]]V@ ^ǽ %?I%&: )ɚ-4i)I)I=ti9i=r)9)AD :*F%?2F!:F!BF%4JF!}Will construct direction to contact in vehicle frame from tetrahedron phase data. IGM mBQ Ou >ZH RH H >I  I $II BI &I .I 6I @<:I  FBIJIRIZIbIjI~?4ϓ,w, A=b@Y=}r@=)ɽ9=8>y=Hh? ( ? ʿ@#?v? ?T?ɨ=b@=2;=CyMBMe$IMb@Mb@Mb@ )YbX9ȶZd;{Gz?yEy#=-@ @)M@I@y=@I0I(3٢=  5=9 \Q  > G٣y %> -Nusing accuracyPremultiplier from config!5L59%ԗ?5L5Y%֜ i%)A5==;=i.@=@%I8E%%;%#;%qL5A E@AmDNOT Ignoring new targets: 59.90 m. jqjqjqjqiqhqhqhyh}2Bfyfyrfbf 6@]=]=]Eo@]i.@Will construct direction to contact in vehicle frame from tetrahedron phase data.U)ɽ QUp?I]: Yɚ]*g5iYIYIetiaimI~)i)qzKK9KK6KD7 :*F1 2F1 :F1 BF5 T5JF1 } Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՁ $?I Jy J} J} 1Jy Jy J} C:J} 3Jy Jy Jy J} E;J} E;G- qB9 O] >i3w, Ay B q$I) I%#I%%x3٢5Y?= 5G=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configAUL59Egї?UL5YEX iE9AQQ]@EJ8EE:E*;EeuL5 +@DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@V7@]]]] ?I>!: ɚa5iI I ti iɸ|))Will construct direction to contact in vehicle frame from tetrahedron phase data.D :*F92FA:FABFE05JFAG لyB1 OM >:w,v A"Will construct direction to contact in vehicle frame from tetrahedron phase data. DIDZa@YZHq@Z!ƽ9Z8>yZH~? ?Mɿ@* ?>{P?`)?U?ɨZa@ZR;ZCy`fr$IIn[InK!4٢v; zP=9zv;Q z>x|JAJA G٣y > Nusing accuracyPremultiplier from configL59͗?L5Y؛ iJA@:n:yL5 @qE-DNOT Ignoring new targets: 59.90 m. j)j)j)j1i1hQhQhYhYfYfYrfYbfe`7@]]]]i.@!ƽ ?I$: ɚ5iIItiiU}))HYIY I]%II]3BIY&IY.IY6I]d<:I]" FD :Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF"G=G=zKe BoIKe 9Ka Ke 7Ke ./+% BKm pA:Km rAG5 X4yBa O} >8Aw,Ǽ AyMBMk$IMb@Mb@Mb@ )YQktQ?y 0< @)z@I@y@-Will construct direction to contact in vehicle frame from tetrahedron phase data. YIaIlIm?4٢; =95Q 5>AA EG٣AyM M> ]Nusing accuracyPremultiplier from configYmL59]ɗ?uL5Y]Ś i]TAu>u;}@}@]K8E]߆;]/;]\}L5 j@J9J=J=0J9J9J=X:J=ـ3J9J9J9J=/;J=/;UDNOT Ignoring new targets: 59.90 m. jQjyjyjyiyhhhhABffrfbf@%F8@]>]>]@_@]տ@A IM?IM: IɚMY6iIIIIUtiYiY)Y)Y Will construct direction to contact in vehicle frame from tetrahedron phase data.D F :*F ?2F :F BF P5JF G 1|BO?Iw,B( A>u@Y>d@>9>78>y>H? ?@gɿ`=@7*?g܈,?`(?Z?ɨ>u@>;>CyfBjU$Iini>In< r=r=IzbIz-4٢ 4=9[!! %G٣!y5; 5> ENusing accuracyPremultiplier from config9UL59=ŗ?UL5Y=͙ i=^AQ]@]@=L8E=y;=w;=ML5i m@iWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 59.90 m. jjjjihh Ihhffrfbfô8@]y]y]y]}@ 隝T?I:*JR="Ja= ɚe.6iIItiit))DO :H >I III0 =&I.I6Io<:I+ F*F2F:FBFP0JFG B) OE >] Will construct direction to contact in vehicle frame from tetrahedron phase data.zK- MK) K) K- 8K- RK5 >JK5 ?KkPw,A A2p@Y2@2 927>y2H`? ?0nɿ#?ֶ?@? [?ɨ2p@2Ɇ;0y:B:8$IEMb@Mb@Mb@AAA A)AYEX9v+{Gz?yEEEףqq uG٣qyu }> Nusing accuracyPremultiplier from configL59P—?L5Y i`A>;@@M8EZ; ;L5 @DNOT Ignoring new targets: 59.90 m. jjj j i hhh!h%1Bf)f)rf1bf5w9@]U>]U>]UT]@]Ui@ {?I: ɚi I IUtiQiU+w)Q)YD IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFS0JFG DIrB O >IVw,[ AWill construct direction to contact in vehicle frame from tetrahedron phase data.:mb@Y:q@:9:I8>y:Hݰ??hɿP?|֋?n?@5\?ɨ:mb@:#;:CybsBb$$IIjwIjR4٢rW rS=9vd;Q v>tx zG٣xyz+ z> Nusing accuracyPremultiplier from config|L59~0? L5Y~ i~aA  h@ @~N8E~C:~:~FL5  @DNOT Ignoring new targets: 59.90 m. jjjjihh h h f frfbf9@]1]1]1]5h@E IMa?IM: IɚM4iIIIIUtiYi]})Y)YBDm;?:Dm>Du :*F?2F:FBF_0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJJJ1:J3Ja@a@a@a@G)wBOU >H >I  I $II BI / =&I .I 6I S<:I  FA\w,wu Az(V@Yze@z$9zt8>yzHS??^ɿ@R ?M]?M?`\?ɨz(V@z2;zCy=YBE$I)a eAquAMb@Mb@Mb@ )YK~jt~jt?y^DD<@ )@Iy@II%x4٢ u۽  ,=5Will construct direction to contact in vehicle frame from tetrahedron phase data.9 ;Q u>qy }G٣yy}I }> Nusing accuracyPremultiplier from configL59?L5Y\ i]A"=<%@@O8E#;!;L5 @DNOT Ignoring new targets: 59.90 m. jjjjihhh!h%Bf!f!rfQbfU=9@]"=]"=]` h@]R%@$ \?I: ɚiIItii S))zKBoHK9KK9KBK-rA:K)DM : I *F ?2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G 1|BO->ew,"O Ay4B#II%}I%]4٢5V' 5;=95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configI]L59Mo?eL5YM iMYAaae@IMIr;Mr;M;L5q u@qDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfah:@]]]] 5?I: ɚiIItii))mWill construct direction to contact in vehicle frame from tetrahedron phase data.D-o:*F2F:FBFY0JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B J J J 0J J K:J o5:J ـ3J O- >}9kw,I A6q(@Y67@6='968>y6HqM?.?dɿ`?t =?=?@f\?ɨ6q(@60;6Cy>BB#IIFIF_v4٢Nb5 RU=9R<:Q R>TT VG٣TyV ^Nusing accuracyPremultiplier from configXbL59Z?bL5YZ2 iZUAdf6%@f@ZP8EZ/;ZJ0;ZL5h j$@hZHyRHyH>I I$II؅BI0 =&I.I6I\<:I FDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf :@]]]]6%@ ='  ?Il: 1ɚ1i1I1I=ti9i=$)9)A2Dq*DurAD}:Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁՅ%=*F2F:FBF_0JFzK BHK Ӱ9K K :K      GQ Ba O} >5rw,A AyzBz|#Ii~%=I~= == 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ykt㥛 Mbp?y 0;@ )@IK@yf@IIv}4٢, 3=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)5L59-_?5L5Y-/ i-IA===<=IH@=@-Q8E-;-;-L5A E@IDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbfA;@]=]=]Å@]IH@ 隽?I: ɚiIItiiS'))) wC}GvAA YvAyt BE@E! BDE:e Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF JF G rA G GBOM>]yw,H AR+@YR@R/9R8>yRH`:?I?mɿ Oi?cQ`^?@c?\?ɨR+@R;RCyZBZH#IIfyIfxV4٢nD n?=9n+Q n>pp vG٣tyzׂ z> ~Nusing accuracyPremultiplier from config|L59~U?L5Y~* i~=A)5G@=@|~;~;~VL5EB M2@MtEDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfa;@ -$?I)]y]y]y]} G@/ 隭@?I*: ɚiIItiWill construct direction to contact in vehicle frame from tetrahedron phase data.Aii ))JJJJJ{:J7:JJD:H] >IY I];$II]BI]/ =&IY.IY6I]<:I]D FBIJIRIZI0 =bI0 =jIi5*F2F:FBF/1JFG} B O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy6H ?V?zɿ`*:?7Ty?#?`[?ɨ6ӟ@6v;6Cy>BB#IeMb@Mb@Mb@aaa a)aYe{Gz?S㥻Mb`?yeף GzKLK9KK;KBK:KqA٣y > Nusing accuracyPremultiplier from configL59[?L5Y i0A=;+@R8E;; L5 @DNOT Ignoring new targets: 59.90 m. jjjjihhhhlBf f rf bf 1<@]-=]-=]-隆@]-u@N 隽?I": ɚiIItiiG㛽))D: 1I1*FE?2FA:FABFEP5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.GмB)OEQ>Hfw,sA @6@Y6s@6Ͷ969>y6H``h?l?ɿ9 ?*Ѷ?? Z?ɨ6@67;4ybuBb"IIjIjv}4٢r(@ vU=9vfQ v>xx zG٣xyz;q z> Nusing accuracyPremultiplier from config|L59~? L5Y~ i~$A   @~S8E~:~:~aL5 @]Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 59.90 m. jjjjih!h!h!h!f)f)rf)bf-ં<@]i]i]i]mu@Ͷ R?I: ɚiIItii ĥ))D}: I!*F5 ?2F9 :F9 BF= o1JF9 M Will construct direction to contact in vehicle frame from tetrahedron phase data."Ge =Ge =Je Ja Ja Ja Je [:Ja Ja Ja jHe <bHe <Hi Ii  Im #IIm 0BIm 0 =&Ii .Ii 6Im <:Im J FG ȖB O >Aw,7Ay-VB-"IMb@Mb@Mb@ )Y㥛 ?S㥛~jth?y=$D;@ ݸ@)@I@y@II]4٢q =9Q >  G٣ y   > Nusing accuracyPremultiplier from configL59E?L5Yc iA%>%;-Will construct direction to contact in vehicle frame from tetrahedron phase data.%-@T8Eb;C`;L51 =@9DNOT Ignoring new targets: 59.90 m. jjjjihh h h ]u>]u@]u*@ f?IE: ɚiIIti!i%h])!)!zKa3JK89KK<KPM lW vbPB:2*! RK?JK? I D : Will construct direction to contact in vehicle frame from tetrahedron phase data.*F1 2F1 :F1 BF5 0JF1 G}ԣBO?!ҕw,jXAy )B "IIIF4٢-WF -4=91Q 5>11 =G٣9y9 => ENusing accuracyPremultiplier from configAML59EI?ML5YE iEAQQU@EU8EE ;E ;EܪL5Y ]@YDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf]t=@]]]] &?Iv: ɚiIItiiA))D :Will construct direction to contact in vehicle frame from tetrahedron phase data.*F92F9:F9BF=4JF9GBO5> A IA  Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,#rAH4I4 I6g#II6ڄBI61 =&I4.I46I6<:I6N FF2@YF@Fý9F_J9>yFH??CɿW??V?`Yk??U?ɨF2@F#;FCyRBRl"IiVxx zG٣xy~r ~> Nusing accuracyPremultiplier from configL59|?L5YC iA> @V8EL::qL5 V@DNOT Ignoring new targets: 59.90 m. jjjjihhhhff!rf!bf-=@]a]a]a]exp@ý 隍Y?In: ɚiI!IUtiQiU`н)Q)Y%Will construct direction to contact in vehicle frame from tetrahedron phase data.D):*F- ?2F) :F) BF- 2JF) zK NK K K =K BK :K 9 IA GU ԣBY Ou >mw,bA.Will construct direction to contact in vehicle frame from tetrahedron phase data.V)@YVĥ@Vǽ9V9>yVH`͹??@$&ʿl@d?p?6? `?*S?ɨV)@Vi;VCybBbJ"IJ~J~J~1J|J~:J~o5:J~3J|J~$T<@  @)@I@y@IMIM4٢] ]'=9esQ e>aa G٣yFI > Nusing accuracyPremultiplier from configL59 ?L5Y iAS>;0@X8E};;L5 @DNOT Ignoring new targets: 59.90 m. jjj!j!iAhAhAhIhMBfIfQrfQbfU`nZ>@]S>]S>]i@]C@ǽ ?I): ɚiIItiiս))BD(?:D&? Will construct direction to contact in vehicle frame from tetrahedron phase data.D:*F= ?2F9 :F9 BFE 1JFA G G?B! OE >Δw,/A2$@Y2@2˽929>y2H[??i9ʿ`C?\}?`r? ?@R?ɨ2$@2p;2Cy>ۃBB."IIJIJ҅4٢%: %a=9-Q ->11 5G٣9y= E> MNusing accuracyPremultiplier from configI]L59Mv?]L5YMj iMAaee@MY8EMR;MS;MµL5q uCAyDNOT Ignoring new targets: 59.90 m. I jjjjihhhhffrfbf&>@]]]]@ ˽  ?I : ɚiIItii))!D-:mWill construct direction to contact in vehicle frame from tetrahedron phase data.mAimA*F?2F:FBFP0JFZHARHE@AHM >II IM#IIMBIM2 =&II.II6IMv<:IM2 FGRCͽBOA>% Will construct direction to contact in vehicle frame from tetrahedron phase data.{w,lA2H@Y2X@2н92@9>y2H??@`ʿ`?[???`O?ɨ2H@2H;2CyN΃BN"I)P RATVAMb@Mb@Mb@ )Y'1Z?I +ƿ/$?y">94<@  @)I@y@IIr4٢ps B=9Q > G٣y > Nusing accuracyPremultiplier from configL59R?L5Yڢ iAs>^;@Z8E/;I;kL5 A DNOT Ignoring new targets: 59.90 m. j j jjihhhh݀Bffrf!bf%`?@]Es>]Es>]EN@]E@Uн QU)?I]: Yɚ]4iYIYIetiiimi)i)qzKJKKK>KD5: I*F2F:FBF_0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJK:JS2:JJJ<J<J ;J ;GVνBO>⤶w,A6@Y6'#@6Pս96h:>y6HΔ??eʿu[?+? ~??M?ɨ6@6(;4y>B> "IIJIJ4٢R] R]=9R/Q R>TT VG٣TyV8 Z> ^Nusing accuracyPremultiplier from configXbL59Z?bL5YZ iZAdff@Z\8EZ,7;ZM7;ZL5h j#Ah DNOT Ignoring new targets: 59.90 m. j jjjihhhhff!rf!bf%`~?@]A]A]A]ET@UPս Y]\?I]: Yɚe95iaIaIetiiim )i)i2DqWill construct direction to contact in vehicle frame from tetrahedron phase data.*DqD@:*Fi2Fi:FiBFmo0JFiGEMݽBQOm5> I Will construct direction to contact in vehicle frame from tetrahedron phase data.HA IA  IE "IIE eBIE 1 =&IA .IA 6IE <:IE A Fϼw,(Ay B "III 4٢eV+ e>=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from configL59;?L5Y} iA@]8E::gL5 lADNOT Ignoring new targets: 59.90 m. jjjjihhhhqfqfyrfybf}@?@]]]] 隥?I': ɚ>5iIItii%r)!)QWill construct direction to contact in vehicle frame from tetrahedron phase data.D:zKBoHK9KK?K*Fa 2Fa :Fa BFe P0JFa I  Will construct direction to contact in vehicle frame from tetrahedron phase data.JK(3 K(.KK"KJM JM JM 0JI JM :JM -.:JM ـ3JI JM #<JM #<JM u;JM v; H~G  UYYQyUAGE=BQOu?Dw,Ay-B-!I ]=]=Mb@Mb@Mb@ )YʡE?KǿX9v?y>^:<@ 7@)@I@y@II)4٢r =9Q > G٣y %> -Nusing accuracyPremultiplier from config)5L59-ʌ?5L5Y- i-A50v>5\;55@-_8E-;-;-L5EB EAEwE DNOT Ignoring new targets: 59.90 m. j jjjihhhhЀBffArfAbfEc<@@]0v>]0v>]D@]p@ 隝R?I}: ɚ5iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGm9ByO]> } $?Iy gw,/A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Response Not Received &*response not received*,DAT read: user:2635> *BDAT read: Tx time:22:29:16.0547 .$Ping request sent..yFH3M?(e? ʿ h-0?YØ?@;??uH?ɨFv`@F܇;FCybBb"IIjzIj=X4٢vy= v`=9z(Q z>|  G٣ y%s %> -Nusing accuracyPremultiplier from config)5L59-?5L5Y- i-AjH<bH<H >I I"IIKBI2 =&I.I6Iİ<:Ik FBIJIRIZI1 =bI1 =jII5QUlU@-a8E-=-=->L5a eOAaDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfTn@@]i]i]i]mY@?T 隥?I_: ɚ5iIItiitm))*FI2FI:FIBFM0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:29:16.0540 G- ׏By O >Qw,EIAzKBoIKKK@K:h,@Y:;@:9:*9>y:H?y? ʿ@< O???h?`F?ɨ:h,@:;:CyFBF"I !I!EMb@Mb@Mb@AAA A)AYEDl?/$ƿ{Gz?yEO >E&1E#=EQ@ EM@)E@IE@AyE@I]bI]-4٢m< mB=9mQ m>qq uG٣qy}y }> Nusing accuracyPremultiplier from configL59ͅ?L5YǮ i2AHf>l;E@b8E;a<L5! %@A)DNOT Ignoring new targets: 59.90 m. jjjjihhhhBff rf bf͢@@MWill construct direction to contact in vehicle frame from tetrahedron phase data.]Hf>]Hf>]W@]@ ?Id: ɚ6iIItiid))JJJJJ+:J$-:JJJ%<J&<J;J;E E rA*F?2F:FBF/2JF"G%>GY>G} BO_> Will construct direction to contact in vehicle frame from tetrahedron phase data.yw,HcAbǜ@Yb֣@b!9b'>ybH 2?@2?0ȿ/o!?;?s?`?~\?ɨbǜ@ba;bCyjBn "I)p pIv=Iv=3٢~q< ~R=9Q >   G٣ y   > Nusing accuracyPremultiplier from configL59:?%L5YȰ iGA!%!-@d8E{<;<;GL55B 5A5yEeDNOT Ignoring new targets: 59.90 m. jajajajaiahihihihififqrfqbfu@@]]]]~@! 隭T?I: ɚ`#6iIItiiS))*Fq2Fy:FyBF}P0JFy I]Will construct direction to contact in vehicle frame from tetrahedron phase data.aiaJJAAG' BHI III&I.I6I<:I_ FO>=w,q}AWill construct direction to contact in vehicle frame from tetrahedron phase data.yăB"IMb@Mb@Mb@ )YA`"?/$ÿJ +?y=H=;@ @)IZ@y\@IJI)4٢< ,=9Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=L595~?=L5Y5 i5iA=E>=;=J E@5e8E5;5<;5jL5I MAIuDNOT Ignoring new targets: 59.90 m. jqjyjyjyiyhyhyhh BffrfbfD A@]E>]E>]L/@]@ ?I8: ɚ:6iIItii))2D*DBD:D*F2F:FBF4JF!zKK9KKAKEXVRLA,BKqA:KpA IG6QB O-p>e Will construct direction to contact in vehicle frame from tetrahedron phase data.w,JAZo@YZ2@ZTw9Zf.>yZH@?L?`uɿO@a?뾤?wݽ??YR?ɨZo@Z;ZCybՃBf'"IIn|In[4٢v = vv=9zZQ z?x| ~G٣|y~= ~?  Nusing accuracyPremultiplier from config L59{? L5Y iA @f8EU:C ;RL5 %jA!MDNOT Ignoring new targets: 59.90 m. jIjIjIjQiQhQhhhffrfbf 8A@]!]!]!]%@UTw QUi?I]: Yɚ]iYIYIetiaie&)a)i*F%?2F!:F!BF-P0JF)G1 G5qAWill construct direction to contact in vehicle frame from tetrahedron phase data.G->B9OU> I ww,y AWill construct direction to contact in vehicle frame from tetrahedron phase data.BF@YBTV@B}9B>2>yBHF?` ? ʿ^ qF?>?@??L?ɨBF@B`;BCJ`JbJ`J`J`Jb,:J`J`aj@aj@aj@aj@ynBn<"Iir=Ir>IzwIzR4٢%ҡ= %G=9%Q %>)) -G٣)y5MG 5> =Nusing accuracyPremultiplier from config9EL59=Kw?EL5Y=˵ i=AAMM M@=g8E=/;=0;=L5ZHyRHyH >I I"II`BI&I.I6Ih<:I) F @DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf`mA@]a]a]a]ei@} 隕?Is: ɚQ4iIItii?>)))*Fe?2Fa:FiBFm^0JFiGm BO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A6@Y6!*@696a5>y6H??@zʿ n??!?@e?G?ɨ6@6%;6C @IFhzK^/MK^9K\K^BK^RKf ?JKf?y-B-:"I5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y&1?n&1?yP=VP=@ )=@I@y=@II_v4٢ '=9RQ > G٣y4 > mNusing accuracyPremultiplier from configamL59eIr?uL5Ye ieAu[ >u;uu@ei8EeQ;e';eXL5y @DNOT Ignoring new targets: 59.90 m. jjjjihhhhoBffrfbfA@][ >][ >] @],v@ p?Iy : ɚ`25iII%ti)i--))))*F2F:FBFZ0JFG R! Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >w,AyB P"II%{I%Z4٢5= 5~=95Q 5 ?99 EG٣AyE E ? MNusing accuracyPremultiplier from configIUL59MMo?UL5YM iMҠAQY]@IMt.;Mp/;ML5mB m@m|EDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf`EA@]]]] ?IZ: ɚiIItii,)) qIy*F2F:FBF0JF"GC>G>Gme #BqO>EWill construct direction to contact in vehicle frame from tetrahedron phase data.H} >Iy I}"II}yBI}1 =&Iy.Iy6I}<:I}H FJJJJJ:J7/:JJJ#y6H7O?` ? ʿY?}?*?ཫ?|D?ɨ6@6J:;4y^BbU"I@AInIB4٢M9< ]H=9eQ m>Will construct direction to contact in vehicle frame from tetrahedron phase data.19 =G٣Ayuͼ > Nusing accuracyPremultiplier from configL59j?L5Y iA@j8E::L5 z@DNOT Ignoring new targets: 59.90 m. j j j)j)i)h1h1h1h1f9f9rf9bf= B@]]]]Mu@ 隽ע?I: ɚư4iIItiie7))*F2F:FBF0JF e$?IazKKKKCK"sbOE8.'#(wzqfU9;eI962BKrA:KsAM Will construct direction to contact in vehicle frame from tetrahedron phase data.G d (B O >~w,ARϕ@YRN@RO 9R8>yRH? |?lʿC ????`?D?ɨRϕ@R;R CyZB^["IMMb@Mb@Mb@III I)IYMy&1|V-Mb?yM`廙MM@=M@ M@)Mj@IM@IyM@Im|Im[4٢}< }G=9}9:Q > G٣yBb > Nusing accuracyPremultiplier from configL59*g?L5Yg iA]>;6@k8E;;"L5 *@DNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf`;B@]]>]]>]%ޔ@][@O 隥?I: ɚ5iIItiik;))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FQBFU_5JFQGU/BiOZ> I II U Will construct direction to contact in vehicle frame from tetrahedron phase data. w,x2AjH<bHHI I#IIBI&I.I6I<:I_ FJ=J=J=1J9J=k:J=$-:J=3J9J="<J="<J=;J=;yU BUh"IIe}Ie]4٢K= H=9Q > G٣y > Nusing accuracyPremultiplier from configL59c?L5Yȹ iA@l8Ew;o;L5 @DNOT Ignoring new targets: 59.90 m. jjjjihh h hffrfbf`:pB@]9]9]9]9I QU?IU_: QɚUh5iQIQI]tiYi];V:)Y)aE E sA*F2F:FBF4JFGsA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge.2BqO> 1 I1 w,DLA6K@Y6Z@6DP96Q8>y6Hv?7? ʿ)}?@? ??E?ɨ6K@6B;6CyRBRd"IiV4=IV= Vp=Vp=zK^NK^C9K\K^DK^- qY/=Mb@Mb@Mb@999 9)9Y=I +B`"۹kt?y=94=ν= 0==@ =@)=@I=$@9y=\@IUIUm4٢X F=9А;Q > G٣y > Nusing accuracyPremultiplier from configL59 _? L5Y i&A 3= ; E@ @m8E#;;OL5 @EDNOT Ignoring new targets: 59.90 m. jAjAjAjAiAhIhIhIhMBfQfQrfQbf]B@]u3=]u3=]u3@]uaE@DP 隍?I : ɚj5iIItiiB))Will construct direction to contact in vehicle frame from tetrahedron phase data.) ~G -Y)y5A*Fa2Fi:FiBFmP0JFiG3BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,GfA6B,@Y6;@6iJ968>y6Hc>?.C?ʿ`*(A??`8?5?uF?ɨ6B,@6%؈;4yB BFg"IINjIN;4٢V~d< Va=9V&;Q V>XX ZG٣Xy^|) ^> nNusing accuracyPremultiplier from configlrL59ns[?rL5Yn in4AtvE@v@lnC:n":nL5| @-DNOT Ignoring new targets: 59.90 m. j)j)j)j)i)h)h1h1h1f1f9rf9bfEB@]Y]Y]Y]]}E@uiJ qu?I} : yɚ}5iIItiikE)) I*F?2F:FBFJF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G]<BiOZ>H% >I! I%"#II%BI%3 =&I!.I!6I%<:I%N FBIJIRIZI2 =bI2 =jIƙX5JYJYJeJeJe0JaJe:Jef4:Jeـ3JaJe?%<Je?%<JeՌ;Je֌;@w,AF@YF}@F+9FI8>yFHM?-S?sʿ?ѥ??`? G?ɨF@Fs;DyzBza"IWill construct direction to contact in vehicle frame from tetrahedron phase data.IUIUq4٢mü 9=9;Q >  G٣ y< %> Nusing accuracyPremultiplier from config L59V?L5Y iFAhE@@n8E<k<L5 %@!=B*** querying acoustic contact ***jAjAmDNOT Ignoring new targets: 59.90 m. jqjqjqjqiqhqhqhyhyfyfyrfbf`'C@]]]]hE@+ B?II: ɚE5iII-ti)i-I)))1*F?2F:FBFJF"G>G> IzK5NK589K1K5EK5E Will construct direction to contact in vehicle frame from tetrahedron phase data. M 2Acoustic response timeoutM Querying Benthos address 50 with one ping in standard two-way mode.G B O >*&w,ڙA ,.@y=B=T"I)A AMb@Mb@Mb@ )Y~jtI + G٣y >  Nusing accuracyPremultiplier from config L59 5S?L5Y ) i OAH=;3@@ o8E [; ; L5! %@)UDNOT Ignoring new targets: 59.90 m. jYjYjYjYiYhYhYhaheBfafarfibfmZ@C@]H=]H=]B@]3@ ?I : ɚU5i!I!I%tiIiM!I)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795646*F?2F:FBF_0JFGABOUT> I5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046038S,w,!AHb>I` Ib#IIbBIb2 =&I`.I`6Ib<:IbR F*JC="J=y%B%Q"II=I=#4٢EKZ MV=9IQ M>IQ UG٣QyQ > Nusing accuracyPremultiplier from config%L59]O?-L5Y iWA)Y]@p8E-f<Cb<hL5mB m@EDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf ~vC@]y]y]y]y 隵?I : ɚ6iIItii.I))*F}?2F:FBFm0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301016Gm aDBy O > I :3w,AzKK9KKFKRK%>JK%?y-B-@"IMb@Mb@Mb@ )YlbX9ȶMb?yE=I@ )@Iy@I{IZ4٢5  5<=91Q =>99 =G٣9yA E> MNusing accuracyPremultiplier from configIUM59McK?UM5YMO iM]A]=];]'4@]@Mq8EMt;M;M M5a e@aDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbfC@]=]=]@]#'4@ Rx?IE : ɚ6iIItii"I))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550052J5J5J1J1J5:J5\3:J1J1a=@a=@a=@a=@*F?2F:FBF0JFG GG WDB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802674c9w,cA6d@Y6s@6 ݽ96_8>y6H? ?ʿO? s}? ??YL?ɨ6d@6c1;6CyNكBR+"IiVAA EG٣IyMT U> eNusing accuracyPremultiplier from configamM59eG?mM5Ye iecAqu2@u@ae;emG;eNM5 EADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfeC@]]]]2@- ݽ )-p?I-;: )ɚ--6i)I1I5ti9i=[)9)9 qIq*F?2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053916H>IC I#IIBI1 =&I.I2D6I<:Il FJ1J5@AGQBiO>gK@w,C<AV;@YVJ@V"۽9V8>yVHn?`?ʿ@q?@Y?`V??@M?ɨV;@VI;Tyb̃Bf"IInInd4٢v| vM=9vV;Q v>xx zG٣xy~pP ~> %Nusing accuracyPremultiplier from config5M59D?=M5Y| iiAAM2@M@r8E;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.321572(;M5) 5AAUDNOT Ignoring new targets: 59.90 m. jQjQjYjYiYhYhYhahafafarfabfmED@]]]]2@"۽ i?I: ɚ=6iII ti i ])) m$?IizKRIK9KKGKBK:KrAD:u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.572114*F ?2F :F BF ~0JF JM JM JI JI JM :JM 9:JI JI G -RB) OE >uFw,A. @Y.$@.sؽ9.h8>y.H`l8?@?ʿ@2,'?`,?}?F?M?ɨ. @.?ه;.CyvBv"I}Mb@Mb@Mb@yyy y)yY}QRQ~jt?y}u}½}<}v@ }j@)}@I}h@yy}z@IIkf4٢( ?=9H;Q > G٣y1 > Nusing accuracyPremultiplier from configM59@?M5Y0 iN=;[:@@s8E#;;y M5 8ADNOT Ignoring new targets: 59.90 m. jjjj i h h hhBffrfbfAD@]=N=]=N=]=4ń@]=V[:@Usؽ Qh?I: ɚmK6iIItiika))D Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822375*F?2F:FBFO0JF QIYG VB O > Lw,+4AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074316jH2<bH0H6>I4 I6"II6eBI6. =&I4.I46I6<:I6_ FN{@YN@N=ֽ9N58>yNH ?G?bɿ@;?gw?(Һ?W?N?ɨN{@N;LyVBV!I)X XIbIb4٢j jY=9j:Q j>lp rG٣pyr| v> zNusing accuracyPremultiplier from configtzM59vWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.328374 A IA Sw,$NAy~B~!IzKuBoHKuC9KqKuHKuRK?JK>Mb@Mb@Mb@ )Yy&1q= ףp{Gz?y`弙뽹ף<A @)5@I@yf@II4٢߽ ;=9Q > G٣y > Nusing accuracyPremultiplier from configM59#8?M5Y  ifA=;Cu@ԕ<<M5y }AyDNOT Ignoring new targets: 59.90 m. jjjjihhhhՁBffrfbfD@5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578102]E=]E=]Ec'@]EJrN@Q Y]Y?I]: YɚYiYIYIetiaiee)a)JJJJJk:JJ1:JJD):*F2F:FBFQ0JFG! G%rAGE [BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830012Yw,hAy~mB!III]4٢e  mQ=9iQ m>qq uG٣qy > Nusing accuracyPremultiplier from configM59+4?M5Y$ icA@u8E;: :M5 A IDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfYD@]!]!]!]!1 9=K?I=: 9ɚ9i9I9IEtiIiMNe)I)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.082042Hm>ImC Im"IIm2BIm- =&Ii.Ii6Im<:Iml FD~:*F ?2F :F BF O0JF G5 ^BI Oe >!aw,ϿANWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.337118yޭ]Bޭ!Ii=Ip<=Mb@Mb@Mb@999 9)9Y=~jt?T㥛 /$?y=D<==<=QA 9)=K@I99y9IUIUW4٢{s =9Q > G٣y > Nusing accuracyPremultiplier from configM59/?M5Yַ ibAa>;.@v8E;;|M5 AEDNOT Ignoring new targets: 59.90 m. jjjjihhh!h%Bf)f)rf)bf5`E@]Ua>]Ua>]Uՙ@]UCrc@a amY?Im: iɚmtw4iiIiIutiyi}e)y)yzKK9KKIKBK:K NG!9 }ȿYyyA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.586042D :J% J% J% 1J! J% :J% ,:J% 3J! *F 2F :F BF P0JF GBO>hw,,A6;@Y6K@6~4ѽ968>y6HY?@?`3ɿ qi? 6???@P?ɨ6;@6];6Cy>;B>j!IIJIJd4٢R. RQ=9R>;Q R>TT VG٣TyZY Z> ^Nusing accuracyPremultiplier from config\bM59^5+?bM5Y^W i\`b0b@^w8E^:^:^M5h j-AhzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838202DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfQE@]]]]b@~4ѽ H?I: ɚiII ti i tmy) ) IDMO :*F?2F:FBFJF"G>G>Will construct direction to contact in vehicle frame from tetrahedron phase data.I IN"IIBI&I.I6Id<:I1 FBImșCJImșCRIiZIm. =bIm/ =jIm 6G B O >onw,A>% @Y>@>н9>n9>y>HF??@mɿ~0?@?}??@QP?ɨ>% @>pi;>CyJ)BJT!IIRIR4٢Z ZJ=9^U:Q ^>\` bG٣`ybe b> jNusing accuracyPremultiplier from confighnM59j%'?nM5Yj۸ ijaApr]0r@jx8EjF;jy;jo!M5t vAtDNOT Ignoring new targets: 59.90 m. jjjjih!h!h!h!f)f)rf)bf- EE@]I]I]I]Ma@eн im??Imw: iɚm<4iiIiIutiqiu |)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.i-zK k3IK 89K K JK  Will construct direction to contact in vehicle frame from tetrahedron phase data. yH:? @?@)ɿ ? Ѧ?? M? 4P?ɨ@ p;騍Cy B.!I)  15AMb@Mb@Mb@ )Y?K7~jt?yL=I <zA @)x@Iy@II 4٢%E -)=9-:Q ->11 5G٣1y=c/ => ENusing accuracyPremultiplier from configAMM59EG"?MM5YE iEeAMY>U;U U@Ey8EE_;E;E%M5Y ]AYDNOT Ignoring new targets: 59.90 m. jjjjihhhh{BffIrfIbfME@]Y>]Y>]@]cq@Ͻ 隝G?I09 ɚiIItii&))D :Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Response Not Received -*response not received-,DAT read: user:2636> =BDAT read: Tx time:22:29:27.0048 =$Ping request sent.={w,A63@Y6@6Ͻ969>y6H$?^?@ɿ`y?? IY I]"II]BIY&IY.IY6I]<:I]s FuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:29:27.0041 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2489185Ͻ a;?I: ɚiIItii))D :EsAE*F?2F:FBF0JFG GGm wBq O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499987Ƃw,@ A 8I82@Y2@2Bν92j9>y2H:?%?3ɿ;G'??M̹?v?P?ɨ2@2‡;2CyF݂BF IMb@Mb@Mb@ )Y#~j?L7A`Mb?y=+=A @)@I@y@I5]I5$4٢Epɽ E@=9M:Q M>II MG٣Qy]K e> Nusing accuracyPremultiplier from configM59?M5Y ivA!>;z@{8E7;@;Y,M5  A!uDNOT Ignoring new targets: 59.90 m. jqjqjqjqiqhqhyhyhqBffrfbf$F@]!>]!>]h@] |@%Bν !%5?I%9 !ɚ-V>4i)I)I-ti1i5)1)1zKBHK9KKKKuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.751900D :*Fy 2Fy :Fy BF} 0JFy % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004461Ge wB O >kw,`(A:4@Y:+@:G'н9:4>y:H@x?@H?`ȿ?f?)?r?W?@TW?ɨ:4@:Oc;:CyM͂BM IiU G٣yܼ > Nusing accuracyPremultiplier from configM59?M5YR iAI@|8E*::20M5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhf Ifrf bf [F@]]]]X{@G'н 隝-?I9 ɚ4iIItii ))D] :*F ?2F :F BF w4JF Ga{BO J>HI I!IIBI&I.I6I<:IN FWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256077JJJ0JJ{:J:Jـ3JJy6H? U?`C8ɿ 6?`D?K?@G?S?ɨ6ޗ@6h;6CyRBR IIZWIZ44٢f fY=9f[Q f>hh jG٣hynѣ n> vNusing accuracyPremultiplier from configtzM59vR?zM5Yvm ivAxzz@v}8Ev7:v:v}3M5y H ADNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfJF@]!]!]!]%Z{@5ҽ 15C#?I5x9 9ɚ=i9I9IEtiAiA)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520750DUO: I*F?2F:FBFP0JF"G>G>Gm nBq O >zK K 9K K LK  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768563*J! "J! 外w,[A2Ɨ@Y2C֞@2ν92{8>y2H@?@Y?@^ɿZ:?5]?;͹??`R?ɨ2Ɨ@2 i;2CyNBR IEMb@Mb@Mb@AAA A)AYE~jt?nqq G٣y׻ > Nusing accuracyPremultiplier from config M59 ? M5Y iA 0>;@~8E);;V7M5=B = A=EDNOT Ignoring new targets: 59.90 m. jjjjihhhhKBffrfbfF@]50>]50>]5P#@]5u~@ν 隍0?I/9 ɚv:4iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020072D: I *F} ?2Fy :Fy BF} 5JFy H I  I !II MBI &I .I 6I <:I L FGU BY O} >:dw,+xA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272072:֩@Y:U@:A˽9:8>y:H`P;?`?ZɿQ?@?`Nh??`R?ɨ:֩@:c;8yJBJ I)L LPRAJZJZJZ2JXJZ:JZ":JZc3JXJZ<JZ<JZ7{;JZ8{;IVIV4٢~c ~?=9l;Q >   G٣yM M> UNusing accuracyPremultiplier from configQ]M59U ?]M5YUM iUAaee@U8EU:U*:U;M5 / ADNOT Ignoring new targets: 59.90 m. jjjjihhhh f f rf bf~F@]Q]Q]Q]U>~@A˽ 隍'?Ih9 ɚ4iIItii))DE:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524571*F?2F:FBFO0JF  I G] Bi O >w,AyB IzK]BoJK]9KYK]MK]Mb@Mb@Mb@ )YEԸ?/$/$?y=1,=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776100A @)@I@yp@IIƕ4٢ *=9 Q  >    G٣ y > Nusing accuracyPremultiplier from config%M59?%M5Y iϡA-->-;--@8E;;?M51 5 A1]DNOT Ignoring new targets: 59.90 m. jajajajaiahahahihmEBfifirfqbfu6G@]->]->]@]Z@ 隭H!?I(9 ɚ5iIItii))D:*F?2F:FBFY0JFGrA GsA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028699G B O > I N w,0JA>b@Y>q@> ƽ9>-9>y>H)?s?>ɿ@X??q?@[??T?ɨ>b@>7;\` bG٣`ybHǼ b> jNusing accuracyPremultiplier from configdjM59f.?jM5Yf  ifAlnMn@f8Ef: ;f ;f>BM5p v AtDNOT Ignoring new targets: 59.90 m. jjjjihhh!h!f)f)rf1bf5*dG@]y]y]y]}~@ ƽ b?I9 ɚA+5iIItii))HQIQ IUM!IIU%BIU. =&IQ.IQ6IU<:IUe F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:29:29.5193 TRx dataTimestamp_ set to:1736375370.888567checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280957JJJ1JJJ:J3JJJJwp;Jxp;D:*Fq2Fq:FqBFuP0JFqG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532104O >N=w,dA IU3@YUfC@Uý9UH9>yUH@-v??*ɿ @?p?1u?@?U?ɨU3@U ;QyvBw Ii>I4< R=a=UMb@Mb@Mb@QQQ Q)QYU+η?Zd; ףp= ?yUv=UUQ8=UIA U5@)U@IUI@QyU@ImIm4٢$S =9;Q > G٣y.0 >  Nusing accuracyPremultiplier from configM59?M5Y iA#>;@8E$; #;FM5! %R A!MDNOT Ignoring new targets: 59.90 m. jIjQjQjQiQhQhQhYh]\BfYfYrfabfe@G@) G]#>]#> YyA]@]V@ý 隵 ?I9 ɚT5iIItii))BD=:D4<}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 82.7 m (Round-trip 110.3 ms) speed 0.2 m/s ,DAT read: user:2637> BDAT read: Tx time:22:29:30.6048 $Ping request sent.yBH@s?s?ɿR`a?Ũ??_?V?ɨB@B;@yJlBzk I =$?I9I%I%Q4٢m% m4=9u;Q u>yy }G٣yy} > Nusing accuracyPremultiplier from configM59?M5Y  i A@8E},;,;JM5  A addTargetRange:: Added new target pos. range: 82.699997 m, deltaT: 47.411930 s, deltaX: -1.000000 m, approachRate: -0.021092 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrf̬T@bf``?]]]]&@- )-?I-i9 )ɚkw5iIItii))H9I9 I=(!II=BI9&I9.I96I=r<:I== FBIŚCJIŚCRIZI- =bI- =jI4D :Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 2J J l:J q:J c3J J  <J  <J k;J k;*F?2F:FBFJF5 PExceeded connect timeout, disconnecting.G B O >"lw,IA2 @Y2@2f927>y2H@B?`Ǖ?.ȿ*? !?䨷? ?`Y?ɨ2 @2;2CyjdBja IIrIr4٢zx zH=9z;Q z>|| ~G٣|y > Nusing accuracyPremultiplier from configM59?M5YL i:A_@8E::INM5) - A)]DNOT Ignoring new targets: 59.90 m. jYjYjYjYiYhYhahahafafirfqbfu`G?]]]]Կ~@Will construct direction to contact in vehicle frame from tetrahedron phase data.f 隵?I]9 ɚ5iIItii)) IDM:*F?2F:FBF\0JF] Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK 9K K OK  G B O >Mw,=Ay~^B~Z IMb@Mb@Mb@ )YʡE?V-I +?y=94=`A b@)p@I`@y@IIb4٢ּ <=9Q > G٣y > Nusing accuracyPremultiplier from configM59X? M5Yo iTA > ;  @8Ef;;RM5  A}DNOT Ignoring new targets: 59.90 m. jyjyjjihhhhnBffrfbfr ?]>]>]}@]}z@ >Ik9 ɚo5iIItii))2D*DrADZ:Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFe0JFi IG B O >jHy bH} p<H >I  I !II BI - =&I .I 6I <:I o Fw,G9AWill construct direction to contact in vehicle frame from tetrahedron phase data.y]VBeP IIuIu]4٢# Q=9Q > G٣y > Nusing accuracyPremultiplier from configM59?M5Yv ilA@8Eq::|UM5ߓB F AEeDNOT Ignoring new targets: 59.90 m. jajijijiiihihihqhqffrfbf` z?]]]]   >I 9 1ɚ5;5i1I1I=ti9i9)9)A MnManaging dock network, ignoring radio surface power offDu9Will construct direction to contact in vehicle frame from tetrahedron phase data.i*F ?2F :F BF% `0JF! I GU BY O} >3w,UA6@Y6n@6ְ96 9>y6H??}ȿ*n?:? ??\?ɨ6@6*و;6CyFYBFS IuMb@Mb@Mb@qqq q)qYuZd;?S㥻/$?yuy=u/ݽu,=uA uK@)u@IuI@qyqII4٢:< 7=9d G٣y7ռ > Nusing accuracyPremultiplier from configM59A얜?M5Yk iA>;@8EP#;!;aYM5 2 ADNOT Ignoring new targets: 59.90 m. jjjji Will construct direction to contact in vehicle frame from tetrahedron phase data.hhhhhBf!f!rf)bf-m)@]M>]M>]M?@]M0u@]ְ ae>IeH9 aɚe5iiIiImtiqiq)q)qzK.JK9KKPK !JJJ1JJ:J:J3Ja@a@a@a@Di9*FE?2FA:FABFE0JFA Will construct direction to contact in vehicle frame from tetrahedron phase data. q Iy G1 BA Oe >Wdw,oAJMZ@YJi@JE9JW9>yJH`2?`j?`ȿ@8K?U?0c??``?ɨJMZ@J <;JCyVKBVB I Z=Z=I^I^4٢j jW=9j+ll nG٣lyr"a r> zNusing accuracyPremultiplier from configx~M59z閜?~M5Yz; izA0@z8Ez;zN;z\M5   A=DNOT Ignoring new targets: 59.90 m. j9j9j9j9i9h9hAhAhAfIfIrfIbfM`,@]]]]t@%E !%>I%9 )ɚ-5i)I)I5ti1i1)1)9BD<:DDu%9HI I II݂BI. =&I.I6Ib<:I2 F*F 2F :F BF 5JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 B9 Ou >rEw,†ANWill construct direction to contact in vehicle frame from tetrahedron phase data.v?@YvO@v9v39>yvH`s?>? ȿT? W-?0?@??`b?ɨv?@v<;tyPBH II5I54٢M< MD=9Uo;Q U>QY ]G٣Yye e> uNusing accuracyPremultiplier from configiuM59m喜?}M5Ym imAy}\}@im:m:mY`M5 { A !I)DNOT Ignoring new targets: 59.90 m. jjjAjIiIhQhQhhffrfbf/@]]]]ct@ p>I9 ɚ5iIIEtiAiA)A)ID9*F2F:FBF4JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:22:29:33.1191 UTRx dataTimestamp_ set to:1736375374.420574zKLK9KKQK !  +>HOOLIF>3.(%#"    BK:KJ J J 0J J :J $:J ـ3J G B O >rkw,PA2'@Y27@2929>y2H@ o?S?Ozȿ@F? ӡ?˲?m ?`c?ɨ2'@2t;0y:BB:7 IMMb@Mb@Mb@III I)IYM)\(?|?5^{Gz?yMGa=MҽM#=M A M@)M@IMv@IyM@IeIe#4٢u: uH=9}yy G٣y > Nusing accuracyPremultiplier from configM59K▜?M5Y iĢA=;@8E;ӽ;cM5  ADNOT Ignoring new targets: 59.90 m. jj!j!j!i!h!h!h)h-zBf)f)rf1bf5 q @]]=]]=]]}@]].!s@m im>Im9 ɚf5iIItii)) Will construct direction to contact in vehicle frame from tetrahedron phase data. )I)Du9*F 2F :F BF /5JF ZH RH AAH I  I II ΂BI / =&I .I 6I <:I H F] Will construct direction to contact in vehicle frame from tetrahedron phase data.e 8DAT read: $Error in header e *Received a bad headerG B O >rw,ҾA6@Y6O @6969>y6H@?`D? ]ȿ kL`T?Ƌ?`l?`?e?ɨ6@6,!;6CyN?BN4 IIVIV4٢^3- ^I=9^`` bG٣`yfD f> jNusing accuracyPremultiplier from confighnM59jߖ?rM5Yj ij٢Apr"r@j8EjL;jN;jtgM5x z AxDNOT Ignoring new targets: 59.90 m. jj!j!j!i!h!h!h)h)f)f1rf1bf5@g @]Q]Q]Q]UCr@m im{>Im9 qɚu5iqIqI}tiyiy)y)2DrA*DsAWill construct direction to contact in vehicle frame from tetrahedron phase data.Dmb9EurAEq iIi*F?2F:FBFO0JFGa Bq O >w,B&AWill construct direction to contact in vehicle frame from tetrahedron phase data.<yFB< IJJJJJ[:J&:JJzKGMKC9KKRK Mb@Mb@Mb@ )Y/$?1Zdl?y,="۽= A @)@Iy @I5I54٢= < E1=9EQ E>II MG٣QyU U> ]Nusing accuracyPremultiplier from configYeM59] ۖ?eM5Y]u i]AmN=m;m&m@]8E];];]|kM5q u AyDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbfd[@]N=]N=]Ģ@] l@a ae>Ie9 iɚm,5iiIiIutiqiq)q)qD]!9*F?2F:FBFY0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O > % $?I) #w,FA6@Y6@6 C96":>y6H`pc??=ȿ@ Y z?~?E? ?h?ɨ6@6a;6CyFABJ6 IIRIR4٢Zhڼ Zh=9Z\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdjM59fؖ?jM5Yf ifAhja&j@f8Ef:f" ;fnM5rB r ArEDNOT Ignoring new targets: 59.90 m. jjjj!i!h!h!h)h)f)f)rf)bf5@]I]I]I]Mqk@e C ae)>Ie19 aɚe6iiIiImtiqiq)q)yHI I IIBI. =&I.I6I<:IO F-Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fu?2Fq:FqBFu_0JFqG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.x w," A dId:Ǖ@Y:?ל@:Aw9:^^9>y:H s??ȿ_?H#?V??@nk?ɨ:Ǖ@:;:Cy>B2 IIEIEЬ4٢م >=9t;Q > G٣y > Nusing accuracyPremultiplier from config M59<Ԗ?M5Y i A&@s<<grM5  A!y YyB%DNOT Ignoring new targets: 59.90 m. j!j!jIjIiIhIhIhQhQfQfQrfYbf]o@]]]]Ƒk@Aw >I39 ɚ6iIItii)) BD<:Dp;=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJL:JK:JJzKYKK9KKSK !aL   3 H FX|j]SLB6/,&  DM 9*F ?2F :F BF P0JF "G >G >Will construct direction to contact in vehicle frame from tetrahedron phase data.GB1OM?I w,3,AFƮ@YFE@F_i9FW9>yFH?#?`5ȿe`?@6?@'?W?`[l?ɨFƮ@F;FCyR:BR. I \I\EMb@Mb@Mb@AAA A)AYE G٣y Ȼ > Nusing accuracyPremultiplier from configM59ϖ?M5Yt iA=;)@8EK;U;vM5ߓB & AE DNOT Ignoring new targets: 59.90 m. j j j j i hhhhBffrfbf@]==]==]=.@]=@eh@U_i Y]>I]9 Yɚ]6iYIYIetiiii)i)ijHbH<HI I IIBI&I.I6I<:Ik FBIJIRIZI. =bI. =jI$,5D 9MWill construct direction to contact in vehicle frame from tetrahedron phase data.M=M<*F2F:FBF]0JFG B O > w,GA2%@Y2@2h \929>y2H95??ǿ@4l7?@?J~? O?En?ɨ2%@2);0y>9BB, IIJIJפ4٢RĻ VQ=9VXX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`fM59b̖?fM5Yb ib-Adf)f@b8Ebv:b:b(zM5l n/ AlDNOT Ignoring new targets: 59.90 m. jjjj i h h h hffrfbf@'@]]]]7h@h \ Will construct direction to contact in vehicle frame from tetrahedron phase data.§>I-09 )ɚ-x6i1I1I5ti9i9)9)9 I*F 2F :F BF_1JFGBO-> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK OK u9K K TK  _J2y: w,$bAy}5B}' I%Mb@Mb@Mb@!!! !)!Y%S㥛?v/Mb?y%/<%x齹%=% A %@)%h@I!!y%@I=I=.4٢M׊ M1=9UQ U>QQ UG٣Yy] ]> eNusing accuracyPremultiplier from configamM59e/Ȗ?mM5Ye ie8Au=u;uJ/u@e8Ee_;e;e/~M5y }O AyDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf@]=]=]<@] b@ 隭]>I9 ɚ:6iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fy2Fy:FyBFJF IG B O >H >I  I II BI - =&I .I 6I <:I e Fh6w,{ABWill construct direction to contact in vehicle frame from tetrahedron phase data.^^@Y^n@^;A9^:>y^Hd?`W? ǿ ix@`?C?%??"p?ɨ^^@^̬;^Cy~6B) III4٢% ; %b=9%)) -G٣)y5l 5>JEJEJAJAJEl:JE^:JAJAJAaUJAaUJEg;aUJEg;aU ]Nusing accuracyPremultiplier from config1mM595Ė?mM5Y5  i5AAim/u@58E50;5/;5VM5y }F AyDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf@Fb@]]]]tb@;A 隕>I9 ɚ6iIItii))*FM?2FI:FIBFM 5JFI5Will construct direction to contact in vehicle frame from tetrahedron phase data.G=BAOe> I%w,xA2I@Y2.Y@27292|:>y2HK?g?"ǿ W}?x?S? )?p?ɨ2I@2Z;0yR4BR& IeMb@Mb@Mb@aaa a)aYe/$?!rhMb?ye G٣yVȻ > Nusing accuracyPremultiplier from configM59?M5Y{ iKAV=;2@;#;M5 T ADNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf`O @]%V=]%V=]% @]% F_@=72 9=u>I=9 AɚE| 6iAIAIMtiQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF O0JF zK%MK%9K!K%UK%BK):K)GMBYO>E Will construct direction to contact in vehicle frame from tetrahedron phase data. I H+w,HSA21@Y2RA@2}!&92A;:>y2H??lǿuK?[?¤?@!? Er?ɨ21@2@;2Cy>6B>( IIFIFW4٢N; N[=9RTT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\bM59^W?bM5Y^ i^UA`f3f@^8E^;^;^AM5h jI Ah~DNOT Ignoring new targets: 59.90 m. j|j|jjihhh h f f rf bf!@]1]1]1]5-_@M}!& IMx>IM9 IɚMC$6iIIQIUtii))2D*DBD:D*F2F:FBFP0JF"GG>ZHRH@AHI I IIBI&I.I6I<:IJ FWill construct direction to contact in vehicle frame from tetrahedron phase data.JK O3 K ..KK"KJ]J]JYJYJ]:J]:JYJYJ] <J] <J]u;J]u;GBO5>12w,5A6@Y6 *@6896m:>y6H[?I?Kǿd?v\x?`?(? s?ɨ6@6;6Cy^7B^* IIfIf?4٢n!; rF=9rtt vG٣tyv v> ~Nusing accuracyPremultiplier from configxM59zu? M5YzO iz^A -3@z8EzBh;zX;zۋM5 ? A!MDNOT Ignoring new targets: 59.90 m. jIjIjIjIiIhIhIhQhQfYfarfabfe 0@]]]]^@8 Will construct direction to contact in vehicle frame from tetrahedron phase data.AiA yIyz>I}9 yɚP(6iIItii))*F?2F:FBF_0JFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JK 9K K VK ;^(RK >JK ?DZ8w,Ay%.B% IMb@Mb@Mb@ )Y rh?Cl绿Q?yC<;߽< A )@I@y(@IIy4٢* 9=9Q  >    G٣ y > %Nusing accuracyPremultiplier from config%M59m?-M5Y ihA-"=-;-4-@8E;D;M59 = AA5DNOT Ignoring new targets: 59.90 m. j1j1j1j9i9h9hAhihuׁBfqfyrfybf  @]"=]"=]U@] -]@1 15.>I59 1ɚ5N+6i9I9Imtiiii)q)y Will construct direction to contact in vehicle frame from tetrahedron phase data. m$?Iq*F]?2FY:FYBF]^0JFYG% B1 OM >H I  I II BI &I .I 6I <:I V F>w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:@:~J9: :>y:H@ض??tǿ`?DQ??`}.?rt?ɨ:@:;:CyF2BF$ I)H HIRIR4٢V:< Zc=9Z=\\ ^G٣\yb|h b> jNusing accuracyPremultiplier from configdjM59f!?jM5Yf  ifoAln=5n@df;fQ;fޒM5t vf AtDNOT Ignoring new targets: 59.90 m. jjjjihJ!J%J%1J!J!J%:J%3J!J!J!J% t;J% t;h1h9h9fAfArfAbfE3!@]i]i]i]m \@~J J7>I9 ɚ-6iIItii))*F2F:FBF0JFGsA GGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. YIYnEw,AFJޔ@YF@FW9F&:>yFH`n? ?{ǿG?.R dR?k2?t?ɨFJޔ@FK;FCyb)Bf ImMb@Mb@Mb@iii i)iYmy&1|?|?5^S㥛?ym`;mҽm/ G٣y > Nusing accuracyPremultiplier from configM59R?M5YR iwA=;:M@8EY<&<M5]ޓB ] A]EDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf a"@]=]=]@]gW@]W aeH=mWill construct direction to contact in vehicle frame from tetrahedron phase data.Ie9 ɚ/6iIItii))*FA2FA:FABFM0JFIzK}̟LK}9KyK}WK}\6HABTg|BK:KGa By O >% Will construct direction to contact in vehicle frame from tetrahedron phase data. I IQ ǗKw,ß0A6˔@Y6eۛ@6ּ96:>y6H&? ?`jǿ@@l?Qi`Қ?-?u?ɨ6˔@6&܈;6Cy>(B> IININ4٢V V[=9Va;Q Z>XX ZG٣Xy^Ż b> fNusing accuracyPremultiplier from config`fM59b?jM5Yb ib}Ahj:j@b8Ebn:b:bM5p r ApmDNOT Ignoring new targets: 59.90 m. jijijijiiihihqhqhffrfbfp"@]]]]8EW@ּ =I)9 ɚn16i!I!I%ti)i)))))*F2F:FBFO5JFjHibHm=H}>Iy I} II}BI}, =&Iy.Iy6I}<:I}X F}Will construct direction to contact in vehicle frame from tetrahedron phase data.J=J=J9J9J=:J=z:J9J9J=<J=<J=l;J=l;GBO>Rw,6xJA2Ô@Y2rӛ@2,>92:>y2H?V?eǿ̘=?v5?V6?u?ɨ2Ô@2؈;0yN!BN IiR=IRp=IZIZ.4٢b bI=9b;Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrM59n?rM5Yn inAtv:z@lnXD;nD;nyM5| ~ A-DNOT Ignoring new targets: 59.90 m. j)j)j1j1i1h1h1h9h9f9f9rfAbfE@#@ IWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]]8W@ ,> H=I9 ɚ26iII5ti9i9)9)9)A QAi οYy"AD=M9*F2F:FBFO1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.zK -NK u9K K XK }pbSBxskd`ZSOGA:83-(#   G! RK- ?JK- ?B1 OU >Xw,#NdA>@Y>@>:9>0P:>y>H??Nǿ``?@+{ SW?'? v?ɨ>@>;>CyRBR I @ @ @  @ I I (4٢֡ E=9%;Q %>!! -G٣)y-9׻ -> =bBottom track data is 0.4 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1EM595ᣖ?EM5Y5  i5AE+:AE;M;M@58E57;5>5iM5Y eAamDNOT Ignoring new targets: 59.90 m. jqjjjihhhhffrfbf $@]: Y]|=IeD9 aɚel46iaIaIutiqiy)y)yDi IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF4JFG! B1 OM >Hm >Im C Im IIm BIm + =&Ii .Ii 6Im {<:Im J FBI)JI)RI)ZI-- =bI-, =jI-o5^w,+~A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:@:vq9:':>y:H`y???ǿ@+?@ -?@#?pw?ɨ:@:xɈ;:CyBBF IININ4٢Vռ ZR=9Zk;Q Z>\\ ^G٣\yby b> fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`jM59bw?jM5YbJ ibAn :ln;n*;n@b8Eb=;bN?bM5p v2AtuDNOT Ignoring new targets: 59.90 m. jqjqjqjqiqhhhhffrfbf'D%@]vq Y]=Ie!9 aɚe56iaIaItii))D-9*F2F:FBFP0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2639> BDAT read: Tx time:22:29:41.5549  $Ping request sent. ii mG٣iyu u> }Nusing accuracyPremultiplier from configyM59}?M5Y} i}AT:=<a:@y} J;}}G;}M5 AEWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:29:41.5541 ]DNOT Ignoring new targets: 59.90 m. jYjYjjihhhhBffrfbf@a4&@]=]=]N@]W@JJJ0JJ:Jq:Jـ3Ja@a@a@a@ 隅I ɚiIItii))BD=:D>D9EsAErAzKQNK9KKYK*F)2F):F)BF)JF) I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu By O >kw,A>|@Y>@>,9>9>y>H?? .ǿ ɤ$?@ `f??`!x?ɨ>|@>ٛ;>CyFBJIIRIR4٢Zʼ Zk=9Z;Q ^?\\ ^G٣`ybMO b? fNusing accuracyPremultiplier from configdjM59fl?jM5Yf ifAhn:n@f8Ef:f ;fM5p rApDNOT Ignoring new targets: 59.90 m. jjjjihhh!h!f!f!rf)bf-&@]I]I]I]MvW@], Y] I]|9 aɚex56iaIaImtiiii)i)qDu9*F ?2F :F BF `0JF ZHRHAAHI Il IInBI* =&IGD.I3D6I<:IU F]Will construct direction to contact in vehicle frame from tetrahedron phase data.ep=eC>GB!O=>rw,;AVVP@YV_@V9V9>yVH ??v$?ǿE\?r^? ?@y?ɨVVP@VK';Ty^BbIIjIj4٢r4 rG=9rQ v>tt vG٣tyzT z> Nusing accuracyPremultiplier from config|M59~W? M5Y~ i~A  ; @~8E~e:~:~NM5  A aIauDNOT Ignoring new targets: 59.90 m. jqjyjyjyiyhyhyhhffrfbf'@]]]]W@Will construct direction to contact in vehicle frame from tetrahedron phase data. I9 ɚ.56iIItii))D M9*F?2F:FBF}0JFGmByO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.JU JU JQ JQ JU :JU 9:JQ JQ zK5 \LK5 9K1 K5 ZK5  xw,A2:@Y2BJ@2929>y2H? a&?>2ǿ ?!~Ғ?@?"x?ɨ2:@2-;2CyNBRI V=Va=Mb@Mb@Mb@ )Y G٣yĻ > Nusing accuracyPremultiplier from config%M59M?%M5Y. iA-^=-<-=9-@3; 2;$M59 EAADNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbfӐ(@]^=]^=]@@]X@ #I9 ɚ56iIItii ) ) U$?IQWill construct direction to contact in vehicle frame from tetrahedron phase data.DM9*F 2F :F BF _0JF H I  I M II TBI , =&I HD.I 2D6I <:I F} Will construct direction to contact in vehicle frame from tetrahedron phase data.G BO5>πw,,gAJB@YJwR@Juj9J:>yJH`1 ?`%?L5ǿ"?>m?E"?w?ɨJB@J*;JCyRBRIIbIb\4٢j" j==9jDO;Q j>ll nG٣lyr2; r> vNusing accuracyPremultiplier from configpzM59rZ?zM5Yrj irAxz-9z@r8ErC ;r2 ;rߴM5 A-DNOT Ignoring new targets: 59.90 m. j)j)j1j1i1h1h1h9h9fAfArfAbfE`g)@]]]].X@uj ޼Ig9 ɚ46i!I!Imtiiii)q)q YIYWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBFJFG B O >\7w,cDAjWill construct direction to contact in vehicle frame from tetrahedron phase data.y؁BIJJJJJ :J,:JJMb@Mb@Mb@ )Y?{GzMb?y<ף<+A @)@IhAyAII4٢5?= 50=95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIUM59Ma?UM5YM iMAUo=]<],]@IM;M;MM5a e/AeEDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfBW*@]]o=]]o=]] }@]]9e@ 隍LI09 ɚ36iIItii)zKKK9KK[K  BKqA:K)Dg9*F12F1:F1BF50JF1 IWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >\aw,8A2D@Y2 T@2>92=:>y2H? $?@2ǿ ?`?8&?`w?ɨ2D@2L;2Cy:ɁB>IIFIF4٢N  Rh=9Rƀ;Q R>TT VG٣TyV: V> ^Nusing accuracyPremultiplier from configX^M59Z!?bM5YZ1 iZA`b,b@Z8EZX:ZX:ZM5d jAh~DNOT Ignoring new targets: 59.90 m. j|j|j|j|i|hh h h ffrfbf +@]9]9]9]=ލe@M> IjHU<bHU<H]>IY I]( II]6BI]* =&I]GD.I]3D6I]s<:I]F FMIu9 qɚu26iqIqI}tiyiy))D89EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF05JFGB O- > I h Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ AiՑ  BDAT read: Rx Time:22:29:44.0689  TRx dataTimestamp_ set to:1736375385.256823^Cw,QAj=@YjfM@jx9jv:>yjH`D?@%?7ǿ@ ?@H?`A-?w?ɨj=@j;jCyrBrII~I~4٢ Bj  D=9:Q > G٣y% %> -Nusing accuracyPremultiplier from config)5M59-v?5M5Y- i-A9=,=@)-N;-;-M5A MAIuDNOT Ignoring new targets: 59.90 m. jyjyjyjyiyhhhhffrfbf/+@]]]]2e@x hҽI9 ɚ06iIItii)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.D9JJJJJ|:JU:JJ*F) 2F) :F) BF- 1JF1 zKe LKe u9Ka Ke \Ke  E~L*RKu ?JKu ?G B! O= >yw,mA DIHr50@Yr?@rz9rO9>yrH?(?@$ǿ?KZ?@?x?ɨr50@rI;py~B~|IuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 82.3 m (Round-trip 109.8 ms) speed 0.0 m/s ,DAT read: user:2640> BDAT read: Tx time:22:29:45.1549 $Ping request sent.II MG٣IyUK U> Nusing accuracyPremultiplier from configYM59]5?M5Y]C i]{A;=<#@]8E]a#;](;]\M5 A addTargetRange:: Added new target pos. range: 82.300003 m, deltaT: 14.368425 s, deltaX: -0.399994 m, approachRate: -0.027838 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 59.90 m. j1j1j9j9i9h9h9hAhE΁BfAfArfE@3T@bfM@#?];=];=]U@]9un@z \IX9 ɚ/6iIItii))2DrA*DrAHyIy I} II}BI}( =&Iy.Iy6I}<:I}g F% Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:22:29:45.1541 D] 9E} rAE} tA*F- ?2F) :F) BF- ~0JF) "G9 G= > IGBO? w,kAB'@YB:7@Bd;v9Bgl:>yBH@v?(?6ǿ` ? A ǎ?@+? w?ɨB'@B;BCyNBNjIZWill construct direction to contact in vehicle frame from tetrahedron phase data.IVIV"4٢f fE=9f1:Q j>hh jG٣lyn# n> rNusing accuracyPremultiplier from configpvM59r?vM5Yr iruAxz#z@r8Er;r;rM5| ~A5DNOT Ignoring new targets: 59.90 m. j1j1j1j1i1h1h1h9h9f9f9rfAbfE?]a]a]a]emdn@ud;v quɽI}9 yɚ}-6iyIyItii))%tA9*FU?2FQ:FQBFUO0JFY $ YtAyBG BO=q>eWill construct direction to contact in vehicle frame from tetrahedron phase data.zKM >hNKM 9KI KM ]KM #۩w,VABK6rA:K4yEBMRIMb@Mb@Mb@ )Y~jt?#~jMbp?yD=㥽; @)AIQAyAI5I5@4٢EM E4=9MQ M>II UG٣QyU U> I Nusing accuracyPremultiplier from configYM59]瀖?M5Y]| i]lA= <@Y]<];]M5 A-DNOT Ignoring new targets: 59.90 m. j)j)j)j1i1h1h9hAhEBfAfArfIbfMy?]m=]m=]m>@]mpqt@y y}uI9 ɚ,6iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F9BF=P0JF9ZHRH?AH>I IIIBI&I.I6I<:I FBImțCJImțCRIiZIm* =bIm) =jIm5G B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.w,AJJJ1JJ :J/:J3JJyNH@?`"1? CEǿ?w{s?.?Kw?ɨN@N;NCyZzBZAI`bAAIbIbd4٢jR jg=9nʻQ n>pp rG٣tyvm v> zNusing accuracyPremultiplier from configxM59z~?M5Yz izdA.@z8Ez8;zj;z M5 A=DNOT Ignoring new targets: 59.90 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfM`E?] ] ] ] s@=d 9=IE09 AɚE+6iAIAIMtiIiI)I)Q*F ?2F :F BF Y0JF G G IWill construct direction to contact in vehicle frame from tetrahedron phase data.GQBaO}>w,A::֓@Y:@:9:Y:>y:H`%[?`*3?@Eǿq`?u`ߒ?`D)?[w?ɨ::֓@:7Ή;8yFtBF:I)H HMb@Mb@Mb@ )YZd;? ףp= MbP?yy=Q: )QAIAyI5I5Q4٢Eݼ MC=9M:>Q M>QQ UG٣Qy]씻 ]> eNusing accuracyPremultiplier from configamM59e{?mM5Ye ieXAm=m;u+u@e8Ee ;e;eM5y }LAyDNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf*?-Will construct direction to contact in vehicle frame from tetrahedron phase data.55?5f?]}=]}=]}۩@]}:w@ 隵uIX9 ɚ*6iIItii))*F]?2Fa:FaBFe_0JFazKU:IKUC9KQKU^KU  IGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. w,rA6ړ@Y6@6M296:>y6Hj?2?`Cǿ@+?{F?3.?\w?ɨ6ړ@6x;4yB]BBIIJIJ4٢n nR=9r;Q r>pt vG٣tyv: v> ~Nusing accuracyPremultiplier from configxM59z?y?M5Yz izMA& @xzz%;z%;zM5 AEDNOT Ignoring new targets: 59.90 m. jAjAjAjAiIhIhIhIhIfQfQrfQbfU@]q]q]q]uow@M2 隍ֽI9 ɚiIItii))2D*DBD:DH]>IY I]II]ՁBI]' =&IY.IY6I]o<:I]F F*F?2F:FBFo0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.JMJMJIJIJM:JM:JIJIJM<JM<JM.Y;JM.Y;GBO> I w,A6Uؓ@Y6@696:>y6Hc? 3?RBǿi{?@\`?1?\w?ɨ6Uؓ@6_݊;6CNWill construct direction to contact in vehicle frame from tetrahedron phase data.yRVBRIIZIZ4٢b]  bK=9fl8;Q f>dd jG٣hyj  j> rNusing accuracyPremultiplier from configlrM59nv?vM5YnT inAAtv+v@n8En:n:nM5| ~<A|DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfn{@]]]]w@- QUIUr9 QɚUFiQIQI]tiYia)a)a*F-?2F):F1BF50JF1"G]>G]>GMUWill construct direction to contact in vehicle frame from tetrahedron phase data.BaO}> w,_z*AzK" KK"9K K"_K"BK*qA:K*tARB˓@YRښ@Rx9R> :>yRH/? 5?r1ǿH E?`^@?"?x?ɨRB˓@R[;RCy^UB^Iib>Ib= b=b=EMb@Mb@Mb@AAA A)AYEqq G٣yl > )I) UNusing accuracyPremultiplier from configQ]M59Ur?]M5YUW iU0Ae>e;ee@U8EU;U{;UM5i mFADNOT Ignoring new targets: 59.90 m. jjjjihhhhBffrfbf@]e>]e>]eϜ@]ekw@ux q}I}9 yɚ}ʅiyIyWill construct direction to contact in vehicle frame from tetrahedron phase data.Itii))*F2F:FBF0JFjHU<bHU<H]>I]C I]II]BIY&IY.IY6I]y<:I]N FG B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:29:47.6687 e TRx dataTimestamp_ set to:1736375389.036634J] J] J] 0JY J] :J] :J] ـ3JY J] ;J] ;J] n;J] n;|w,DA=œ@Y=Ԛ@=g9=P:>y=HO?56?3ǿ/&?T`?(?w?ɨ=œ@=;=CyMIBMIIeIe?4٢u>k uH=9u ;Q u>yy G٣y > Nusing accuracyPremultiplier from configM59o?M5Y2 i!A@8E3:u ;M5ݓB AEDNOT Ignoring new targets: 59.90 m. jjjjYiahihqhqhffrfbf* @]]]]]w@g I9 ɚӳiIIti!i!)!)!*F?2F:FBFU5JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >3w,4^AR@YR8ƚ@R5^9R9>yRH缿?@8?"&ǿ@ ׿?@}@܋??`x?ɨR@Rt;RCynBBnImMb@Mb@Mb@iii i)iYmˡE?i|?5Mbpym=mmi m@)mAIiiyiII4٢ J=9­:Q > G٣y| > Nusing accuracyPremultiplier from configM596l?M5Y9 i A3>;m@8E3;^;qM5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhBff rf bf 9@-Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: Range 10 to 50 : 82.2 m (Round-trip 109.6 ms) speed -0.1 m/s M,DAT read: user:2641> BDAT read: Tx time:22:29:48.7549 $Ping request sent.]3>]:@]%x@=5^ AEIE9 AɚE iAIiImtiqiq)q)qEEsA*F%?2F!:F!BF%4JF!G-rA G)zK}BoHK}9KyK}`K},\l9  IGE BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. i A[w,xA6@Y6@6y6Hnd? 9? /ǿ@v?ヿ/?(?`x?ɨ6@6r;6Cy>6B>I)@ @DDININHo4٢V V[=9V;Q V>XX ZG٣Xy^o ^> bNusing accuracyPremultiplier from config`fM59bh?fM5Yb* ibAhjj@b8Eb:b:bM5l n:Ap addTargetRange:: Added new target pos. range: 82.199997 m, deltaT: 3.782905 s, deltaX: -0.100006 m, approachRate: -0.026436 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrf̌T@bf?HI IfIIBI&I.I6Iٰ<:I F]i]i]i]mx@]  I Ew,AFWill construct direction to contact in vehicle frame from tetrahedron phase data.yn.BnIIzIz]4٢  D=9 Q  >  G٣y > %Nusing accuracyPremultiplier from config%M59Fe?-M5Y7 iA))-@n::VM59 =wA9eDNOT Ignoring new targets: 59.90 m. jajajajaiahihihqhyfyfyrfbf-?]]]] -I=9 ɚn]iIItii))D]G9*F?2F:FBF93JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.GU 6?Ba O} >ւw,/AzKMK89KKaK>u@Y>@>jZ9>xI>y>H7?6)? ɿ˽?`уV??=a?ɨ>u@>ÿ;>CyJ+BJI qIyMb@Mb@Mb@ )Y ףp= ?X9v~jtxyQ=Ļ @)hAIy AII4٢^ ==9&Q > G٣y;| > Nusing accuracyPremultiplier from configM59La?M5Ye i͢A>;i@8Ej;;M5 ADNOT Ignoring new targets: 59.90 m. jjjjihh!h!h%sBf!f)rf1bf5Oz?]>]>]!@])y@jZ \IC9 ɚ؁iIIEtiIiI)I)IuWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F?2F:FBF[0JF"G>G>ZHRHAAH >I IMIIBI& =&I.I6I<:Ii FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.gw,uAFKk@YFz@FwI9FF>yFHe?.?@ׯȿ`.s?@<ʄ.??e?ɨFKk@Fg;FCyR"BRIiV>IV> Z=Z=J^J^J^1J\J^ :J^h:J^3J\J^<J^<J^Mi;J^Ni;IzIz4٢ {A  W=9U)1;Q ]>qq }G٣yy}=F }> Nusing accuracyPremultiplier from configM59]?M5Yx iA@8ES+<h+<M5 ADNOT Ignoring new targets: 59.90 m. j j j j i h hIhQhQfQfQrfYbf]?]]]]?y@wI !I{9 ɚiIItii)) qIq*F2F:FBF`0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.)%= %rCc~GvA  YvAyBGB O w,GAMj@YMy@M9MX?>yMHg\? 9?CǿJ?%??5p?ɨMj@M#;Iy]'BeIWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-&1?X9vI +y-=)-94-A -@)-zAI-A)y-3AIEIE4٢UG< U7=9Ux;Q U>YY ]G٣Yye& e> mNusing accuracyPremultiplier from configi}M59mY?}M5Ym imA}$>};}v@m8Em3;m1;mUM5 ADNOT Ignoring new targets: 59.90 m. jjjjihhhhtBffrfbfi\@]$>]$>]Ҭ@])}@ 隥IE9 ɚiIItii))*F}?2Fy:FyBF}p0JFzKK`9KKbK]q @*0 QIQGe .:Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >w,8Arj@Yry@r9r<5=>yrH@\?>?_xǿ6? ~??St?ɨrj@r,;pyz%BzI@AI I P4٢  a=9>;Q >!! %G٣!y-/6 -> 5Nusing accuracyPremultiplier from config)=M59-xV?=M5Y- i-AAEE@)-,;-},;-M5I MAaH}!>Iy I}:II}uBIy&Iy.Iy6I}<:I}o FBIUCJIUCRIQZIU' =bIU' =jIU4DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf`fQ@]]]]T}@ 隥I9 ɚ"iIItii))*Fa2Fa:FiBFm`5JFiGq GqWill construct direction to contact in vehicle frame from tetrahedron phase data.G6?B O= > A IA ͦw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.BJi@YBx@B9Ba<>yBH`V???Wǿ?ᓏBw?'j?`u?ɨBJi@B ;BCyr)BrIIzIz4٢< K=9;Q  >   G٣yAv > Nusing accuracyPremultiplier from config%M59R?%M5Y ieA)--@8E49;9;M59 =A9mDNOT Ignoring new targets: 59.90 m. jijijijiiihqhqhqhqfyfyrfybf}z@]]]]}@ 隽I9 ɚ`ϴiIItii))*Fa2Fa:FaBFe4JFiGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:29:51.2684 TRx dataTimestamp_ set to:1736375392.564714JJJ0JJ:J^:Jـ3Ja@a@a@a@^ w,gF-A6[@Y6k@6i96;>y6Hx?@B? :ǿ u?u.r??P?v?ɨ6[@6!S;6CyR%BRIzK^W'PK^89K\K^cK^0-!)1$;9w D o2.|:|eO@4& pItMb@Mb@Mb@ )YCl?X9v G٣y< > Nusing accuracyPremultiplier from configN59+O?N5Yy iKA%>;T@8E_;;N5ܓB AE DNOT Ignoring new targets: 59.90 m. j jjjihhhhBf!f!rf!bf% @]E%>]E%>]EΆ@]Ee@]i Y]R8I]x9 Yɚ]BiYIaIetiaii)i)i2Dq*DqBDq:DqUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA*F?2F:FBFX2JFjH<bH<HI I4IIpBI&I.I6Iz<:IR FGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 81.9 m (Round-trip 109.3 ms) speed 0.0 m/s  ,DAT read: user:2642>  BDAT read: Tx time:22:29:52.3549  $Ping request sent. yHP?`D?a2ǿ_8? i?OL?w?ɨO@;騩y*BIII4٢%f< %C=9%Z;Q %>)) -G٣)y5] M> ]Nusing accuracyPremultiplier from configYeN59]K?eN5Y] i]0Aamnm@]8E] :] :]mN5 A addTargetRange:: Added new target pos. range: 81.900002 m, deltaT: 3.524734 s, deltaX: -0.299995 m, approachRate: -0.085112 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 59.90 m. jjjjihhhhffrf yT@bf @F?]a]a]a]edX@7M 隝.IF9 ɚviIIt $?IhiIiI)I)I*F?2F:FBFP0JF"G>G>eWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:22:29:52.3541 G B O5 >w,AaA$@Y4@0]t9}Z9>yH3?@K?@Yƿ ?𴏿`n? ?`z?ɨ$@';Cy.BI }@} }@} }@}  }@} IIƕ4٢X< S=9jʺQ > G٣y` >Will construct direction to contact in vehicle frame from tetrahedron phase data. bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configN591H?N5Y  iA+:;@8E|<>"N5 nAJJJ1JJ,:JU:J3J DNOT Ignoring new targets: 59.90 m. j j j j i hhhhffrfbf?0]t 隕%I>9 ɚ iIItii))*F]?2FY:FYBFYJFY IzKMPKM9KIKMdKMe Will construct direction to contact in vehicle frame from tetrahedron phase data.G} B O >w,QzAN@YN{/@N`C9NJ;N>yNH?@,?Gɿ?@ܭlh?ۚ?cZ?ɨN@N];LyZ5BZIIfIf4٢ }= T=9:Q >H%">I! I!I!I!&I!.I!6I%c<:I%A F99 =G٣AyE E> UbBottom track data is 0.8 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]N59MD?]N5YMH iMA] :YeW;ee@M8EM<;MF?M` N5i m<AiDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbfX?`C I_9 ɚiIItii))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> I $w,ȵAWill construct direction to contact in vehicle frame from tetrahedron phase data.:;@Y:!@:9:K>y:HO?{2?/ɿG5?rW0`?`L?a^?ɨ:;@:j;:CyF>BFIIRIR4٢Z;= ZP=9^';Q ^>`` bG٣`yb f> jbBottom track data is 1.2 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdnN59frA?nN5Yf ifAr9pr.;rr@f8Ef8;f?f- N5t vAtDNOT Ignoring new targets: 59.90 m. jjj!j!i!h!h!h)h)f)f)rf1bf5വ? I9 ɚiII ti i))q*F ?2F :FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G)BAO]>JJJJJJq:JJ+w,dA I B@YB_@Bl9B-H>yBH0?9?ȿ`@h?{M?S?@gc?ɨB@Bߡ;BCyNJBNI)P PzKiJK-9KKeK E E EE MM  M M MMb@Mb@Mb@III I)IYMMbX? ףp= Mb`yM=MQMMA M@)MAIIIyMzAIeIe4٢mv\= u?=9u*$;Q u>yy }G٣yy7 > Nusing accuracyPremultiplier from configN59>?N5Y iաAT: >;n @;;N5 ADNOT Ignoring new targets: 59.90 m. jjjjihhQhQhUBfYfYrfYbf]m?] >] >]s@]؂@l 隵kI9 ɚ*iIItii))=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFZHRH@AH%#>I! I%@II%zBI!&I!.I!6I%<:I% FGUBYO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. 7? a=i2w,fiA2@Y2@2[3@:92E>y2H?)??Vȿi?`%@kHy?`h?ɨ2@2[;2Cyb^BbIIjIj"4٢v= vS=9v;Q z>xx zG٣xy~X ~> Nusing accuracyPremultiplier from config N59#N8w,AfWill construct direction to contact in vehicle frame from tetrahedron phase data.@Y, @'*;9;A>yH?E? ǿ`jQ?`De?n?ɨ@L;Cy=hB=+IJJJJJ:J^:JJMMb@Mb@Mb@III I)IYM{Gz? G٣y, > Nusing accuracyPremultiplier from configN599?N5Y iA=; @8E'[;F;N5 A DNOT Ignoring new targets: 59.90 m. j j j jihhh!h%؁Bf!f)rf)bf-@]=]=]@]@'*; FaIT9 ɚ}~iIItii ) )  YIY*F%?2F):F)BF-Q2JF)zKBoHK89KKfK}Will construct direction to contact in vehicle frame from tetrahedron phase data.yi}AGi By O >D>w,yAH$>I I`IIBI% =&I.I4D6Iu<:IP FJn@YJ @JH;9J>>yJH? I?@Vǿ Ir< z=z=I~I~4٢ t>  f=9 d;Q >! %G٣)y59 5> ENusing accuracyPremultiplier from configAMN59E7?MN5YE iEAIM U@E8EE:Ev:EN5Y ]AYDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf` @]]]]H@H; D3I9 ɚi8ԼIItii))*FQ2FQ:FQBFUO0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:29:54.8687 TRx dataTimestamp_ set to:1736375396.094325GqBO> QIQ ~G Will construct direction to contact in vehicle frame from tetrahedron phase data. Y y B>Ew,؃A6@Y6@6~;96<>y6H ?@_N?Q;ǿ @ɸ?c|co? Tu?ɨ6@6'C;4yBBB^IIJIJ?4٢R5= RQ=9V;Q V>TX ZG٣XyZ~ Z> bNusing accuracyPremultiplier from config\bN59^5?fN5Y^ i^Adj j@\^.;^.;^N5l r[ApDNOT Ignoring new targets: 59.90 m. jjjjihhhhffrfbf @]]]]n@~; vI9 ɚi8II%ti!i!)!))*F?2F:FBFP0JFG GrA Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 22:29:54.8687 LVL= 20112, 24001, 12386, 28051, AGC= 60, IDX= 446,-0.08,-1.892, 0.716,-0.197,-0.320, PHS=-1.483, 1.083, 0.120, RAW= 291.8, 2.5, CAL= 294.7, 3.2, ROT= 215.3, -3.2 uYgot valid direction response: 22:29:54.8687 LVL= 20112, 24001, 12386, 28051, AGC= 60, IDX= 446,-0.08,-1.892, 0.716,-0.197,-0.320, PHS=-1.483, 1.083, 0.120, RAW= 291.8, 2.5, CAL= 294.7, 3.2, ROT= 215.3, -3.2 }PDAT read: Bearing 215.3, -3.2 (Local) ~Local bearing/azimuth received: Bearing 215.3, -3.2 (Local) DAT read: Range 10 to 50 : 82.1 m (Round-trip 109.5 ms) speed 0.0 m/s ,DAT read: user:2643> BDAT read: Tx time:22:29:55.9550 $Ping request sent.y 3B  N ] b0) mI <i ҽ ? = @ ¸2= o@) d=I ~p@i d   T>~9?liX?) ?@I |4i |ͫ? ?  u :publishing transmit ping timeu Fpublishing direction and range info 9 R<}?:3lk?my     ) I i      ) I i    T>~9?liX?) I i     I II AKw,b1A6@Y6@6<96*;>y6H@3?P?@!ǿ[?i`!p@Z?#v?ɨ6@6+;6CyBBBjIzK^K^9K\K^gK^Mb@Mb@Mb@ )YI +?p= ף:v?y94=T<nA $@)3AIAyAII4٢6= 7=91;Q > G٣y7C > -Nusing accuracyPremultiplier from config!-N59%=3?-N5UWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:22:29:55.9542 Y%9 i!e=e&I5C I5II5BI5$ =&I1.I16I5<:I5s FBIJIRIZI& =bI% =jIž5*F}?2Fy:FyBFyJFy Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >JE JE JE /JA JE :JE :JE (N3JA JA aM JA aU JE xp;aU JE xp;aU >Rw,:KA>@Y>:Ù@>"<9>:>y>Hñ?V?bǿ?晿u@;?w?ɨ>@>l;>CyjBjI)l lprAIvIv4٢~= ~[=9hQ > G٣y P  > Nusing accuracyPremultiplier from config%N59P1?%N5Y iA!%-@6;:-$N51 5TA1]DNOT Ignoring new targets: 82.10 m. jajajajaiahahahihififirfqbfu?]]]]t@"< 隭HI9 ɚiU]IItii))2D*DBD:D I*F?2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO=>Xw,'eAbWill construct direction to contact in vehicle frame from tetrahedron phase data.zv@Yz@z=<9zv1>yzH?of?`ſ@@?@Ÿ w~U?`?ɨzv@z3ʟ;zCy ŁB IMb@Mb@Mb@ )Y~jtx?S㥫~jt?y;/]<A ;@)AIyAIIb4٢4= ==9Z:Q > G٣yB > Nusing accuracyPremultiplier from configN59J/?N5Y iAk=f<<@8EN;|;'N5ܓB AEDNOT Ignoring new targets: 82.10 m. jjjjihhh!hE_BfAfIrfIbfMq?]k=]k=]eV@]U@=< 隥I99 ɚkiIItii)) I*F2F:FBFJF"G>G>zK-JK-u9K)K-hK-uWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >H &>I  I II ߁BI &I .I 6I <:I F_w,$~ARv@YR@R<9R4>yRHƵ?d?`sJƿ?@0 0x?f?ɨRv@R<;RCyZցB^IIfIf4٢r= r[=9rm:Q r>tt vG٣tyv z> ~Nusing accuracyPremultiplier from configxN59z-?N5Yz iz¡A<@xzi ;zz ;z2+N5  0ADNOT Ignoring new targets: 82.10 m. jjjjihhhhffrfbf`r*?])])])]-saU@e< quˈI}9 yɚ}i} IyItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF 0JF J J J 0J J J ^:J ـ3J J J J g;J g; IG1B9O]> Will construct direction to contact in vehicle frame from tetrahedron phase data.ew,)ΘABOe@YBt@B#><9BI6>yBH@?Pc?@ƿ *yc?@ʚ ׇ@ػ?1}?ɨBOe@B;BCyJځBJIIRIRפ4٢^< bL=9b&;Q b>dd fG٣dyfا j> nNusing accuracyPremultiplier from confighnN59j+?rN5Yj rtIijɡApr<r@j8Ej%;j;j.N5x zAxDNOT Ignoring new targets: 82.10 m. jjjj!i!h!h!h!h)f)f)rf)bf-=??]Q]Q]Q]UDU@e#>< amIm9 iɚmUimҾ:IiIutiqi))*F?2F:FBF[5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GaBO~> I lw,¦A:If@Y:u@:On<9:z8>y:H ?H?a?ƨƿ@F?@ ڝՍ ~?{?ɨ:If@:z;:CyFBFI%Mb@Mb@Mb@!!! !)!Y%ktv/Mb?y% 0%xi%<%XA %$@)%`AI!!y%AzK=K=9K9K=iK=IMIMЬ4٢]<= ]A=9e;Q e>ai mG٣iym]9 m> uNusing accuracyPremultiplier from configq}N59un)?N5Yu iuϡAڕ=5<&@@qu;u;uf2N5 ADNOT Ignoring new targets: 82.10 m. jjjjihhhhiBffrfbf@@]ڕ=]ڕ=]b@]&@=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=AOn< 隝I9 ɚViI IIIBI&I.I6Iy<:IT FGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J% J% J! J! J% L:J% U:J! J! J% @ <J% A <J% e;J% e;rw,sA2$e@Y2t@2֍<929>y2H>?`?@&ƿ?S ?ky?ɨ2$e@2\;2CyBBBIIJIJ4٢R= RW=9R;Q R>TT VG٣TyZ Z> Nusing accuracyPremultiplier from config\N59^o'?N5Y^@ i^ԡA&@%@\^[<^[<^5N5) -XA) E$?IA}DNOT Ignoring new targets: 82.10 m. jyjyjjihhhhffrfbf/@]]]]#&@֍< oI9 ɚeie %=- BDAT read: Rx Time:22:29:58.4688 E TRx dataTimestamp_ set to:1736375399.628342OU >}yw,yA5\c@Y5r@5Yߢ<959>y5H`m0?`{`?`ƿDl?@[? x?ɨ5\c@5J;5CyUBUI)a a%Mb@Mb@Mb@!!! !)!Y%~jtX9vy&1|?y%%}%`;%A %Q@)%vAI%zA!y%AI=I=4٢EL M&=9MT;Q M>QQ UG٣Qy] ]> mNusing accuracyPremultiplier from configauN59e$?uN5YeV ieѡAua=uH I  I  II !BI # =&I .I 6I W<:I ; Fۉw,5BA6 Y@Y6h@6T<969>y6H ݴ?a? ƿ`?r"J?w?ɨ6 Y@6ۧ;6CyRBRIIZIZ 4٢f< fg=9j|;Q j>hl nG٣lynh r> vNusing accuracyPremultiplier from configpvN59r"?zN5Yr irϡAxz@z@r8Er:rs:r=N5 rA-DNOT Ignoring new targets: 82.10 m. j)j)j)j)i)h1h1h1h1f1f9rf9bf=: @]a]a]a]e@uT< qu(I}Լ9 yɚ}mi} -X#Rx 6: Read range message, but no direction.yfB*F?2F:FBF\0JFJJJ1JJ:Jh:J3JJ <J <JMi;JNi; !I!GB O%o> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Tx time:22:29:59.5550  $Ping request sent. y6H@炴?@a?@ƿcW?[=?)?wv?ɨ6M@6ҕ;4yBBBIIJIJ44٢V; VM=9V;Q V>XX ZG٣Xy^bd ^> rNusing accuracyPremultiplier from configpvN59r? ?vN5Yr ir͡Atv@z@pr:r:r@N5 =hA9m addTargetRange:: Added new target pos. range: 82.199997 m, deltaT: 3.532442 s, deltaX: 0.099998 m, approachRate: 0.028309 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 82.10 m. jqjqjqjqiqhhhhffrf̌T@bfc@?]]]]@< Iž9 !ɚ%i!I!I-tiQiQ)Q)Y*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>  I Yw,6A2+@Y2.;@2g<92q:>y2H@ t?c?@ƿ G ?֢@f +?]v?ɨ2+@2v;2Cy>BzKNKN89KLKNkKN>Iij=Ijp<=Will construct direction to contact in vehicle frame from tetrahedron phase data.eMb@Mb@Mb@aaa a)aYeZd;O G٣y > Nusing accuracyPremultiplier from configN59~?N5Y iA=;@@8E;h;bDN5 ADNOT Ignoring new targets: 82.10 m. jjjjihhhhBffrfbf ?]=]=]s@]@g< 3IL9 ɚ--iII5ti1i1)1)9H&>I I II'BI% =&I.I6IB<:I+ F*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G- B1 OU > I ȓw,/OAyv؁BzIIIkf4٢ R=9Q > %G٣!y% %> -Nusing accuracyPremultiplier from config)5N59-?5N5Y-  i-A99=@-8E- ;- ;-GN5A EAA}DNOT Ignoring new targets: 82.10 m. jyjyjyjyiyhyhyhhffrfbf?]]]] 隽ͿI9 ɚ)DiIItii))2D*DBD:D) NG5|uAQ*F2F:FBF0JF PY|uAyc BMWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,/iAJ3K3 KT.KK"KJbJbJ`J`JbL:Jb:J`J`ar@ar@ar@ar@M@Y@<9u_9>yH 3"?6h?ƿa Ѱ?UӖ ?"x?ɨM@@;Cy-ȁB-IMb@Mb@Mb@ )YMbX9#~jyʡ㥽̼A h@)`AIAy=AI=I=]4٢MÏ U8=9U0Q U>YY ]G٣Yy]> e> mNusing accuracyPremultiplier from configauN59e?uN5Ye. ieAuO=u;ug@u@e8EeO;e;eKN5 AE IDNOT Ignoring new targets: 82.10 m. jjjjihhhhvBffrfbf @?]UO=]UO=]U |@]Uqg@< 隍IO9 ɚ[iIItii))*F92F9:F9BF=0JF9UWill construct direction to contact in vehicle frame from tetrahedron phase data.UAiQzKYK]-9KYK]lK]Ga By O >He $>Ie C Ie  IIe BIe , =&Ia .Ie 3D6Ie y<:Ie N FBI%ʝCJI!RI!ZI%$ =bI%& =jI%`l6&۠w,-AN1@YN@N%<9N9>yNHu?`;h? <ƿ‹?`ۡ>F?w?ɨN1@N;NCyZB^}I)` ``bAIfIf4٢n# ne=9r:Q r>pp vG٣tyv6 v> ~Nusing accuracyPremultiplier from configx~N59z?~N5Yz{ izpAS@@xz:z:zNN5  A=DNOT Ignoring new targets: 82.10 m. jAjAjAjAiAhAhAhIhIfIfIrfQbfU ?]i]i]i]mS@%< 隅H˾I9 ɚiIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F):F)BF5 5JF1 IGmByO~>e Will construct direction to contact in vehicle frame from tetrahedron phase data.w,7mA6@Y6 @6`<96m9>y6Ha?g?@>ƿ]*?^ +?w?ɨ6@6v!;6CybBbkIIjIjV4٢re rJ=9rS;Q v>tt vG٣tyz|: z> ~Nusing accuracyPremultiplier from config| N59~? N5Y~ i~QA Y@@~8E~-;~-;~PRN5 AEDNOT Ignoring new targets: 82.10 m. jAjIjIjIiIhIhIhQhQfQfYrfYbf]` @]y]y]y]}Y@`< 隕IھI9 ɚ ݳiIItii))*FQ2FY:FYBFeP0JFa"GqGu>Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J |:J :J J GBO> qIq,w,RCA6M@Y6@6o0<96o8:>y6H ? Rg?ƿ/@?q$?v?ɨ6M@6e;6CyBBBNIzKBHK89KKmK-Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ylsh|? ףp= yQ8A ;@)AIAyGAII"4٢ֽ ==9:Q > G٣yf9 > Nusing accuracyPremultiplier from configN59 ?N5YO iA=<.@@8Er;;VN5 A%DNOT Ignoring new targets: 82.10 m. j!j!j!j!i!h!h!h)h-Bf)f1rf1bf5xp@]U=]U=]U`@]U?.@eo0< ae\Im9 iɚmiiIiIutiqiq)q)yH!>I IIIBI+ =&I.I6IP<:I/ F*F-?2F):F)BF)JF)GmByO>Will construct direction to contact in vehicle frame from tetrahedron phase data. PExceeded connect timeout, disconnecting. a Ia pw,1A6@Y6@6B<96$:>y6H` ?@nf?tƿj?XƢhޘ 6?`u?ɨ6@6%;6CyBeBB'I Ja=Jp=ININ4٢Ve, V^=9Vl:Q V>XX ZG٣Xy^: ^> fNusing accuracyPremultiplier from config`jN59b ?jN5Yb ibAln.@n@`b%;b;bRYN5rۓB rArE DNOT Ignoring new targets: 82.10 m. j j j)j)i)h)h1h1h1f1f9rf9bf=!m @]a]a]a]eh.@uB< y}*I}r9 yɚyiyIyItii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:22:30:02.0681 MTRx dataTimestamp_ set to:1736375403.408602D]R9*F ?2F :F BF 4JF G GG  Will construct direction to contact in vehicle frame from tetrahedron phase data.BQ O >J J J 0J J l:J :J ـ3J w,AJ@YJM@J<9J:>yJHPα?f?ƿk?Y`:9?u?ɨJ@J1j;JCyjOBn I IMb@Mb@Mb@ )Yy&1?ʡEi|?5y`<-qA $@)IyII~4٢h +=9Q >    G٣ yO+ > Nusing accuracyPremultiplier from config%N59 ?%N5Yb iA%=-;-/-@8E;<;]N51 5[A1eDNOT Ignoring new targets: 82.10 m. jajijijiiihihihqhu߁Bfqfyrfybf} 3; @]=]=] @]ac@5< 15\I59 1ɚ=i9I9IEtiAiI)I)ID)*F2F:FBFP0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 81.6 m (Round-trip 108.9 ms) speed 0.0 m/s u,DAT read: user:2645> }BDAT read: Tx time:22:30:03.1550 }$Ping request sent.}Ew,zVAy+BII-I-x4٢eH ec=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from configyN59}?N5Y} i}qA@y};}r;}`N5 {A addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.781717 s, deltaX: -0.599998 m, approachRate: -0.158658 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 82.10 m. jjjjihhhhffrf `ffT@bf m?])])])])9 9=^I=9 AɚEiAIAIMtiIiI)I)I}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:30:03.1542 nManaging dock network, ignoring radio surface power off*FM?2FQ:FQBFU_0JFQ IGBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.pw,2A6/ϑ@Y6ޘ@6b<96A:>y6Hk?8i?vƿ ?lvK 6? bv?ɨ6/ϑ@6Ȑ;6CyRBRIIZIZ\4٢f5 fU=9fmQ f>hh jG٣hyn[N n> rNusing accuracyPremultiplier from configpvN59r*?vN5Yr ir7Atv+/z@r8Er:r7:rdN5| ~CA|%DNOT Ignoring new targets: 82.10 m. j)j)j)j)i)h)h)h1h9f9fArfAbfE?]a]a]a]eb@b< ^̾I9 ɚiIItii) ) *F?2F:FBF0JF"G>G>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJJJ IG1B9Om>w, 9A:@Y:"@:<9:->y:H<?`}?5uſ?`q??ɨ:@:;8yFBFIrWill construct direction to contact in vehicle frame from tetrahedron phase data.rAirA-Mb@Mb@Mb@))) )))Y-|?5^?bX9ȶL7A`尿zK=cMK=9K9K=oK=&$y-=-E-+-A ))-IAI))y-AI}I}b4٢ >=93Q > G٣yf > Nusing accuracyPremultiplier from configN59?N5Y1 iA>; @8E3;2;gN5 AmDNOT Ignoring new targets: 82.10 m. jijijijiiihqhqhyh}Bfyfyrfybf@?]>]>]&B@]A@< I9 ɚZiIItii))H >I I:IIuBI&I.I6I%<:I F*Fi2Fq:FqBFu^1JFqGWill construct direction to contact in vehicle frame from tetrahedron phase data.BO>J J $?I 6w,RAy~BII5I54٢U۽ ]N=9]Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configi}N59mB?N5YmM imA@ima>;m>;m8kN5 AEDNOT Ignoring new targets: 82.10 m. jjjjihhhhffrfbf ?]]]] ̕I 9 ɚ i I Itii))!*F2F:FBF55JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.%w,lA 9IAG@YV@4N<9y7>yH@? t?Gƿ?vlƉ`#?{?ɨG@:;騕Cy޽ـB޽|I]Mb@Mb@Mb@YYY Y)YY]gfffff?sh|?Zd;y]33>]]yY ]@)]AI]QAYy]AIuIu4٢}z 8=9O G٣y¼ > Nusing accuracyPremultiplier from config%N59?%N5Y` ifA-O>-;-V-@8E<ה<oN51 5A1DNOT Ignoring new targets: 82.10 m. jjjjihhhh6Bffrfbf?]O>]O>]@] @%4N< )-R8I-K9 )ɚ-Ji)I)I5ti1i1)a)a2Di*DiBDi:Di*Fi2Fi:FiBFmQ5JFqGy G}qAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKKK89KKpKHe >Ia  Ie IIe 8BIe * =&Ia .Ia 6Ie i<:Ie A FG B O >w,AAyɀBgII)I)٢= =c=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYeN59]?eN5Y] i]-Aaam@]8E]:]:]ArN5q uAqDNOT Ignoring new targets: 82.10 m. jjjjihh!h!h!f!f)rf)bf-a@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]Y]Y]Y]Yq quYIu@9 yɚ}M˳iyIyItii))J]J]JYJYJ],:J] :JYJYJ] Will construct direction to contact in vehicle frame from tetrahedron phase data.'w,yAZP@YZ @Z8 <9Z 9>yZH/ ?`s? ǿ`l@? tG`?2y?ɨZP@Z";XyfÀBf_IInIn4٢vV vO=9z,Q z>xx ~G٣|y~w ~>  Nusing accuracyPremultiplier from config N59? N5Y iAO@8EU:3:uN5) -A)UDNOT Ignoring new targets: 82.10 m. jQjQjYjYiYhYhYhahafafarfibfm '!@]]]]@8 < 隭eI9 ɚiIItii))*Fu?2Fq:FqBFu^0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data. 9IAGmBO>w,dA2WҐ@Y2@20;92g9>y2H.^?t?ǿ@ Á?@y`+?*y?ɨ2WҐ@2p_;0yBĀBBaI^Will construct direction to contact in vehicle frame from tetrahedron phase data.bBDAT read: Rx Time:22:30:05.6681 bTRx dataTimestamp_ set to:1736375406.936680Mb@Mb@Mb@ )Y!rh?ʡEMbylg>@ @)IyAIIJ4zK+KK9KKqK}PvA|x|ubH/!}wpkc[I& ٢; <=9Q > G٣y$E > Nusing accuracyPremultiplier from configN59?N5Y iA-y>Z;鿑@8E{;;yN5 A=DNOT Ignoring new targets: 82.10 m. j9j9j9jAiAhAhAhAhMBfIfIrfQbfU`%@]-y>]-y>]Ӎ@]ޜ@0; .I9 ɚILiHI IIIBI) =&I.I6I,<:I FBI›CJI›CRIZI+ =bI+ =jI'(5IIMtiIiI)Q)Q*F?2F:FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bi O >J J J 1J J L:J ^:J 3J J @ <J A <J g;J g; ) I) w,?AZ@YZ@Zʩ;9Z.Z:>yZH?|u?"ǿ^?@LN9uT*?x?ɨZ@Z_;ZCybǀBfeIIrIrx4٢vn< vZ=9~^8Q ~>  G٣ yH > -Nusing accuracyPremultiplier from config!-N59%?-N5Y% i%A15]꿑5@%8E%;%-;%|N59 EAA5DNOT Ignoring new targets: 82.10 m. j1j1j1j9i9h9h9h9hAfAfArfIbfM @]q]q]q]ux@ʩ; 隅z(I|9 ɚwiIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.9 ms) speed 0.0 m/s ,DAT read: user:2646> BDAT read: Tx time:22:30:06.7551 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:30:06.7543 4w,nA lIpdz@Y㉗@b;9;:>yH@H?w? ǿ@q?SUl)!?y?ɨdz@8Ώ;騥Cy޵؀B޽zIEMb@Mb@Mb@AAA A)AYEi|?5?MbX9S㥛yEq>EʡE/ݼEA E@)EAIE@AyEfAI]I]4٢u= u4=9uyQ u>yy }G٣yy^ > Nusing accuracyPremultiplier from configN59A?N5Y icA+>T;l쿑@8E;;N5 A addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.528743 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 82.10 m. jjjjihhhh Bffrfbf`( ?]+>]+>]@]@b; 隍̽Id9 ɚ iIItii))*Fu?2Fq:FqBF}`0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.zKbOKKKrKRK ?JK?H !>I  I II BI * =&I .I 6I ><:I $ FG9 BI Ou >w,xA>4@Y>mD@>{:9>#t9>y>H!? .y?` ǿ`?RqY ?`z?ɨ>4@>g;>CyJBJIIRIR4٢Z= Zl=9^ Q ^?\\ ^G٣`yb+ȼ b? fNusing accuracyPremultiplier from configdjN59f:?jN5Yf ifFAlnn@f8Ef ;f ;fN5t zAxUDNOT Ignoring new targets: 82.10 m. jYjYjYjYiYhYhYhahafafarfibfmT?]]]]=@{: 隥ĜI=9 ɚiIItii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF5P5JF1J]J]J]0JYJ]:J] :J]ـ3JYJ]<J]<J]cW;J]dW; IGiByO~> Will construct direction to contact in vehicle frame from tetrahedron phase data. w,!A2@Y2F@2.㸺92r9>y2H m?Uy?ǿ#؀?v{@eW??y?ɨ2@2f;2CybBbIIjIjK4٢r= rG=9rPQ v>tt vG٣tyz9 z> Nusing accuracyPremultiplier from config| N59~? N5Y~N i~$A  T@~8E~;~P:~TN5 AEEDNOT Ignoring new targets: 82.10 m. jIjIjIjIiIhIhIhQhQfQfYrfYbf] ?]y]y]y]}z@.㸺 隕$I9 ɚ-il6w,;A6"ˏ@Y6ږ@6.96*:>y6Hy]?@Kx? c3ǿha?W`?Tc?`>3?Jx?ɨ6"ˏ@6;6CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yVBVIMb@Mb@Mb@ )Y"~?ly&1|yS>`AA @)IhAy AII<4٢> >=9rQ > G٣yo > Nusing accuracyPremultiplier from configN592한?N5Y iA8a>q;e@8E;;N5 AzKBoHK9KKsK-DNOT Ignoring new targets: 82.10 m. j)j)j)j)i)h1h1h9h=_Bf9f9rf9bfE`?]]8a>]]8a>]]L@]]6@m. qu\I}89 yɚ}i}IC IIIBI' =&I.I6Ig<:IF F*F?2F:FBFx4JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.GqByO>Ji Ji Ju Ju Jq Jq Ju :Ju :Jq Jq Ju 3<Ju 4<Ju .Y;Ju .Y; I 7w,pwUA6I@Y6Ö@6>&96=:>y6H`+8Px?&ǿ@@@e?@fd?@&?x?ɨ6I@6@;6CyN3BRI)T TTVAIZIZV4٢fa> jZ=9jQ j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtzN59vꕜ?zN5Yv ivAxzz@v8Evv:v3:v]N5 =A-DNOT Ignoring new targets: 82.10 m. j)j)j)j)i1h1h1h1h1f9fArfAbfM?]]]]n@u>& quI}@9 yɚyi}[e Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,]oA 8I;A )AIAyIIפ4٢ =  +=9Q > G٣y > %Nusing accuracyPremultiplier from config!5N59%畜?5N5Y%n i%A=p">=;=q=@%8E%[O;%hL;%N5A ErAADNOT Ignoring new targets: 82.10 m. jjjjihhhhBffrfbf  Pr@]Ep">]Ep">]Ex@]EV@Q Y]\I]9 YɚYi]IC IIIVBI& =&I.I4D6IP<:I7 FzKBHK9KKtK !()'*-8PaorsoidenmlhaZRMIC<4.+&" RK?JK>G B O% >20"w,-A>Z@Y>٘@>9>y>H|yx?&ǿ dewmk?@pb?@T'?@x?ɨ>Z@> ;>CyN|BbDIIjIj"4٢r> rv=9reA:Q r?tt vG٣tyv? z? ~Nusing accuracyPremultiplier from configxN59z啜?N5Yz  izA@z8Ez ;z ;zpN5 A=DNOT Ignoring new targets: 82.10 m. j9j9j9j9iAhAhAhAhAfIfIrfQbfU@]]]],@ `=In9 ɚiM Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:30:09.2682  TRx dataTimestamp_ set to:1736375410.465805Z(w, A2-x@Y2@21ߺ92q:>y2H` @Tx?,ǿ@'$ %j?6[?@M-?`x?ɨ2-x@2;0yRBRfIIZIZ4٢b> bL=9b:Q f>dd fG٣dyj j> rNusing accuracyPremultiplier from configlvN59n╜?vN5Yn  inAxzz@n8EnU\;nt.;nN5 ADNOT Ignoring new targets: 82.10 m. jjjjihhhhffrfbfP @]]]]@1ߺ ;I%9 ɚi@.w,A6l@Y6"|@6d96"J:>y6Hp@qx?'ǿIpe?L?o(?x?ɨ6l@6];6C>Will construct direction to contact in vehicle frame from tetrahedron phase data. JBDAT read: Tx time:22:30:10.3551 N$Ping request sent.NIY I]rII]BI]% =&IY.IY6I]u<:I]R FIII I)IYM:v?+:v?yMT=IMTzKNK9KKuK G٣yB > Nusing accuracyPremultiplier from configN59ߕ?N5Y  iA= <s$-@;;N51 50A1 addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.527212 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 82.10 m. jjjjihhhh Bffrfbf<,?]=]=]Ϝ@]m@-d )-.I-9 1ɚ1i5޻5w,=A*@*2AVd@YVs@V#499Vd:>yVH)0x?j+ǿ`ۅĪY?`9+? x?ɨVd@V;VCy^܁BbIIIפ4٢-O> -T=9-XV;Q 5>11 5G٣1y=3 => ENusing accuracyPremultiplier from configAMN59E1ݕ?MN5YE=  iEAQU$U@E8EE;EV;EiN5Y ]AYDNOT Ignoring new targets: 82.10 m. jjjjihhhhffrfbf N?]]]]m@#49 $I9 ɚiS= Will construct direction to contact in vehicle frame from tetrahedron phase data. i Iq J J J 1J J |:J :J 3J a @a @a @a @qy~H1 ?@vĿ@@g@'k?`(I? ?)?ɨ~6@~ ;~CyBIMb@Mb@Mb@ )YV-Ky&1|?y^`;AA )3AIyAII:4٢= ?=9x1Q > G٣yT >  Nusing accuracyPremultiplier from config N59 ٕ?N5Y   i A = <%E4@%@ 8E TA; ?; &N5) - A)]DNOT Ignoring new targets: 82.10 m. jYjYjYjYiYhYhYhaheSBfafirfibfmq?] =] =]@]E4@4@I 隥R8I9 ɚiGU>Will construct direction to contact in vehicle frame from tetrahedron phase data.HiIi ImIImBIi&Ii.Ii6Imq<:ImN FBIǝCJIǜCRIZI& =bI' =jIQ6zKKK89KKvKGBO>Bw, A6.,@Y6;@696">y6H ? <Ŀ pj?@Bq=? =? ?ɨ6.,@6j–;6CyB BBIIJtIJM4٢R= Rc=9Rg:Q R>TT VG٣TyZ\e Z> ^Nusing accuracyPremultiplier from config\fN59^/ו?fN5Y^  i^Ahj/4@j@\^;^˞;^LN5t v{Ax Will construct direction to contact in vehicle frame from tetrahedron phase data.MDNOT Ignoring new targets: 82.10 m. jIjIjQjQiQhQhQhYhYfafarfabfe]?]]]]l/4@ 隥I9 ɚiEWill construct direction to contact in vehicle frame from tetrahedron phase data.|%Iw,\&A6g'@Y66@6rܹ96$>y6H֔?'Ŀ=PEk?@;?@E?)?ɨ6g'@6ƚ;6CyVBV II^I^1h4٢v= vF=9zY8Q z>xx zG٣xy~渺 >  Nusing accuracyPremultiplier from config N59ԕ?N5YE  i۝A%4@@8E::N5 % A!MDNOT Ignoring new targets: 82.10 m. jIjIjIjIiIhIhQhQhafafarfibfm ?]]]]%4@rܹ ԽI39 ɚײi Will construct direction to contact in vehicle frame from tetrahedron phase data.DPw,;@AjH~<bH~<H&>IC I4 II@BI' =&I.I6I<:I\ FyU9BU, I e=e=zKk3IK-9KKwK   "((+014669;9:>;;;8852/,-.+'%%! Mb@Mb@Mb@ )YZd;O+η~jtxyjvĻA @)AIAyzAII4٢%u= %8=9-Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9EN59=Е?EN5Y=,  i=ȝAM>M;M:@M@=8E=;=;=ˮN5Q ] AYDNOT Ignoring new targets: 82.10 m. jjjjihhh h Bf frfbfz@]U>]U>]Ua{@]U|:@a aekIe19 aɚmim9Vw,ZA6@Y6(-@6Z0;96 *>y6H,דඍ?`M)ſnB?\ f@(?E?ɨ6@6p;6CyB@BB4 IININ4٢V= Ve=9ZX\ ^G٣\ybZ b> fNusing accuracyPremultiplier from config`fN59bΕ?jN5YbK  ibAhj@j@`bj:b;bN5rړB r ArE DNOT Ignoring new targets: 82.10 m. j j j j i hhhh!f!f!rf)bf-@]]]]_@Z0; ]I+9 ɚRiI\w,:tAzV@Yz.@z?;9zb->yzH`?@ſ`c :,q]t`??ɨzV@zz;xy GB = IMb@Mb@Mb@ )YX9vRQZd;Oy½jXA )3AIyQABAIIy4٢H< 1=9@;Q > G٣y9 > Nusing accuracyPremultiplier from config%N59ʕ?%N5Y iA%>%;- @-@8E;y;N51 5 A1eDNOT Ignoring new targets: 82.10 m. jajajajaiahihihihmBfqfqrfqbfu U@]>]>].t@]7 @?; 隵HaI59 9ɚ=i=I Il IInBI( =&I.I6I*<:I FzKMK9KKxK  2w{RK?JK?G- B9 OU >ycw,ⓎA:(@Y:7@:<9:0>y:H@ډ`?`ſ f[s C ??ɨ:(@:X;:CyBIBF? INWill construct direction to contact in vehicle frame from tetrahedron phase data.RBDAT read: Rx Time:22:30:12.8680 VTRx dataTimestamp_ set to:1736375414.248712ININ4٢b0< bb=9fklp rG٣pyv,?; z>  Nusing accuracyPremultiplier from config 1I1=N59Ǖ?=N5Y ixAAAE@e < <$N5a e AiDNOT Ignoring new targets: 82.10 m. jjjjihhhhffrfbf@4 @]]]]О @< H]I9 ɚd(iy:H А`?@Nƿ`_@7퀿 #`$I?Y?ɨ:5@: ;:CyZ?BZ3 IIjIj44٢vs; zG=9zp   G٣ yM; > %Nusing accuracyPremultiplier from config-N59ĕ?-N5Y\ iYA15 @5@8ET;T;N5A E AIDNOT Ignoring new targets: 82.10 m. jjjjihhhhffrfbf`o @]]]]/ @9< zpIE9 ɚbiIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.== I*F%?2F!:F!BF-{2JF)mDAT read: 22:30:12.8680 LVL= 21744, 22673, 13042, 25395, AGC= 61, IDX= 421, 0.30, 2.474,-1.306,-1.831,-2.112, PHS=-1.609, 0.853, 0.278, RAW= 282.9, 4.3, CAL= 286.2, 5.9, ROT= 223.8, -5.9 }Ygot valid direction response: 22:30:12.8680 LVL= 21744, 22673, 13042, 25395, AGC= 61, IDX= 421, 0.30, 2.474,-1.306,-1.831,-2.112, PHS=-1.609, 0.853, 0.278, RAW= 282.9, 4.3, CAL= 286.2, 5.9, ROT= 223.8, -5.9 JJJ0JJ:Jh:Jـ3J%PDAT read: Bearing 223.8, -5.9 (Local) %~Local bearing/azimuth received: Bearing 223.8, -5.9 (Local) uDAT read: Range 10 to 50 : 81.5 m (Round-trip 108.7 ms) speed 0.0 m/s ,DAT read: user:2648> BDAT read: Tx time:22:30:13.9551 $Ping request sent.V>L@`=  ؟@)B=Iy@iBҽ&2k 7?(ѤV?)5@Iښiƃ??e:publishing transmit ping timeeFpublishing direction and range info93eNi?у?m y )Ii )Ii&2k 7?(ѤV?)Ii] Will construct direction to contact in vehicle frame from tetrahedron phase data.pw,FAH&#>I$ I& II&BI$&I$.I&3D6I&4<:I& Fy~4B~% IzKOK9KKyKxsqmie`[WRKDAA>;97771-,**+((&%%#  BK%rA:K%sAeMb@Mb@Mb@aaa a)aYeX9vZd;O{Gzyaeje#a a)eAIeAayeAII4٢KF 2=9Q > G٣y > Nusing accuracyPremultiplier from configN59?N5Y i&Aa>; @@8E;;N5 1 Akٮ?ko ! k kMA:kBBkߡBZk@"v?ե$@vG7T3eNi?у?m Jkƃ?Rk?*.7@[4PW`GySpp?mAVE2"k*kAky?k7"! 2kLkky  kBkAk2 @ addTargetRange:: Added new target pos. range: 81.500000 m, deltaT: 3.786715 s, deltaX: -0.099998 m, approachRate: -0.026408 m/s, rangeRepo size: 4  Added new target pos. range: 81.500000 m, bearing: 357.279461 deg, lat: 36.904828 deg, lon: -122.119601 deg, deltaT: 18.156829 s, deltaX: -0.599998 m, approachRate: -0.033045 m/s, posRepo size: 4 %DNOT Ignoring new targets: 81.50 m. j!jAjIjIiIhIhIhQhUBfQfYrfe`T@bf>?]a>]a>].s@] @) )-BI59 1ɚ5"i1I1I=ti9i9)9)aWill construct direction to contact in vehicle frame from tetrahedron phase data. I*FA2FI:FIBFM0JFIG B O >ʺvw,9A2@Y2v.@2mY<92 3>y2H@1? +cƿ `_ჿ@-~[? V?ɨ2@2;2Cy>,BB IIJIJפ4٢Rb7 Vp=9V߽;Q V?XX ^G٣\y^  ^? bNusing accuracyPremultiplier from config`fN59bp?fN5Yb ibAhjO @j@b8Eb ;b ;bN5l no AlDNOT Ignoring new targets: 81.50 m. j j j j i h hhhffrf!bf%!?]A]A]A]EO @UmY< QU(RI]9 Yɚ]9iYIYIetiaia)a)i2Di*DiBDq:Dq Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`4JFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. I |w,#A-.@Y->@-<9-5>y-H }?ۥƿ@Wb ?@~?ɨ-.@-z_;)y]$B] I]Mb@Mb@Mb@YYY Y)YY]ʡE ףp= S㥫y]]Q]/]]A ]@)]3AI]zAYyYIuIu̍4٢  /=9I;Q > G٣yG; > Nusing accuracyPremultiplier from configN59e?N5Y iAL>;@@8E; ;N5  ADNOT Ignoring new targets: 81.50 m. jjjjihhhhBffrfbf?]L>]L>]S&@] @5< 15BI=n9 9ɚ=i9I9IEtiAiA)A)I*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H=">I9 I=y II=xBI9&I9.I96I=N<:I=/ FzKENKE9KAKEzKERKU?JKU?GBO>pƃw,A F$?IDJWill construct direction to contact in vehicle frame from tetrahedron phase data.R\A@YRP@R<9Rm7>yRHz?`QƿLh`( ?{?ɨR\A@Rz;RCyZBZIII4٢- -e=95q;Q 5>AA MG٣IyUo; U> mNusing accuracyPremultiplier from configaN59e?N5Ye ieA @JJJ1JJL:J^:J3JJO;aJP;aJg;aJg;a@e8EeO+=w,)AJ(V@YJe@Jk<9J8>yJHɍy?ǿ@ B둿 $?@Cy?ɨJ(V@J;JCyZBZIIjIjV4٢v· vN=9vg;Q z>xx zG٣|y~<; >  Nusing accuracyPremultiplier from config N59s? N5YD iWA0@@3:<RN5 $ADNOT Ignoring new targets: 81.50 m. jjjjihhhhffrfbf-X?]]]]!0@k< I9 !ɚ%i!I!I-ti)i))))) yIyWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFG)B9OU>= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 ;ؐw,CAjH<bH4=H#>I IS IIYBI' =&I.I6IG<:I+ FBI5CJI1RI1ZI5( =bI5( =jI5Y5y}BޅI Mb@Mb@Mb@    ) Y ~jtx#~jX9vy Ļ 㥽 }  @) AI A y \AI%I%4٢EN E7=9EQ M>II MG٣IyUzKUjIKUu9KQKU{KU e> mNusing accuracyPremultiplier from configiuN59mܴ?uN5Ym* imA}D=}<}FA@}@m8Em;m;m>N5 ADNOT Ignoring new targets: 81.50 m. jjjjihhhh8Bffrfbf@ @]D=]D=]/n@]~FA@ #I9 ɚ_iIItii)) *FA2FA:FABFAJFA aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJܫ:JB:JJJ;J;J#b;J#b;G) B1 OU >w,h]A:`@Y:p@:<9:&g:>y:Hw?`*4ǿ2T_1`Y*?ev?ɨ:`@: ;8yF́BFIININ4٢V@ Vh=9Z%XX ZG٣Xy^(m; ^> bNusing accuracyPremultiplier from config`fN59bز?fN5Yb ibܛAhjA@j@`b:b:bMN5l rqAp DNOT Ignoring new targets: 81.50 m. j jjjihhhh!f!f!rf!bf%`@]A]A]A]EaA@U< Y]rYI]q9 Yɚ]iYIaIetiaii)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*FQ2FQ:FYBFYJFY Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:30:16.4680  TRx dataTimestamp_ set to:1736375417.777726G} B O >1w,XwAMqN@YM]@M<9MŌ:>yMH`z=w?D:ǿᑿ1.?4v?ɨMqN@M4;MCyeBeIiu!>Iup;Mb@Mb@Mb@ )YQ?p= ףMbyu=A @)I`@yfAII94٢%ѽ %4=9-FzQ ->)1 5G٣1y5 5> =Nusing accuracyPremultiplier from config9EN59=а?EN5Y= i=AM=M;M>M@=8E=t;=;=CN5Q ]/AY-DNOT Ignoring new targets: 81.50 m. j)j)j)j)i)h)h1h1h5Bf1f9rf9bf=@ @]=]=]^@]}@< 隵̽I9 ɚiIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.H!>I I II!BI&I.I6I:I*F?2F:FBF0JFzKBoIK89KK|K!  G] Ba O > A II w,y:A*Will construct direction to contact in vehicle frame from tetrahedron phase data.FDAT read: 22:30:16.4680 LVL= 19952, 22417, 12418, 29427, AGC= 55, IDX= 438,-0.49,-0.841, 1.622, 1.149, 0.841, PHS=-1.594, 0.829, 0.305, RAW= 281.9, 4.2, CAL= 285.1, 5.7, ROT= 224.9, -5.7 RYgot valid direction response: 22:30:16.4680 LVL= 19952, 22417, 12418, 29427, AGC= 55, IDX= 438,-0.49,-0.841, 1.622, 1.149, 0.841, PHS=-1.594, 0.829, 0.305, RAW= 281.9, 4.2, CAL= 285.1, 5.7, ROT= 224.9, -5.7 ZPDAT read: Bearing 224.9, -5.7 (Local) Z~Local bearing/azimuth received: Bearing 224.9, -5.7 (Local) bDAT read: Range 10 to 50 : 81.5 m (Round-trip 108.7 ms) speed 0.1 m/s j,DAT read: user:2649> jBDAT read: Tx time:22:30:17.5551 n$Ping request sent.n*Rq@*Q = *:@)*%=I*87{@i*%˽((*SWr\?3ZͲ?)*{4@I*i*W?* `?((:publishing transmit ping timelFpublishing direction and range info(9*nH?xkɺ?<6y(((( ()(I(i((((( ()(I(i(((*SWr\?3ZͲ?)(I(i((((5$>@Y5M@5_Y<95:>y5H~v?@Eǿ@ۓ`ꗿ@8?u?ɨ5$>@5rc;5CyEBEoIJuJuJu0JqJu:JuU:Juـ3JqJu;Ju;Jue;Jue;IIV4٢ ͽ  L=9 ֹQ  > G٣y > %Nusing accuracyPremultiplier from config!N59%?N5Y%a i%VA Z @!%6<%B<%N5ٓB AEk*AV;?k* k( k*A:k(Bk(Zk*չ@"*0d?<"?!@5BT*nH?xkɺ?<6Jk*W?Rk* `?**4jӵ'7@(Z Ͽ֤AAS*!?}r_h$*[M"k*Lx*k*Ak*WH?k*% 2k*Uk*WH?k*% k*k*Ak*չ@m addTargetRange:: Added new target pos. range: 81.500000 m, deltaT: 3.525076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 81.500000 m, bearing: 359.398344 deg, lat: 36.905241 deg, lon: -122.119851 deg, deltaT: 3.525076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 81.50 m. jjjjihhhhffrfbf%?]y]y]y]}}@_Y< I9 ɚiIItii ) )*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:30:17.5543 G B O >@w,A^7&@Y^5@^<9^ъ:>y^HOĒ@}v?@}<ǿ``뒿`.?@wv?ɨ^7&@^N;\yjBj^II%I%)4٢= =Y=9=NQ =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQN59US?N5YU iUA@U8EUe&GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH H I  I II BI ( =&I .I 6I x<:I N F'w,ZAR @YRC@RI<9RMH>yRH@B`? ɿr@Q@Q̰@M?@(a?ɨR @R̩;RCyZBZJI)` `MMb@Mb@Mb@III I)IYMp= ף?v/i|?5yM>MxiMqMA M@)MAIIIyMpAIeIe4٢ux uG=9}fQ }> G٣yT > Nusing accuracyPremultiplier from configN59?N5YU iAh>;^@8Eu`; Q;N5 ADNOT Ignoring new targets: 81.50 m. jjjjihhhhBffrfqbfu@?]h>]h>]ֻ@]Nx@I< #I/9 ɚ?iIzKMK9KK}K,Gf}~zpf]SMF?60Itii)) *F?2F:FBFP0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.Յ>Յ @JJJJJL:J:JJJO;JP;JJ;JJ;GM .:BQ Ou >Pw,}A2@Y2@2m<92aH>y2H L疿`?Gȿj T`ԓ?a?ɨ2@22;2CyNsBR8IIZIZ4٢z zS=9~ Q ~> G٣y  > Nusing accuracyPremultiplier from config N59 %?N5Y  i A}@ 8E P ;  ;  N5) -3A)UDNOT Ignoring new targets: 81.50 m. jQjYjYjYiYhYhYhahafafarfibfm@?]]]]p@m< 隥I09 ɚiiIItii))2D*DBD:DWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFX0JFGB!O=> I Will construct direction to contact in vehicle frame from tetrahedron phase data.J AAJ BA?~w,)A@YT@pb<9B>yH Rp i?(ȿ "-` `?7l?ɨ@;騭Cy޹UMb@Mb@Mb@QQQ Q)QYU/$?ˡEMbyU&1>U'U@UA Up@)UAIQQyUAIuIuЬ49 ĻQ > G٣y > Nusing accuracyPremultiplier from configN59Ũ?N5Y irAP<>;z㿑@8E ; ;N5 DNOT Ignoring new targets: 81.50 m. jjjjihhhhxBffrfbfo?] P<>] P<>] @] 61@Epb< AE#IE9 AɚMiIIIIMtiQiQ)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.HI IIIƁBI&I.I6Id<:I? F*F?2F:FBFP0JFGQ GQzKE NKA KA KE ~KE +% G] Bi O > I gw,yA"Will construct direction to contact in vehicle frame from tetrahedron phase data.y5uB=;Iie>Ie> e=e=ImImm4٢}; }<9Q > G٣y >  Nusing accuracyPremultiplier from configN59?%N5Ym iEA!)-@8E;;aN5A M AIDNOT Ignoring new targets: 81.50 m. jjjjihhhhffrfbfT@]]]] IO9 ɚiIItii))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>w,(C,AywB=II-I-4٢=< EO=9AQ E>AI MG٣IyI M> ]Nusing accuracyPremultiplier from configQ]N59Uu?eN5YU$  iUAaae@U8EUX;U;UN5i mAqDNOT Ignoring new targets: 81.50 m. jjjjihhhhffrfbf @]]]] I9 ɚNJiIIt 9I9iiq)q)qUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-0JF)JmJmJm1JiJm:Jm :Jm3Jiau@a}@a}@a}@GBIOe> Will construct direction to contact in vehicle frame from tetrahedron phase data.jH} <bH} <H I  I II BI &I .I 6I M<:I / Fuw,FA2@Y2•@2)T<92@=>y2Hwo?`ǿ {``?`t?ɨ2@2^;2CyBxBB>ImMb@Mb@Mb@iii i)iYmK7?ktm 0mtmA i)iIiiymAII 4٢N; D=9Q > G٣y6 > Nusing accuracyPremultiplier from configN59?N5YI  iAQ>;3俑@8EU;<;XN5  A DNOT Ignoring new targets: 81.50 m. j j j j ihhhhsBffrfbf%@]EQ>]EQ>]E]/@]E@U)T< Y]#G> 9I9]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:22:30:20.0680 eTRx dataTimestamp_ set to:1736375421.304598)= )UvAq YvAyBGB! OM >w,_ARt@YR6@R <9R@P;>yRHBy@Up?Oǿ&]߂ hH?v?ɨRt@R[;RCy}BޅII) AII(4٢,1= I=Will construct direction to contact in vehicle frame from tetrahedron phase data.սAiչ9Q > G٣y > Nusing accuracyPremultiplier from configN59{?N5Yb i̙A2忑@8EA;A;N5 ADNOT Ignoring new targets: 81.50 m. jjjjihhhhffrfbf@ @]!]!]!]%DÏ@5 < 15  BDAT read: Tx time:22:30:21.1552  $Ping request sent. } @} `= } W@)} B=I} >z@i} Bҽy y } 5}fYc?6/I?)} N5@I} ni} 0?} a?J J ?AJ J J J J <:J :J J y y % :publishing transmit ping time % Fpublishing direction and range infoy 9} CD?gĆ߼?]1*yy y y y y )y Iy iy y y y y y )y Iy iy y y } 5}fYc?6/I?)y Iy iy y y y Gy B O>w,}AEdZ@YEi@E2;9E:>yEH$}p? B4ǿ u$5?@@F.?`Dx?ɨEdZ@E;ECy]B]dIMb@Mb@Mb@ )YZd;O?J +yj<>H̼ )hAI@yAIIV4Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:30:21.1544 ٢r= 5!=9=JQ =>9A EG٣AyEλ E> UNusing accuracyPremultiplier from configIHaIa IaIaIa&Ia.Ia6Ie <:Ie FBI1JI1RI1ZI1bI1jI5è&5N59MD?N5YM iMAD>;t쿑@M8EM*%&Y?kuE k ksA:k̢BBkBZkW@"!Y?@G\"@.]A]7TCD?gĆ߼?]1*Jk0?Rk a?*H-u7@uO˱C@wS+f?)~$N`0"k*kAkf?kE 2kGQkf?kss kLkAk{`;] addTargetRange:: Added new target pos. range: 81.400002 m, deltaT: 3.529388 s, deltaX: -0.099998 m, approachRate: -0.028333 m/s, rangeRepo size: 4  Added new target pos. range: 81.400002 m, bearing: 355.130405 deg, lat: 36.905244 deg, lon: -122.119854 deg, deltaT: 3.529388 s, deltaX: -0.099998 m, approachRate: -0.028333 m/s, posRepo size: 4 DNOT Ignoring new targets: 81.40 m. jjjjihhhh}BffrfYT@bf?]D>]D>]Ż@]@2; L=I%j9 !ɚ%]2i!I!IMtiIiQ)Q)QBD]=:D]=DA*F?2F:FBF0JFzK0OKKKK,2/&x:}-jEr]C*ytpoliea_XVWQMRKJK? y Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >w,tCA2d<@Y2K@2;92:>y2H@ o?@5ǿ`(~d?x82?4x?ɨ2d<@2;2Cy:B:vIIFIFn4٢Jڶ= N=9NꟻQ N ?PP RG٣PyVG> V ? ZNusing accuracyPremultiplier from configTbO59V?bO5YVV iVAdf쿑j@V8EV;VJ;V O5p rAt=B*** querying acoustic contact ***j9j9UDNOT Ignoring new targets: 81.40 m. jQjQjQjYiYhYhYhahafafarfibfm5?]]]]^Ս@=; AEР=IEQ9 AɚEֲiAIAIMtiIiQ)Q)yDM9*F?2F:FBF4JFG GsA%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.GB O= >w,$A IF)@YFF9@Fي;9F:>yFH:'`Jn?@2ǿ.!Els? .[q 2?`Ax?ɨF)@F};FCyNÁBNIiRR=IR4<IZIZ 4٢bL> bG=9fQ f>hh jG٣lyn n> rNusing accuracyPremultiplier from configpvO59r ?vO5YrM irtAxz1z@r8Er:r:rO5| ~A-DNOT Ignoring new targets: 81.40 m. j)j)j)j1i1h1h1h9h9f9fArfAbfE?]i]i]i]mlÍ@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987287ي; 隍 >I9 ɚiIItii))JJJ/JJ:J :J(N3JD9*F2F:FBF75JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.- Ai- A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239291Hu ">Iq  Iu IIu ЁBIq &Iq .Iq 6Iu <:Iu FG 6?B O >Tw,A6@Y6}@6%9;96:>y6H sl?/ǿ147.8~?`#c4?@x?ɨ6@6<;6CyBӁBBIeMb@Mb@Mb@aaa a)aYe@5^I ?S㥫Mbyeb>e/]ea a)aIe3@aye(AqqI}I}y4٢č= ?=9čQ > G٣y+ > Nusing accuracyPremultiplier from configO59?O5Y i^Ay>;@8E^q;o;tO5 6ADNOT Ignoring new targets: 81.40 m. jzKOK-9KKKLLKIEBC@=<<;=754120-,++))&&%!    jjjih h h h Bffrfbfw?]y>]y>][@])!@%9; #=I9 ɚ".2iIItii)) !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491132D9*F2F:FBF5JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742978G B! O= >;w,=Afp@Yf@f&D;9f:>yfHK`l? p.ǿPr݁{?`bh@1? Yx?ɨfp@f;fCynBnIIzIz\4٢~#> D=9:Q >    G٣!y%:: -> =Nusing accuracyPremultiplier from config9EO59=?MO5Y=c i=GAQUU@=8E=c;=G_;=! O5a eEAaDNOT Ignoring new targets: 81.40 m. jjjjihhhhffrfAbfM?]]]]7#@&D; 隝=I9 ɚiIItii)) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995369D-}9J3K3 KT.KK"KJJJ1JJJ%:J3J*F?2F:FBFM1JF"GG>G .:B O >`w, A $$BQ@YB@BW;9BC:>yBH΍l?$ǿ bg`zz?8j'?x?ɨBQ@B@%;BCyN BNI)P PPP-Mb@Mb@Mb@))) )))Y-bX9ȶ?DlI +y-E=-O-94-rA ))-AI-@)y-AIEIEK4٢Uh= U>=9U1:Q ]>YY ]G٣Yye^ e> mNusing accuracyPremultiplier from configiuO59mf?uO5YmW im3A}=};}}@m8Em;m;mO5 qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247861HI IIIBI' =&I.I6I<:I] FeDNOT Ignoring new targets: 81.40 m. jajajajiiihqhqhqhuBfyfyrfybf}]_@]=]=]Y@]֫@W; L=I9 ɚiIItii) ) zK #MK 9K K K    ID9E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500320*Fm ?2Fi :Fi BFm O0JFi G 0B O >0Jw,\ A2@Y2@2~9;92~:>y2Hz@l? \-ǿ .f w?,p.?`rx?ɨ2@2;2Cy:(B> IIbIby4٢j> j;=9n\:Q n>ll rG٣pyr9 r> zNusing accuracyPremultiplier from configx~O59z̔?O5YzS izA   @z8EzW;zUX;zO5  A=DNOT Ignoring new targets: 81.40 m. jAjAjAjAiAhAhIhIhIfIfQrfQbfUA@]q]q]q]u@~9; 隕=IL9 ɚiIItii))D9%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751133*F]?2FY:FYBF]_0JFYG}6?BO>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:30:23.6676  TRx dataTimestamp_ set to:1736375424.832679 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004136l w,K8 AB@YBQ@Bw;9BZ":>yBH5 Fm?@^#ǿ@TM4t?ʖsz#?x?ɨB@BU;BCyJ?BN3 IIVIVЬ4٢fx= jL=9r=:Q r>xx zG٣|yMS: M> ]Nusing accuracyPremultiplier from configYmO59]T?mO5Y]B i] Aiu}@]8E];]T;]MO5  AEDNOT Ignoring new targets: 81.40 m. jAjIjIjIihhhhffrf!bf- c @]a]a]a]e@w; 隝>I.9 ɚiIItii))D9E E rA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.254887jHybH}<HI I: IIEBI&I.I6I<<:I" F*F?2F:FBFJFG GrAzK MLK 9K K K    I G &5B O- >Sw,#R A>@Y>B@>;9>:>y>H6`ql?U5ǿ`H@L }/p?uw3?@'x?ɨ>@>̈;>CyVVBVP IiZ0>IZ%=Will construct direction to contact in vehicle frame from tetrahedron phase data.յ4=յ= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520519JJJJJܫ:J :JJJ;aJ;aJR;aJR;aEMb@Mb@Mb@AAA A)AYE?bX9ȶI +yE G٣yu >  Nusing accuracyPremultiplier from config O59 ?O5Y  i A=<_:@  ; ; O5! % AMEDNOT Ignoring new targets: 81.40 m. jjjjihhhh-Bffrfbf8 @]E=]E=]E4@]EW@; 隍أ=I9 ɚ2iIItii))M Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:30:23.6676 LVL= 23712, 24849, 15970, 28531, AGC= 60, IDX= 432, 0.37,-1.208, 1.270, 0.793, 0.488, PHS=-1.608, 0.829, 0.302, RAW= 281.9, 4.3, CAL= 285.1, 5.9, ROT= 224.9, -5.9  Ygot valid direction response: 22:30:23.6676 LVL= 23712, 24849, 15970, 28531, AGC= 60, IDX= 432, 0.37,-1.208, 1.270, 0.793, 0.488, PHS=-1.608, 0.829, 0.302, RAW= 281.9, 4.3, CAL= 285.1, 5.9, ROT= 224.9, -5.9  PDAT read: Bearing 224.9, -5.9 (Local)  ~Local bearing/azimuth received: Bearing 224.9, -5.9 (Local)  DAT read: Range 10 to 50 : 81.2 m (Round-trip 108.3 ms) speed -0.1 m/s  ,DAT read: user:2651>  BDAT read: Tx time:22:30:24.7552  $Ping request sent. )M soIM <iM ͿM X9T?M >M Rq@I M :@)I IM 87{@iI I I M  aqRDZ?#f7b?)M I4@IM 7iM 鴲?M k?I I  :publishing transmit ping time  Fpublishing direction and range infoI 9M $?0ցк?ByI I I I I )I II iI I I I I I )I II iI I I M  aqRDZ?#f7b?)I II iI I I *F ?2F :F BF P0JF I IG>DBO?UJw,s A6@Y6@6;96 :>y6H`%Ѫ`m? %ǿ@@g?`*u{`"?x?ɨ6@6H;6CyNnBNn II^I^4٢f[= f>=9j ;Q j>hh jG٣hynE: n> rNusing accuracyPremultiplier from configpWill construct direction to contact in vehicle frame from tetrahedron phase data.-O59r?-O5Yr irטA15X:5@r8Er*I%U9 )ɚ-i)I)I5ti1i9)9)ADE9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFT0JFH!>I I IIBI&I.I6Ih<:IA FG% .:B1 OM >۬#w,yZHn? ƿ "h?@"|?{?ɨZ@Z?;ZCyfBf I |I|zKmLKm-9KiKmKm !RK} ?JK}>Mb@Mb@Mb@ )Y G٣yX > Nusing accuracyPremultiplier from configO59?O5Y= iA|=;/.@@8EF;;N"O5  A DNOT Ignoring new targets: 81.20 m. j j j j ihhhhnBffrfbf?]|=]|=]@]o/.@ 6;  #=I9 ɚ+2iIItii)-Will construct direction to contact in vehicle frame from tetrahedron phase data.)A |uA!JEJEJAJAJE:JE:JAJAJE;JE;JEZ;JEZ; m&Ym|uAym BDq*F?2F:FBFo0JF"G>G>G 6?B! O > Will construct direction to contact in vehicle frame from tetrahedron phase data.)w,4H A $$N@YNH@N#;9N9>yNH@ vm?`ǿ ܫe?}`?y?ɨN@N#H;NCy^B^ I)d dIn{InZ4٢~'= ~V=9w:Q >  G٣ y: > %Nusing accuracyPremultiplier from config%O59?-O5Y iA)-4.@5@;;%O5=B = A9%DNOT Ignoring new targets: 81.20 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf5;?]Q]Q]Q]U4.@m#; imc=ImC9 iɚm2iqIqIutiyiy)y)D9 I*F?2F:FBF1JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5?5=GBO >0w,; AFq@YF#@FD!<9F$9>yFH@{`7n?\ǿ )ުD?$@F?]y?ɨFq@F~2;FCyRBR I5Mb@Mb@Mb@111 1)1Y5ii mG٣qyu; u> }Nusing accuracyPremultiplier from configyO59}Ł?O5Y} i}mA>;@@}8E}Q;Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I IIBI( =&I.I6I?<:I" FBIaJIaRIaZIe' =bIe' =jIea4}I;}I)O5 K ADNOT Ignoring new targets: 81.20 m. jjjjihhhhBffrfbf@?]%>]%>]%參@]%@UD!< Y]d6w,2 AyB IIIh4٢%< %O=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9EO59=~?EO5Y=+ i=GAAIM@=8E=W1;=1;=,O5Y ]+ AaDNOT Ignoring new targets: 81.20 m. jjjjihh h h f frfbfB?]1]1]1]1A AE=IM29 IɚM(3iIIII]tiYiY)Y)aD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F):F)BF--4JF)G1 G5pAGM &5BY O > I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.f=w, AJ@@YJP@J2V<9Jn::>yJHnWo?3ǿ~drՊ%?5x?ɨJ@@JJy;HyVBV Ii^4>I^=IbIb4٢jӡ; jO=9n/lp rG٣pyr1_< r> vNusing accuracyPremultiplier from configt~O59v{?~O5Yv^ iv A:@@v8EvE;vE;v/0O5  # A EDNOT Ignoring new targets: 81.20 m. jAjAjAjAiIhIhIhQhQfQfQrfQbf]@]y]y]y]} :@2V< 隕"=IH9 ɚP3iIItii))D19*F?2F :F BFP0JFHI I II؂BI&I.I6IM<:I- FWill construct direction to contact in vehicle frame from tetrahedron phase data.G6?BO>Cw,5!A 4I4:K@Y:q[@:i<9:9>y:Hfp?>(ǿ@@9x ==?x?ɨ:K@:y;:CyJBJ IzKLK9KKKRK>JK>Mb@Mb@Mb@ )Y{Gz|?5^/$yףҽ,A p@)hAI@yAII4٢{h; 8=9-;Q > G٣y%2M; %> -Nusing accuracyPremultiplier from config)5O59-$x?O5Y-` i-AM >;@@-8E-|<-H<-4O5  ADNOT Ignoring new targets: 81.20 m. jjjjihhhhBffrfbf`'@Will construct direction to contact in vehicle frame from tetrahedron phase data.]-M >]-M >]-"@]-͡@=i< 9=L=IE9 AɚE 3iAIAIMtiIiI)I)QJAJEJAJAJAJEU:JAJADm@9JAJAJEe;JEe;*F?2F:F BF JF G% .:B9 Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:30:27.2674  TRx dataTimestamp_ set to:1736375428.612752i"Jw,*!AZT@YZWd@Zڊ{<9Z*:>yZH Kv Op?@2ǿ%@M}@ q`6"?x?ɨZT@Z1;XyfBf IInIn4٢z9 z^=9%r<;Q ->)) -G٣)y5N>; 5> =Nusing accuracyPremultiplier from config9EO59=Lu?EO5Y= i=AAM@M@9=v:=:=T7O5Q U AQDNOT Ignoring new targets: 81.20 m. jjjjihhhhffrfbf@ @]]]]@ڊ{< G >G5 !Bi O >>Qw,8E!A:wW@Y:f@:~<9:9>y:H@bL1q?@:"ǿ`<^Wq~ ُH?x?ɨ:wW@:0ƈ;:CyBBB I)D DjHhbHj<HhIh Ij IIj݂BIh&Ih.Ih6Ijg<:Ij? F Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:30:27.2674 LVL= 25264, 24881, 16242, 32755, AGC= 58, IDX= 431,-0.14,-0.045, 2.400, 1.943, 1.643, PHS=-1.600, 0.804, 0.297, RAW= 281.6, 4.6, CAL= 284.9, 6.3, ROT= 225.1, -6.3 MYgot valid direction response: 22:30:27.2674 LVL= 25264, 24881, 16242, 32755, AGC= 58, IDX= 431,-0.14,-0.045, 2.400, 1.943, 1.643, PHS=-1.600, 0.804, 0.297, RAW= 281.6, 4.6, CAL= 284.9, 6.3, ROT= 225.1, -6.3 UPDAT read: Bearing 225.1, -6.3 (Local) U~Local bearing/azimuth received: Bearing 225.1, -6.3 (Local) mDAT read: Range 10 to 50 : 81.0 m (Round-trip 108.1 ms) speed 0.0 m/s u,DAT read: user:2652> }BDAT read: Tx time:22:30:28.3552 }$Ping request sent.}nF@l= A@)z0=Ijp{@iz0:{AhҌPH3?3ׂ?) q4@ICi.?i6?:publishing transmit ping timeyFpublishing direction and range info9 !?Rn?5m y )Ii )Ii:{AhҌPH3?3ׂ?)IiMb@Mb@Mb@ )YQJ +S㥫yuȽ/]\ A Z@)QAI@y@IIЬ4٢e $=9o9Q > G٣y&: > }Nusing accuracyPremultiplier from configO59q?O5Y ivA>;@@8EX;& ;;O5  AksƜ?kX* k kkG!A:kBBkBZk@"蚟?eZ @%T !?Rn?5m Jk.?Rki6?*"Im m6@k /vHuS'| ?@56 Q"kU*khAkvއӜ?k* 2kHkWH?k* kkAk@u addTargetRange:: Added new target pos. range: 81.000000 m, deltaT: 3.528060 s, deltaX: -0.199997 m, approachRate: -0.056688 m/s, rangeRepo size: 4  Added new target pos. range: 81.000000 m, bearing: 357.868398 deg, lat: 36.905241 deg, lon: -122.119866 deg, deltaT: 3.528060 s, deltaX: -0.199997 m, approachRate: -0.056688 m/s, posRepo size: 4 DNOT Ignoring new targets: 81.00 m. jjjjihhhhRBffrf@T@bf|? I]>]>]j7@]q@=~< AEH=IE9 AɚE[3iAIAIMtiQiQ)Q)QzKJK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:30:28.3544 Du r9*F) 2F) :F) BF- 4JF) G 0BO5?eZYw,:g!AWill construct direction to contact in vehicle frame from tetrahedron phase data.VR@YVa@Vzw<9V9>yVHSxp?`,ǿ @5|`B?kx?ɨVR@Vp;VCybBb IIjIj҅4٢r+9 r6=9vyQ v>x| ~G٣|y~ú > Nusing accuracyPremultiplier from config O59 n?O5Y  i 7A!%@%@ 8E T; OF; ?O55B 5 A5EDNOT Ignoring new targets: 81.00 m. jjjjihhhhffrfbf`?]]]]/@mzw< im=Imz9 qɚu|4iqIqI}tii)) ID9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFJ9 J9 JM JM JM 0JI JM |:JM &:JM ـ3JI aU @aU @aU @aU @G &5B Om >`w,3o!A ZG@Y V@ Pe<9 W&>y H N`?Ŀ(@Nz`۩`??ɨ ZG@ ݌; CyxBy IHIC I IIӂBI) =&I.I6I]<:I8 FMb@Mb@Mb@ )YQ(\µQyuu%Will construct direction to contact in vehicle frame from tetrahedron phase data.rA -@)v@Iy@I5I5%x4٢U/ U'=9]Q ]>Ya eG٣aym]0 m> uNusing accuracyPremultiplier from configq}O59uk?}O5Yu iuA}H=};}8@@u8Eup;u;uCO5 A ADNOT Ignoring new targets: 81.00 m. jjjjihyhyhh:Bffrfbf =?]H=]H=]4@]8@ Pe<  =It9 ɚn#4iI1I=ti9iA)A)I ID o9zKU KU -9KQ KU KU K& 3 ,  Y QDDqLV' Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF 4JF G6?B1Oe?hw,w!AbYI@YbX@bQJS<9bb )>ybH;.? \ſKu i??ɨbYI@b;bCyjWBjQ IIrIr4٢%  %/=9-Q ->)) -G٣1y5K : 5> =Nusing accuracyPremultiplier from config9EO59=h?EO5Y=q i=AIM8@M@9= ;= ;=GO5Q UI AQ}DNOT Ignoring new targets: 81.00 m. jjjjihhhhffrfbf1?]%Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]8@]QJS< Y]xc=I]9 aɚeiaIaImtiqiq)q) ID9*F5 ?2F1 :F1 BF5 s2JF1  Will construct direction to contact in vehicle frame from tetrahedron phase data.J- J) J- 1J) J- l:J) J- 3J) G >DB O >%pw,!AB;@YBJ@B6<9B0>yBHI}?@#ſ`nZh`ن ?ʆ?ɨB;@B紒;BCyrEBr; IIzIzļ4٢% -5=95{Q =>IQ UG٣Qyey m> Nusing accuracyPremultiplier from configO59e?O5Y5 idAz8@@8EW< <KO5  AZHARHAHM>II IM IIMBIM( =&II.II6IMv<:IMJ FmDNOT Ignoring new targets: 81.00 m. jijijijiiihihqhqhqfqfrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]z8@6< 5 6ww,A!AB)@YBz9@B"<9BO3>yBH #`w?sgƿS]R^? ?ɨB)@BZ;BCyJ=BJ1 IuMb@Mb@Mb@qqq q)qYu/$?V-Zd;yu,=uhuyuE A u@)u`@Iu@qyu@II.4٢ +=9&Q > G٣y > Nusing accuracyPremultiplier from configO59c?O5Y iA=<B%@;;PO5  A DNOT Ignoring new targets: 81.00 m. jjjjihh!h!h5Bf1f9rfAbfE@q@]=]=]@]l@5"< 9=R8>I=9 9ɚ=]X3i9I9Ietiaii)i)iBDu2?:DuB?DE9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF]0JF ) I) G 0B O% >[}w,!A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:H@Y:@:x(;9:Y6>y:H sު`r? ƿ w@%i[? G?5~?ɨ:H@:y;:CyR'BR IIZIZy4٢bG bZ=9bQ f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrO59na?rO5Yn inApvF%v@n8En ;n ;nFSO5x z Ax%DNOT Ignoring new targets: 81.00 m. j)j)j)j)i)h)h)h1h1f1f1JJJ0JJ:J :Jـ3Jrfbf@]!]!]!]%l@5x(; QU >IU9 Yɚ]iYIYIetiaia)a)iD*F-?2F1:F1BF5_0JF9H} >Iy I} II}BI}) =&Iy.Iy6I}c<:I}< FBIEǛCJIEǛCRIAZIE( =bIE( =jIE4Will construct direction to contact in vehicle frame from tetrahedron phase data.iABDAT read: Rx Time:22:30:30.8676 %TRx dataTimestamp_ set to:1736375432.140883GM 6?B O > ! I! Hw,"A6@Y6a @6;967>y6H`}`o?ƿ@p?w C? |?ɨ6@6;6CyBBB IMb@Mb@Mb@ )Y?~jtS㥫y=D/]/ A )@I@y=@I-I-m4٢=-Q =B=9=Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]O59U`?]O5YU$ iUAe=e;e;e@QU;U;UVO5q } Ay]DNOT Ignoring new targets: 81.00 m. jYjYjYjaiahahahhBffrfbf`U @]=]=]Ž@]쀉@; k>I 9 ɚ 5u3i I Itii))zKEIROKE89KAKEKEgfge`\\^\[WVTQRNNMJGGGDDA??=<=<;;53555300)-1567675221//+*('*mWill construct direction to contact in vehicle frame from tetrahedron phase data.D%9*F2F:FBFo0JFG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:30:30.8676 LVL= 20112, 25425, 15938, 32755, AGC= 56, IDX= 449,-0.21,-1.551, 0.946, 0.484, 0.163, PHS=-1.626, 0.830, 0.319, RAW= 281.4, 4.3, CAL= 284.7, 5.8, ROT= 225.3, -5.8  Ygot valid direction response: 22:30:30.8676 LVL= 20112, 25425, 15938, 32755, AGC= 56, IDX= 449,-0.21,-1.551, 0.946, 0.484, 0.163, PHS=-1.626, 0.830, 0.319, RAW= 281.4, 4.3, CAL= 284.7, 5.8, ROT= 225.3, -5.8 = PDAT read: Bearing 225.3, -5.8 (Local) = ~Local bearing/azimuth received: Bearing 225.3, -5.8 (Local) M DAT read: Range 10 to 50 : 81.2 m (Round-trip 108.3 ms) speed 0.1 m/s mw,+"Af,DAT read: user:2653> jBDAT read: Tx time:22:30:31.9552 j$Ping request sent.n)YI]8i] п]zT?]S>])@]`= ]@)]4Q=I]{@i]4QϽYY]2II MG٣Iyu u> }Nusing accuracyPremultiplier from configyO59}x^?O5Y}E i}xA@}8E}:}L:}ZO5 : A Ik]Uc?k]Q kY k] A)"A:k]fBBk]FBZk]@"]rb?bd5@3T]qc7?pE\?ΐJk]_?Rk]?*]1~6@)B; S]5*[?J> ɜ7"k]*k]-Ak] y=?k]ĺhR 2k]/Qk]E_?k]E k]/Qk]ڻAk]@ addTargetRange:: Added new target pos. range: 81.199997 m, deltaT: 3.528646 s, deltaX: 0.199997 m, approachRate: 0.056678 m/s, rangeRepo size: 4  Added new target pos. range: 81.199997 m, bearing: 354.082480 deg, lat: 36.905235 deg, lon: -122.119878 deg, deltaT: 3.528646 s, deltaX: 0.199997 m, approachRate: 0.056678 m/s, posRepo size: 4 DNOT Ignoring new targets: 81.20 m. jjjjihhhhffrfLT@bf ?]1]1]1]1 隅c>I9 ɚY3iIItii))}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:30:31.9544 JJJJJ:J :JJD 9*F% ?2F! :F! BF% W0JF! jH} <bH} 4<H I  I l II nBI * =&I .I 6I p<:I F F-Will construct direction to contact in vehicle frame from tetrahedron phase data.G!B1OM?Вw,K"A6ލ@Y63@6ׯ:968>y6H֭l?$ƿ z_?@U? z?ɨ6ލ@6`Z;6CyB BBIMMb@Mb@Mb@III I)IYM7A`?{Gz ףp= yM>M#MQ8I M@)M@IM@IyM@IeIe%x4٢u3e u,=9}vQ }>yy G٣y > Nusing accuracyPremultiplier from configO59\?O5Y iFA">;]뿑@8EU";+ ;^O5  ADNOT Ignoring new targets: 81.20 m. jjjjihhhh|BffrfbfLD?] ">] ">] o@] 8@ׯ: ]>I%t9 !ɚ%$D4i!I! IItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.zK`NK9KKK))*+(&#$'$!   D9*F?2F:FBF_0JFG B O >\w,Eg"ABʍ@YBڔ@BU. 9Ba2>yBH-u?@#ƿ`ޒ?ʥA?L/? ?ɨBʍ@B);@yNBNIIVIV#4٢^< ^I=9b㗻Q b>`` fG٣dyfŻ j> nNusing accuracyPremultiplier from confighnO59j[?rO5Yj ijApr뿑r@j8Ej3;jmG;jubO5x ~w A|5Will construct direction to contact in vehicle frame from tetrahedron phase data.5Ai1UDNOT Ignoring new targets: 81.20 m. jQjQjYjYiYhYhahahififqrfqbfuZC?]]]]@U. AE]>IE9 AɚMo4iMvJ9 J= @AJ J J 1J J J J 3J y:H# \r?Pƿ`X&(H?8l?`,b? ?ɨ:ݼ@:n:;:CyR BRIIZIZ{4٢z ~H=9~Q > G٣y `  > Nusing accuracyPremultiplier from configO59Z?O5Y- iA!%쿑%@8E ; ; fO5) - A1DNOT Ignoring new targets: 81.20 m. jjjjihhhhffrfbf ?]]]]R @a >I9 ɚ4i<G >% PExceeded connect timeout, disconnecting. Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5 MK5 -9K1 K5 K5 G5 .:B9 Oe >Rw, "AR@YRm@R9p»9RB5>yRH~谿 n?ƿ_;?Mx?@=?~?ɨR@R1;RCybBf IMb@Mb@Mb@ )Y(\?lL7A`堿y.>+ A )I@yQ@II4٢yH= 1=9bQ > G٣y5 => ENusing accuracyPremultiplier from config9MO59=mX?MO5Y=I i=̔AUT5>U;]G近]@=9E=Yv;=T;=4jO5q }A AyDNOT Ignoring new targets: 81.20 m. jjjjihhhhBffrfbf@ t?]T5>]T5>]E4@] @59p» 15{>I59 9ɚ=4i= w,"Ajes@Yj䂔@j39j3]8>yjH@C/h?ƿ @xc?``?@z?`{?ɨjes@j ;jCyv"Bv II~I~n4٢ := 7=907Q > %G٣!y%I %> 5Nusing accuracyPremultiplier from config)=O59-V?EO5Y-2 i-AAE近E@-9E-C;- ;;-mO5Q U AQ}DNOT Ignoring new targets: 81.20 m. jyjyjyjihhhhffrfbf @]]]]t؎@3 >I9 ɚ)4irIC IS IIYBI( =&I.I6In<:IF F}Will construct direction to contact in vehicle frame from tetrahedron phase data.G.:BO> I w,ȵ"AFh@YF x@FU9FZ8>yFH@-g?wƿ 괱n?緊? ?@z?ɨFh@F&;FCyN,BR I nnManaging dock network, ignoring radio surface power offuMb@Mb@Mb@qqq q)qYuˡE? ףp= I +yu'>uQ8u9u A u@)u@Iqqyu @II44٢2= B=9Q > G٣y9N > Nusing accuracyPremultiplier from configO59U?O5Y  iA/>;+@9E;;qO5  ADNOT Ignoring new targets: 81.20 m. jjj j i h h hhffrfbf@@]E/>]E/>]E ~@]EČ@UU QU>I]@9 Yɚ]\5i]@ Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:30:34.4675  TRx dataTimestamp_ set to:1736375435.669719w,"AZ_@YZ>o@Zp9Z9>yZHFಿ Rf? ƿ `{屿V??T?y?ɨZ_@ZH;ZCyf7Bf* IInIn4٢v?o= vV=9vQ z>xx zG٣xy~9 ~>  Nusing accuracyPremultiplier from config O59 XS?O5Y " i ~AI@ 9E ; ; tO5! %G A! aIaDNOT Ignoring new targets: 81.20 m. jjjjihhhhffrfbf` @]]]]{@5p 9=\>I=L9 9ɚ=+5i=ے;I9IEtiAiA)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.<<D}#9*F?2F:FBF5JFG B) H ">I  I l II nBI ) =&I .I 6I Z<:I 7 FO5 >xw,^ #A*Will construct direction to contact in vehicle frame from tetrahedron phase data.2DAT read: Range 10 to 50 : 81.0 m (Round-trip 108.1 ms) speed 0.0 m/s 6,DAT read: user:2654> :BDAT read: Tx time:22:30:35.5553 :$Ping request sent.:X#Rx 4: Read range message, but no direction.>:publishing transmit ping time8(y*B(>:publishing transmit ping time8(y((yޅPBޅI IMb@Mb@Mb@ )YHzG?Mby&1y= >@`e )@Iy@II44٢%= %=9-Q ->)) -G٣1yu u> }Nusing accuracyPremultiplier from configyO59}P?O5Y}$ i}gA>;@}9E}};}_;}yO5 ~ A5 addTargetRange:: Added new target pos. range: 81.000000 m, deltaT: 3.528092 s, deltaX: -0.199997 m, approachRate: -0.056687 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 81.20 m. j9j9j9j9i9hAhAhAhEBfIfIrfM@T@bfU?]m>]m>]mVW@]m#o@ 隅>Ib9 ɚE5i)IqNGvAItii) }2YvAy+B)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:30:35.5545 zKgLK9KKKRK ?JK >J] J] JY JY J] :J] :JY JY J] <J] <J] cW;J] dW;D U9*F9 2F9 :F9 BF= 0JFA Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge+BqO?=w,&/#A6Z[@Y6j@6:96OJ9>y6H'`e?@ƿ@/ 뱿ZΞ?Os?!?y?ɨ6Z[@6d;6Cy>dBBa IIJIJkf4٢R]= R2=9RѦQ R>TT VG٣TyZ Z> bNusing accuracyPremultiplier from config\bO59^N?fO5Y^& i^UAdff@^9E^@: $?I^:^}O5UB ] A]EDNOT Ignoring new targets: 81.20 m. jjjjihhhhffrfbf?]]]]k@M: IM>IU79 QɚU_5iU}IQI]tiYiY)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.DC9*F2F:FBF]2JFjHY bH] <Hy Iy  I} II} BIy &Iy .Iy 6I} <:I} o FBI5̜CJI1RI1G 6?B ZI5) =bI5) =jI55 Will construct direction to contact in vehicle frame from tetrahedron phase data.O >+w,gL#A~M@Y~`]@~^{9~cJ>y~H@nK? ȿ *? -/?_!?`?_?ɨ~M@~;~CyvBw IMb@Mb@Mb@ )YI +?i|?5 G٣yW > Nusing accuracyPremultiplier from configO590L?O5Y,' iAA=;% %@9E';&;O5) -J A1]DNOT Ignoring new targets: 81.20 m. jYjYjYjYiY iIihihihqhuȁBfqfyrfybf}_?]=]=]~)@]C@^{ 隵>I9 ɚw5iռIItii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.DeQ9zKBHK89KKKJJJJJ<:J&:JJJ5;J6;J\;J\;BK:KnA*F?2F:FBF1JFG= !BI Oe >w,h#AfP@Yf,`@f49fG>yfH6XtO?`ȿ :???b?ɨfP@fz;fCyvBv IIvI&Q4٢> %F=9%oQ ->11 5G٣1y=+X: => MNusing accuracyPremultiplier from configA]O59EJ?eO5YE( iE2Aaae@E9EE;E;EO5q }Z AyWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 81.20 m. jjjjihhhhffrfbfE?]]]]C@4 >I19 ɚ%i%I!I%tii))2DrA*DrADd9 III*F?2F:FBFP0JFG%qA G%qAE Will construct direction to contact in vehicle frame from tetrahedron phase data.GM .:BQ Om >dw,tD#A6c@Y6s@696GD>y6H@5U?`=7ȿ`೅P? ? r?g?ɨ6c@6kl;6CyRBR IIZIZ4٢bi= fQ=9fQ f>hh jG٣hyj?; n> rNusing accuracyPremultiplier from configpvO59rG?vO5Yr( ir#Atvz z@pr3:r:rO5| ADNOT Ignoring new targets: 81.20 m. jjjjihhhhffrfbf =?]]]]iR@% )->I-9 )ɚ-3i)I)I5ti9i9)9)9Hm!>ImC Im IImĂBIm+ =&ImHD.Ii6Im<:ImV FDWill construct direction to contact in vehicle frame from tetrahedron phase data.Ai*Fe?2Fa:FaBFaJFa 9I9G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.w,d#AZcx@YZ⇔@ZG{9Z@>yZHr\?`Iǿ`+@Hﰿ?(O?d?m?ɨZcx@Z ;ZCynĂBn IzKqKu9KqKuKuJJJJJ̶:J :JJJ;J;JS;JS;-Mb@Mb@Mb@))) )))Y-l?Q뱿{Gzy-=-\-#- A -@)-@I-@)y-\@IeIe4٢u= u0=9}~S:Q }>y G٣yx; > Nusing accuracyPremultiplier from configO59@E?O5YX) iAq=&<,@ 9Eh;;&O5 ADNOT Ignoring new targets: 81.20 m. jjjjih!h!h1h5 Bf1f9rf9bfE~@]q=]q=]1[@])e@G{ ף>Iu9 ɚiIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F ?2F :F BF L4JF I G B O>uw,#A:t@Y:@:9:`;>y:H [h?`rǿ@`\?[?j@?v?ɨ:t@:;:CyBтBB IHJAAININ4٢Z= ZK=9^x;Q ^>\\ bG٣`ybw< b> jNusing accuracyPremultiplier from configdnO59fB?nO5Yf) ifAln,n@df(;f%);fO5t vrAtDNOT Ignoring new targets: 81.20 m. jjjjihhh!h!f!f!rf!bf-(@5Will construct direction to contact in vehicle frame from tetrahedron phase data.]Q]Q]Q]UBwe@m  >I9 ɚ̮3iIItii))D9ZHyRH}?AHI I!IIBI&I.I6I<:IZ F*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. A IA G- .:B1 OU >w, #A @yB!I)! !))Mb@Mb@Mb@ )Y{GztˡEMbyף什 A @)@Iy @II4٢5m= 54=9=Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIUO59M??UO5YM) iMߓA]h=]<]6A@]@M 9EM;M;MO5a eAaDNOT Ignoring new targets: 81.20 m. jjjjihhhh@Bffrfbf @]h=]h=]ؔ@]e6A@ >I>9 ɚiIItii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:22:30:38.0671 MTRx dataTimestamp_ set to:1736375439.448787zKK89KKKD 9*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm B O > w,#A^Ս@Y^ @^U9^9>y^H bhl? ƿ@3?੸?`?y?ɨ^Ս@^;\ynBn!IIvIv#4٢o^=  V=9 ;Q  > G٣ya< > %Nusing accuracyPremultiplier from config!-O59%u=?-O5Y%}) i%ǓA)-yA@-@!%a:%@:%O59 =bA9 YIYuDNOT Ignoring new targets: 81.20 m. jqjqjqjqiyhyhhhffrfbf @]]]]yA@U >IK9 ɚӰ3iIItiiI)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 80.7 m (Round-trip 107.7 ms) speed -0.2 m/s ,DAT read: user:2655> BDAT read: Tx time:22:30:39.1553  $Ping request sent. w, $AfWill construct direction to contact in vehicle frame from tetrahedron phase data.@Yv@};99>yHMBnm?ƿD`4? |?)?y?ɨ@ډ;CyB!IMb@Mb@Mb@ )Y G٣yv; > Nusing accuracyPremultiplier from configO59 :?O5Y( iAX= <*@@ 9E5;1;lO5 AE addTargetRange:: Added new target pos. range: 80.699997 m, deltaT: 3.780718 s, deltaX: -0.300003 m, approachRate: -0.079351 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 81.20 m. jIjIjIjIiIhQhQhQhUUBfYfYrf],T@bf]?]X=]X=]@] *@}; 隝>I#9 ɚ84iIItii))D 9mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF U0JF zK} BoHK} 9Ky K} K} RK ?JK ?G B O> w,)$ANٍ@YN6@NoI9N)E>yNH%[?\ȿ)c s???}?h?ɨNٍ@NH;Ly^B^ !IInyInxV4٢zr; zK=9~w Q ~> G٣y 5 > Nusing accuracyPremultiplier from configO59i7?O5Y( iAN*@@ 9EWill construct direction to contact in vehicle frame from tetrahedron phase data.|<<O5Q UAYDNOT Ignoring new targets: 81.20 m. jjjjihhhhffrfbf`?]a]a]a]eN*@oI 隍(>IT9 ɚ84iIItii)) I D Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF P0JF J] J] JY JY J] <:J] :JY JY GB O5>w,F$A6@Y6@6p296rB>y6Hn Y`? ȿ@  ?M?(?El?ɨ6@62ƌ;6CyB BB1!IIJWIJ44٢Vu= V3=9ZN;Q Z>XX ZG٣\y^&5; ^> bNusing accuracyPremultiplier from config`fO59b4?fO5Yb ( ib]Ahja*@j@`bT ;bT ;bO5l nAl5DNOT Ignoring new targets: 81.20 m. j1j1j1j9i9h9h9h9hAfAfArfIbfM@?]i]i]i]mEa*@}p2 y})>I}9 jH<bH4<HI Iy!IIHBI+ =&IHD.I6I}<:IM Fɚk4iIIti i ) ) MWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUADy I*FM?2FI:FQBFUo0JFQ"G]>G]>)ſ= wCUGi }4Yy-BG B! O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,hw`$AzKlKnu9KlKnKnyzBz2!IMb@Mb@Mb@ )Y~jt+ηX9vyDv/ A )Iy@II4٢h: :=9Q > G٣y > Nusing accuracyPremultiplier from configO591?O5Yq' i2A=;$@@ 9E<<O5 ADNOT Ignoring new targets: 81.20 m. jjjjihhh h oBf f rfbfsw?]E=]E=]E@]E$@Y ae>Ie 9 aɚeg4iaIaIutiqiq)q)ymWill construct direction to contact in vehicle frame from tetrahedron phase data.D9 I*Fm ?2Fi :Fi BFm _0JFi G B O >w,߉}$AWill construct direction to contact in vehicle frame from tetrahedron phase data.6!@Y6=1@6X96=>y6H@%k?mǿ }`Rϐ?@~?׀?`}t?ɨ6!@6 ;6CyDD)H HLNAIRIR49Z \\ ^G٣\y^< b> fNusing accuracyPremultiplier from config`5O59b.?5O5Yb& ib A15b%@=@b9Ebp?&w, 3$A60D@Y6S@6p96`;>y6H!o?=ǿ@C`?`Mt?@J?!w?ɨ60D@6 ;6CyNBN#!IUMb@Mb@Mb@QQQ Q)QYU+bX9ȶQ롿yUUEU\U A Q)U@IU@QyUf@IeIe:4٢uӼ }<9};Q }>y G٣y< > Nusing accuracyPremultiplier from configO59l+?O5YW& iגA=<)@@;";O5 ADNOT Ignoring new targets: 81.20 m. jjjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.hhhhOBffrfbfW*@]=]=]@]M)@p 4>I`9 ɚr5iIItii))D9zK=BHK=89K9K=K=*FU?2FQ:FQBFUw2JFQGy  Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >  I a,w,F$A2W@Y2Mg@2M92:>y2HGq?&ǿ 3 ƞv?i?0?@ex?ɨ2W@2e;2CyRBR !IIZIZ44٢bJ bX=9b;Q f>dd fG٣dyj; j> 5Nusing accuracyPremultiplier from configl5O59n(?=O5Yn% inA9=)@=@n9EnTI9 ɚ35iIItii))2DqA*DD9*F?2F:FBF5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:30:41.6671 %TRx dataTimestamp_ set to:1736375442.978412JJJJJ:J :JJGBO>ZH RH AAH I  I !II \BI &I .I 6I <:I z FI3w,$A:Will construct direction to contact in vehicle frame from tetrahedron phase data. Ie#l@Ye{@ec9eb9>yeH@/s?@! ǿ %?ocL?@??@y?ɨe#l@e;ay}B}!Ii >I4= p=p=Mb@Mb@Mb@ )Y:vʡEktyT- 0 )@I@yII.4٢ұ =9;Q > G٣yv; >  Nusing accuracyPremultiplier from configO59_%?O5Y% ipA=<;@@9Er;;O5! %*A!MDNOT Ignoring new targets: 81.20 m. jIjQjQjQiQhQhQhYh]FBfYfYrfabfm@ @]=]=] @];@c 隥4>I49 ɚM5iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:30:41.6671 LVL= 20656, 23857, 13378, 28979, AGC= 60, IDX= 427, 0.19, 2.600,-1.196,-1.714,-2.031, PHS=-1.564, 0.882, 0.314, RAW= 282.8, 3.4, CAL= 285.8, 4.3, ROT= 224.2, -4.3 UYgot valid direction response: 22:30:41.6671 LVL= 20656, 23857, 13378, 28979, AGC= 60, IDX= 427, 0.19, 2.600,-1.196,-1.714,-2.031, PHS=-1.564, 0.882, 0.314, RAW= 282.8, 3.4, CAL= 285.8, 4.3, ROT= 224.2, -4.3 ]PDAT read: Bearing 224.2, -4.3 (Local) ]~Local bearing/azimuth received: Bearing 224.2, -4.3 (Local) mDAT read: Range 10 to 50 : 80.7 m (Round-trip 107.7 ms) speed 0.0 m/s m,DAT read: user:2656> uBDAT read: Tx time:22:30:42.7553 u$Ping request sent.u@s= @)`=Ioz@i`hs}?j; ?)5@IpiP?ȸ?:publishing transmit ping timeqFpublishing direction and range info9/ף?mf%?ٽy )Ii )Iihs}?j; ?)IiD% &9zK K K K K BK qA:K qA*F ?2F :F BF p0JF "G >G Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:30:42.7545 GBO5?f;w,x$Aj}s@Yj@jE89jQ9>yjHs?@[ǿe8J}?`?y?ɨj}s@ tItjզ;jCy~B~!II I 44٢ I=9%;Q %>!) -G٣)y-; -> 5Nusing accuracyPremultiplier from config1}O595"?O5Y5% i5@A;@@15(<5(<5O5 AkeV+?keR ka keo$A:kefBBkeHBZke@"eBՈ @ơ}#@?ZTe/ף?mf%?ٽJkeP?Rkeȸ?*e(rLr7@1LTcI>SeU?vh) 橿,> "ke*ke Ake?ke 2kee8ke?keĺhR keJkeAke[@M addTargetRange:: Added new target pos. range: 80.699997 m, deltaT: 3.526658 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 80.699997 m, bearing: 350.299837 deg, lat: 36.905233 deg, lon: -122.119883 deg, deltaT: 10.835468 s, deltaX: -0.500000 m, approachRate: -0.046145 m/s, posRepo size: 4 DNOT Ignoring new targets: 80.70 m. jjjjihhhhffrfbf`?]]]];@E8 >I9 ɚ #c5i XI Itii))=Will construct direction to contact in vehicle frame from tetrahedron phase data.D)*F ?2F :F BF o0JF H >I  I !II MBI + =&I .I 6I <:I m FG B O >Cw, %An_@Yn%o@n4s9nx0>ynH@ʥ~?@ſ@W@$ہ?fNW???ɨn_@n;nC%Will construct direction to contact in vehicle frame from tetrahedron phase data.yeBm IIIb4 iIi٢} $=9NDQ > G٣y   > Nusing accuracyPremultiplier from configO59Z?O5YL% iA%;@E@9E;;O5I MAIDNOT Ignoring new targets: 80.70 m. jjjjihhhhffrfbf@X ?]]]];@%4s )-g>I-9 )ɚ-x5i-I)I5ti1i1)9)yBDE?:Db?DX9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU ?2FY :FY BFY JFY J J J J J J :J J J 'FJw,,%A2)O@Y2^@2+92k3>y2HѦWz? MOƿ`J0?dQ`?W?7?ɨ2)O@24;2Cy>҂B> I-Will construct direction to contact in vehicle frame from tetrahedron phase data.eMb@Mb@Mb@aaa a)aYeZd;O?(\µktyej G٣y > Nusing accuracyPremultiplier from configO59b?O5Y% iΑA=<9@;;O5  eA  iIiuDNOT Ignoring new targets: 80.70 m. jqjqjqjyiyhyhyhyh%Bf!f)rf)bf-`2?]m=]m=]m@@]mKY@+ 隝>I>9 ɚ5iIItii))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.?B?*F ?2F :F BF `0JF G  G mAG B O >ZRw,jI%A6OL@Y6[@6I(96H5>y6H@a@8w?qƿogk?7 e?? *?ɨ6OL@6$;6Cy>˂B> IHJ>IH IJ`!IIJ4BIH&IH.IH6IJ<:IJz FIfIf4٢jl n>=9nQ n>pp rG٣pyvU v> zNusing accuracyPremultiplier from configt~O59v?~O5Yv% ivA|~9~@v9EvC:v:vQO5  A UDNOT Ignoring new targets: 80.70 m. jYjYjYjaiahahahihififirfqbfuF?]]]]eY@MI( IM>IM>9 IɚM15iQIQItiWill construct direction to contact in vehicle frame from tetrahedron phase data.i)) IDj9*F?2F:FBFW5JFG B! O= >u Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J :J J J ;J ;J I;J I; yXw,c%A6U@Y6*e@6ֺ96Dt7>y6Hi Cu?`Dƿ" 祿`8G?@Z?,?|?ɨ6U@6ډ;6Cy>BB IzKJQJK-9KKKBKpA:KMb@Mb@Mb@ )YV-?~jtI +ym=94`A @)@Iy@II]4٢  9=9 ;Q 5>99 =G٣9yE3(; E> MNusing accuracyPremultiplier from configAMO59E?UO5YEg& iEhAu=u;u}@E9EE;E;E4O5 ADNOT Ignoring new targets: 80.70 m. jjjjihh h1h=߁BfAfArfIbfuiv@]=]=]@]t@5ֺ 15)>I59 1ɚ55i1I9I=tiAiA)A)A2DI*DMqAD%g9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFB5JF IG B O >^w,f}%A6W]@Y6l@696?8>y6H (勵nt?@ƿxuZ?՗U? 9?{?ɨ6W]@6ȉ;6Cy>B> IIJIJפ4٢R Vd=9Vk:Q V>XX ZG٣Xyv%-; v> zNusing accuracyPremultiplier from configx~O59z?O5Yz& iz>A @xz ;z ;z[O5 RA=Will construct direction to contact in vehicle frame from tetrahedron phase data.MDNOT Ignoring new targets: 80.70 m. jIjIjIjIiIhIhQhQhQfQfrfbf`Y@]]]]t@5 隕>I9 ɚ5iIItii))Dy9*FE?2FA:FABFEP0JFA"GM>GIH>I IA!IIBI* =&I.I6Iɰ<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.G  I B9 O} >Bew,D%ANGX 5Yy.By-B- IMWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:30:45.2672 UTRx dataTimestamp_ set to:1736375446.504699EMb@Mb@Mb@AAA A)AYEkt?~jt{GzyE =AE#EA Ex@)E~@IAAyE@II4٢J =9Q > G٣y > Nusing accuracyPremultiplier from configO59?O5Y( iA=;@9E<g<O5 AJـ3Km3 KS}-KK"KJJJ1JJ<:J :J3JJ5;J6;JR;JR;5DNOT Ignoring new targets: 80.70 m. j1j1j1j1i1hYhYhYheBfafarfabfe"@]=]=]@]@ >I9 ɚ5iII ti i ) )zKBIK9KKKRK?JK?DE 9 Will construct direction to contact in vehicle frame from tetrahedron phase data. I *F= ?2F9 :F9 BFE /1JFA GB OU?nnw,"½%AJ3I@YJX@Jby9J<&9>yJH@1pr? ƿ` v W?`=,o?? fz?ɨJ3I@J;HyVBV II^I^b4٢f޼ f,=9Q >! %G٣!y% %> 5Nusing accuracyPremultiplier from config)5O59-?=O5Y-%) i-ѐA9==@-9E-:-L:-4O5EB EAMEUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:30:45.2672 LVL= 21872, 21617, 12706, 27763, AGC= 57, IDX= 443, 0.28,-1.876, 0.653, 0.042,-0.208, PHS=-1.581, 0.907, 0.246, RAW= 284.9, 3.9, CAL= 288.0, 5.2, ROT= 222.0, -5.2 Ygot valid direction response: 22:30:45.2672 LVL= 21872, 21617, 12706, 27763, AGC= 57, IDX= 443, 0.28,-1.876, 0.653, 0.042,-0.208, PHS=-1.581, 0.907, 0.246, RAW= 284.9, 3.9, CAL= 288.0, 5.2, ROT= 222.0, -5.2 PDAT read: Bearing 222.0, -5.2 (Local) ~Local bearing/azimuth received: Bearing 222.0, -5.2 (Local) DAT read: Range 10 to 50 : 80.8 m (Round-trip 107.8 ms) speed 0.2 m/s ,DAT read: user:2657> BDAT read: Tx time:22:30:46.3553 $Ping request sent.#?xfyUBQUpUUqT U1)UslIU9iU5^ʿU'1h?Um{>UA@U'g= U|٠@)U޹=IUw@iU޹QQU{l?R-P?)Ul&8@IUiU<?Uer?QQ:publishing transmit ping timeFpublishing direction and range infoQ9UĪʟ?QRY>#?xfyQQQQ Q)QIQiQkUȝ?kUNi kQ kU%A:kUBBkU{BZkUI@"U0@v.l)@GSUĪʟ?QRY>#?xfJkU<?RkUer?*U.^{::@5Y \ SUv=u$?8;kEΐ7b)"kU_*kUAkU؝?kUՒ 2kU-kQkU:-T kUHkU`AkU@QQQQ Q)QIQiQQQU{l?R-P?)QIQiQQQQ- addTargetRange:: Added new target pos. range: 80.800003 m, deltaT: 3.527850 s, deltaX: 0.100006 m, approachRate: 0.028348 m/s, rangeRepo size: 4 = Added new target pos. range: 80.800003 m, bearing: 351.452825 deg, lat: 36.905233 deg, lon: -122.119884 deg, deltaT: 3.527850 s, deltaX: 0.100006 m, approachRate: 0.028348 m/s, posRepo size: 4 =DNOT Ignoring new targets: 80.80 m. j9jjjihhhhffrf@33T@bf^Բ?]]]]@%by !%>I%y9 )ɚ-(5i)I)I5ti1i1)1)9ZHRH?AH>I I"!IIBI) =&IGD.I6I<:I~ FBIYJIYRIYZI]* =bIYjI]0.5D9 Will construct direction to contact in vehicle frame from tetrahedron phase data. i A JDAT read: TxSync time:22:30:46.3545 ! I! *FI 2FI :FI BFU 0JFQ GBO>yvw,%Ab@@YbP@b9bFh9>ybH`q?@ƿ@@⦿*?t? ?y?ɨb@@b9;bCyrBr IMb@Mb@Mb@ )Y)\(?X9vL7A`堿yG=}+vA b@)IQ@yIIn4٢QWill construct direction to contact in vehicle frame from tetrahedron phase data. =9QQ > G٣y > Nusing accuracyPremultiplier from configO598 ?O5Y* iA>;$@9Ew;;O5  Ak~nƝ?k$) k k:kBkZk-&@"0@v.l)@GSĪʟ?QRY>#?xfJkRk*6~ :@tCžx SuX&?kG.*Y("k:*kAkHl֝?k5v 2ks-kk ke8kAk@=DNOT Ignoring new targets: 80.80 m. j9j9j9j9iAhAhAhIhUBfQJJJJJJ :JJJJJU;JU;farfbf?]>]>]K@]}@- )5>I59 1ɚ55i1I1I=tii))Du9zK]JKKKKBKqA:K*F ?2F :FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data. y I G1 BA O] >j }w,%A2U7@Y2F@2@92,->y2H~N?yſ RM?X~?@? ?ɨ2U7@26Ԉ;0y>B> IIFIF{4٢N Na=9RXٻQ R>TT VG٣XyZJ Z> ^Nusing accuracyPremultiplier from config\bO59^] ?bO5Y^+ i^Adfnf@^9E^Q;^:^O5h j AhDNOT Ignoring new targets: 80.80 m. jjjjihhhhffrfbf?]]]]X@@ >I9 ɚ 5iIItii))D9*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.>9?G B O5 >H I  I !II BI * =&I .I 6I ڰ<:I FWw,A&A&Will construct direction to contact in vehicle frame from tetrahedron phase data. =$?I9yMBM Iim=ImR=IsIK4٢ Gn<  )=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)=O59-?=O5Y-, i-ZA99=@)-94;-Z4;-O5A MAIuDNOT Ignoring new targets: 80.80 m. jqjqjqjyiyhyhyhyhffrfbf ?]]]] T>I9 ɚ6iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fu ?2Fq :Fq BF} P5JFy zK BoHK K K K RK- ?JK- >G B O5>0w,b.&AyB IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YʡE?S㥫y=/]̼`A )Q@Iy@I I ƕ4٢" %<=9)Q ->11 5G٣1y1 => ENusing accuracyPremultiplier from config9EO5 QIQ9=?UO5Y=P. i==A]i>];]]@=9E=y;=v;=O5a e AiDNOT Ignoring new targets: 80.80 m. jjjjihhhhBffrfbf?]i>]i>]9@]@ >IP9 ɚW 6iIItii))De9E Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF V5JF J J J J J l:J :J J a @a @a @a @G B O >Ēw,K&AjHbH<H I  I" !II"BI &I .I 6I"<:I"` Ff@Yf'$@f)h9f[7>yfHxPs?ƿ7Y??|?`6|?ɨf@f+;fCyrBr II~I~.4٢ <  B=9pQ > G٣y % > %Nusing accuracyPremultiplier from config!-O59%?-O5Y%/ i%!A155@%9E% ;% ;%O59 =A9}DNOT Ignoring new targets: 80.80 m. jyjyjyjyihhhhffrfbfF@]]]]@)h >?I9 ɚ6iIItii))BD8?:D$? Will construct direction to contact in vehicle frame from tetrahedron phase data.D%9 I*F?2F:FBFP0JFGB O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.յ >յ 4=w,dZe&A6~ @Y6@696+8>y6Ha`q?ƿ@H?0? ?z?ɨ6~ @6^ތ;6Cy>B> I)@ BADFAMb@Mb@Mb@ )Y!rh?&1~jtyl=P );@I~@y=@IIƕ4٢< B=9zQ > G٣yK > Nusing accuracyPremultiplier from configO59?O5Y0 i An>;@9E ;K;;O5 AEDNOT Ignoring new targets: 80.80 m. jjjjihh!h!h%Bf)f)rf)bf=.@]mn>]mn>]m~@]m@ 隍>zKBHKKKKI9 ɚ6iIItii))%Will construct direction to contact in vehicle frame from tetrahedron phase data. ID09*F?2F:FBFJFG B O > 3w,ր&A2j @Y2@2{*92y8>y2Hd+p?ƿ=&U? ?@?y?ɨ2j @2;;2Cy>B> IIVIV4vWill construct direction to contact in vehicle frame from tetrahedron phase data.zBDAT read: Rx Time:22:30:48.8670 ~TRx dataTimestamp_ set to:1736375450.044217٢t<  G=9 bQ  > G٣yo > %Nusing accuracyPremultiplier from config%O59B?-O5Y2 iA)-5@9EP ; ;O59 =A9eDNOT Ignoring new targets: 80.80 m. jajajajaiahihihqhqfyfyrfybf}m@]]]]u@{* 隵)>I9 ɚ!6iIItii))J-@AJ-BAJ5J5J50J1J5|:J5 :J5ـ3J1HI I!IIBI&I.I6I<:If FD9*FE?2FA:FABFAJFAmWill construct direction to contact in vehicle frame from tetrahedron phase data. IhGI BY Ou >^nw,]&AyB IMb@Mb@Mb@ )Y?y&1y=L`eA )$@IyiIIh4٢= <=9Q > G٣y > Nusing accuracyPremultiplier from configO59]?O5Y 3 iA=;@9E;;O5 A%DNOT Ignoring new targets: 80.80 m. j)j)j)j)i)h)h)h1h=ƁBf9f9rf9bfE@ @]]=]]=]]9@]]A+@q qu>I}9 yɚ})6iyIyI-ti)i1)1)Will construct direction to contact in vehicle frame from tetrahedron phase data.2DrA*DrAD 9*FQ2FQ:FQBFU_0JFQzKKu9KKKG B9 O] >U Will construct direction to contact in vehicle frame from tetrahedron phase data. I  DAT read: 22:30:48.8670 LVL= 19952, 22769, 14978, 26067, AGC= 60, IDX= 440, 0.22, 1.797,-1.940,-2.590,-2.808, PHS=-1.590, 0.914, 0.215, RAW= 285.7, 4.2, CAL= 288.9, 5.8, ROT= 221.1, -5.8  Ygot valid direction response: 22:30:48.8670 LVL= 19952, 22769, 14978, 26067, AGC= 60, IDX= 440, 0.22, 1.797,-1.940,-2.590,-2.808, PHS=-1.590, 0.914, 0.215, RAW= 285.7, 4.2, CAL= 288.9, 5.8, ROT= 221.1, -5.8  PDAT read: Bearing 221.1, -5.8 (Local)  ~Local bearing/azimuth received: Bearing 221.1, -5.8 (Local)  DAT read: Range 10 to 50 : 80.6 m (Round-trip 107.5 ms) speed 0.0 m/s  ,DAT read: user:2658>  BDAT read: Tx time:22:30:49.9554  $Ping request sent. U @?w,M&AٍQ = ڍ)Z@)ڍ4Q=Iڍv@iڍ4QϽډډۍuU$?_?)ۍ9@Iۍ䔽iۍ+?ۍ?ۉۉe:publishing transmit ping timemFpublishing direction and range info؉9؍?,W ?zy؉؉(@Y@x؉؉ ى)ى99>Iىiىىىىى ډ)ډIډiډډډۍuU$?_?)ۉIۉiۉۉۉۉyH Op?ƿ`"???y?ɨ(@7;騍CyB Ii=Ip; %a=!I-I-4٢}v< }@=9Q > G٣y) > Nusing accuracyPremultiplier from configO59{?O5Y;4 iЏA@G:&:\O5  Ak ?kȴ k kﭲ&A:k3BBkBZk0@"0@Mf]U+@HmS?,W ?zJk+?Rk?*b> ;@FRQRj^Q8?]43Qj5"kh*kAk?kė 2kF"kHl֝?kՒ k-kAk]@ addTargetRange:: Added new target pos. range: 80.599998 m, deltaT: 3.783948 s, deltaX: -0.200005 m, approachRate: -0.052856 m/s, rangeRepo size: 4  Added new target pos. range: 80.599998 m, bearing: 349.487661 deg, lat: 36.905256 deg, lon: -122.119911 deg, deltaT: 3.783948 s, deltaX: -0.200005 m, approachRate: -0.052856 m/s, posRepo size: 4 DNOT Ignoring new targets: 80.60 m. jjjjihAhIhIhIfIfQrfU`f&T@bfU-?]]]]G+@%x !%>I%#9 !ɚ-E26i)I)I5ti1i9)9)YWill construct direction to contact in vehicle frame from tetrahedron phase data.JMJIJM1JIJM:JIJM3JID ;9*F ?2F :F BF P0JF ZHY RH] @AHa Ia  Ie "!IIe BIa &Ie HD.Ia 6Ie <:Ie a FmWill construct direction to contact in vehicle frame from tetrahedron phase data. IGABqO?0w,&A)%= -hC=GU|uAmA 5Y|uAy-B@Y@}t9o7>yH xs?ߟƿ/i ? ?.?z?ɨ@،;騥Cy޽ƂB޽ I@ Mb@Mb@Mb@ )Y㥛 ?ˡE{Gzy='#IA )I@iIIkf4٢< =9%fQ > G٣yj > Nusing accuracyPremultiplier from configO59?O5YD5 iA=<@9E;;.O5 A DNOT Ignoring new targets: 80.60 m. jjjjihhhhffrf!bf%`D?]M=]M=]M@]M@]}t Y]H?I]9 aɚe?;6iaIaImtiiii)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.D)9*F} ?2Fy :Fy BF JF zK BoHK 89K K K BK :K rA )I15Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>y6Hī M|?ſ m*~Ϡ? f? ??ɨ6Q@6;6CyJӂBJ IIVdIV?14٢^= ^R=9b/Q b>`` fG٣dyf\ f> UNusing accuracyPremultiplier from configQ]P59U?]P5YU6 iUAaem@U9EUM;U?;UP5 WADNOT Ignoring new targets: 80.60 m. jjjjihhhhffrfbf‰?] ] ] ] @%ļ )-?I-9 )ɚ-C6i)I1I5ti1i9)9)9BDEC?:DEG?D J9*F?2F:FBFk0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.JmJmJiJiJm:Jm :JiJiGBO>Hy Iy  I} A!II} BI} + =&Iy .Iy 6I} <:I} e FBIAJIARIAZIAbIAjIE 4wyw,'A @2@Y2t@2׼92#v3>y2H@p$x? Xƿmx9?@s?@nO??ɨ2@2$;2CyN߂BN I)P RATTIZhIZV84٢be= bJ=9bûQ f>dd fG٣dyjt j> nNusing accuracyPremultiplier from configlrP59n?rP5Yn6 inApvv@ln:nj:nP5x zAx%DNOT Ignoring new targets: 80.60 m. j!j)j)j)i)h)h)h1h1f1f1rfbf@? YIYuWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]]턅@5׼ 15 ?I59 1ɚ5L6i1I9I=ti9iA)A)AD1*F?2F:FBFo0JFG B - Will construct direction to contact in vehicle frame from tetrahedron phase data.O= >w,i('AyB!I Mb@Mb@Mb@ )Yv/? ףp= ~jtyxi=Q8DA )@I~@y@IMIM4٢]sK= ]3=9eQ e>ai mG٣iyu u> Nusing accuracyPremultiplier from configyP59}?P5Y}j7 i}A=4<@}9E};}:} P5 AzKK-9KKKRK?JK?DNOT Ignoring new targets: 80.60 m. jjjjihhhhہBffrfbf?]=]=]:@]@ ?I9 ɚ%U6i!I!I%ti)i))))1 IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.Du9*F 2F :F BF `0JF G B O- >w,uD'AWill construct direction to contact in vehicle frame from tetrahedron phase data.6F@Y6@6%0967>y6Hër?ƿ`@E`? e??(y?ɨ6F@6?L;4yBBF!IININݜ4٢Vf= VZ=9VpQ V>XX ZG٣XyZ; ^> fNusing accuracyPremultiplier from config\vP59^?vP5Y^7 i^Axzs~@\^;^4;^[ P5 GA5DNOT Ignoring new targets: 80.60 m. j1j1j9j9i9hAhIhQhQfYfqrfybf}@]i]i]i]mYր@J}J}JyJyJ}\:J}:JyJy%0 隥 ?I9 ɚ^6iIItii))2DqA*DqAjHU<bHQHYIY I]`!II]4BIY&IY.IY6I]K<:I]& FDj9 aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.iA*F?2F:FBFp0JFG B O >uw, J_'A:@Y:J$@:9:8>y:H@s1r?ƿ T ??? >w?ɨ:@:;:CyBBF!IiJ0>IJp= J=H%Mb@Mb@Mb@!!! !)!Y%~jt?:vy&1y%=%T%`e! !)%@I%@!y%G@II4٢< 2=98pQ > G٣yR; > Nusing accuracyPremultiplier from configP59?P5Ye8 irA=I<c!@ 9E3;1;]P5  ADNOT Ignoring new targets: 80.60 m. jjjjih h h hBffrfbf@@]==]==]=@]=p@U QU?IU9 QɚUg6iQIYI]tiYia)a)amWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F5?2F9:F9BF=@5JFAzKBoHK9KKK;/ BK:KGa B I O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:22:30:52.4669 % TRx dataTimestamp_ set to:1736375453.820827w,y'A:@Y:.@:>9:l8>y:H֩`,s?[ƿN?6??@rw?ɨ:@:%;:CyRBV#!IIfIfƕ4٢n< rX=9r3:Q r>tt vG٣tyvO; z> ~Nusing accuracyPremultiplier from configxP59z?P5Yz8 izaAK!@xzP:z:zP5  AEDNOT Ignoring new targets: 80.60 m. jAjAjAjIiIhIhIhIhQfQfQrfYbf]K' @]y]y]y]}p@> 隍)?I89 ɚ:o6iIIti!i!)!)!D9*Fa2Fa:FaBFeP0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.GMBYOu>H >I  I !II MBI * =&I .I 6I <:I i Fw,'A I$nWill construct direction to contact in vehicle frame from tetrahedron phase data.vDAT read: Range 10 to 50 : 80.5 m (Round-trip 107.4 ms) speed 0.1 m/s z,DAT read: user:2659> ~BDAT read: Tx time:22:30:53.5554 $Ping request sent. G٣y > Nusing accuracyPremultiplier from configP59?P5Y)9 iNA@e: :`P5 AE addTargetRange:: Added new target pos. range: 80.500000 m, deltaT: 3.531998 s, deltaX: -0.099998 m, approachRate: -0.028312 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 80.60 m. jjjjihhh h ffrf T@bfߦ?]Q]Q]Q]Q \?I 9 ɚy6iIIti9i9)9)ABDM3?:DM ?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:30:53.5546 J J J J J J :J J J IMWill construct direction to contact in vehicle frame from tetrahedron phase data.GUBaO ?w,''A 6j&@Y65@6e96U8>y6H@Y Ns?@ƿ`@?`?o?`v?ɨ6j&@6);6Cy> B>/!I)@ @DDMb@Mb@Mb@ )YS㥛?i|?5 rhy/<qCA K@)@I@yI^I&4٢< =9|Q > G٣y;: >  Nusing accuracyPremultiplier from configP59~씜?P5Y9 i0A^=E<4.@!9E;:;8P5! %A!MDNOT Ignoring new targets: 80.60 m. jIjIjQjQiQhQhQhYh]BfYfYrfYbfe?]^=]^=]@]Lc@%e !%?I-l9 1ɚ56i1I1IMtiQiQ)Q)QuWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*J"Ja=*FA 2FA :FA BFE z1JFA ZHy RH} ?AH I  I !II bBI &I .I 6I <:I R FG) B9 OU >)w,v'A IyB@!II=pI=F4٢E= ME=9MQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configYeP59]ꔜ?mP5Y]9 i]Aiqu@Y];];]P5y }"AyDNOT Ignoring new targets: 80.60 m. jjjjihhhhffrfbf@9? Will construct direction to contact in vehicle frame from tetrahedron phase data.]Y]Y]Y]Yq quv ?Iu9 qɚuX6iqIyI}tii))D9*F]?2Fa:FaBFmP0JFiG= BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J |:J :J ـ3J J <J <J nN;J oN;Pw,D'Ay=B=E!IMb@Mb@Mb@ )Y{Gz?V-~jtyף<h`A b@)@I~@yInIB4٢-< A=9Q > G٣y >  Nusing accuracyPremultiplier from configP59蔜?P5Y: iA=.<8@"9E1;t.;#P5! %A!zKKu9KKKDNOT Ignoring new targets: 80.60 m. jjjjihhhhBf f rfbf 6w,(A:?@Y: @: p9:`7>y:H t?ƿ@_^?? 7? x?ɨ:?@:$ȍ;:CyBB@iF=IF>ININ4٢V VH=9Z0Q Z>XX ZG٣\y^ϻ ^> bNusing accuracyPremultiplier from config`fP59b唜?fP5Yb0: ibAhj8j@`bI;b;b'P5l nAlDNOT Ignoring new targets: 80.60 m. jjjji h h hhffrfbf`f?]]]]aY@- p )-\?I59 1ɚ56i1I1I=ti9i9)9)AHI I!IIvBI&I.I6I<:IP F $?ID9Will construct direction to contact in vehicle frame from tetrahedron phase data.iA*FI2FI:FQBFU0JFQUc~GvAA % 5Y% vAy- .BG .:B O > Dw,"(A6$@Y6]4@6 y968>y6Hqs?ƿt֥`.?3??bv?ɨ6$@6d;6CyV$BVM!I-vonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 83.59, 67.74, 76.12  v@v v@v v@z  z@z IzIzƕ4٢N< ?=9 Q  > G٣y; %> -bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!5P59%[㔜?5P5Y%c: i%ʎA=+:9= <=8=@%#9E%i);%!>%(*P5A MAIWill construct direction to contact in vehicle frame from tetrahedron phase data. DNOT Ignoring new targets: 80.60 m. j j jjihhhhfAfArfAbfM EV@ y 隕?I9 ɚ!6iIItii))JJJJJl:J:JJJ;J;JJ;JJ;D%9zKBHK#9KKKRK?JK ? )I)*F2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,>(A63@Y6B@696`8>y6H`؎@t?@Zƿ]`餿R? &=?`?`sv?ɨ63@6$;6Cy> B>I!IIDID٢N  NE=9R}Q R>TT VG٣TyV%; Z> bbBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\fP59^?fP5Y^: i^Af :dj;js8j@\^<;^X?^,P5l nAlDNOT Ignoring new targets: 80.60 m. jj j j i h h hhffrfbfct@ ?I 9 ɚ36iIItii))BDE:?:DE/?Will construct direction to contact in vehicle frame from tetrahedron phase data.D9jH<bHH>I I!IIBI) =&I.I6IP<:I+ FBIiJIiRIiZIibIijIm-5*F}?2Fy:FyBF}O0JFyGqA GrA Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:30:56.0671  TRx dataTimestamp_ set to:1736375457.356671G .:B OM > 3w,Z(AR@YWb@928>yH/Cu?@ƿ颿/?-r?`?@u?ɨR@ G٣y; > Nusing accuracyPremultiplier from configP59ܔ?P5Y: iAT:X=<;=@$9E ;;>1P5 A%DNOT Ignoring new targets: 80.60 m. j!j!j!j!i!h)h)h)h-Bf1f9rf9bf= @]X=]X=]M@]T@ \?I 9 ɚ6iIItii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.J 3K 3 K .KK"KJJJ1JJJ:J3JJJJI;JI;D9*Fu ?2Fq :Fy BF} P0JFy zK% K! K! K% K% BK) :K) I II  Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:30:56.0671 LVL= 24944, 23009, 12754, 29171, AGC= 60, IDX= 441, 0.20, 0.977,-2.820, 2.762, 2.565, PHS=-1.499, 0.945, 0.194, RAW= 287.4, 3.4, CAL= 290.5, 4.4, ROT= 219.5, -4.4 MYgot valid direction response: 22:30:56.0671 LVL= 24944, 23009, 12754, 29171, AGC= 60, IDX= 441, 0.20, 0.977,-2.820, 2.762, 2.565, PHS=-1.499, 0.945, 0.194, RAW= 287.4, 3.4, CAL= 290.5, 4.4, ROT= 219.5, -4.4 ePDAT read: Bearing 219.5, -4.4 (Local) m~Local bearing/azimuth received: Bearing 219.5, -4.4 (Local) DAT read: Range 10 to 50 : 80.7 m (Round-trip 107.6 ms) speed 0.0 m/s ,DAT read: user:2660> BDAT read: Tx time:22:30:57.1554 $Ping request sent. @ s= >@) nF=I /u@i nF o.zr?v$?) _ ;@I 'pi 笭? KU? :publishing transmit ping timeءFpublishing direction and range info 9 W?K ?d Ny  ) I i ) I i o.zr?v$?) I i G&5BO5>w,%y(Ae]@Yem@ež9eѯ8>yeH西v? %ƿ6S?`Ƕ??u?ɨe]@e;eCy BI!II]I]4٢1ȼ 0=9ӓQ > G٣y4;  > Nusing accuracyPremultiplier from config P59 ٔ?P5Y  ; i cA#=@ %9E  : : ]5P5i mAik5[H?k5 k1 k5w(A:k5fBBk5HBZk5v#@"5wj @0Y0@lvAS5W?K ?d NJk5笭?Rk5KU?*5~=@NHvuR5,|?< J8"k5B*k5Ak5+?k5% 2k5k5؝?k55v k5s-k5nAk5$@U addTargetRange:: Added new target pos. range: 80.699997 m, deltaT: 3.537074 s, deltaX: 0.199997 m, approachRate: 0.056543 m/s, rangeRepo size: 4  Added new target pos. range: 80.699997 m, bearing: 345.813192 deg, lat: 36.905256 deg, lon: -122.119913 deg, deltaT: 7.069072 s, deltaX: 0.099998 m, approachRate: 0.014146 m/s, posRepo size: 4 DNOT Ignoring new targets: 80.70 m. jjjjihhhhffrf,T@bf`?]]]]8T@ ž v ?I9 ɚy6iII=tiAiA)A)I2DQ*DQUWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:22:30:57.1546 D% 9H I  I !II BI + =&I .I 6I q<:I A F*F 2F :F BF 3JF "G >G > Q IQ Will construct direction to contact in vehicle frame from tetrahedron phase data.G6?BO>)&w,JD(A2b@Y2r@2T929>y2HY`u?ƿ $֡֗?z ?e?@u?ɨ2b@2KS;2CyB"BFK!IIVhIVV84٢f< f?=9fQ j>hh jG٣hyn: n> rNusing accuracyPremultiplier from configpvP59rՔ?vP5Yr=; irCAxz=z@pre:r:r9P5| AUDNOT Ignoring new targets: 80.70 m. jQjYjji h hh!h)f1fYrfabfm ?]Y]Y]Y]] U@mT im\ ?Im9 ɚ6iIItii))Di*F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.=%=G &5B O >",w, (A 4I4FS@YF-c@FJ9F->yFH`|τ?`bſ A``ʦ?H?ə? ?ɨFS@F;FCyR%BRN!IiV=IV< Va=VR=zKlKlKlKnKnEMb@Mb@Mb@AAA A)AYE~jt?{GzyEqq uG٣qyuލ u> Nusing accuracyPremultiplier from configyP59}tҔ?P5Y}k; i}$As=;d>@}&9E}w;};} Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J :J ـ3J a @a @a @a @ 3w,](A6R@Y6cb@6A9600>y6H𑦿?ſᢿ.3?l??J?ɨ6R@6;6Cy>B>=!IIJlIJm?4٢R RX=9RQ R>TT VG٣TyVY Z> ^Nusing accuracyPremultiplier from configXbP59Zeϔ?bP5YZ; iZA`b[>b@Z'9EZT ;Ze ;Z@P5jB j.AjóEZHpRHrAAHv>It ItItIt&It.It6Iv;<:Iv FuDNOT Ignoring new targets: 80.70 m. jqjjjihhhhffrfbfI?]]]]S@%A !-?I-o9 )ɚ->6i)I)IUtiQiY)Y)a QIQEWill construct direction to contact in vehicle frame from tetrahedron phase data.De,9*F?2F:FBFJFG rA G G .:B! OM >509w,߉(A6V@Y6Xf@6X9604>y6H`R9|? ,ƿ )?@? ީ?d?{?ɨ6V@6c;6Cy>B>@!IVWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y~jt?B`"۹~jty<ν`A )I@yG@I5I5ƕ4٢M4< MA=9U)Q U>YY ]G٣Yye̔: e> uNusing accuracyPremultiplier from configq}P59u˔?*JC="J P5Yu; iuA#=;U;@quLAw,)A6n@Y6}@6!96r6>y6Hि@hy? ƿiC'j?6?෴?7x?ɨ6n@6;6CyJBJ>!I)P RAPRAIZIZ#4٢^t b4=9b:Q b>`d fG٣dyj; j> nNusing accuracyPremultiplier from configlrP59n6Ȕ?rP5Yn< inȍApr&;r@n(9EnX:nz:nGP5x z*AxDNOT Ignoring new targets: 80.70 m. jj!j!j!i!h!h)h)h)f1f1rf1bf5@@]Q]Q]Q]U*V@e!Will construct direction to contact in vehicle frame from tetrahedron phase data.խJ?խ< ?I9 ɚ 6i I Itii))JJJ1JJJ:J3JD=_9*F?2F:FBFo2JFHI III&I.I6I:I )I)G6?BO >] Will construct direction to contact in vehicle frame from tetrahedron phase data.mEGw,c)AT|@YӋ@ׇ9Q7>yH`+ }x?ƿAn?`/??v?ɨT|@;騕CyB5!IMb@Mb@Mb@ )Y:v?Mb~jty<vA 5@)@I~@y@II4٢ -=9z8Q > G٣y#s; > Nusing accuracyPremultiplier from configP59Ĕ?P5Y^< iA~=<8@)9E;;KP5  hA =DNOT Ignoring new targets: 80.70 m. j9j9j9j9iAhAhAhIhMBfIfQrfQbfU@@]~=]~=]n@]˜Y@Mׇ QU?IU9 QɚUZ6iQIQItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DyE*F?2F:FBFn1JF"G>G> ! I! G5 >DBI Oe >zKu Ku 9Kq Ku Ku %kMw, H8)AWill construct direction to contact in vehicle frame from tetrahedron phase data.iBDAT read: Rx Time:22:30:59.6668 TRx dataTimestamp_ set to:1736375460.884950:퐎@Y:l@: 9:8>y:H.mw?`ƿ ? >?d?Yu?ɨ:퐎@:;:CyFBF!!IININHo4٢V载 Zv=9Z\:Q Z?\\ ^G٣\ybr; b? fNusing accuracyPremultiplier from config`jP59b”?jP5Yb< ibAhj^8j@`bn:b:bNP5 A5DNOT Ignoring new targets: 80.70 m. jQjQjQjQiYhYhYhYhYfafarfabfe@]]]]%Y@  r>I=9 ɚ6iIItii)))DMm9*F?2F:FBF 5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ:J :Jـ3JGE 0BQ Ou >H I  I !II {BI , =&I .I 6I d<:I 7 FSTw,#R)A6@Y6@6)968>y6Hw?`ƿFe?g?|?Ru?ɨ6@6HȌ;6CyRBR!I Z=Z= b$?IdI^I^4٢zh zF=9 Q  > %G٣!y-L; 5> eNusing accuracyPremultiplier from configYP59]?P5Y]< i]oAH8@]*9E]:<]/<]RP5)  5Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 22:30:59.6668 LVL= 20976, 20529, 11570, 28259, AGC= 56, IDX= 438, 0.29,-1.907, 0.652,-0.091,-0.263, PHS=-1.556, 0.962, 0.169, RAW= 287.9, 3.9, CAL= 291.0, 5.3, ROT= 219.0, -5.3 uYgot valid direction response: 22:30:59.6668 LVL= 20976, 20529, 11570, 28259, AGC= 56, IDX= 438, 0.29,-1.907, 0.652,-0.091,-0.263, PHS=-1.556, 0.962, 0.169, RAW= 287.9, 3.9, CAL= 291.0, 5.3, ROT= 219.0, -5.3 }PDAT read: Bearing 219.0, -5.3 (Local) }~Local bearing/azimuth received: Bearing 219.0, -5.3 (Local) DAT read: Range 10 to 50 : 80.4 m (Round-trip 107.3 ms) speed 0.0 m/s ,DAT read: user:2661> BDAT read: Tx time:22:31:00.7554 $Ping request sent.5/ˠ@5'g= 5j@)5q=I5t@i5q115+8￯hU? 6?)5;@I5ˉi5y'?5fh?11:publishing transmit ping timeؙFpublishing direction and range info195x&3١?ռ_?Ay1111 1)1I1i11111 1)1I1i1115+8￯hU? 6?)1I1i1111  A!-NGAY 0Yy*Bk5?k5~ k1 k5X)A:k5̠BBk5BZk51;@"5㷯l@c1@98_S5x&3١?ռ_?AJk5y'?Rk5fh?*5  u>@FENtS5R5^?:Q!Aix"k5[*k5Ak5'Ҟ?k5D 2k5k5?k5ė k5F"k5Ak5{@M addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.526997 s, deltaX: -0.299995 m, approachRate: -0.085057 m/s, rangeRepo size: 4 ] Added new target pos. range: 80.400002 m, bearing: 347.769651 deg, lat: 36.905263 deg, lon: -122.119928 deg, deltaT: 3.526997 s, deltaX: -0.299995 m, approachRate: -0.085057 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfT@bf E?]1]1]1]5Y@) r>I9 ɚE|6iAIAItii))BD=K?:D=j? Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:31:00.7546 D 9*F ?2F :F BF l0JF G  G I zKa3JKKKKBK:KpAG.:BO?_]w,x)A6@Y6@696 9>y6HȠx?@ƿ@.(̥??t?t?ɨ6@6|;4>Will construct direction to contact in vehicle frame from tetrahedron phase data.yvBv !IuMb@Mb@Mb@qqq q)qYul?ʡE G٣yk; > Nusing accuracyPremultiplier from configP59?P5Yj= iKA̲=<),@+9E"&;;WP5 sADNOT Ignoring new targets: 80.40 m. jjjjihhhhځBffrfbf ?]%̲=]%̲=]%o!@]%e@U Y]= ?I][9 Yɚ]R6iYIYItii))*F}?2Fy:FyBF}R5JFy5Will construct direction to contact in vehicle frame from tetrahedron phase data.JM JM JI JI JM |:JM &:JI JI Ge 6?Bi O >H I  I !II lBI &I .I 6I <:I N FBIJIRIZI+ =bI+ =jIʝ)5Ddw,i)A2|@Y2@2F92Fs*>y2HkJ?ſ`5@`\?ǣ? 41?཈?ɨ2|@2?;2CyBBB!IIJIJ]4٢RG R]=9RFlQ R>TT VG٣TyV1 Z> ^Nusing accuracyPremultiplier from configXbP59Zʸ?bP5YZ= iZ6A`fc,f@XZ{;Z;ZZP5h jAh pIpDNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfbfJ?]]]]}e@=F AE?IE9 AɚE]6iAIAIMtiIiI)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFGBIO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.pjw,iǫ)AyB)! %AMb@Mb@Mb@ )YJ +?p= ף rhyH=C )IyIIm4٢Kd: 7=9Q > G٣y > Nusing accuracyPremultiplier from config P59k? P5YR> iAM=<i@,9E;;^P5 A!MDNOT Ignoring new targets: 80.40 m. jIjIjIjIiQhQhYhYh]сBfafarfabfeA?]M=]M=]w@]r@ 隝= ?IF9 ɚ6iIItii)) I*FE?2FA:FIBFIJFI"GQGU>zKBHK-9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.G.:BOuUqw,-)A:@Y:•@: 9:0>y:H;? Oſa)י?b? ? W?ɨ:@: ;:CybڂBb IIjIj4٢rB r]=9v׺Q v>tt zG٣xyzo; z> Nusing accuracyPremultiplier from config|P59~w?P5Y~> i~ A  8 @|~:~n:~bP5 AEDNOT Ignoring new targets: 80.40 m. jIjIjIjIiIhIhIhQhQfQfQrfYbf]-?]y]y]y]},r@ 隍W?I9 ɚ6iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FQBFU_0JFQHI I!IIWBI* =&I.I6It<:ID F IGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.ww,s)A6@Y6-Е@6C964>y6Ho?S<ƿ@@? G٣y|; > Nusing accuracyPremultiplier from configP59*?%P5YW? iA)5@-9E=N=eP5 5ADNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfbf`T@])])])]- s@=C 9=?IE9 AɚE[6iAIAImtiiiq)q)q2D}*D}BD}:D}Will construct direction to contact in vehicle frame from tetrahedron phase data.J)J-J)J)J)J-:J)J)J-;aEJ-;aEJ-.Y;aEJ-.Y;aM*F}?2Fy:FyBF}Z0JFy I G B O >j}w,iQ)A2Will construct direction to contact in vehicle frame from tetrahedron phase data.zK6BoHK6k9K4K6K6   >/Ž@Y>ѕ@>q9>6>y>H`?@|?@ƿ!k̗ ??F?!x?ɨ>/Ž@>!; G٣y#9 > Nusing accuracyPremultiplier from configP59?P5Y@ iAw=%< @D;;RiP5 ADNOT Ignoring new targets: 80.40 m. jjjjihh hhBff!rf)bf- @]mw=]mw=]mʴ@]m@}q y}= ?I}9 ɚg6iIItii))*F%?2F!:F!BF%_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.GI BQ O >H I  I s!II CBI &I .I 6I s<:I w,$**A $I$F!ˎ@YFڕ@FD~9FC8>yFH!y?`ƿxhb??p?u?ɨF!ˎ@F;DyRĂBR IIZIZ 4٢b bY=9f!:Q f>dd fG٣dyjY>; j> vNusing accuracyPremultiplier from configpvP59r+?vP5Yr@ ir׌Axz z@r.9Er:r:rlP5| AƳE-DNOT Ignoring new targets: 80.40 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=|@]a]a]a]e@uD~ qu?I9 ɚ|6iII%ti!i!)!))}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:31:03.2667 TRx dataTimestamp_ set to:1736375464.414667*F2F:FBFO1JFGBOe>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% >! J= J= J9 J9 J= :J= :J9 J9 J= ;J= ;J= U;J= U;μw,S -*AyÂB IMb@Mb@Mb@ )Y#~j?Mb{Gzty=ףIA )@Ih@y\@II4٢& 8=9Q >    G٣ y  > Nusing accuracyPremultiplier from configP59ﭔ?%P5YA iЌA%=%<%%@;;~pP5) 5A9eDNOT Ignoring new targets: 80.40 m. jajijijiiihihihqhuBfqfyrfybf}@?, @]=]=]@]>X@ 隵?IO9 ɚR6iIItii))ErAE 1I1*Fa2Fi:FiBFm`5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.zKw,F*A6Nӎ@Y6@6"z96b8>y6H@:y?@rƿ`z 6?@??@t?ɨ6Nӎ@6;6Cy>‚B> I@@IFIF4٢nл n_=9rJQ r>pp rG٣tyv{2; v> zNusing accuracyPremultiplier from configx~P59z묔?~P5YzYB izˌA@z/9Ez ;z ;zsP5  A UDNOT Ignoring new targets: 80.40 m. jYjYjYjYiYhYhahahafafirfibfm @]]]]Ka@"z 隥R?I9 ɚ6iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 80.3 m (Round-trip 107.1 ms) speed 0.0 m/s ,DAT read: user:2662> BDAT read: Tx time:22:31:04.3555 $Ping request sent.Iq Iu`!IIu4BIu, =&Iq.Iq6Iug<:Iu9 F !I!G=BIOew> Will construct direction to contact in vehicle frame from tetrahedron phase data.e PExceeded connect timeout, disconnecting.ӗw,`*AjPԎ@Yj@j"9j8>yjHy?`Oƿ<<౞?Z[?T?t?ɨjPԎ@j2;hyzBz II TI 4٢ȫ ?=9Q > G٣y͔9 > Nusing accuracyPremultiplier from configP59?P5YFC iČA!%-@< <wP5Q UAY} addTargetRange:: Added new target pos. range: 80.300003 m, deltaT: 3.781732 s, deltaX: -0.099998 m, approachRate: -0.026443 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 80.40 m. jjjjihhhhffrf@3T@bfb?]]]]0b@5" 15?I=19 yɚ6iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJJ/:J3JJ;JJ^;J^;*F5?2F1:F1BF505JF1G=sA G=sA  I G B O >w,tz*A"Will construct direction to contact in vehicle frame from tetrahedron phase data.>Ŏ@Y>ԕ@>~)9>j1>y>H@h䞿o?ſA'?O.? & ?q~?ɨ>Ŏ@> ;>CyJBJ IzKNBoHKLKLKNKN?Q#}Mb@Mb@Mb@yyy y)yY}+η?y}v=}̼}}3A y)}@I}~@yyyII4٢; J=9ɂQ > G٣y > Nusing accuracyPremultiplier from configP59˪?P5Y=D i9= <@09E;I;zP5 ADNOT Ignoring new targets: 80.40 m. jjjjihhh h Bf f rfbf ?]-9=]-9=]-@]-#@E~) AE?IEe9 IɚM6iIIIIUtiQiQ)Q)YD9Will construct direction to contact in vehicle frame from tetrahedron phase data.>?*FU?2FQ:FQBFQJFQHi Im C Im M!IIm %BIm - =&Ii .Ii 6Im 7<:Im  F  I Gu B O >w,*AB@YBÕ@Bk-9B >4>yBH,?:ƿb` 9?ɫ?d?2z?ɨB@B#;BCyjBj Iin=In  G٣ ym m> }Nusing accuracyPremultiplier from configqP59uک?P5Yu8E iuÌAH@u19Eu;u*(;u~P5 Ac~G=|uAImDNOT Ignoring new targets: 80.40 m. uPYu|uAyu.B jijjjihhhhffrfbf`? Will construct direction to contact in vehicle frame from tetrahedron phase data.]q]q]q]u}@k- 隭?I9 ɚ6iIItii)) nManaging dock network, ignoring radio surface power offD9*Fe ?2Fa :Fa BFe 5JFa  Will construct direction to contact in vehicle frame from tetrahedron phase data.J AAJ AAJ J J 0J J \:J :J ـ3J J i;J j;J I;J I;GA BQ Om >*w,/4*A>4@Y>@>29>A6>y>H0Π`P|?xƿ 3 ?Y??v?ɨ>4@>tȌ;>CyJBJ I%Mb@Mb@Mb@!!! !)! 9I9Y%+η?S㥛{Gzt?y!%/ݼ%ף;%A %K@)%@I%@!y%@IUIU4٢el< e5=9ex@Q e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configyP59}?P5Y}JF i}njA=< @y};};}[P5 ADNOT Ignoring new targets: 80.40 m. jjjjihhhhBffrfbf#?]}=]}=]}*@]}@2 隕 ?I9 ɚ@6iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.zKYMK9KKK RK ?JK?D*Fe?2Fa:FaBFeP0JFiG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >ֲw,>*AyMƂBM II]I]4٢mƠ< mC=9mQ u>qq uG٣qy} }> Nusing accuracyPremultiplier from configP59?P5YMG iˌA@29E ;* ;P5 ADNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfbfʜ@HIII IIIIII&II.II6IM@<:IM FBI JI RI ZI , =bI , =jI ‚5]]]] ?I9 ɚr7iIItii)) ID9*FM?2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.G= .:BI Oe >w,U*A@Y-˕@O29?8>yHy?`Bƿ 1 Ҩ?R?@? t?ɨ@;騝Cy΂B I) Mb@Mb@Mb@ )Ykt?X9v{Gz?y = Will construct direction to contact in vehicle frame from tetrahedron phase data. ? <#< b@)IyQ@I%I%4٢] = ]/=9]8Q e>aa eG٣iym)V; m> uNusing accuracyPremultiplier from configq}P59uE?}P5YuWH iuҌA}V=<-@u39Eu;u;uP5 uADNOT Ignoring new targets: 80.40 m. jjjjihhhhBffrfbfKY@]V=]V=]@]hD@O2  = ?I 9 ɚ 7i I Itii))D*Fu?2Fq:FyBFyJFy IG9 BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK VBJK `9K K K BK :K qAlw,+AB@YB=͕@B29B%9>yBH@˟@x?`ƿ@;3EYب?[? ?r?ɨB@B ;BCyJтBJ IIVIV4٢^1< ^{=9^a_Q ^ ?`` bG٣`yfJ: f ? jNusing accuracyPremultiplier from configdnP59fP?rP5YfI if،Apr&v@df8v;fp;fP5 [A MDNOT Ignoring new targets: 80.40 m. jIjIjQjQiQhhhhffrfbfl!@]]]]-F@u2 qu ?I}9 yɚ}7iIItii))D*FY2FY:FYBF]0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:31:06.8667 TRx dataTimestamp_ set to:1736375468.193716JJJJJJ:JJa@a@a@a@HI IT!II*BI&I.I6Is<:IA F q Iq G 6?B O >'w,c+A:@Y:5˕@:59:8>y:H 9 y?ƿ`mg:?T? ?@s?ɨ:@:S;:CyFՂBF IIRIR4٢V'< VK=9ZkQ Z>\\ bG٣`ybV! b> fNusing accuracyPremultiplier from configdjP59f ?jP5YfI ifތAln/n@f49Ef;f;frP5t v9AtDNOT Ignoring new targets: 80.40 m. jjjjihhhhf!f!rf!bf%* @EWill construct direction to contact in vehicle frame from tetrahedron phase data.]Q]Q]Q]UD@e5 am ?Im9 iɚm7iiIiIutiqiq)q)yD9*Fe?2Fa:FiBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 80.3 m (Round-trip 107.1 ms) speed 0.0 m/s  ,DAT read: user:2663>  BDAT read: Tx time:22:31:07.9555  $Ping request sent. Y Ia Xw,3+A2Ҹ@Y2Qȕ@2O792f9>y2HQ4 &x?`ƿ@L,?p?u?`q?ɨ2Ҹ@2;2Cyb؂Bb Iif >IfC= j=j=UMb@Mb@Mb@QQQ Q)QYUV-?Zd;OI +?yUh=Uj G٣yV > Nusing accuracyPremultiplier from configP59T?P5YJ iA=<3 @R;;7P5 %A addTargetRange:: Added new target pos. range: 80.300003 m, deltaT: 3.526286 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 80.40 m. jjjjihhhh΁Bffrfbf?]=]=]^@]@-O7 )-?I-9 1ɚ54 7i1I1Ietiiii)q)qEWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:31:07.9547 zKuBHKu9KqKuKuD9*F] ?2FY :FY BFY JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data.Jkـ3Kk3 Kk.-KcKc"KcJ J G% 0B1 OU >w,9O+AJAJAJE<:JE9JAJAjHZ<bHZp<H\I^C I^`!II^4BI^+ =&I\.I\6I^q<:I\V@YV~ɕ@V&99V8>yVHo!@x?ƿ }Ulz?y G٣y9 > Nusing accuracyPremultiplier from configP59?P5YK iA1 @59E;;P5 A IDNOT Ignoring new targets: 80.40 m. jj!j!j!i!hAhAhIhIfIfIrfQbfU?]]]]@&9  ?I9 ɚs 7iIItii))D9*Fu?2Fq:FqBFu5JFqMWill construct direction to contact in vehicle frame from tetrahedron phase data.G +B O >%w,ǀi+AWill construct direction to contact in vehicle frame from tetrahedron phase data.yB !IMb@Mb@Mb@ )Y?X9v{Gz?yL=}#< b@)@I@yG@II٢XZ= 7=9Q > G٣y > Nusing accuracyPremultiplier from configP59?P5YL if=%< @<;;8;P5 kA%DNOT Ignoring new targets: 80.40 m. j!j!j!j!i!h!h)h)h-Bf1f1rf1bf5?]Uf=]Uf=]U~@]Ur@a im?Iu%9 qɚu 7iqIqI}tiyiy)y)D $?I*F?2F:FBFO0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia G= 6?BI Oe >zK BoHK u9K K K w,W+AV@YV @VBB9Vl9>yVH@סjw?`DƿX]`K*?` \?@ ?p?ɨV@V߫;VCy^Bb!I)h hI%wI%R4٢-= 5g=95˻Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIUP59M0?UP5YML iMAQU@ ]@M69EM ;M%;MP5a e AaDNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfbfX?]]]]q@BB v?I9 ɚ7iIItii))*F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJ:JJHI Iy!IIHBI* =&I.I6I{<:IH F IG.:BO>w,VE+AWill construct direction to contact in vehicle frame from tetrahedron phase data.y))IEIE{4٢: D=9Q > G٣y > Nusing accuracyPremultiplier from configP59陔?P5YM iA@.::P5  ADNOT Ignoring new targets: 80.40 m. jjjjihhhhffrf bf @>?])])])])9 AE?IE 9 IɚM7iIIIIUtiQiQ)Q)YEa*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.?=G&5BO-> I w,+A: @Y:Õ@:̗>9:9>y:HAx?`ƿ`b? Ч?)?q?ɨ: @:[=;:CyBBF"!IMb@Mb@Mb@ )Y?+y&1|?y<`;A x@)$@Iy@I5I5d4٢E< EP=9E1;Q M>II MG٣IyU; U> ]Nusing accuracyPremultiplier from configYeP59]Q?eP5Y]QM i]Am\=m! im>Im9 qɚ7iIItii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fi2Fi:FiBFmo0JFizK!K%9K!K%K%G6?BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J :J :J 3J Qw,D+AH6>I4 I6!II6\BI6+ =&I4.I46I6><:I6 FB=@YB˕@B<9B@m9>yBH >x?ƿO?q??q?ɨB=@B ;@yLN#!I = =  II4٢%: %L=9-g:Q ->)) -G٣1y5#; 5> =Nusing accuracyPremultiplier from config9EP59=?EP5Y=M i=AIM6M@9=n:=n:=P5Q UAQ aIaDNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfbf@]]]]#[@<  >I9 ɚ7iIItii))*F?2F:FBF1JF) mNGvA -YvAyD'B,@5?&B=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>x5w,+A]Î@Y]4ӕ@]P<9]U9>y]Ha x?`ƿ*??g?r?ɨ]Î@];]CyuBu$!IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:31:10.4667 TRx dataTimestamp_ set to:1736375471.720742Mb@Mb@Mb@ )Y~jthKMbp?yD^;`A )@IyI-I-<4٢=Ai; =9=9EnP9Q E>II MG٣IyU; U> ]Nusing accuracyPremultiplier from configYeP59]N?eP5Y]M i]֌Am=mI-9 )ɚ-7i)I)I5ti1i1)1 AIA)Y2Da*DaBDa:DaEqAE*F5?2F1:F1BF50JF1"G=>G=>U Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >zKi Km #9Ki Km Km BKy :K} rAow,֏,A2 ̎@Y2ە@2~:92{9>y2H@P`{x?`hƿ'@X?M?@?q?ɨ2 ̎@2;2Cy>B>'!IIFIF4٢Nl< Nk=9N:Q R?PP RG٣PyV?; V? bNusing accuracyPremultiplier from config\fP59^?jP5Y^sM i^͌AlnvE@r@^99E^;^;^xP5zB ~A~ɳEEDNOT Ignoring new targets: 80.40 m. jAjIjIjQiQhhhhffrfbf`~ @]!]!]!]% vE@]~: Yep>Ie9 iɚme7iiIiItii))*F]?2FY:FYBFe5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 80.3 m (Round-trip 107.1 ms) speed 0.0 m/s ,DAT read: user:2664> BDAT read: Tx time:22:31:11.5555 $Ping request sent.Iq Iu!IIulBIu) =&Iq.Iq6IuN<:Iu) FBI)JI)RI)ZI-+ =bI-+ =jI-Ʃ5 IIIGqBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e JDAT read: TxSync time:22:31:11.5547 Mw,,A2LЎ@Y2ߕ@2 :929>y2H@Az*y?%ƿZ?pP?? 8r?ɨ2LЎ@2YLJ;2CyBBB!!I)D DIJIJ4٢R VH=9VOQ V>XX ZG٣XyZ: ^> bNusing accuracyPremultiplier from config\fP59^?fP5Y^fM i^ÌAdf~E@j@\^;^k;^P5l nAl addTargetRange:: Added new target pos. range: 80.300003 m, deltaT: 3.527861 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 80.40 m. j j j j i hhhhffrfbf%?]9]9]9]=U~E@M : QU>IU}9 QɚUL7iQIQI]tiaia)a)a*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GB)OE>JJJ0JJ\:J:Jـ3JJaJk;aJnN;aJoN;a  I ~k w,I8,A2VƎ@Y2Օ@2ٙ@92K2>y2H@ 9?ƿAX[??`,?z?ɨ2VƎ@2@;2CyRBR !I5Mb@Mb@Mb@111 1)1Y5S㥛y&1{Gzty5/ݼ5`役5ף5A 5@)5$@I5@1y5@IM{IMZ4٢k ;=9d\Q > G٣y?6 > Nusing accuracyPremultiplier from configP59?P5YM iA+=;N8@@:9Ea;;۷P5 A%DNOT Ignoring new targets: 80.40 m. j!j!j)j)i)h)h)h1h5Bf1f9rf9bf=N?]]+=]]+=]]:@]]N8@mٙ@ imH>Im 9 qɚu7iqIqItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJFzK}k3IK}k9KyK}K}RK>JK ?GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.H] >I] C I] !II] qBI] * =&IY .IY 6I] <:I] FSrw,zR,A2@Y2͕@2%B92X 5>y2Hџ~?Qƿ˖?X?@}?*w?ɨ2@2~K;2C @IDyDF!IIRnIRB4٢ZJ ZY=9^Q ^>\\ bG٣`yb: b> fNusing accuracyPremultiplier from configdjP59f?jP5YfL ifAln>8@n@f;9EfF;f;f&P5p vAtDNOT Ignoring new targets: 80.40 m. jjjj!i!h!h!h!h)f)f)rf)bf-@Ʊ?]I]I]I]M>8@e%B ae>Ie9 aɚe7iaIiImtiqiq)q)q*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>w,#l,AWill construct direction to contact in vehicle frame from tetrahedron phase data.Յ*?Յ?=ǎ@Y֕@UB9u\7>yH`z{?ƿ ?KH? ?@s?ɨ=ǎ@y;騵CyB!Ii=I:?JJJ1JJJB:J3JJJj;J#b;J#b;Mb@Mb@Mb@ )YQ~jty̼DA @)Iyz@I\I#4٢" -=939Q > G٣y$;  > Nusing accuracyPremultiplier from config P59 ?P5Y pL i wA<=;f:@@ <9E ; ; DP5) -4A)]DNOT Ignoring new targets: 80.40 m. jYjYjYjYiYhahahihm#Bfifirfibfu`:?]<=]<=]K9@]f:@ IEUB IM>IM{9 IɚM 7iIIIIUtiQiY)Y)Y*F?2F:FBF^0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BI Oe >zK K u9K K K BK :K pAe!w,wم,A2@Y2C@2<928Y8>y2H Kz?ƿsx뎩?`?'?s?ɨ2@2;2Cy:B:!IIFIF̍4٢Jڤ N{=9N,;Q N ?PP RG٣PyV#< V ? ZNusing accuracyPremultiplier from configX^P59Z_|?^P5YZ6L iZ`A\^:@b@XZP ;Zq ;ZP5d fAdDNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfbf`j?]!]!]!]%:@ < IM>IUT9 QɚU "7iQIQI]tiYiY)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.H>I I!IIlBI, =&I.I2D6I,<:I F $?IDP9E*F ?2F :F BF Q0JF "G >G >= Will construct direction to contact in vehicle frame from tetrahedron phase data.GB)O]>(w,,AF@YFr@Fs89F9>yFHঙy?ƿ@@?@ ? Q?Zr?ɨF@Fj;FCyRBR IIZIZ4٢b b,=9b_:Q f>dd jG٣hyj]; j> nNusing accuracyPremultiplier from configlrP59nw?rP5YnK in>Atv:@v@n=9En;n;nDP5x ~A|-DNOT Ignoring new targets: 80.40 m. j)j)j)j)i)h)h)h1h1f1f9rf9bf=@]Y]Y]Y]]L:@ms8 iu>Iu9 qɚu#7iqIqItii))*F?2F:F BF 0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ̝:J&:Jـ3JJ;J;J\;J\; IGB)OE>.w,ҩ,A~Will construct direction to contact in vehicle frame from tetrahedron phase data.yǂB  I) Mb@Mb@Mb@ )Y G٣y > Nusing accuracyPremultiplier from configP59s?P5YK iA=;=@@>9Er;;P5 ADNOT Ignoring new targets: 80.40 m. jjjjihhhhBffrfbf@]u=]u=]u즑@]u=@zKBoHK89KKK)RK ?JK?  >I9 ɚiIItii))*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:31:14.0666 TRx dataTimestamp_ set to:1736375475.248620G 6?B O >ZH) RH) H1 I1  I5 !II5 WBI5 . =&I1 .I1 6I5 f<:I5 3 F I 35w,,A6@Y6A@6696~9>y6H-by?Cƿ 2`t?զ?y ?q?ɨ6@6/;6CyNBR IIZIZt4٢b[ b\=9b:Q f>dh jG٣hyj; n> 5Nusing accuracyPremultiplier from config1=P595pp?=P5Y5yK i5A9E=@E@15 ;5 ;5fP5I MAI}DNOT Ignoring new targets: 80.40 m. jyjyjyjyihhhhffrfbf@ @]]]]=@6 >I9 ɚ]3iIItii))*Fm?2Fq:FqBFuE5JFqG}rA G}rAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.9 ms) speed 0.0 m/s  ,DAT read: user:2665> ;w,Di,ABDAT read: Tx time:22:31:15.1556 $Ping request sent.y H 3Εy?`gƿ`S?K?o?@'r?ɨ  @ ߈; Cy5B5 IEMb@Mb@Mb@AAA A)AYEyy }G٣yy 3; > Nusing accuracyPremultiplier from configP59l?P5YK tIiA&= <B@?9E ;;P5B A̳E addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.530171 s, deltaX: -0.200005 m, approachRate: -0.056656 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 80.40 m. jjjjihhhhBffrf`fT@bf%?]%&=]%&=]%ٙ@]%O@=5 9=>IE9 AɚE?Q4iIIIIMtiQiQ)Q)Q*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.i%JDAT read: TxSync time:22:31:15.1548 G B zK% MK% 9K! K% K% &y=$ O5 >wBw, ; -A>F @Y>@>d79>9>y>H ݕ@ky?ƿ @?? ?q?ɨ>F @>MO;>CyFBJ IiN=INp= Np=N=IR^IR&4٢ZT Z=9^hQ ^?    G٣ y B   ? Nusing accuracyPremultiplier from config%P59Zj?%P5YK iϋA)5B5@@9Ei~;;nP5I UAQ}DNOT Ignoring new targets: 80.40 m. jyjyjyjihhhhffrfbf ;6?]]]]!O@d7 g>I'9 ɚiIItii))2D*DBD:DuWill construct direction to contact in vehicle frame from tetrahedron phase data.H>I Im!II>BI- =&I.I6I)<:I F*F?2F:FBFP0JF 1I1c~GtA1 mYmtAyuk BG&5BO=>% Will construct direction to contact in vehicle frame from tetrahedron phase data.+Hw,%-A2@Y2@2 =92V\,>y2H@ʹ@?Oſ5 @?@W?k??ɨ2@2^[;2CyBBB IIJIJ_v4٢R: RK=9VvQ V>TT VG٣XyZB Z> ^Nusing accuracyPremultiplier from config\bP59^]g?bP5Y^K i^AdfCf@\^:^C:^P5h j. AhDNOT Ignoring new targets: 80.40 m. j j j j i h h hhffrfbf`?]9]9]9]= O@U = QU3>IU(9 Yɚ]I3iYIYIetiaia)a)a*F?2F:FBF_0JF"G>G>Will construct direction to contact in vehicle frame from tetrahedron phase data. !I!GBO>=Ow,>-A6@Y6s@6@96/>y6H$疿†?ſ` ȳ`?8??]~?ɨ6@6;6CyRBR IrWill construct direction to contact in vehicle frame from tetrahedron phase data.=Mb@Mb@Mb@999 9)9Y=kt?#~jI +y= 0==㥽=949 9)=;@I=3@9y=@IMIMm4٢e, e?=9mQ m>ii uG٣qyuN }> Nusing accuracyPremultiplier from configP59d?P5Y8L iA)=<)@A9E;3;P5  ADNOT Ignoring new targets: 80.40 m. jjjjihhhhʁBffrfbf ߥ?])=])=]i@]Иh@ @ 隕R>I9 ɚ14iIItii))zK MK 89K K K *FI2FI:FIBFIJFIGmBWill construct direction to contact in vehicle frame from tetrahedron phase data.O>J J J 1J J J :J 3J a @a @a @a @H I  I ;!II BI &I .I 6I B<:I  FBIɚCJIɚCRIZI- =bI, =jI5 I TUw,\X-A 6@Y6=@6F963>y6H1 ?Vƿ&f?ڨ?ghh jG٣hyjz n> ENusing accuracyPremultiplier from configAMP59Ea?MP5YEL iEAIM)M@AE:E.:EP5y }K AyDNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfbf@g=?]A]A]A]Eh@]F Y]>I]'9 Yɚe̓4iaIaIetiiii)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*FI2FI:FIBFIJFQGuBO Will construct direction to contact in vehicle frame from tetrahedron phase data.\w,cr-A*J,"J, PIPn+@Yn@nݓD9n6>ynHy~?~ƿP8 (,??`?@u?ɨn+@n;nCyzbBz_ IMb@Mb@Mb@ )Y+?v/Mb`y=xi A )$@I@y@IIE4٢ :=97:Q > G٣y*; > Nusing accuracyPremultiplier from configP59_?P5YM iA= <x @B9E7 ;;P5  AEDNOT Ignoring new targets: 80.40 m. jAjAjAjAiAhAhIhIhMBfQfQrfQbfU@@]u=]u=]u ޴@]uaS@ݓD 隍>I9 ɚ 4iIItii))*FM?2FQ:FQBFU0JFQGa GeqAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOzK JK u9K K K BK pA:K rAbw,2-AZ@YZ!@Z"D9ZI7>yZH:{?߶ƿ@⊿`:?@6??@ s?ɨZ@Z~~;Xyb[BfV IInIn4٢v v[=9zQ z>xx ~G٣|y~I9 ~> Nusing accuracyPremultiplier from config P59^? P5YJN iAt @C9E;N;P5 % A!MDNOT Ignoring new targets: 80.40 m. jIjIjIjIiIhIhQhQhQfYfYrfYbf]c@]y]y]y]}U@"D 隥g>I9 ɚ4iIItii))]Will construct direction to contact in vehicle frame from tetrahedron phase data.J}J} IJ}0JyJ}<:J} :J}ـ3JyHI I!IIBI&I.I6I<:IF F*F ?2F :F BF 1JF GMBQOm> Will construct direction to contact in vehicle frame from tetrahedron phase data.G&iw,9`-A6y @Y6@6E968>y6H@z?ƿ CE?` ? x?`q?ɨ6y @6~;4y>NB>F IiBe>IB< F=DIJIJ@4٢Vh VO=9VQ V>XX ZG٣Xy^J: ^> bNusing accuracyPremultiplier from config`fP59b\?fP5YbO ib{Adfi j@`b:ba:bP5p rf ApDNOT Ignoring new targets: 80.40 m. jjjjihhhhf!f!rf!bf%@]A]A]A]E7[@eE ae͸>Ie9 iɚm# 5iiIiItii))!*F?2F:FBFO5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.JyJ}BA IGBO >pw,:-AbWill construct direction to contact in vehicle frame from tetrahedron phase data.fBDAT read: Rx Time:22:31:17.6666 fTRx dataTimestamp_ set to:1736375479.028985yHB? IMb@Mb@Mb@ )Y|?5^?Mb{Gzt?y=@ף; A @)@IyIIƕ4٢ϼ +=9Q > G٣y > Nusing accuracyPremultiplier from config P59Z?P5YaP i}A=;\@D9E;;P5B  A%γEUDNOT Ignoring new targets: 80.40 m. jQjQjQjQiQhYhYhYh]{Bfafarfabfe @]=]=]\@]a@ %>IM9 IɚU'5iQIQIUtiYiY)Y)YzKBoHK-9KKKRK>JK>*Fm?2Fq:FqBFu0JFq}Will construct direction to contact in vehicle frame from tetrahedron phase data. I H >I  I II ΂BI &I .I 6I L<:I " FJ J J 1J J ̝:J :J 3J J a% J a% J U;a- J U;a- G B O >nvw,-Az@Yz@z L9zJ8>yzH`\$ Lz?Zƿ@9@7?Ȏ??p?ɨz@zg ;zCyAB6 III44٢%. %c=9-Q ->11 5G٣1y=!R => ENusing accuracyPremultiplier from configAMP59EX?MP5YEYQ iE~AQUoU@EE9EE;E;EP5Y ] AYDNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfbf[ @]]]]>X@ L >IO9 ɚ>5iIItii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.9 ms) speed 0.1 m/s ,DAT read: user:2666> BDAT read: Tx time:22:31:18.7556 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.% <% <= JDAT read: TxSync time:22:31:18.7548 U $?IY |w,f-Av@Yvo @vO9v?r9>yvH/旿@y?`ƿ5]@? z?J?o?ɨv@vVĊ;vCy=B 1 I) Mb@Mb@Mb@ )YCl?L7A`堿~jt?y;=+D< )$@I3@y@II4٢T ==9HQ > G٣y }  > Nusing accuracyPremultiplier from configP59@W?%P5YR iA%=%;%%@F9E; ;P5) 5 A1e addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.777981 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 80.40 m. jijijijiiihihihqhuBfqfyrfybf}G?]=]=]@]q+@O R>I9 ɚW5iIItii))*FE?2FA:FABFAJFA]Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bq O >zK K 9K K K  BK rA:K {w,g.A^@Y^o@^BT9^8>y^Hz?wƿ`d`7@r?`?@(? kp?ɨ^@^U:;^Cyf9Bf, IIrjIr;4٢vX z^=9zaVQ z>|| ~G٣|y >  Nusing accuracyPremultiplier from config P59V?P5YS iA@2 ; ;P5! % A!MDNOT Ignoring new targets: 80.40 m. jIjIjIjIiIhQhQhQhYfYfYrfYbfe~?]y]y]y]}u@BT 隝>I~9 ɚl5iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I I IIBI. =&I.I6Ib<:I3 FJ;3K;3 K;/.K3K3"K3JEJEJAJAJE|:JE:JAJAJE;JE;JEL;JEL;*F?2F:FBF_0JF IGsA GrAG BO5> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,3j(.A6#ߎ@Y6@6[96ש7>y6H:{?ƿ@?ls? o?^?q?ɨ6#ߎ@65;6CyR5BR' II^iI^:4٢j jL=9nKQ r>tt vG٣tyv z> Nusing accuracyPremultiplier from config P59T?P5YT iA @G9EI;fT;VP5) -5 A)DNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfbf.?])])])]- @[ 隅R>I9 ɚ5iIItii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FQBFU^0JFQ IG B O >싐w,JB.A"Will construct direction to contact in vehicle frame from tetrahedron phase data.>PɎ@Y>ؕ@>f`9>8>y>H U`y? ƿ @Γ*[? /??n?ɨ>PɎ@>߉;>CyN?BN4 IiR=IR<5Mb@Mb@Mb@111 1)1Y5q= ףp?y&1:v?y5=5`弹5<5 A 5@)5@I5@1y1IUIUa4٢eD= eA=9evIQ e>ii mG٣iyuhϻ u> }Nusing accuracyPremultiplier from configyP59}S?P5Y}V i}A.=;2@}H9E};};}P5 U AYDNOT Ignoring new targets: 80.40 m. jjjjihhhhBff)rf)bf- -?]m.=]m.=]mYk@]m=@f` 隅R>I9 ɚ5iIItii))zKe.LMKaKaKeKe  RKu?JKu?*F=?2FA:FABFEn0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I II BI + =&I .I 6I <:I FGE JU JU JU 0JQ JU :JU :JU ـ3JQ JU ;JU ;JU R;JU R;Bq I hO >) } NG vA Y vAy BҴw, \.Ay~BB~7 II I ҅4٢R< %O=9%Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9EQ59=aR?EQ5Y=-W i=NjAIIM@9=:=:=wQ5Q U AYDNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfbfV?]]]] >I9 ɚ5iIItii))2DrA*DsAUWill construct direction to contact in vehicle frame from tetrahedron phase data.D=B9*F?2F:FBF`0JF"G>G> Will construct direction to contact in vehicle frame from tetrahedron phase data.G B) I O >0ݎ@Y>@>]9>}S9>y>HJۛby?hƿx?´?x?@en?ɨ>0ݎ@>[;>CyFIBJ@ IEMb@Mb@Mb@AAA A)AYEK?+V-?yE^=EEyy }G٣yy; > Nusing accuracyPremultiplier from configQ59P?Q5Y2X iߋAH=<8@I9EB;;JQ5  ADNOT Ignoring new targets: 80.40 m. jjjjqiqhqhqhyh}BfyfrfbfV@]H=]H=]@]s@] >I9 ɚ^5iIItii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.աiեADT9*F- ?2F) :F) BF- _0JF) zKe MKe 9Ka Ke Ke    G 6?BA U Will construct direction to contact in vehicle frame from tetrahedron phase data.Om >w,.AF@YF@Fw\9F9>yFH8qx??ƿq@m?K?t?m?ɨF@F(;FCyNMBRD I)T TTTIZIZ4٢b< fC=9f:Q f>hh jG٣hyjKY; n>HxIx IxIxIz- =&Ix.Ix6IzQ<:Iz& FBIJIRI aIiZIbI- =jI5 Nusing accuracyPremultiplier from configlQ59nO?Q5Yn,Y inA"@nJ9En =n;:n Q5B p AѳEDNOT Ignoring new targets: 80.40 m. jjjjihhhhffrfbf@@]]]]~@=w\ 9=>I=9 9ɚ=ӭ5iAIAIEtiIiI)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:31:21.2665 TRx dataTimestamp_ set to:1736375482.557420D9*Fi 2Fi :Fi BFq JFq G B O >w,p.AVA@YV@VZ9Vy9>yVH@y?@ ƿ`Y?M? g?n?ɨVA@Vh;VCybRBfK IInIn4٢v < v4=9v&[:Q z>x| ~G٣|y~3N; ~> Nusing accuracyPremultiplier from config Q59QM?Q5YI9 ɚ5iI}j=I _|i i ) 1(A@)ABD=:D>DM9EUrAEQM Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: Range 10 to 50 : 80.0 m (Round-trip 106.7 ms) speed -0.1 m/s e ,DAT read: user:2667> m BDAT read: Tx time:22:31:22.3556 u $Ping request sent.u lϳw,7.A2@Y2 @2X92ܕ9>y2H2ky? Jƿ?p(@Oά??@ ?n?ɨ2@2;2Cy:`B>\ I5Mb@Mb@Mb@111 1)1Y5Zd;?Zd;OMb?y5y=5j<5=5 A 5@)5Q@I5`@1y5Q@II)4٢S= =9a:Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:31:22.3548 G٣yо: >New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 21.81 mm (2 active estimators).  Nusing accuracyPremultiplier from config Q59 J?Q5Y  [ i *A= <N@  ; ; Q5! % A!U addTargetRange:: Added new target pos. range: 80.000000 m, deltaT: 3.528861 s, deltaX: -0.099998 m, approachRate: -0.028337 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 80.40 m. jYjYjYjYiYhYhahaheˁB:mumAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy1;m vmI I IIBI. =&I.I6Ic<:I3 F QIQɛWB: 隍Љ鮺w, .A>@Y>r@>[9>UJ9>y>H`V$y?ƿ`ƍC?t??n?ɨ>@>';`` bG٣`yf f> nNusing accuracyPremultiplier from confighrQ59j-I?rQ5Yj[ ijAApr_r@jL9Ej';j:jQ5x z AxDNOT Ignoring new targets: 80.40 m. jjj!j!i!h!h!h)h)f)f)f)rf1bf5`?]I]I]I]M^~@ɛe[Bmq: imL= Will construct direction to contact in vehicle frame from tetrahedron phase data./w,w/Ay~fB~c IMb@Mb@Mb@ )Y/$?i|?5:v?y<q</ A @)@Iv@y=@IId4٢< :=9Q > G٣y > Nusing accuracyPremultiplier from configQ59F?Q5Y[ iOAߊ=C<6@9;;Q5  A-DNOT Ignoring new targets: 80.40 m. j)j)j)j)i)h1h1h9h=Bf9fAfArfAbfE?]eߊ=]eߊ=]e%@]ef[@ɛu`B}g: y}N9zK%(MK%u9K!K%K%BK1:K1Will construct direction to contact in vehicle frame from tetrahedron phase data.H}>Iy I} II}ĂBI}- =&Iy.Iy6I}V<:I}) F IEq:*F ?2F :F BF 0JF "G >G >G B O >~w,#/A6H@Y6@6S969<>>Will construct direction to contact in vehicle frame from tetrahedron phase data.y6H`zt?TIǿ XˌyE?`V{? j?j?ɨ6H@6J;4yjiBjg IIrrIrJ4٢zp< z@=9~;Q ~>| G٣y: > Nusing accuracyPremultiplier from config Q59 D?Q5Y \ i ]A6@ M9E .;  ; Q5) - A)UDNOT Ignoring new targets: 80.40 m. jQjYjYjYiYhYhYhahafafafirfibfmh?]]]]4w[@ɛdBF: 隝+w,f=/A6\ @Y6@6L96dB;>y6Hٕ'w?`2#ǿ k$?`|? ??`Wm?ɨ6\ @6d;6Cy>oBBn I)H HUMb@Mb@Mb@QQQ Q)QYU~jt+~jt?yUDUU G٣y; > Nusing accuracyPremultiplier from configQ59A?Q5Y[ i`A==#<>@@;;S!Q5 a ADNOT Ignoring new targets: 80.40 m. jjjjihhhhBfffrfbff?]==]==]c@]>@ɛ-hB-u: 15SzKFKK9KKKRK?JK?M Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I II ΂BI &I .I 6I {<:I D Fw, OW/A @I@F-@YF<@FdTC9F:>yFH㑿`w?O!ǿo @? .h?`R6?n?ɨF-@F;FCy5uB5v IIEIEƕ4٢U= ]L=9]o;Q ]>eL?eL? eG٣aye< m> uNusing accuracyPremultiplier from configi}Q59m ??}Q5Ym[ imcAF>@@mN9Emy-;m-;m$Q5 + ADNOT Ignoring new targets: 80.40 m. jjjjihhhhfffrfbf`c@ɛ lB : `))!Dj9Will construct direction to contact in vehicle frame from tetrahedron phase data.E Ho=*F ?2F :F BF A5JF G] cGe >Ge =G1 BA O] >hw,: q/A6G@Y6 W@6";96\D:>y6H`7.`x?!ǿϞwQ?Jb?!?op?ɨ6G@6;6Cy>iBBh IIJIJ4٢R| RW=9R;Q R>TT VG٣TyV/ < Z> ^Nusing accuracyPremultiplier from configXbQ59Z~@f@XZs6;Z9;Z!(Q5h j AlDNOT Ignoring new targets: 80.40 m. jjjjihhhhfffrfbfM$@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛpBY `NI  5B/8ɚ9i9IEe= IJJJJJܫ:J/:JJI^ǿiqiu̒0;)q)D9EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:31:24.8663  TRx dataTimestamp_ set to:1736375486.085324*F ?2F :F BF 5JF G%czKeBIKe9KaKeKeGB O%?w,?/A6~@Y6@61"96S6>y6H@"~?ΡƿW0?`3?D?#?*x?ɨ6~@66;6CyBmBBl IiF=IF4<5Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I II؂BI&I.I6I7<:I FMb@Mb@Mb@ )Y:vRQ{Gz?yԼ½#<E A -@)Iy3@I-I-]4٢=0< = =9El+AI MG٣MLGym&:< m> uNusing accuracyPremultiplier from configq}Q59u7?}Q5YuC[ iu]A}=<7@ I@uO9Eu  BDAT read: Tx time:22:31:25.9556  $Ping request sent. yB :publishing transmit ping time yw, Ŭ/A:@Y:@:9:1>y:H q1?`ƿ`w^?`Uq?`T? @? ?ɨ:@:;:CyRaBR^ IIZIZ:4٢b bg=9b /dd fG٣dyjg< j> rNusing accuracyPremultiplier from configpvQ59r4?vQ5Yr[ irXAxz7@z@rP9Er;r";rR0Q5| ~ A- addTargetRange:: Added new target pos. range: 79.800003 m, deltaT: 3.527297 s, deltaX: -0.199997 m, approachRate: -0.056700 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 80.40 m. j1j1j1j1i1h9h9h9hAfAfAfArfE@3S@bfM?ɛxB[l E=隝7I  u7ɚiId=I`޿ii!>))Dug9*F 2F :F BF _0JF MWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:22:31:25.9548 GZa;G rAG rA IGB!Ob> Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,/A6@Y6@6^ 96*>y6H pq`Ԏ?2ſ9@V?v?RV?3??ɨ6@6c;4yR^BRY I-Mb@Mb@Mb@))) )))Y-I +&1Mb`?y-9-н-;- A ))-@I-QA)y-@IMqIMJH4٢ A=93;Q > G٣y9 > Nusing accuracyPremultiplier from configQ59G1?Q5YZ iJA=;];@@;; 4Q5  A%DNOT Ignoring new targets: 80.40 m. j!j!j!j!i!h!h!h)h-Bf)f)f1rf1bf5?ɛe|Bm impIi m-ɚiiqIu3d=I}+tiyi}k>)y)D9zK}BoHK}89KyK}K}*F?2F:FBFJFG&eWill construct direction to contact in vehicle frame from tetrahedron phase data.e%=e=GyBHI I IIӂBI&I.I6Iu<:I? FBIyJIyRIyZIybIyjI}nj4O> $?IJ J J J J :J :J J J h;a% J i;a% J C;a% J C;a- w,Oy/A:ܖ@Y:[@:[V9:>!>y:H2r`H?`Ŀ`r8?@Q ?x??A?ɨ:ܖ@:;:CyJWBJQ I)L LIVIV4٢^ ^U=9^n;Q b>`` bG٣bLGyf= f> jNusing accuracyPremultiplier from confighnQ59j!.?nQ5YjZ ij>AlrQ;@r@jQ9Ej ;j* ;j\7Q5vB v AvԳEDNOT Ignoring new targets: 80.40 m. jjjjihh!h!h!f!f)f)rf)bf- B?ɛUB]ྻ Y] IY eLŸɚaiaIec=ImXiiim >)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF51JF1G &GBO'>e Will construct direction to contact in vehicle frame from tetrahedron phase data. I Gw,qv/Am湏@Ymeɖ@m9mG>ymH`3@5?@6ÿ@*o??^? g4??ɨm湏@mn;iyޅQBޅJ IMb@Mb@Mb@ )YMb?:vMbPy<Խ/ A C@)@I`@y3@I-sI-K4٢= =3=9=;Q E> G٣y< > Nusing accuracyPremultiplier from configQ59*?Q5YZ i/A=;>@R9E;;x;Q5 F A%DNOT Ignoring new targets: 80.40 m. j!j!j!j!i!h!h)h)h-Bf)f1f1rf1bf5-?ɛeBe5һ aexƽIi mRBɚiiiImc=Iuiqiq)q)Will construct direction to contact in vehicle frame from tetrahedron phase data.E=*F ?2F :F BF _0JF G!  G% nAG ~G ]>G ?G B O >zK BHK 9K K K     w,/0A2ُ@Y2,@2`ü92:>y2HEm?૦?z¿@@|?`?xk?`??ɨ2ُ@2N;2CyRMBRE IIZIZ(4٢b״ bg=9f2dd fG٣dyja;< j? nNusing accuracyPremultiplier from configlrQ59n!'?rQ5YnZ in$Atv>v@ln7:n:nn>Q5x zf Ax%Will construct direction to contact in vehicle frame from tetrahedron phase data.HiIi Im IImɂBIi&Ii.Ii6ImȰ<:Im| FDNOT Ignoring new targets: 80.40 m. jjj j i hhh1h9f9f9f9rf9bfE@]? YIYɛB 隍IJJJ1JJ:J9J3JJ'<J'<J<;J<; ҌɚiI2`c=Iii)) E-Q9=*F?2F:FBFX5JFG}9GQBaO{>Will construct direction to contact in vehicle frame from tetrahedron phase data.[ w,.0A6@Y6 @6]96a>y6H c~?J?@Hÿ5@!&?@?`8?B?'?ɨ6@6;6CybBBb8 Iif=If>InInפ4٢vV vH=9v,xx zG٣zLGy~< ~> Nusing accuracyPremultiplier from config Q59#? Q5Y[ iA  ~>@S9EBQ5  AMDNOT Ignoring new targets: 80.40 m. jIjIjIjIiIhQhQhQhYfYfYfYrfabfei@ɛB+* 隍N I m¹ɚqiqIuCc=I} ii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.-)?-%= aIiEG=*FM?2FI:FIBFM3JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu ;Gi By O >tw,:J0A6 @Y6i@6196 >y6Hs ?`$?ÿ`@?? Ɛ???ɨ6 @6 ;4yB8BB+ IMb@Mb@Mb@ )YMb?|?5^MbPy=ҽ A @)@Iy@II4٢-+. 5(=95;Q 5>99 =G٣9y=; => MNusing accuracyPremultiplier from configAUQ59Eu?UQ5YEP\ iEAU>U;UU@ET9EE;E#;ECFQ5a e A DNOT Ignoring new targets: 80.40 m. j j j j i hhhhׁBfffrfbfEn@ɛmBu:b2 quV*Iq u ɚyiyI}Q,c=IQii))2D*DBD:DEE*E"EzKLLKk9KKKRK>JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH4<H>I I IIBI&I.I6Ih<:I6 F !IiJJJ0JJ:J:Jـ3JJ;J;JnN;JoN;*F= ?2F9 :F9 BF= 1JF9 G y<G B O >xw,Pd0A6@Y6!@6OOe96#>y6HWl?@?`PĿ???@K??ɨ6@6ׇ;6Cy>/B> IIFIFE4٢R1D Ri=9VF;Q V>TT VG٣XyZ: Z> ^Nusing accuracyPremultiplier from config\bQ59^{?bQ5Y^2] i^Adff@^U9E^2;^M;^UIQ5x zW AxDNOT Ignoring new targets: 80.40 m. jj!j!j!i!h!h!h)h)f)f)f1rf1bf5$@eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:31:28.4666 mTRx dataTimestamp_ set to:1736375489.613293ɛBh LAI R3ɚiI,c=IUiQiQ)Q)a*F?2F:FBFP0JFG:6=GBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ii w,d[~0AJ@YJ_&@J@9Jb">yJH`5?@)?`/DĿ Y%?5?:?@??`C?ɨJ@Jɇ;JCyV,BV I)X ZA=Mb@Mb@Mb@999 9)9Y=/$?y=&1>=̽==/ A =p@)=@I=v@9y=@I]I]4٢m] m==9mL;Q m>qq uG٣uLGy}: }> UNusing accuracyPremultiplier from configIUQ59M?]Q5YM-_ iMA]L>];ee@MV9EM&;M;$;MMQ5i mo AiDNOT Ignoring new targets: 80.40 m. jjjjihhhh߁Bfffrfbf@Y @ɛBVq HMI H^ɚiI'7c=Iii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF^0JFGmʶ=GABQOmW>zKM BHKM ۵9KI KM KM BK} qA:Ky  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 80.0 m (Round-trip 106.7 ms) speed -0.3 m/s  ,DAT read: user:2669>  BDAT read: Tx time:22:31:29.5557 % $Ping request sent.% %w,;m0AIY I] II]BI]+ =&IY.IY6I]^<:I]1 F hIhJ5J5J1J1J5:J5h:J1J1J5'<J5'<J5Mi;J5Ni;@Y6@ G+9;>yHԄ??'ÿ `? ? h? ?`?ɨ@_;騅Cyޝ$Bޝ II I (4٢m  m-=9m{5;Q m>qq uG٣qy}G > Nusing accuracyPremultiplier from configQ59 ?Q5Y^a iA@X9EX::GQQ5  A  addTargetRange:: Added new target pos. range: 80.000000 m, deltaT: 3.779611 s, deltaX: 0.199997 m, approachRate: 0.052915 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 80.40 m. jjjjihhhhfffrfT@bf ?ɛ B tz  cI  5 ɚ1i1I5Jc=I=`"i9i9)9)AEIEMsA*F ?2F :F BF \0JF MWill construct direction to contact in vehicle frame from tetrahedron phase data.G;>GBO>D+w,#0A6@Y6 @696p~>y6H=l? *?~ÿ\@F6?@؀?GaBqO[>e Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia 2w,v0AyB Ii%=I%4< )-R=Mb@Mb@Mb@ )YV-?sh|?~jth?y|>D; A @)3@II@y@I%I%4٢5+< =7=9EQ E>AI MG٣MLGyM M> ]Nusing accuracyPremultiplier from configQ]Q59Ul?eQ5YUe iUҋAel>eK;eGe@U[9EU;U#;UWQ5i u Au׳EDNOT Ignoring new targets: 80.40 m. jjjjihhhh݁Bfffrfbf@c ?ɛBv I nɚiIψc=I/,ii))*F?2F:FBF1JFzK%K%9K!K%K%RK= ?JK=?GSl>H>I I IIBI&I.I6Id<:I5 FWill construct direction to contact in vehicle frame from tetrahedron phase data.GaBiOZ>) rC $?I=NGU|uA}A |%Y|uAyB9w,0Ay%B-IIEuIEaO4٢M UZ=9QQ U>]Will construct direction to contact in vehicle frame from tetrahedron phase data.aa eG٣ayi m> uNusing accuracyPremultiplier from configq}Q59u ?}Q5Yu.h iu͋Ayy@u\9Eu ;uP ;u8[Q5 ^ ADNOT Ignoring new targets: 80.40 m. jjjjihhhhff f rf bf`?ɛ]B]# aeIa m׺ɚiiiImc=I}6a1iyiy))*F)2F):F)BF-P5JF1"G==G=,>G6>GBO J> Will construct direction to contact in vehicle frame from tetrahedron phase data. I JKـ3KK3 KK.-KCKC"KCJm Jm Ji Ji Jm ܫ:Jm :Ji Ji a} @a} @a} @a} @5?w,u0Ab?@Yb@b79b>ybH~@?@̡¿u`y?? ݣ?Z?ɨb?@b;bCyn BnImMb@Mb@Mb@iii i)iYmQ?ʡE{Gzt?ym(>mmף;m A m@)m@Iiiymz@II.4٢¼ ?=9:Q > G٣y   > Nusing accuracyPremultiplier from configQ59 ?Q5Yk iɋA%>%(;%鿑%@^9Ef;;^Q5) - A1]DNOT Ignoring new targets: 80.40 m. jYjYjYjYiYhYhahaheBfififirfibfm nU?ɛB}Z 隥I 9ɚiI!c=Iy6ii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.E<H=*F2F:FBF0JFzKU KKU U9KQ KU KU BK] pA:K] qAH >I  I s II sBI &I .I 6I <:I T FBIJIRIZI+ =bI, =jI3v5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi I GI B O >Fw,ۉ1A 46@yEBMI)Q UAQQI]I]4٢m~ m>=9uQ u>qq }G٣}LGy} }> Nusing accuracyPremultiplier from configQ59*?Q5Yo iƋA@a9Eu::bQ5  ADNOT Ignoring new targets: 80.40 m. jjjjihhhhfffrfbf #@ɛB 隭cI V ɚiId=IG1 B9 OU >Lw,:61AF@YF=@F/ך9Fi >yFH T?@K`D? Zs?О??ɨF@Fv|;FCyRBRIIZIZ\4٢b݆ bW=9b[-dd fG٣dyj`! j> nNusing accuracyPremultiplier from configlrQ59n|?rQ5Ynr inËAtz뿑z@nb9EnP;ngP;nfQ5}Will construct direction to contact in vehicle frame from tetrahedron phase data.|  AٳEDNOT Ignoring new targets: 80.40 m. jjjjih Ihh h f f f rfbf`3`@ɛBɼ 隵I ɚiIVd=IWBii))JJJ/JJ:J:J(N3JEE*E"E*F5?2F1:F1BF5P5JF1G=qA G=rA- Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu .>GQ BY O} >gTw, zR1AyBIMb@Mb@Mb@ )Ygfffff?Zd;y&1|?y3>y`; A @)v@Iy@IIy4٢=! E,=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYeQ59]?eQ5Y]v iYe>m;m'⿑m@]e9E](;];]OjQ5q u AqDNOT Ignoring new targets: 80.40 m. jjjjihhhhǁBfffrfbf@zKBHK9KKK H>I I` IIdBI&I.I6If<:I7 FɛBYż !%I! %3ɚ)i)I-ݢd=I-|rHi1i1)1)1 I Will construct direction to contact in vehicle frame from tetrahedron phase data. > <BDAT read: Rx Time:22:31:32.0670 TRx dataTimestamp_ set to:1736375493.422883*F?2F:FBFP0JFG= 6>G B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.?Zw,=l1A]mH@Y]W@]9]7>y]H r=?C@@禿@a?p[b?jK?`T?ɨ]mH@]Q;]CyމލIi8>I= ==II4٢5 5H=9=;Q =>AA EG٣EMGyEj E> UNusing accuracyPremultiplier from configIQ59M?Q5YMBz iI忑@Mh9EM3 =BDAT read: Tx time:22:31:33.1557 =$Ping request sent.=Ouaw,1Ay~B~IMb@Mb@Mb@ )YNbX9?:v{Gzt?y>Tף;vA @)`@I@y@IIh4٢ L=9Q > G٣y > Nusing accuracyPremultiplier from configQ59?Q5Y9~ i o> ; ࿑ @j9E9;06;?qQ5uWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:31:33.1549   A  addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.556202 s, deltaX: 0.400002 m, approachRate: 0.112480 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 80.40 m. j1j1j1j1i1h1h1h9h=Bf9f9fArfET@bfE?ɛB0o 隕I WɚiIKe=IB@ii))*FY2FY:FYBF]Y0JFY"GmV>Gml>HI IS IIYBI, =&I.I6I<:IV FzKe &`KKe 9Ka Ke Ke  I - Will construct direction to contact in vehicle frame from tetrahedron phase data.G G '?G $?G B O >Ȟgw,+1A2b@Y2yr@2g 92d=y2HDz@ش?2?A? %??ɨ2b@2;0yNBNIIVIV4٢^ ^_=9b;Q b>`` fG٣dyfL f> jNusing accuracyPremultiplier from configh]Q59j9?]Q5Yj ij‹Aae㿑m@jl9Ej mw,ѹ1A $I$:ߌ@Y:l@:^¹9:(=y:H۶M? RF@Y?KC8?@p? ?ɨ:ߌ@:_);:CyFBFI)H HLLIRIRt4٢ZNn ZK=9bi9Q f>rWill construct direction to contact in vehicle frame from tetrahedron phase data.prR=xx zG٣xyz ~> Nusing accuracyPremultiplier from config Q59߰tw,Ҭ1Ay~BIMb@Mb@Mb@ )YzG?~jth?y >LD;A @)I3@y@II]4٢̻ :=9Q > G٣MGy > Nusing accuracyPremultiplier from configQ59?Q5Y iA>:㿑@r9E;;{Q5 FA%DNOT Ignoring new targets: 80.40 m. j!j)j)j)i)h)h)h1ZHRHH>I IG IIOBI&I.I6Iy<:IF Fh5Bfffrfbf?ɛ%B-* 9I=h IUIQ U刻ɚQiQIU4rf=I]1(A@iYiY)Y)azKBHKU9KKKRK>JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_5JFG G qAG pAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Kzw,31AN`@YN p@Nv;9N:=yNH@aZ?p`X?nS?@:?ɨN`@N;NCyVBVIIbIb4٢f j[=9ji5ll nG٣lyrR r> vNusing accuracyPremultiplier from configtzQ59v?zQ5Yv ivAxz鿑z@vt9Ev:vn:vQ5 dADNOT Ignoring new targets: 80.40 m. jjjjihhhhfffrfbf ?ɛB  ƾI Y1ɚ i I f=Iii))*F?2F:FBF3JF !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.G.>G B9 O} >\Ɓw,q2AyBIi%0>I%= %=%a=Mb@Mb@Mb@ )Y?J +yf>HA $@)@I@y@II 4٢I 8=9Q >    G٣ y > Nusing accuracyPremultiplier from config%Q59쓜?%Q5Y iA%>-:-Q近-@x9E ; ;Q55B =xA=޳EUWill construct direction to contact in vehicle frame from tetrahedron phase data.uDNOT Ignoring new targets: 80.40 m. jqjqjqjqiqhyhyhyh}Bfffrfbf2@ɛBa 隵˾I UɚiIag=Iii))*F?2F:FBFP0JFH>I IA IIJBI+ =&I.I6Iz<:IG F $?I u G vA AzK RIK ۵9K K K    BK qA:K rA Will construct direction to contact in vehicle frame from tetrahedron phase data. 'Y vAy BG ?>J J J J J :J :J J J ;a J ;a J DG;a J DG;a G B O% >:w,1?!2A6yU@Y6d@6;96(=y6HKſ@4k? P@ſ`}?~7Y??ɨ6yU@6n;6CyNBRIIZIZ4٢bS bb=9b.dd fG٣fMGyjH n> zNusing accuracyPremultiplier from configtQ59v蓜?Q5Yv ivA  쿑 @vz9Eve;vY;v!Q5 AEDNOT Ignoring new targets: 80.40 m. jAjAjAjAiAhAhIhIhIfIfQfQrfQbfU?@ɛ}B ϊ=隅ϾI ɚiIg=Iii))E9PExceeded connect timeout, disconnecting.*F?2F:FBF\0JF"Gi>Ga>eWill construct direction to contact in vehicle frame from tetrahedron phase data.G.>G ?G>GBO>  I ,w,;2A6‰@Y6Ґ@6<96=y6H@ǿ@S? 5q ǿ@E3z?`̗?`p?ɨ6‰@6;6CyZBZIbWill construct direction to contact in vehicle frame from tetrahedron phase data.bBDAT read: Rx Time:22:31:35.6679 fTRx dataTimestamp_ set to:1736375496.948691IjIjb4٢r; vH=9v;Q v>xx zG٣xyz3 ~> Nusing accuracyPremultiplier from config Q59N䓜? Q5Y iA   @}9E.: :Q5 AMDNOT Ignoring new targets: 80.40 m. jIjIjQjQiQhQhQhYhYfYfYfarfabfe@L[@ɛB 隝ҾI 2ɚiIwh=Iii))*Fe?2Fa:FaBFm_0JFiGuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiqGyBO>w,U2Az0@Y?@D9<9H=yHʿ9?%T@ʿH_u?t({?@7?ɨz0@kH;騍CyޝBޝI) AH5>I1 I54 II5@BI1&I1.I16I5<:I5N FBIJIRIZIbI+ =jIT4eMb@Mb@Mb@aaa a)aYeQ?{Gztye>eLeףeA eQ@)ev@Iaayez@ II}I}K4٢:4 1=9Mz;Q M>IQ UG٣UMGyUI U> eNusing accuracyPremultiplier from configYQ59]_ޓ?Q5Y] i]A>:c@]9E];]<;]Q5zKMK9KKKEfruz~rnPA`RM-RK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:31:35.6679 LVL= 21072, 24561, 15970, 29971, AGC= 59, IDX= 431,-0.23,-0.868, 1.644, 1.147, 0.776, PHS=-1.556, 0.915, 0.368, RAW= 282.2, 2.4, CAL= 284.8, 2.8, ROT= 225.2, -2.8 Ygot valid direction response: 22:31:35.6679 LVL= 21072, 24561, 15970, 29971, AGC= 59, IDX= 431,-0.23,-0.868, 1.644, 1.147, 0.776, PHS=-1.556, 0.915, 0.368, RAW= 282.2, 2.4, CAL= 284.8, 2.8, ROT= 225.2, -2.8  PDAT read: Bearing 225.2, -2.8 (Local)  ~Local bearing/azimuth received: Bearing 225.2, -2.8 (Local) DAT read: Range 10 to 50 : 81.0 m (Round-trip 108.1 ms) speed -0.2 m/s ,DAT read: user:2671> %BDAT read: Tx time:22:31:36.7557 %$Ping request sent.-A EAA)uI;iq=j?j>7@+= @)+H=I{@i+HcƯ#oԗc?j?)#5@Ig/i?Bs?m:publishing transmit ping time!mFpublishing direction and range info9iC[? *?a$y )IiJJJJJJ:JJJJJA;JA;k}?k"O k k\2A:kBBkߠBZke@"3@ p!@eZ}TiC[? *?a$Jk?RkBs?*dh9D,@a^cLS>U?ߞ`ٴJf"k*k!bAknZ?kWP  )IicƯ#oԗc?j?)Ii2khkkD kkAk5@ addTargetRange:: Added new target pos. range: 81.000000 m, deltaT: 3.528083 s, deltaX: 0.599998 m, approachRate: 0.170064 m/s, rangeRepo size: 4 E Added new target pos. range: 81.000000 m, bearing: 334.978854 deg, lat: 36.905263 deg, lon: -122.119949 deg, deltaT: 36.064085 s, deltaX: 0.599998 m, approachRate: 0.016637 m/s, posRepo size: 4 EDNOT Ignoring new targets: 81.00 m. jAjIjIjIiIhIhIhQhUBfQfyfyrf}@T@bf}@?ɛ=BE AE־IA EJ=ɚAiIIM;i=IIiqiq)y)y*F 2F :F BF P0JF nManaging dock network, ignoring radio surface power off} Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:22:31:36.7549 GI GU rAGU rAG B O5 >Ξw,ii mG٣iyuY u> Nusing accuracyPremultiplier from configyQ59}ٓ?Q5Y} i}A@}9E}"x<}p<}#Q5 Ak*cV?kYV k k:kBkZk@"3@ p!@eZ}TiC[? *?a$JkRk*laW"u+@S2۸>?OT.8nl"ku*k[Akal^?kW 2kikk% kkAk@mDNOT Ignoring new targets: 81.00 m. jqjqjqjqiqhqhqhyhyfyfyfrfbf?ɛmBmz" quIq u-˻ɚqiqIuVi=Iii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.%=4=E@p=*F} ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G 6>GBO>ݣw,72AyjځBjIeMb@Mb@Mb@aaa a)aYeRQ?L7A`尿~jtxye?e+eĻa a)e`@Ie@aye@y}@AI}I}4٢U; #=9Q > G٣y > Nusing accuracyPremultiplier from configQ59ғ?Q5YV iA?:@9E];;}Q5 ADNOT Ignoring new targets: 81.00 m. jjjjihhhh~Bfff rf bf  ?ɛ5B5 99I9 =Kػɚ9i9IEj=Iii))EM֊=HI I( II6BI&IGD.I6I~<:IK F I*FY2FY:FYBF]_0JFYUWill construct direction to contact in vehicle frame from tetrahedron phase data.zKNK 9KKK     BK:KlAJ-J-J)J)J-,:J-:J)J)J-;J-;J-C;J-C;Gy GQ BY O} >w,2AN5@YNAE@N`<9N⋏=yNHgп y? 74hпou?K??ɨN5@N;NCyb߁BbIIjIjt4٢v< vW=9vk8;Q v>xx zG٣zMGy~ ~> Nusing accuracyPremultiplier from config Q59˓? Q5Y iqA @9E:X:ИQ5y }A}EWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 81.00 m. jjjjihhhhfffrfbf@mM?ɛMBM r IM޾IQ uɚqiqIu6k=Iyiyiy))EE*E"E*F?2F:FBFJF"GG]> Ihm Will construct direction to contact in vehicle frame from tetrahedron phase data.G .>G ?G ?G B OM >mw,D2AZQ@YZС@Zuw<9Z=yZHҿ?`s ҿL?s?l@[?7?ɨZQ@ZL;Xyb؁BbI]Mb@Mb@Mb@YYY Y)YY]ˡE?~jtMby]?]]]A ]@)]QAI]@Yy]@ImIm4٢}D }3=9F;Q > G٣y2 > Nusing accuracyPremultiplier from configQ593Ó?Q5Y i^AV ?:@9E=;;МQ5 ADNOT Ignoring new targets: 81.00 m. jjjjihhhhBfffrfbf@J?ɛB< I 2=ɚiI'k=IiWill construct direction to contact in vehicle frame from tetrahedron phase data.i))*F2F:FBF{0JFGq $?I H >I  I  II ,BI &I .I 6I u<:I D FGQ BY O} >u Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK 9K K K  RK ?JK ?J- J- J) J) J- |:J- :J) J) J- ;J- ;J- A;J- A;w, 2A2@Y2r@2a<927=y2H@@ӿ@dp?@2Hӿg?K?`?ɨ2@2;0y:ӁB:IIBIB4٢Jּ J[=9NO;Q R>PP RG٣PyVSS V> ZNusing accuracyPremultiplier from configX^Q59Z𻓜?^Q5YZ iZLA`bb@Z9EZ ;Z? ;ZQ5d f,AdzDNOT Ignoring new targets: 81.00 m. jxjxj|j|i|h|h|hhfff rf bf @ @ɛBpM) I |ɚ i I bl=I9i9i9)9)A*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GQG B OE >ຽw,t2A 0I0:E@Y:)U@: <9:?=y:H`jԿ8?@TLທԿ-d?@@ 9??ɨ:E@:d;:CyFBFIININ4٢VJ= VI=9Z;Q Z>X\ ^G٣\y^eW b> fNusing accuracyPremultiplier from config`fQ59b?jQ5Yb ib9Ahnzr@b9EbwT;bT;bQ5t vAtDNOT Ignoring new targets: 81.00 m. jjjjihh!h!h!f!f!f)rf)bf-@ɛ]B]X Ye޾Ia e)ɚaiaIegvm=Iiiiii)i)q=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFG GG6>G5qAG1GBO-> Will construct direction to contact in vehicle frame from tetrahedron phase data. i A8w,+k3A:@Y:@:U<9:=y:H տ ? Y տf?~k{??ɨ:@:+;:CyDDMb@Mb@Mb@ )Y rh?~jt~jthy ?D @)AIyI5I549M;Q M>QQ UG٣UMGy]Y ]> mNusing accuracyPremultiplier from configamQ59ef?uQ5YeQ ie'Au ?u:uu@e9Ee;e`;eSQ5B AEDNOT Ignoring new targets: 81.00 m. jjjjihhhhBfffrfbfF@ɛ‚B& 隕k߾I  ɚiIKn=Iii)) QIYHiIi Im IIm'BIi&ImHD.Ii6Im<:ImP F*FM?2FQ:FQBFQJFQMWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:22:31:39.2694 mTRx dataTimestamp_ set to:1736375500.479587zK^KKж9KKK '16;8564242.+--&! J}JyJyJyJ}\:JyJyJyJ}i;J}j;JyJyGM?>G) B1 OU >Ow,(F-3A6Ń@Y6wՊ@6U<96=y6H@]׿B?@i׿i?`:?G?ɨ6Ń@6B;6Cy>B>IIFIFs4RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢V< V<9Zq;Q Z>XX ^G٣\y^Ɂ b> fNusing accuracyPremultiplier from config`fQ59b?jQ5Yb3 ibAhj8j@b9Eb:bC:bQ5p rAp DNOT Ignoring new targets: 81.00 m. j j j j i h hhhfffrfbf` @ɛ ÂB Tb  ܾI  mɚiIU o=IYiYiY)Y)a*F ?2F :F BF X0JF  E$?IAG6>eWill construct direction to contact in vehicle frame from tetrahedron phase data.GBDAT read: 22:31:39.2694 LVL= 18976, 20017, 14962, 28147, AGC= 57, IDX= 445,-0.29,-1.578, 0.622, 0.704, 0.036, PHS=-1.526, 0.633, 0.665, RAW= 269.3, 2.1, CAL= 271.8, 2.5, ROT= 238.2, -2.5 Ygot valid direction response: 22:31:39.2694 LVL= 18976, 20017, 14962, 28147, AGC= 57, IDX= 445,-0.29,-1.578, 0.622, 0.704, 0.036, PHS=-1.526, 0.633, 0.665, RAW= 269.3, 2.1, CAL= 271.8, 2.5, ROT= 238.2, -2.5 O>PDAT read: Bearing 238.2, -2.5 (Local) ~Local bearing/azimuth received: Bearing 238.2, -2.5 (Local)  DAT read: Range 10 to 50 : 82.0 m (Round-trip 109.4 ms) speed -0.2 m/s  ,DAT read: user:2672>  BDAT read: Tx time:22:31:40.3558  $Ping request sent.  G٣MGy'E >Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:31:40.3550 Nusing accuracyPremultiplier from configQ59T?Q5Yw iA8?:@9E;;Q5B AEkX;?k) k k*>3A:kBBkܢBZkD@"< @n#\#%DPVTU @?[ŕI8&yFJk.雿Rk?* :<CakO?:mwTAdy=)o?)!m:"k}>*kkr]?k 2kdknZ?kkhkqAk0@ addTargetRange:: Added new target pos. range: 82.000000 m, deltaT: 3.530717 s, deltaX: 1.000000 m, approachRate: 0.283229 m/s, rangeRepo size: 4  Added new target pos. range: 82.000000 m, bearing: 176.024044 deg, lat: 36.905111 deg, lon: -122.119959 deg, deltaT: 3.530717 s, deltaX: 1.000000 m, approachRate: 0.283229 m/s, posRepo size: 4 DNOT Ignoring new targets: 82.00 m. jjjjihhhhBff f rf T@bf ?ɛ}ĂB} y}޾I ɚiI+*p=Iii))*FM?2FI:FIBFMP0JFI"GQGUt> ) I- hjHA bHA HM >II  II II II &II .II 6IM <:IM v F)a e hC c~G |uA A = &Y= |uAy= BG5 &>G= ?G= ?e Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,q`3AzKfMK}9KKKJw-@YJ<@J`-<9Juy=yJHMڿ6? (`\ڿh??Ϥ2.??ɨJw-@J;JCyRBPIZ~IZT_4٢b; f=9f;Q f?hh jG٣hyjs n? rNusing accuracyPremultiplier from configpvQ59rt?vQ5Yr@ irAtvu v@r9Er:r:rıQ5~B ~A~E%DNOT Ignoring new targets: 82.00 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf=Q?ɛae= eKm=e_޾Ia mɚiiiImp=Iqiqiq)q)y*F5?2F1:F9BF=p0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.չiսAG6>GQBYOu>  I! w,z3AF?@YFO@F%<9F,=yFH @ۿױ?  ܿ!i?@T!??ɨF?@FT;DyRBRIIZIZV4٢f= fJ=9f%H:Q f>hh jG٣hyjC n> rNusing accuracyPremultiplier from configpvQ59r?vQ5Yr irAtvQ z@r9Er:r:rKQ5| ~YA|%DNOT Ignoring new targets: 82.00 m. j!j)j)j)i)h)h)h1h1f1f1f1rf9bf=@@?ɛmłBm im׾Iq uMb ɚqiqIuQq=Iyiyi))Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J9JJa@a@a@a@*F?2F:FBF0JFGqGIBYOyE Will construct direction to contact in vehicle frame from tetrahedron phase data.ow,93A6u@Y6@6~/<96Am=y6HdݿY?ivsݿHR? d Ӡ? ?ɨ6u@6h;4yPP]Mb@Mb@Mb@YYY Y)YY]Dl? ףp= y]O ?]Q]Y ]@)]AI]@Yy]\@IuIu̍49V;Q > G٣yl > Nusing accuracyPremultiplier from configQ59v?Q5Y) iЊA-?:j @9E9;'8;Q5 DNOT Ignoring new targets: 82.00 m. jjjjihhhhɁBfffrfbf|?ɛ)- 15ؾI1 5M&ɚ9i9I=fr=I9iAiA)A)A $?IH>I I II,BI&I.I6I<:Ik FBIJIRIZIbIjI4*F2F:FBF2JFG GnAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKBoHK9KKKGGGoAGBO% >w, 3AbOB@Yb@b99 =G٣EMGyE E> MNusing accuracyPremultiplier from configIUQ59M9k?UQ5YM iMAY]]@M9EM ;My;MyQ5eB eAeE-DNOT Ignoring new targets: 82.00 m. j)j)j)j)i)hQhQhYhYfYfYfYrfabfe )?ɛ  оI n+ɚi I s=I1i1i1)1)1 IEU=Will construct direction to contact in vehicle frame from tetrahedron phase data.JsK{|3 K{S}-KsKs"KsJJJJJ|:J:JJ*F ?2F :F BF n0JF G1 G BOE>w,k3A2ê}@Y2@2!{ =92E=y2H<? @T'sN??ɨ2ê}@25;2Cy>B>I-Mb@Mb@Mb@))) )))Y-Q?sh|?MbP?y-\?--:-A -@))I-@)y-@IEIEy4٢Up= U-=9];Q ]>YY eG٣ayeW e> mNusing accuracyPremultiplier from configiuQ5Will construct direction to contact in vehicle frame from tetrahedron phase data.9m(]?%Q5Ym8 imA%?%:%-@m9Emdt%w,\3AyeBeIiu;>Iu< ==II4٢M E=9Q > G٣y > ]Nusing accuracyPremultiplier from configYmQ59]6P?mQ5Y]E i]Aqy}@]9E];];]eQ5  ADNOT Ignoring new targets: 82.00 m. jjjjihhhhfffrfbfx@ɛ =ľI 6ɚiI%!u=I!i)i)))))E1E1*E9"E9%Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFU0JFQ I Gy G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:31:42.8704  TRx dataTimestamp_ set to:1736375504.020676J% J% J% 1J! J% :J% :J% 3J! G B O >!w, *4Ab!dx@YbA@bBk*=9b5=ybH"U``(?z1@`>сK{?@?ɨb!dx@b;`y~B~III4٢= ==9%!) -G٣-MGy5GD 5> =Nusing accuracyPremultiplier from config1EQ595B?EQ5Y5 i5AAEE@59E5:5< ;5Q5Q Ut AUEDNOT Ignoring new targets: 82.00 m. jjjjihhhhfffrfbf@ɛ*R KI V;ɚiI  I H I  I 4 II @BI , =&I .I 6I u<:I D Fw,4A6v@Y6_@6v*4=96”+=y6H ٤?`$>)+r k??ɨ6v@6;4y>BBImMb@Mb@Mb@iii i)iYm/$?#~jMb`?ym&?m㥽m;mA m3@)mAIm@iymAI}I}4٢0= D=9f;Q > G٣y > Nusing accuracyPremultiplier from configQ594?Q5Y2 iiA?:w@9E^;;Q5 * ADNOT Ignoring new targets: 82.00 m. jjjjihhhhBfff rf bf  H @EWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ!%U !% I! - Aɚ)i)I- w=IYiaia)a)azKJLK9KKK *F2F:FBFP0JFG &> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 82.8 m (Round-trip 110.4 ms) speed 0.0 m/s  ,DAT read: user:2673>  BDAT read: Tx time:22:31:43.9558  $Ping request sent. w,64A6t@Y6r@6N/;=96{-=y6HD`&?t}v@oȃ c??ɨ6t@6;6Cy>B>IIFIF"4٢NJ+ R[=9RE;Q R>TX ZG٣XyZG Z> bNusing accuracyPremultiplier from config`fQ59b~'?fQ5Yb ibTAdjQj@b9EbX:b7:bQ5nB n5 AnE  addTargetRange:: Added new target pos. range: 82.800003 m, deltaT: 3.793080 s, deltaX: 0.800003 m, approachRate: 0.210911 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 82.00 m. jjjjihhhhff!f!rf%@3T@bf%O? $?Ihɛ I E5EɚiIx=Iii))*F2F:FBF^0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J:JJG.>GBO >Xw,FP4ARWill construct direction to contact in vehicle frame from tetrahedron phase data.yBIMb@Mb@Mb@ )Y@5^I ?lMb`yb? I@)3AI@yAI I y4٢%( %4=9%Q %>)) -G٣- MGy5 5> =Nusing accuracyPremultiplier from config9EQ59=?EQ5Y= i=8AM?M:MM@=9E=;=;=Q5Q U: AY}DNOT Ignoring new targets: 82.00 m. jjjjihhhhBfffrfbf 3?ɛłB UI PUJɚiIz=Iii))*F2F:FBF_0JF IjHIbHM<HYIY I]A II]JBI]+ =&IY.IY6I]<:I]_ F]Will construct direction to contact in vehicle frame from tetrahedron phase data.]>]=?Gu6>GI BQ Om >zK MKK 9K K K I#w,jj4ANAq@YN?$@N3A=9Nk=yNHE7?鮿 qDG3$`??ɨNAq@N;NCyVBZIIbIb4٢j0< jb=9j;Q n>ll nG٣lyr% r> vNusing accuracyPremultiplier from configtQ59v ?Q5Yv_ iv A T@v9Ev;v;vQ5) -% A-E]DNOT Ignoring new targets: 82.00 m. jYjYjYjYiYhYhYhahafafafirfibfm@?ɛZ 隝I INɚiI{=Iii))*Fe?2Fi:FiBFmo0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IGGBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.@!w,XT4A6z8o@Y6yW}@6H=96 =y6H`E?wLm^@ ?%?ɨ6z8o@6;6CyBBBI Fp=Fp=IJIJ#4٢Rby RM=9V;Q V>TX ZG٣XyZ䐽 Z> bNusing accuracyPremultiplier from config`fQ59b3?fQ5Yb$ ibAhj!j@b9Eb4;b5;bQ5p r ApmDNOT Ignoring new targets: 82.00 m. jijijijiiihihqhhfffrfbf`ƍ?ɛy aeIi SɚiIB|=Iii))*F}?2Fy:FyBF}_0JFy"Gl>G>Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga I h NGHE >IA  IA IA IA &IA .IA 6IE ]<:IE 2 FGY Ba vA AO > %Y vAy rBw1'w,+4ABGtm@YBF{@BjlT=9BsV=yBHa\? RF@1pBB@݂??ɨBGtm@B+e;BCyNBNI-Mb@Mb@Mb@))) )))Y-gfffff?lMby-3?)-) ))-AI))y-AIUIU 4٢eB e?=9e;Q e>ii mG٣m MGym4 u> }Nusing accuracyPremultiplier from configqQ59u뒜?Q5Yu$  iuAm?:@u9Eu;u;u;Q5B  AEDNOT Ignoring new targets: 82.00 m. jjjjihhhhBfffrfbf+?Will construct direction to contact in vehicle frame from tetrahedron phase data.J]J]J]0JYJ]|:J]:J]ـ3JYJ];aeJ];amJ]DG;amJ]DG;amɛĂBr! 隥<¾I 1XɚiI|}=Iii))zKjIK9KKK*F?2F:FBFI2JFG.>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.[-w,4A6k@Y6y@6^^=96d=y6H" ?qr @21ㆿ Dȫ? ?ɨ6k@67;4y>B>IIFIF34٢R  RW=9Ve;Q V>TT VG٣XyZŗ Z> Nusing accuracyPremultiplier from config\ %$?I!-Q59^ܒ?-Q5Y^ i^‰A)5 5@^9E^k;^;^Q59 = A9mDNOT Ignoring new targets: 82.00 m. jijijijiiihihqhqhqfqfyfyrfybf}o/@ɛv.,  N=隵YɾI  ]ɚiI~=Iii))*Fm?2Fq:FqBFu5JFq-Will construct direction to contact in vehicle frame from tetrahedron phase data.G]6>G1BAO]> G٣y >  Nusing accuracyPremultiplier from config Q59 ʒ?Q5Y  i A?: @ 9E ; ; uQ5! %+A%EUDNOT Ignoring new targets: 82.00 m. jQjQjQjQiQhQhYhYh](BfYfafarfabfe@ɛÂB* 隝ӾI hcɚiI=Iii))E $?I*Fe?2Fa:FaBFm)3JFiGurA GusAZHRH?AHI I: IIEBI&IGD.I6Id<:I8 FBIJIRIZIbIjI445Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ :J9JJJ;J;J<;J<;GGGrAG B O- >zK} RIK} K9Ky K} K} p:w,4ARch@YRb&v@Rin=9RM! =yRH@4W@r?`㰿h@∿ȭ?@?ɨRch@R;RCyZB^IIfIf(4٢nx n^=9n-pp rG٣r MGyvq v> zNusing accuracyPremultiplier from configx~Q59zy?~Q5Yz izoAf$@z9Ez;z;zQ5  A 5DNOT Ignoring new targets: 82.00 m. j1j9j9j9i9h9h9hAhAfAfAfArfIbfM@ɛ‚B!< 隝߾I hɚiI=Iii))*Fu?2Fq:FqBF}Q0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑBDAT read: Rx Time:22:31:46.4706 TRx dataTimestamp_ set to:1736375507.801509 IGGBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.UAw,l5AynځBrIIvIv"4٢uL* }A=9}Q }> G٣y > Nusing accuracyPremultiplier from configQ59é?Q5YV iCA@9E; ;aQ5B AEDNOT Ignoring new targets: 82.00 m. jjjjihhh h f f frfbf @ɛAEaS9 IMII MDoɚIiIIU^=Iaiiii)i)yWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 82.9 m (Round-trip 110.6 ms) speed 0.0 m/s ,DAT read: user:2674> BDAT read: Tx time:22:31:47.5558 $Ping request sent. $?I H >I  I ( II 6BI &I HD.I 6I w<:I F FG .>G B O>aHw,'#5AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:31:47.5550 J:J:J8J8J::J::J8J8J:;J:;J:yE;J:zE;yȁBIi=Ip<zKBHK 9KKK Mb@Mb@Mb@ )Y$C?:vZd;Oy?Tj A)vAI3@yAII4٢ !=9Q > G٣y > Nusing accuracyPremultiplier from configQ59Ҕ?Q5Y iA ? : m! @9ENi;y;Q5! %aA!} addTargetRange:: Added new target pos. range: 82.900002 m, deltaT: 3.530803 s, deltaX: 0.099998 m, approachRate: 0.028322 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 82.00 m. jYjYjYjYiYhYhahahe BfafifqrfuT@bf`(?ɛB4 隝I xɚiIK=Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.E =%=  I *F ?2F :F BF 4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G6>GBO ?Qw,1}F5AyBIIEIE(4٢  =9Q > G٣ MGy > Nusing accuracyPremultiplier from configQ59?Q5Y# iLjA@9E; ;@Q5B AEDNOT Ignoring new targets: 82.00 m. jjjjihh hhfffrf!bf%o?ɛMBMέK QUmIQ ]%ɚYiYI]p=Iaiaia)a)iEqEq*Eq"EqmWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JF $?I jH <bH <H >I  I  II BI &I GD.I 6I <:I L FG G B O >OWw,Xa5As^@Yrl@gs=9}    G٣y` > Nusing accuracyPremultiplier from config%Q59j?%Q5Yi' iA-?-:-'-@9E>;;XQ51 5A= EzK&KK9KKK5DNOT Ignoring new targets: 82.00 m. j1jYjYjYiYhahahihmՁBfifqfqrfqbf ?ɛB.T %#I! %Ʉɚ!i!I%G =I)i)i))))1*F?2F:FBFJ3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O > I ^w,{5AF>\@YF=k@F~x=9FW\@F;FCyjBjHI)p pIvIv4٢~  ~s=9~z;Q ? G٣ MGy   ? Nusing accuracyPremultiplier from configQ59[?Q5Y) i]A!%)-@9EA;rB;GQ51 5A1]DNOT Ignoring new targets: 82.00 m. jYjYjYjaiahahahahifififirfibfu?ɛB =隝I OɚiI0=Iii))*FU?2FQ:FQBFU_0JFYmWill construct direction to contact in vehicle frame from tetrahedron phase data.GGqBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.ew, 5A2x[@Y2w0i@2C;|=92c:?ɨ2x[@2H};2Cy^kB^/IMb@Mb@Mb@ )Yy&1?Mbp?Q롿y`%?;\ ) AIy3AIIJ4٢ ==9;Q > G٣y틽 > Nusing accuracyPremultiplier from configQ59FG?Q5Y- iA%?:p(@9E;; Q5B 7A  E5DNOT Ignoring new targets: 82.00 m. j1j1j1j9i9h9h9hAhEBfAfAfArfAbfMe@ɛuBuh{ y}A(Iy }hɚyiyI}L= $?IhIi i ))H>IC IIIBI* =&I.I6IR<:I- F*F?2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.GGi B O >zK BHK K K K *kw,k׮5AR+Y@YRJg@R|=9Rtpp rG٣pyv v> zNusing accuracyPremultiplier from configx~R59zc5?~R5Yzn0 izAT*@z9Ez;zB;zNR5  A E5DNOT Ignoring new targets: 82.00 m. j9j9j9j9i9h9h9hAhAfAfAfIrfIbfM@ɛB -I ﶐ɚiIU=I!i!i!)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JF $?IG ?>GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J /J J |:J :J (N3J a @a @a @a @rw,%5AJ?W@YJ^e@Jj8z=9Jrll rG٣pyrȘ r> vNusing accuracyPremultiplier from configtzR59v!?zR5Yvf3 ivA|~A,~@v9Ev;v/;vR5 0A E5DNOT Ignoring new targets: 82.00 m. j1j1j1j1i1h1h9hAhAfAfIfIrfQbfU3@ɛ}B}J$ 隅6I fBɚiI)=Iii))Ee=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:31:50.0706 TRx dataTimestamp_ set to:1736375511.329713*F?2F:FBFi0JF qIq) % c~G9 Q &Y y ? BZH RH H >I C I II BI + =&I .I 6I a<:I 7 FG 6>G B O >;xw,5A6;U@Y6Zc@6LXw=96u G٣MGyZ > Nusing accuracyPremultiplier from configR59K ?R5Y6 ibA6(?:*@:E;:; R5 B A EDNOT Ignoring new targets: 82.00 m. jjjjihhhhBfffrfbf  @ɛ}Bz 隅  BDAT read: Tx time:22:31:51.1558  $Ping request sent. e $?Ii Gi Bq O >g~w,k5AbHS@Ybga@bYs=9b99 =G٣9yE E> MNusing accuracyPremultiplier from configIUR59M;?UR5YM9 iM(AQ],]@M:EM;M;M R5a eAa addTargetRange:: Added new target pos. range: 82.900002 m, deltaT: 3.525323 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 82.00 m. jjjjihhhhfffrfbf1^?ɛBm AI IɚiI=Iii))EE*E"E]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:22:31:51.1550 JJJ0JJ:JJـ3J*F2F:FBF3JFGU 6>% Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 BA O] >Tw,\6Ay &BIMb@Mb@Mb@ I )Y!rh?+?Qyl'?=A A) AI3@yAI I 4٢_k <=9Q >! %G٣!y% -> 5Nusing accuracyPremultiplier from config)=R59-%䑜?=R5Y-:= i-A=(?=:=)=@- :E-";-;-R5MB MVAUEDNOT Ignoring new targets: 82.00 m. jjjjihhhhBfffrfbf@C?ɛB. HGI GפɚiIۉ=Iii))Hm>Ii ImYIImBIm, =&Ii.Ii6Im<:Ima FBI1JI1RI1ZI1bI1jI5 5*F2F:FBFO0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O >zK BoHK K K K .ww, 06AR#eO@YR"]@R_=9R8 =yRHU`?OԿ maq?o??ɨR#eO@R;RCy^B^IIjIj4٢~ ~`=9VQ > G٣ MGy "*  > Nusing accuracyPremultiplier from configR59ё?R5Y? iA!%,%@:E ; ;R5) -A)UDNOT Ignoring new targets: 82.00 m. jQjQjYjYiYhYhYhahafafafirfibfm`?ɛB 隝4MI zɚiI=Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFX0JF $?IG?>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J :J J _w,I6A6$M@Y6#[@6UV=96-=y6Hr}d?bI`4zҿ1ю?@Ǫ??ɨ6$M@6f;6CyfBfIInInE4٢v vK=9vົQ v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config R59}? R5YB iA .@:E: :R5 AEMDNOT Ignoring new targets: 82.00 m. jIjIjQjQiQhQhQhYhYfYfYfarfabfe?ɛBԞ 隕cNI fɚiI=Iii))*FU?2Fa:FaBFe_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.G6>G?G> IGiByO>jHm <bHm p<Hu >Iu C Iu 'IIu fBIu + =&Iq .Iq 6Iu c<:Iu ; Fw,c6A67K@Y66Z@6!"Q=96jIbx>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YNbX9? ףp= ?~jty%?Q=A zA)II@yIIT4٢ި< ;=9>Q > G٣y% > Nusing accuracyPremultiplier from configR59y?R5YE i_A L'? : 3/ @:ER;GH;OR5B A%EMDNOT Ignoring new targets: 82.00 m. jIjIjIjIiIhIhQhQhUuBfYfYfYrfYbfe`+?ɛB 隕 KI ؛ɚiIj=Iii))*F5?2F1:F1BF1JF1zKBHK}9KKK  GiWill construct direction to contact in vehicle frame from tetrahedron phase data.iAGa Bq O > $?I w,G}6A:I@Y:X@:jJ=9:%XX ^G٣^MGy^먽 ^> fNusing accuracyPremultiplier from config`fR59bܔ?jR5YbG ib:Ahj!1j@b:Eb :b:b~R5l rAp DNOT Ignoring new targets: 82.00 m. jjjjihhhhff!f!rf!bf%xY@ɛMBMร QUGIQ UBɚQiQI]0=IYiaia)a)a*F?2F:FBF/1JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.J3K;m3 K;L.K3K3"K3JJJJJ,:J:JJGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,6A6G@Y6V@6C=96 G٣y > Nusing accuracyPremultiplier from configR59~?R5YjJ iA#?:2@ :E>;;G"R5B ~A!EDNOT Ignoring new targets: 82.00 m. jjjjihhhhBf f f rf bf @ɛB)*  FI ¾ɚiI=IH>I IIIQBI) =&I.I3D6Iz<:IN FiiI)Q)QEa*F?2F:FBF1JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]?]4=G) G B O= >zK} c{LK} K9Ky K} K} Oūw,^6A2E@Y2S@2A^:=92PP RG٣TyV V> jNusing accuracyPremultiplier from config`rR59bk?vR5Yb[L ibAxz4~@b$:Ebܷ)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:31:53.6703 TRx dataTimestamp_ set to:1736375514.860774) ]$?IY*Fm?2Fq:FqBFuP5JFyGm?>GI BY Ou >e Will construct direction to contact in vehicle frame from tetrahedron phase data.;w,B>6A6C@Y6 Q@6}0=965B>IIJIJD4٢R > RI=9VQ V>TX ZG٣ZMGyZ Z> bNusing accuracyPremultiplier from config`fR59bV?fR5Yb=N ib܅Adf7f@b(:Eb:b:b)R5l nAlDNOT Ignoring new targets: 82.00 m. jjjjih h h hfffrf!bf% @ɛMBM s IM8II UTȼɚQiQIUY=Ii p))*F?2F:FBFP0JFGM">GBUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:31:53.6703 LVL= 17456, 23185, 11458, 24803, AGC= 57, IDX= 438, 0.27,-1.121,-0.694, 1.158,-0.151, PHS=-0.882,-0.496, 1.306, RAW= 219.5, 0.7, CAL= 219.8, -4.6, ROT= 290.2, 4.6 Ygot valid direction response: 22:31:53.6703 LVL= 17456, 23185, 11458, 24803, AGC= 57, IDX= 438, 0.27,-1.121,-0.694, 1.158,-0.151, PHS=-0.882,-0.496, 1.306, RAW= 219.5, 0.7, CAL= 219.8, -4.6, ROT= 290.2, 4.6 PDAT read: Bearing 290.2, 4.6 (Local) ~Local bearing/azimuth received: Bearing 290.2, 4.6 (Local) Oa> =$?I9uDAT read: Range 10 to 50 : 82.7 m (Round-trip 110.3 ms) speed 0.1 m/s },DAT read: user:2676> BDAT read: Tx time:22:31:54.7558 $Ping request sent.RIٿ9Dy]fBY]0D]Z ],)]`IYi]a]]+?]/u@]+H< ]ۄu@)]lI] @i]l=YY]~&ſf7?4Qʼn?)]O?I]+Ni]9Ϳ]?YY-:publishing transmit ping time؁Fpublishing direction and range infoY9]d%>RIٿ9DyYYYY Y)YIYiYYYYY Y)YIYiYYY]~&ſf7?4Qʼn?)YIYiYYYYZH RH H I  I I I * =&I .I 2D6I <:I Y F׸w,6A6`A@Y6_O@6S'=96' G٣y > Nusing accuracyPremultiplier from configR59I@?R5YO i΅A ?::@-:Eh;;,R5B A'EkS?k\u k k6A:kfBBk@BZk9?"Odv~1P Hd%>RIٿ9DJk9ͿRk?*2щBļ{P@oHh㠒,ֵ?7A;"kB*kt5k0^Q?kPy 2kZwAkal^?kD kkAk42>U addTargetRange:: Added new target pos. range: 82.699997 m, deltaT: 3.551606 s, deltaX: -0.200005 m, approachRate: -0.056314 m/s, rangeRepo size: 4 e Added new target pos. range: 82.699997 m, bearing: 92.443340 deg, lat: 36.905107 deg, lon: -122.119949 deg, deltaT: 14.400812 s, deltaX: 0.699997 m, approachRate: 0.048608 m/s, posRepo size: 4 mDNOT Ignoring new targets: 82.70 m. jijjjihhhhŁBfffrf̬T@bf`"?ɛBI z4I μɚ!i!I%ς=IIiM03w)I)QEYE]sAzKEKKE9KAKEKE  *F?2F:FBFf2JF"GGe>m Will construct direction to contact in vehicle frame from tetrahedron phase data.G |> - $?I- hG B O- >cw,6AyEBIi%=I%p< -=-=I5I5.4٢EQ= ER=9EQ E>II MG٣IyU U> eNusing accuracyPremultiplier from configamR59e%,?mR5YeMQ ieAqqu@e0:Ee\:e~:eP0R5y }?A,EDNOT Ignoring new targets: 82.70 m. jjjjihhhhffqfqrfybf}@,?ɛBj L.I ҼɚiI 3=Ii|))*F?2F:FBFT0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G.w>GYBaOZ>] Will construct direction to contact in vehicle frame from tetrahedron phase data.w,7A6E=@Y6DK@6 =96Pc G٣MGyJ > Nusing accuracyPremultiplier from configHI I'IIfBI) =&I.I3D6Id<:I= FR59?R5YQ iAc?:gC@5:Ez;;64R5 ADNOT Ignoring new targets: 82.70 m. jjjjihhhhBf!f!f!rf)bf-4?ɛ]B]3 Ye$Ia eּɚaiaIm4=Iiim욀)q)q*F?2F:FBF_0JFGQ>GBO k>JuJuJu/JqJu|:Ju:Ju(N3JqJu;Ju;JuA;JuA;Will construct direction to contact in vehicle frame from tetrahedron phase data.zK $7LK 9K K K  X}_OA8.$  !,/010FqjOBK :K rArw,v27Ay%fB-)II]I]4٢}= }^=9Q > G٣y > Nusing accuracyPremultiplier from configR59?R5YwR iA@8:E?|;;m7R5B -A/EDNOT Ignoring new targets: 82.70 m. jjjjihhhhfffrfbf @?ɛ5B5p{ 1=I9 =s'ڼɚ9i9I=猒=IAiEJ)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I*F ?2F :F BF o0JF G5I>G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ƇL7A29@Y2G@2 <92ͦXX ZG٣XyZ%& Z> bNusing accuracyPremultiplier from config`fR59b?fR5YbR ibAhjTGj@b<:Eb:bq:b:R5nB nAn2EDNOT Ignoring new targets: 82.70 m. jjjjihhhh!f!f!f!rf!bf- 5?ɛUBUˊ QUFI ݼɚiI%=IiG)BYO}7>EWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IjH<bH<HI IMIIBI* =&I.I2D6I<:I] FBI}țCJI}țCRIyZI}* =bI}* =jI}%?5B&w,$`f7A>%7@Y>$F@>b<9>TH߻ Śa?1(?o [י?@Q?ɨ>%7@>;>CyRBRIIJEJEJE0JAJE:JE:JEـ3JAJE;JE;JEL;JEL;UMb@Mb@Mb@QQQ Q)QYUA`"?~jtMb?yU?UU G٣MGy_ > Nusing accuracyPremultiplier from configR59pؐ?R5YR iA8?:uC@u@@:EZ<<>R5y VADNOT Ignoring new targets: 82.70 m. jjjjihhhh>Bfffrfbf @ɛBP 隕 I ɚiIד=Ii GB!O=r>M Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I R w,77A6@E6@Y6?dD@6(<96j G٣y È  > Nusing accuracyPremultiplier from configR59Ő?R5YsQ i%OB@%@D:E;;AR5) -A-5E]DNOT Ignoring new targets: 82.70 m. jYjajajaiahahahihifififirfqbfu`U@ɛB 隥rI tɚiI]=Ii8GiByO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:22:31:57.2692 e TRx dataTimestamp_ set to:1736375518.408584u@w,87A I >g4@Y>fC@>x5<9>%> =y>H`Yk+?=q&?3Ɩ@%?``?ɨ>g4@>GT;>CyJBJ]IMb@Mb@Mb@ )Y-?L7A`尿:v?y5?+T<vA 3A) AIAy AII4٢< ;=9׻Q > G٣y{J > Nusing accuracyPremultiplier from config R59? R5YP iA$?:)<@@H:Em; l;ER5%B %A-8EHIII IMIIMBII&II.II6IMw<:IMJ FuDNOT Ignoring new targets: 82.70 m. jqjqjqjqiqhqhyhyh}YBfffrfbfM@ɛEBEzz AEIA EyɚIiIIM-=IQiU GBOd>JUJUJQJQJU,:JU:JQJQJU;JU;JUC;JUC;Will construct direction to contact in vehicle frame from tetrahedron phase data.zK ;WOK }9K K K U\cijgeYVXVSM@/&#&)),-/21/./..10/0/0021/-,+,./0-,-,+*+*++*))aw,B7A>3@Y>A@>W<9>l#=y>H``0``v?\`e?RCk??ɨ>3@>^Έ;>Cy^BbfIIjIj34٢r-= r^=9rQ r>tt vG٣vMGyzog z> ~Nusing accuracyPremultiplier from config|R59~G?R5Y~N i~A:@ @~L:E~;~;~HR5 A6E=DNOT Ignoring new targets: 82.70 m. j9j9j9jAiAhAhAhAhIfIfIfIrfIbfUo @ɛ}B} 隅lI i9ɚiIv=Ii$ Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: 22:31:57.2692 LVL= 21664, 24305, 11762, 25875, AGC= 56, IDX= 426, 0.18,-1.870,-2.031,-0.087,-1.213, PHS=-0.569,-0.771, 1.123, RAW= 204.4, 2.4, CAL= 204.7, -4.8, ROT= 305.3, 4.8 M Ygot valid direction response: 22:31:57.2692 LVL= 21664, 24305, 11762, 25875, AGC= 56, IDX= 426, 0.18,-1.870,-2.031,-0.087,-1.213, PHS=-0.569,-0.771, 1.123, RAW= 204.4, 2.4, CAL= 204.7, -4.8, ROT= 305.3, 4.8 U PDAT read: Bearing 305.3, 4.8 (Local) ] ~Local bearing/azimuth received: Bearing 305.3, 4.8 (Local) e DAT read: Range 10 to 50 : 81.8 m (Round-trip 109.1 ms) speed 0.3 m/s m ,DAT read: user:2677> u BDAT read: Tx time:22:31:58.3559 u $Ping request sent.u 1%ȥ?) ?I T.i Rտ 9>   :publishing transmit ping timeq  Fpublishing direction and range info 9 J̶&iMe#U׿y     ) I i      ) I i    an&ָ??>1%ȥ?) I i  Iw,7Abw2@Yb@@bt<9b}F=ybH`^@0 h T?`?@\Ԩ?s?ɨbw2@bɈ;bC11y޽B޽hIII4٢ ; 9=9Q > G٣!y% %> -Nusing accuracyPremultiplier from config)uR59-?}R5Y-L i)y}9@}@-P:E-,<-,<-LR5B ~A8Ek5h%@?k5~_ k1 k57A:k5BBk5wBZk5?"5mA#xRKk =5J̶&iMe#U׿Jk5RտRk59>*5$E1@-/&R@eope@5߮k?*@g?Aڿ"k56B*k50Ak5ddJ?k5.6 2k5Ak5ddJ?k5 k1k5Ak5j>E addTargetRange:: Added new target pos. range: 81.800003 m, deltaT: 3.788319 s, deltaX: -0.899994 m, approachRate: -0.237571 m/s, rangeRepo size: 4  Added new target pos. range: 81.800003 m, bearing: 76.431087 deg, lat: 36.905050 deg, lon: -122.119934 deg, deltaT: 3.788319 s, deltaX: -0.899994 m, approachRate: -0.237571 m/s, posRepo size: 4 DNOT Ignoring new targets: 81.80 m. j j j j ihhhhf %$?I!f9f9rfE@3sT@bfE`?eWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛBh 隕I DɚiI"=Iio-vw,W7Ay~BdI)) )Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ :J:JJJ;J;JDG;JDG;Mb@Mb@Mb@ )YS㥛?~jtMb`?y$&?Ľ; A A) AIAy\AII4٢| >=9Q >  G٣ y  > Nusing accuracyPremultiplier from configR59n?%R5YJ iA%'?%:%07@%@U:E`)<q)<PR5q uAu;EDNOT Ignoring new targets: 81.80 m. jjjjihhhhhBfffrfbf :v?ɛ=B=3 9=I9 e'ɚaiaIe=Iiim9Zw,|8A6C0@Y6B?@6P;96=y6H@O`ÿ 3z? ?`|?p@o? ?ɨ6C0@6:y;6CyBBB[IIJIJ4٢r vq=9vQ v?xx zG٣zMGyzɕ ~? Nusing accuracyPremultiplier from config R59\? R5Y*I iA  5@ @Y:E:q:SR5 AMDNOT Ignoring new targets: 81.80 m. jIjIjIjQiQhQhQhQhYfYfYfarfabfeݯ?ɛBF 隕I ɚiI~=IiO=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO-->  I w,l8AWill construct direction to contact in vehicle frame from tetrahedron phase data.F^0@YF}>@FUE9Fe=yFH|BĿ?\ ?Hy s#?h?`Ї??ɨF^0@F";FCyRBRVIMb@Mb@Mb@ )Yn?~jty&1yV.?`e/ A A) AIIAyAII4٢ >=9Q > G٣y > Nusing accuracyPremultiplier from configR59!E?R5YF iA0?:5@@]:E;);DWR5B A>EHI IIIBI&I.I6IG<:I& F5DNOT Ignoring new targets: 81.80 m. j1j1j1j1i9h9h9h9hEmBfAfAfArfAbfMK?ɛuBuX u9=}Iy }ɚyiyI}:]=Ii G>Gᜆ<G ?G ?GBOe>Will construct direction to contact in vehicle frame from tetrahedron phase data. w,758AzKMKKKK     :/@Y:=@:9:b=y:H`?ſ9?@?8k??Hƴ?`?ɨ:/@:;8yB{BFBIiF=IF<ININP4٢V{ V]=9V쀼Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`fR59b0?fR5YbD ib~Adj5@j@ba:Eb:b":b~ZR5p rgAp DNOT Ignoring new targets: 81.80 m. j j j j i h hhhfffrfbf%@#?ɛMBM:% IMHII UHɚQiQIU·=IiXJM JM JI JI JM |:JM :JI JI aU @aU @aU @aU @ Will construct direction to contact in vehicle frame from tetrahedron phase data.w,O8ABFx/@YBE=@B^9BMá=yBH{ƿE?`?ne*??`g2?w?ɨBFx/@B;BCyNiBN,IIVIV4٢^ bI=9bQ f>dd fG٣fMGyjna j> nNusing accuracyPremultiplier from configlrR59nV?rR5Yn{B inuAtv4@v@nf:En;n;n ^R5zB zAzAE%DNOT Ignoring new targets: 81.80 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf5@ɛm}Bm% qu Iq uɚqiqI}R=Iyi͙MWill construct direction to contact in vehicle frame from tetrahedron phase data.mGvA @Y vAy -BjHbH<HI III&I.I6Iw<:IJ Fw,Bh8AyVB IWill construct direction to contact in vehicle frame from tetrahedron phase data.@ Mb@Mb@Mb@ )YM?MbX9~jtyn2?ʡļ A hA)vAI`AiII4٢ 9=9Q > G٣y > Nusing accuracyPremultiplier from config R59M? R5Y'@ idA 3?:6@@k:E ;;aR5 ADEMDNOT Ignoring new targets: 81.80 m. jIjIjIjQiQhhhhfffrfbf`k}@ɛ%zB-R )-IQ UzɚQiQIU,y=IYi]uV!w,8A6,/@Y6K=@696=y6H@rǿAܦ?c?`ff??+? ?ɨ6,/@6r^;6CyB?BBI)D DIJIJ4٢R-ٽ RA=9VQ V>TT ZG٣\y^s2 ^> bNusing accuracyPremultiplier from config`fR59bF鏜?fR5Yb= ib\AhjE6@j@bp:Eb,;b;beR5l rDArGEeDNOT Ignoring new targets: 81.80 m. jijijijiiihihhhfffrfbf [@J5J1J1J1J5:J1J1J1ɛmwBuڕ qu"Iq uɚyiyI}Ƙ=Ii<BDAT read: Rx Time:22:32:00.8673 TRx dataTimestamp_ set to:1736375522.197038)E=*F=?2F9:F9BF=<4JF9G5+G BO5q> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.H= >I9  I= II= ЁBI9 &I9 .I9 6I= h<'w,x8A:Iu? FBIJIRIZIbIjI3E,/@YEK=@Er!9Eʮ=yEH o ƿ-? )b?]❳?-?`!ε??ɨE,/@E1;ECy&B%I Mb@Mb@Mb@ )Ygfffff?X9vMby33?\ A A)AIvAyAIIʴ4٢-ʽ -(=95?Q 5>19 =G٣=MGy= => MNusing accuracyPremultiplier from configAMR59ES͏?UR5YE; iEUAU3?U:U:@U@Eu:EE;E;EiR5Y eAeJEDNOT Ignoring new targets: 81.80 m. jjjjihhhhBfffrfbf @ɛtBK} &I ɚiI' =Ii MBDAT read: Tx time:22:32:01.9559 M$Ping request sent.M:publishing transmit ping timeIFpublishing direction and range info9m/ÿ[ٹz}vпy )Ii )Iiaáw?M?Ϙ?)Ii*F ?2F :F BF P5JF zK a3JK s9K K K BK) :K- qA ~$?I GU ^ Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:32:01.9551 G)B1OU>.w,8A;d/@Y9=@i9=yH`mƿ`/??V:?`7?YY ]G٣Yye< e> mNusing accuracyPremultiplier from configiuR59mǵ?uR5Ym?: imZAq};@}@mz:Em;m;mkmR5 Ak+x?kq k kˬ8A:k̠BBkBZk+?"Y6k(X9q-Sŵ Թ4m/ÿ[ٹz}vпJkdݿRk<~>*uf7@<ȼQ@Yo=+?=?;lun׿"kB*kAk?k 2kS BkkPy kZwAk4BkO6? addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.528059 s, deltaX: -1.400002 m, approachRate: -0.396819 m/s, rangeRepo size: 4  Added new target pos. range: 80.400002 m, bearing: 71.495871 deg, lat: 36.905050 deg, lon: -122.119244 deg, deltaT: 3.528059 s, deltaX: -1.400002 m, approachRate: -0.396819 m/s, posRepo size: 4 DNOT Ignoring new targets: 80.40 m. jjjjihhh h f f f rfT@bf ?ɛ]qBe> Z=隅h4I mɚiI+6=IiB%?5w,Y8AF/@YF=@F‰9F>=yFHp@ſ@G? =?@Q ?5? N?֯?ɨF/@Ft;DynBnIi~C=I~4<I-I-4٢]峽 ]J=9mͼQ }> G }$?I٣yT< >}Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configR59>?R5Y8 idAh;@@:E:G:HqR5B AMEDNOT Ignoring new targets: 80.40 m. jjjjihhh!h!fAfIfIrfIbfM:?ɛnB 隽N;w,#8A60@Y61>@6H96p>y6H ^r 7ĿǼ?v?`WU?$? V? ?ɨ60@6;6CyBBBIEMb@Mb@Mb@AAA A)AYE㥛 ?qq }G٣}MGy}Y< }> Nusing accuracyPremultiplier from configR59v?R5Y7 iA5?: @@@:E-;;tR5B APEDNOT Ignoring new targets: 80.40 m. jjjjihhhh́Bfffrfbf |S?ɛlBV BI h ɚiIi=I!i%}Will construct direction to contact in vehicle frame from tetrahedron phase data.Bw, 9AJJJJJJ/JHJJ|:JJ:JJ(N3JH~Will construct direction to contact in vehicle frame from tetrahedron phase data.yUӀBUtIIeIe{4٢ H=9Q > G٣y > Nusing accuracyPremultiplier from configR59Hn?R5Y{6 iA@:E@;A;xR5 ASEDNOT Ignoring new targets: 80.40 m. jjjjihhhhfffrfbf@?ɛ-iB-m 15JI1 =wɚ9i9I=L=IAiEl|BJw,5 +9AB5G0@YB3f>@Bߺ9B'>yBHl /gÿ@?`{#?@P?S??7?ɨB5G0@Bܘ;BCyJBJVI)L LmMb@Mb@Mb@iii i)iYm㥛 ?ʡE?~jtxyim=mĻm+A m`@)mAIm/ AiymAII4Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕA٢`Ƚ (=9Q > G٣y; > Nusing accuracyPremultiplier from configR59(Q?R5Y5 iA6?:\E@@:Ep; ;V|R5 QADNOT Ignoring new targets: 80.40 m. jj j j i h hhhBfffrfbfT@ɛUeBUx Y]%UIY ]dɚYiYI]({=Iaiee8{zK LK 9K K K  -z$?I1E Will construct direction to contact in vehicle frame from tetrahedron phase data.(Qw,D9AR/0@YRN>@RȽ9R7>yRHeeÿ?@M?`-K@M+?Z ?i??ɨR/0@R_;RCyZBZHIIfIf4٢nd nX=9n/Q r>pp rG٣rMGyvw v> zNusing accuracyPremultiplier from configx~R59z:?~R5Yz5 izA|FE@@z:Ez ;zP ;zR5 B AVEEDNOT Ignoring new targets: 80.40 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbf[|@ɛ%bB%Ľ )-XI) -i(ɚ)i)IMx=IQiU z6Ww,#`9AjH.<bH,H,I, I.II.[BI,&I,.I,6I.<:I.Z Fy5B5@IMb@Mb@Mb@ )Y(\?Zd;?I +?y.?=94<A @)AI Ay3AII4٢ 1=9Q > G٣y  > Nusing accuracyPremultiplier from configR59 ?R5Y5 ivA0?:H%@:E+;;R5-B -A-YE]DNOT Ignoring new targets: 80.40 m. jYjYjYjYiYhahahihmvBfififqrfqbfu@ @ɛ^Bf@ 隥ZI %<ɚ!i!I%Oq=I)i-x]w,y9AzK2m$JK2s9K0K2K2+\Q5B0@YB >@B9BF>yBHV`rÿl?A?@FWM?`b? ?s?ɨB0@B;@yNBR;IiV>IV%=IZIZs4٢b¼ ba=9bQ b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrR59n* ?rR5Yn5 inÆApvHv@n:Enb;nT:nՆR5x zAz\EDNOT Ignoring new targets: 80.40 m. jjj!j!i!h!h!h)h)f)f)f)rf1bf5& @ Ey$?IAɛe[Bmؼν im8[Ii mɚqiqIua=IiDw% Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 22:32:04.4656 LVL= 22080, 23361, 11586, 27491, AGC= 59, IDX= 421,-0.34,-0.799,-1.080, 0.915,-0.135, PHS=-0.576,-0.897, 1.048, RAW= 201.1, 4.8, CAL= 201.7, -3.0, ROT= 308.3, 3.0 m Ygot valid direction response: 22:32:04.4656 LVL= 22080, 23361, 11586, 27491, AGC= 59, IDX= 421,-0.34,-0.799,-1.080, 0.915,-0.135, PHS=-0.576,-0.897, 1.048, RAW= 201.1, 4.8, CAL= 201.7, -3.0, ROT= 308.3, 3.0 u PDAT read: Bearing 308.3, 3.0 (Local) u ~Local bearing/azimuth received: Bearing 308.3, 3.0 (Local) } DAT read: Range 10 to 50 : 79.1 m (Round-trip 105.5 ms) speed 0.3 m/s  ,DAT read: user:2679>  BDAT read: Tx time:22:32:05.5559  $Ping request sent. ! !  :publishing transmit ping time؉  Fpublishing direction and range info! 9% `{ޥ &Կy! ! ! ! ! )! I! i! ! ! ! ! ! )! I! i! ! ! % 2{?(}?tv{*9?)! I! i! ! ! ! fdw,9AFV/@YFT>@F9F>yFHO@ÿj??$G???o?ɨFV/@F`O;Dy~B?IIIm4٢-< -D=9]$cQ ]>Ya eG٣eMGyeh e> uNusing accuracyPremultiplier from configiuR59m?R5Ym5 im!AH@m:Em>;m;mR5 Ak]`ϯ?k]23L kY k]H9A:k]3BBk]BZk]챦?"]%JKpR4@8%8]`{ޥ &ԿJk]SۿRk]>*]Qk梚2@}P@cvJB](ۄ?>C"VZ?> ݿ"k]Iy I}II}=BIy&Iy.I}2D6I}<:I}Y FɛVB~ Ԉ=WI ɚiI=Iiu#kw,Ӱ9AyBCIII]4٢M^< M2=9MQ U>QQ UG٣Qy] ]> Nusing accuracyPremultiplier from configR59x؎?R5Y5 iA@:EG:G:R5B A_EDNOT Ignoring new targets: 79.10 m. jjjjihhhhfffrfbf 9?ɛTB02ٽ #TI !ɚi!I% =I!i- t~rw,Gv9A2/@Y2=@2:92=y2H _A`ÿ?+?_@?K? ?S~?ɨ2/@2 ;0yBBBQI)D DHHININ4٢V}x= VW=9V Q V>XX ZG٣Xy^$ ^> bNusing accuracyPremultiplier from config`fR59bŽ?fR5Yb5 ibއAdfHj@b:Eb:b7:bБR5nB nQAnbEDNOT Ignoring new targets: 79.10 m. jjjjihhhhfffrfbf?ɛePBm%yý imkLIi m~$ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.iqI2Ҙ=Ii }s5 Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I II 8BI &I .I 6I ]<:I 7 FBIJIRIZIbIjIz4xw,Z9AJg0@YJe$>@Jv 9J =yJH`J>~ÿ`?@O?VdӾ?a?`Uľ?@4x?ɨJg0@Jc;JCyR̀BRlI--only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V  5@5 5@5 5@5  5@5 I=I=4٢Mk= M@=9]iQ ]>YY eG٣eMGyes; e> ubBottom track data is 0.4 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from configi=R59ms?=R5Ym5 imDA=+:9=x:EHE@m:EmmՔR5I MAueEDNOT Ignoring new targets: 79.10 m. jjjjihh)h1h1f1f9f9rfAbfEu?ɛLBF ?I B'ɚiI!{=Iir{w,:A2 0@Y2:>@2j92?=y2H=: @ÿaE?Y?@fᐸ?| ?L? Tr?ɨ2 0@2;0yJBNIIVIVb4٢^= ^1=9b:Q b>`` fG٣dyfs<; f> nbBottom track data is 0.9 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighrR59j?rR5Yj5 ijAr :tvI:vHv@j:Ej*;jc?jyR5x zA|DNOT Ignoring new targets: 79.10 m. jjjjihhhhfffrfbf5?ɛ%HB% )-/II Ug)ɚQiQI] =Iaip 5 t$?I9 Qw,:A:s0@Y:q2>@:#9:?=y:H3/ÿ>?d? e ٸ?@?IZIZЬ4٢v= vH=9zOQ z>  G٣ y%H -> ebBottom track data is 1.3 s old, using for 20.0 s. eNusing accuracyPremultiplier from configAWill construct direction to contact in vehicle frame from tetrahedron phase data.խ?խ=HU>IUC IUIIULBIU+ =&IQ.IQ6IU<:IUm FR59Ex?R5YE5 iE"A9#:H@E:EEX=E?EjR5B %A%hEDNOT Ignoring new targets: 79.10 m. jjjjihhhhfffrfbf@ɛ-CB-h -bk=5:!I1 5,ɚ1i1I5=I9i=~gow,<:A:/@Y:=@:W9:>y:H#ÿ?`Z?@=]I?`? d=?@[?ɨ:/@:贑;8yFBFIzKR}NKR]9KPKRKR BKX:KZrA }       Mb@Mb@Mb@ )Y"~j?T㥛 ?J +?yS#?>H=A @)@IAypAIIݜ4٢u= =9zQ > G٣MGy >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configR59\?R5Y5 iΉAT:&?:H@:EA;;R5B AkE DNOT Ignoring new targets: 79.10 m. j jjjihhhhBff!f!rf!bf%`]G@ɛM?BM& QUIQ }.ɚiI=Iim\w,x}V:A2/@Y2=@2 92\>y2Hqÿ?`u?TC??`?`T?ɨ2/@2e;0yNMBR IIZIZ4٢rJt> rZ=9rջQ r>tt vG٣tyz= z> ~Nusing accuracyPremultiplier from config|R59~H?R5Y~ 6 i~KA iH @~:E~ ;~:~0R5 AnEDNOT Ignoring new targets: 79.10 m. jjjjihhhhfffrfbf n @ɛ;B% !%&I! %_/ɚ!i)I-^=I)i5;lI IMIIBI&I.I6IQ<:I+ F*Fu?2Fq:FqBFyJFyG ԼG  Will construct direction to contact in vehicle frame from tetrahedron phase data.B E DAT read: 22:32:08.0637 LVL= 23696, 25777, 12482, 30195, AGC= 56, IDX= 417, 0.21, 0.539, 0.342, 2.309, 1.172, PHS=-0.544,-0.782, 1.135, RAW= 203.5, 2.1, CAL= 203.6, -5.1, ROT= 306.4, 5.1 M Ygot valid direction response: 22:32:08.0637 LVL= 23696, 25777, 12482, 30195, AGC= 56, IDX= 417, 0.21, 0.539, 0.342, 2.309, 1.172, PHS=-0.544,-0.782, 1.135, RAW= 203.5, 2.1, CAL= 203.6, -5.1, ROT= 306.4, 5.1 O] >p w,r:A.PDAT read: Bearing 306.4, 5.1 (Local) .~Local bearing/azimuth received: Bearing 306.4, 5.1 (Local) 6DAT read: Range 10 to 50 : 77.7 m (Round-trip 103.6 ms) speed 0.4 m/s >,DAT read: user:2680> FBDAT read: Tx time:22:32:09.1560 $Ping request sent.:publishing transmit ping time؉Fpublishing direction and range info9-H۵g^1I[ֿy )Ii )./@YM=@3"9 >yHO@wĿ@k?A?uK?0?@.?`WN?ɨ./@&C;騅CywB=I) IiƄ^"?X ?5T?)IiuMb@Mb@Mb@qqq q)qYuE? ףp= ??yu&?uQ=uL=uA u~@)u@IurAqyuQAIIb4٢+> =9"Q >!! %G٣!y%y -> 5Nusing accuracyPremultiplier from config)}R59-+?}R5Y-5 i-A}(?:E@@-:E- /<-.<-R5B 9AqE q$?IkN{?k!t` k k(q:A:kfBBkQBZk;!?"x&򎵈lw% Rm$;-H۵g^1I[ֿJkԿRk>*GG`*@P@?w,搜:AJ.J.J,J,J.|:J.:J,J,a2@a2@a2@a2@n.@Yn=@n"9n>ynH Ŀ ??A?_A?@?`^I?ɨn.@n \;lyBvII%I%i45Will construct direction to contact in vehicle frame from tetrahedron phase data.٢=> Ef=9E\Q E>II mG٣mMGyu] u> Nusing accuracyPremultiplier from configyR59}?R5Y}45 i}xABE@@}:E}'<}'<}R5 A=DNOT Ignoring new targets: 77.70 m. jAjAjAjAiAhahihihififqfqrfqbfu`Q?ɛ3B CI w2ɚiI,=Iih IWill construct direction to contact in vehicle frame from tetrahedron phase data.H] >IY  I] II] ˁBI] , =&IY .IY 6I] ~<:I] J Fw,i:A6 .@Y6=@6z&968 >y6H`Ŀ x?@1?EH??H?G?ɨ6 .@6;4ybÁBbIMb@Mb@Mb@ )Y/$?~jt?:v?y,?D<T=rA )Q@IAyAII 4٢c > @=9Q > G٣y: >  Nusing accuracyPremultiplier from config R59 ?R5Y 3 i A,?:{=@@ :E ; ; R5! %A%tEMDNOT Ignoring new targets: 77.70 m. jQjQjQjQiQhYhYhYh]$Bfafafarfabfe !?ɛ/B؄o ?<=WI 2ɚiI=I!i%"gzK} BoIK} 9Ky K} K}  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,B:A2m.@Y2k<@2'92&X>y2H Ŀ??Bؒ??@?B?ɨ2m.@2 ;0y>B>IiB4=IBe>IFqIFJH4٢N8M> Rc=9R"9Q R>PT VG٣TyV V> ^Nusing accuracyPremultiplier from configX^R59Z[?bR5YZ2 iZzA`fn=@f@Z:EZV;Za;ZӯR5vB v AvwE=DNOT Ignoring new targets: 77.70 m. j9j9j9jAiAhAhAhAhIfIfIfQrfbfJJJJJJ9JJ]Will construct direction to contact in vehicle frame from tetrahedron phase data.)A A ɷw,M-:A DIDFc~GT\ vYtyv BM*@MB}.@Y}=@}(9}Ag>y}HԠĿ{??\A`? ?m?A>?ɨ}.@}Q8;}CyލBލIIuIaO4٢%h> -3=95Y=Q 5>19 =G٣=MGyM|S; M> }Nusing accuracyPremultiplier from configaR59edՍ?R5YeZ1 ieAWill construct direction to contact in vehicle frame from tetrahedron phase data.=@@e:EefI I II,BI&IHD.I6Ib<:I3 FeٳR5  ADNOT Ignoring new targets: 77.70 m. jjjjihhhhfffrfbfS?ɛ]'Be C ae$Ia ex3ɚaiiIm9Ӓ=Iiiuic|w,:A23/@Y2R=@2Q'92T>y2H`Q `Ŀ A??)D`!? f?:c? eW=9m;Q m>iq uG٣qy}$< }> Nusing accuracyPremultiplier from configR59?R5Y/ iAM3?:7@@:Ek;W;R5B ? AxEDNOT Ignoring new targets: 77.70 m. jjjjihhhhBfffrfbf@@ɛ5$B5) 1502w,:;A6|/@Y6=@6Z'96xX>y6H`7ÿ?{? :G `?5??9?ɨ6|/@6XX ^G٣\y^< ^> bNusing accuracyPremultiplier from config`fR59bG?fR5YbR- ibAhj8@j@b:EbX;b;b?R5nB nZ Ar{EDNOT Ignoring new targets: 77.70 m. jj j j i h h hhfffrfbf%`\@ɛ B X=I }3ɚiI8=Iiw`G=Will construct direction to contact in vehicle frame from tetrahedron phase data.H]>IY I] II]BI]- =&IY.IY6I]<:I]H FBIŚCJIŚCRIZI, =bI, =jI`Y5G)BaO>Yw,0/;AysBs I]Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YZd;?"~jX9v?y>?S㽹< A Q@)@IAyAII4٢1> 0=9Q > G٣MGy > Nusing accuracyPremultiplier from configR59?R5YS* iA=A?:3@@:E;;UR5 > A~EEDNOT Ignoring new targets: 77.70 m. jAjAjAjAiAhihihihuBfqfqfqrfqbf}`U@ɛBF ->I \2ɚiIo6=I i ^  BDAT read: Rx Time:22:32:11.6617 % TRx dataTimestamp_ set to:1736375533.042052zK- OK- 9K) K- K- K!"JL9% *F ?2F :F BF ?1JF G-GB O->w,fO;A:~0@Y:{>@:p''9:a>y:H-@'b? ? Z?4?n6? 5?ɨ:~0@:a;:CyBBB IININ4٢V= V;=J^J^J^0J\J^|:J^9J^ـ3J\9ZQ f>dd fG٣hyj;= j> rNusing accuracyPremultiplier from configlrR59np?rR5Yn' inAtv4@v@n:En&:n&:n#R5x ~eA|Will construct direction to contact in vehicle frame from tetrahedron phase data.EDNOT Ignoring new targets: 77.70 m. jijijqjqiqhyhhhfff rfbf 3 @ɛB Ω=k>I i1ɚiI)=Iaie3]Iu C Iu !IIu BIq &Iq .Iq 6Iu D<:Iu  FJF m DAT read: 22:32:11.6617 LVL= 19952, 23953, 10914, 25155, AGC= 54, IDX= 428,-0.23,-0.145,-0.211, 1.758, 0.573, PHS=-0.630,-0.737, 1.182, RAW= 207.2, 2.0, CAL= 207.5, -5.0, ROT= 302.5, 5.0  Ygot valid direction response: 22:32:11.6617 LVL= 19952, 23953, 10914, 25155, AGC= 54, IDX= 428,-0.23,-0.145,-0.211, 1.758, 0.573, PHS=-0.630,-0.737, 1.182, RAW= 207.2, 2.0, CAL= 207.5, -5.0, ROT= 302.5, 5.0  PDAT read: Bearing 302.5, 5.0 (Local)  ~Local bearing/azimuth received: Bearing 302.5, 5.0 (Local)  DAT read: Range 10 to 50 : 76.1 m (Round-trip 101.5 ms) speed 0.4 m/s  ,DAT read: user:2681>  BDAT read: Tx time:22:32:12.7560  $Ping request sent. Y Y m :publishing transmit ping time u Fpublishing direction and range infoY 9] 5^2Wפ$ ^ٿyY Y Y Y Y )Y IY iY Y Y Y Y Y )Y IY iY Y Y ] GXb?to?R?)Y IY iY Y Y Y G}rG9BAO] ?xw,q;AJWill construct direction to contact in vehicle frame from tetrahedron phase data.y-B- I ====]Mb@Mb@Mb@YYY Y)YY]%C?@5^I ¿{Gz?y]ZD?]b]ף<]/ A ]@)]@I] AYy]GAII]4٢= =9Q > G٣ MGy > Nusing accuracyPremultiplier from config R59K?R5Y# iAG?:2@@:E:;k8;qR5%B %A%Ek}}F?k}IK ky k} b;A:k}3BBk}$BZk}?"}ܽJH SQ'P;{>}5^2Wפ$ ^ٿJk}ӿRk}>*}9"@@O@BGcD}?yD?:{Xp"k}|B*k}Ak}yjK?k}/и 2k}žAkykykyk}Bk} ? addTargetRange:: Added new target pos. range: 76.099998 m, deltaT: 3.778512 s, deltaX: -1.599998 m, approachRate: -0.423447 m/s, rangeRepo size: 4  Added new target pos. range: 76.099998 m, bearing: 81.790198 deg, lat: 36.905017 deg, lon: -122.119220 deg, deltaT: 3.778512 s, deltaX: -1.599998 m, approachRate: -0.423447 m/s, posRepo size: 4 DNOT Ignoring new targets: 76.10 m. jjjjihhh!h%Bf!f!f)rf-`fS@bf- ~?ɛB ؼ 隝>I (0ɚiIߍ=IiJ\zK]MK]9KYK]K]RKm?JKm?w,|;AR1@YR?@RK(9R">yRH~<@@Xe?QG?b7?`@? /?`+?ɨR1@R;RCy^B^ IIfIfa4٢nI-> rq=9rMWQ r?pt vG٣tyv &= v? ~Nusing accuracyPremultiplier from configx~R59z 7?R5YzR! izA3@@z:Ez ;z ;z^R5  ADNOT Ignoring new targets: 76.10 m. jjjjihhhhfffrfbf?ɛ=B=] AE~>IA E@@/ɚAiAIE=IIiM[] Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I `!II 4BI &I .I 6I <:I Fww,v;A%<2@Y%[@@%.#'9%{!>y%HyH λ??k!???.?ɨ%<2@% ;%CyM̂BU I Mb@Mb@Mb@    ) Y  rh?HzG{Gzt?y CK? = ף;  A @) @I  A y QAI%YI%4٢5E= 5(=9Ew;Q E> G٣y< > Nusing accuracyPremultiplier from configR59?R5Y( ipA/N?:5@@:E;;R5 fAE DNOT Ignoring new targets: 76.10 m. j jjjihhhhBfff!rf!bf% C?ɛUBUs Y]>IY ]&-ɚaiaIe=IiimZo[ 9 I9 w,Xs;A6X2@Y6U@@64&96 >y6HQ? e*?`s%?@F??1?ɨ6X2@6L;4y>ւB> IXZAI^pI^F4٢f@= f|=9j78;Q j ?hl nG٣n!MGyn< r? vNusing accuracyPremultiplier from configpzR59r?zR5YrB irAxz6@z@r:Er;r;rqR5B AE5DNOT Ignoring new targets: 76.10 m. j1j1j1j1i1h1h9h9h9fAfAfArfAbfE?ɛm Bu- qu>Iq u,ɚqiyI}-=Ii~V[0,w,;A633@Y60.A@6q"96,>y6H@[@ B? ?={?@??VC?V:?ɨ633@6>;6Cy>B> IIFIF4٢n[= nE=9rpt vG٣tyv{L< v> ~Nusing accuracyPremultiplier from configx~R59zY茜?R5Yz izA]6@@z;Ez:z:zR5 B AEuDNOT Ignoring new targets: 76.10 m. jqjqjqjqiqhyhyhhf g$?Iffrfbf?ɛ B|Y %>I! -WJ+ɚ)iI}&=IiQY[*F?2F:FBF]0JFIEC IE!IIElBIA&IA.IA6IEU<:IE& FGEmI;GBO >J J J J J :J :J J J ;J ;J C;J C;XRw,G;AWill construct direction to contact in vehicle frame from tetrahedron phase data.yMBM IMb@Mb@Mb@ )YK7A`?rh|~jthyK?D A p@)@I Ay@IIy4٢m :=9Q >    G٣ y  > Nusing accuracyPremultiplier from config%R59ˌ?-R5Y; irA-oM?-:-f7@-@ ;E3=;:;R59 =A=EeDNOT Ignoring new targets: 76.10 m. jajajajiiihihihqhuBfyfyfyrfybf}@ɛB K IM>IQ Uf)ɚQiQIUv!=IYi][[#w,1]I  = R=II{4٢%> -;=9)Q ->11 =G]Will construct direction to contact in vehicle frame from tetrahedron phase data.٣"MGy > Nusing accuracyPremultiplier from configR59ɮ?R5Y iӑA@;E::R5B AEDNOT Ignoring new targets: 76.10 m. jjjjihh h h f ffrfbfpW@ɛEBER IM)>II Mk8(ɚIiIIU, =IQi]^[B*F2F:FBFX0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:32:15.2597  TRx dataTimestamp_ set to:1736375536.568787He >Ie C Ie !IIe BIa &Ia .Ia 6Ie 6<:Ie  FG% F<G B O= > w,-y6H6o@`? K? s? ?%? S?ɨ63@6+;6CyBBB!IUMb@Mb@Mb@QQQ Q)QYUsh|??p= ףMbpyUI?UUUIA UC@)U-@IU`AQyUQ@ImIm4٢}V= }8=9}J G٣y!< > Nusing accuracyPremultiplier from configR59?R5Y i.AJ?:n<@@;En;;R5 ADNOT Ignoring new targets: 76.10 m. jj j j i h hhhQBfffrfbf @ɛMBUP- QUE>IQ U&ɚYiYI]=IYiew[5 Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: 22:32:15.2597 LVL= 21040, 26417, 11730, 26771, AGC= 59, IDX= 423, 0.44,-2.557,-2.495,-0.548,-1.762, PHS=-0.707,-0.685, 1.211, RAW= 210.6, 1.9, CAL= 210.9, -4.7, ROT= 299.1, 4.7 } Ygot valid direction response: 22:32:15.2597 LVL= 21040, 26417, 11730, 26771, AGC= 59, IDX= 423, 0.44,-2.557,-2.495,-0.548,-1.762, PHS=-0.707,-0.685, 1.211, RAW= 210.6, 1.9, CAL= 210.9, -4.7, ROT= 299.1, 4.7  PDAT read: Bearing 299.1, 4.7 (Local)  ~Local bearing/azimuth received: Bearing 299.1, 4.7 (Local)  DAT read: Range 10 to 50 : 74.7 m (Round-trip 99.6 ms) speed 0.2 m/s  ,DAT read: user:2682>  BDAT read: Tx time:22:32:16.3560  $Ping request sent. k@= = = ۓk@)= I= @i= =9 9 = rd?2+?)= 9W?I= d i= tҿ= >9 9  :publishing transmit ping timeؙ  Fpublishing direction and range info9 9= 'ÿ;C,daai?ݿy9 9 9 9 9 )9 I9 i9 9 9 9 9 9 )9 I9 i9 9 9 = rd?2+?)9 I9 i9 9 9 9 zK BHK K K K jw,&Fy Ht>4?$O?`4?s??\?ɨ 3@ ; Cy}B} IIIkf4٢* H=9\  G٣yC8 >  Nusing accuracyPremultiplier from config =R59 w?=R5Y 8 i AAEo<@M@ ;E ; ;; BR5UB uAuEkunsF^?kuy kq kuD*u02?@2b7NN@4"EuCI $ɚiI =Ii[Ew,`y2H` y1d@?:? @㉾?? DC?c?ɨ2X3@2:;0yNBN!ITVAIZ[IZK!4٢ <  T=9]- G٣#MGy: > -Nusing accuracyPremultiplier from config!-R59%_?-R5Y% i%ϒA15u<@5@%;E%:%d.;%R5A EwAEEDNOT Ignoring new targets: 74.70 m. jjjjihhhhfffrfbf`ס?ɛB ->I #ɚiIS=Ii[I1 I5!II5BI5. =&I1.I16I5Z<:I5& FBICJICRIZI- =bI- =jIL4*Fq2Fy:FyBF}@5JFG<GJJJJJJ:JJJJ;JC;JC;BO > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,Jzy2H*|*o?W?@@?? ? X?ɨ23@2Љ;2CyRނBR IMb@Mb@Mb@ )YK7?MbPMbpyI?A c$?I @)@IAy(@IIF4٢  ?=9;Q > G٣yo > Nusing accuracyPremultiplier from configR59C?R5Y i*AI?:A@@$;EJ;I;DR5B AE-DNOT Ignoring new targets: 74.70 m. j)j)j)j)i)h)h1h1h5Bf9f9f9rf9bfE@GV?ɛmBu8 qu%>Iy }+"ɚyiyI}p=Ii1\JKm?Gm*f<GI BQ Ou >$w,qy:H l?q?U`Q??;?c?ɨ:=3@:-;8yBBB!IIJgIJ64٢R)= V^=9V=XX ZG٣XyZ3x ^> nNusing accuracyPremultiplier from configdzR59fy+?zR5Yf  ifvAxzA@z@f);EfE;f;f~R5B iAE-DNOT Ignoring new targets: 74.70 m. j)j)j)j)i)h1h1h1h1f9f9f9rfAbfE@w?ɛmBu qu>Iq uk ɚ1i1I5t=I9i=Da\I! I!I!I%/ =&I!.I%1D6I%k<:I%1 FGBO> +w,LMb@Mb@Mb@ )YMb?ʡE?yC?=hA @)@IAy@II4٢ 8=9Q > G٣$MGy > uNusing accuracyPremultiplier from configiuR59mJ?}R5Ym  imߓA}D?}:}H@}@m/;Em;m;m}R5 mAEDNOT Ignoring new targets: 74.70 m. jjjjihhhhˁBfffrfbfr?ɛB8  Z>I  ɚ i I =Iir\% Will construct direction to contact in vehicle frame from tetrahedron phase data.% ?% =,1w,6yRH/ ɲ~? Fs? `m?$?[ܿ? ч?ɨR˂3@Rs;Py^B^!IIfIf4٢nК< r\=9rg2=Q r>pt vG٣tyv: v> ]Nusing accuracyPremultiplier from configYeR59]?eR5Y]  i]*AaeH@m@]3;E]q:]:]R5q uPAqDNOT Ignoring new targets: 74.70 m. jjjjihhhhfffrfbfL@ɛB@Z >I ɚiI! =Ii\ e _$?Ia m!8w," G٣y   > Nusing accuracyPremultiplier from configR59M݋?R5Yb  ivA!%G@%@8;E:X:,R5-B 51A5E]DNOT Ignoring new targets: 74.70 m. jajajajaiahahahihiH >IC I!IIBI0 =&I.I6IG<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.f f f rfbf9@lJTimed out from 2025-01-08T22:22:19.3Zq6l%fCompleted lineCaptureHoming:MicromodemComms:CheckIn16% l%Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInk%VCompleted lineCaptureHoming:MicromodemCommsɛBÔ >I 4ɚiIL=Ii\F>w, G٣%MGys< > Nusing accuracyPremultiplier from configR59D?R5Y  iҔA>?:F@=;E;I; R5B AEDNOT Ignoring new targets: 74.70 m. jjjjihhhhBfffrfbfϰ@5 k nAggregate::initialize lineCaptureHoming:MicromodemComms16  l ~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6 ɛ5B5W( 15?I1 = ɚ9i9I==IAiE\ax`I;*GT<G B J J J J J :J :J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. E^$?IIOm?Gw, =AU͇2@YUʦ@@Uͽ9U9J=yUHd`H?`#? ??R??ɨU͇2@Ue;UCyB!III4٢-< ]=9e ai mG٣iym4 u> }Nusing accuracyPremultiplier from configq}S59u?S5Yu  iu@ARG@uD;Eu:u:uS5HI I!IIBI&I.I6Id<:I) F AEWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:32:18.8583 LVL= 22768, 28257, 14258, 30787, AGC= 54, IDX= 425,-0.05,-0.478,-0.358, 1.572, 0.348, PHS=-0.738,-0.659, 1.221, RAW= 212.0, 1.9, CAL= 212.4, -4.6, ROT= 297.6, 4.6  Ygot valid direction response: 22:32:18.8583 LVL= 22768, 28257, 14258, 30787, AGC= 54, IDX= 425,-0.05,-0.478,-0.358, 1.572, 0.348, PHS=-0.738,-0.659, 1.221, RAW= 212.0, 1.9, CAL= 212.4, -4.6, ROT= 297.6, 4.6 PDAT read: Bearing 297.6, 4.6 (Local) ~Local bearing/azimuth received: Bearing 297.6, 4.6 (Local) -DAT read: Range 10 to 50 : 73.5 m (Round-trip 98.1 ms) speed 0.3 m/s 5,DAT read: user:2683> 5BDAT read: Tx time:22:32:19.9560 =$Ping request sent.=e:publishing transmit ping time9eFpublishing direction and range info9jzin Y|-u`޿y )Ii )Iiy%V:J-?ї?)Iik@KL?k* k kf&=A:kBBkBZk{?"Z zgLPVc^Ajzin Y|-u`޿JkS;ҿRk=`>*Oyf @3=M@鎶KE0|손?t`?W"k]mB*k7AkiQ?kM} 2kOw,M?=A6W22@Y6TQ@@6½96`=y6H0￿Ի?[? ًUN?aG?` ??ɨ6W22@6Cj;4yRBR4!IMb@Mb@Mb@ )Y-?+?Q?y?5?>u<@ b@)@I@y@I=I=]4٢u= u'=9uv6yy }G٣yy0 > Nusing accuracyPremultiplier from configS59؀?S5Y iA9?: D@J;E;;PS5B AE]DNOT Ignoring new targets: 73.50 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. jYjjjihhhhBfffrfbf@1?ɛMBUZ; QU?IQ UɚyiyI}}=Ii-\>;7:6352333/-+((((&$$" *FI2FQ:FQBFUP0JFQG-#N;GBO->J] J] JY JY J] :J] :JY JY = Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,R Y=AJ1@YJ @@J|9J=yJHό@ @ ??ࡇ@?`g? ;?z?ɨJ1@J;J Cyf.BfZ!IIrwIrR4٢zg-> zh=9z || %G٣%&MGy%D -> 5Nusing accuracyPremultiplier from config)5S59->k?=S5) Y-2 i-AQD@~G-5tA-N;EA-t =-=-p S5 e\$?Ia }Y}5tAy}BB  AE DNOT Ignoring new targets: 73.50 m. j j j j i hIhQhQhQfQfYfYrfYbf]}?ɛB&< %?I  ɚiIy|=Ii}[II IM!IIMBII&II.II6IM/<:IM FWill construct direction to contact in vehicle frame from tetrahedron phase data.GM &;G B) OM >#\w,r=ABh1@YBd@@Bޱ9B=yBHu?@g?-`f?4?@J-?@?ɨBh1@B^ϊ;BCyJ@BJo!I5Mb@Mb@Mb@111 1)1Y5Q?S? rh?y5\/?5/>5C<5@ 1)5@I5~@1y5 @IMsIMK4٢]E= ]C=9eY8aa mG٣iym : m> }Nusing accuracyPremultiplier from configqS59uS?S5Yu iu;A4?:B@uR;EuO;u;u S5 {AWill construct direction to contact in vehicle frame from tetrahedron phase data.=DNOT Ignoring new targets: 73.50 m. j9jAjAjAiAhAhAhIhMBfIfIfIrfqbfu@Wi?ɛB,ko< /?I "ɚiI~?{=IiB[ Will construct direction to contact in vehicle frame from tetrahedron phase data.zK NK 9K K K    !%&+,..2356 cw,Œ=A^/1@Y^+?@^j!9^=y^H @@?@\?`??`U?`?ɨ^/1@^;^CyvWBv!II fI 44٢5= 5M=9=+/II UG٣QyU ]> mNusing accuracyPremultiplier from configaS59ef;?S5Ye ieAB@eW;Ee|;e;eS5 AEDNOT Ignoring new targets: 73.50 m. jjjjihhhh f ffrfbf@>?ɛ݁BK< G B O >HE >IA  IE !IIE BIE 1 =&IA .IA 6IE <:IE = FBI̘CT5iw,Z=AJI5CRI1ZI50 =bI50 =jI5@52Will construct direction to contact in vehicle frame from tetrahedron phase data.Bv1@YB?@B9Bl=yBH@[6@S??`zf??? ?ɨBv1@B;BCyJwBN!I)P PPRAIVIV̍4٢b$> fQ=9fjhh jG٣j'MGyj j> Nusing accuracyPremultiplier from configS59h#?S5Yf iҖA C@[;E+;U;!S5B AEeDNOT Ignoring new targets: 73.50 m. jijijijiiihihhhfffrfbfo@ɛځB:< N?I u ɚiI"|x=IiYpw,y=A631@Y6R?@6KP96׈=y6H`6¿@w?Y?`tǺ?F?"̽?G?ɨ631@6{;6CyRBR!I5Mb@Mb@Mb@111 1)1Y5@5^I ?HzG?/$?y5b0?5= >5<5@ 1)1I5@1y5p@I}I}4٢X= >=9T G٣y: > Nusing accuracyPremultiplier from configS59h ?S5Y iA3?:F@`;E';e&;S5B 4AEB*** querying acoustic contact ***jjDNOT Ignoring new targets: 73.50 m. jjjjihhhh āBf f f rf bf@@ɛmׁBuK= quW?Iy }G0 ɚyiyI}_w=IiWY- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761281J J J J J ܫ:J :J J Gvw,V=AJx0@YJu?@J͇9J^x=yJH`= S¿a? ?m k???@Z?ɨJx0@Ja;JCyB!II|I[4٢%^E> %Q=9-V)) 5G٣1y5q 5> ENusing accuracyPremultiplier from config9ES59=?MS5Y= i=\AIMFM@=d;E=q:=:=S5Q ]@YDNOT Ignoring new targets: 73.50 m. jjjjihhhhfffrfbf@ W$?IɛՁB= ~l?I @ɚiIv=IiXI I"IĨBI&I.I6IQ<:I F}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:32:22.4566 TRx dataTimestamp_ set to:1736375543.624819checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012226G޻G?G>GBO= >=q|w,/=A60@Y6>@6}96a6=y6Hr ÿn?Q?\g &V?@?#?\?ɨ60@6;6CyB˃BB"IiF8>IF= F=F=UMb@Mb@Mb@QQQ Q)QYUʡE?~jt?{Gz?yU-2?U=Uף E=9- G٣(MGy > Nusing accuracyPremultiplier from configS59 ܊?S5Y iA3?:yG@@i;E@;h;S5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264371 @EDNOT Ignoring new targets: 73.50 m. jjjjih!h!h!h%Bf)f)f)rf)bf-J @ɛҁB= |?I ɚiIQt=I i {W#Yw, >AzK"֠MK"9K K"K"   RK& ?JK&?:~0@Y:z>@:k9:\Y>y:HtxÿY?`7?_`>?`u?F? E?ɨ:~0@:S;8yFBF?"IININd4٢V)> VY=9Z<XX ^G٣\y^ ^> fNusing accuracyPremultiplier from config`fS59bŊ?jS5Yb ibӗAhjCG@j@bm;Ebz:bX:b#S5nB r3@rE DNOT Ignoring new targets: 73.50 m. j j j j i h hhhfffrfbf_ @ɛρB% 1= !%?I! -ɚ)i)I-x{s=I1i]ÛV BDAT read: Tx time:22:32:23.5561 $Ping request sent.H >I  I `"II BI &I .I 0D6I V<:I  FXw,'>A"Will construct direction to contact in vehicle frame from tetrahedron phase data.F0@YF>@F_]9F>yFH‰]ÿ@Dz?E? \r??I?@V?ɨF0@Fm;FCy~B~a"II%vI%&Q4٢k= ==9 G٣y > Nusing accuracyPremultiplier from configS59&?S5YP iA=G@@r;E:;:&S5B y@´EkIy?kzD k kP>A:kfBBkdBZk1?"էI*j pO\A૚Ebs4-RX!/߿JkҿRkI?*4-0A'@q_L@dLEOq?]&?1Ǫ"kbB*k :Ak?k=: 2kLAk?kw_ kLAkvBkͰ? addTargetRange:: Added new target pos. range: 72.199997 m, deltaT: 3.779943 s, deltaX: -1.300003 m, approachRate: -0.343921 m/s, rangeRepo size: 4  Added new target pos. range: 72.199997 m, bearing: 78.420766 deg, lat: 36.904837 deg, lon: -122.119283 deg, deltaT: 3.779943 s, deltaX: -1.300003 m, approachRate: -0.343921 m/s, posRepo size: 4 DNOT Ignoring new targets: 72.20 m. jjjjihhhhff f1rf= R@bfE@b?ɛ́Bl$= ?I -ɚ)i)I-7q=I1i5\Unw,uA>A6]0@Y6Y>@6S96>y6H@)dÿX?@ؘ?@(X?Ms??~?ɨ6]0@6;6CyB'BF"I)H HAMb@Mb@Mb@ )Y$C?Zd;O? G=9;Q > G٣)MGy蓺 > Nusing accuracyPremultiplier from configS59m?S5YF iBAC:?:@@@w;E;D;h*S5 B@-DNOT Ignoring new targets: 72.20 m. j)jjjihhhhABfffrfbf?MWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛUɁBU:?p= Y]?IY ]5.ɚYiYI]p=Iaiw~T Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ǝ[>A2t0@Y2p?@2K92r>y2HIX¿N ?f?T?az??@?ɨ2t0@2;2CyRHBV"IIf[IfK!4٢j0> j[=9n;Q n>pp vG٣tyvV< v> ~Nusing accuracyPremultiplier from config AIAxuS59z|?uS5Yz[ izmAy}@@}@z{;EzI I"IIFBI&I.I6I3<:I F]Will construct direction to contact in vehicle frame from tetrahedron phase data.G0;GBO>w,,u>AJZ1@YJy?@J069JP>yJH>¿܅?z?@7[@?&Ħ?7?@^?ɨJZ1@Jފ;HyR^BV"IJrJrJpJpJr:Jr!:JpJpJr3<Jr4<Jrly;Jrmy;Mb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data. )Y+?y&1|?yv>?̼`;@ @)@I@y@ISI4٢= :=9E G٣y< > Nusing accuracyPremultiplier from configS59a? S5Y  iA >? : B=@@;E;>;1S5B @ƴEEDNOT Ignoring new targets: 72.20 m. jAjIjIjQiQhQhQhYh]mBfYfYfYrfabfe?ɛāB&z= 隕m?I M޼ɚiItm=IiRm Will construct direction to contact in vehicle frame from tetrahedron phase data.w,*r>AzK*CCOK* 9K(K*K*J1@YJמ?@J}k(9J1>yJH+`(@kN?@q? [ :IZY> ^a=^p=IbIbm4٢jHM> j]=9jll nG٣n*MGyr; r> vNusing accuracyPremultiplier from configtzS59vJ?zS5Yvw  ivA|~g=@~@v;Evy;v:v4S5B S@ɴE-DNOT Ignoring new targets: 72.20 m. j)j)j1j1i1h1h1h9h9f9f9f9rfAbfE@n?ɛmBmd= iux?Iq uHGּɚqiqIuyul=Iyi}*fRGvA R$?I -Y-vAy- BHu >Iu C Iu #IIu BIu 2 =&Iq .Iq 6Iu <:Iu Fԩw,;>AWill construct direction to contact in vehicle frame from tetrahedron phase data.=P1@Y=L?@=R#9=>y=H`@@m?W?@Y?4?^k?@?ɨ=P1@=.v;9yMBM #IIeuIeaO4٢mn[= uA=9u;Q }>yy }G٣yy: > Nusing accuracyPremultiplier from configS590?S5Y  iØAr=@@;E::q8S5 @DNOT Ignoring new targets: 72.20 m. jjjjihhhhfffrfbfʜ@ɛBF= %?I! %x̼ɚ!i!I%j=I)iXQw,1 >A2<1@Y28?@292Dr>y2H 90? e?`]ׄ?`x?@Z??ɨ2<1@2ˉ;2CyRBR*#I-Mb@Mb@Mb@))) )))Y-? G٣y; > Nusing accuracyPremultiplier from configS59?S5Y  iΘABG?::@@;E;3; Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:32:26.0548  TRx dataTimestamp_ set to:1736375547.406423w,>A  RQ$?ITy~B6#IIyIxV4٢EG= MP=9MQ U>QY ]G٣]+MGy] e> mNusing accuracyPremultiplier from configamS59e?uS5Ye# ieؘAqqu@e;Ee:e:es?S5B n@ϴEDNOT Ignoring new targets: 72.20 m. jjjjihhhhfffrfbf @ɛB칢= 隕k?I 궸ɚiIg=IiPI1 I5Z#II5τBI53 =&I1.I51D6I5 <:I5 FBIJIRIZI1 =bI2 =jI&%5EWill construct direction to contact in vehicle frame from tetrahedron phase data.GUd/XG1 B O >w,v>Ay}˄B}U#IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:32:26.0548 LVL= 21152, 27889, 14658, 29363, AGC= 56, IDX= 421,-0.05, 2.990,-2.994,-1.087,-2.289, PHS=-0.917,-0.658, 1.199, RAW= 216.4, 3.8, CAL= 218.1, -1.3, ROT= 291.9, 1.3 Ygot valid direction response: 22:32:26.0548 LVL= 21152, 27889, 14658, 29363, AGC= 56, IDX= 421,-0.05, 2.990,-2.994,-1.087,-2.289, PHS=-0.917,-0.658, 1.199, RAW= 216.4, 3.8, CAL= 218.1, -1.3, ROT= 291.9, 1.3 PDAT read: Bearing 291.9, 1.3 (Local) ~Local bearing/azimuth received: Bearing 291.9, 1.3 (Local) DAT read: Range 10 to 50 : 70.9 m (Round-trip 94.6 ms) speed 0.3 m/s ,DAT read: user:2685> BDAT read: Tx time:22:32:27.1561 $Ping request sent.qq uG٣qyy > Nusing accuracyPremultiplier from configS59ى?S5Y i֘AP?:7@@;EH;;2DS5B @ѴEkݍ?krP k k>A:k̍BBkόBZkP?"r~#CeMDm5CS@`/IWJkֿRk?*H(@k@p,I@N\G,?URHk?2 7"kOB*kDAkdH䍜?k!Ŭ 2k`Ak(a?kM} k02w,6?AN1@YN?@N,9Nb>yNHq U@??@BbA?@ޤ?? ?ɨN1@Nri;NCyz̈́BzX#IIYI4٢KM< n=9*H>I I#IIBI2 =&I.I6I?<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.cZw,E/?A21@Y2?@2}92r>y2H|ga?? rǾ?+?!?H?ɨ21@2Љ;2CyNلBNg#IiVa=IV%= b=b=IjIjd4٢ru= rN=9vQ v>tt vG٣z,MGyz#9 z> Nusing accuracyPremultiplier from config| S59~? S5Y~ i~ИA  ?7@@~;E~P#;~#;~JS5B @״EuDNOT Ignoring new targets: 70.90 m. jqjqjqjqiqhqhyhyhyfyffrfbfm?ɛ B= ?I 񤖼ɚiI%b=I)i-=Nx@w,qI?A>l1@Y>h?@>k9>w>y>H`ŧr`Ͻ?dF?k߿??@?ϵ?ɨ>l1@>;>CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yVׄBVd#I=Mb@Mb@Mb@999 9)9Y=K7A`?Q~jty=K?==ļ=@ 9)=@I=C@9y9IU>IU3٢e eC=9eV:Q e>qq uG٣qy}, }> Nusing accuracyPremultiplier from configS59ҍ?S5Y iŘAiM?:6@@;E;;MNS5B @ڴEDNOT Ignoring new targets: 70.90 m. jjjjihhhh҂Bfffrfbf"2?ɛB%= ?I @ɚ i Ii5a=IirNiw,8Jc?A21@Y2?@292Q>y2Hu~r?F?d`Q?`4?e?@?ɨ21@2;2CybڄBbg#IInInm4٢vSV< vR=9v7n;Q v>xx zG٣xy~~ ~> Nusing accuracyPremultiplier from config S59t? S5Y iA  l6@@;E::QS5 @EDNOT Ignoring new targets: 70.90 m. jAjAjAjIiIhIhQhQhQfQfYfYrfYbfe`#?ɛB= 隍?I }ɚiI_=Ii0MIeC Ie#IIe+BIa&Ia.Ia6Ie4<:Ie FWill construct direction to contact in vehicle frame from tetrahedron phase data.E=*F?2F:FBF0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.G sG B I O >w,ɭ~?AyτBZ#I)! !))Mb@Mb@Mb@ )YFx?"~jV-yK?S㽹~@ )@I@y@IIv}4٢5; =.=9=Q =>AA EG٣E-MGyE E> UNusing accuracyPremultiplier from configI]S59MV?]S5YM iMA]M?]:]77@e@M;EM!;M;MUS5i m@mݴEDNOT Ignoring new targets: 70.90 m. jjjjihhhhĂBfffrfbfE@ɛB = ?I oɚiI{]=Ii4MzK gKK 9K K K RK ?JK ?w, ?AJ'1@YJ#?@Jwۼ9J^ >yJH@`¿7? b? a?a?w\?@W?ɨJ'1@J`;HyZɄBZS#IIbIb4٢j nc=9n:pp rG٣pyryк r> zNusing accuracyPremultiplier from configt~S59v>?~S5Yv ivA|~/7@~@v;Ev\ ;v ;vXS5B @ E5DNOT Ignoring new targets: 70.90 m. j1j1j1j1i9h9h9h9h9fAfAfArfAbfMT$@]Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB= 隭?I L]ɚiIW\=IiΤLIC I#II:BI&I.I6IZ<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu 4λG} ?G} ?GQ BY O} >w,?ANO1@YNJ?@Nxμ9N >yNH\¿@M?\?_-?`]Ι??&?ɨNO1@N ;NCyn„BrK#IIIt4٢5 =4=9E^;Q u>y G٣y : > Nusing accuracyPremultiplier from configS59?S5Y i~A47@@;Eu::]S5B %/@-EmDNOT Ignoring new targets: 70.90 m. jqjqjqjqiqhqhqhyhyfyfyfrfbf@@ɛ B W= S?I )DɚiIZ=I!i%yK[w, ?A21@Y2?@292 >y2H ¿Z??^/ ?@/? D?`a?ɨ21@2;2Cy>B>9#IiB)>IBp< F=F=zKBoHK+9KKKMb@Mb@Mb@ )YK7?㥛 Q롿yIL?\h@ @)@I@y @IIk4٢U` ]=9]f;Q ]>aa eG٣e.MGye/ : m> Nusing accuracyPremultiplier from configS595?S5Y idAVM?:K:@@;En;;haS5  @EUDNOT Ignoring new targets: 70.90 m. jQjQjQjQiQhYhYhYh]Bfafqfqrfybf@M @%Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 22:32:29.6534 LVL= 23664, 28241, 13362, 27075, AGC= 61, IDX= 422, 0.33, 2.822,-3.102,-1.227,-2.425, PHS=-0.949,-0.630, 1.194, RAW= 217.9, 3.9, CAL= 219.7, -0.8, ROT= 290.3, 0.8 eYgot valid direction response: 22:32:29.6534 LVL= 23664, 28241, 13362, 27075, AGC= 61, IDX= 422, 0.33, 2.822,-3.102,-1.227,-2.425, PHS=-0.949,-0.630, 1.194, RAW= 217.9, 3.9, CAL= 219.7, -0.8, ROT= 290.3, 0.8 mPDAT read: Bearing 290.3, 0.8 (Local) m~Local bearing/azimuth received: Bearing 290.3, 0.8 (Local) DAT read: Range 10 to 50 : 69.8 m (Round-trip 93.1 ms) speed 0.0 m/s ,DAT read: user:2686> ) ɛB=JmJmJiJiJm:Jm&:JiJi H$?Ic~GBDAT read: Tx time:22:32:30.7561 Yy2B "?I |y+ɚiIX=Ii K6.w,?A^٤1@Y^?@^R9^>y^H`ʧj1?`3?a_`9?@T?@T?S?ɨ^٤1@^k ;^CyfBj&#IImIm)4٢ H=9I;Q > G٣yE; > Nusing accuracyPremultiplier from configS59^䈜?S5Y iMA_:@@;E,;֥;dS5B @Ek}P9?k}`s ky k}?A:k}BBk}BZk}?"}%ة&|ôL3C}/U+ ;M;PQOaXJk}ֿRk}n?*}mw)@53I@Go+wG}5?R l?TQZ"k}|HB*k}HAk}+?k}!= 2k}Ak}iQ?k}=: k}PAk}UgBk}? addTargetRange:: Added new target pos. range: 69.800003 m, deltaT: 3.528070 s, deltaX: -1.099998 m, approachRate: -0.311785 m/s, rangeRepo size: 4  Added new target pos. range: 69.800003 m, bearing: 75.959665 deg, lat: 36.904832 deg, lon: -122.119327 deg, deltaT: 3.528070 s, deltaX: -1.099998 m, approachRate: -0.311785 m/s, posRepo size: 4 DNOT Ignoring new targets: 69.80 m. jjjjihhhhfffrf@3sQ@bf H?ɛ=BE²= AE?IA EɚAiIIMW=IIiUuJw,@A6dz1@Y6?@6\٧96]>y6H`@u?h?_`X6?@?Y??ɨ6dz1@67|;6Cy>BV#I]Mb@Mb@Mb@YYY Y)YY]uV?~jtMby]rH?]ļ]Y ]j@)YI]@Yy]@IumIu3A4٢ L=9.X;Q > G٣yC; > Nusing accuracyPremultiplier from configS59ʈ?S5YX i>AH?:>>@@;E;#;ohS5Will construct direction to contact in vehicle frame from tetrahedron phase data.B @EDNOT Ignoring new targets: 69.80 m. jjjjihhhhXBfffrfbf ?ɛB#= ?I IɚiIYU=I!i%J I J J J J J :J :J J ,;w,"@A61@Y6?@6䛼96>y6H ٫ԣ? #?^ҝ?`J|?U#?֫?ɨ61@6;6CyVBV #I)X X\^AIb_Ibb(4٢j jV=9jz;Q n>!! %G٣-/MGy5z; 5> =Nusing accuracyPremultiplier from config9ES59=?ES5Y= i=.AAMd>@M@=;E=:=:=kS5Q UL@Q}DNOT Ignoring new targets: 69.80 m. jyjyjjihhhhfffrfbf +x?ɛB= ?I ɚiIXT=IiI{fw,8f<@AWill construct direction to contact in vehicle frame from tetrahedron phase data.V2@YV1@@VpN9V>yVHذ`G@>?M? ic? ։?4?@?ɨV2@VS;VCyb~Bb"I %F$?I!Mb@Mb@Mb@ )Y{Gz? rh?S㥛yC?C =/ݼ$@ S@)@I@y@IQI4٢ :=9&o G٣y < > Nusing accuracyPremultiplier from configS59?S5Y: i#A'D?:RC@@;E'[;Y;oS5%B %D@%EMDNOT Ignoring new targets: 69.80 m. jIjIjIjIiIhQhQhQhU6BfYfYfYrfYbfe m\?ɛBx= 隕ĵ?I AܾɚiIR=Ii#IG! B9 OU >/Qw,8MV@A612@Y6,0@@6aV96>y6H ZA"??c? ?w?`?ɨ612@6!;6CyNkBN"IIVIVm4zKXKXKXKZKZ٢fyԽ f]=9jZpp rG٣xy~ш ~> Nusing accuracyPremultiplier from configS59a}?-S5Y -tIiA9=QC@=@;Es;;rS5A Es@EEmDNOT Ignoring new targets: 69.80 m. jijqjqjqiqhqhqhyhyfyfyfrfbfb?ɛBg= 隵?I ɚiI%Q=IiHH= >I9  I= g#II= ڄBI9 &I9 .I9 6I= f<:I= $ F Will construct direction to contact in vehicle frame from tetrahedron phase data.Qww,p@A22@Y2&@@2'92>y2H`|۝? ?b`?|w?S?,?ɨ22@2;2CyNcBR"IiVV>IV{> V=Vp=IZIZ4٢  F=9% !! -G٣-0MGy- -> 5Nusing accuracyPremultiplier from config1=S595:c?ES5Y5 i5 AAEGC@E@5;E5E;5;5ovS5UB U@UEDNOT Ignoring new targets: 69.80 m. jjjjihhhhfffrfbf@ɛBR= {?I pɚiI_QP=Ii_YH"_"w,@A61@Y6@@6 96>y6Ho@ ? ? hai?`a???ɨ61@6ݐ;6CyPR"IeMb@Mb@Mb@aaa a)aYejt?ʡE?~jtye@?e-=ee~@ e=@)aIaaye@I}I}r4٢"t D=9V G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.y7 > Nusing accuracyPremultiplier from configS59sH?S5Y iAB?:G@@;E7z;x;zS5B @EDNOT Ignoring new targets: 69.80 m. jjjjihhhh%Bf f f rf bf@J@ɛAE= AEy?II M%ɚIiIIMO=IiG B$?I Њ(w,(ԣ@Ay%RB%"II5I54٢Eҧ EO=9MQ M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYeS59]A/?eS5Y]p i]Aiim@];E]2:];]}S5q u@}EDNOT Ignoring new targets: 69.80 m. jjjjihhhhfffrfbfTq @ɛ5B='= 9={?IA EtɚAiAIEM=IQiUrGU Will construct direction to contact in vehicle frame from tetrahedron phase data.Y i] A DAT read: 22:32:33.2524 LVL= 19440, 24241, 11762, 24771, AGC= 56, IDX= 428,-0.45, 1.918, 2.373,-1.949, 3.063, PHS=-1.057,-0.643, 1.268, RAW= 219.6, 4.1, CAL= 221.7, 0.0, ROT= 288.3, -0.0  Ygot valid direction response: 22:32:33.2524 LVL= 19440, 24241, 11762, 24771, AGC= 56, IDX= 428,-0.45, 1.918, 2.373,-1.949, 3.063, PHS=-1.057,-0.643, 1.268, RAW= 219.6, 4.1, CAL= 221.7, 0.0, ROT= 288.3, -0.0  PDAT read: Bearing 288.3, -0.0 (Local)  ~Local bearing/azimuth received: Bearing 288.3, -0.0 (Local)  DAT read: Range 10 to 50 : 69.0 m (Round-trip 92.0 ms) speed 0.2 m/s  ,DAT read: user:2687>  BDAT read: Tx time:22:32:34.3562  $Ping request sent. %94%@ %/@)%@I%x@!y%@I]I]4٢m{ $=9Q > G٣1MGy > Nusing accuracyPremultiplier from configS59F?S5Y i A??:F@;E;;S5B Q@Ek'A?kMz k k@A:kBBk BZk?"?4ڷXpwK( }.D i&1!Jk׿Rk ?*!͐)@?@'ZH@9G%?!1gV?D" "k@B*ktMAk'J[I?ks 2kAkdH䍜?k!Ŭ k`AkWBkM,? addTargetRange:: Added new target pos. range: 69.000000 m, deltaT: 3.528138 s, deltaX: -0.800003 m, approachRate: -0.226749 m/s, rangeRepo size: 4 e Added new target pos. range: 69.000000 m, bearing: 75.072509 deg, lat: 36.904821 deg, lon: -122.119376 deg, deltaT: 3.528138 s, deltaX: -0.800003 m, approachRate: -0.226749 m/s, posRepo size: 4 mDNOT Ignoring new targets: 69.00 m. jijijijiiqhqhqhqhuBfyfyfyrf}@Q@bf`ׄ?ɛBŭ= ?I Է6ɚiI-UL=Ii F;5w,@AzKK9KKKBK"rA:K >+1@Y>&?@>f;9> >y>H cc¿?@n?\"?:3~v?$?ɨ>+1@>e;>CyJGBJ"IIRbIR-4٢Z0 Z=9^H I  I #II BI &I .I 6I ^<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.myBHJM¿`?V?j?@{ ??ɨBF1@B;BCyNSBN"IIVIVF4٢bm= bJ=9bQ b>dd fG٣dyj: j> nNusing accuracyPremultiplier from confighrS59j⇜?rS5Yj* ihpr2Gv@j;Ej ;j ;j'S5z~B z@zE%DNOT Ignoring new targets: 69.00 m. j!j!j!j!i!h)h)h)h)f)f1f1rf1bf5@?ɛYeQ= ae/?Ia e<:ɚiiiIm)?J=IiiuIEBw, AA21@Y2?@2|<92>y2H*S¿ ?W?i;-?1? ?ɨ21@2MȖ;2CyBOBB"IiF4=IFp> DF=rWill construct direction to contact in vehicle frame from tetrahedron phase data.uMb@Mb@Mb@qqq q)qYuZd;?M?MbP?yu9?un>u:q uS@)u@IuK@qyu3@IYI4٢v ==9eO;Q > G٣2MGy; > Nusing accuracyPremultiplier from configS59LJ?S5Y iAm=?:E@J J @Av(Iw,bi&AAy~QB~"II ]I $4٢U^2< ]O=9eQ e>ii mG٣qy} }> Nusing accuracyPremultiplier from configS591?S5Y i A@I I#IIBI0 =&I.I6I<:I= FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%0JF)Gm!Gi B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. >$?I DPw,~@AAJBJBJB1J@JB:JB:JB3J@JB;JB;JBZ;JBZ;VϤ1@YV?@V65F<9V6>yVH@@V¿{??c @? ƈ?̺?ɨVϤ1@V;VCybbBb"IUMb@Mb@Mb@QQQ Q)QYU\(\?Pn?~jth?yU:?U>UD;Q Q)U@IU5@QyQImIm 4٢= A=9 G٣yjb > Nusing accuracyPremultiplier from configS59?S5Y/ i*A%=?-:-JG-@ y7Vw,ZAA :01@Y:*?@:es<9: >y:H¿r?@?_ |?hl`?d?ɨ:01@:8;:Cy~oB~"II I 4zKKKKK-b2)}_F,  ٢-= 5X=95&;Q 5>99 =G٣=3MGyE0 E> MNusing accuracyPremultiplier from configIUS59M@}?US5YM` iM1AQUdG]@MI I#IIBI&I.I6Iy<:I7 FBImȘCJImȘCRIiZIm1 =bIm0 =jIm{C5O> Will construct direction to contact in vehicle frame from tetrahedron phase data.d\w,sAA2Pe1@Y2J?@2<92^>y2H(ÿpg^? 8?`Z.?@p;?ֵ?ɨ2Pe1@2Ԛ;2CyNyBN"IIVIV{4٢^D= ^R=9b`` bG٣dyfǻ f> MNusing accuracyPremultiplier from confighUS59jd?]S5Yj ij6AY]G]@jy2H3ÿQ |T?@[T@6|?q]B?3?ɨ2<1@2s;2Cy>B>#I^Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YZd;?I +?{Gzt?y>?9=ף;$@ )-@Iyz@I-I-F4٢== =B=9EAI MG٣IyM » M> ]Nusing accuracyPremultiplier from configQeS59URJ?mS5YUA iQmM@?m:mF@m@U;yiw,'AAV1@YV;?@VG<9V >yVH ߜ0ÿrq?N.?y?"?ɨV1@V;VCyfBf#IIvIv4٢ǚ=  M=9! G٣y%ʟ %> =Nusing accuracyPremultiplier from config1ES5950?ES5Y5 i54AIMF@M@5IC I;#IIBI/ =&I.I6IU<:I Fbf @ɛd= 隝?I M <ɚiI=B=IikA BDAT read: Tx time:22:32:37.9562 $Ping request sent.} Will construct direction to contact in vehicle frame from tetrahedron phase data. 9$?I \pw,AA:1@Y:?@:<9:M>y:Hҙ :!ĿK@?\J?a4?`?ɨ:1@:c;8yFBJ*#I-Mb@Mb@Mb@))) )))Y-RQ?Q?{Gzt?y-B?-u=)-;@ )))I-K@)y-@IE}IE]4٢Ub= ]F=9]aa eG٣e4MGye} e> uNusing accuracyPremultiplier from configi}S59m?}S5YmO im-A}+C?}:D@@m# 隭?I <ɚiIB3=Ii~:I! I%#II%&BI!&I!.I!6I%a<:I%- FG > Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Kw,BA: 3@Y:+A@:gkJ=9:X>y:H߷@ʃ`ur?@[?J@q?Ж?ɨ: 3@:';:CyFBFv#IININ4٢V VS=9Zі;Q ^>`` bG٣b8MGyb< f> jNusing accuracyPremultiplier from configdnS59f߅?nS5Yf ifAlnh:@r@f_ imb?Ii m<ɚiiiIm[2=Iqiu:>JeJeJe/JaJe\:Je9Je(N3JaJei;auJej;auJe<;auJe<;au?4w,CA2Will construct direction to contact in vehicle frame from tetrahedron phase data.yфB]#IMb@Mb@Mb@ )Y~jt?ʡEktyD? 0@ )@Ix@y@II٢  6=9Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=S5950Å?=S5Y5 i5AEE?E:E\;@E@5e ?I <ɚiI%1=Ii:*^w,_|+CAJ3@YJA@JY[=9J>yJH@^QŨ?`jtM? r@2??ɨJ3@J];JCyRƄBVP#I)X XHb>I` Ib#IIb BI`&I`.Ib2D6Ibh<:Ib1 FI^I^ 4٢vg v_=9v<xx zG٣xy~< ~> Nusing accuracyPremultiplier from config S59? S5Yb iaA ;@@i qu?Iq }<ɚiIH0=IiV: -$?I - Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,oECAJJJ0JJ:J:Jـ3JJ6;J7;JL;JL;rr3@YrlA@r_c=9r>yrHwq޼?`p ?yC?]?ɨrr3@r);rCy~B~>#IMb@Mb@Mb@ )Y'1Z?{GzˡEyB?#'@ )$@IK@y@II@4٢ ==9;Q > G٣9MGy'; > Nusing accuracyPremultiplier from configS59ϐ?S5Y iA]C?:>@@o 15?I1 =# <ɚ9i9IE.=IAiM;ow,1_CA63@Y6A@6[l=968F>y6H@+餿ุ?`r?`?|?@3?ɨ63@6K;6CyBBB&#IIJIJ4٢Rӽ R_=9R;Q R>TT VG٣TyZ: Z> bNusing accuracyPremultiplier from config`fS59by?fS5Yb ibϔAdf>@j@bsWill construct direction to contact in vehicle frame from tetrahedron phase data. ?I =ɚiI-=Ii=;jH<bH<H>IC Iz#IIBI- =&I.I6I!<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 66.7 m (Round-trip 89.0 ms) speed 0.0 m/s  ,DAT read: user:2690>  BDAT read: Tx time:22:32:45.1562  $Ping request sent. yVH`վ@|Vܼkw?`4uߦ?61??ɨV 3@V;TyzB#Ii-=I-< 5=5=I]I]4٢m m>=9mK;Q m>qq uG٣qy; > Nusing accuracyPremultiplier from configS59]?S5Y i|A?@ @x ?IWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:32:45.1555  =ɚ9i9IE ,=IYi;w,8CA23@Y2A@2yv=92 >y2H࠼ϾL?@ul?oʮ?`ۢ?ɨ23@2S;0yV}BV"IMb@Mb@Mb@ )Y+?~jtQ롿y??D\@ @);@I@y@I[IK!4٢yѽ :=9(;Q > G٣:MGy܈ > Nusing accuracyPremultiplier from config S59 ,C?S5Y y i 6A??:2A@@ } aeб?Ia e =ɚaiaIe- ,=Iiim;H1 I1  I5 A#II5 BI5 . =w,ʭCA&Iq.Iq6IuE<:Iu Fy=cBE"IImImn4٢ L=9Q > G٣y > Nusing accuracyPremultiplier from config S594*? S5Y iA@EEDNOT Ignoring new targets: 68.10 m. jAjIjIjIiIhIhIhQhQfQfYfYrfYbf];?ɛB> 隕?I =ɚiI&+=Ii< < I  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J 9J J J J J :;J :;%w,QCA @V3@YVA@Vڌr=9Vʘ >yVH%X[?y?@M x]? ť?ɨV3@Vˏ;VCyfRBf"I}Mb@Mb@Mb@yyy y)yY}}?5^I?y&1?Q롿y}MB?}` G٣yօ; > Nusing accuracyPremultiplier from configS59?S5Y iAB?:D@@f=ɚIiIIM?*=IIiUXt<w,CA &($?I$:3@Y:A@:~w=9:K&>y:H%`ি˾?}@? 뮿@_? ?ɨ:3@:>;8yF?BF"IIRIR4٢Zν Z[=9^5T;Q ^>`` bG٣b;MGybU" f> jNusing accuracyPremultiplier from configdjS59fX?nS5Yfs =Will construct direction to contact in vehicle frame from tetrahedron phase data.if{AY]D@]@f ؠ?I *m=ɚiIMg)=Ii<IC I #IIBI- =&I.I6I<:I FBIŚCJIŚCRIZIbI, =jIŬ5G<Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi Bq O >(w,scCA23@Y2A@2==92>y2H nէ@?@|c?`8`^??ɨ23@2;2Cy>2BB"IIJIJ4٢b߁ bI=9f};Q f>dh jG٣hyj n> rNusing accuracyPremultiplier from configlrS59n߄?vS5Yn in:Atv_D@v@n  ?I <=ɚiIU(=Iiev<Q<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.]#w, DAJT3@YJM-A@J =9J>yJHί@` c?jy@? ?`W?ɨJT3@J;JCyR$BR"IiV=IV<=Mb@Mb@Mb@999 9)9Y={Gz? rh?y=C?=C==̼=@ =@)=Q@I=x@9y=p@IUIUK4٢e6 e>=9m  G٣y > Nusing accuracyPremultiplier from configS59„? S5Y iAD?:G@@H >I  I "II `BI + =&I .I 3D6I ;<:I  F9 w,D/DAv2@Yv@@v5=9v4>yvH@3CaU@:E? tn?<ٿ??ɨv2@vg;vCyBw"III\4٢% -Q=9-z;Q ->)1 5G٣5 ENusing accuracyPremultiplier from config9MS59=?MS5Y=P i=ȒAIMF@M@=  %$?I e Will construct direction to contact in vehicle frame from tetrahedron phase data.W$w,HDAbH2@YbA@@bE=9b=ybH & ? r?䱿)v??ɨbH2@bb;`y~ B~j"IMb@Mb@Mb@ )Yp= ף?ʡE?Zd;OyE?=j@ K@)I@y@IeIe44٢< 3=9V;Q > G٣ya > Nusing accuracyPremultiplier from configS59܌?S5Y  iA0F?:EG@@ -X#Rx 8: Read range message, but no direction.عyؽBع)*F?2F:FBF_0JFG GrAG 2<G G $$?I G B O >w,cDA2X2@Y2w@@2=92N=y2H?¿fG?`}o@"?@p3 K?`?ɨ2X2@2N;0y>B>a"I)D DJWill construct direction to contact in vehicle frame from tetrahedron phase data.NBDAT read: Tx time:22:32:48.7563 N$Ping request sent.Ndd fG٣dyj j> nNusing accuracyPremultiplier from configlrT59nu?rT5Yn inWApr G@v@nEWill construct direction to contact in vehicle frame from tetrahedron phase data.ղw,v}DA:K2@Y:j@@:=9:8=y:Hr`:1¿@~ڪ`92?qo?챿`??ɨ:K2@:;:CyFBFZ"IINyINxV4٢V VM=9V1Q Z>XX ZG٣Z=MGy^ ^> bNusing accuracyPremultiplier from config`fT59b[?fT5Yb ib AhjG@j@b IU>?IQ U'/=ɚQiQIU8%=IYi]]<e Will construct direction to contact in vehicle frame from tetrahedron phase data.L%w,DA6="2@Y66A@@6 o=96=y6H`b Y¿@?m??` ?F?ɨ6="2@6Z;4ynBnP"IMb@Mb@Mb@ )YL7A`?{Gz?    G٣ y > Nusing accuracyPremultiplier from configT59f=?T5Y@ iAEH?:F@@F;zKFKK9KKKG B O >H >I  I "II #BI + =&I .I 2D6I F<:I  F+w, `DA2!1@Y2@@2ф=92=y2H¿H ?f? ??ɨ2!1@2a);2Cy:B:J"I Na=NR=IVyIVxV4٢bzɼ b`=9b8Q f>dd fG٣dyj j> 5Nusing accuracyPremultiplier from config)5T59-&?=T5Y- i-A9=F@=@- I Will construct direction to contact in vehicle frame from tetrahedron phase data.۱2w,wMDAF1@YF?@F}=9FC>yFH$'ÿQ@?}b5? p@?`?ɨF1@Fy;FCyRBRB"IeMb@Mb@Mb@aaa a)aYe!rh?x&?{GzyelG?e7=eףe@ eb@)eh@Ie@aye@I}I}4٢ >=9Nh;Q > G٣>MGyv > Nusing accuracyPremultiplier from configT59e ?T5Y i|A9H?:E@@ !$?I y8w,*DA2$1@Y2?@2ݖ=92;>y2H vÿ`>`? e]@H?Fײ@'H??ɨ2$1@2;>Will construct direction to contact in vehicle frame from tetrahedron phase data.2CyBBFE"IININݜ4٢Vn< VZ=9V<;Q V>XX ZG٣Xy^ͼ ^> bNusing accuracyPremultiplier from config`fT59b?fT5Yb ibGAdj~E@j@bs?w,5DA61@Y6?@6h=96,>y6H @!ÿ@}?Y@?3? ?ɨ61@6ю;6Cy>B>>"I)@ @FAFAIJIJʴ4٢R RK=9Vd;Q V>TT VG٣TyZ Z> Nusing accuracyPremultiplier from config\%T59^y׃?%T5Y^ i^A)-oE@-@^E Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:22:32:51.2481 U TRx dataTimestamp_ set to:1736375572.353354Ew,EA61@Y6?@6ӛ=96P_>y6He`Aÿ9Jl?U ?u??ɨ61@6v;6Cy^Bb="I}Mb@Mb@Mb@yyy y)yY}?&1?Qy}fF?}P=}u}`@ }@)}@I}@yy}@IIƕ4٢j ;=9;Q > G٣?MGyZ > Nusing accuracyPremultiplier from configT59?T5Y iҐAF?:D@@K] H I  I f"II BI &I .I 6I <:I FBIyJIyRIyZI}+ =bI}+ =jI}ʞ42@Lw,(b3EA21@Y2?@2g=92C>y2H`ÿഅU?S@F?~?<"IIJIJQ4٢Z  ^T=9^:Q ^>`` fG٣dyjN: j> nNusing accuracyPremultiplier from configlrT59n?rT5YnN inAtvD@v@n } BDAT read: Tx time:22:32:52.3563 } $Ping request sent.} J J J J J \:J 9J J J a= J aE J aM J aM Sw,zLEAm1@Ym?@md=9mymH@Ґÿ@>լ@V?SE^?dz??ɨm1@mr;mCyޅBޅ7"Ii=I ==Mb@Mb@Mb@ )YK7?Mb?~jtyI?@=v@ )@I@yz@IEIE4٢U U=9e1:Q e>ai mG٣iym: m> Nusing accuracyPremultiplier from configqT59u?T5Yuj iuOA%J?:C@@u(Zw,jEAJ1@YJ?@Jl=9Juu >yJH`>vÿ@F?nT? h T?Ȝ?ɨJ1@J;JCyRBR>"IIbIb4zK-K-9K)K-K-#$ BK5rA:K5pA٢%< =c=9E7Q E>AA MG٣M@MGyM; M> UNusing accuracyPremultiplier from configQ]T59Ug?]T5YU iUAaeC@e@U ?I N=ɚiI=Ii*$7 5 $?I1 qaw,PEA6i1@Y6b@@6f=96<>y6H@ÿ`?T@B ?@G(=?Ę?ɨ6i1@6,č;4y>B>="IIFIFy4٢NH NU=9R)Q R>PT VG٣TyV< V> ZNusing accuracyPremultiplier from configXfT59ZN?fT5YZ2 iZAhnD@n@Z82gw,.EA6(2@Y6G@@6j6=96N>y6HN ¿īu?W ?:"`?8?ɨ6(2@60;6Cy>B>9"I)@ @FAFAmMb@Mb@Mb@iii i)iYmuV?/$? G٣y; > Nusing accuracyPremultiplier from configT59J2?T5Y= iAH?:1B@@Jnw,EAVbB2@YV[a@@V=9V>yVH< ^{¿B?cZ?qx?`?ɨVbB2@Vt;TyddInIn4٢v(j v8=9zB;Q z>11 5G٣=AMGy=Ib; => MNusing accuracyPremultiplier from configIuT59M?uT5YMA iM\AquJB@}@M-uw,EA6;2@Y6Z@@6l=96>y6H `¿@hXO? rY@?@i賿?@ߗ?ɨ6;2@6W;6CyRكBR+"I-~only read 0 of 4 data items for water velocity. Device response is::WS-32768,-32768,V  ~@~ ~@~ ~@  @ II?4٢W H=9;Q %>!! -G٣)y- 5>=Will construct direction to contact in vehicle frame from tetrahedron phase data. MbBottom track data is 0.4 s old, using for 20.0 s. MNusing accuracyPremultiplier from config1MT595?UT5Y5b i5AU+:QU[:UDB@U@55b2T5ecB e@eqE DNOT Ignoring new targets: 68.10 m. j j j j i hhhhfffrf!bf%`5h@ɛmBm= 隕vr?I E\=ɚiIw=Ii|5I  I Z"II BI + =&I .I 3D6I 5<:I  FG1 B9 OU >{w,ͱEA2TP2@Y2Mo@@2DZ=92 >y2HМf¿pݭ@&? ]?  ]??ɨ2TP2@2c;2Cy<>,"IiB>IB=ININE4٢^|: b@=9f:Q U>QQ UG٣Yy]>;; ]> mbBottom track data is 0.8 s old, using for 20.0 s. mNusing accuracyPremultiplier from configauT59e݂?uT5Yen ie؎Au :qu1:uXB@}@e Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:32:54.8477  TRx dataTimestamp_ set to:1736375576.136600Ju Ju Jq Jq Ju :Ju :Jq Jq Ju ;Ju ;Ju I;Ju I;1w,yt FAy޽ЃB޽ "I M M MM UU  U U UMb@Mb@Mb@QQQ Q)QYU/$? G٣BMGy > Nusing accuracyPremultiplier from configT59?T5Y= iAT:SH?:yA@@w,v&FAyr̃Br"IIzIz4٢ @  ~=9Q  ?!) -G٣1yA E ? MNusing accuracyPremultiplier from configIUT59M{?UT5YMt ]Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 65.4 m (Round-trip 87.3 ms) speed 0.0 m/s u,DAT read: user:2693> BDAT read: Tx time:22:32:55.9563 $Ping request sent.IC IN"IIBI* =&I.I6I<:I F*F?2F:FBF_0JFG GrA Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:32:55.9555 G ;G B O% >?w,Z?FA6I2@Y6h@@6=96>y6HK@!l¿`[32?La >?< ??ɨ6I2@6"w;6Cy>ƒBB"I)D DDFBAIJIJE4٢RL RQ=9Vۼ9Q V>TT VG٣XyZ Z> ^Nusing accuracyPremultiplier from config\bT59^g?bT5Y^ i^AdfpA@j@^=E^Y;^;^k?T5 $?I  @ |EDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbf?ɛ}B}]= y} _?Iy ch=ɚiIP=Iiib4 Will construct direction to contact in vehicle frame from tetrahedron phase data.'w,YFA> b2@Y>@@>Q=9>>y>H3¿W?dk? B ?9?ɨ> b2@>k;>CyZB^ "IMMb@Mb@Mb@III I)IYMK7A?:v?S㥛yM B?MT=9uwQ > G٣CMGyX; > Nusing accuracyPremultiplier from configT59Os?T5Y iA 3B? : A@ @=E;f;NCT5 (@EDNOT Ignoring new targets: 68.10 m. jAjIjIjIiIhIhIhQhU݂BfQfYfYrfYbf]?ɛB= 隍A[?I (yk=ɚiIt=Ii4jH <bH <H %>I C I 5"II BI ( =&I GD.I 4D6I <:I FBIJIʛCRIʔCZIbIjIh5zKE RIKE 59KA KE KE @dL* Qw,sFAy=B="II]I] 4٢m mK=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from configT59Z?T5Y iuA@ =E:0;FT5`B @EDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbf`?ɛ Bw= 隥ZU?I @n=ɚiIA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Ii93 Will construct direction to contact in vehicle frame from tetrahedron phase data.?w,FAyMBM!IiU=IU= Up=Up==Mb@Mb@Mb@999 9)9Y=RQ?I +?y=B?=94<=̼=A =C@)=QAI=@9y=@IeIe4٢ɤ ,=9Q > G٣y > Nusing accuracyPremultiplier from configT59czw,FA6V2@Y6u@@6=96z>y6H ;5¿ج?j C???ɨ6V2@6;6 CyBBB!IIJIJ4٢Ra R=9VQ V?X\ ^G٣\y^2 b? jNusing accuracyPremultiplier from configdnT59f(?nT5Yfڻ ifAprA@r@f=EfK;fdI;fMT5| ~F@~EUWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 68.10 m. jjjjihhhhf f f rf bf ib@ɛUB]t= Y]B?IY ]]s=ɚaiaIeuH=JaJaJuJuJqJqJu:Ju :JqJqa}@a}@a}@a}@IiHI3Iq Iu"IIũBIu' =&Iq.Iq6Iu<:Iu F*F2F:FBFP0JFzK0LK+9KKKRK-?JK-?G!<; Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Zw,t}FA &$?I$>>F2@Y>6e@@>=9>7>y>HrU¿@q;?iN?@!??ɨ>>F2@>9T;>CyJBJ!IIVIV4٢^ѭ ^J=9bFQ b>`d fG٣fDMGyf" f> nNusing accuracyPremultiplier from confighnT59j7?rT5Yj ijAprA@r@j=Ej ;jP ;j!QT5v^B z@zEDNOT Ignoring new targets: 68.10 m. jjjjih!h!h)h)f)f1f1rf1bf5`@ɛeBe`= ae>?Ia e՟u=ɚiiiIm=Iiiu2 Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,fFA $&@-.;2@Y-&Z@@-v=9-">y-HPi¿ߙgQ?ni:?u ??ɨ-.;2@-2;)yEBE!I)I IMb@Mb@Mb@ )Y r?{Gz?yC?ף<A Z@)hAI@y@II4٢ 7=94Q  >   }G٣yy > Nusing accuracyPremultiplier from configT59?T5Y ifAC?:IB@@=E/;;*UT5 k@DNOT Ignoring new targets: 68.10 m. jjjjihhhhʂBfffrfbfT@ɛB^= %4?I! %Kx=ɚ!i!I%(P= 5$?I1I9i=52ZHa RHe AAHm +>Im C Im !IIm BIm & =&Ii .Im 5D6Im <:Im FzKU a3JKU 9KQ KU KU w,5FA2-2@Y2L@@2—=92|>y2H@¿p>l?`hTF?`0?`J?ɨ2-2@24;2CyNxBR!IIZIZ 4٢f# fa=9f7Q f>hh jG٣hynu n? eNusing accuracyPremultiplier from configYmT59]ځ?uT5Y]* i]+A;B@@]$=E]};];]XXT5]B S@EDNOT Ignoring new targets: 68.10 m. jjjjihhhhfff!rf!bf%L @ɛm"BmV= qu+?Iy Raz=ɚiI=IiH2 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 65.5 m (Round-trip 87.4 ms) speed 0.0 m/s  ,DAT read: user:2694>  BDAT read: Tx time:22:32:59.5563  $Ping request sent. ymH͝Nw¿@yb?hC?Ȳ8?`?ɨm22@m<;mCy}vB}!IMb@Mb@Mb@ )Y"~j?y&1?Zd;OySC?`<jA @)AI@y@IUIU=4٢e" m=9mQ m>qq uG٣uEMGyuC: }> Nusing accuracyPremultiplier from configT59.?T5Y/ i݋AC?:B@@*=Ef;;\T5\B h@E addTargetRange:: Added new target pos. range: 65.500000 m, deltaT: 3.535680 s, deltaX: 0.099998 m, approachRate: 0.028283 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 68.10 m. jjjjihhhh܂Bfffrf`P@bf@io?ɛ(B= )'?I %}=ɚ!i!I%wf=I)i-1w,{(GAB32@YBR@@B7=9Bk>yBH@.p¿u`?@h=?x ?e?ɨB32@Bۈ;BCyVcBV!Ii\I^<IjIj4٢v v=9z$Q z?|| ~G٣|y n9 ? Nusing accuracyPremultiplier from config-T59?5T5Y iA9=B@=@-=E;#;Q_T5MWill construct direction to contact in vehicle frame from tetrahedron phase data.Q U@]EDNOT Ignoring new targets: 68.10 m. j!j!j!j!i!h!h!h)h)f)f)f1rf1bf5?JeJeJaJaJe|:Je:JaJaɛ+BRe= ?I l~=ɚiI)=Ii1I%C I%!II%BI%# =&I!.I!6I%<:I% F*F2F:FBFO5JFzKK9KKK  Will construct direction to contact in vehicle frame from tetrahedron phase data. i AG 9G B! Oe > I w,YBGA:32@Y:R@@:=9:>y:H{h¿򺪿 a?i@&'? - ?`֪?ɨ:32@:^;:CyFPBF!IIRIR"4٢Z½ ZO=9^^Q ^>`` bG٣`yb7 b> jNusing accuracyPremultiplier from configdjT59f?nT5Yf ifvAlnB@n@f2=Ef;f>;fbT5v[B vYAvEDNOT Ignoring new targets: 68.10 m. jjjjihhhh!f!f!f!rf)bf-;?ɛ]0B]X= ae!?Ia eG#=ɚaiaIeB=IiimG1 Will construct direction to contact in vehicle frame from tetrahedron phase data.w,g\GA2H2@Y2zg@@2a=92bU>y2H+8¿ũ8? j@<&? @??ɨ2H2@2S;2CyNOBN!I)  uG|uA Y|uAyB=Mb@Mb@Mb@999 9)9Y=y&1?~jt?S㥛y=`E?=<=/ݼ9 9)=zAI=@9y=Q@IMAA  $?IIIn4٢ -=9+Q > G٣FMGy.; > Nusing accuracyPremultiplier from configT59Np?T5Y i,AE?:B@@8=E;:;fT5 aA5DNOT Ignoring new targets: 68.10 m. j1j1j1j1i1h1h1h9h=Bf9f9fArfAbfE?ɛm5BuL= qu ?Iq u3=ɚqiqI}u%=Iyi0}Will construct direction to contact in vehicle frame from tetrahedron phase data.JcKkـ3 KkKcKc"KcJJJJJ:J:JJjH- <bH) H5 0>I1  I5 !II5 BI1 &I1 .I1 6I5 2<:I5 # FzK ؞KK 9K K K 0w,;vGA2Q2@Y2p@@2&V=92>y2H``<&¿%Ʃ@I&?@;k$1?@A"?J?ɨ2Q2@2;2CyNCBRs!I)T VAIZIZ4٢b6 br=9f{Q f?dd fG٣dyj0: j? nNusing accuracyPremultiplier from configlrT59nZ?rT5Yn? inAtvB@v@n<=Enq:n:niT5zZB zAzEDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbf@w?ɛU9B]= Y]?IY ]=ɚYiaIe=Iaim0  $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.pw,!GAJAB2@YJ9a@@Jz;=9J>yJH`+`xJ¿ 4 D?h`W?ñB?@?ɨJAB2@Jfb;JCyv3Bv`!II-I-4٢e m@=9B;Q >)) UG٣Qye m> Nusing accuracyPremultiplier from configT59 =?T5YQ iAB@@B=E;;mT5 1AEDNOT Ignoring new targets: 68.10 m. jjj j)i1h1h1h1h1f9f9f9rf9bfEt@ɛ>B= 隭>I [ڂ=ɚiI^=IixJ0 Iw,GAZ-D2@YZ%c@@Z=9Z>yZH֠hJ¿@?hVa?9I? ?ɨZ-D2@Z;ZCyj0Bj[!I=Will construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYmK7?~jt?{GzymI?m G٣GMGy&9 > Nusing accuracyPremultiplier from configT59U$?T5Yz iwAI?:!B@@G=Em;k;qT5YB IAEDNOT Ignoring new targets: 68.10 m. jjjjihhhhBfffrfbf`@ɛCB= %>I! %m=ɚ!i!I%=I)i5/I I!IIgBI&I.I6I:I$ FBIÞCJIÝCRIÓCZI# =bI$ =jI`6*F2F:FBF`0JFzK=BoHK9K9K=K= Will construct direction to contact in vehicle frame from tetrahedron phase data.G !G qAG G B O} > $?I rw,GA6PG2@Y6Hf@@6=965>y6HF`C¿Y@:?h#z?`ޱ?d?f?ɨ6PG2@6<;6Cy>B>G!IIJIJ4٢R V[=9VQ V>TX ZG٣XyZP: Z> bNusing accuracyPremultiplier from config`fT59b ?fT5Yb ib?Ahj%B@j@bK=Eb;:b\:b`tT5=XB =A=EDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbf@ @ɛGB= g>I d8=ɚiI=Iiy/ Will construct direction to contact in vehicle frame from tetrahedron phase data.w,aGAy~B~9!IMb@Mb@Mb@ )Y?Zd;O?Zd;OyL?j<jA @)zAI@y@II4٢ER 9=9Q > G٣y > Nusing accuracyPremultiplier from configT59??T5Y iAL?:wB@@Q=EfX;U;:xT5  A E $?I=DNOT Ignoring new targets: 68.10 m. jAjAjAjAiAhAhAhIhMBfIfIfQrfQbfU @ɛKBF= 隍B>I =ɚiIk=Ii `/ -Z#Rx 12: Read range message, but no direction.؉y؍̂B؉G5W:G B O5 >ZH RH ?AH 2>I  I !II MBI &I .I 6I <:I FhyBH{@ ¿@h`O? iy?`j?`?ɨB}b2@Bă;BCy^ B^.!IIfIf4٢r3 r[=9r,Q r>tt vG٣vHMGyzi; z> ~Nusing accuracyPremultiplier from config|T59~DՀ?T5Y~ i~AB@ @~V=E~C ;~;~~{T5 cAE addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.534454 s, deltaX: -0.099998 m, approachRate: -0.028292 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 68.10 m. jAjIjIjIiIhIhIhQhQfQfQfQrf]YP@bf]`7?ɛOB= 隍>I u=ɚiI$=Ii /e Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ̝:J 9J J J ;J ;J $7;J %7;C$w,_HAJ2@YJ@@J=9JJ1>yJH , ?l@[?%P??ɨJ2@Jɇ;JCyfBj!!I)x zA  AI-I-4٢G  9=9EQ M>YY eG٣ayuM; > Nusing accuracyPremultiplier from configT595?T5Y izAB@@\=Eͭ;;T5WB AEMDNOT Ignoring new targets: 68.10 m. jQjQjQjQiQhQhQhYhYfYfYfarfabfe~?ɛTB^]= >I =ɚiI=Ii3. $?IyQ w,$G+HA6v2@Y6@@6~-=96=y6H`엩Q?t@_?g"?]?ɨ6v2@6 ;6CyBBB!IWill construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%(\?/$?Zd;Oy%N?%QQ ]G٣Yy]º ]> eNusing accuracyPremultiplier from configamT59e$?mT5Ye% ieDAu;N?u:uwB@u@e`=Ee;e;eT5}VB AEmDNOT Ignoring new targets: 68.10 m. jqjqjqjqiqhqhqhyh}Bfyfyfrfbf?ɛXBy= >I 甆=ɚiI=Ii.Iq Iu`!IIu4BIq&Iq.Iu6D6Iu!<:Iu F*F2F:FBFP0JFGBOA>zKUBoHKU9KQKU KUWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I 68w,EHAbW2@Ybu@@bg=9b=ybH`e ¿Ө ?o?鰿 cm?@?ɨbW2@b];bCynBn!IIvIvh4٢ O=9Q  >    G٣ IMGy > Nusing accuracyPremultiplier from config%T59?%T5YF i A)-YB@-@e=E :P: T55UB 5LA5E]DNOT Ignoring new targets: 68.10 m. jYjajajaiahahahihifififirfqbf}?ɛ[B[= 隥>I =ɚiI[=Iib.JEJEJE0JAJE:JE9JEـ3JAJE;JE;JE:;JE:; Will construct direction to contact in vehicle frame from tetrahedron phase data.a`w,o^HA6K2@Y6j@@6̅=96Z=y6H @"¿J`3?cm? Ŀ?`?ɨ6K2@6k;6CyRBR!I $?IhMb@Mb@Mb@ )YV-?{Gz?~jtyM?ף<ļvA @)AI~@y@II4٢ @=9QQ > G٣yֺ > Nusing accuracyPremultiplier from configT59g?T5YR iȈAM?:>B@@k=EdI;%H;؉T5 wAEDNOT Ignoring new targets: 68.10 m. jjjjihhh!h%Bf!f!f!rf)bf-`?ɛU_BUO= Y]c>IY eHv=ɚaiaIe[=Iiim.jHi bHm <Hu 7>Iu C Iu A!IIu BIu " =&Iq .Iq 6Iu <:Iu Fw,xHAzK"K"]9K K"!K"Bn62@YBfU@@B"=9B >yBH`R¿`U@;]?Gj?`) ] ??ɨBn62@BbP;BCyJBJ IIVIV4٢ZQ߼ ^[=9^H;Q ^>`` bG٣`yfc f> jNusing accuracyPremultiplier from confighnT59j"N?nT5Yjy ijAln)B@r@jo=Ej ;jG;jT5vTB vAvEDNOT Ignoring new targets: 68.10 m. jjjjihhh!h!f!f!f!rf)bf-@ɛUcBU6_= QUZ{>IQ ]Շ=ɚYiYI]I=Iaie-U Will construct direction to contact in vehicle frame from tetrahedron phase data.Ji Jm Ji Ji Ji Jm u9Ji Ji Ji Ji Jm /;Jm /;Sr$w,zHAbC2@Ybb@@b=9bybH@=;¿ C?j!? ??ɨbC2@b:;bCyn͂Bn IIvIv&4٢-Q 5C=9:Q > G٣JMGy: > Nusing accuracyPremultiplier from config5T590?]T5Y{ iLAam6B@m@u=E׮<^<T5 4AmDNOT Ignoring new targets: 68.10 m. jijijjihhhhfffrfbf ߗ@ɛhB= K>I <=ɚiI1=I!i%[-F*w,HA2=2@Y2\@@2"=92#>y2H`XI¿@N?i:?t/`/??ɨ2=2@2;2CyNȂBR IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y?Mb?Zd;OyL?=j A @)3AIh@y\@II4٢ü @=9 :Q > G٣yk > Nusing accuracyPremultiplier from configT59?T5Y iA M?:$C@@z=E7;D;yT5 SB XA E=DNOT Ignoring new targets: 68.10 m. j9j9j9j9i9h9hAhAhEBfAfIfIrfIbfMu{@ɛkBB= ;>I H=ɚ i I I=I1i5-I I"!IIBI =&I.I6I <:I F)9*F?2F:FBF1JFGrA GrAzKK+9KK"KWill construct direction to contact in vehicle frame from tetrahedron phase data.iABDAT read: Rx Time:22:33:05.6477 TRx dataTimestamp_ set to:1736375586.984670GM ?: U $?IY Ga Bq O >ۇ1w,kHA6nI2@Y6fh@@6&=96 >y6H@¢#3¿,_7?@[j9? wA.? |?ɨ6nI2@6*;6Cy>B> IIJIJ4٢Rǽ R`=9RE:Q R>TT VG٣TyV; Z> ^Nusing accuracyPremultiplier from config\bT59^?bT5Y^ i^ڇA`b0C@b@^=E^:^:^T5h jAnEDNOT Ignoring new targets: 68.10 m. jjjjihhh h f f frfbff @ɛ=nB=ݝ= AE>>IA E=ɚAiAIEk=IIiM, Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 65.4 m (Round-trip 87.2 ms) speed 0.0 m/s  ,DAT read: user:2696>  BDAT read: Tx time:22:33:06.7564  $Ping request sent. yH ,¿:0?j^H?:=@=>??ɨL2@<;騉y=Mb@Mb@Mb@999 9)9Y=K7A`? rh?~jty=K?=C ==ļ= A =$@)=AI=@9y=AI] I]4٢m>N: %=9+Q > G٣KMGy9 > Nusing accuracyPremultiplier from configT59?T5Y iAIK?:fC@@=E`;_;T5RB AE addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.773482 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 68.10 m. j!j!j!j!i!h!h!h)h-Bf)f1f1rf1bf5@?ɛurBu*= y}>Iy =ɚiIJ=Iilh,~=w,HA6:Z2@Y62y@@6@=96>y6HۣU¿9`%?j@K?`D[B?Ԫ?ɨ6:Z2@6L;6Cy>B> IiB=I@IJIJ4٢V3[ V=9V9Q V?XX ZG٣Xy^.; ^?zK~BoHK~9K|K~#K~8]nokd[VOJGCA:898651,% =Nusing accuracyPremultiplier from config9ET59=m?ET5Y=| i=_AAEsC@M@==E=:=:=ݞT5UQB UAUE}DNOT Ignoring new targets: 68.10 m. jyjyjyjihhhhfffrfbf J_?ɛuB= 隽=I e!=ɚiI75=IiF0,% Will construct direction to contact in vehicle frame from tetrahedron phase data.Dw,IA2q2@Y2@@2,=927T>y2HZ@ y ?-md5?*ҰI6?-?ɨ2q2@2 ;2CyLPIZIZ 49r狻Q r>tt vG٣tyzb; z> Nusing accuracyPremultiplier from configT59?T5Yħ i$AC@@=E|<M<ZT5A eAEDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbf{?ɛ%yB%Ɩ= AM=II MU=ɚIiIIMW=IQiU+Jw,-IA>}2@Y>ۜ@@>Xޅ=9>>y>H@_@aF:?>m-K?@4O??ɨ>}2@>Շ;>CyFBJ IrWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-?J +?Mby-fF?-H=-- A -Q@)-AI))y-AIEIEЬ4٢U U<9UrQ ]>YY eG٣eLMGym: m> uNusing accuracyPremultiplier from configq}T59uԐ?}T5Yu4 iuA}F?:D@@u=EuV;u;uT5 ADNOT Ignoring new targets: 68.10 m. jjjjihhhhBfffrfbf`w?JJJJJ:J=9JJɛ|B= 隝=I n=ɚiIF=Ii+<H:>I I IIӂBI&I.I6I<:I Fiv;))*F?2F:FBF_0JFzK5ZMK59K1K5$K5GM!j;Will construct direction to contact in vehicle frame from tetrahedron phase data.G) BI Ou > I Qw,GIAy%B% II5I54٢M펼 MK=9UQ U>QY ]G٣Yy] e> mNusing accuracyPremultiplier from configamT59ev?uT5Ye ieAqqu@e=Ee:e* ;eT5PB AµEDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbf?ɛB = _=I u=ɚiI =Ii<|+ Will construct direction to contact in vehicle frame from tetrahedron phase data.Ww,$aIA &$?I$B2@YB@@BP=9Bh>yBH:Y=@?lob?`>7c?{?ɨB2@Bڇ;@yNBN I5Mb@Mb@Mb@111 1)1Y5y&1?J +? rhy5`E?15C5 A 5h@)5AI5@1y5AIMIM4٢]f) ]I=9e;Q e>ai mG٣iym8: m> Nusing accuracyPremultiplier from configq T59uZ\? T5Yu iuA=E?U:UD@]@u=Eu;(^w,c{IA6}2@Y6~@@6=96>y6H@Ϩ?kૈ?`@??ɨ6}2@6;6Cy^B^ IIfIf4٢nhƻ nS=9r:Q r>pp vG٣vMMGyv:P v> ~Nusing accuracyPremultiplier from configx~T59z7C?T5Yz iz[A  D@ @z=EzX;zK;zpT5NB AǵEzK5RIK5h9K1K5%K5]DNOT Ignoring new targets: 68.10 m. jYjYjYjYiYhYhahahafafafirfibfm@ɛBcR= 隝 Will construct direction to contact in vehicle frame from tetrahedron phase data.ew,7IA2}q2@Y2u@@2Ủ=927>y2H4?~jf? 76`}??ɨ2}q2@2*;2CyRBR I Z=Z=IzIz4٢  H=9 :Q >!! -G٣)y5k 5> UNusing accuracyPremultiplier from configQ]T59UQ(?]T5YU iU&AYeD@e@U=EU ;U ;UT5i uAuʵEDNOT Ignoring new targets: 68.10 m. jjjjihhhhff frfbf%kV@ɛB= (=kw,5%IAZWill construct direction to contact in vehicle frame from tetrahedron phase data.^>^4=y=BE IMb@Mb@Mb@ )YMbX9?kt?~jtyA? 0=D A )vAIyAJJJJJm:JO9JJIIN4٢.O :=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)5T59- ?5T5Y-d i-A= B?=:=ND@=@-=E-3;-;-ڷT5HQIQ IU IIUBIQ&IQ.IQ6IU<:IU FmMB mYAu͵EDNOT Ignoring new targets: 68.10 m. jjjjihhhhBffIfYrfYbf] @ɛB= I )=ɚiI:=Ii*zKK]9KK&KmWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 65.7 m (Round-trip 87.6 ms) speed 0.0 m/s },DAT read: user:2697> BDAT read: Tx time:22:33:10.3564 $Ping request sent.yRHդ`D?`i`n?@T)?v?ɨRj2@Rކ;RCyfBj IIvIv74٢~ ~_=9~:Q > G٣y ҍ  > Nusing accuracyPremultiplier from configT59}~?T5Y٣ iȅA!%HD@%@=E. ; ;T51 5aA1e addTargetRange:: Added new target pos. range: 65.699997 m, deltaT: 3.528190 s, deltaX: 0.299995 m, approachRate: 0.085028 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 68.10 m. jajajijiiihihihqhqfqfqfyrf}lP@bf}@tz?ɛBsх= 隭ļI =ɚiI=IiM*) H~G tA! U GYU tAyU B} Will construct direction to contact in vehicle frame from tetrahedron phase data. 6@ _B % $?I! iMxw,IA2a2@Y2ހ@@2D=92C>y2H# ¿J`?hy?`<``?`?ɨ2a2@2;2Cy>B> IMb@Mb@Mb@ )YK7A?X9v?{Gzy B?<# A @)I@yfAI]I]4٢mt; mC=9m9Q m>qq uG٣uNMGy} }> Nusing accuracyPremultiplier from configT59~?T5Y iA:B?:6C@@=EL;JK;T5LB UAеEDNOT Ignoring new targets: 68.10 m. jjjjihhhhBfffrfbf?ɛB랅= I ~=ɚi!I%v=I!i-*Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHIRHIHQIQ IU IIUBIU =&IQ.IQ6IU <:IU Fvu~w, IA2 y2@Y2@@27=92>y2Hpv `z?`p?@ؿ??ɨ2 y2@2;2CyBvBBw IIJ IJ4٢f"n fU=9fqQ f>hh jG٣hyjq; n> rNusing accuracyPremultiplier from configpzT59r~?zT5Yrf irjAxzMC@~@r=ErB;rXD;rT5 AӵE-DNOT Ignoring new targets: 68.10 m. j)j)j)j1i1h1h1h1h9f9f9fArfAbfE??ɛuBzKJKKK'K/P3f= `I {n=ɚiI(=Ii%) Will construct direction to contact in vehicle frame from tetrahedron phase data.J- J- J) J) J- ݒ:J- 9J) J) J- ;a5 J- ;a5 J- ';a= J- ';a= \w,}JA>fL2@Y>]k@@>D=9>->y>H`c'¿@|1? j@'0?m尿,?X?ɨ>fL2@>;>CyF}BJ IIRIR4٢V= ZL=9ZҗQ Z>\\ ^G٣\yb޻ b> jNusing accuracyPremultiplier from configdnT59f#~?nT5Yf ifֆw,X0JARWill construct direction to contact in vehicle frame from tetrahedron phase data.yrtBru I}Mb@Mb@Mb@yyy y)yY}p= ף?Q?:vy}E?}\=}T}A }@)} AI}I@yy}zAII4٢% <=9Q > G٣OMGy > Nusing accuracyPremultiplier from configT5H<>IC I IIBI =&I.I7D6I<:I FBIJIRIZI =bI =jI49~?%T5Y iA%ZE?%:%rC@%@=EV<sU<_T5-JB 5AٵEDNOT Ignoring new targets: 68.10 m. jjjjihhhhBfffrfbf?ɛeBe= ae`Ii m49=ɚiID=Ii*%)nw,4JJA6[2@Y6z@@6݈=96>y6H Sf ¿n稿r? @k NC?` 8=?^?ɨ6[2@6ZM;4yBrBBr IIJIJ4٢f] fY=9f;Q f>hh jG٣hyvF!; z>  Nusing accuracyPremultiplier from configT59t~?%T5Y8 iلA)-C@-@=Eg;;T5 ADNOT Ignoring new targets: 68.10 m. jjj j i h h hhf)f)f)rf1bf5,@ɛBz= 隽I =ɚiI =Ii(G?G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data. I w,VdJA>B2@Y>a@@>:c=9>—>y>HAB¿k8D? Dhi?I@]??ɨ>B2@>6; G٣y<` > Nusing accuracyPremultiplier from configT598X~?T5Y! iA kE? : 1A@ @=E;;T5 AܵEEDNOT Ignoring new targets: 68.10 m. jAjAjAjAiAhIhIhIhU݂BfYfYfYrfYbfe`@ɛBy= 隵I i=ɚiI7=Ii.(I I IIBI&I.I6I?<:I; FGm;GA BQ Om >Þw,d}JA6K2@Y6i@@6SI=96b->y6H Ԣ3¿>:4?`6h@z?E@Sp? V?ɨ6K2@6;4ybgBbe I)d dInIn+4٢v2b v^=9b Q  >! %G٣%PMGy%: %> 5Nusing accuracyPremultiplier from config)5T59->@~?5T5Y-4 i-mA9=9A@=@-=E--;-;-T5EIB M AMߵE}DNOT Ignoring new targets: 68.10 m. jyjyjyjyiyhhhhfffrfbf! @ɛBxp= I ʈ=ɚiIR=IiG(E Will construct direction to contact in vehicle frame from tetrahedron phase data.J% J% J% /J! J% :J% u9J% (N3J! a5 @a5 @a5 @a5 @થw,iŗJA662@Y6U@@6_=96>y6HG^¿@`S\?e?"[?P?ɨ662@6;6CyNlBRj IIj Ij4٢r\< vJ=9vT:Q v>xx zG٣xyzTL ~> UNusing accuracyPremultiplier from configQ]T59U%~?]T5YU/ iU6Aae%A@e@U=EU: ;U\ ;U^T5mHB mAmEDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbfWY @ɛB*r= ۽I S=ɚiI2p=I i ' BDAT read: Tx time:22:33:13.9564 $Ping request sent.ԫw,oJAVJ2@YV i@@V=9VL>yVHآ5¿@6?g?<̀?@?ɨVJ2@V@w;Ty^aB^^ IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:33:13.9556 ]Mb@Mb@Mb@YYY Y)YY]?MbMby]L?]]] A ]@)] AIYYy]zAIuIu|4٢5D A=9Q > G٣H@>I I IIBI =&I.I6II<:ID Fy6; u> Nusing accuracyPremultiplier from configyT59}~?T5Y}ݛ i}AL?:?@@}=E} ;}D;};T5GB 1AE  addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 3.544069 s, deltaX: 0.300003 m, approachRate: 0.084649 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 68.10 m. jAjAjAjAiAhIhIh)h-ׂBf1f1f1rf5P@bf5U?ɛ}Bnm= 隅 I W=ɚiIe=Ii 'Ǽw,F{JA^Jw2@Y^A@@^6͆=9^r=y^H*?꨿@)?es`K?ְ`+??ɨ^Jw2@^ ;^CyfYBfT Iij=Ij;IrIrV4٢z" zT=9zQ z>|| ~G٣~QMGy; >  Nusing accuracyPremultiplier from config T59 }?T5Y Қ i ăA@@@ =E  ; G; XT5! %oA!uDNOT Ignoring new targets: 68.10 m. jqjyjyjihhhhfffrfbf ?ɛB^= 隕NI %#=ɚiIH=Ii~\' $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,^JA6P2@Y6o@@6Y=96yA>y6H@iT¿Y>)?`$mT?`A|??ɨ6P2@6ڥ;6CyLLMb@Mb@Mb@ )Y/$? G٣y > Nusing accuracyPremultiplier from configT59}?T5Y iAL?:?@@=E.a;T`;T5 kAE=DNOT Ignoring new targets: 68.10 m. j9j9j9j9i9hAhAhIhMBfQfQfYrfYbf]?ɛ5B5 rc= 15H%I1 =ه=ɚ9i9I==IAiE% 'I I IIBI&I.I6I<:I FG!j;G ?G?G B O >w,1JA6"P2@Y6o@@6#=96>y6H¿`^|@+?Wk )? a.?`X?ɨ6"P2@6Ĉ;6CyRMBRE IIZIZ4٢b8 fZ=9fZQ f>hh jG٣hyj j> rNusing accuracyPremultiplier from configpvT59r}?vT5Yrn irMAtv?@v@r=Er :rP:r[T5~FB ~A~E%DNOT Ignoring new targets: 68.10 m. j!j!j!j)i)h)h)h)h1f1f1f1 $?Irfbf?ɛ B _V=  BI  -=ɚiIf=I9iE &`JK+9KK+K*F-?2F):F)BF-72JF)G7:GBO5O>% Will construct direction to contact in vehicle frame from tetrahedron phase data.nw,KA202@Y2O@@2m=92t>y2H@\¿ 㧿h?pg`\?㳰 Z?`G?ɨ202@2`;2CyNCBN8 I)P PIZIZv4٢bQ bJ=9f-L;Q f>dd fG٣jRMGyj j> rNusing accuracyPremultiplier from configlrT59n}?rT5Yn6 inAtv?@v@n=Eln:nT5zEB zA~E%DNOT Ignoring new targets: 68.10 m. j!j!j!j!i)h)h)h)h)f1f1f1rf9bf= ?ɛeBeN= ev"=m:^Ii m7=ɚiiiIm,=Iqiu r&m#w,}2KA262@Y2U@@2p=92>y2H4T¿QT@\?gMb?갿@"\??ɨ262@2Xӈ;2CyR:BR. IrWill construct direction to contact in vehicle frame from tetrahedron phase data.  @   @   @    @ II|4٢-9! -D=9-[;Q ->11 5G٣1HeE>IeC Ies IIesBIe =&Ia.Ie8D6Ie<:Ie FJJJ1JJ:Ju9J3JJ8;aJ9;aJ/;aJ/;ayX: > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configT59 }?T5Y i΂A+:W:?@@=ES;D>T5 RAEeDNOT Ignoring new targets: 68.10 m. jajajajaiihihihihifffrfbf ԗ@ɛBtL= `vI ņ=ɚiIGj=Iix&zKk3IK59KK,KGGrAG B O >w, LKA632@Y6R@@6=96>y6H@ߡ1\¿j@Qb?fgu? `m??ɨ632@6j;6CyB(BB IIR$IRd5٢b5 bP=9f6:Q f>hh nG٣lynZ r> vbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpzT59rDk}?zT5YrŔ irA~ :|~.:~?@~@r=Erv=;r]P?rT5DB A E5DNOT Ignoring new targets: 68.10 m. j1j1j1j1i1h9h9h9h9f9fAfArfAbfE`~@ɛuBuVt7= qu,Iy }[=ɚyiyI}P=Ii% $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:33:16.4493  TRx dataTimestamp_ set to:1736375597.58067235w,ϞfKAyeBm I == m m mm mm  m m mMb@Mb@Mb@iii i)iYmʡE?Qy&1ymO?mum`m+A m3@)m\ AImhAiym\AIIH4٢^S 1=9Q > G٣SMGy > Nusing accuracyPremultiplier from configT59PL}?T5YM iGAT:O?:n?@@>E; ;%T5CB 9 AEDNOT Ignoring new targets: 68.10 m. jjjjihhh h Bf f frfbf y. @ɛ=B=8= 9EIA Eą=ɚAiAIE^=IYi]]%ImC ImS IImYBIm =&Ii.Ii6Im<:Im FBIǠCJIǡCRIZI =bI =jIǍ5EJJJ0JJݒ:J=9Jـ3JJ;J;J*;J*;*F- ?2F) :F) BF- 85JF) Gm iGy G} ? $?I GIBQOu> ,w,pKAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKfm$JKf9KdKf-KfHM2@Y?l@@%3=9rl>yH`=+¿@O 0??h@}?`.ix?@?ɨHM2@H;yUBUIImIm4٢G 9=9i9Q > G٣yf; > Nusing accuracyPremultiplier from configT59.}?T5Y iA?@@>E;;T5  AEEDNOT Ignoring new targets: 68.10 m. jijijijiiihihihqhqfqfqfyrfybf}1 @ɛBA/= AMII M$=ɚIiIIMZ=IQiU % }BDAT read: Tx time:22:33:17.5565 }$Ping request sent.}JQw,%KAFnU2@YFet@@F"=9Fy>yFH 2¿@A?h~?$z??ɨFnU2@F;DybBbII#I5 9I9٢mZ >=9^Q > G٣y$: > Nusing accuracyPremultiplier from configT59}?T5Y iA?@@>E;;T5! % A)UWill construct direction to contact in vehicle frame from tetrahedron phase data. addTargetRange:: Added new target pos. range: 66.400002 m, deltaT: 3.780040 s, deltaX: 0.400002 m, approachRate: 0.105819 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfP@bf =?ɛÂB!= kľI ;f=ɚiI=I)i-Ҭ$II  IM . IIM ;BIM  =&II .II 6IM <:IM " FJ J AAJ J J J J :J 9J J J 8;J 9;J ;%;J ;%;G;GaBiO?Uw,`KA62@Y6@@6=96w>y6H _E?l@d?_j?@?ɨ62@65;6Cy>B>IFAFAMb@Mb@Mb@ )YM?{Gzt rhynR?ףC AA I@)rAIyAI5I54٢Ev E-=9M[Q M>IQ UG٣UTMGyU; U> eNusing accuracyPremultiplier from configYmT59]n|?mT5Y]5 i]]AuR?u:u@@u@]>E]~C;] B;]T5}BB } A $?IEmDNOT Ignoring new targets: 68.10 m. jijijqjqiqhqhqhyh}ׂBfffrfbfƮ?ɛǂB>=Will construct direction to contact in vehicle frame from tetrahedron phase data. !%_־I! %=ɚ!i)I-[-=I1iU n$JK >*F2F:FBFP0JFG !G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w, KA: 2@Y:@@:=9:B>y:H@l? Fmr_?@,U@k?{?ɨ: 2@:;:CyBBFIIRIR 4٢V ZV=9Z5Q Z>\\ ^G٣\yb: b> fNusing accuracyPremultiplier from configdjU59fO|?jU5Yf ifAhj@@n@f>Ef:f:f9U5rAB r ArE DNOT Ignoring new targets: 68.10 m. j j j j ihhhhff!f!rf!bf% sz?ɛMɂBU< QUIQ U=ɚQiQI]=Iaie>A$Z#w,-KA22@Y2@@25z=92-C>y2Hɬ P`lel?"q`9?Y U??ɨ22@2;;0y>ЁB>I=Mb@Mb@Mb@999 9)9Y=(\?I +?S㥛y=N?=94<=/ݼ=A =v@)=AI=A9y=AIMIM-4٢] e@=9eŻQ e>ii mG٣iym; m> Nusing accuracyPremultiplier from configqU59u|?U5Yu  iu؀A7N?:A@@u>EuE9;u|;uU5Will construct direction to contact in vehicle frame from tetrahedron phase data.@B  AEZHRH?AHP>IC I IIBI =&I.I9D6I<:I FDNOT Ignoring new targets: 68.10 m. jjjjihhh h ЂBf f f rfbfnm?ɛ=̂BEB< AEMIA E9=ɚAiAIMP=IIiM$M Will construct direction to contact in vehicle frame from tetrahedron phase data.zK :IK K K /K  w, LAN2@YN @@N,{=9N>yNH 2@`@r }?q )?` C?@?ɨN2@N ;NCyVÁBVIiZJ>IZ> ^=^a=Ib,Ib5٢jy jS=9nA 9Q n>ll rG٣rUMGyrP r> vNusing accuracyPremultiplier from configtzU59v|?~U5Yv7 ivA|~A@~@v#>Evm ;v ;vSU5  A E-DNOT Ignoring new targets: 68.10 m. j1j1j1j1i1hhhhfffrfbf`}?ɛ ςB< I @=ɚiIs=IAiM# I U Will construct direction to contact in vehicle frame from tetrahedron phase data.}E w,"&LAF62@YF-@@Fؒy=9F>yFH@4xc@O?@r? j-@O#?`N?ɨF62@FpK;FCyRBRI5Mb@Mb@Mb@111 1)1Y5Q?~jt?~jty5H?5=5ļ5AA 5`@)5 AI5zA1y5QAI]:I]# 5٢= 7=9 eQ  > G٣y̹ %> 5Nusing accuracyPremultiplier from config)=U59-+|?=U5Y- i-`AEJI?E:ED@E@-)>E-6H;-U;-> U5M?B Mr AUEDNOT Ignoring new targets: 68.10 m. jjjjihhhhBfffrfbf@ɛm҂BmH+< quvIq uL7=ɚqiqIu=Iyi}#I IIIBI =&I.I6I<:I5 FJJBAJJJ1JJ:J*9J3JJR;JS;J(;J(;GM @;G! B) OM >.w,@LA62@Y6@@6Ѽt=96l>y6H@ݴ?r?`񒮿(??ɨ62@6rH;6CyBBBuIHJBAIJ<IJ 5٢VO Vc=9VVQ V>XX ZG٣XyZ Z ^> bNusing accuracyPremultiplier from config`fU59bk|?fU5Yb ib0AdjD@j@b->Eb:b.:b_U5n>B n An E DNOT Ignoring new targets: 68.10 m. j j j j ihhhhfff!rf!bf%`@ɛMԂBM.< QU IQ U~=ɚQiQI]os=IYi]# Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:33:20.0500  TRx dataTimestamp_ set to:1736375601.361351TVw,ZLA6,2@Y6#@@6n=96Q=y6H` ?^sԵ?*ԭ@??ɨ6,2@6;6CyBBBpIIJ'IJ5٢Rޖ RK=9RLmQ V>TT VG٣VVMGyZƹ Z> ^Nusing accuracyPremultiplier from config\bU59^!Q|?bU5Y^B i^A`fD@f@^2>E^2 ;^T ;^U5h j Ah}DNOT Ignoring new targets: 68.10 m. jyjyjyjyiyhhhhfffrfbf @ɛׂB< <I ܰ|=ɚiI=I i e#w,KttLAyBcIjH=<bH=4<HMT>II IMIIMՁBII&II.II6IM<:IM FMb@Mb@Mb@ )YK7?y&1?/$yI?`e=XA @)AIAy AI4I{5٢-*> -4=9-Q 5>MWill construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 67.0 m (Round-trip 89.4 ms) speed -0.2 m/s u,DAT read: user:2700> }BDAT read: Tx time:22:33:21.1565 }$Ping request sent.} Nusing accuracyPremultiplier from configU5902|?U5Y iA*J"J4=NJ?:hE@@8>E(O;L;U5 C A E addTargetRange:: Added new target pos. range: 67.000000 m, deltaT: 3.558602 s, deltaX: 0.599998 m, approachRate: 0.168605 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 68.10 m. jjjjihhh h BfffrfP@bf;?ɛ=قBEȞ< AE!IA EL[z=ɚAiII%=I)i-*#h#w,LLANi2@YN@@Nb=9N=yNHvPz?q >??\`V?@?ɨNi2@N;NCyfBf\II  I 4٢ؼ ^=9% Q %>!! %G٣!y-ѻ -> 5Nusing accuracyPremultiplier from config1=U595|?=U5Y5D i5/AAEBE@E@5=>E5;5;5U5M=B Mf AMEuDNOT Ignoring new targets: 68.10 m. jqjyjyjyiyhyhyhhfffrfbf>?ɛۂBM< {%I t|x=ɚiI =Ii" $?I )w,7LAFk2@YF@@FhY=9FS>RWill construct direction to contact in vehicle frame from tetrahedron phase data.yFH ղ7 s?p j? )?O?ɨFk2@Ft;Dy^BbSI%Mb@Mb@Mb@!!! !)!Y%"~j?X9v?I +y%SC?%}=%94%A !)%AI%A!y% AI=I=4٢MQ M8=9UϬQ U>QQ UG٣]WMGy]9 ]> eNusing accuracyPremultiplier from configamU59e{?uU5YeЈ ie~AuC?u:uE@u@eB>Ee ;e;eU5}I9 I=II=BI= =&I9.I96I=گ<:I= FBIǣCJIǣCRIZI =bI =jIǧ5MWill construct direction to contact in vehicle frame from tetrahedron phase data.M>M @G:G B O >|0w,N LA6\2@Y6{@@6WT=96n=y6H @?@$G?򇪿?`1?ɨ6\2@6ʋ;6CyN~BNFIIVIV74٢^Ip bh=9beQ b>dd fG٣dyf ' j> nNusing accuracyPremultiplier from confighrU59jH{?vU5Yjr ij~AtvE@v@jG>Ej5;j2;j !U5x ~ A~E%DNOT Ignoring new targets: 68.10 m. j!j!j!j)i)h)h)h)h1f1f1f1rf9bf=`?ɛB $?I8; 5F=50I1 5t=ɚ1i9I==I9iEk"] Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J 9J J 6w,LA6qW2@Y6gv@@6yO=96=y6H@; ? /ü?@^쩿3???ɨ6qW2@6ʎ;6Cy>zB>AIIvIv4٢% -E=95a:Q E>AI MG٣IyUdQ U> ]Nusing accuracyPremultiplier from configYeU59]9{?eU5Y] i]V~AimE@m@]L>E]:]C:]$U5u;B uAuEB*** querying acoustic contact ***jjDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbf`?ɛB3< 3I q=ɚiIE=Ii2#"I~C I~II~BI|&I|.I~:D6I~<:I~1 FMb@Mb@Mb@ )Y+?L7A`?y??+= A)rAIAy= AI,I5٢1 ==9Q > G٣XMGy ̻  >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007733 %Nusing accuracyPremultiplier from config-U596{?-U5Y i!~A5|@?=:=E@=@Q>Ex;а;s(U5A EAAmDNOT Ignoring new targets: 68.10 m. jqjqjqjqiqhqhyhyh}Bfyffrfbf7@ɛB,< _5I &o=ɚ!i!I%0=I1i=j!zK m$JK h9K K 3K *Cw,MAy}wB}>II+I~5٢T O=9Q > G٣y > Nusing accuracyPremultiplier from configU592{?U5Y2 i}A@V>E ; ;+U5:B AE DNOT Ignoring new targets: 68.10 m. jjjjihhhh!f!f!f)rf1bf5]@ɛuBuX; qu7Iy }l=ɚyiyI}=Iig!qJw,,MAyExBE?I-only read 0 of 1 data item for altitude. Device response is::BD, -88.31425.75, -22.10, 8.71, 0.00  @ @ @  @ I6I] 5٢0b; 4=9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config U59 {{?U5Y  i }A+:%d:!%@ [>E *; p> /U5-9B - A-E]DNOT Ignoring new targets: 68.10 m. jYjYjYjaiahahahhfffrfbf@@ɛ=BE8P1< iu7Iq }j=ɚyiIV=IiH I IyIIBI =&I.I6I<:I9 FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:33:23.6509 TRx dataTimestamp_ set to:1736375604.916632checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016673EI=*F ?2F :F BF o0JF  $?I GE >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267608GB)OM?Rw,1#LMA6D(1@Y6:G?@6WC=96ѱ=y6HJ`Ŀ뜿 x?]>?]@? v?ɨ6D(1@60;6CyB{BBBI F=F=IJ>IJ 5٢Z5< Z2=9ZQ ^>\\ ^G٣^YMGyb b>zKBoHK9KK4K1;RK-?JK-? mbBottom track data is 0.9 s old, using for 20.0 s. mNusing accuracyPremultiplier from configauU59e;]{?uU5Ye! ie}A} :y}9:}D@}@ea>Ee`+;eo?e1U5  A!EDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbf% @ɛMBM'< IUn7IQ UMg=ɚQiQIU@=IYi] 5BDAT read: Tx time:22:33:24.7565 =$Ping request sent.=hYw,yvgMAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:33:24.7557 %D1@Y%:=?@%]!?=9%V'=y%H%Ŀ?>[@p?᧿ g?@#?ɨ%D1@%;%CyBII u u uu uu  u u uMb@Mb@Mb@qqq q)qYuPn?Zd;O?yuD?uj<=quA q)uAIuIAqyu3 AIBI5٢f< =99Q > G٣y > Nusing accuracyPremultiplier from configU59<{?U5Y. iD}AT:sD?: C@@g>EZ;;@6U58B  A$Ee addTargetRange:: Added new target pos. range: 67.699997 m, deltaT: 3.525989 s, deltaX: 0.699997 m, approachRate: 0.198525 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 68.10 m. jijijijiiihqhqhqhu΂BfyfyfrfP@bf`~5?ɛB`LC< p5I Sd=ɚiI=I!i%VI IIIBI&I.I6I+<:ID FGBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.[K`w,yBH Ŀ u`t? Zn?` j?@Ƿ?ɨB*1@Bi;BCyJBJQIIV IVe4٢Z= ^=9^Q ?    G٣ y;  ? Nusing accuracyPremultiplier from config%U59({?%U5Y i }A!%C@-@k>ET ;e ;9U557B 5 A5'EeDNOT Ignoring new targets: 68.10 m. jajajijiiihihihqhqfqfqfqrfybf} +?ɛBٺ 隥3I :b=ɚiIF=Ii ufw,MAWill construct direction to contact in vehicle frame from tetrahedron phase data.B=1@YB\?@B*=9B >yBH@ @yÿ`u O?eM 'E?@Y࿨? x?ɨB=1@BN;BCyNBNNI)T TZAZAIZIZ 4٢fP  fI=9j[Q j>hh nG٣nZMGyr@; r> vNusing accuracyPremultiplier from configtzU59v{?zU5Yv׃ iv|Ax~*C@~@vp>Ev ;v* ;vlw,MA>җ1@Y>ȶ?@>/=9>Q >y>Hڢ~ÿ@.‘੝?@T0?폣;??ɨ>җ1@>;>CyJBJTIeMb@Mb@Mb@aaa a)aYeV-?{Gz?~jth?ye|??eף=HZ>I IIIBI =&I.I6Iگ<:I F9Q > G٣yP< > Nusing accuracyPremultiplier from configU59z?U5Y҂ i|A??:_A@@u>E;);I@U5 i ADNOT Ignoring new targets: 68.10 m. jjjjih!h!h!h%Bf)f)f)rf)bf51?ɛ]B]ȱ; Y]$3IY e]=ɚaiaIe=Iiim G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.ƈsw,MAB11@YB'@@B=9B;f>yBHUu¿`A0 ? ZF5?o`)??ɨB11@Bjډ;BCyJBJYIIR%IR5٢ZL< ZY=zK^LK^]9K\K^6K^#'*3<AGLPVVTVWRRSSRSQPRJ=8784221.("9^»Q f>hh jG٣hyjY< n> rNusing accuracyPremultiplier from configpvU59rVz?vU5Yr ir|AxzA@z@ry>Er:r:rCU5~6B ~C A-E%DNOT Ignoring new targets: 68.10 m. j)j)j)j)i)h)h)h1h1f1f1f9rfAbfE֟?ɛBp; 1I 6[=ɚiI~C=Ii̭eWill construct direction to contact in vehicle frame from tetrahedron phase data.e>ep= $?I _yw,MAWill construct direction to contact in vehicle frame from tetrahedron phase data.O22@YEQ@@=98>yH%@l?8_@?@ ??ɨO22@k;騱yB]Ii=I> ==mMb@Mb@Mb@iii i)iYmS㥛? rhMb`ymD?mCmm&A mhA)mAImvAiym AI1I&5٢vT<  =9UQ > G٣[MGyl<  > Nusing accuracyPremultiplier from config U59 ǻz?U5Y Y i o|AD?:%>@%@ >E #; 3"; HU5-5B -# A-0E]DNOT Ignoring new targets: 68.10 m. jYjYjYjaiahahahahm Bfififirfibfu@@ɛB4< 隥0I FX=ɚiI=IiAI IIIBI&I.I6I<:I3 FBIeǤCJIeǤCRIaZIe =bIe =jIeǼ)5u Will construct direction to contact in vehicle frame from tetrahedron phase data.G RJ J J J J J [9J J J J J ;J ;G B O >w,NA>K2@Y>j@@>u<9>2>y>H`:?@ba5?UC?%?ɨ>K2@>u;>CyrBrfIIzIz_4٢;= =9Q  ?    G٣ yڦ; ? Nusing accuracyPremultiplier from config-U59+z?-U5Ya iK|A)5 ?@5@>E9;X;JU59 E AE3E ]$?IYuDNOT Ignoring new targets: 68.10 m. jqjyjyjyiyhyhyhhfffrfbfZ@ɛB9ͺ -I $W=ɚiI=Ii8zK5"NK59K1K57K5      BK=qA:K=tAuņw,fNA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:22:33:27.2519 &TRx dataTimestamp_ set to:1736375608.452927Zde2@YZZ@@Z<9ZY>yZH^ J?ac(-?Ӝq? ?ɨZde2@Z;ZCyfBf_IIr#Ir5٢vt߼ zL=9zxQ z>|| ~G٣|y{~; >  Nusing accuracyPremultiplier from config U59 wz?U5Y ~ i !|Ay#?@@ >E w< 7w< 1NU54B  A6EDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbf@@ɛeBm˟; imv1Ii mT=ɚyiyI}M =Ii'Ge ?Ge?Ga Bq O >w,>6NA @F~d2@YFt@@F<9FN>yFH`_qUy^ ?a`MV?5@g? V?ɨF~d2@FIEC IEIIEˁBIE =&IEFD.IA6IEd<:IEq F]Mb@Mb@Mb@YYY Y)YY]/$?ˡE~jtxy]1H?]']Ļ]A ]A)YI] AYy]AIu!Iu5٢ = A=9ŻQ > G٣\MGy > Nusing accuracyPremultiplier from configU59rz?U5Y| i{AyH?u:uB=@}@>E<<QU5  ADNOT Ignoring new targets: 68.10 m. jjUWill construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: Range 10 to 50 : 68.4 m (Round-trip 91.3 ms) speed -0.2 m/s e,DAT read: user:2702> mBDAT read: Tx time:22:33:28.3566 m$Ping request sent.m Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:33:28.3558 ֓w,&PNAF2@YF@@FE1<9FЄ>yFH@p?d:? e?o?ɨF2@Fgj;Dy^Bb]IzKMK9KK8K M` qlI-'I-5٢=> =O=9E-Q E>AA MG٣IyM; M> }Nusing accuracyPremultiplier from configQ}U59U~Yz?U5YU { iU{A^=@@U>EU ;U;UTUU53B  A9E addTargetRange:: Added new target pos. range: 68.400002 m, deltaT: 3.535477 s, deltaX: 0.700005 m, approachRate: 0.197994 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 68.10 m. jjjjihh h h f ff1rf1bf5?ɛB@& %4I eP=ɚiI# =Ii=}w,wiNAz|2@Yz˛@@z<9zf>yzH & NV? d@+?`? ?ɨz|2@Will construct direction to contact in vehicle frame from tetrahedron phase data.zsS;zCyށޅ\IMb@Mb@Mb@ )YB`"?+y&1yN?`eA A)+AI/ Ay=AII4٢Fк '=9Q > G٣y > Nusing accuracyPremultiplier from configU598z?U5Yx ig{A-O?-:-:@-@>E;;YU552B = A=Bfyfyfyrfbf ?ɛ-B-0; )-b5I) 5iXM=ɚ1i1I5!=I9i=2IQ IUIIUЁBIU =&IQ.IU;D6IUC<:IUZ F Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J M:J 9J J J ;J !;J ;J ;G] ']?;Gi Gi G1 BA O] >w,ANANN2@YNm@@N<9N >yNH@[@Z*R?@o6?Mi1Y?`H5?g?ɨNN2@N;N C Z$?IZhybBbXIInInx4٢r r=9vQ v?xx zG٣z]MGy~5 ~?  Nusing accuracyPremultiplier from config U59 ($z?U5Y 6w i 6{Aw:@@ >E : P: T\U5! %( A%?EUDNOT Ignoring new targets: 68.10 m. jQjQjQjQiQhQhYhYhYfYfafarfabfe i?ɛB" 隥7I K=ɚiI3^!=Ii-w,mNA*Will construct direction to contact in vehicle frame from tetrahedron phase data.*>*?-?2@Y-^@@-Փ]<9-O >y-Hdz`dht?@{U?=gu?@C c?P?ɨ-?2@-[C;-Cy=B=RIIUIUJ4٢e0Ǽ eD=9e2Q m>ii mG٣iyu }> Nusing accuracyPremultiplier from configU59cz?U5Y0u izAi:@@>E::_U51B L ABEDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbfm?ɛ B a d;I  I=ɚiIu!=Ii%jY2@Y>:@@>RD<9> >y>H@~m}?k?c? ?\?ɨ>2@>Rƈ;It ItItIt&It.It6Iv#<:IvD FMb@Mb@Mb@ )Y> ףp=?Q rhyQ?uCjA )AIE AyAIIN4٢,f D=9tQ > G٣y꨻ > Nusing accuracyPremultiplier from configU59'y?U5YTs izAR?:;@@>Ek;;cU50B  AEE-DNOT Ignoring new targets: 68.10 m. j)j1j1j1i1h1h9h9h=9Bf9fAfArfAbfE`?ɛ}B}'k y}qBI sF=ɚiI!=Ii@@B_6<9B >yBH@ݱ:?H?d`? Æ@>?$?ɨBz2@BHR;BCyJBJGIIV IV4٢bm< b]=9bQ b>dd fG٣f^MGyj: j> rNusing accuracyPremultiplier from configlrU59n#y?vU5Ynq inzAtv;@v@n>En0;n1;nfU5x z A|%DNOT Ignoring new targets: 68.10 m. j)j)j)j)i)h)h)h1h1fAfAfArfIbfM.@zK]lOKYKYK]:K]++*)%&%$"! " &(+)''(,47:<;763632/.%" ɛEBEӭ AEAIA MC=ɚIiIIM!=IQiu+yFH@`#@xO? ?b?p?@i?ɨF|2@FӉ;FCybfBf)IIn+In~5٢v; vG=9z?Q z>xx ~G٣|y~ >  Nusing accuracyPremultiplier from config U59]y?U5Yo iRzA;@@>EB;mC;ljU5) -JA5FEWill construct direction to contact in vehicle frame from tetrahedron phase data.uDNOT Ignoring new targets: 68.10 m. jqjqjqjqiqhqhyhyhyfyffrfbfu@ɛB=Ż :OI D@=ɚiI<"=Ii2IC IIIƁBI&I.I6I<:IA Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu i"GA BQ Om >6w,fOA $?Iy~]BIMb@Mb@Mb@ )YX9v?X9v/$yS?} A)+AI\ Ay3AII4٢"' >=9Q > G٣y > Nusing accuracyPremultiplier from configU59y?U5Ym izA_T?:;@@>EH;;/nU5/B A IE DNOT Ignoring new targets: 68.10 m. j j j j i hIhQhQhU*BfQfYfYrfYbf]R @ɛBF 隵TI H>=ɚiI"=IiY`w,NOA"Will construct direction to contact in vehicle frame from tetrahedron phase data.J6J6J4J4J6:J6ľ9J4J452@Y~T@@'<;9HJ >yH]@?h?e?u|ך??ɨ52@,-;CyލQBލI =IIH4٢v K=9Q > G٣_MGy0; > Nusing accuracyPremultiplier from configU59q~y?U5Yl iyA;@@>EH;Z;qU5.B ALEEDNOT Ignoring new targets: 68.10 m. jAjAjAjAiAhAhIhIhIfIfQfQrfQbfU @ɛ BU 隍#\I  ;=ɚiI"=Ii mBDAT read: Tx time:22:33:31.9566 u$Ping request sent.}w,8OAHBj>IBC IBIIBBIB =&I@.IB G٣y > Nusing accuracyPremultiplier from configU59`y?U5Y.j iyAXT?:<@@>E1M;)K;uU5 qAOE addTargetRange:: Added new target pos. range: 69.199997 m, deltaT: 3.790118 s, deltaX: 0.799995 m, approachRate: 0.211074 m/s, rangeRepo size: 4 MWill construct direction to contact in vehicle frame from tetrahedron phase data.mDNOT Ignoring new targets: 68.10 m. jijqjqjqiqhqhqhyh}BfyfyfrfLQ@bfDh?ɛ B`i 5fI iX8=ɚiI5!#=I!i% Will construct direction to contact in vehicle frame from tetrahedron phase data.vw,ROAVU2@YVt@@Vj;9Vu >yVH@ WJ?@1)?`)h(?{Cm S??ɨVU2@V;VCyb8BbIInInN4٢r) rk=9v Q v?tx ~G٣|y~׷; ~> Nusing accuracyPremultiplier from config U59Hy? U5Yh i^yA4<@@>E=7;7;xU5%-B %A%REMDNOT Ignoring new targets: 68.10 m. jIjIjQjQiQhQhQhYhYfYfYfarfabfe ?ɛBռ jI 5=ɚiIs#=zKMKs9KK<K    RK?JK>Iiw,lOA:s2@Y:̒@@::9:>y:H I?`?@D`?0Y??ɨ:s2@:Ҹ;:CyF)BFIIRIRg4٢V ZN=9ZrQ Z>\\ ^G٣^`MGybĘ; b> fNusing accuracyPremultiplier from configdjU59f-y?jU5Yff if&yAhjX<@j@f>Ef:f :f|U5z,B ~AUEWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 68.10 m. jjjj i h9hAhqhqfyffrfbf@D?ɛB\J sI 4#2=ɚiI>#=I)i-I I`IIBI =&I.I6I<:ID Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.G :?:G B O > $?I w,N}OAJ+2@YJ @@Jd 99J>yJH%@+d?@?f}=?!d??ɨJ+2@J;JCyRBVImMb@Mb@Mb@iii i)iYm   G٣ y ;  > Nusing accuracyPremultiplier from configU59y?%U5Yye ixA%S?-:-N?@-@>EF;D;U51 5`A=XEmDNOT Ignoring new targets: 68.10 m. jijijijiiihihqhqhu؂Bfqfyfyrfybf}=?ɛB< 隭EyI t>/=ɚiIA$=Iirw,>OAWill construct direction to contact in vehicle frame from tetrahedron phase data.J&J&J&0J$J&v:J&9J&ـ3J$]3@Y]2A@]u9]l>y]H0`~K?_?'s 6?n??@?ɨ]3@]H;YyޅBޅIII4٢n Q=9"Q > G٣y`< > Nusing accuracyPremultiplier from configU59x?U5Y=d ixA?@@>E1;{;UU5 GA }$?IyDNOT Ignoring new targets: 68.10 m. jjjjihhhhfffrfbfd?ɛB" UI +=ɚiIp$=IivPw,OAHp>IC I4IIpBI =&I.I=D6I<:Ib3@Yb$A@bh9bN >ybH =`?@T?r?-t? G٣aMGy >  Nusing accuracyPremultiplier from config U59 x?U5Y9c ixAN?:A@@>E;;U5%+B -A-[EUDNOT Ignoring new targets: 68.10 m. jQjQjQjQiQhYhYhYh]Bfafafarfabfm@ɛBg 隝I S(=ɚiI$=I1i5t Will construct direction to contact in vehicle frame from tetrahedron phase data.w,¤OA:2@Y:A@:w!9: >y:H 5`v:??t Y?@&w?@“?A?ɨ:2@:a';8yFBJILN@AIR,IR5٢^c* ^Z=9^Q ^>`` bG٣`yf f> jNusing accuracyPremultiplier from confighnU59jx?nU5YjKb ijxAprA@r@j>Ej;j< ;j:U5v*B zAz^EDNOT Ignoring new targets: 68.10 m. jjjjihhhzKKK]9KK>Khfffrfbf@ɛBg I $=ɚ i I 6%=Ii~pw,GOAR+2@YR @@R ڻ9RU >yRHj@B@V?U$?Vs=?)A{?|??ɨR+2@R;RCyZBZIIbIb4٢jI jN=9nQ r>tt vG٣tyzŹ z> ~Nusing accuracyPremultiplier from config|U59~ͣx?U5Y~Ka i~xA  wA@ @~>E~G:~:~U5)B +AaE]DNOT Ignoring new targets: 68.10 m. jYjajajaiihihihihifqfqfqrfqbf}"@ɛB" 隥FI 4\!=ɚiI%=Ii]<Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:33:34.4542 TRx dataTimestamp_ set to:1736375615.772704i;))*F2F:FBFJFZH!RH%@AH%r>I! I%II%LBI% =&I!.I!6I%&<:I%V FGO <G ?G2?u Will construct direction to contact in vehicle frame from tetrahedron phase data.JCKC KKS}-KCKC"KCJ J J J J y:J y9J J J ;a J ;a J ::a J ;:a G B O > E $?IA Qw,ظPAy-ӀB-tIMb@Mb@Mb@ )Y rh?l?QyCK?=u A)rAI\ AyII4٢j +=9Q  >    G٣ bMGy > Nusing accuracyPremultiplier from config%U59x?%U5Y` ixA-K?-:-D@-@>E;;ڑU51 5A5dEeDNOT Ignoring new targets: 68.10 m. jijijijiiihihihqhuBfqfqfyrfybf}d @ɛB% 隭呿I =ɚiIp&=IiF *F]?2FY:FYBF]Z0JFYBDAT read: Tx time:22:33:35.5566 $Ping request sent.ףp?ȥ@5= eӑ@)d=I@id.*s翫}F?Ŗ10?)5@I iv#9? :publishing transmit ping time؉UFpublishing direction and range info9=}v?΂|Կ{/KNy )Ii )Ii.*s翫}F?Ŗ10?)IizKeBHKe9KaKe?Ke G ;GY By O >5 ~GM vAw,!PAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:33:35.5558 I aYvAyB $?I2@Y@@ 9 >yHK'?`)?zs.? 2?:?@u?ɨ2@;騕CyˀBiII=I=Y4٢M9 MW=9MQ M>qq uG٣qy} }> Nusing accuracyPremultiplier from configU59zjx?U5Y_ ixAC@@>E]<<4U5B AgEk;x?kx k kȴPA:k3BBkABZkh?"?ы*`p6P=}v?΂|Կ{/KNJkv#Rk9?*(*؊&⿯*"+@#j1Q5it)?d"kYA*k4k_:x?k8k 2kk'J[I?ks kAk&BkC? addTargetRange:: Added new target pos. range: 70.099998 m, deltaT: 3.530345 s, deltaX: 0.900002 m, approachRate: 0.254933 m/s, rangeRepo size: 4  Added new target pos. range: 70.099998 m, bearing: 92.393891 deg, lat: 36.904777 deg, lon: -122.119406 deg, deltaT: 57.531849 s, deltaX: 2.000000 m, approachRate: 0.034763 m/s, posRepo size: 4 DNOT Ignoring new targets: 70.10 m. j!j1j1j1i9h9hAhIhIfQfQfYrf]`fQ@bfe?ɛ B?! I =ɚiI#&=IiEH% t>I!  I% II% .BI! &I! .I! 6I% <:I% L F(w,`;PAr2@Yr@@rj9rc>yrH;D5 ?? "^\?=? f??ɨr2@r;rCy~€B~_IMb@Mb@Mb@ )Y"~j?i|?5?{GztySC?q=ף 3A) AI AyAI Ie4٢) S=9PQ > G٣y q > Nusing accuracyPremultiplier from configU59Qx?U5Yu_ ixAC?:E@@>E;Q;U5 ADNOT Ignoring new targets: 70.10 m. jjjjihhhhBfffrfbf?ɛ B5Will construct direction to contact in vehicle frame from tetrahedron phase data.5TZ 1=ޖI9 =m=ɚ9i9I='=IAiE Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,&4UPA]L~2@Y]A@@]9]>y]Ha`;{f?u?`q?S???ɨ]L~2@];]CyލBލ]IzK̘LK9KK@K  -37411+*)&""   II14٢ɻ 8=9 Q  >  G٣yx > %Nusing accuracyPremultiplier from config%U59.5x?-U5Y^ ixA)-E@-@>E/;J0;oU5=B =A=jEeDNOT Ignoring new targets: 70.10 m. jajajijiiihihihqhqfqfqfyrfybf}@?ɛB8 隥I R=ɚiI'=Ii|<w,oPA:12@Y:&@@:p9:&>y:Hù rW@?@ ?`f@W?`?zn?@E?ɨ:12@:=;8yFBFNIININ4٢V Vy=9Z3:Q Z?\\ ^G٣^cMGyb~; b? jNusing accuracyPremultiplier from configdnU59fx?nU5Yf^ ifxAprE@r@f?Ef6;f6;fOU5t vBAvmEDNOT Ignoring new targets: 70.10 m. jjjjihhh!h!f!f!f)rf)bf-+?ɛ] B]dLp Ye Ia eJ =ɚaiiIm (=IyiaIC IIIBI =&I.I6I<:I FBIŨCJIŨCRIZI =bI =jIś5G;E Will construct direction to contact in vehicle frame from tetrahedron phase data.M F?M `?Ju Ju |Jq Jq Ju y:Ju @9Jq Jq Ju ;Ju ;Ju {:Ju |:G B O% > $?I  "w,PA^Ѫ2@Y^@@^}9^M[>y^HE,?-?n@n?@???ɨ^Ѫ2@^;^CyjBjKIeMb@Mb@Mb@aaa a)aYeV-?B`"۹?Mb?ye|??e=e G٣y[; > Nusing accuracyPremultiplier from configU59x?U5Y^ ixA] Will construct direction to contact in vehicle frame from tetrahedron phase data.@O(w,UڢPAJ}2@YJr@@J"/9Jy >yJHD տ O?S??@t@?@??` H??ɨJ}2@Js;JC 9I9yUBUPIY]AIe6Ie] 5٢uڶ< }K=9}89Q }> G٣yb; > Nusing accuracyPremultiplier from configU59 w?U5Y^ i)yAH@ ?E:e:U5B &ArEDNOT Ignoring new targets: 70.10 m. jjjjihhhhfff rfbf@ɛ]#B]:Y aeIa e:=ɚaiaIe#)=IiSFH x>I  I II BI =&I .I >D6I Q<:I | Ft.w,UPAyEBE]IMb@Mb@Mb@ )YGz?X9v?I +?yp=?=94<A A)Iy AI+I~5٢O:= B=9 Q  >    G٣ dMGy > Nusing accuracyPremultiplier from config%U59xw?%U5Y^ ifyA-@?-:-F-@?E ;I;DU51 5A9eDNOT Ignoring new targets: 70.10 m. jajajajaiahahihihmdBfifqfyrfybf}@@ɛ$BGO 隭瘿I k=ɚiI)=Ii- Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:33:38.0554  TRx dataTimestamp_ set to:1736375619.300587\5w,}PAB2@YB@@BF9B%>yBH@HL\@? ?@s W?`Ј???ɨB2@B ;@yJ̀BJlIIV"IV5٢b= ba=9bQ b>dh jG٣hyj$ n> vNusing accuracyPremultiplier from configpvU59r{w?vU5Yr1_ iryAxzGz@r?Er;rQ;rsU5 mAuE-DNOT Ignoring new targets: 70.10 m. j)j)j)j)i)h1h1h1h1f1f9f9rf9bfE@ɛu%Bu'a quIq }F<ɚyiyI}{1*=Ii;w,hPAZP2@YZo@@ZD9Z>yZH`(?`3?qu?@p? /?l?ɨZP2@Z;ZCyf܀Bf~IInIn4٢v(= vG=9z9Q ~>|| ~G٣|y >  Nusing accuracyPremultiplier from config U59 w?U5Y k_ i yAEG@ ?E  ; ` ; U5%B %A-xEUDNOT Ignoring new targets: 70.10 m. jQjQjYjYiYhYhYhahafafafarfibfm@c4 @uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:33:38.0554 LVL= 19632, 15809, 12850, 22515, AGC= 56, IDX= 438,-0.13, 2.837,-1.509,-0.923,-1.834, PHS=-1.524, 0.372, 0.908, RAW= 257.9, 2.2, CAL= 261.8, 3.5, ROT= 248.2, -3.5 Ygot valid direction response: 22:33:38.0554 LVL= 19632, 15809, 12850, 22515, AGC= 56, IDX= 438,-0.13, 2.837,-1.509,-0.923,-1.834, PHS=-1.524, 0.372, 0.908, RAW= 257.9, 2.2, CAL= 261.8, 3.5, ROT= 248.2, -3.5 PDAT read: Bearing 248.2, -3.5 (Local) ~Local bearing/azimuth received: Bearing 248.2, -3.5 (Local) DAT read: Range 10 to 50 : 71.0 m (Round-trip 94.7 ms) speed -0.3 m/s ,DAT read: user:2705> ɛ=&BE[=MBDAT read: Tx time:22:33:39.1566 U$Ping request sent.]urh?u @unF= uy7@)u5z=Iu@iu5zqquEp?CL ?)u8@Iuiu𿿉uqߠ?qq:publishing transmit ping timeQFpublishing direction and range infoq9ujv?OEBӿ|Rۃoyqqqq q)qIqiqqqqq q)qIqiqqquEp?CL ?)qIqiqqqqZHaRHaHmz>Ii ImIImBIi&Ii.Ii6Im<:ImU F*FQ2FY:FYBFYJFY"Ge=Ga- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:22:33:39.1559 $?I J {J J J J d:J J J J #;J $;J J G= !<;G B! O= >nBw,4 QA:"2@Y:3@@:IJ9:>y:H O?@?qm`e?H??`?ɨ:"2@:\;:Cy~B~IMb@Mb@Mb@ )YS?K7A?Zd;O?y:? >j< A) AIy AI"I5٢,< :=9tJQ  >    G٣ eMGy > %Nusing accuracyPremultiplier from config%U59Sw?-U5Y_ i0zA-=?-:-:G-@?Ew;;ܴU5B A{EkVyOw?kaC  k ktPA:kBBk BZk8?"*Y ?(M5$Pjv?OEBӿ|RۃoJkRkqߠ?*0bZ俁n*@$srQ;8 P!?P&2t"kPA*k k`Ow?k" 2k kw='L?k7N kAkؑBkx-?U addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 3.527335 s, deltaX: 0.900002 m, approachRate: 0.255151 m/s, rangeRepo size: 4 e Added new target pos. range: 71.000000 m, bearing: 92.757529 deg, lat: 36.904750 deg, lon: -122.119424 deg, deltaT: 3.527335 s, deltaX: 0.900002 m, approachRate: 0.255151 m/s, posRepo size: 4 mDNOT Ignoring new targets: 71.00 m. jjjjihhhh|BfffrfQ@bf`Va?Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉɛ'B zc2   I  ,<ɚiIV/+=Ii5= Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,$QA Z$?IX1@Y @@^j_9v=yH7`C? ?0tw??A?`?ɨ1@;騡yBII% I%e4٢5= 5G=9=MQ =>AI MG٣iy} > Nusing accuracyPremultiplier from configU59iw?U5Y_ izAXG@#?E;;U5 A~EDNOT Ignoring new targets: 71.00 m. jjjjihhhhfffrfbf^a?ɛQU\N QUIQ ]H3<ɚYiYI]+=IaiHe |>Ia  Ie IIe 3BIe =&Ia .Ia 6Ie L<:Ie z FNw,_=QAy= B=IMb@Mb@Mb@ )Y/$?MbX??yAA MG٣IyM M> ]Nusing accuracyPremultiplier from configYeU59]nQw?eU5Y]_ i]zAey>?m:mHH@m@](?E];];]U5q ugAqDNOT Ignoring new targets: 71.00 m. jjjjihhhhBfffrfbf?ɛ(BsQ IWill construct direction to contact in vehicle frame from tetrahedron phase data.  <ɚiI,=Ii_ Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,vWQA>91@Y>X?@>t9>>y>H@U¿@*l?Z?Xa ޿??@Ch??ɨ>91@>i;>CyJ#BJIIVIV4٢~q= ~\=9jQ >  G٣ fMGy 8  > Nusing accuracyPremultiplier from configU59:w?U5Y_ i{A!%G@%@,?E ;` ;&U5-B -A-EeDNOT Ignoring new targets: 71.00 m. jajajajaiihihihihifqfqfqrfqbf} ?ɛ4D 隥fI <ɚiI:y,=Ii)9 9|uA Y|uAy?BWill construct direction to contact in vehicle frame from tetrahedron phase data.J!J%yJ%1J!J!J%9J%3J!a-@a5@a5@a5@ $?IG%XGBO >[w,qQA>@0@Y>5>@>i9>>y>H#Ѻÿ಴?A#?`VI?@1? ?{?ɨ>@0@>C;>Cy^9BbIIjIjN4٢rA= rL=9v:Q v>tt zG٣xyz%} z> Nusing accuracyPremultiplier from config|U59~!w?U5Y~c_ i~f{A  &G@ @~1?E~X:~X:~U5]Will construct direction to contact in vehicle frame from tetrahedron phase data.B AEDNOT Ignoring new targets: 71.00 m. jjjjihhhhfffrfbf%sT@ɛ)B! wI! -.<ɚ)i1I5D,=IIiUIC III[BI =&I.I6Iׯ<:I& F*FA2FI:FIBFIJFIG:_GBOj> Will construct direction to contact in vehicle frame from tetrahedron phase data. u $?Iq bw,QA nManaging dock network, ignoring radio surface power offB0@YB>@BOc9BBe >yBH`X`=GĿ k?ળ?L`?|?>??ɨB0@B );BCyJLBJI5Mb@Mb@Mb@111 1)1Y5+?V-?Q?y5??5m=5<5A 1)5rAI11y5=AIEIE4٢]5= ]C=9]W:Q ]>aa eG٣aym_. m> Nusing accuracyPremultiplier from configqU59uNw?U5Yu^ iu{Ax@?:9C@@u6?Eu' Will construct direction to contact in vehicle frame from tetrahedron phase data. > %= Y IY hw,rQAJu~JuwJu0JqJu{m:Ju9Juـ3Jqn;w0@Yn0>@nJi9n >ynHiĿྑ?`?H ?)??@?ɨn;w0@nى;nCy jB-II%I% 4٢5> 5L=9=VQ =>99 EG٣EgMGyEF E> UNusing accuracyPremultiplier from configIUU59Mv?]U5YM] iM|AY]#C@]@M;?EM:M:MU5eB eb AmEDNOT Ignoring new targets: 71.00 m. jjjjihhhhfffrfbf@ɛ4 _I <ɚiIz-=I i mWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:22:33:41.6571 }TRx dataTimestamp_ set to:1736375622.829291H I  I `II BI &I .I 6I <:I 9 FBIʩCJIʩCRIZI =bI =jIGx5$ow,2QA:f0@Y:>@:s9:$>y:H7SĿ@+,? ? ND ^?`?@$?l?ɨ:f0@:,;:CyvBvXI}Mb@Mb@Mb@yyy y)yY}w/?{Gzt?Q?y}F?}ף;y}A }A)yIyyy}AII&4٢:'> D=9GQ > G٣yb% > Nusing accuracyPremultiplier from configU59&v?U5Y\ iP|AG?:>@@@?E;;vU5 L A DNOT Ignoring new targets: 71.00 m. j j j j i h h hhEBfffrfbf` @ɛM*BMJ IMNIQWill construct direction to contact in vehicle frame from tetrahedron phase data. <ɚiI-=Ii߅ Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 72.1 m (Round-trip 96.2 ms) speed -0.3 m/s  ,DAT read: user:2706> - X#Rx 6: Read range message, but no direction.؉ y؍ 3B؉ Ruw,oQA^|0@Y^>@^p9^:`>y^H@GQĿˣ?` ?CD?`??`;?@m?ɨ^|0@^,;^CyjBjnIIvIv 4٢]s= ]Q=9m+Q m>qq uG٣qya; > Nusing accuracyPremultiplier from configU59=v?U5Y/[ i|A>@@E?E< <U5B  AEu addTargetRange:: Added new target pos. range: 72.099998 m, deltaT: 3.528014 s, deltaX: 1.099998 m, approachRate: 0.311790 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 71.00 m. jjjjihhhhfffrf`fR@bfG?ɛ%W EI %{<ɚ!i)I-d-=I1i5qP#|w,QA:?0@Y:4>@:J9:2>y:HĿٚ?S?AI? ?`?=?ɨ:?0@:g];:CyFBFIIRIR4٢V= ZT=9ZiXQ Z>\\ ^G٣^hMGybe; b> fNusing accuracyPremultiplier from configdjU59fv?jU5YfY if|Ahj>@j@fI?Ef;f;f>U5p v AvEDNOT Ignoring new targets: 71.00 m. jjjjihhh!h!f!f!f!rf)bf-`c ?ɛU+BU% QU<}Will construct direction to contact in vehicle frame from tetrahedron phase data.I N<ɚiI!.=Ii . V w, RAB0@YB>@B6E9B >yBH ÿ`N?j? NF? Y? #p??ɨB0@B4;BCyJBNI-Mb@Mb@Mb@))) )))Y-Zd;O?v/Ya eG٣aym; m> uNusing accuracyPremultiplier from configq}U59u`v?}U5YuW iu}AK?: :@@uO?EuH%;u#;uU5B  AEDNOT Ignoring new targets: 71.00 m. jjjjihhhhBfffrfbf`?ɛy}d׼ y}4I `<ɚiI1.=Ii @Vխ9V"p>yVH—Տÿ〦?8,?`PE 3?P?H?@?ɨVc0@Ve;VCy%ЁB%II5I5ƕ4٢}= G=9QQ > G٣y; > Nusing accuracyPremultiplier from configU59jv?U5YU i0}A):@@T?E\;];U5B  AE%DNOT Ignoring new targets: 71.00 m. j!j)j)j)i1h1h9h9hAfAfAfIrfIbf?ɛU,B]6Ƽ ae.Ia 8v<ɚiI5=.=Ii I  I II BI &I .I 6I <:I 1 FG B O- >w,Wy@RA>+0@Y>?@>o9>>y>Hj@+:ÿ^?m?jE l?rm?`/?`E?ɨ>+0@>|;>CyFBFIUMb@Mb@Mb@QQQ Q)QYU/$?X9v~jtx?yU&Q?UU;U"A Q)QIUAQyU(AImImW4٢}y= }J=9}Q > G٣iMGy; > Nusing accuracyPremultiplier from configU59Ov?U5YSS i;}A]S?:5@@Y?EG;F;U5  AEDNOT Ignoring new targets: 71.00 m. jjjjihhhh̓Bfffrfbf?ɛ%-B%uټ )-%I) -C<ɚ)i1I5yH.=I9i=O  Will construct direction to contact in vehicle frame from tetrahedron phase data.$Hw,YZRAF21@YFQ?@F2:9F. >yFH¿P?g? &J??@-?D?ɨF21@F;FCyNBRIIZIZ?4٢b< bW=9brQ b>dd fG٣dyf!< j> rNusing accuracyPremultiplier from confighrU59j6v?vU5YjP ijF}Atv6@v@j^?Ej3;ji:jaU5x zo A|-DNOT Ignoring new targets: 71.00 m. j)j)j)j)i)h)h1h1h1f1f9f9rf9bf=`@ɛm.BmԼ imZ$Ii m<ɚqiqIuP.=Iih IuWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu͍GQBiO>qw,b1tRABc1@YBw?@Bü9BC>yBH\¿r? ??L ?`}?@WJ??ɨBc1@Bw;@yNBNIIVIV4٢^= ^K=9b_Q b>`` bG٣dyf; f> jNusing accuracyPremultiplier from confighvU59jv?vU5Yj_N ijS}AtzI6@z@jd?Eje{;j{;jU5~B ~1 A~E%DNOT Ignoring new targets: 71.00 m. j!j!j)j)i)h)h)h1h1f1f1f1rf9bf=/@ɛim> Ǽ qu!Iq u[<ɚqiqIu5R.=Iyi}X IC I( II6BI =&I.I>D6I<:I FG5SGBO%> $?IJ ~J J J J {m:J y9J J J <;a% J =;a% J ::a- J <:a- M Will construct direction to contact in vehicle frame from tetrahedron phase data.9\w, RAyBIMb@Mb@Mb@ )Ygfffff?/$ſy&1y3S?,`eKA A)IyzAII4٢- 8=9Q > G٣jMGy >  Nusing accuracyPremultiplier from configU59.u?U5Y K i0}AW?|:2@@j?E;W;U5! %? A%EUDNOT Ignoring new targets: 71.00 m. jQjYjYjYiYhYhYhaheBfafafirfibfm A@ɛ0Bᇾ 隝"I <ɚiIO.=Ii~ vA  PY vAy BzK LK h9K K IK :632-+*(#%"  {_VOMILIENgsk_TME?952,++'(BK :K rA $?I U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:22:33:45.2585 ] TRx dataTimestamp_ set to:1736375626.624783 w,ARA)1@Y @@ռ9^5>yH Jhͧ??@X'm?뷚??ม?ɨ)1@-;CyBII!I!٢5  5E=9=諻Q =>AA EG٣AyEs< M> UNusing accuracyPremultiplier from configIUU59Mfu?]U5YMG iM}AY]}3@]@Mo?EM.+;ML?;MiU5}B r AEDNOT Ignoring new targets: 71.00 m. jjjjihhhhfffrfbf  @ɛ1Bּ &I DC<ɚiIP.=I i I  I : II EBI =&I .I 6I <:I FOu >Xmw,RAyցBIMb@Mb@Mb@ )YGz?SſyP?/̼"A A)\ AIAyAII 4٢~ R=9Q > G٣y > Nusing accuracyPremultiplier from configU59u?U5Y$E i|AGU?~:>3@@t?E;;U5B  A E =$?I9EDNOT Ignoring new targets: 71.00 m. jAjAjAjAiIhIhIhQhUBfQfQfQrfYbf]*.@JK KKK"KJJ{JJJJ-9JJJJJ:J:Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:33:45.2585 LVL= 17392, 15217, 10978, 22451, AGC= 56, IDX= 437,-0.15, 2.052,-2.071,-1.975,-2.563, PHS=-1.580, 0.540, 0.586, RAW= 268.9, 4.3, CAL= 272.5, 5.7, ROT= 237.5, -5.7 UYgot valid direction response: 22:33:45.2585 LVL= 17392, 15217, 10978, 22451, AGC= 56, IDX= 437,-0.15, 2.052,-2.071,-1.975,-2.563, PHS=-1.580, 0.540, 0.586, RAW= 268.9, 4.3, CAL= 272.5, 5.7, ROT= 237.5, -5.7 ]PDAT read: Bearing 237.5, -5.7 (Local) ]~Local bearing/azimuth received: Bearing 237.5, -5.7 (Local) eDAT read: Range 10 to 50 : 73.2 m (Round-trip 97.7 ms) speed -0.3 m/s m,DAT read: user:2707> uBDAT read: Tx time:22:33:46.3567 u$Ping request sent.u Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:33:46.3559 w,RAyȁBII%I%4٢5 5R=99Q =>AA EG٣EkMGyI M> UNusing accuracyPremultiplier from configQ]U59Uu?]U5YUHB iU|AYae@Uz?EU:U:U7U5i < AEkBt?kRo k k 7RA:kfBBkkBZk[r@"z b?*:b! &*R@SZ?tg5NXgiJk^ǿRk|?*Y@uY԰,IRz ,^s_TKb("k޿*kk.kt?kmp 2kk_:x?k8k kkpjAk?= addTargetRange:: Added new target pos. range: 73.199997 m, deltaT: 3.796351 s, deltaX: 1.099998 m, approachRate: 0.289752 m/s, rangeRepo size: 4 U Added new target pos. range: 73.199997 m, bearing: 217.168479 deg, lat: 36.904229 deg, lon: -122.119737 deg, deltaT: 7.324365 s, deltaX: 2.199997 m, approachRate: 0.300367 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 73.20 m. jYjYjYjYiYhYhYhahafififirfmLR@bfu`4?ɛ3B, 隝~5I r2<ɚiIo.=Ii4Pw,SwRAyBII-I-4٢=x =L=9AQ E>AI MG٣QyQ U> eNusing accuracyPremultiplier from configamU59equ?mU5YeY? ie|Aiim@e?Eae:eU5}Will construct direction to contact in vehicle frame from tetrahedron phase data.  ADNOT Ignoring new targets: 73.20 m. jjjjihhhhfffrfbf x?ɛ5B> TIY I]4 II]@BI] =&IY.IY6I]<:I]6 FBI1JI1RI1ZI1bI1jI5j5G4λ $?IGBO>JJJJJy:J9JJJ;J ;J\ ;J] ;- Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,RSAyBmIMb@Mb@Mb@ )Yn?M¿I +yVN?n949A A)rAI+AyQAII4٢  @=9Q > G٣y >  Nusing accuracyPremultiplier from config U59wxu?U5Y< i:|AQ?:r5@@?E;;mU5%B % A%EUDNOT Ignoring new targets: 73.20 m. jQjQjQjYiYhYhYhaheBfafafarfibfm?ɛ6B  隝LI <ɚiI.=IiJ  $?I zK= KMK= 9K9 K= KK= 8=>:72)""!  = Will construct direction to contact in vehicle frame from tetrahedron phase data.= >= u?=2w,"*SAr2@Yr@@r! 9rbN>yrH@`i !*?`F?r)?Yc?4?;?ɨr2@rj;rCy~B~TII I 4٢ʽ %K=9%PQ %>)) -G٣-lMGy-= -> =Nusing accuracyPremultiplier from config9EU59=]u?EU5Y=: i={AAEC6@E@=?E=u:=;=U5Q U( AUEDNOT Ignoring new targets: 73.20 m. jjjjihhhhfffrfbf`އ?ɛ8B/ WI ' }<ɚiI.=Iii.I  I  II BI &I .I 6I ۯ<:I $ FO >w,5 CSAN2@YN@@N#K 9N>yNH ,|?@^?t?h?@#??ɨN2@NŲ;NCyfoBj4I IMb@Mb@Mb@ )YK7A`?sh|?ktyK? 0 A )IAy\AIIm4٢  ]I=9eŸQ e>aa eG٣iymX; }> Nusing accuracyPremultiplier from configV59Bu?V5Y8 i{AiL?::@@?E;f;JJ@AJJJJJp:J9JJJ;J;J;J;V5B  AEWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 73.20 m. jjjjihhhhABff!f!rf!bf%q,@ɛU9BUF< QUdIQ ]p<ɚYiYI]/=IaieS Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,z\SA>2@Y>A@>9>9>y>H [ک??#sFd?K?@ ?`{?ɨ>2@>;>CyFFBFIININ 4٢VIe Va=9Z:Q Z?X\ ^G٣\yb3 ; b> fNusing accuracyPremultiplier from configdjV59fs+u?nV5Yf6 if{Apr:@r@f?Effs;fws;fV5v B v<AzEDNOT Ignoring new targets: 73.20 m. jjjjihhhhfffrfbf @ɛ}:B}cl y}XzIy /d<ɚiIN/=Ii=v w,vSAJ2@YJ A@J 9J5>yJH@\թ?iݿ?`tsk? ??`;?ɨJ2@Jw;JCyV0BVIIfIfT4٢rnн rG=9rZ0Q v>tt vG٣tyzdz: z> ~Nusing accuracyPremultiplier from config|V59~u?V5Y~4 i~z{A  :@ @~?E~G:~:~> V5 AMDNOT Ignoring new targets: 73.20 m. jQjQjQjQiQhQhQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.hhfffrfbf ^@ɛeI IIIځBI =&I.I6Iܯ<:I' F*Fu?2Fq:FyBF}1JF }$?IyG_;*J%="J= Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:33:48.8603  TRx dataTimestamp_ set to:1736375630.152895G B O >aw,kSAF2@YFA@F: 9F>yFHVk!? ݿ? sw?@yf?"??ɨF2@F;DyVBVIMMb@Mb@Mb@III I)IYMw/?Q? G٣mMGy > Nusing accuracyPremultiplier from configV59t?V5Y3 im{A)G?:B@@?E;; V5 AE}DNOT Ignoring new targets: 73.20 m. jjjjihhhhBfffrfbf Q @ɛ=Bz 7I H<ɚ i I {0=I1i5z i Ii Gi By O >zK :KK 9K K MK ?d}Ui* w( 7 | . }zxga&S{ t2bCwk; J J J 1J J s:J 9J 3J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data.0 w,lxSA&DAT read: 22:33:48.8603 LVL= 20720, 20417, 14194, 26995, AGC= 59, IDX= 439,-0.47,-1.799, 0.403, 0.516,-0.085, PHS=-1.626, 0.535, 0.598, RAW= 268.6, 4.5, CAL= 272.3, 6.0, ROT= 237.7, -6.0 *Ygot valid direction response: 22:33:48.8603 LVL= 20720, 20417, 14194, 26995, AGC= 59, IDX= 439,-0.47,-1.799, 0.403, 0.516,-0.085, PHS=-1.626, 0.535, 0.598, RAW= 268.6, 4.5, CAL= 272.3, 6.0, ROT= 237.7, -6.0 2PDAT read: Bearing 237.7, -6.0 (Local) 2~Local bearing/azimuth received: Bearing 237.7, -6.0 (Local) :DAT read: Range 10 to 50 : 74.6 m (Round-trip 99.5 ms) speed -0.4 m/s m,DAT read: user:2708> BDAT read: Tx time:22:33:49.9567 $Ping request sent.t0peJ6TyM3BIMPMO Mr7)MsiIM;"2@YA@j 9(>yH`G?4ɿ? v (?+?{?`M?ɨ"2@Q;Cy-B-II=I=4٢M. M==iM пM?M?M@M|٠= M@)MPw=IM@iMPwֽIIMlόj8뿲Oˡ?H?)M%@IM$liMR ͿMg?IIe:publishing transmit ping timeعeFpublishing direction and range infoI9M>t0peJ6TyIIII I)IIIiIIIII I)IIIiIII9=7Q >Mlόj8뿲Oˡ?H?)IIIiIIII G٣y4: > %Nusing accuracyPremultiplier from config!uV59%*t?uV5Y%2 i%a{AquB@u@%?E%:,<%`,<%V5 B AEkMXt?kMiC kI kMeSA:kM3BBkM3BZkM`Y@"M"ҍLҿt"vzRM>t0peJ6TJkMR ͿRkMg?*Mr5"Av>㿫أRMd 0hrt"kM*kMkM`t?kM 9C 2kM!kM`Ow?kM" kM kMYAkMs|? addTargetRange:: Added new target pos. range: 74.599998 m, deltaT: 3.527976 s, deltaX: 1.400002 m, approachRate: 0.396829 m/s, rangeRepo size: 4 m Added new target pos. range: 74.599998 m, bearing: 194.759399 deg, lat: 36.904204 deg, lon: -122.119742 deg, deltaT: 3.527976 s, deltaX: 1.400002 m, approachRate: 0.396829 m/s, posRepo size: 4 mDNOT Ignoring new targets: 74.60 m. jijijijiiqhqhqhqhqfyfyfrf`fR@bf`?ɛ->B-r 15I1 555<ɚ1i1I=0k0=IYieI  I `II BI &I .I 6I <:I H FG G B O >PVw,ÛSA :$?I<-2@Y!A@a9r >yH@m`ז??`v}?- ?@? m?ɨ-2@~Ç;yـB|I5Will construct direction to contact in vehicle frame from tetrahedron phase data.eMb@Mb@Mb@aaa a)aYex&1?:v?{GzyeA?e=eףeA eA)e AIeAaye AII"4٢ ;=9 Q > G٣y" > Nusing accuracyPremultiplier from configV59ft?V5Y2 tIi{AmC?:3H@?E;;V5% B %A%E]DNOT Ignoring new targets: 74.60 m. jYjYjYjYiYhahahahexBfiffrfbf?ɛ?B,< nI '<ɚi I  0=IiTw,6sSAJ2@YJ@@J9JY;=yJH@IM`?O?`?B??=?ɨJ2@J;H)d fhCyzɀBgI=GU5tAi Y5tAyBI&IF5٢IJ \=9ۖQ > G٣nMGyɻ > Nusing accuracyPremultiplier from configV59ät?V5Y 3 i{AZH@?Eq ; ;V5 AEDNOT Ignoring new targets: 74.60 m. jjjjihhh!h!f)f)f)rf)bf5?ɛ@B줤 ˝I <ɚiIw1=I  u$?Iqi ^;=?;=PTC;775.")N_RK?JK>G o;G B O >w,TTSA62@Y6@@6H96Cq=y6H]=?s?j`??`8??ɨ62@6;6CNWill construct direction to contact in vehicle frame from tetrahedron phase data.yRBVLIIZIZ4٢bB fZ=9fQ f>hh jG٣hyjxB n> rNusing accuracyPremultiplier from configpvV59rt?vV5Yr3 ir{AtvmHv@r?Er:rP:r V5u B }AEDNOT Ignoring new targets: 74.60 m. jjjjihhhhfffrfbf IC IIIQBI =&I.I=D6I_<:I F*FM?2FQ:FQBF][0JFY"G}=G}= aIaUWill construct direction to contact in vehicle frame from tetrahedron phase data.G;Gq By O >(w,'TAZ1j2@YZ$@@ZWE9ZP=yZHNS&?? `?`'?$1?ƽ?ɨZ1j2@Zv3;ZCynBnBIuMb@Mb@Mb@qqq q)qYu)\(?(\?~jtxyuGA?u.>uĻq uhA)u AIu\ Aqyuz AII4٢I >=9:Q > G٣y! > 5Nusing accuracyPremultiplier from config=V59pt?=V5Y3 i |AEF?E:EpCE@?E/<<;V5I MAIDNOT Ignoring new targets: 74.60 m. jjjjihhhh BfffrfbfT?ɛ-BB- )-ϥI1 5;ɚ1i1I5'2=I9i=cJ- J- J- 0J) J- :J- y9J- ـ3J) e Will construct direction to contact in vehicle frame from tetrahedron phase data.zK %OK 9K K OK UD4(      BK :K qA w,-TA22@Y26@@2. 924=y2H ??x!?`? 0? ?ɨ22@2F;2CyRBR>IIZ IZ4٢rݎ vW=9zA;Q z>| G٣oMGyV > %Nusing accuracyPremultiplier from config!-V59%Wt?-V5Y%4 i%K|A15C5@%?E%:%:%,"V59 EAEĶEDNOT Ignoring new targets: 74.60 m. jjjjihhhhfffrfbf 6@ɛK l=ЦI o;ɚiIW3=Ii Will construct direction to contact in vehicle frame from tetrahedron phase data.Ht>I IIIBI =&I.I6Iد<:I FBIJIRIZI =bI =jI5 = $?IA w,FTA61@Y6?@6 96'P>y6H  YM?`L?@7o@b?R?@dm`e G٣ycL > Nusing accuracyPremultiplier from configV592w,¿`TA6Th1@Y6G?@6ST96>y6H ˠ`J¿@V?m?@Yf? ???ɨ6Th1@6;6CyBBBLIIJIJ4٢R= VZ=9V:Q V>TX ZG٣XyZ8n Z> bNusing accuracyPremultiplier from config\bV59^#t?fV5Y^6 i^'}Adfx@f@^?E^e:^ :^)V5jB nAnɶE DNOT Ignoring new targets: 74.60 m. j j j j ihhhhfffrf!bf%@"@ɛ!-O? )-4I) u$l;ɚqiqIu4=Iyi},JK]?GLݻGBOf>$w,lzTABWill construct direction to contact in vehicle frame from tetrahedron phase data.yBJII-I-4٢=E =A=9EQ E>AA MG٣MpMGyM M> UNusing accuracyPremultiplier from configQ]V59UHt?eV5YU7 iU}Aaim@U?EUkn;U{;U,V5y }A}̶EDNOT Ignoring new targets: 74.60 m. jjjjihhhhfffrfbf  @jHu<bHu4<H}s>Iy I}II} BIy&Iy.Iy6I}<:I}& FɛDBb 隵I (L;ɚiI>l5=Ii = BDAT read: Tx time:22:33:53.5568 = $Ping request sent.= XV¿nB}y=̗B9=`Q=QB =4)=3dI9i=ѿ=x ?=Z$?=t@=Q = =ww@)=+=I=^@i=+Ƚ99=/(1FA:#?CS?)=X$@I=vTi=ǿ=?99e :publishing transmit ping time9 e Fpublishing direction and range info99= cZ?J>XV¿nB}y9999 9)9I9i99999 9)9I9i999=/(1FA:#?CS?)9I9i9999G ׹GiBqO>e%w,#TAF0@YF ?@F9Fh >yFHk`:ÿ@? G?W`Y??2?T?ɨF0@F";FCy^рB^qIEMb@Mb@Mb@AAA AUWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:22:33:53.5560 )AYECl?rh|?Et=E+A EQA)E AIEI AAyE3 AIuIu4٢> (=9":Q > G٣yԀ > Nusing accuracyPremultiplier from configV59s?V5Yz9 iV~AI?:4?@?EI;;1V5B A϶Ek-JWs?k-CT k) k-ыTA:k-̗BBk-ǖBZk-.@"-g^?V3%f|R- cZ?J>XV¿nB}Jk-ǿRk-?*-A5?5?V.R-~q^`~?"k-?*k-k-Fs?k-$ 2k-7k-.kt?k-$ k-k-Q@k-"> addTargetRange:: Added new target pos. range: 75.900002 m, deltaT: 3.528341 s, deltaX: 1.300003 m, approachRate: 0.368446 m/s, rangeRepo size: 4  Added new target pos. range: 75.900002 m, bearing: 156.418609 deg, lat: 36.904138 deg, lon: -122.119861 deg, deltaT: 3.528341 s, deltaX: 1.300003 m, approachRate: 0.368446 m/s, posRepo size: 4 DNOT Ignoring new targets: 75.90 m. jj j j i h h hhBfffrf%R@bfE?ɛɔ 隕윿I O<:ɚiIe6=Iis Will construct direction to contact in vehicle frame from tetrahedron phase data. = <zK] ~KK] 9KY K] QK] &3Za#E"##,w,GTA2W0@Y2J>@2A92+~ >y2HUeÿݛ?$?`Ts?e? _?`?ɨ2W0@2{6;0yRBRIIzIz4٢= S=9 ˺Q  >  G٣y~ > %Nusing accuracyPremultiplier from config%V59qs?-V5Y: i~A)-O?-@?E": :r4V55B =A=ҶEDNOT Ignoring new targets: 75.90 m. jjjjihhhhfffrfbf >>?ɛEBW GI O:ɚiI6=Ii=IQ IUIIUBIQ&IQ.IQ6IUۯ<:IU F*F2F:FBF@5JF $?I G jLBJ J J J J J J y:J 9J J J ;a J ;a J ' ;a J ( ;a G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O= >m2w,ђTA2;0@Y2.>@2 92Q>y2H $ÿ@Ϋ?R?Z?? u??ɨ2;0@2;2CyBBBI Mb@Mb@Mb@    ) Y }?5^I?+? ףp= ?y MB? v>> Q8= A A) zAI  A y  AI%I%4٢-> 5:=95HQ 5>99 =G٣=qMGy=R E> MNusing accuracyPremultiplier from configAUV59EȲs?UV5YEV; iEAUbH?U:UlDU@E?EEK;E;EG8V5a e AaDNOT Ignoring new targets: 75.90 m. jjjjihhhhBBfffrfbf?ɛ15~ 15폿I1 =6ɚ9i9I=nR7=IAiE0Will construct direction to contact in vehicle frame from tetrahedron phase data.'9w,RcTA6B0@Y65>@6F96>y6H@eÿƬ?Yu?T?@G?? ?ɨ6B0@6M;6C PIPyV&BVIIbIb4٢f5> jd=9jUJQ j>pp rG٣pyr H v> zNusing accuracyPremultiplier from configt~V59vPs?~V5Yv; ivA|~D@v?Ev;v;vk;V5  A նE5DNOT Ignoring new targets: 75.90 m. j1j9j9j9i9h9h9hAhAfAfAfIrfIbfM@!P?ɛf; ̇I 5Aɚ!i!I%7=I)iU_;iU̴)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.zKeOK 9KKRK*F 2F :F BF _0JF GMrG) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHQ RHU ?AHY I] C I] II] LBI]  =&IY .IY 6I] ү<:I]  F@w,yUAFu0@YFה>@F9F >yFH)U Ŀr??L ?o?T?@?ɨFu0@F<9;DybLBb IIjIjļ4٢~:> F=9@Q >    G٣ y  > Nusing accuracyPremultiplier from config%V59_s?-V5Ym< icA)-D-@?EQ>;>;?V55B 5 A=ضEeDNOT Ignoring new targets: 75.90 m. jajajajaiahahihihififqfqrfqbfu?ɛF 隭M|I |~ʺɚiIH8=Ii?;iA˼)) $?I*F?2F:FBF`0JF*JR="JR=JJJJJ:Jľ9JJJ;J;J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.GUVG]rAG]qAG) B1 OQ 7Fw,nUA2P0@Y2o>@292>y2H wIĿK/?`#? }D`*?Ü?@)??ɨ2P0@2l;2CyBvBB<IMb@Mb@Mb@ )YQ?M?v/?yH?n>xi=A hA) AI Ay AI5I5?4}Will construct direction to contact in vehicle frame from tetrahedron phase data.٢B> ?=9RQ > G٣rMGy- > Nusing accuracyPremultiplier from configV59cs?V5Yt< iAL?:H@?E%;;BV5 B s A ۶E=DNOT Ignoring new targets: 75.90 m. j9j9j9j9iAhAhAhAhM͂BfIfIfIrfIbfUb@ɛy 隅ugI ɚiI8=Ii!;i0ڼ))Ec~GvA*F?2F!:F!)BF%0JF9 eHYevAye\B"G=G= $?IGS&ż- Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >zK BHK h9K K SK iLw,4UA:Q0@Y:p>@:9:>y:Hщ=Ŀ߮?!?zA?`?`??ɨ:Q0@:L9;8yBBBtIiF!>IF=ININפ4٢Viy> V_=9Z"Q Z>X\ ^G٣\y^ 9 ^> fNusing accuracyPremultiplier from config`fV59b3Ks?jV5Ybz< ibAhjHj@b?Eb ;bP ;bEV5l r Ar޶E%DNOT Ignoring new targets: 75.90 m. j!j!j)j)i)h1h1h9h9f9f9fArfAbfE[@ɛiu1~ qu}PIq uΪ?ɚqiqI}`8=Iyi}>;i:)ؼ))*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAHI IlIIBI&I.I6I<:I FG~>ԼGBO> I J J J J J :J 9J J J !;J ";J ;J ;- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Rx Time:22:33:56.0641 = TRx dataTimestamp_ set to:1736375637.213350KSw,9MUA6o0@Y6ю>@6q96(>y6H֋@nÿ ?@?5B ?@أ?`?i?ɨ6o0@6d;6Cy]B]I%Mb@Mb@Mb@!!! !)!Y%MbX?ˡE?v/?y%J?%'=!%A %A)!I!!y% AI]I]\4٢u> u1=9}UQ }>yy G٣y-; > Nusing accuracyPremultiplier from configV59,s?V5YL; igAK?:+A@@?E;;JV5B  AEDNOT Ignoring new targets: 75.90 m. jjjjihhhh(Bfffrfbf  @ɛDBD`Y 'G=YAI lɚ!i!I%4.9=I!i5;i5˼)1)1*F?2F:FBFZ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GԼG B O >evYw,BgUA "$?I$>0@Y>>@>%9>)>y>H |ÿ{ ?s?@ME.? ?_?%?ɨ>0@>٠;>Cy^B^IInIn4٢]'p> ]^=9eQ e>ii uG٣usMGy}< }> Nusing accuracyPremultiplier from configV59Ks?V5Y`: iAcA@@?Eh;;=MV5 ADNOT Ignoring new targets: 75.90 m. jjjjihhhhfffrfbf @ɛ)5AV 15+I1 5نɚ9i9I=|T9=I9iE;iEc )A)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFr2JFzKEFJKE]9KAKETKE 28;841.,)&! !      RK]?JK]?G5cʼG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 77.4 m (Round-trip 103.3 ms) speed -0.4 m/s  ,DAT read: user:2710>  BDAT read: Tx time:22:33:57.1567  $Ping request sent. I  I II BI &I .I 6I ֯<:I  FBI˧CJI˧CRIZI =bI =jI4[`w,ˀUA 8:@yBI) I5I54٢7= 8=9Q > G٣y > U$?IY  Nusing accuracyPremultiplier from configV59lr?V5Y@9 iA@?E<X<1QV5B -A5E- addTargetRange:: Added new target pos. range: 77.400002 m, deltaT: 3.783238 s, deltaX: 1.500000 m, approachRate: 0.396486 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 75.90 m. j)j)j)j)i1h1h1h9h9f9fafarfeYS@bfe ?ɛCB- I ɚiI]9=Ii~C;Will construct direction to contact in vehicle frame from tetrahedron phase data.iT))!JK3 K.-KK"KJUJUJQJQJU:JU9JQJQJUn;JUo;JU;JU;*F2F:FBF@5JFG VG B O >fw,y̜UA:61@Y:U?@:}69:^0>y:H]P¿`?[?` M=9P/Q > G٣yX< > Nusing accuracyPremultiplier from configV59r?V5Y_7 i>AO?:\:@@@EU\;[;TV5 AE%DNOT Ignoring new targets: 75.90 m. j!j!j!j!i!h!h)h)h-Bf)f1f1rf1bf5ӹ?ɛamVF im` Ii u$ɚqiqIug9=Iyi};i}k)y) $?IEm=]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2F:FBF05JFzK MK 9K K UK   BK :K pAG (GY Bi O >mw,UAJB1@YJ5?@J9@9JOc!>yJHSgH? .?M@??[?`?ɨJB1@J;JCyVLBVD IIbIb{4٢f%> jF=9jɻQ j>ll nG٣ntMGyr|< r> vNusing accuracyPremultiplier from configtzV59vHr?zV5Yvl5 ivzAx~:@~@v @Ev ;vm ;v.XV5B AE-DNOT Ignoring new targets: 75.90 m. j)j)j)j)i1h1h1h9h9f9f9f9rfAbfE?ɛ` 隝uI )ɚiIOJ9=Ii;i~))IWill construct direction to contact in vehicle frame from tetrahedron phase data.EMBJ=Hp>I I` IIdBI&I.I6Iۯ<:I F*F?2F:FBFP0JF"G=G<G4GqByO^> m$?IqE Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J /J J =:J 9J (N3J J ԥ;J ե;J 2;J 2;tw,UA22@Y2r:@@2I92>y2H @`oȱ??Y?@5? ??ɨ22@2{.;2CyrdBza Ii~,>I~G?Mb@Mb@Mb@ )Y/$? G٣y@< > Nusing accuracyPremultiplier from configV59tr?V5Y~2 iAnT?:4@@@E;;[V5B AE%DNOT Ignoring new targets: 75.90 m. j)j)j)j)i)h)h)h1h5Bf1f9f9rf9bf=h?ɛ9=8 AEs޾IA EHɚAiAIE?9=IIi;iboc))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF m $?Ii G ɡcU Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >s}{w,U1UA62@Y6@@6 P968,>y6Hf(kб?̰?cp?`?k?@x?ɨ62@6;ч;6CyByBB{ IIJIJh4٢R= RB=9R}oQ R>TT VG٣TyZ< Z> ^Nusing accuracyPremultiplier from config\fV59^nr?jV5Y^/ i^Ahji5@j@^@E^d;^d;^_V5p r8ArEzKMKh9KKVK     RK- ?JK->DNOT Ignoring new targets: 75.90 m. jjjjihhhhfffrfbfJ?ɛ9= AEɾIA E?̻ɚAiaIm8=Iiiu;iuA/ ;)q)q*F2F:FBF_0JF!GzGGBOI> Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH!RH%AAH-o>I) I- II-BI- =&I).I)6I-ׯ<:I- F $?I hrw,C VAUWill construct direction to contact in vehicle frame from tetrahedron phase data.y]B] IMb@Mb@Mb@ )YʡE?MbXɿy&1|y-R?J`A A) AIAy AIuIu4٢}R= #=9Q > G٣uMGy > Nusing accuracyPremultiplier from configV59 gr?V5Y+ iA5X?{:1@@@E;,;dV5B AEDNOT Ignoring new targets: 75.90 m. jjjjihhhhBfffrfbf@ɛ)-S 15WI1 5ǘ׻ɚ1i1I58=I9i=u';iE=:)A)A*F?2F:FBFJFG GsAG g{ Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,#VAN̫3@YNA@N@_9N>yNH @&?j?y`?? ?h?ɨN̫3@N;N CyVBZ I)\ \IbIb4٢j< j=9nCQ n?pp rG٣pyrc= v? zNusing accuracyPremultiplier from configtzV59v7Rr?~V5Yve) ivƂA|~2@~@v @Ev;v;vfV5  A =DNOT Ignoring new targets: 75.90 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfU@ɛy}ĉ }/"=}I I޻ɚiIM8=Ii;id.<)) e$?Ia*F5?2F1:F1BF=1JF9G  >GBO%>Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ>ՁJJJ0JJ:J9Jـ3Ja@a@a@a@zKLK+9KKWK zw,=VAb*3@YbB@bka9b#>ybH`?`ջ?t?#:? ?(?ɨb*3@b:;bCnWill construct direction to contact in vehicle frame from tetrahedron phase data.rBDAT read: Rx Time:22:33:59.6661 rTRx dataTimestamp_ set to:1736375640.992770yvBz III4٢; F=9ϺQ >! %G٣!y%1< %> -Nusing accuracyPremultiplier from config)5V59-6r?=V5Y-R& i-ςA9=-3@=@-&@E- ;- ;-[jV5A EAMEuDNOT Ignoring new targets: 75.90 m. jyjyjyjyiyhyhyhhfffrfbf^@ɛ 隽I SɚiI7=IiV;i-f<))Hn>I I !IIBI =&I.I6I<:I- F*F?2F:FBFT5JF E$?IAG?:GG5?Will construct direction to contact in vehicle frame from tetrahedron phase data.GJJAABO>w,/WVAyB IMb@Mb@Mb@ )Y?A`"˿y&1yL?Y` hA)vAIAyII4٢Ŕ >=9Q > G٣vMGy > Nusing accuracyPremultiplier from configV59vr?V5Y# i‚AS?:2@@+@E;;nV5 B A E5DNOT Ignoring new targets: 75.90 m. j1j1j1j1i9h9h9h9hEBfAfAfIrfIbfU@7 @ɛy}/ y}̺Iy wɚiI7=Ii&;i'<))Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 22:33:59.6661 LVL= 21728, 19393, 15634, 32099, AGC= 57, IDX= 464, 0.26, 2.096,-1.855,-1.934,-2.427, PHS=-1.672, 0.619, 0.490, RAW= 272.9, 5.1, CAL= 276.8, 6.8, ROT= 233.2, -6.8 *F=?2F9:F9BF=15JF9"GE=GE=UYgot valid direction response: 22:33:59.6661 LVL= 21728, 19393, 15634, 32099, AGC= 57, IDX= 464, 0.26, 2.096,-1.855,-1.934,-2.427, PHS=-1.672, 0.619, 0.490, RAW= 272.9, 5.1, CAL= 276.8, 6.8, ROT= 233.2, -6.8 mPDAT read: Bearing 233.2, -6.8 (Local) m~Local bearing/azimuth received: Bearing 233.2, -6.8 (Local) DAT read: Range 10 to 50 : 78.8 m (Round-trip 105.1 ms) speed -0.4 m/s ,DAT read: user:2711> BDAT read: Tx time:22:34:00.7568 $Ping request sent.ء%Fpublishing direction and range info9naЀ_`ٵѪ@s>)zyBTK =)c}I9iֿv?H>j@K= #@)=IS>@if].ǽ ?$WiĶ?)*@I`iܿE?]:publishing transmit ping timeء]Fpublishing direction and range info9naЀ_`ٵѪ@s>)zy )Ii )Iif].ǽ ?$WiĶ?)Ii -$?I) Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:34:00.7560 J J J J J }:J J J ƛw,,eqVA6S4@Y6rB@6ٴf96~:>y6H b@Z?]?"7b?Ҭ?`0??ɨ6S4@6W;;4yNBN IiR=IR<IZIZݜ4٢vn v\=9v;MQ v>xx zG٣xy{< > %Nusing accuracyPremultiplier from config!-V59%r?-V5Y%)  i%A1U^2@]@%0@E%v;%;%gqV5eB eAeEzKuLKu 9KqKuXKuk%J\ip?k%_  k! k%5_VA:k%BBk%BZk%M@"%?(@xZKo_AS%naЀ_`ٵѪ@s>)zJk%ܿRk%E?*%| KA`ΘS%3E$S`¦ "k%*k%k%P_އp?k%O 2k%%Rk%`t?k% 9C k%!k%n@k%X@ addTargetRange:: Added new target pos. range: 78.800003 m, deltaT: 3.529169 s, deltaX: 1.400002 m, approachRate: 0.396694 m/s, rangeRepo size: 4 % Added new target pos. range: 78.800003 m, bearing: 236.144373 deg, lat: 36.904115 deg, lon: -122.119877 deg, deltaT: 7.312407 s, deltaX: 2.900002 m, approachRate: 0.396586 m/s, posRepo size: 4 -DNOT Ignoring new targets: 78.80 m. j)j)j)j)i)hQhQhQhQfYfYfYrf]@3S@bfeU?ɛ5 隭 ¾I OɚiI\7=Iiu=;iݠ<))E4|E= Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I(!IIBI&I.I6I<:ID F*Fu?2Fq:FqBFu1JFq ! I! GU <G1 Ba O >bw,2VAvWill construct direction to contact in vehicle frame from tetrahedron phase data.*J)"J-p=yލwBލy IUMb@Mb@Mb@QQQ Q)QYUK7?K7A`ſI +yUIL?U+U94UAA UA)UAIUAQyUQ AImImn4٢} }#=9Q > G٣y > Nusing accuracyPremultiplier from configV59)q?V5Y iAQ?:5@@7@E;A;uV5 ,AEDNOT Ignoring new targets: 78.80 m. jjjjihhhhBfffrfbfWill construct direction to contact in vehicle frame from tetrahedron phase data.w,'VA 2$?I0Fі4@YFĵB@Fao9FCz >yFH@N5? R?G??y?@.?ɨFі4@F~;FCyVXBVR II-I-{4٢E- Ea=9MQ M>YY eG٣ewMGyeD7< m> }Nusing accuracyPremultiplier from configyV59}q?V5Y} i}A!6@@}<@E};}wo;}xV5B "AEDNOT Ignoring new targets: 78.80 m. jjjjihhhhfffrfbf ?ɛx, xI %g) ɚ!i)I-6=I1i5;i5@E<)1)9EAEA*EA"EAWill construct direction to contact in vehicle frame from tetrahedron phase data.JIJMJM1JIJIJM9JM3JIzKu:KKuh9KqKuYKu*F2F:FBFf4JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data.G \<Hy Iy  I} !II} BIy &Iy .Iy 6I} <:I} FBI9JI9RI9ZI= =bI= =jI=:5G B O >Zw,VA24@Y2ٹB@2jh928>y2H z(૵?@B?.?`?@??}?ɨ24@2ϱ;2CyBHBB? I)D DIzIz_v4٢   %F=9%v;Q %>)) -G٣)y5: 5> =Nusing accuracyPremultiplier from config9EV59=q?EV5Y= i=AAE6@E@=A@E=6;=;=|V5Q UAUE}DNOT Ignoring new targets: 78.80 m. jyjjjihhhhfffrfbfڙ?ɛEB!0 I ɚiI6=Ii0;i<)) $?I*FI2FI:FIBFM_0JFIG9f<G9BOD>Will construct direction to contact in vehicle frame from tetrahedron phase data.Զw,VA2~4@Y2B@2^a92K>y2H %`_@ /??]*?2(?W?u?ɨ2~4@2a;2CyR+BR I]Mb@Mb@Mb@YYY Y)YY]MbX?:vMby]J?]Խ]@]A ]QA)]dAI] AYy] AI}I}V4٢  C=9>;Q > G٣y > Nusing accuracyPremultiplier from configV59q?V5Y0 itAL?::@@F@E;f;/V5 ADNOT Ignoring new targets: 78.80 m. jjjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.hhhhsBf f f rf bf u#@ɛ=FB=!@ 9=F IA E=VɚAiAIE[6=IIiM2;iMR<)I)Q*F2F:FBFJF $?IGVv<GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J 9J ـ3J w,}VAzK"K" 9K K"ZK"RK& ?JK&?:D4@Y:zcB@:tW9:y=y:H@9eɸ@H?? ? ?@ᒿ??ɨ:D4@:̇;8yFBFIININ"4٢VE VZ=9Vv;Q Z>XX ZG٣ZxMGy^ ^> bNusing accuracyPremultiplier from config`fV59byq?fV5Ybj ibfAhj:@j@bK@Eb:b:bwV5rB rGArE DNOT Ignoring new targets: 78.80 m. j j j j i hhhhfffrfbf%w @ɛIMPZ IM8II UɚQiQIUlj6=IiM#;iƷ<))*F 2F :F BF |0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRH@AHo>I I IIɂBI =&I.I6I<:I FGM+^< IG) B1 Oe >)w,]kWABWill construct direction to contact in vehicle frame from tetrahedron phase data.4@Y=B@]O9v=yH @􅹿 ?45?@eż?r?G??ɨ4@C;Cy5B=IiE >IE<Mb@Mb@Mb@ )Y/$?Mb~jty1H?A @)AI` Ay AII4٢  7=9K;Q > G٣y: >  Nusing accuracyPremultiplier from configV59\q?V5YM ixH?:NA@@Q@E;[;^V5%B %A% EDNOT Ignoring new targets: 78.80 m. jjjjihhhh!Bfffrfbf%@ɛGBΧU 隝'I *ɚiI6=IiF6;i `<))*F=?2FA:FABFE0JFA=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=AMBDAT read: Rx Time:22:34:03.2685 MTRx dataTimestamp_ set to:1736375644.528139G w<Gy B O > $?I w,7*WAN3@YNA@N G9Ng=yNH{غ3?l?$ ??@,s?޿?ɨN3@N;NCyZفBZIIfIfD4٢j& n_=9n;Q n>pp rG٣pyvU v> zNusing accuracyPremultiplier from configx]V59zDq?eV5YzY izeAae@@e@zU@EzUt= Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 22:34:03.2685 LVL= 18384, 18465, 12178, 27203, AGC= 57, IDX= 457, 0.13, 1.898,-2.078,-2.215,-2.686, PHS=-1.611, 0.655, 0.468, RAW= 274.3, 4.5, CAL= 277.9, 5.9, ROT= 232.1, -5.9 } Ygot valid direction response: 22:34:03.2685 LVL= 18384, 18465, 12178, 27203, AGC= 57, IDX= 457, 0.13, 1.898,-2.078,-2.215,-2.686, PHS=-1.611, 0.655, 0.468, RAW= 274.3, 4.5, CAL= 277.9, 5.9, ROT= 232.1, -5.9  PDAT read: Bearing 232.1, -5.9 (Local)  ~Local bearing/azimuth received: Bearing 232.1, -5.9 (Local) H n>I  I II BI &I .I 6I ͯ<:I  F DAT read: Range 10 to 50 : 80.7 m (Round-trip 107.6 ms) speed -0.6 m/s  ,DAT read: user:2712>  BDAT read: Tx time:22:34:04.3568  $Ping request sent. u2@u|٠= ui5@)uB=Iu @iuBҽqqu~3M*Y?6?)uIP,@IuۡiuM³u5T?qq>:publishing transmit ping time1>Fpublishing direction and range infoq9u[tVs?evri.Y5yqqqq q)qIqiqqqqq q)qIqiqqqu~3M*Y?6?)qIqiqqqqýBII-I-ʴ4٢y ;=9Q > G٣yMGy > Nusing accuracyPremultiplier from configV59(q?V5Y7 icA!!%@[@E;;dV5-B -h A-E =$?I9kuҷo?ku?Ha kq ku.AWA:kufBBkuPBZku1@"u&?8"Ð׀*Tu[tVs?evri.Y5JkuM³Rku5T?*uJoZ/I  >ɚiI76=Ii/;i} <)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ]:J9JJJ:;aJ;;aJ ;aJ ;aJDAT read: TxSync time:22:34:04.3560 *F2F:FBF0JFG T<G B O >w,6`WA2E3@Y2dA@2/692=y2H`;@)1;?B?3}?æ?lH??ɨ2E3@2w;2Cy>B>I)@ @VWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y'1Z?ˡE?~jtyB?=ļA v@)I AyQAI5I54٢E E==9MII UG٣QyU U> ]Nusing accuracyPremultiplier from configYV59]2 q?V5Y]! i]tA D? : qH@ @]`@E]<]<])V5B C AEDNOT Ignoring new targets: 80.70 m. jjjjihhhhBfffrfbf??ɛIBv܋  TLI  ,qHɚ i I 67=Ii8;i<)a)i I*F 2F:FBF05JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 5<G B! O= >zKE k3IKE h9KA KE \KE  Nw,zWA23@Y23A@2F192u=y2H@?U?Y@?@&? Ϥ?a?ɨ23@2;0y:B:rIIbIbm4٢j jS=9jAK;Q j>ll nG٣lyrI v>  Nusing accuracyPremultiplier from configV59p?%V5Y iA)-?H@5@e@EQ;s;V5A E AADNOT Ignoring new targets: 80.70 m. jjjjihhhhfffrfbfE?ɛU SI `RɚiI7=Ii;i.;))Will construct direction to contact in vehicle frame from tetrahedron phase data.Hl>I I: IIEBI =&I.I%Ew,WA22@Y2@@2Nk.92E>=y2HY垿? Fz?ː`P?˥?@f? n?ɨ22@2V;0y>BBWIMb@Mb@Mb@ )Yx&1?S?{GztyA@?/>ףA )7AI AyAII4٢ 2=9=:Q > G٣zMGy[d > Nusing accuracyPremultiplier from configV59p?V5Y iA.E?:C@k@E;;V5 Z AEDNOT Ignoring new targets: 80.70 m. jjjjihhhhcBff!f!rfbf?ɛ첎 f^I 3_ɚi9I=7=IAiEu;iM;)I)IE=BJ=*F?2F:FBFP0JF"G=G= G!9 uYqyuBWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IG O <G B O >gw,ׯWA2m2@Y2@@2&92D_=y2HMQ`?@V?)+??@eӤ?@׻?`?ɨ2m2@2⯇;2CyRBRNIiV=IV>IZIZ~4٢b# b\=9f;Q f>dd fG٣dyjF) j> nNusing accuracyPremultiplier from configlrV59np?rV5Yn inςAtvCCz@no@EnO;n5P;n˜V5eB e AeEDNOT Ignoring new targets: 80.70 m. jjjjihhhhfffrfbf`8?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛYe} aeDbIa eijɚaiiImXt8=Iii;i<))EE*E"EzKMK9KK]KxfWG1(! "+'# *F?2F:FBFJFG b}S;HE h>IE C IE IIE BIE  =&IA .IA 6IE ۯ<:IE  F Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 > $?I rOw,WA6 2@Y6(@@6 <96,t=y6H ~Ū??wl?`YF???ɨ6 2@6|;6Cy>B>HIIJIJ4٢NTȼ RM=9R;Q R>TT VG٣TyV x Z> ^Nusing accuracyPremultiplier from configXbV59Zp?bV5YZC iZA`bCb@Zt@EZe ;Z ;ZHV5jB j AjE~DNOT Ignoring new targets: 80.70 m. j|jjjihhh h f f frfbf D@ɛ9=N AEdIA EluɚAiAIM8=IQiU>;iU)Q)*F2F:FBF_0JFJJBAJJJ0JJJ"9Jـ3JJJJ;J;%Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge;GBO >Qzw,WABWill construct direction to contact in vehicle frame from tetrahedron phase data.yj}BnDImMb@Mb@Mb@iii i)iYmx&1?K7?Mb?ymA?mI>m G٣{MGy > Nusing accuracyPremultiplier from configV59p?V5YG i%AH?:A@y@EJ;hH;V5B  AEDNOT Ignoring new targets: 80.70 m. jjjjihhhh:Bff f rf bf  @ }$?Iyɛe  FfI9 EɚAiAIE9=IIiuH;iu,)q)y*F!2F!:F!BF%f0JF!G!GBOj>5Will construct direction to contact in vehicle frame from tetrahedron phase data.zK] ϋMK] +9KY K] ^K]  &D4w,fWA 2~1@Y2p?@2z 92w=y2H #¿?ü?w?}N??`-?ɨ2~1@2B;0yRBRNI)\ \IrIr-4٢~x&= ~U=9~# G٣y a  > Nusing accuracyPremultiplier from configV59jnp?V5Y iQALB@~@E<<qV5B  A EDNOT Ignoring new targets: 80.70 m. jjjjihhh!h!f!f!f)rf)bfU@@He>I IIIBI =&I.I;D6I<:I FBIJI¦CRIZIbI =jIؑ5Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:34:06.8708 TRx dataTimestamp_ set to:1736375648.079164ɛ웽 5bI χɚiI4:=I i;i&J)) u$?Iq*F?2F:FBF0JFG ҸJ J J J J :J m9J J J ;J ;J ;J ;G U Will construct direction to contact in vehicle frame from tetrahedron phase data.U >U %=B O >w,xCXA2M1@Y2l?@2J92j=y2H@¿g?@!1?p`F?`?׽??ɨ2M1@2݆;0y>BBdI=Mb@Mb@Mb@999 9)9Y=x&1?x&1?:v?y9=A`>=<=` A 9)=AI99y==AIUIUפ4٢e= eD=9ef+;Q e>ii mG٣iyu u> Nusing accuracyPremultiplier from configV59Rp?V5Y3 iAI?:@@@E;/;V5  ADNOT Ignoring new targets: 80.70 m. jjjjihhhhEBfffrfbf+ @ɛ   Jl= 9YI  ɚiIM:=Ii;io)!)!*F?2F:FBFP5JFG !GiBOB>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:34:06.8708 LVL= 23008, 21953, 14834, 27859, AGC= 61, IDX= 449, 0.24,-2.538,-0.139,-0.340,-0.809, PHS=-1.640, 0.717, 0.466, RAW= 275.6, 4.1, CAL= 279.0, 5.3, ROT= 231.0, -5.3 Ygot valid direction response: 22:34:06.8708 LVL= 23008, 21953, 14834, 27859, AGC= 61, IDX= 449, 0.24,-2.538,-0.139,-0.340,-0.809, PHS=-1.640, 0.717, 0.466, RAW= 275.6, 4.1, CAL= 279.0, 5.3, ROT= 231.0, -5.3 PDAT read: Bearing 231.0, -5.3 (Local) ~Local bearing/azimuth received: Bearing 231.0, -5.3 (Local) DAT read: Range 10 to 50 : 82.4 m (Round-trip 109.9 ms) speed -0.4 m/s  ,DAT read: user:2713> BDAT read: Tx time:22:34:07.9568 $Ping request sent.٭@٭C= ڭқ@)ڭq=Iڭ@iڭqککۭNC,qN:h?df?)ۭ,-@IۭUiۭ Yվۭo?۩۩=:publishing transmit ping time=Fpublishing direction and range infoة9حHI?ס|GzGEȇyةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭNC,qN:h?df?)۩I۩i۩۩۩۩ YIY w,%1XA2.1@Y2M?@2{92=y2H ¿@%?@'n?#k'?`Ž?`N?e?ɨ2.1@2BM;2Cy>B>lIIFIFK4٢bl = fT=9f}:Q f>hl nG٣n|MGyrן r> vNusing accuracyPremultiplier from configtzV59v9p?zV5Yv0 iv΃AxzA~@v@Ev;vd;vvV5B  A#Ekڄn?k̼c k ku=%XA:k̤BBkBZkly@")#xf ?@࿴5THI?ס|GzGEȇJk YվRko?*kk%w]!qT:7okД "k *k k^n?k[- 2kkP_އp?k k%Rk@k!@e addTargetRange:: Added new target pos. range: 82.400002 m, deltaT: 3.554033 s, deltaX: 1.700005 m, approachRate: 0.478331 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:34:07.9560  Added new target pos. range: 82.400002 m, bearing: 238.984821 deg, lat: 36.904018 deg, lon: -122.119928 deg, deltaT: 3.554033 s, deltaX: 1.700005 m, approachRate: 0.478331 m/s, posRepo size: 4 DNOT Ignoring new targets: 82.40 m. j j j j i hhhhfffrf%T@bf%_Y?ɛµ 隕UI QɚiI@;=Ii';if6))EQEUsA*F?2F:FBF$5JFzKLKs9KK_KGhAHd>IC IIIBI =&I.I6I:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > E $?IA w, KXAyBIip=I=I%I%_v4٢== =C=9EQ E>AA MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]V59UUp?]V5YUB iUAaae@U@EU:U:UV5i u Au&EDNOT Ignoring new targets: 82.40 m. jjjjihhhh!f!f!f!rf!bf-@g'?ɛ}HB}:ؕ 隅~II 펗ɚiI;=Ii ;i))*F]?2Fi:FqBFuP0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O >w,dXA6 1@Y6*?@6Q96 _>y6H` ÿZ??c iW?Ӡ?`?`R?ɨ6 1@6';6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yjҁBjImMb@Mb@Mb@iii i)iYm#~j?+?+?ymE?mv>>m=mvA m3@)iIiiyiII@4٢Y > F=9Q > G٣yԩ > Nusing accuracyPremultiplier from configV59p?V5Y iZAK?:KD@@E;;V5B  A)E $?IDNOT Ignoring new targets: 82.40 m. jjjjihh h h Bfffrfbf@4A?ɛY]: Y]:IY eնɚaiaIe\L<=Iiim=;im :))JCKKm3 KKL.KCKC"KCJJJJJJ9JJa@a@a@a@E|(H==Will construct direction to contact in vehicle frame from tetrahedron phase data.*F- ?2F) :F) BF- H5JF1 zK K 9K K `K RK >JK >Gy GIBQO> w,5`XAjH<bHH"b>I  I"II"BI &I"GD.I 6I"<:I"? Fv0@Yv?@v9v!@ >yvHliÿ^E?`h?W -t?ۡ?W?n?ɨv0@vMz;vCyBII%{I%Z4٢E= E/=9E=Q E>UWill construct direction to contact in vehicle frame from tetrahedron phase data.IY ]G٣]}MGyeT e> uNusing accuracyPremultiplier from configiuV59mo?}V5Ym imAy}qD}@m@Emk;m;mչV5B ZA,EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfu?ɛGB͆ /I ɚiIE<=Iir;i ܛ $?I))E`k=*F?2F:FBFO0JFG' Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >x&w,p#XA 6 0@Y6>@6# 96>y6HFÿ8?@}?Pk?@[?`??ɨ6 0@6t;4yB BBI)D DMb@Mb@Mb@ )Y r? 0=/A @)7AIyAI%I%פ4٢=5!> =<=9E;Q E>AA MG٣IyMI M> ]Nusing accuracyPremultiplier from configQ]V59Uto?eV5YU iUAeTG?e:eGe@U@EU;U;UV5i m<Au/E=DNOT Ignoring new targets: 82.40 m. j9j9jAjAiAhAhAhIhMςBfIfQfQrfQbfU`X?ɛFBnUx 隅2I ɚiI!==Ii;i))EE*E"EmWill construct direction to contact in vehicle frame from tetrahedron phase data.iimA I*F2F:FBF3JFJm Jm Jm 1Ji Jm -:Jm 9Jm 3Ji  Will construct direction to contact in vehicle frame from tetrahedron phase data.G ՒG B O >-w,7qXA60@Y6 ?@6 96 >y6HC@W ÿi??'PH?`ey?`*?@?ɨ60@6m;6CyB*BB IININh4٢R> VI=9VHQ V>XX ZG٣Xy^&; ^> bNusing accuracyPremultiplier from config`fV59bo?fV5Yb ibJAdjGj@b@Eb;by;b)V5nB nGAn2E DNOT Ignoring new targets: 82.40 m. j j jjihhhhfffrf!bf%[@zKBoHK9KKaKBKpA:KqAɛv  I ɚiIXv==IidB;iW))*F2F:FBF_0JFHI I: IIEBI =&I.I6Iӯ<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data. ~$?IGGBO>4w,:XAEWill construct direction to contact in vehicle frame from tetrahedron phase data.M>I0@Yx?@9s>yHFt¿?`+?O@T{?@?Na??ɨ0@@;騕CyJBA IMb@Mb@Mb@ )YL7A`?Q?kt?y+G?\=EA @)Iy AIIפ4٢> .=9Q > G٣~MGy ; > Nusing accuracyPremultiplier from configV599o?V5Y= iAFH?:OD@@@En;;EV5B @A5EDNOT Ignoring new targets: 82.40 m. jjjjih!h!h!h%Bf)f)f1rf1bf5c@ɛEBgU I $ɚiIN==I i VJ;i #c) )*F?2F:FBF^0JF)  c~G!9 e YaymB@BWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:34:10.4731 TRx dataTimestamp_ set to:1736375651.608705 |$?I G `6G B O >H:w,- XA6,1@Y6J?@6=96>y6H`r ¿`+g?`%s?`Q ??`2?'?ɨ6,1@6;6CynjBni IIvIvn4٢F8> k=9 OQ ?    G٣ y< ? Nusing accuracyPremultiplier from config%V59wo?%V5Y iЅA!%{D@-@@E ;.:MV51 5@A1eDNOT Ignoring new targets: 82.40 m. jajajajiiihihihihqfqfqfqrfybf} | @ɛDB^ 隥پI eѯɚiIK==Ii8 ;i))*F5?2F1:F1BF50JF1JJJ/JJ}:Jm9J(N3JMWill construct direction to contact in vehicle frame from tetrahedron phase data.GUS.G1B9O]>zKKKKbKZH RH H `>I  I II BI &I .I 6I <:I 7 F Will construct direction to contact in vehicle frame from tetrahedron phase data. i Aw,ZYA 2{$?I0eV1@Yeu?@e9e>yeH 5;;¿ ? ,?HT?5S? ?Т?ɨeV1@eW_;eCyޥBޥ III44٢U/= U6=9]\dQ ]>YY eG٣ayeH; e> Nusing accuracyPremultiplier from configV597Zo?V5Y iAD@@@Ei::7V5 sAM8EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfAX @ɛECBEv: EZE=MII MͲɚIiIIM;>=IQiUV;iULd)Q)Y5PExceeded connect timeout, disconnecting.*F}?2F:FBFp0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 84.0 m (Round-trip 112.1 ms) speed -0.4 m/s -Z#Rx 14: Read range message, but no direction.iymBiG G B O >OHw,V!YA>_|1@Y>Q?@>49>>y>H@??@EWఴ??@?`?ɨ>_|1@>X];>CynBn IuMb@Mb@Mb@qqq q)qYuHzG?I +y&1?yu=J?u94u` V=9VQ > G٣MGy-; > Nusing accuracyPremultiplier from configV59)Ao?V5Y iHAMbJ?M:Md>@M@@EJ<&<V5]B ]1A];EWill construct direction to contact in vehicle frame from tetrahedron phase data. addTargetRange:: Added new target pos. range: 84.000000 m, deltaT: 3.784420 s, deltaX: 1.599998 m, approachRate: 0.422786 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 82.40 m. jjjjihhh)h-sBf1f1f1rf5U@bf=? Mz$?IQɛBBJ0 隕#I ɚiI>=Ii ;ieG))*F?2F:F!BF%/1JF!J J J 1J J J 9J 3J ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge :_G1 BA O] >5Nw,;YA 1@Y?@ '9^>yHnOn@?[?@\छ?@ߤ?`?`ܢ?ɨ 1@f;騅CyޥBޥ IIIQ4٢{= I=9Q > G٣y%(< %> -Nusing accuracyPremultiplier from config)5V59-%o?5V5Y-` i-zA9=>@=@-@E- ;-* ;-2V5EB EAE>EuDNOT Ignoring new targets: 82.40 m. jyjyjyjyiyhyhhhfffrfbf ?zKBoIK 9KKcK{Z R$]&-]E pZI:/' ɛAB( I lɚiIr>=I!i%;i%)!HU_>IQ IU IIU؂BIU =&IQ.IQ6IU:<:IUP FBIĥCJIĥCRIZI =bI =jI8Q5)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F):F)BF-P5JF) My$?II"GU=GU=G f AG ?G >GY B O > % nManaging dock network, ignoring radio surface power off*"Uw,UYA-Will construct direction to contact in vehicle frame from tetrahedron phase data.p1@Yb@@O.9>yH@娯??au?3ȥ?a?`?ɨp1@Uч;CŷB IMb@Mb@Mb@ )Yn?p= ף rh?yVN?C< @) AIzAy3AI I 4٢= 6=9Q >! %G٣!y-; -> 5Nusing accuracyPremultiplier from config1=V595o?=V5Y5O i5A= O?=:E:@E@5@E5;5w;5V5Q UA]AE}DNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbfe?ɛE@BEc AEhII MɚIiIIM >=IQi];i]~ӻ)a)aEWill construct direction to contact in vehicle frame from tetrahedron phase data. 5 x$?I1 *F= ?2FA :FA BFE 0JFA GGYBiO?\w,vYA6+2@Y6J@@6:/496>y6H Xi ?9x?@f_?@ ?WI?`?ɨ6+2@6*N;6CyVBZ IIbIb4٢j{= j<=9nXQ n>ll rG٣rMGyr< r>zWill construct direction to contact in vehicle frame from tetrahedron phase data. mNusing accuracyPremultiplier from configiuV59mn?}V5Ym7 imdžA:@@m@Emѓ;mD;mV5B UADEeDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf?ɛݔ 6I \ɚiI2==Ii;@;ii))EqbD=*Fu?2Fq:FqBFu45JFqzK  OK ]9K K dK #$!!  jH bH <H^>IC IG!II BI&I.I6I<:I5 FWill construct direction to contact in vehicle frame from tetrahedron phase data. w$?IGE 4λG B! OE >cw,ӏYA:e2@Y:ބ@@:';9:>y:H E N?q?k XX ^G٣\y^< ^> fNusing accuracyPremultiplier from config`fV59b{n?jV5Ybz ibAhj9;@j@b@Eb:b:bKV5nB r@rBEDNOT Ignoring new targets: 82.40 m. jjjjihhhhf!f!f!rf!bf%`Ű?ɛU?BU QUIQ ]?ɚYiYI]==Iaie;ie6)a)iEyEy*Ey"EyJ}J}JyJyJ}-:J}9JyJyJ};aJ};aJ}F;aJ}G;aWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF5JFG% dG) G- rA Will construct direction to contact in vehicle frame from tetrahedron phase data. I G B O% >iw,QYAyޝBޝ !I=Mb@Mb@Mb@999 9)9Y=/$?"~jMb`y=&Q?=S㽹==\A =@)9I99y9IUIU:4٢e= e1=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configyV59}n?V5Y}  i}AS?:7@@}@E}_;} ;}RV5B @EEDNOT Ignoring new targets: 82.40 m. jjjjihhhh̃Bfffrfbf f@ɛ  I  -ɚiI}==Ii0;i))!*F?2F:FBFS0JFGïGYBqO[>Will construct direction to contact in vehicle frame from tetrahedron phase data.ypw,YAzK"MK" 9K K"eK""BK&rA:K$:2@Y:@@: SD9:͇>y:H.Q?(?~t A?@? W? 9?ɨ:2@:;:CyF BF.!IININW4٢V^= Vl=9VVӻQ V?XX ZG٣ZMGy^< ^?HdId If!IIfRBIf =&Id.Id6If<:If" F ENusing accuracyPremultiplier from config9MV59=@n?MV5Y=  i= AIMj8@M@=@E=:=:=~V5UB e1@eHEDNOT Ignoring new targets: 82.40 m. jjjjihhhhf1f9f9rfAbfE@ }u$?I}hWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ>B-\ ̽I ӻɚiIM==Ii;i XT;) ) *F2F:FBF_0JFG˴G?GJ J J J J :J 9J J J ;J ;J !;J !;G B 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.O} >ww,fYA @yB&!IMb@Mb@Mb@ )Y?V-:vyL?TEA )I AyII4٢ 7=9Q > G٣y >  Nusing accuracyPremultiplier from config V59 ~n? V5Yf iAN?:7@@@E5;4;>V5! %@%KEMDNOT Ignoring new targets: 82.40 m. jQjQjQjYiYhYhYhaheуBfafafarfibfm v_ @ɛ 隝I uɚiI^==Ii;i#';))EE*Fi2Fi:FiBFmg0JFi"Gu=Gu= mt$?IiGm@;Will construct direction to contact in vehicle frame from tetrahedron phase data.GaBqO]> -}w,CYA:3@Y:;A@: H9:$w>y:H``95}?K3?{`????ɨ:3@:;8yF BF0!IIRIR4٢VP== Za=9ZLQ Z>\\ ^G٣\yb:E< b> fNusing accuracyPremultiplier from configdjV59ffn?jV5Yfc ifAhn@8@n@rWill construct direction to contact in vehicle frame from tetrahedron phase data.r=pf@Ef_m;fm;flV5zB z@~NE%DNOT Ignoring new targets: 82.40 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf5J @ɛae ae@ĽIa m"ɚiiiImY<=Iqium;i}<)y)*F2F:FBF}1JFzK}qKK}+9KyK}fK}H]>I I!IIqBI&I.I6I4<:IH FGQ iIqWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>w,#ZA2;3@Y2wZA@2J92`>y2H໶컰?Ӹ?`| ?@Y? ?`?ɨ2;3@2;0yNBR !IIZIZW4٢bჽ bI=9b►Q b>dd fG٣fMGyj; j> rNusing accuracyPremultiplier from configpvV59rQKn?vV5Yr' ir%Atv_8@v@r@Er+;r;rV5~B ~@~QE%DNOT Ignoring new targets: 82.40 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf=V@ɛam imDIi m ɚqiqIu<=Iyi}*;i}<)y)J1J5J50J1J1J59J5ـ3J1J1J1J5';J5';*FM?2FI:FIBFUQ5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu2<GyGyGYNGB 5 Y1 y5 i BO= > e r$?Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data.?w,*ZABhQ3@YBYpA@BJ9B[>yBH`_?b?}`-? W? ?g?ɨBhQ3@BB;BCy^B^!!I}Mb@Mb@Mb@yyy y)yY}Zd;O?Mb~jty}~J?}}y }@)yI} Ayy} AIIn4٢l; ==9R8Q > G٣yJ; > Nusing accuracyPremultiplier from configV59/n?V5Y i+AK?:(:@@@EQ;;V5 @TEDNOT Ignoring new targets: 82.40 m. jjjjih h h h ȃBfffrfbf~@ɛIM| IMII MʾɚQiQIU\<=IYi]!T;i]&+<)Y)a*F 2F :F BF 05JF G GWill construct direction to contact in vehicle frame from tetrahedron phase data.G-[p<G B O) &w,DZAzK"BoHK"]9K K"gK"H6\>I4 I6!II6{BI4&I4.I6:D6I6i<:I6n FN[3@YNzA@NL9N >yNHl;?z9?@, ?F??`R?ɨN[3@NY;NCyZBZ!IIbIb4٢j卽 jX=9niQ n>pp rG٣pyr: v> zNusing accuracyPremultiplier from configtzV59vmn?~V5Yv< iv1A|~1:@@v@Ev;v:;v V5  @ 5DNOT Ignoring new targets: 82.40 m. j1j1j1j1i1h9h9h9h9fAfAfArfAbfM@ɛ7 I p$?I YɚiIp'<=I)i-;mWill construct direction to contact in vehicle frame from tetrahedron phase data.i53<))*F ?2F :F BF O0JF GM)<G) B9 JU JU JU 1JQ JU M:JU 9JU 3JQ JU ;JU ;JU ;JU ;O > Will construct direction to contact in vehicle frame from tetrahedron phase data.GQw,^ZA>ea3@Y>VA@>K9> >y>HҼ@/[?`"?߂k?M{?`C??ɨ>ea3@>*;>CybBb!IUMb@Mb@Mb@QQQ Q)QYUoʡ?V- G٣MGyY: > Nusing accuracyPremultiplier from configV59m?V5Y i>AM?:=@@@E;3;V5B AWEDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf@ɛ f,I ɚiI;=Ii;i2%7<)!)! I*F?2F:FBFP0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.GI GM ?GM >G! B1 Oe >+}w,xZA6PO3@Y6AnA@6L96 - >y6H`1}?8j?q 9? *???ɨ6PO3@6;6CyNBN IIVIV4^Will construct direction to contact in vehicle frame from tetrahedron phase data.٢b  fW=9f̸Q f>hh jG٣lyn= r> vNusing accuracyPremultiplier from configpvV59rm?zV5Yr irIAxz =@~@r@ErH%;r%;rV5B JAZEDNOT Ignoring new targets: 82.40 m. jjjjihhhh!f!f!f!rf!bf- Z@ɛQU" QU9IY ]¼ɚaiaIe%;=Iiimo;im%<)i)q*F!2F!:F!BF-]0JF)"G5=G5>jH]<bH]p<HaIa Ie!IIeqBIa&Ia.Ia6Ie <:Ie) FBI%ƤCJI%ƤCRI!ZI% =bI% =jI%ƃ 5zKK9KKhK o$?IG 9)<mWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiG! B1 OM >bw,0fZA6>3@Y6]A@6J96$>y6Hȼ?`>?@?@0X??ή?ɨ6>3@6x&;6CyNԂBR IIZIZݜ4٢f} fJ=9f4F:Q j>hh jG٣hyn" n> rNusing accuracyPremultiplier from configpvW59rm?vW5Yrt irTAxz<@z@rAEr:r:rW5| ~A]E%DNOT Ignoring new targets: 82.40 m. j)j)j)j)i)h)h)h1h1f1f1f9rf9bfE @ɛim imTIi u~YüɚqiqI;=IiG;is<))!*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu)<G1BAOe> n$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,CZA2@3@Y214A@2sJ92$>y2H@fbr?@P?A?K?@o??ɨ2@3@2V{;2CyBʂBB I Mb@Mb@Mb@    ) Y y&1?I + rhy `E? 94 C A @) AI  A y GAII4٢&: >=9Sd9Q > G٣MGy > Nusing accuracyPremultiplier from configW59m?W5YF ifAqE?:{@@@AE;;kW5 B A `EuDNOT Ignoring new targets: 82.40 m. jqjqjqjqiqhyhyhyh}YBfffrfbfn@ɛ?Bs hI żɚiI~};=I)i-{R;iM;)I)Q*F2F:FBFJFJ%J!J!J!J%-:J!J!J!a-@a-@a5@a5@Will construct direction to contact in vehicle frame from tetrahedron phase data.GO <GGG B O >Jtw,~ZAHZ>I I!IIWBI =&I.I6I7<:IH FF3@YFA@F_I9F>yFH<UԽh??tپ?K)?@??ɨF3@FE/;FCzKRKR]9KPKRiKRyVƂBZ IIbIb4٢j jX=9j8:Q j>ll nG٣lyr)\ r> Nusing accuracyPremultiplier from config W59 m?W5Y = i uA!%e@@%@  AE ); ; W5) -A)UDNOT Ignoring new targets: 82.40 m. jQjQ em$?IajYjaiihihihihifqfqfqrfqbf >@=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛAMǡ( IMqII MƼɚQiQIUc;=Iyi}K;i};)y)yEErA*Fm?2Fi:FiBFm0JFiGq GurAG-;Gi B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ZA:2@Y:@@:#I9:Vw>y:H` Rf@=n?`R?VDt?!?@?д?ɨ:2@:TÆ;8yB IMb@Mb@Mb@ )Y~jt?~jt?~jtyD?=DvA )AIAyAII4٢-. -6=9-C9Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAMW59Etm?MW5YE iEAMD?M:U@D@U@EAEEA;E$;E W5]B ]_A]cEDNOT Ignoring new targets: 82.40 m. jjjjihhhh#Bfffrfbf@ɛ36+  I IȼɚiII;=Ii%;i;)) ]l$?IY*F]?2FY:FaBFe`5JFaUWill construct direction to contact in vehicle frame from tetrahedron phase data.G;Gi By O >JE JE JE 0JA JE m:JE 9JE ـ3JA *˽w,ZANWill construct direction to contact in vehicle frame from tetrahedron phase data.VN2@YV?@@VG9V>yVHL-l?`D? 8?S?a?S?ɨVN2@V8;VCy%B% II5I54٢Mn; MY=9MB:Q M>QQ UG٣Yy]( ]> eNusing accuracyPremultiplier from configamW59e\m?mW5Ye ieAquD@u@eAEeq ;em ;eW5y }AfEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf Qa@ɛ@B5 I ɼɚiI;;=Ii;iC:))*F?2F:FBF4JFZHRHH%X>I%C I%m!II%>BI!&I!.I!6I%%<:I%9 F =k$?IAGU;G] ?G]5?zKeVBJKaKaKejKeG)B1MWill construct direction to contact in vehicle frame from tetrahedron phase data.O]>w,[ARrq2@YRc@@RE9RR-=yRHj )_?`?t?@+? ǿ? ?ɨRrq2@R5;RCy^B^ IIfIf 4٢n, nQ=9r:Q r>pp rG٣vMGyvY v> ~Nusing accuracyPremultiplier from configx~W59zuCm?~W5YzQ izAC@@zAEz:z~:zNW5 B A iEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf @ɛ77 咾I! %S˼ɚ!i!I%/;=I)i5gX;i5N)1)1*F?2F:FBFP0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.G7:GBO> ! I!  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,-[A:IH2@Y::g@@:GE9:^=y:H```c? >?@i}>??8??ɨ:IH2@:;:CyPP5Mb@Mb@Mb@111 1)1Y5Mb?333333?~jth?y5@?5=5D;5` A 5@)5hAI11y5AIMIME49]9Q e>ii mG٣iyu1» u> Nusing accuracyPremultiplier from configW59'm?W5Y iAwA?:F@@ AE;;&W5B AlE=DNOT Ignoring new targets: 82.40 m. j9j9j9jAiAhAhAhIhMBfIfIfIrfQbfU`e @ɛ.7 隍I UͼɚiIk#;=IiI;i?))*F)2F):F)BF)JF)J+3K+3 K+T.K#K#"K#JJJJJ:Jb9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.GU'HG) B1 OU >H U>I  I T!II *BI  =&I .I 9D6I :I 7 Fw,cG[AJ2@YJ8@@JD9J;|=yJH@swh?`?z`??H?`?ɨJ2@J|;JC bi$?I`yfBf IInInn4٢zt z<9~)H:zK~BoHK|K|K~kK~BK :K rAQ  > G٣y > %Nusing accuracyPremultiplier from config!-W59%m?-W5Y% i%A)-F@5@%$AE% :%:%gW59 =A=oEmDNOT Ignoring new targets: 82.40 m. jijijijiiihihihqhqfqfyfyrfybf}`^!@ɛ@ 隭9I ϼɚiI ;=Ii7;i))]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F92F9:F9BF=_0JFAGb(GGGqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. w,h>a[A)T TyB% I=c~G]vAq YvAyA-Mb@Mb@Mb@))) )))Y-+?/$?I +?y-v>?-=-94<-I A -@)-@I))y-AI=I=44٢B< 2=9Q > G٣MGy > Nusing accuracyPremultiplier from configW59l?W5Ys iFA??:CG@@*AEO;M;gW5 ADNOT Ignoring new targets: 82.40 m. jjjjihhh!h%Bf!f!f!rf)bf-:"@ɛY]W7 Y]YIY eѼɚaiaIe?;=Iiim;im须)i)q g$?I*F12F1:F1BF9JF9GA GEsAmWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm ԑGI BY O} >J% J% J! J! J% m:J% O9J! J! 0w,{[A:1@Y:@@:C9:>y:H@}?M? @v ? m?`?@?ɨ:1@:[;:CyBBF IININ4٢^;bWill construct direction to contact in vehicle frame from tetrahedron phase data.b=b4= ^p=9f69Q f?hh jG٣hyj n? rNusing accuracyPremultiplier from configpvW59rl?vW5Yr> irnAxzG@z@r.AEr];r;rd!W5~B ~A~rEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfM>#@ɛAE@ IMjII MCӼɚIiIIUC;=Iyi}E;i})y)*F)2F):F)BF-u0JF)HI IA!IIBI&I.I6I=<:IH F IzKBoIK9KKlK;!vePQU9hF) wdUHGuWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO >hw,j[AFp1@YFa@@FB9F>yFHO :}? b?`t`I?`R?`"?T?ɨFp1@F2;FCybBf IIzIzЬ4٢< D=9%:Q %>!) -G٣)y-ֺ -> =Nusing accuracyPremultiplier from config1EW595sl?EW5Y5 i5AAEG@E@53AE5&;5;5%W5MB UAUuE}DNOT Ignoring new targets: 82.40 m. jyjyjyjyiyhhhhfffrfbf 4$@ɛe?Be0: ae/Ia mռɚiiiIm1 ;=IiwV;i7 ))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F):F)BF-1JF)G DػG?G?G B O5 > f$?I } Will construct direction to contact in vehicle frame from tetrahedron phase data.q)w,Ю[AN1@YN?@NA9N.>yNH $`dt0?X? 5p? 7?J??ɨN1@N;NCyrBr I}Mb@Mb@Mb@yyy y)yY}X9v?:v?Zd;O?y}=?}=}j<}3 A }@)yIyyyyIIb4٢= B=9:Q > G٣MGyٻ > Nusing accuracyPremultiplier from configW59l?W5Y i܈A??:wH@@8AE;U;(W5 ]AxEDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf@$@ɛz5 AI q^׼ɚiI;=Ii1;i$)!)!*F?2F:FBF`5JF"G=G=JYJ]JYJYJYJ]=9JYJYWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O >H W>I  I I I &I .I :D6I C<:I N FBIˣCJIˣCRIZI =bI =jI5 w,[A e$?I>E1@Y>6?@>B9>2>y>HݡEw?`]?o? Z?V?@?ɨ>E1@>;>CyJBJ IIRIR4٢Z@= Z[=9^;Q ^>99 =G٣AyEEŹ E> UNusing accuracyPremultiplier from configzK]OK]+9KYK]mK]4&! YNHEC>:851-.++)%&%"$%).49879764/+*)'&#!  QmW59Uol?uW5YU iUAquuH@u@U=AEUĔ;U;U,W5 ADNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf`%@ɛ5 {I ؼɚiI{:=Ii 4;i?"))=Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FyBF}X4JFyGmGABIOe4> Will construct direction to contact in vehicle frame from tetrahedron phase data.P>w,K[A>1@Y> ?@>A9>>y>HK@E@I?`*?jE;?2??@)?ɨ>1@>4ʇ;>CyJÂBJ ImMb@Mb@Mb@iii i)iYm"~j?K?/$?ymSC?m^=m G٣yV > Nusing accuracyPremultiplier from configW59ul?W5Y iOAD?:G@@BAE;8;/W5B A{EB*** querying acoustic contact ***jjDNOT Ignoring new targets: 82.40 m. jjjjihhhhBf f f rf bfs{&@ɛE>BE 0 AEuIA MڼɚIiIIM:=IQiU<;iUuD)Q)Y d$?I*F2F:FBFP0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data. E2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.GZGGGBO>=ew,a[ABs1@YBd?@BA9B?,>yBH ^! +ư?(?biwS?@o4? x??ɨBs1@B;BCRWill construct direction to contact in vehicle frame from tetrahedron phase data.V,DAT read: user:2714> VBDAT read: Tx time:22:34:23.1570 Z$Ping request sent.Zxx zG٣zMGy~ ~> Nusing accuracyPremultiplier from configW59\l?W5YR iAF@@FAEQ;R;3W5%ݒB %WA-}EUDNOT Ignoring new targets: 82.40 m. jQjQjQjQiQhYhYhahafafafarfibfm@>'@ɛim;) q隝BWI ۼɚiI:=Ii;iL))*F2F:FBFJFG GrAZHiRHiHqIq IuT!IIu*BIu =&Iq.Iq6Iu<:Iu F c$?IzKeNK9KKnK    ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251511G A3G B O5 >OMw,<\A2z1@Y2?@2EE92>y2H@C< ?`?@g ^|?N??~?ɨ2z1@2;2CyNBR IIZIZt4٢E= EE=9M3 Q M>II MG٣IyUɺ U> eNusing accuracyPremultiplier from configamW59e*Bl?mW5Ye  ieAiuF@u@eKAEe_3;ehL;e6W5ܒB @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf(@ɛ=B! 4I jݼɚiI:=IiQs;i%U))JJJJJ:J9JJJl;aJm;aJp#;aJq#;a*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507794GhAGBO> b$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758833w w,0\A6|z1@Y6m?@6zG96\F>y6H`? ?j˾? ?@x??ɨ6|z1@6;6CyBBB !I Mb@Mb@Mb@    ) Y  r?Q?I +?y C? \= 9< 3 A Z@) v@I 7A y AI%I%4٢5;= 5K=9}Q > G٣y > Nusing accuracyPremultiplier from configW59'l?W5Y iA{D?:.E@@PAEl;;L:W5 @E]DNOT Ignoring new targets: 82.40 m. jYjYjYjaiahahahihmBfififirfqbf@A(@ɛG B O >He X>Ia  Ie s!IIe CBIa &Ia .Ia 6Ie <:Ie  F I tw,@MJ\Az^1@Yz|?@zM9z>yzH OJ¿!?a ?@Pe???@?ɨz^1@zȝ;zCyB!II%I%_v4٢5b= 5H=95uQ =>99 =G٣=MGyEC E> UNusing accuracyPremultiplier from configIUW59M l?UW5YM  iM2AY]E@]@MUAEM;M;M=W5eےB e0@eEzKMLK9KKoKDNOT Ignoring new targets: 82.40 m. jjjjihh Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262863h)h)f)f)f1rf1bf5)@ɛy}3c y隅I Y޼ɚiIIb:=Ii˱;i/o))*F%?2F!:F!BF-~0JF)"GE=GE=GEKJJJJJM:J9JJJ;J ;J';J';G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514828O 4w,}%d\AZ;1@YZZ?@ZRK9Z] >yZH@wQ¿`$?Q?h` !?g?8?`T?ɨZ;1@Zr;ZCybBf'!IUMb@Mb@Mb@QQQ Q)QYU?v/?{Gz?yUfF?Uxi=Uף G٣y > Nusing accuracyPremultiplier from configW59k?W5YW ijAG?:C@@ZAE;;jAW5 ]@DNOT Ignoring new targets: 82.40 m. jjjjihh  U_$?IQhh3Bfffrfbf@J*@ɛe;Bm imսIq ua߼ɚyiyI}E+:=Ii;iY))Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766850*F]?2FY:FYBF]0JFaG= iG B! OE >w,O}\A6[)1@Y6LH?@6H96`' >y6HҖ v¿?`u?.^ e1??Q??ɨ6[)1@6ކ;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018806yRBR=!IIZIZW4٢b.= bX=9b%:Q f>dd fG٣dyjC n> uNusing accuracyPremultiplier from configq}W59u>k?W5Yu iuAC@@u_AEu;u;uDW5ڒB 9@EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf Q+@ɛ:BЈ I wɚ i I 9=I iN;i>))*F2F:FBFL5JFjH<bH<HI I!IIbBI&I.I6I<:I F M^$?IIGAGG5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271035zKUKKU9KQKUpKUGBO >%w,Η\AB+1@YBJ?@BeF9B@m >yBH 4`q¿Sx? Uq?`\<\?@Ш? Rz??ɨB+1@BJB;BCyJ#BJL!IIRIR4٢Z-v= ZK=9^:Q ^>`` bG٣bMGybN9 f> jNusing accuracyPremultiplier from configdnW59fJk?nW5Yf ifӊAlnC@n@fdAEf ;f ;f=HW5t vi@vEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf:!,@ɛ9B1# *I fɚi I 9=I i51;i5])1)9EIEIJ}J}JyJyJ}m:J}=9JyJyJ};J};J}*;J}*;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523549*F?2F:FBF {4JF G GNG]vA YvAyK B 1I1GMňG! B9 O} >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774912+w,r\Ab_E1@YbOd?@b"E9bX>ybH`5T;¿ u?`>?\?̼?A?@?ɨb_E1@b;bCyz*BzU!I M@M M@M M@M  M@M IUIUפ4٢eo= e@=9m۹9Q m>ii uG٣qyuq; }> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configW59k?W5YN i A+:]:C@@iAE R;>AKW5ْB @EmDNOT Ignoring new targets: 82.40 m. jijijijiiihhhhfffrfbf`,@ɛ8B @ԼI DɚiIu9=I!i%P;i%)!)Q*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:34:25.6839 TRx dataTimestamp_ set to:1736375666.992633checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027766Gm ^GA BQ Om >H W>I  I !II BI &I .I 6I ߯<:I  F % ]$?I! 2w,|\A2PU1@Y2@t?@2,E92m>y2Hz@ ¿t? ? J[? ,??ͤ?ɨ2PU1@2V;2CyR;BVj!II^I^4٢f= fU=9f:Q f>hh jG٣hyj!&; n> rbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpvW59rk?vW5Yr ir?Az :xz3:zC@~@rnAErP|;rMP?rtMW5  @ E5DNOT Ignoring new targets: 82.40 m. j1j1j1j1i1h9h9h9h9fAfAfArfAbfM`-@ɛu7Bucۼ qu G)B9Oe>JJJJJ|:J9JJJ;J;J1;J1; Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.8 ms) speed -0.5 m/s - X#Rx 1: Read range message, but no direction.ة yح 3Bة B8w,|d\A DF@j#o1@Yj?@j^bF9jv^>yjHH`~??\@?`ɨ? ??ɨj#o1@j3%;jCy~BB~s!I        Mb@Mb@Mb@ )Ysh|??:v?:v?yI?<T< Z@)v@IAyAIIW4 \$?I٢k= ;=90Q > G٣MGyk; > Nusing accuracyPremultiplier from configW59nk?W5Y ipAT:J?:A@ @tAEh;z;IQW5 a@EM addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 15.129674 s, deltaX: 8.099998 m, approachRate: 0.535372 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 82.40 m. jQjQjQjQiQhQhQhYhekBfaffrf`fW@bf[?ɛ6B~iӼ != ?w,1\A2Will construct direction to contact in vehicle frame from tetrahedron phase data.02>yFH@?`v?@[? 9ݨ?z2?@?ɨFr1@Fȇ;FCybPBb!IIhIh٢rY= rZ=9vϹQ v>tx zG٣xyz": z> Nusing accuracyPremultiplier from config|W59~Vk? W5Y~ i~A  A@ @~xAE~q:~:~TW5 @EDNOT Ignoring new targets: 82.40 m. jIjIjIjIiIhIhIhQhQfQfQfYrfabfez(?ɛ5B 隍X=I  ɚiI8=Ii;i))*F?2F:FBFo0JFHI I!IIBI&I.I6Iޯ<:I F [$?IBIYJIYRIYZI] =bIYjI]ij4G_GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O%>zKJK9KKrK Ew, ]A21@Y2?@23H92 >y2Hzۃ?@4?H^l2?? wD?E?ɨ21@2j#;2CyJZBJ!IIjIj4٢rF= vJ=9v,Q v>xx zG٣xyzT; ~> Nusing accuracyPremultiplier from config W59t;k? W5Y iNjA  A@ @}AE:z:XW5ؒB @EEDNOT Ignoring new targets: 82.40 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbfUE ?ɛֲ =I ߼ɚiI88=Iiu;ig:))*FU?2FQ:FQBFU0JFY}Will construct direction to contact in vehicle frame from tetrahedron phase data. Z$?IGGGGqBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.#Lw,S2]Ay~^B~!IMb@Mb@Mb@ )Yq= ףp?:v? G٣MGy > Nusing accuracyPremultiplier from configW59k?W5Y iAK?:@@@AE;;[W5גB @E-DNOT Ignoring new targets: 82.40 m. j)j)j)j1i1h1h1h9h=wBf9f9fArfAbfE?ɛm4Bmm㱼 qu=Iq u޼ɚyiyI}$7=IyiK;iJ;@))JmJmJm1JiJm:Jmu9Jm3Jiau@au@au@au@Will construct direction to contact in vehicle frame from tetrahedron phase data.ESE=*F?2F:FBF_0JFG G Y$?I H V>I  I "II BI &I .I 6I <:I $ FG I6G B O >~Sw,5O]A:Will construct direction to contact in vehicle frame from tetrahedron phase data.B71@YB'?@ByI9B(>yBHJ;`%?G?`a!?9?/? ?ɨB71@Br;BCyRhBR!IIXIX٢bC= bD=9bQ f>dd jG٣hyj; j> nNusing accuracyPremultiplier from configlrW59n#k?rW5Ynk inAtv@@v@nAEnR;n;n_W5x ~@~E-DNOT Ignoring new targets: 82.40 m. j)j)j1j1i1h1h1h9h9f9f9f9rfAbfE?zKMBHKM 9KIKMsKMɛ}3B}褼 y隅=I I޼ɚiIkq7=Ii2;i))E$=*F?2F:FBF4JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G-f AG B9 O] >  X$?I Yw,Bwi]AN}1@YNm?@NHJ9NT>yNH@(@?`87?@a-?uF? ;?`d?ɨN}1@N;NCysB!IMb@Mb@Mb@ )YMbX?Mb`{Gz?yJ?#<` A )I@IAyI=I=W4٢M>= M5=9M-Q U>QQ UG٣Qy]H: ]> eNusing accuracyPremultiplier from configamW59eRj?mW5Ye  ieKAJ?:?@@eAEeksaw,Q]A61@Y6?@6#J96i>y6H@Z?@A?`cG?~T?!? A? IP IR""IIRуBIR =&IP.IR9D6IR2<:IR= FII4٢]- ]7=9]{Q e>aa eG٣eMGym85; m> uNusing accuracyPremultiplier from configq}W59uj?}W5Yu iuwA?@@uAEu:u:uYgW5 I@EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfQ@ɛ !%=I) -xܼɚ)i)I-6=I1i5;i5 )9)9*F92FA:FABFEO5JFAmWill construct direction to contact in vehicle frame from tetrahedron phase data.zKk3IK9KKtKGaGA BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.e hw,ơ]A61@Y6@@6[L96h>y6H?M?Cf`??`?@o?ɨ61@6ٻ;6CyBBB!IININ4٢V= VW=9V]Q Z>XX ZG٣Xy^D; ^> bNusing accuracyPremultiplier from config`fW59bҮj?fW5Yb ibAhj?@j@bAEb:be:bjW5nՒB nc@nE DNOT Ignoring new targets: 82.40 m. j j j jihhhhfffrfbf`r@ɛIu A y}P>I ۼɚiI6=Ii;i )) U$?Ih*FE?2FA:FABFE05JFAuWill construct direction to contact in vehicle frame from tetrahedron phase data.G w Ga Bi O >'8nw,裻]A62@Y6%@@6iJ96 >y6H`@Lj??@Xg@?J?8 ?@?ɨ62@6N;4yFBF!I=Mb@Mb@Mb@999 9)9Y=y&1?y&1|?Mb?y=`E?=`;=<=I A 9)9I=~A9y=AIUIU̍4٢eB= m?=9mZ:Q u>qq uG٣yy}k: }> Nusing accuracyPremultiplier from configW59Aj?W5Yg injAeE?:JJJJJ<:J9JJ@@@AE<Ԗ<knW5 @eDNOT Ignoring new targets: 82.40 m. jijijjihhhhBfffrfbf0, @Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ2B6z \->I JڼɚiI5=I!i%2;i-ٻ)i)q*F?2F!:F!BF%P0JF! T$?IHS>I I;"IIBI&I.I6I!<:I1 FG% G) G) G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK 9K K uK 4uw,dw]A>32@Y>zR@@>TJ9>>y>H֩~`gG?@kg?`k ?@G?@B?@j?ɨ>32@> L;>CyJBJ!IiN=IN<IVIV4٢ZH; ^V=9^V8Q ^>`d fG٣jMGyz+; z> Nusing accuracyPremultiplier from config|W59~gzj? W5Y~e i~A  @@ @~AE~;~;~qW5ԒB @EEDNOT Ignoring new targets: 82.40 m. jAjAjAjAiIhIhIhYhYfafafirfibfu@ɛe .>I FټɚiI}15=Ii;i7))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.) c~GvA) }Y}vAy{AGG B) I O >VH{w,R]A672@Y6V@@6F964F>y6Hw@] ?_??l ?`2ب?r?c?ɨ672@6";6CyNBV!I=Will construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}RQ?y&1|?~jth?y}B?y}D;}3 A }@)}3@I}Ayy}QAII4٢\< <=9;Q > G٣y : > Nusing accuracyPremultiplier from configW592_j?W5YM iAB?:@@@AEq ; ;uW5 O@EDNOT Ignoring new targets: 82.40 m. jj j j i h h hhBfffrfbf?@ɛIMf Q8>I "ؼɚiIb4=Iiֿ;i3))*F?2F:FBF^0JFJ ـ3K m3 K S}-KK"KJJJJJ:J9JJGg{Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi Bq O >F0w,- ^A S$?IZH(RH(H2R>I2C I2N"II2BI0&I0.I06I2<:I2- Fji2@Yj@@jΗB9j,>yjH 8@??gp? P?ʱ??ɨji2@j8;hyrBv!II~I~4٢ P =  T=90;Q >y G٣y ; > Nusing accuracyPremultiplier from configW59Ej?W5YP i1AA@@AEO;I8;yW5ӒB @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf@@ɛ%3B%g P )-xE>I) -ּɚ)i)I-B4=I1i=([;i=\7ͺ)9)9*F?2F:FBFo0JF"G=G=MWill construct direction to contact in vehicle frame from tetrahedron phase data.zKyJKKKvKGG ?G >GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. %= 4=m^w,#^AN2@YN@@NV>9N >yNH`iU@??`?`ut`}?`ȧ?@Se?@?ɨN2@NWg;N CyVBZ!I)\ \IbIbn4٢j6e= nM=9n+;Q n>pp rG٣vMGyv6; v> ~Nusing accuracyPremultiplier from config|W59~z-j?W5Y~^ i~PA0A@@~AE~;~&;~c|W5ҒB @E=DNOT Ignoring new targets: 82.40 m. j9j9j9jAiAhAhAhAhIfIfIfIrfIbfU a@ɛ%Ǿ5 !%[>I! %Xռɚ!i!I-3=I1i5y;i5|ڹ)9)9 5Q$?I1*F?2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.G˴GBOw,*<^AyB!IMb@Mb@Mb@ )YRQ?Mb`Mb?y< A @)I@IyAII44٢< ;=9Q > G٣y > Nusing accuracyPremultiplier from configW59j?W5Y0 ivAB?:a@@@AEv;;1W5 @=DNOT Ignoring new targets: 82.40 m. j9j9jAjAiAhAhAhIhMBfIfIfIrfQbfU@ɛl,3 隍^>I lӼɚiIN3=Ii|;ih@)))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-2JF) !I!HEP>IA IE`"IIEBIE =&IA.IA6IE<:IE$ FBIJIRIZI =bI =jIN5G'HGBO >e Will construct direction to contact in vehicle frame from tetrahedron phase data.zKU k3IKU 9KQ KU wKU !'-11542.-0/.,*+*)*B37rw,V^ABKrA:KF2@YF@@F69Fd >yFH >O K?ы? x&J?Φ?%?@?ɨF2@FF;FCyRBR!II^I^4٢b< f]=9f;Q f>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpvW59rni?vW5Yr4 irAtz@@z@rAEr;r;rlW5| ~@~E%DNOT Ignoring new targets: 82.40 m. j)j)j)j)i)h)h1h1h1f1f9f9rf9bf= Ú@ɛaeF imd>Ii m ҼɚqiqIu(2=Iyi}/;i}8U:)y)y*F%?2F!:F!BF%4JF)G1 G5sAJJJ/JJ:J:J(N3JJ;aJ;aJoN;aJoN;aWill construct direction to contact in vehicle frame from tetrahedron phase data.GMu4GYGYG)ByO> % P$?I) !w,yNH(ܮ?_? z :??? ?ɨNM2@N;NCyZBZ!Iir%=IrR=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YZd;??t< @)@IhAy@IIW4٢ ==9:Q > G٣MGyN; > Nusing accuracyPremultiplier from configW59pi?W5Y4 iA??:A@@AE#;D";5W5ђB @EDNOT Ignoring new targets: 82.40 m. jjjj!i!h!h!h)h-wBf)f)f1rf1bf5 X@ɛ4B64 za>I мɚiId2=I i!;isD;))*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.=R=GE 9G! B) O >  O$?I HE M>~w,w^AIq Ium"IIuBIu =&Iq.Iq6Iu7<:Iu; F>j2@Y>Z@@>S.9>-p>y>H׵p徿?K?{ \-?zΥ?@*??ɨ>j2@>!N;>CyZB^!III٢< H=9Y;Q > G٣y: >  Nusing accuracyPremultiplier from config W59i? W5YB iݍAA@@AE = =̊W5 p@EDNOT Ignoring new targets: 82.40 m. j-Will construct direction to contact in vehicle frame from tetrahedron phase data.j1j1j9i9h9zKXNK9KKxKlB@j:yE=.P%}xrjc]XWWTONJIGDA=;>950,hhhfffrfbf B@ɛu5BuPVD qu^i>Iy }μɚyiyI}1=Iiȑ;i ;))*FE ?2FA :FA BFE 1JFA J J J J J J 9J J J J J Z5;J [5; Will construct direction to contact in vehicle frame from tetrahedron phase data.G 7:G )I1B9O?Jhw,צ^A ln@2@Y@@ *9~>yH @6о?;?{ %? @??۰?ɨ2@ˇ;騅CyޝBޝ!I-Mb@Mb@Mb@))) )))Y--?Mbp?:v?y-5>?-;-T<- A -@)-3@I-A)y- @IEIE4٢Mp< U=9U;Q U>YY ]G٣Yyeu: e> uNusing accuracyPremultiplier from configi}W59mפi?}W5Ym im A=>?:A@@mAEm2;m!;mqW5ВB &@EDNOT Ignoring new targets: 82.40 m. jjjjihYhYhYh]Bfafafarfabfe`C0@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ  (p>I KͼɚiI7h1=Ii@c;i8;))*F?2F:FBF05JFG :G B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew,V^AR2@YR@@R$9R[>yRHS Ҭ?.?` |`-?@畤? Z?3?ɨR2@R;RCyZBZ"IIfIf 4٢rA= rf=9vo;Q v>tt vG٣zMGyz: z> Nusing accuracyPremultiplier from config|W59~֎i? W5Y~ i~-A  #A@ @~AE~:~ :~W5ϒB @EEDNOT Ignoring new targets: 82.40 m. jAjAjAjAiAhAhIhIhIfIfQfQrfQbfUׅ@ɛ6BH 隝>I ˼ɚiII1=Ii>;irO;)) eL$?IiHyI}C I}y"II}BI} =&Iy.Iy6I}9<:I}< F*F?2F:FBFU0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G;GiBO>zKM OKM 9KI KM yKM +()&&$ pw,2^AF2@YF A@F{ 9Fp>yFH@7{/??@8~``?=??ॲ?ɨF2@FN+;FCyRBR!IIZIZ44٢bB bL=9b!;Q f>dd fG٣dyjL; j> nNusing accuracyPremultiplier from configlrW59nvi?rW5Yn) inOApv7A@v@nAEn;n:nW5x z@xJUJUJU0JQJU<:JU9JUـ3JQJU;JU;JU8;JU8;DNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfT @ɛ7B  Js>I -XʼɚiIŝ0=Ii";i;))=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF eK$?IiGGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,^A62@Y6@@696>y6H @C@?h? }c?`??>?ɨ62@6ʇ;6Cy>BB"I Mb@Mb@Mb@    ) Y Cl?Zd;O?y&1|?y ;?? j< `;  ) I hA y \@II4٢N= 9=9L;Q > G٣yWe > Nusing accuracyPremultiplier from configW59rZi?W5YS irAT?? : B@ @AE<;;W5ڒB @÷EEDNOT Ignoring new targets: 82.40 m. jIjIjIjIiIhIhIhQhUBfQfYfYrfYbf] @ɛ8B\ 隍>I ȼɚiI.0=Ii{;iޛu;))*F?2F:FBFJFMWill construct direction to contact in vehicle frame from tetrahedron phase data. QIQZHqRHuAAH}L>Iy I}"II}#BIy&Iy.Iy6I} <:I} FGk;G B O >w,)_A22@Y2A@292W>y2H(@Fת??v??Ĥ?Դ?ɨ22@2R;0y:ŃB>"IIJIJb4RWill construct direction to contact in vehicle frame from tetrahedron phase data.PiP٢VA= V`=9ZZ.;Q Z>X\ ^G٣^MGyb; b> fNusing accuracyPremultiplier from configdjW59fCi?jW5Yf ifAhjB@j@fAEf:f ;fW5rْB rB@rƷE DNOT Ignoring new targets: 82.40 m. jjjjihhhhf!f!f!rf!bf-!@ɛM9BU5 QU>IQ e!ƼɚaiiIm /=Iiiu;iu;)q)zKU49MKUh9KQKUzKU*F?2F:FBFv0JFJYJ]J]1JYJYJ]9J]3JYJYJYJ]3;J]3;G!j;eWill construct direction to contact in vehicle frame from tetrahedron phase data.NGG  Y y ABQ O} > M J$?IQ w,,_A3@Y A@9 >yH5@F@? ?9@#Ͽ?[V?`Y??ɨ3@;騩yB"I}Mb@Mb@Mb@yyy y)yY} r?Mb?~jtx?y}C?}<};}zA y)}@I}@yy}@II4٢4 .=9;Q > G٣yp: > Nusing accuracyPremultiplier from configW59%i?W5Y iAC?:dB@@AE;t;*W5ؒB @ɷE DNOT Ignoring new targets: 82.40 m. j j j j i hhhh}Bfffrfbf`"@ɛ]:BWill construct direction to contact in vehicle frame from tetrahedron phase data.e8 ">I ļɚ i I ]/=Ii;ilN;))*F?2F:FBFo0JFG CQ;G ?G ?G B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.w,kF_A6 3@Y6"A@66R 96>y6Hn`8??Hƿ? a??`\?ɨ6 3@6X[;6CyrBr "IIzIz4٢l=  i=9 v;Q  > G٣y9 > %Nusing accuracyPremultiplier from config!-W59%.i?-W5Y% i%ȎA)5fB@5@%AE%:%:%;W59 =z@=̷EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf R#@ɛ;Bd疻 >I uüɚiI/=Ii\;i>;) H$?Ih)HJ>I III&I.I8D6ID<:IA F*F2F:FBFQ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>zK :IK K K {K w,Kw`_A2k3@Y2Z.A@2$ 92W>y2HZ?m?u?.@?|??ɨ2k3@2m;2Cy>B> "IIFIF4٢NZ RQ=9R;Q R>PT VG٣VMGyV: V> fNusing accuracyPremultiplier from config`nW59bh?rW5Yb ibAprrB@r@bAEb;b;bW5t z@xDNOT Ignoring new targets: 82.40 m. jjjjihhh h =Will construct direction to contact in vehicle frame from tetrahedron phase data.ffIfIrfIbfUe,$@ɛUIY ]ɚYiYIeݞ.=Iaie;im߲;)i) I*F-?2F1:F9BF=P5JFQG @; Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,_z_A6b3@Y6Q'A@696P>y6HB q:@x?O???|?o?ɨ6b3@6N;4yFBF "IMb@Mb@Mb@ )YS㥛?~jt?Mbp?y$F?<; A -@)3@IAy\@I-I-Q4٢=4; E@=9EB;Q E>II MG٣IyML U> mNusing accuracyPremultiplier from configamW59e{h?uW5YeO ieAu=F?u:}C@}@eAEe#;e;e_W5גB @ϷEDNOT Ignoring new targets: 82.40 m. j)j1j1j1i1h1h1h9h=Bf9f9fArfAbfE`$@ɛ>Bp$ 隕I>I ɚiITH.=Iib;i߹;))*FE?2FA:FABFEO0JFIJQJUJU0JQJQJU9JUـ3JQa]@a]@a]@a]@EWill construct direction to contact in vehicle frame from tetrahedron phase data. G$?IjHbH4=H%H>I! I!I!I!&I!.I!6I%H<:I%D FBIǡCJIǡCRIZI =bI =jIǥ4Gm;GqGqGA BQ Om >*w,0_A6|3@Y6k9A@6_96>y6H@h?A? s??@CK?`l??ɨ6|3@6F;6Cy>ăBRWill construct direction to contact in vehicle frame from tetrahedron phase data.j"Iiv=Iv4<IzIz4٢ǹ< N=9 :Q  >  G٣y6; > %Nusing accuracyPremultiplier from config!-W59%h?-W5Y% i%A)-&C@-@%AE%:%;:%ѮW5=֒B =+@=ҷEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf F%@ɛ?BP* >I YfɚiI)-=Ii;i ;))*F2F:FBFR0JFzKBHKKK|K   GO;UWill construct direction to contact in vehicle frame from tetrahedron phase data.U=U<GBO% > F$?I Sw,"_A 3@Y})A@9>yHŽ<w??s`n??`R?@R?ɨ 3@ж;CyB "IMb@Mb@Mb@ )Y rh? rh?Mb`?yCK?C =;A @)@Iy@II4٢ż .=9:Q >    G٣ MGy  > Nusing accuracyPremultiplier from configW59h?%W5Y i7A%sK?%:%C@-@AE;;W51 5}@5շEeDNOT Ignoring new targets: 82.40 m. jajijijiiihihihqhuvBfqfqfyrfybf}&@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛABs 隵 z>I ɚiIU-=Ii;i<;))*FY2FY:FaBFeV0JFaG ;GY Ji Jm Ji Ji Ji Jm 9Ji Ji B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data._w,6_A63@Y68A@696>y6H@о ~t?^E?U?:?@?~?ɨ63@6m;4yRBR "II^I^4٢f< fw=9jV:Q j?hh nG٣lyn6; n? vNusing accuracyPremultiplier from configpvW59rzh?zW5Yr6 irLAxzC@z@rBEr:rT:rеW5ՒB Y@طE5DNOT Ignoring new targets: 82.40 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfMV'@ E$?IHI III =&I.I6I]<:IR FɛuBB}_ y}nz>Iy }ɚiIF-=Ii0;i ;))E*FI2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.GmO;Gu ?Gu ?GI BY O >zKE KLKA KA KE }KE #nM7## PxYHF\{X;$R w,_AF3@YF%A@FA9F"j>yFH@ݽT$?@P?n ?`d]?S?`?ɨF3@Fˆ;FCyNBN!I)P PTVAIZIZ 4٢b5 bK=9b| ;Q f>dd fG٣dyjN; j> nNusing accuracyPremultiplier from configlrW59nph?rW5Yn indAtvC@v@nBEn6;n;nSW5x z6@x5DNOT Ignoring new targets: 82.40 m. j9jAjAjAiIhIhIhQhQfQfQfYrfYbf] &(@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛDBFD 隥n[>I @ɚiIW,=Ii ;ie;)) }C$?Iy*F2F:FBFn0JFGW;G  Will construct direction to contact in vehicle frame from tetrahedron phase data.B O- >6w,_A63@Y6=A@6- 96i>y6H `jצ?3?@e??5?@?ɨ63@6;6CyfBf"I]Mb@Mb@Mb@YYY Y)YY]sh|??Zd;O?y&1|?y]I?]j<=]`;]dA Y)]@I]@Yy]z@II.4٢'= :=9kN:Q > G٣MGyUT; > Nusing accuracyPremultiplier from configW59Sh?W5Y iAUJ?:D@@ BEW;Y<;)W5 ђB ^@ ڷEDNOT Ignoring new targets: 82.40 m. jjjjihhhhiBfffrfbf)@ɛFBʊ 隽*j>I ɚiI,=Ii;iD;))J=J=J9J9J=:J=9J9J9-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JF ]B$?IYZHRHHG>I III&I.I6IG<:IA FG ;G B O >4w,dw`A6u3@Y6d>A@6xT96>y6H @@x?.?`?@I???ɨ6u3@6!;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.yDDININ4٢V ; V_=9Z:Q Z>XX ^G٣\y^m9 ^> fNusing accuracyPremultiplier from config`jW59b);h?nW5Ybn ibAprD@r@bBEbfT;bE;b]W5vВB vM@vݷEDNOT Ignoring new targets: 82.40 m. jjjjihhhhff!f!rf!bf% )@ɛGBhƻ 隵g>I ŧɚiIc,=Ii);i ;))EEsAzKE_PKE9KAKE~KE}kU65`wbH'TO@86459?Y!AJ*Fm?2Fi:FiBFm_5JFiGq GurA=Will construct direction to contact in vehicle frame from tetrahedron phase data.G;Gi B O > Q IQ J w,Y/`A%)3@Y%HA@%9%A>y%Hfܽ??l`q޿?ߞ?z? ?ɨ%)3@%;!y=B="IiMaa eG٣aWill construct direction to contact in vehicle frame from tetrahedron phase data.y: > Nusing accuracyPremultiplier from configW591h?W5Y iAI?:F@@BE[;;W5ϒB \@EDNOT Ignoring new targets: 82.40 m. jjjjihhhhmBfffrfbf"*@ɛ-JB-pR 15_>I1 5㴼ɚ1i1I5,=IAiM'J;iMa\;)I)Q*F?2F:FBF2JFJM JM JM 1JI JM |:JM 9JM 3JI = Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge ;G1 BA Om >'=w,cI`AV13@YVPA@V9V>yVH``½`7ҥ?? b`? f8?)i?`A?ɨV13@V)ш;VC fA$?IdyjBj "IIrIr4٢z{ = ~y=9f:Q ?    G٣ y:  ? Nusing accuracyPremultiplier from config%W59h?%W5Y i֏A!- F@-@BE ;* ;W51 5@5EHMF>IMC IM"IIMBIM! =&II.II6IM <:IM FEDNOT Ignoring new targets: 82.40 m. jAjAjAjAiAhAhIhIhIfIfQfQrfQbfU t+@ɛKB( g>I  쩳ɚ i I +=I9i=e;i=)<)9)9*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G- ;G B O5 >zKM OKI KI KM KM xvxvyxxyyxyz|{{~~~~~{ywwvv}womljgddecefd_^][ZWSSSSBKQ :KQ ]w,Lc`A)$ &cCfGp -Y)y-Am03@YmOA@mMܼ9m9>ymH@˽@Su??ܦ?ֈ?$Z??ɨm03@mN;mCy޵B޵"IAAII4٢ >=9:Q > G٣MGy >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configW59Eg?W5Y3 iA@ BEc;ud;JW5ΒB _@EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfI,@ɛMBd ?$?I >U>I >ɚiI+=I!i%U;i-;))))*F?2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G &;G ?G >G B) OE >yw,|`A:m>3@Y:\]A@:Cټ9:>y:H@d14?`7?@A?V3?WE??ɨ:m>3@:\;8yBBF "I)H H%Mb@Mb@Mb@!!! !)!Y%Q?y&1?{Gzt?y%H?%`e=%ף;%MA !)!I%I@!y%@I5I5<4٢< J=9R:Q > G٣y; >  Nusing accuracyPremultiplier from config-W59fg?5W5Y i A5yI?=:=E@=@%BEB;;W5E͒B E@EEuDNOT Ignoring new targets: 82.40 m. jqjqjyjyiyhyhyhh]Bfffrfbf -@ɛOBTɻ 隽n]>I JⰼɚiIM+=IiV;i <))*F?2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.J%J%J%0J!J%\:J%:J%ـ3J! >$?IjHbH<HI III&I.I6I<:Ii FG*;G B O >n%w,Ȗ`A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2Ai0:W$3@Y:FCA@:Լ9:>y:H@T??`&@ʚ?@O?BQ?e?ɨ:W$3@:Zq;:CyFÃBF"IININ4٢Z< Z`=9^l:Q ^>`` bG٣`yb׎ f> jNusing accuracyPremultiplier from configdnW59fIY e鑯ɚaiaIe +=IiimMĽ;im;)i)q*FM?2FI:FIBFMn0JFIzKNK]9KKKOMJB1 $$%#!! !  GWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> I +w,㧰`AB%3@YBDA@B@+м9Bp>yBH@<ǵ?`%?`A??@rA??ɨB%3@B;BCyrɃBr"II%I%4٢]b< ]@=9eL:Q m>q }G٣}MGy)9 > Nusing accuracyPremultiplier from configW59_g?W5Y iDAE@@0BE:C:W5ΒB J@E=DNOT Ignoring new targets: 82.40 m. j9j9j9j9i9hAhAmWill construct direction to contact in vehicle frame from tetrahedron phase data.hihqfqfqfqrfybf}`Z.@ɛSB¬ٻ .k>I  vɚ i I C*=Ii;i;n;))A*F?2F:FBF_0JFG &;G G G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.~2w,v`A 6=$?I4y׃B)"Ii%=I%a=HI I"II#BI&I.I6I<:I FBICJIRIZI! =bI! =jIg 5Mb@Mb@Mb@ )YL7A`?X9v?~jt?y+G?}=D<dA )Iy(@II4٢Oo= 4=9Q > G٣y >  Nusing accuracyPremultiplier from config W59 0{g?W5Y  i eAG?:2F@@ 5BE t; ; W5%͒B %g@%EUDNOT Ignoring new targets: 82.40 m. jQjQjQjQiYhYhYhYheBfafafarfabfm/@ɛUBpQ 隝S>I ɚiIw*=Iie;i))*Fe?2Fa:FaBFe0JFa}Will construct direction to contact in vehicle frame from tetrahedron phase data. PExceeded connect timeout, disconnecting.G G B O >zK MK K K K o8w,eP`A>3@Y>-A@>ż9>>y>H@m`?q?@`b?@?`/?Ի?ɨ>3@>1;>CyRBV4"II`I`٢f[= jt=9jH~;Q j?J3K;ـ3 K;.K3K3"K3J J J J J |:J J J J ;a%J ;a%J @;a%J @;a%)) 5G٣1y5ރ 5?Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configyW59}ag?W5Y}# i}AF@@}:BE}C <} <}W5̒B @E ];$?IYDNOT Ignoring new targets: 82.40 m. jjjjihhhh)f)f)f1rf1bf5`l50@ɛWBW@ 隥[>I 2ɚiI8**=Iir;iPA;))*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G w;G B O >>w,+`A63@Y61A@6֧ļ96R>y6HԿ`ab?`6b?@o?`??k?ɨ63@6Y;6Cyv݃Bv1"IMb@Mb@Mb@ )YMb?S㥫?y&1?yC?/]=`e<A )I@y3@II4٢k1 ==99Q > G٣MGym: > Nusing accuracyPremultiplier from configW59ZIg?W5Y iAC?:E@@>BE$;r#;mW5 @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhwBfffrfbfڏ0@ɛYB0 *>I ɚiI)=I!i%#;i%;)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF:5JF  AIAZHYRH]?AHaIeC Ie"IIe-BIa&Ia.Ia6Ie<:Ie FG- ;G5 ?G5 *?G B O= >Ew,%aA"Will construct direction to contact in vehicle frame from tetrahedron phase data.Z3@YZ A@Z6^9Zl@=yZH@7?ѥ?@q߾?@G ?п?e?ɨZ3@Z;ZCybBfC"I)h hI5I54٢E= ER=9E|;Q E>II MG٣IyM. U> ]Nusing accuracyPremultiplier from configQeW59Ue0g?eW5YUG iUAimzE@m@UCBEU:U:UW5q u@DNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf0@ɛ[BP8 c>I ɚiI)=Ii |;i ;) )  nManaging dock network, ignoring radio surface power off*F2F:FBFO0JFzK%*LK% 9K!K%K%,20.)&%!  JJJ1JJ,:JJ3JJ;J;JJGO;Will construct direction to contact in vehicle frame from tetrahedron phase data.<<GBO% > = 9$?I9 SKw,1aAV2@YVA@V`ɰ9V-=yVH`բ? ?e ߾??`̿? ?ɨV2@V8;TyrBv@"II5I5҅4٢% @=9 ;Q > G٣!y-"_ 5> ]Nusing accuracyPremultiplier from configImW59Mng?uW5YM iMAbE@@MHBEMHI 餼ɚiIV)=Ii%߽;i;)) *F?2F:FBFJFG ~q;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. E 8$?IA Rw, LaAF2@YFmA@Fث9FA>yFH`M- ? ?di?z?0? ?ɨF2@Fß;FCyNBNN"IHpIrC Ir"IIr    G٣MGy# > Nusing accuracyPremultiplier from config%W59f?%W5Y iA-mD?-:-2B@-@MBE/;};%W55ʒB 5^@=EmDNOT Ignoring new targets: 82.40 m. jqjqjqjqiqhqhqhyh}Bfyfyfrfbf*1@ɛ`BР: 隵>I g)ɚiIr)=Ii)Ľ;i㄃;))*F2F:FBF^0JFG GsA=Will construct direction to contact in vehicle frame from tetrahedron phase data.G;GGG B O >zK5 YMK5 ]9K1 K5 K5 Z;/& )cL<. >Yw,eaA>2@Y>@@>³9>>y>H )@e?>?W@j??@)?¼?ɨ>2@>x;>CyJBJZ"IJZJZJXJXJZ:JZ:JXJXJZ;JZ;JZL;JZL;iv!! -G٣)y58 => UNusing accuracyPremultiplier from configIUW59Mef?UW5YM iMAiuB@u@MRBEM0;MI;MoW5y }@}EWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 82.40 m. jjjjihhhyhyfyffrfbf`-2@ 7$?IɛbB%b: !%>I! %ɚ!i!I-(=IQiU;iUd';)Q)Y*F?2F:FBFJFG9y;U Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >0_w,1aA22@Y2@@2q92>y2H ?D?}F? ? ??ɨ22@2qD;2Cy:B>d"I=Mb@Mb@Mb@999 9)9Y=+?~jtx?y&1?y=??=;9=A =@)9I99y=@IUIU4٢u= uD=9u:Q > G٣y5 > Nusing accuracyPremultiplier from configW59zf?W5Y i-A??:CA@@WBE;D; W5ɒB  @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf 2@ɛ%eB- j; )-z>I) -!ɚ)i1I5}(=I9i=7^;i=Kw*;)9)A*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. 6$?IjH<bHHG>IC I"IIPBI =&I.I6IN<:IF FG M5;GBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.fw,YaA6S2@Y6B@@6 96e>y6H ˡ?d?~9?s? ?ؽ?ɨ6S2@6 N;4y> BBj"IIJIJ4٢R < RX=9R:Q R>TT VG٣VMGyV, Z> ^Nusing accuracyPremultiplier from config\bW59^f?bW5Y^- i^CA`f3A@f@^[BE^:^:^XW5l n@lDNOT Ignoring new targets: 82.40 m. jjjji h h hhfffrfbf@2@ɛ gB\; Z>I } ɚiI 3(=Ii%;i%(:)!)!*F2F:FBF1JF"G G =zK^BOK9KKK    Qi YypAJJJ0JJ|:J :Jـ3JJ;J;JS;JS;Will construct direction to contact in vehicle frame from tetrahedron phase data.G-.A;G=?G=> IG B) OM >RBlw,kaA>2@Y>@@>$9>R>y>H@U`?@}? t|!?MĒ?N>? b?ɨ>2@>{;>CyNBNp"I)P PIZIZ4٢bN< bI=9f3:Q f>dd jG٣hyjZ j> rNusing accuracyPremultiplier from configlrW59nff?vW5Yn/ in[Atv&A@z@n`BEnDA;n^V;nW5 |@%EDNOT Ignoring new targets: 82.40 m. jjjj Will construct direction to contact in vehicle frame from tetrahedron phase data.ii h1h1h1h1f9f9f9rf9bf=@i3@ɛjBh ; 隵>I ɚiI'=IiLļ;i:))*Fe?2Fa:FaBFe3JFaGM :G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. 5$?I A*sw,tFaAHFF>ID IF"IIFeBID&ID.ID6IF <:IF F>%2@Y>@@>"9>}>y>HW{??{ÿ?Bq?~O?@?ɨ>%2@>M);>CyZBZs"IEMb@Mb@Mb@AAA A)AYEV-?~jty&1|?yE|??EE`;EA E@)EI@IAAyE@ImIm#4٢}< }?=9JB:Q > G٣y > Nusing accuracyPremultiplier from configW59|f?W5Y ijA??:?@@eBEI;6H;W5ȒB R@E}DNOT Ignoring new targets: 82.40 m. jyjyjyjihhhhƃBfffrfbf@3@ɛmB<; >I ɚiIɚ'=I i5z;i5M:)1)9*F?2F:FBF 5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G?:G B O >zK ULK H9K K K BK :K ITyw,2!aA22@Y2о@@2592>y2HE,?{? {ƿ?m?`tN??ɨ22@2M;0yBBBw"IIJIJ44٢R$< RY=9V ;Q V>TT ZG٣ZMGyZW Z> ENusing accuracyPremultiplier from config9UX5Will construct direction to contact in vehicle frame from tetrahedron phase data.9=Xdf?X5Y= i=xA?@@=jBE= ^<=Z<=X5ǒB @E =3$?IAMDNOT Ignoring new targets: 82.40 m. jIjIjIjIiIhQhyhyhyfyffrfbf24@ɛpBH;  K>I  MhɚQiQI]Q'=Iii-!;i@:))EErA*Fe?2Fa:FaBFeW1JFaGi GmrA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G 7:G G G B O >| G٣y > Nusing accuracyPremultiplier from configX59|If?X5Y< iAB?:5>@@oBEM;K;X5 4@ E-DNOT Ignoring new targets: 82.40 m. j)j)j)j)i)h1h1h9h=̃Bf9f9f9rfAbfE@З4@ɛurBud; qu>Iy }mɚyiyI} '=Ii7л;i :))JJJJJ:J 9JJa@a@a@a@*F ?2F :F BFZ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. )I)HC>IC I"IIoBI! =&I.I6I<:I FBIUơCJIUƠCRIQZIQbIQjIUv4GiGI BQ Ou >= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 vw,CbA>2@Y>{@@>:9>#>y>H?kv?|?O?`8?ྼ?ɨ>2@>;>CyJ BJi"IIVIVW4٢^3 ^[=9bU9Q b>`` bG٣dyfx'; f> jNusing accuracyPremultiplier from confighnX59j1f?nX5Yj ijAprE>@r@jtBEj ;j ;j X5t v@tDNOT Ignoring new targets: 82.40 m. jjjjihh!h)h)f)f)f1rf1bf5q4@ɛmuBm0QS; qu>Iq uɚiI}&=Iic;ig:))*F?2F:FBF_0JFzK}BIK}9KyK}K}Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 2$?I GBO>ɡw,z4bA22@Y2@@292T>y2H A@uſ@? H?~@p?W??@?ɨ22@2;;2Cy  B j"III4٢h; ;=9 9Q > G٣MGyP; > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.X59f?X5Yo iA!M\>@U@yBE<V< X5]ƒB ]@]EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf#v5@ɛEyBe9 ae>Ii m`KɚiiiImJ&=Iqiu6F;iu+;)q)y*F2F:FBF%]0JF!J J J J J |:J q:J J GE /:GE ?GE *? Will construct direction to contact in vehicle frame from tetrahedron phase data.  0$?I G B! OE >H] A>IY  IY IY I] " =&IY .I] 7D6I] -<:I] ) F@w,ObA @62@Y6|@@696d>y6H@ʠ?@^?}ǀ?hT?#(?`K?ɨ62@6SZ;6CyRBRa"I)T TMb@Mb@Mb@ )Y{Gz?y&1MbPyC?`弹A @)3@Iv@y@II@4٢ H=9j7Q > G٣yۺ > Nusing accuracyPremultiplier from configX592e?X5Y+ iAC?:>@@~BE;;qX5ŒB @E-DNOT Ignoring new targets: 82.40 m. j)j)j)j)i)h1h1h9h=Bf9f9f9rfAbfE`5@ɛ |B ; QU>IQ ]LɚYiYI]I&=Iaie ;iet:)a)i*F!2F!:F!BF%o0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.G- !G B O- >zK k3IK +9K K K  w,vhbAB2@YB@@B99Bs>yBH@@쿿f?[? .~ w?@&? "?|?ɨB2@Bdd;@yrBr]"III44٢~ Y=9%9Q %>)) -G٣)y5s9 5>EWill construct direction to contact in vehicle frame from tetrahedron phase data. /$?I Nusing accuracyPremultiplier from configX59e?X5Yڿ iA>@@BEM;4;X5! -<@-EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf :6@ɛ]B]@9 Y]>IY eɚaiaIe&=IiiF̺;iN;))*FA2FA:FABFE0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.G e;G! B) Oe >w,fbAy~B~M"IMb@Mb@Mb@ )YNbX9?Q{GztyE?uףA @)I@Iy@IIݜ4٢p ?=9Q > G٣MGy > Nusing accuracyPremultiplier from configX59e?X5Y iAE?:?@@BE;;vX5ĒB @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf#6@ɛ B JYJ]JYJYJYJ]:JYJY imd>I QɚiI7%=IiD;i ;))MWill construct direction to contact in vehicle frame from tetrahedron phase data. .$?I*F%?2F!:F!BF%_5JF!jHbHH I  I "II jBI &I .I 6I <:I  FGm !Gi Gi GA BI Oi  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ħw,`bA62@Y6@@6T96v>y6H`tG@bŠ?`?`{?O ?B? z?ɨ62@6Ez;6CyRBRH"IiV%=IV<IZIZ4٢b( b\=9f9Q f>dh jG٣hyjM j> rNusing accuracyPremultiplier from configlrX59ne?vX5Yn inAtv?@v@nBEn:nC:nX5x zB@|DNOT Ignoring new targets: 82.40 m. jjjjihhhhfff rf bf 7@ɛ=B=0 9=U>IA EBɚAiAIEO%=IIiME;iM0nd:)I)Q*F ?2F :F BF 2JF zKKKKKmWill construct direction to contact in vehicle frame from tetrahedron phase data.ii }-$?IyGUq;G1 B9 O} >vw,=bA2IJ2@Y2@@2.}92yr>y2H@Sޠ?p? | ?oO?nB?@u?ɨ2IJ2@2r;2Cy>BB="IIJIJ44٢R70 RM=9R-Q R>TT VG٣TyZ: Z> ^Nusing accuracyPremultiplier from config\bX59^4e?bX5Y^Y i^A`b?@f@^BE^y;^;^1X5jÒB j@jE%DNOT Ignoring new targets: 82.40 m. j!j!j!j!i!h!h)h)h)f)f1f1rf1bf5c7@ɛB*w 隥\>>IWill construct direction to contact in vehicle frame from tetrahedron phase data. *ɚiIڀ%=Ii ;i1:))*FE?2FA:FABFEP0JFAG- !Ju Ju Jq Jq Ju :Ju :Jq Jq G B O- > i Ii u Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I "II [BI &I .I 6I <:I  Fzسw,2!bAF2@YF@@Fy39Fw{>yFH}'`w??@zL?`9F?Hc?@h?ɨF2@F;DyR݃BR0"I5Mb@Mb@Mb@111 1)1Y5J +?/$?Mbpy5H?5<51 5@)53@I5I@1y5z@qqIuIu.4٢? <=98Q > G٣MGyV > Nusing accuracyPremultiplier from configX59ze?X5Yn iAH?:B@@BE];;X59 =a@=EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf@97@ɛB V#>I -燼ɚ)i1I5X%=I1i=;i=S?:)9)9*F2F:FBFJF"G =G =Will construct direction to contact in vehicle frame from tetrahedron phase data.GE zQGM ?GM ?)  c~GG! B) OE >Y y EY y AzK5 >KK5 9K1 K5 K5 w,bAf2@Yf @@fZ9fH>yfH```@? Mw?I{ ?(k? d? W?ɨf2@f;fC ,$?Iy كB ,"I) Will construct direction to contact in vehicle frame from tetrahedron phase data.II 4٢ ;=9ܨQ > G٣y: > Nusing accuracyPremultiplier from configX59]e?X5Y iɑAB@@BE? ; ;#X5’B @ EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfA8@ɛ-B-%ϻ )->I) 5솼ɚ1i1I5U4%=I9i=Y;i=<̯:)9)A*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GM 9G! BA Oe >.w,cA62@Y6@@6yI96#W>y6HϹ )@j?`?y ? h?~??ɨ62@6چ;6Cy>σBB "IUMb@Mb@Mb@QQQ Q)QYUuV?Mb?yUrH?U@=UQ U@)QIU3@QyU@ImImW4٢}DP }^=9} 7Q > G٣y > Nusing accuracyPremultiplier from configX59Ee?X5Y iؑAH?:D@@BE;U;'X5 $@#EDNOT Ignoring new targets: 82.40 m. jjjjihhhhsBfffrfbf@8@ɛ%B%z )-=I) -).ɚ)i)I-%=I9i= ;i=m9)9)9 *$?I*F2F:FBFn0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHH@>I I"IIFBI&I.I6I0<:I+ FG;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. = %= w,7cAB2@YB@@BJ=9Bo>yBHu;5`?;?x!?sG??`?ɨB2@B;BCyJÃBN"IIVIV4٢^ ^X=9^9Q b>`` bG٣bMGyf@p f> jNusing accuracyPremultiplier from confighnX59j,e?nX5Yjl ijAprD@r@jBEj;jA;jV*X5vB v@v&E%DNOT Ignoring new targets: 82.40 m. j)j)j)j)i)h)h)h1h1f1f1f9rfIbfM t9@ɛB<+ <=I aɚ!i!I%$=I!i-䮸;i-5W9))))*F2F:FBF0JFG GsAJQJUJQJQJQJU:JQJQJU6;aeJU8;amJUDG;amJUEG;amzKuKu 9KqKuKu I]Will construct direction to contact in vehicle frame from tetrahedron phase data.Gf8GBO >Yy:H` @?@9?f?@Ly??@q??ɨ:V2@:$_;:CyBBF "IININb4٢VnN VK=9ZUQ Z>XX ^G٣\y^]` b> fNusing accuracyPremultiplier from config`fX59be?jX5Ybո ibAlnD@n@bBEbOF;bF;b-X5p v@tDNOT Ignoring new targets: 82.40 m. jjjjihhhhf!f!f!rf!bf%h9@ɛB:b, 隥X=I K ɚiI$=IiR;iN))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-.4JF)GU!G) B1 OU > )$?I e Will construct direction to contact in vehicle frame from tetrahedron phase data.e Aia H ?>I C I "II -BI # =&I .I 6I "<:I FBIeˠCJIaRIaZIe" =bIe" =jIeW4J$w,-_QcAy~B~"IMb@Mb@Mb@ )Y~jt?kt?~jth?yD? =D; )@Iy@IIE4٢ʘ :=9Q > G٣y > Nusing accuracyPremultiplier from configX59kd?X5Y iAE?:G@@BE;;1X5B I@)E-DNOT Ignoring new targets: 82.40 m. j)j)j)j)i)h1h1h1h5ZBf9fAfArfAbfEz9@ɛ B5]> 9=l=I9 EɚAiAIE{$=IYie;ieK)a)q*F%?2F!:F!BF%_5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.G zQG B O >Je Ja Ja Ja Je |:Ja Ja Ja Je ;Je ;Ja Ja ew,VkcA ($?IzK6jIK69K4K6K6B2@YB@@BuԊ9B >yBH @ri.? Q?@w? XZ? 7s??ɨB2@B5;BCyJƒBJ"IIRIRQ4٢Z^= ZZ=9^43:Q ^>\\ bG٣bMGyb\ b> jNusing accuracyPremultiplier from configdjX59fd?nX5Yf| if$AlnG@n@fBEf:f:f4X5p r@v,EzWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf`=:@ɛ%B-, 15L=I9 =ɚ9iIIMu$=Iiz;i))*F=?2F9:F9BF=L4JF9G!Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Ew,VcA2f2@Y2@@2k92Jx>y2H@ z??@u`??? o?ɨ2f2@2k;2CyHHMMb@Mb@Mb@III I)IYM~jt?ʡE?Mb?yIM-=M G٣y0k > Nusing accuracyPremultiplier from configX59fd?X5YG iAA E? : G@ @BE;';8X5B @/EEDNOT Ignoring new targets: 82.40 m. jAjAjAjAiAhAhIhIhMVBfIfQfQrfQbf]:@ɛB7 隕=I RɚiI{$=Ii;iw%)) =&$?IA Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FQ:FQBFUP0JFQjH!bH%<H)I) I-"II-BI)&I).I)6I-3<:I-- FGm˴GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,MJcAf_2@Yf}@@f\9fT>yfH??Lv?@Q?^??ɨf_2@fLJ;fCyrăBr"IIIW4٢m85< mA=9uֱ8Q u>qy }G٣yy}6 }> Nusing accuracyPremultiplier from configX59ܤd?X5Y i]AG@@BE:q: Will construct direction to contact in vehicle frame from tetrahedron phase data.G] g{G9 BA O] >w,cA6F2@Y6e@@6%%96>y6H6?@}F?`?t ?vd?`j?I?ɨ6F2@6#;6CyB΃BB"IIJIJ4٢Rh= Vm=9V:Q V?XX ZG٣XyZ֍ Z? bNusing accuracyPremultiplier from config`fX59bnd?fX5Yb ibsAdfyG@f@bBEb :b:b?X5l n@n5EDNOT Ignoring new targets: 82.40 m. jjjjih h h h fffrfbfEo;@ɛB\ =I! -Ⓜɚ)iQI]$=Will construct direction to contact in vehicle frame from tetrahedron phase data.Iii~ʵ;i?))EE*F?2F:FBF_0JFG GrAGOP  $$?I G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.H% >>I!  I! I! I! &I! .I! 6I% 8<:I% / Fw,cA2H2@Y2f@@2̽92q{>y2H@\?C?t?w?Vc?@?ɨ2H2@2=;2CyN˃BN"I V=V= Mb@Mb@Mb@    ) Y "~j?#~j?Q?y SC? = u<  @) I 3@ y @I%I%4٢-c7 54=95'Q =>99 =G٣=MGyEJC9 E> MNusing accuracyPremultiplier from configIX59Mqd?X5YM iMAvD?: F@ @MBEM-  #$?I J J J J J :J :J J J 6;J 8;J yE;J zE;Gw,cA632@Y6R@@6> 96>y6H/?`8m?r?!?n? .?ɨ632@6)J;6CzKLKN]9KLKNKNBKT:KTyZBZ7"IIbIb4٢j%> jc=9jp:Q n>ll rG٣pyri r> vNusing accuracyPremultiplier from configtzX59vYd?zX5Yv[ ivA|Will construct direction to contact in vehicle frame from tetrahedron phase data.~F@@vBEv`a;va;vFX5  @7EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf D<@ɛUBU܃ Y]@=IY ]=HɚYiYI]W$=Iiimj{;i))*FM?2FI:FIBFM0JFIGug{Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq B O >uw,dA2v 2@Y2c?@@2z92J>y2Hz/- ?`'?@q`;?SY?|? Ⱥ?ɨ2v 2@2(;2CyVBZ?"IEMb@Mb@Mb@AAA A)AYE?333333?Zd;O?yE@?E=Ej G٣y%n' %> -Nusing accuracyPremultiplier from config)5X59-=d?5X5Y- i-ْA= A?=:=SF@=@-BE-;-l;-JX5MB MF@M:EuDNOT Ignoring new targets: 82.40 m. jyjyjyjyiyhyhyhh}BfffrfbfӰ<@ "$?IɛBz  >I fɚiI9$=Ii;iKĻ))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF,2JF"GG=ZHRHH=>I I"II#BI&I.I6I!<:I FGTG B O  Will construct direction to contact in vehicle frame from tetrahedron phase data.'w,y dAN2@YN1@@N0&x9N>yNH H??o?@x?`?|?ɨN2@N;LynBnU"I)p ptvAIzIz4٢= ]=9 9Q  >  G٣MGyd > %Nusing accuracyPremultiplier from config-X59N&d?-X5Y iA15FF@5@BE3; ;MX5=B E@E=E}DNOT Ignoring new targets: 82.40 m. jyjyjyjyiyhyhhhfffrfbf=@ɛB; *#>I ~ɚiI$=Ii;iPڻ)NGvA YvAyA)*F?2F:FBFO5JF !$?IzKKS9KKK&:"=@%Will construct direction to contact in vehicle frame from tetrahedron phase data.GfŻGi By O > w,[:dAZ1@YZ@@Zzq9ZJi>yZH7@p?`?m4?`G9?`? ?ɨZ1@Z;ZCyfBf["III@4٢%< %H=9-x:Q ->)) -G٣)y5E 5> =Nusing accuracyPremultiplier from config9EX59=o d?EX5Y=L i=AIM1F@M@=BE=:=:=SQX5Q @@EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfC{=@ɛMBU Ye")>IaWill construct direction to contact in vehicle frame from tetrahedron phase data. z|ɚiI#=IQi]m;ieQ)a)*F?2F:FBF-5JF qIqJJJJJ|:J:JJa@a@a@a@G 4λ% Will construct direction to contact in vehicle frame from tetrahedron phase data.H ;>I  I "II w,v3TdAy~B~o"IMb@Mb@Mb@ )YV-?Mb??y|??=<A @)@I3@y3@IIy4٢= ?=9Q > G٣y > Nusing accuracyPremultiplier from configX59c?X5Yp iBA ?? : B@ @BE;8;UX5 @EDNOT Ignoring new targets: 82.40 m. jAjAjAjAiAhIhIhIhMBfQfQfQrfQbf]f=@ɛB 隕F>I yɚiI#=Ii1;iH3))*F-?2F):F)BF-P0JF)G1 G1Will construct direction to contact in vehicle frame from tetrahedron phase data.GMG) B1 OU > e $?Ia Lw,= ndArWill construct direction to contact in vehicle frame from tetrahedron phase data.zKNK]9KKK$l9$X8aAiO?/  y-B-"I 5=5a=IEIEF4٢UQ= UT=9QQ U> G٣MGy > Nusing accuracyPremultiplier from configX59 c?X5Y ibA@BE;A;|XX5B @CE]DNOT Ignoring new targets: 82.40 m. jYjYjYjYiYhahahahafififirfibfmxM>@ɛ B5! 15|`>I1 5&vɚ9i9I=Z#=I9iEI;iE)A)A*F5?2F1:F1BF=R0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >!!w,2dA61@Y6w @@6d96>y6H?Ad??`k @???s?ɨ61@6;6CyB)BB"IuMb@Mb@Mb@qqq q)qYuMb?Mb{Gz?yu@?uuף G٣ygF > Nusing accuracyPremultiplier from configX59c?X5YS iyA@?:w>@@BE;; \X5B @FE $?Ih DNOT Ignoring new targets: 82.40 m. j j jjihhhh׃Bfff!rf!bf%@q>@ɛ]Be<; iJJJJJ :J:JJq>I sɚiI^#=Iia;i+))Will construct direction to contact in vehicle frame from tetrahedron phase data.jHm<bHm4=H}:>Iy I}"II}[BIy&Iy.Iy6I}E<:I}5 FBI=ğCJI=ğCRI9ZI=# =bI=# =jI=w5*F?2F:FBF_0JFGUG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.(w,yˡdA2>1@Y2+@@22Gb92)?>y2HA/t?`r?ip?`H?`??ɨ2>1@2D;2CyN6BN"IIVIV)4٢^O= ^Y=9b9Q b>`` fG٣dyfź f> nNusing accuracyPremultiplier from confighrX59jc?rX5Yj ijApvm>@v@jBEj.;j;jT_X5x z=@zIE-DNOT Ignoring new targets: 82.40 m. j)j)j)j)i)h)h1h1hfffrfbf`?@ɛB 08h; 9=b>I9 EpɚAiAIE$#=IIiMfz;iM)I)qEyE}sA*F?2F :F BF o0JF "G=G= IWill construct direction to contact in vehicle frame from tetrahedron phase data.zKmNKm9KiKmKm%)))%" #F{I.    Gm׹GI Bi O >7.w,bdA^1@Y^@@^H^d9^f>y^HU`Pq@h?X?gkw?`?? ?ɨ^1@^k;^Cyj=Bj"I)l lrApIzIz̍4٢= F=9Q  >    G٣ MGy; > Nusing accuracyPremultiplier from config%X59Ic?%X5Y° iA)->@-@BEP::bX55B 5@5LE}DNOT Ignoring new targets: 82.40 m. jyjyjyjihhhhfffrfbf|?@eWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ]B]ܢb; a隍e>I lɚiIy"=Ii;ig#)) *F?2F:FBFJF $?IJJJ/JJ:J 9J(N3JG  Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai Hu 9>Iq  Iu "IIu ~BIq &Iq .Iq 6Iu ]<:Iu F FG B O >5w,xdA6M2@Y6:'@@6d96d>y6H@^ e?@?{k\???$?ɨ6M2@6-;4yREBR"I5Mb@Mb@Mb@111 1)1Y5y&1?:vQ?y5`E?5T5u<5A 5@)1I5`@1y5@IId4٢= 3=9/8Q > G٣y/: > Nusing accuracyPremultiplier from configX59*qc?X5YԮ iAE?:;@@BE;;fX5B Y@JE=DNOT Ignoring new targets: 82.40 m. jAjAjAjAiAhAhAhIhmBfqfqfqrfqbfu ?@ɛBߛ; >Ii mhɚiiiIm"=Iqiu;iuz})q)ymWill construct direction to contact in vehicle frame from tetrahedron phase data.*FY2Fa:FaBFe0JFaG ] $?I GY Bi O >J J AAlH;w,RdAbWill construct direction to contact in vehicle frame from tetrahedron phase data.y)-"IzK}MK}9KyK}K}  " !#(+179=@IJLPSTVY]]^cbbggllijknnkknkjkjlkkIuIu4٢M; Z=9Q > G٣y > Nusing accuracyPremultiplier from configX59TYc?X5YA iǓA@BE ;:2jX5B E@MEDNOT Ignoring new targets: 82.40 m. jjjjihhh!h!f!f!f)rf)bf- 6(@@ɛ]B]=; Y]ԍ>IY eeɚaiaIed"=Iiim$;im2)i)q*F-?2F):F)BF-05JF)GM++}Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Y4Bw, ? eAJ52@YJ{T@@J_9J)Y>yJH`? yh? ns??`?`?ɨJ52@J;JCyRHBV"I YIYMb@Mb@Mb@ )YS㥛?+I +?y$F?94<zA @)`@Iv@y@IIF4٢i< G=9:Q > G٣MGy ; > Nusing accuracyPremultiplier from configX59"?c?X5YE iГA*G?:9@@CE*^;\;mX5! - @-PEUDNOT Ignoring new targets: 82.40 m. jQjQjQjYiYhYhYhYheBfafafarfabfm]@@JJJ0JJ:J:Jـ3JɛB|ŭ; 隽>I taɚiIG""=IiK=;i}))Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH AAHI I#IIBI&I.I6II<:I7 F*FE?2FA:FABFEH1JFAG;3Ga Bi O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.\Hw,#eAJR2@YJp@@J,a9Jǘ>yJH+?@/?o@?U%??t?ɨJR2@J9;JCyj?Bj"IIvIv<4٢e@ Z=9 NQ  >    G٣y; > %Nusing accuracyPremultiplier from config%X59I'c?-X5Yy iٓA)-9@-@ CEi::qX5=B =@=SEeDNOT Ignoring new targets: 82.40 m. jajajajaiahihihyhyfyfyfrfbf`@@ɛEBE; AE>II M^ɚIiIIMA!=IQi]R;i]e)Y)Y*F?2F :F BF P0JF  M$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.GXzKsNKKKKhjijnlnmkjjlkhdaWOJDA;8689?OW]jwzqmgd]XTRQNMRK?JK?GBO>nNw,yZH|~8ߟ??rL?`i???ʶ?ɨZbz2@Z;ZCyvAA EG٣AyMw; M> ]Nusing accuracyPremultiplier from configYeX59] c?eX5Y] i]Aim:@m@]CE]:]:]tX5q u@}VEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf@@ɛB; |>I e[ɚiI'!=IiP8;i Fº) ) =Will construct direction to contact in vehicle frame from tetrahedron phase data.E*Fm?2Fq:FqBF}_0JFy"GG= =$?IAG_vGi B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I "#II BI &I .I 6I U<:I ? FklUw,rVeANi2@YNV@@Ng9N^> >yNHNK ?`l?Ls@e?x?`8? ?ɨNi2@N#;NCyn*Br"IAMb@Mb@Mb@ )YL7A`?/$Mb`y+G? A @)Iy@II:4٢㭽 A=9.Q > G٣MGyyl; > Nusing accuracyPremultiplier from configX59b?X5Y{ iASH?:9@@CE;;WxX5 @DNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf @@ɛB@9 隝R>I VXɚiIt!=Iiʩ;i͹))UWill construct direction to contact in vehicle frame from tetrahedron phase data.UJ J J J J |:J :J J J ;a J ;a J A;a J A;a Ė[w,peA:52@Y:"@@: xj9:X >y:H@^% ?@$?ht@"?N?`s??ɨ:52@:;:CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yV!BV"II^I^4٢f,5 f\=9j۹Q j>hh nG٣ly?; > Nusing accuracyPremultiplier from configX59b?X5Y iߓA9@@CEz;;{X5B Z@YEDNOT Ignoring new targets: 82.40 m. jjzKNK9KKKIFBA@=8867853224452210-.,*''')()1787320/+*-22/-))(%$#$$#jjih h h h fffrfbfw*A@ɛEƒBEЪ: AE=>IA MVɚIiIIMF!=IQiUԀ;iU9)Q)Y*F?2F:FBFp0JFG5u4eWill construct direction to contact in vehicle frame from tetrahedron phase data.Ga B O >~bw,veA22@Y2@@2 Vs92Q>y2H)`П?4?`w ?@xj? g??ɨ22@2;0yBBBs"I b$?Id%Mb@Mb@Mb@!!! !)!Y%MbX?i|?5y&1y%J?%q%`e% A %@)!I%@!y!II̍4٢ <=9Q > G٣y; > Nusing accuracyPremultiplier from configX59b?X5Y i֓AXK?:^<@@CE;f;bX5B 4@\EEDNOT Ignoring new targets: 82.40 m. jAjAjAjAiAhIhIhIhMBfQfQfQrfQbf] 9_A@ɛŃBt 隕>I u TɚiI!=IiP;i>2;))Will construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<HI I#IIBI&I.I6I><:I/ F*Fm?2Fi:FiBFm0JFiG-9G B O= >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Khw,TeAN/2@YNA@N{y9Nl>yNH >=i-?=? y?-/?1?v?ɨN/2@Nr;NCyZBZT"IIfIf4٢rc rZ=9rQ v>tt vG٣vMGyzL; z> ~Nusing accuracyPremultiplier from config|X59~ b?X5Y~Y i~ϓA  w<@ @~"CE~:~q:~X5 @_EEDNOT Ignoring new targets: 82.40 m. jAjAjAjAiAhAhIhIhIfIfQfQrfYbf]@ʎA@ɛǃBf; 隕d=I &RɚiI =IiT8;ix;))*F5?2F1:F1BF5P5JF9 $?IJJJJJ :J:JJJ;J;JI;JI;Will construct direction to contact in vehicle frame from tetrahedron phase data.G;GQzK]"NK]h9KYK]K]  ;r,Vtxm_OA0 BqO>?nw,;eA>F3@Y>27A@>)9>ֲ>y>H р5?M?P}?`#?`?*?ɨ>F3@>N;>CyJBJ<"IIRIR]4٢ZĽ vM=9zҫQ z>|| G٣y ; > -Nusing accuracyPremultiplier from config)EX59-b?EX5Y- i-ǓAIU<@U@-'CE-;-;-@X5mB m@ubEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf@4A@Will construct direction to contact in vehicle frame from tetrahedron phase data.<ɛ5ɃB= 9EXd=IA E.RɚAiAIM =IiE;i;))*F?2F:FBF25JF $?IG 1;H 7>I C I "II yBI &I .I 6I J<:I 7 F Will construct direction to contact in vehicle frame from tetrahedron phase data.BIyJIyRIyZI}$ =bI}$ =jI}c4G B O >Fuw,1 eA623@Y6QA@6M96 >y6H UT?`?=x?`?@??ɨ623@6;6CyBσBB"IMMb@Mb@Mb@III I)IYMsh|??MbpI +yMI?MM9MzA M@)IIMI@IyM@IeIe4٢u7׽ u?=9uQ }>yy G٣y{; > Nusing accuracyPremultiplier from configX59nb?X5Y iAJ?:;A@@-CE;F;X5 Y@eEDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf@A@ɛ5̃B5J 9=;I9 =^Qɚ9i9I= =IAiEf;iEw;)I)I*F?2F:FBFP0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G ;G ?G-?GB OU > $?I J J J J J :J :J J J 6;J 7;J yE;J zE;9{w,eeABWill construct direction to contact in vehicle frame from tetrahedron phase data.J93@YJWA@JrL9JD>yJHl >?>˾? W? ^?? ʸ?ɨJ93@Jه;JCyRBV"I)X XI^I^4٢f fV=9j5Q j>hh jG٣jMGyn: n> vNusing accuracyPremultiplier from configpvX59r_Ub?zX5Yr irAxzAA@z@r2CEr:r:r:X5  @ 5DNOT Ignoring new targets: 82.40 m. j1j1j1j1i9h9h9hAhAfAfAfIrfIbfM)B@ɛu΃BuЄzKOKs9KKK}xrlc^ZWUNNLIFB>;9871-.)'(%#  !-?I) -FRɚ)i)I-u =IQiUݍ;iUW;)Y)Y*F?2F:FBFQ0JFG;=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO5 >ĵw,ܼ fA $?I>:3@Y>YA@>T9>>y>H|@`z[?þ?)*??f?2?ɨ>:3@>);>CyRBR!I5Mb@Mb@Mb@111 1)1Y5J +?S㥫?/$y5H?5/]=55 A 1)1I5`@1y5@IMIM"4٢]½ eA=9e{Q e>ii mG٣iyu9 u> }Nusing accuracyPremultiplier from configyX59}_9b?X5Y}= i}A@I?:E@@}7CE}/;}{;}X5B ,@hEDNOT Ignoring new targets: 82.40 m. jjjjihhhhiBfffrfbf _B@ɛЃBF 隝I 7SɚiI2 =Iir;i;))ZHaRHe?AHm6>Ii Im"IImKBIm% =&Ii.Ii6Imj<:ImM FWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFu]0JFqG*;Gi Bq O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.w,%fA6Z3@Y6Fy6Hn`V?D9???@c?u?ɨ6Z3@6;6CyBBB!IIJIJ4٢R VW=9V$9Q V>TX ZG٣XyZ͛ Z> bNusing accuracyPremultiplier from config`fX59b3 b?fX5Ybכ ibAhjE@j@b w,Cs?fA>`3@Y>L8A@>b9> >y>H@mK?I?2`*?>? ?`?ɨ>`3@>ֆ;>CyNBN!IiV=IV%=I^I^ 4٢f fH=9fhh jG٣jMGyn n> vNusing accuracyPremultiplier from configpvX59r/b?vX5Yri irAxzE@z@rACEr:r*:rїX5| @nE-DNOT Ignoring new targets: 82.40 m. j)j)j)j)i)h)h)h1h1f1f1f9rf9bf=`B@ɛmԃBuY˼ y隅!I bWɚiI!=Will construct direction to contact in vehicle frame from tetrahedron phase data.I1i=bթ;i9)9)9*F?2F:FBF0JF $?IGmü;GI HY IY  I] s"II] BI] $ =&IY .IY 6I] +<:I] FBq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai ? w,;QYfA22@Y2 A@2y92==y2H>@MS?M?A`?`??Կ?ɨ22@2?ʆ;2CybmBb!IUMb@Mb@Mb@QQQ Q)QYU~jt?v/?~jthyUD?Ux=UDUA U@)Uv@IU@QyU(@ImImЬ4٢ƽ ?=989Q > G٣yIڻ > Nusing accuracyPremultiplier from configX59a?X5Y iʓAF?:G@FCE;l;X5B H@qEDNOT Ignoring new targets: 82.40 m. jjjjihhhhBf f f rf bf B@ɛփB*ݼ 4PI ZɚiI5!=IiR;i[;)) *F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G; $?IG B O >Jy Jy JK|3 KS}-KK"KJU JU JQ JQ JU ,:JU :JQ JQ JU ;JU ;JU R;JU R;@w,=esfA&Will construct direction to contact in vehicle frame from tetrahedron phase data.:2@Y:|@@:9:.v=y:H ͼ9Z?`8?aZ?|?7y??ɨ:2@:`;:CyFeBF!IININ4٢V( VW=9V8Q Z>XX ZG٣Xy^ ^> fNusing accuracyPremultiplier from configdjX59f[a?jX5Yf ifݓAhjGj@fKCEf:f:fX5 @DNOT Ignoring new targets: 82.40 m. jjj j i h h hhfff1rf9bf=0C@zK];LK]9KYK]K] "(! BKa:Kaɛ׃B.} 隽cI ]ɚiIJ`!=Iiވ;ii;))*Fu?2Fq:FqBFu_5JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.G!j;G B O5 > I Sw,fA6}2@Y6j@@6 I96 y=y6H ]`|"? w?@?? y??ɨ6}2@6jS;6Cy>YBB!I Mb@Mb@Mb@    ) Y ~jt?kt?Mb?y   0> <  @) I@I  y I%I%4٢-se 5C=95OQ 5>AA EG٣EMGyEr E> UNusing accuracyPremultiplier from configI]X59Ma?]X5YM iMA]}I?]:]jCe@MPCEM;M;MX5mB m@mtEDNOT Ignoring new targets: 82.40 m. jjjjihhhhBff!f!rf!bf% cC@ɛكB 隕I b`ɚiI!=Ii5:;i)9))jH<bHp<H5>I I5"IIBI% =&I.I6I<:I FmWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFe5JFaG;Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. NG % Y! y% ADw,fAFN~2@YF:@@F|89F'=yFHࡷ`6v?`? s}@O?@?o??ɨFN~2@Fxֆ;FCyV]BV!II^I^4٢fě< fQ=9j9Q j>hl nG٣lyrzػ r> vNusing accuracyPremultiplier from configtzX59va?zX5Yv4 iv"AxzCz@vUCEv:v:vX5 8@wEEDNOT Ignoring new targets: 82.40 m. jAjIjIjIiIhIhQhQhYfYfafarfabfmC@ɛۃB& 隽tzI ;cɚiI|!=Ii-Ϩ;i)) } $?Iy*FM?2FI:FIBFMP0JFI}Will construct direction to contact in vehicle frame from tetrahedron phase data.GUzQzK "TLK h9K K K   "  RK% ?JK% ?G1 BI O >w,w,fAB^2@YB}@@B9Bg/=yBH m??`z?@ؐ?5? a?ɨB^2@B6;BCyJdBN!IIVIV:4٢^U< ^L=99Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=X595a?=X5Y5 i5EAAECE@5ZCE5 ;5m ;5X5MB M@MzEuDNOT Ignoring new targets: 82.40 m. jqjqjqjyiyhyhyhhfffrfbf]C@ɛ܃B4r 隽pI  gɚiI!=IiB;i^D`))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFX0JF  $?IG%úGGJeJeJe/JaJe:Je:Je(N3Jaau@au@au@au@GBH3>I I"IIƒBI&I.I6I'<:I FO- > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ww,fA6.2@Y6oM@@61=96g>y6HYZ̠?@Gv?uz)? xg??`?ɨ6.2@6_ކ;6CyRhBR!I-Mb@Mb@Mb@))) )))Y--?Mb?~jt?y-5>?-@>-<-MA ))-@I))y-@IIݜ4٢< <=9Ɓ:Q > G٣MGyL > Nusing accuracyPremultiplier from configX59da?X5YО iyALD?:NB@_CE/;j;;X5 {@}EDNOT Ignoring new targets: 82.40 m. jjjjih h h h Bfffrfbf@C@ɛEރBM8* IM8kII M]:jɚQiQIUo!"=IYi];i]E)Y)a*F 2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GMx IG1 BA O] >^w,wfA"Will construct direction to contact in vehicle frame from tetrahedron phase data.>2@Y>3@@>9>‚>y>HF@qР?`?s@n?@s?$??ɨ>2@>c;>CyF}BF!IIRIR4٢V= Z[=9ZD^:Q Z>\\ ^G٣\yb" b> jNusing accuracyPremultiplier from configdjX59fLa?nX5Yf ifAlnjBn@fdCEf;fS;fX5vB v$@vEDNOT Ignoring new targets: 82.40 m. jjjjihhhh!f!f!f!rf!bf-@.D@ɛ]߃B] Y]DIY eflɚaiaIeH"=Iiim`ɦ;im)i)q*F?2F:FBFo0JFzKTLK+9KKKG[6Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO=> $?I Viw, OgAyB!IMb@Mb@Mb@ )Y/$?I +?+?y= @)I@Iy@II̍4٢Cz= 9=9Q > G٣y > Nusing accuracyPremultiplier from configJJJ0JJ|:J&:Jـ3JZHRHAAH2>I I "IIBI& =&I.I5D6I<:I] FBImžCJImžCRIiZIm% =bIm% =jIm[4X590a?X5Y^ tIiA;B?:lC@iCE9 = =YX5 G@UWill construct direction to contact in vehicle frame from tetrahedron phase data.mDNOT Ignoring new targets: 82.40 m. jijqjqjqiqhqhqhyh})Bfyfyfrfbf@kD@ɛB,w,9(gA21@Y2@@2 }92e>y2H`? 5?m ? ?`??ɨ21@2;0y~B!IIIt4٢= #> =T=9E[0:Q E>II MG٣IyU U> eNusing accuracyPremultiplier from configauX59eHa?uX5Ye ie!Ay}C}@enCEeq;e u;eX5B G@EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf D@ɛBj <ݽI  vpɚ i I&"=Ii;i[ )) 5$?I1*F2F:FBF2JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.G 4λGBO >zK} :IK} ]9Ky K} K} zw,BgA21@Y2?@2"w92)>y2H@ ?c?i? ??#?ɨ21@2O;2Cy:ÃB>"IIVIV)4٢^x= ^S=9bt:Q b>`` bG٣fMGyfF޻ f> jNusing accuracyPremultiplier from confighnX59j`?nX5Yj ijZAprCr@jsCEj ;j ;jX5t v@vEDNOT Ignoring new targets: 82.40 m. jjjjihhh!h!f!f!f)rf)bf-`D@Will construct direction to contact in vehicle frame from tetrahedron phase data.ս=չɛB> 0~I FqɚiI"=Ii;it8B))*F?2F:FBFH5JF AIIGZJ=J=J9J9J=:J=:J9J9H1>I I."II܃BI&I.I6I+<:I FGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,"[gA:1@Y:?@:Iku9:'>y:HҨa¿`,?|?`g 7??? S?ɨ:1@:;:CyBBF8"IMb@Mb@Mb@ )YʡE?V-?:v?y=?=T=A -@)3@I3@y(@I-I-4٢=> =B=9E9Q E>AI MG٣IyU* U> eNusing accuracyPremultiplier from configYeX59]O`?mX5YYi]Amw@?m:mIm@]xCE]3;];]ǾX5uB }@}EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbfkD@ɛmBm1Kq imIi uFqɚiI"=Ii;i޹M))*FM?2FI:FIBFM4JFIGQ GQ Will construct direction to contact in vehicle frame from tetrahedron phase data. =$?I9G=ei@GQGQG) B1 OU >w,ugA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:1@Y:?@:u9:>y:HBQ¿@\??@dW? ??5?ɨ:1@:;:CyRBRZ"II^I^F4٢x> M=9 Q >!! %G٣!y%Ă -> =Nusing accuracyPremultiplier from config9EX59=(`?EX5Y= i=ݕAAEH@M@=|CE=&:=:=DX5Q U@UE}DNOT Ignoring new targets: 82.40 m. jyjjjihhhhfffrfbf ~2E@ɛB4 Q=I pɚiI"=Ii;iYGd))*F?2F:FBFP0JFzKk3IK9KKK<GuFWill construct direction to contact in vehicle frame from tetrahedron phase data.GB O= > E $?IA ̶w,gA671@Y6#?@6=s96 >y6H &Q¿Q?@?c`_?t?U?`?ɨ671@6衇;6CyNBR"IMb@Mb@Mb@ )Yx&1?/$?&1?yA?,=P=A @)I@Iv@yp@JJJ1JJL:J:J3JI vI &Q4٢%> %:=9-9Q ->)) -G٣5MGjH=<bH9HE/>IEC IEs"IIEBIA&IA.IA6IEU<:IE9 FyU7 U> eNusing accuracyPremultiplier from configYeX59],`?eX5Y] i]AmFB?m:mB@m@]CE]w;];]X5y }@yDNOT Ignoring new targets: 82.40 m. jjjjuWill construct direction to contact in vehicle frame from tetrahedron phase data.iqhyhyhyh}܃Bfffrfbf fnE@ɛB{ |=I nɚ!i!I%f"=IIiM;iMߓa)I)Q*F?2F :FBFO0JFG% _G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.O- >w,tgAv1@Yvγ?@v2w9v1>yvH ;¿}? }?@_cg???@?ɨv1@vt;vCy @B "IIIk4٢-;1> -[=9-7Q 5>11 5G٣9y=n: => MNusing accuracyPremultiplier from configAMX59EҘ`?MX5YE iEMAQUB@U@ECEE:E ;EWX5]B e@eE $?IDNOT Ignoring new targets: 82.40 m. jjj!j!i!h!h!h)h)f)f)f)rfQbfU@(E@ɛB(ɺ l3>I *lɚiI="=Ii;iY))*F?2F:FBF_0JF"G=G=}Will construct direction to contact in vehicle frame from tetrahedron phase data.G:_G?G>G B zK kMK +9K K K zrd\ZUQPNKHB<=::8531.,//-*&%##  O >w,ZKgA21@Y2?@2yx92 >y2H`¿?@e?a??`L??ɨ21@2;2Cy:]B:"I)T TI\I\٢fV> fQ=9f˯Q f>hh jG٣hyj?; n> vNusing accuracyPremultiplier from configt~X59v`?X5Yv? ivA  B@ @vCEv;v;vX5B @%EEDNOT Ignoring new targets: 82.40 m. jAjIjIjIiIhIhIhQhQfQfQfYrfYbf]E@ɛx1; 隍 m>I 8 jɚiIF"=Ii;i,I))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FqBFuo0JFq $?IGH=.>I9 I="II=[BI=' =&I9.I96I=!<:I= FGqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՍ Aw,%gAyqB"IMb@Mb@Mb@ )YS㥛?{Gz{Gz?y$F?##= A -@)v@I@y@IId4٢= ;=9Q > G٣MGy > Nusing accuracyPremultiplier from configX59 d`?X5Yr iAF?: <@@CEJ;;X5B Q@E5DNOT Ignoring new targets: 82.40 m. j1j1j9j9i9h9hAhAhERBfAfIfIrfIbfM`gF@ɛ}B}5; y}>Iy 6fɚiIU!=Ii/Ŝ;iL))) hC*F=?2FA:FABFE0JFA]Gy yYy AWill construct direction to contact in vehicle frame from tetrahedron phase data.U?UA $?IGhAG B O >J5 J5 J5 0J1 J5 :J5 :J5 ـ3J1 J5 6;a= J5 7;aE J5 I;aE J5 I;aE w,gA"Will construct direction to contact in vehicle frame from tetrahedron phase data.y]Be#IIm{ImZ4٢}= P=9Q > G٣y > Nusing accuracyPremultiplier from configX59J`?X5Yқ iіA@CE::X5B @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf[9F@ɛB&; p>I aɚiI 9q!=IIiM/;iUM)Q)QzK PNK h9K K K  *F?2F:FBF0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.<=G- KG B O- > I w,hA2G2@Y2f@@2W92>y2H9?`OD?`h`?t?e?5?ɨ2G2@2T;2CyNBN#IiR G٣y< > Nusing accuracyPremultiplier from configX591`?X5YZ iAPJ?:6@@CE5;4;X5 @H+>I I(#IIBI( =&IHD.I6IH<:I+ FDNOT Ignoring new targets: 82.40 m. jjjjih!h!h!h%Bf)f)f)rf)bf5okF@ɛB(L'< >I >^]ɚiI!=Ii6;if))!MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_5JF Ga G9 BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.0 w,*hAB0r2@YB@@B億9Bt>yBH|@>?@)?j q?@m?@? ?ɨB0r2@Bݐ;BCyNBN%#IIVIV{4٢bp= fX=9fQ f>hh nG٣nMGyn; r> vNusing accuracyPremultiplier from configpvX59r`?zX5Yr irAxz<6@z@rCErP;r* ;rX5 @E }$?IDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfݝF@ɛ=B=01Q< 9E^>IA EfXɚAiAIE] =IQiU&~;i])Y)a*F%?2F!:F)BF- 4JF)*J"JC=JJJJJ:J :JJJ;J;J9P;J9P;G};3GYBaO}Y>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK} KK} 9Ky K} K} RK ?JK ?w,DhAB2@YB@@BŇ9B>yBH@@1ٿ?a?m???%?ɨB2@Bg;@yHJ$#IIR~IRT_4٢Z ZK=9^VQ ^>\` bG٣`yb2< b> fNusing accuracyPremultiplier from configdjX59f=_?nX5Yf ifAln6@n@fCEf ;f ;fdX5rB v@vEDNOT Ignoring new targets: 82.40 m. jjjjihhhhff!f!rf!bf%@F@ɛmBWill construct direction to contact in vehicle frame from tetrahedron phase data.`T< >I pTɚiI=^ =Ii C>;i-):)))1*F?2F:FBFP0JF iIiGj-H)>IC Im#II߄BI&I.I6I9<:I FBIǝCJIǝCRIZI' =bI' =jILq5GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. Aw,m^hA62@Y6 A@6[Њ96>y6H@b @ȝ??o@?Y?V3??ɨ62@6b;6CyVBV+#I=Mb@Mb@Mb@999 9)9Y=MbX? ףp= ǿMbPy=J?=Q8== A 9)=AI=hA9y=GAIQIQ٢eL< e@=9edQ m>ii mG٣iyu; u> }Nusing accuracyPremultiplier from configyX59}_?X5Y} i}AO?:2@@}CE}L;};}X5 @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf(G@ɛ B (I<  ">I  nPOɚiI=Ii%;i2p;))*F?2F:FBFQ0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. ]$?IYG 7:G B O >J J J J J L:J :J J a @a @a @a @Jmw, QxhA2Will construct direction to contact in vehicle frame from tetrahedron phase data.y%B%#II=I=%x4٢M_k ML=9MQ M>QQ UG٣UMGy] ]> eNusing accuracyPremultiplier from configamX59e _?mX5Ye ieAiiu@eCEei:e:eX5 |@EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfx8G@ɛBk<< >I JɚiI=Ii ;iX;) ) *F?2F:FBF_0JFzKeKe 9KaKeKeG']?;Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> E $?IM h1U$w,I,hARyRHs?`'c?@w?`\O??d?ɨRIy I}#II}BI}* =&Iy.I}4D6I}`<:I}9 FI~IT_4٢> ?=9sQ  >    G٣1y5Am< 5> =Nusing accuracyPremultiplier from config9EX59=_?EX5Y= i=ɖAMlL?M:M3@M@=CE=;=;=cX5q }@}EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf9qG@ɛ]Beq<mWill construct direction to contact in vehicle frame from tetrahedron phase data. 隭c>I mFɚiI0=IiT;i/3<))*F]?2FY:FYBFaJFa- PExceeded connect timeout, disconnecting.GE g;G! B) OM >% Will construct direction to contact in vehicle frame from tetrahedron phase data.M}*w,hAJ3@YJA@Jŕ9JK>yJHOOe?m?`|bl?_?`??ɨJ3@J;JCyVBV"I Zp=Zp=Ib|Ib[4٢j j`=9nQ n> r$?Iptt vG٣tyzi*< z> ~Nusing accuracyPremultiplier from config|X59~_?X5Y~A i~A  4@ @~CE~:~;:~X5  @EDNOT Ignoring new targets: 82.40 m. jAjIjIjIiIhIhIhQhQfQfQfQrfYbf]`,G@ɛBy&< 隍>I BɚiIS=Iiy;ijlB<))*FU?2FY:FYBF]/1JFYG-2<JJJJJ,:J:JJGBO)>}Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK 9K K K e1w,whAN3@YNA@N9Np >yNH@@U̻;????? ݞ??ɨN3@Nn;LyzhBz"IIIy4٢ F=9 Q >!! %G٣%MGy% ; -> 5Nusing accuracyPremultiplier from config)5X59-^}_?=X5Y-} i-A9E14@E@-CE-;-k;-$X5MB M@MEuDNOT Ignoring new targets: 82.40 m. jqjqjqjqiyhyhyhhfffrfbf`G@ɛBۍ; Pm>I ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɚiI=IiL;id<))*F?2F:FBF_5JF $?IH'>I I#IIBI) =&I.I6It<:IG FGO <GG>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.׏7w,hA23@Y2B@292 >y2Hﺿ@?ջ?`i ??h?t?ɨ23@2;2CyBJBB"I=Mb@Mb@Mb@999 9)9Y={Gz?X9vii uG٣qyu < u> Nusing accuracyPremultiplier from configX596c_?X5YL iuAF?:N8@@CECE;E;X5 @EDNOT Ignoring new targets: 82.40 m. jjjjihhhh_BfffrfbfH@ɛBȾ8  .>I y=ɚiI%P=I!i%;i-҉<)))) nManaging dock network, ignoring radio surface power offE*Fe?2Fi:FiBFmO5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IGM3Z<G) B1 OM >=w,)hA"Will construct direction to contact in vehicle frame from tetrahedron phase data. i"AB4@YB;B@B9B >yBHz^ؠ?`B??>?J?w?ɨB4@B];@y^1Bb"I)h hnAlIvIv1h4٢D P=9%Q %>!! %G٣)y5; > Nusing accuracyPremultiplier from configX59H_? X5Y iUAr8@@CE<+<fX5%B %@-EUDNOT Ignoring new targets: 82.40 m. jQjQjQjQiQhYhYhYhYfafafirfibfu@=H@ɛBf 隥=I ;ɚiI=IiY;i\<))*Fe?2Fa:FiBFm_3JFizKBHK9KKK ',04BK:KWill construct direction to contact in vehicle frame from tetrahedron phase data.Gc<Gi By O > $?I Dw,_yiAr $4@YrBB@rٗ9r>yrH f Ii?@L%?Wh????ɨr $4@r;py~B~s"IH%>I Ia#IIԄBI* =&I.I6Ih<:I= FJJJJJ :J:JJJ;aJ;aJJ;aJJ;a]Mb@Mb@Mb@YYY Y)YY]#~j?x&ly]E?]7]] A ]@)]@I]AYy]AII4٢ 3=9:Q > G٣MGy?: > Nusing accuracyPremultiplier from configX59,_?X5Yx i9AF?:/=@@CE <C <7X5UWill construct direction to contact in vehicle frame from tetrahedron phase data.Y ]@]EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbfCxH@ɛmBmŖ qu]=Iq u ;ɚqiqIuL=Iyi;ia<))*F12F1:F9BF=4JF9  ) Y y AG ᜆ<G G G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O- >pJw,F-iA $I$:~'4@Y:jFB@:9: >y:H>B@L?@?@)U? Z?a?ٸ?ɨ:~'4@:d;8yFBF>"IININ 4٢vw vk=9v+:Q v?xx zG٣xy~!: ~? Nusing accuracyPremultiplier from config X59_? X5Y- i#A 0=@@CE::6X5 @UDNOT Ignoring new targets: 82.40 m. jQjQjQjQiQhQhYhihqfffrfbfH@ɛBe xI b;ɚiI=IitȞ;io<))*FU?2FQ:FQBFU_0JFQGY G]sA]Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu)ş<GIBYOu>zK ؐLK +9K K K ;@GIKKOoo@e2 mWMF=7.' 0wjL =Qw,!GiA2 4@Y2*B@2Rf92K>y2H (>?4? ?`?/]?g?ɨ2 4@2R;0y:փB:("IiBpp rG٣pyv) v> zNusing accuracyPremultiplier from configx~Y59z^?]Y5Yz} iz AY]=@e@zCEzjI=C I=#II=BI=+ =&I9.I96I=d<:I=9 FJKـ3 K .KK"KJJJJJ,:JJJJ;J;JJG<m Will construct direction to contact in vehicle frame from tetrahedron phase data.i im AG B O >Ww,`iA6G3@Y62B@6r96=y6H ?Vۻ?`W? N?@kſ? Y?ɨ6G3@6Ə;6Cy^B^"IuMb@Mb@Mb@qqq q)qYux&1?X9v?X9vyuA?u G٣MGyG > Nusing accuracyPremultiplier from configY59Q^?Y5Y} iAA?:E@@CEM;xL;Y5B e@E-DNOT Ignoring new targets: 82.40 m. j1j1j1j1i1h1h9h9h=Bf9fAfArfAbfE` I@ɛ}B% 隅I >ɚiIr=IiAo;i<))*F)2F):F)BF-o0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data. !I!GMT<GU ?GU>G) B1 OM >@^w,ziAWill construct direction to contact in vehicle frame from tetrahedron phase data.n3@YnA@n9n|=ynH|ӷ@?o?H?]?`b?`?ɨn3@nO;nCyzBz!III4٢9 W=9;Q >!! %G٣!y%C -> 5Nusing accuracyPremultiplier from config)=Y59-^?=Y5Y-| i-A9=D@E@-CE-m ;- ;-Y5I U@UE}DNOT Ignoring new targets: 82.40 m. jyjyjyjyihhhhfffrfbf`  $?I dw,CŔiAHv!>It Iv"IIvKBIt&It.Iv3D6Iv;<:Iv FBICJICRIZI* =bI* =jIO5J}J}JyJyJ}:J}:JyJyJ};J};J}A;J}A;yB!I) Mb@Mb@Mb@ )Y+?Cl?I +yv>?;=94 A )`@I`@yf@I I #4٢*Ž .=9Q >! %G٣!5Will construct direction to contact in vehicle frame from tetrahedron phase data.y5 => ENusing accuracyPremultiplier from config9MY59=$^?MY5Y=| i=AM@?U:UGU@=CE=;=I;= Y5]B ]@]EDNOT Ignoring new targets: 82.40 m. jjjjihhhhLBfffrfbflyI@ɛBc I ]҃DɚaiaIe2=Iiimy`;im =<)i)i*F?2F:FBF0JFG9)<GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I 9kw,iA:3@Y:5A@:گ}9:=y:Hp㬾`?`S?Ž6?@?L?0?ɨ:3@:8k;:CyFfBF!IIRIR4٢V Z{=9Z;Q Z ?\\ ^G٣^MGy^ b ? fNusing accuracyPremultiplier from config`jY59b^?jY5Yb} ib AhnGn@bCEb ;b;bY5p r@pDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfતI@ɛBv  I GɚiIj=Ii-ji;i-";)))1*F?2F:FBF5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.G2<G G GBO >zKm BoIKm 9Ki Km Km rw,UgiA22@Y2@@2Is92#=y2H`y?`+?W?h? ?-?ɨ22@2;2Cy:VB>!IIFIF:4٢J/ NM=9N\:Q N>PP RG٣PyV" V> ZNusing accuracyPremultiplier from configX^Y59ZW}^?^Y5YZ)} iZA\bGb@ZCEZ ;Z;ZLY5d f@fE DNOT Ignoring new targets: 82.40 m. j j jjihh!h!h!f)f1f9rf9bfEI@ɛmBuxWill construct direction to contact in vehicle frame from tetrahedron phase data. I ,LɚiI=I!i%f>;i%VZ:)!)) $?I*F?2F:FBFP0JFG GrAG@;GBO-O>HI IT"IIBI, =&I.I6I<:IX FJJJJJ,:J 9JJJ;J;JO>;JO>;M Will construct direction to contact in vehicle frame from tetrahedron phase data..xw,RiA62@Y6@@6h96_q=y6HHA_ ? ?e?@?@??ɨ62@6;6Cy^LB^~!Iib4=Ib< f=f=UMb@Mb@Mb@QQQ Q)QYU-?x?y&1?yU5>?UK7>U`e G٣yE > Nusing accuracyPremultiplier from configY59a^?Y5Y~ i;AC?:B@CE@;;Y5B "@¸EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbfZ J@ɛeBm 隕@I SQɚiI=Iiؠ;iS,))*FE?2FI:FIBFMO0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IGm2;Gu ?Gu2?GA BI Ou >U Will construct direction to contact in vehicle frame from tetrahedron phase data.D[~w,.7iA6P\2@Y6;{@@6c96I=y6H̳??ɂٖ?@|? R?I?ɨ6P\2@6;6CyZFBZw!IIbIb4٢%X %P=9-xD:Q ->11 5G٣5MGy=# => ENusing accuracyPremultiplier from configAMY59EaH^?MY5YE~ iE_AIMBU@ECEE;E;EY5Y ]@]ŸEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf?J@ɛB## I ~ VɚiIW=IiR;iT))*Fq2Fq:FqBFu_0JFqG=}:GB!OE0>zKuBoHKus9KqKuKuBK:KWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IAw,l jAHN >IL IN"IINƒBIN+ =&IL.IL6INk<:IN= F 2@Y:@@Wj[9A=yHfJ?` ?|5? m? ֽ?n?ɨ 2@?ц;騅CyޝHBޥz!I-Mb@Mb@Mb@))) )))Y-?Cl?V-?y-@?-;_>-<-A --@)-`@I-v@)y)9=BAIAIA٢U^-< U9=9U:Q ]>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiuY59m+^?}Y5Ym imAH?:'@@mCEm;m;mcY5B Q@ȸEWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf|J@ɛEBM? IMII M [ɚIiQIU߷=IQi]f;i])Y)y*F2F:FBF\0JFG= >GA GA  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! OE > } $?Iy *mw,/jA:1@Y:@@:C*X9: =y:H`Ʈ T;4??ux z??@>??ɨ:1@:M;8yZJBZ|!I)\ \IfIf)4٢n3< nf=9n:Q n>pt vG٣tyvջ z> ~Nusing accuracyPremultiplier from config|Y59~p^?Y5Y~ i~ȖAO@ @~DE~C:~P:~!Y5 1@=DNOT Ignoring new targets: 82.40 m. j9j9jAjAiAhAhAhIhIfIfIfQrfQbfU@J@ɛB-/ 隍I _ɚ i I  =Ii5;idN))*F?2F:FBF}0JFJmJmJm/JiJm|:Jm:Jm(N3Jiau@au@a}@a}@G}XGQBaO8>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K S9K K K wOw,ɰIjA>V1@Y>A?@>S9>{=y>H`ߪ¿ ?T?`r@?`s?@ɻ? ?ɨ>V1@>L;>CyJSBJ!IIVIV{4٢^4= ^M=9^7:Q b>`` bG٣`yf f> jNusing accuracyPremultiplier from confighnY59j]?nY5Yj- ijApr@r@j DEj\ ;j ;j$Y5t v@v˸EDNOT Ignoring new targets: 82.40 m. jjjjihhh!h!f!f!f)rf)bf-J@ɛe Be imIiWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս=Ս< uidɚiI`] =IiY;i@)) $?I!*F%?2F!:F!BF%1JF!HI I!IIBI&I.I6I<:Ie FG=GBO5>- Will construct direction to contact in vehicle frame from tetrahedron phase data.]}w,cjAf1@Yfܲ?@fuM9f&=yfH٧S¿@tϞ? ?m t??a@?`?)  cCɨf1@f;fCy]kBie!IvA WYvAy]AeMb@Mb@Mb@aaa a)aYe}?5^I?&1?/$?yeMB?eP>e,=eA a)e@IeI@aye@IIr4٢<= +=9!Z:Q >   G٣ MGy > -Nusing accuracyPremultiplier from config!=Y59%]?=Y5Y%? i%HA=|I?=:= BE@%DE%8;%P|;%.)Y5UB U@UθEDNOT Ignoring new targets: 82.40 m. jjjjihhhh3BfffrfbfK@ɛ BWill construct direction to contact in vehicle frame from tetrahedron phase data. 隥kI ~oiɚiI =Ii#;ia)) $?I*F2F:FBF0JFG GsAJ J J 0J J :J :J ـ3J G f AG ?G ?G B 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.OE >Ew,7P}jAVnt1@YVY?@V`YQ9V7>yVH ¿? ?h $?`*??3?ɨVnt1@V|;VCy^xB^!Iifw,EjAH,I, I.!II.BI,&I,.I,6I._<:I.5 F ^1@Y|?@R9]>yHף¿K??bv?Z? ?@?ɨ ^1@#;yB!IMb@Mb@Mb@ )YL7A`?+?~jt?y+G?>D=A C@)v@I@y\@II҅4٢}= /=9"MQ > G٣MGy? > Nusing accuracyPremultiplier from configY591]?Y5Y[ iƗAK?:F@DEj; Will construct direction to contact in vehicle frame from tetrahedron phase data. ;'0Y5B E@ԸEMDNOT Ignoring new targets: 82.40 m. jIjIjIjIiIhIhIhQhUcBfQfQfYrfYbf]|K@ɛ B 隝QI ^wpɚiI@@!=Ii;iϲ))*F?2F:FBF4JFG =uG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >  $?I զw,ްjA2[1@Y2z?@2#A_92W>y2H`ֲ¿q??S_|???:?ɨ2[1@2@;2Cy>B>!IIFIFkf4٢NgP> Rx=9R^Q R?TT VG٣TyV! V? ^Nusing accuracyPremultiplier from configXbY59Z8]?bY5YZ iZA`bFf@ZDEZ;Z;Z 3Y5h j@hDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf4K@ɛ B $GI ®rɚiINn!=Ii_;i텼))*F?2F:FBFU0JF"G=G=JqJuJqJqJqJu:JqJqWill construct direction to contact in vehicle frame from tetrahedron phase data.G ~GGGBO>w,gjAzK"K"h9K K"K":[1@Y:z?@:3_9:M >y:H`Ȯ¿Q4? w?[??`{[??ɨ:[1@:A;:CyBBF"I)H HININ%x4٢V= VJ=9VNyQ Z>XX ZG٣Xy^i7 ^> bNusing accuracyPremultiplier from config`fY59b4u]?fY5Yb ib>AhjFj@b"DEbn:b:b6Y5nB n@r׸EDNOT Ignoring new targets: 82.40 m. jj j j i h h hhfffrfbfK@ɛIMؼ IM%II MZtɚQiQIUɗ!=}Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IIQi ;i))*F?2F:FBF^0JFHM>II IM"IIM̃BII&II.II6IM<:IMS FBI5ƛCJI5ƛCRI1ZI5+ =bI5+ =jI5ܖ4GGBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 w,jAF{1@YF?@F1 l9F+ >yFHѥ>l¿??+\/!?@C? ?n?ɨF{1@F\;FCyR܃BR/"I5Mb@Mb@Mb@111 1)1Y5/$?MbX?~jt?y5L?5=15 A 5Z@)5QAI5QA1y5zAIMIMb4٢ez> e?=9eQ e>ii mG٣iyu ; u> Nusing accuracyPremultiplier from configY59FX]?Y5Y i}AM?:F@@'DE&;;S:Y5 @ڸEeB*** querying acoustic contact ***jajaDNOT Ignoring new targets: 82.40 m. jjjjihhhhуBfffrfbf8L@ɛeBm quɽIq uBvɚqiyI}w!=Iyi뉕;i.p))Will construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. I*FE?2FA:FABFE_0JFAGm GA BI Om >J J J J J J :J J = Will construct direction to contact in vehicle frame from tetrahedron phase data.= ,DAT read: user:2715> E BDAT read: Tx time:22:35:23.2075 E $Ping request sent.M y6H V_¿??YWl? ?`?@?ɨ6~1@6sh;4y>B>U"IIFvIF&Q4٢f"> fU=9f@Q f>hh jG٣jMGyn!: n> rNusing accuracyPremultiplier from configpvY59rg>]?vY5Yr` irAtzF@z@r,DErA;r;r=Y5B @ݸEDNOT Ignoring new targets: 82.40 m. j!j!j!j!i!h!h!h)h)f)f)fQrfqbfu`GL@ɛ2Ԓ 隭"I avɚiIּ!=IiT;ip))EEqA*Fe?2Fa:FiBFmo0JFiGq GurAzK]BoHKYKYK]K] $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.ե<ե<JDAT read: TxSync time:22:35:23.2067 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253667GsG B O >w,.TkAH$I$ I&`"II&BI$&I$.I$6I&<:I&K F%1@Y%?@%9%_>y%H4 ~?yw?\7t?ಞ?@??ɨ%1@%;%Cy5 B5l"Ii=II MG٣IyUO; U> ]Nusing accuracyPremultiplier from configYeY59]<]?eY5Y]3 i]AeQ?:A@@]3DE]:<]f:<]AY5 @EeDNOT Ignoring new targets: 82.40 m. jajijijiiihihihqhu Bfqfqfyrfybf}L@ɛB,z RI %vɚiI!=Iiw;i˸H))*F2F:FBFJF $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755719G mG B O= >sw,1kAB]1@YBH?@B|9BEY >yBH 3`˃?s? Od?V?W?7?ɨB]1@B ;BCyj#Bj"IIr]Ir$4٢~!= ~t=9~@Q ? G٣y ^9  ? Nusing accuracyPremultiplier from configY59]?Y5Yi iA!%A@%@7DEP::DY5-B -Z@5E]DNOT Ignoring new targets: 82.40 m. jYjYjYjYiYhYhahahafafifirfqbf}L@ɛ8C 隥=I mvɚiIث!=IiU1;i)L))*Fe?2Fa:FaBFe55JFaG=hAG)BAO}7>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007079w,y6HP8?@P?a ?L??@?ɨ61@6";4zKNBHKN9KLKNKNRKV ?JKV?yZ0BZ"II>I3٢|= J=9 )Q > G٣MGy%-; %> -Nusing accuracyPremultiplier from config)5Y59-3\?5Y5Y-p i-JA15A@=@ E$?IA-- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510993w,ekAy@B"I)  Mb@Mb@Mb@ )Yn?X9vI +?yVN?9< A Q@)AIhAyAInIB4٢3= <=9Q >   G٣ y > -Nusing accuracyPremultiplier from config!=Y59%\?EY5Y% i%gAMN?M:M1=@M@%BDE%;%o;%LY5]B ]r@eEDNOT Ignoring new targets: 82.40 m. jjjjihh1h1h5ZBf1f9f9rf9bf=@;M@ɛBW =I *tɚ i I  m!=Ii=ݏ;ib?)) 5$?I1Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս?Ս?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763266*F?2F:FBFA4JFG hAG B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016630 w,qtkA6T1@Y6>?@696>y6H@˨L b?{?S]e?r???ɨ6T1@6ߖ;6Cy>VB>"IIJwIJR4٢R= Vb=9V,0:Q V>XX ZG٣XyZp ^> bNusing accuracyPremultiplier from config`fY59b$\?fY5YbQ~ ib~Adf=@f@bGDEb.:b:b@OY5l n@lDNOT Ignoring new targets: 82.40 m. jjj j i h h hhfffrfbfDM@ɛIM$ IM2 >II UrɚQiQIUF!=IYi];ie GT)a)a*F?2F:FBF]0JF 5$?I9zKEKE9KAKEKEGU[D=BKmpA:KmqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266952GB!O=>H >I  I "II ~BI &I .I 6I ^<:I 1 F_ w,W^kAJQJUJQJQJQJU:JQJQJQJQJUA;JUA;un1@YuX?@u9u>yuH୤ U?@$?`7b?뿒??3?ɨun1@u޴;uCyޭYBޭ"IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518980eMb@Mb@Mb@aaa a)aYe G٣MGy; > %Nusing accuracyPremultiplier from config!-Y59%$\?-Y5Y%{ i%A-yT?-:-9@5@%MDE%;%;%SY59 =@=EmDNOT Ignoring new targets: 82.40 m. jijijijiiihihqhqhuBfqfyfyrfybf} M@ɛBzĻ 隵 >I NpɚiI!=IiJ;iSX*))*FU?2FQ:FYBFeS0JFayvA >YvAydB E $?IA  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772124G *UG ?G ?G B O >2w,x*kA61@Y6 @@6)96H4>y6H`sT?@?au? ޒ?@??ɨ61@6d;6CyBfBB"IiF)>IF<IJlIJm?4٢VԳ= V=9VҹQ V?XX ZG٣Xy^; ^? bNusing accuracyPremultiplier from config`fY59b=\?fY5Yb z ibAdj9@j@bQDEb0;b;bOVY5nB n@rE DNOT Ignoring new targets: 82.40 m. j j jjihhhhYfYfYfarfibfmM@ɛ )>I ЦnɚiI =IiU;iuK))*F 2F :F BF m0JF G.-GBOG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023101w, kAb(2@YbG@@b9b >ybH\?ȁ?e r?su?n?@?ɨb(2@bӊ;` lIlyroBr"IzKzBoHKz]9KxKzKzI }I ]4٢/= C=9Q >!! %G٣!y- < -> 5Nusing accuracyPremultiplier from config)=Y59-b\?=Y5Y-w i-A9=:@E@-WDE-T:-:-YY5I Me@MEUWill construct direction to contact in vehicle frame from tetrahedron phase data.U%=U=]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275262DNOT Ignoring new targets: 82.40 m. jjjjihh h)h)f)f1f1rf1bf5@M@ɛB t:>I! -Olɚ)i)I- =I1i5\5;i5ͻ)1)9*F?2F:FBFp0JFH>I I.#IIBI&I.I6I<:IT FJiJmJiJiJiJm:JiJiJiJiJmDG;JmDG;G-, Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530154G B O >Dw,kA:FH2@Y:0g@@:i9:>y:Hcm?`B?`lg?̓? ??ɨ:FH2@:Rq;:CyFnBF"IMMb@Mb@Mb@III I)IYMn?MbyMVN?M̽MM A I)MhAIMzAIyMAImxImT4٢5 D=9:QQ > G٣MGy; > Nusing accuracyPremultiplier from configY59F\?Y5Yu iAO?:8@@\DEP|;P;]Y5}B }p@}EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbfN@ɛEBE` AMv6>II MiɚiiiIu?k =Iqiu;i})y)y $?IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780153*F?2F:F BF 0JF G- ̻G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030929l/w,lA2im2@Y2S@@2j۟92(>y2H@@tp?c?jh7? ? _*? ?ɨ2im2@2;2Cy>oB>"I)D DIJ{IJZ4٢R; RZ=9VQ V>TT VG٣XyZ; Z> bNusing accuracyPremultiplier from config\bY59^5.\?fY5Y^s i^Adf8@f@^aDE^e:^:^`Y5l nU@nE DNOT Ignoring new targets: 82.40 m. j j j j i h h hhfqfyfyrfybf}@@HN@ɛBpj Z7>I ,ygɚiI43 =Ii!;iZH))*F2F:FBF95JF $?IzK}K}ػ9KyK}K}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286741GԑGBO>H >I C I H#II BI , =&I .I 6I a<:I 1 FBIaJIaRIaZIabIajIe{4!Yw,IlAJKcw3 K.-KK"KJ=J=J=/J9J=\:J=:J=(N3J9J=i;J=j;J=I;J=I;M12@YM@@Ms9M\1>yMH@ܸ H`W?`?j`??Z5??ɨM12@M;Iy޽mB޽"IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5349745Mb@Mb@Mb@111 1)1Y5J +?MbXii mG٣iyu=; u> }Nusing accuracyPremultiplier from configyY59}B \?Y5Y}p i}{AYJ?:8@@}hDE}o;} ;}eY5B y@EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbfN@ɛeBex ^ amT/>Ii }dɚiI =Iiߨ;iv))*FU?2FQ:FQBFU4JFQ $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787007G} V'SG ?G ?GQ BY O} >ȕ w,!4lA>2@Y>@@>9> >y>H`F[?}?`m`? }~? % ??ɨ>2@>=;>CyFbBJ"IIVxIVT4٢^b ^=9^hW9Q b?`` bG٣bMGyfĂ; f? jNusing accuracyPremultiplier from confighnY59j[?nY5Yj~o ijrApr 9@r@jkDEjq:j:jhY5vB v3@vEDNOT Ignoring new targets: 82.40 m. jjjji!h!h!h)h)f)f1f1rf1bf5 N@ɛ]Be ae>Ia eR4cɚaiiIm!=Iqiu%u;iuS)q)q*F2F :F BF P0JF GݻGBO#>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039504yw,͓NlA I:p2@Y:Z@@:T9:>y:H@~ n?@N?`&qU??? ?ɨ:p2@:@ȉ;:CyFYBF"IiJ=IJ=IRzIR=X4٢Z07 ZK=9ZhQ Z>|| GWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291037٣y- a; -> 5Nusing accuracyPremultiplier from config1=Y595[?=Y5Y5]m i5eAAE 9@E@5qDE5 ;5 ;5kY5I M@MEzKUBoHKU9KQKUKUDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf]N@ɛB蟻 v>I paɚiIQ=Ii9;i(n:))*F?2F:FBF^0JFH)I) I-T#II-ʄBI)&I).I)6I-<:I-k FGïGGJJJ0JJ,:J9Jـ3JJ;J;J:;J:;GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545948BA Om >dw,.qhlA:2@Y:x@@:Q9:>y:HT@a? .?r`wJ?)???ɨ:2@:;8y^OB^"IMb@Mb@Mb@ )YS㥛?ʡE~jty$F?ļ` A Z@)AIyAIIb4٢: 7=9y:Q > G٣y; > Nusing accuracyPremultiplier from config Y59 ,[?Y5Y lk i TA7G?:%:@%@ vDE %; T; noY5-B -\@-EUDNOT Ignoring new targets: 82.40 m. jQjQjYjYiYhYhYhaherBfafafarfibfmtO@ɛB:xԻ 隝@=I l_ɚiIT=Ii3 ;i>:))E $?Ih-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795099*FA2FA:FIBFM_0JFIGm}:GA BQ Om >J! J!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046901 w,cGlAV2@YVA@Vo9V>yVH੾̾`w>?Կ? tM?-???ɨV2@V);VCybABb"IInuInaO4٢vώ v]=9zBQ z>xx ~G٣~MGye; >  Nusing accuracyPremultiplier from config Y59 {[?Y5Y i i FA;@@ {DE P; ` ; rY5! %'@%EUDNOT Ignoring new targets: 82.40 m. jQjQjQjQiQhYhYhYhafafafarfibfm@JO@ɛBU 隕Ԡ=I ^ɚiIN-=Ii;ii;))*F)2F1:F1BF5p0JF1 I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.299717GU?:G)B9zKiKm9KiKmKmO>jH% <bH% <H% >I!  I% H#II% BI! &I! .I! 6I% e<:I% 3 FĶ&w,)lA ((J72@YJ! A@J"9Jܻ>yJH`6Z`+?`?s9R?$??ٮ?ɨJ72@J ;JCy~?B"IIwIR4٢%; %8=9Ul:Q ]>aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554318i G٣y > Nusing accuracyPremultiplier from configY59[?Y5Yg i5A ;@@DE:.:vY5UB UH@UEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf҈O@ɛeB6 隍Џ=I ]ɚiI=Ii߉;i9;))*F?2F:FBF_0JF $?IU Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806120G .A;G ?G ?G B O >,w,TlA65 3@Y6+A@696>y6H`w`?|?`ukQ?;?@?@?ɨ65 3@6Ɉ;6CyB,BB"I%Mb@Mb@Mb@!!! !)!Y%Zd;?L7A`堿?%+%t%I A !)!I%A!y%AI5yI5xV4٢MŽ MY=9M+Q M>QQ UG٣Qy; > Nusing accuracyPremultiplier from configY59v[?Y5Yf i/A7??:>@@DE ;;yY5 r@MDNOT Ignoring new targets: 82.40 m. jIjIjIjIiIhIhQhYh]KBfYfafarfabfe`yO@ɛBt7 =I |]ɚiI=Ii;i;;))JJJJJ:J :JJa@a@a@a@*F?2F:FBFO1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.թiթchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.056205G']?;G B O > $?I .3w,lA>C3@Y>-'A@>Э9>U >y>Hؿ>?q? w(?[Ք? s?j?ɨ>C3@>榈;\\ ^G٣^MGybF+ b> fNusing accuracyPremultiplier from configdjY59f_[?jY5YfUe if*Ahj>@n@fDEf ;f6;f/}Y5p r@rEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307277%DNOT Ignoring new targets: 82.40 m. j!j)j)j)i)h)h)h1h1f1f1f1rf9bf= RO@ɛeBeƣG am )  5 vAa Y vAy )A9w,lAb-3@Yb1A@bẸ9b} >ybH@`j`Ϟ?`'e? y?@/y?o? ?ɨb-3@b;bCyvBv~"IuMb@Mb@Mb@qqq q)qYu-?y&1y&1|yu5>?u`eu`q u-@)uQAIuAqyuAIIb4٢!G <=9T:Q > G٣yH: > Nusing accuracyPremultiplier from configY59D[?Y5Y d i/A@>? : @@ @DE;=;Y5 $?IB i@ EeDNOT Ignoring new targets: 82.40 m. jajajijiiihihhh&Bfffrfbf`yP@ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811032ɛB:d ׻I %?b]ɚ!i!I%h=IIiM';iUk;)Q)Q*F?2F:FBFO5JFJ J J /J J \:J :J (N3J G% .A;GI GI G B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065316@w,*mA6&2@Y6A@696غ >y6H #ž??v ? 2?Q?@.?ɨ6&2@6;6Cy> BBk"IIJxIJT4٢Rn R\=9R?:Q R>TT VG٣TyZy Z> bNusing accuracyPremultiplier from config`fY59b-[?fY5Ybc ib4Adf?@f@bDEb:bq:b;Y5l nT@n EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf`k'P@ɛ B鼆  I  ]ɚ i I =I9i=m;i= Z;)A)A*F?2F:FBFP0JF m$?Ii=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.319080G 1;zK\MKh9KKK BKrA:KrAGBO>H >I  I #II BI &I .I 6I <:I K FGw,imAN 3@YN(A@NH9Nȣ >yNH ``?`^?@w ?H?t?C?ɨN 3@Nӈ;LyZBZ`"IIbIb%x4٢j) jE=9nZQ n>pp rG٣rMGyr; v> Nusing accuracyPremultiplier from config|Y59~ [?%Y5Y~a i~9A)5 @@=@~DE~a<~ <~݇Y5a m@qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5748535DNOT Ignoring new targets: 82.40 m. j9j9j9j9i9h9h9hAhAfAfAfIrfIbfm EP@ɛ"Bxz 隽xoI ^ɚiI=Ii-;iJ;))*Fe?2Fa:FaBFaJFa 5$?I9Gu ']?;- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823662GA BI Om >.Mw,K7mAyBa"IMb@Mb@Mb@ )Yrh|?I +?Mb`?y;?94<;3 A )AIhAyInIB4٢em; ==9Q > G٣y > Nusing accuracyPremultiplier from configY59Z?Y5Ya iHAu;?u:uB@u@DE0<<Y5B @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf-`]P@ɛu#Bu  qurIq }bv_ɚyiyI}=Ii;i%;)JJJ0JJܫ:J:Jـ3J)*F2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076069G GsAGe 1;Gm ?Gm ?GY Bi O > A IA XTw,} QmA62@Y6A@6'96h >y6H໾^ ?P?x`? d? >? ӳ?ɨ62@6A;6CyrBvT"I~Will construct direction to contact in vehicle frame from tetrahedron phase data.=%=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327257I vI &Q4٢b V=9;Q %>!! %G٣!y-u -> 5Nusing accuracyPremultiplier from config1=Y5951Z?=Y5Y5A` i5VAAEA@E@5DE5;59;5Y5I Mp@ME}DNOT Ignoring new targets: 82.40 m. jyjyjyjyiyhhhhfffrfbftP@ɛ$B. 隽I Ee`ɚiI=Iiщ;i ?;))zKKK9KKK*F?2F:FBFo0JFH>I I"IItBI- =&I.I2D6Ḭ<:I} FBI5ĚCJI5ĚCRI1ZI5, =bI5, =jI504G;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584299GB O] >g@Zw,jmA>3@Y>!A@>S99>D >y>H༿`ٳ?`?y`V?@f?@e:??ɨ>3@>ԅ;>CyRBRL"I]Mb@Mb@Mb@YYY Y)YY]+?X9v?y&1|?y]v>?]<]`;] A ]Q@)]@I]AYyYIuhIuV84٢ D=9Q > G٣MGy-; > Nusing accuracyPremultiplier from configY59Z?Y5Y_ ilA>?: $?IC@@DE;;Y5B @EDNOT Ignoring new targets: 82.40 m. jjjjihhhh%Bf!f!f!rf!bf-`P@ɛ]%B]ڦ Y]ƽIY eaɚaiaIeɟ=Iiim6̉;ims;)i)q*F2F:FBF0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835115G ;GB O5 >J J J J J :J J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. yJHA;ʡ?W?@y3? 9?@;)??ɨJ2@J;HyVBVH"IIbjIb;4٢fy jT=9j ;Q j>hl nG٣pyr/4 r> vNusing accuracyPremultiplier from configtzY59vZ?zY5Yv^ ivA|C@@vDEvA6;v6;vY5  @ EEDNOT Ignoring new targets: 82.40 m. jAjIjQjQiahahahahifififirfibfu@YP@ɛE&BE. AELֽII MO"cɚIiIIM=IqiuPÉ;iun;)y)y*F-?2F):F)BF-2JF)"G==G== IWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm 1;GqGqzKKKKKGA BQ Om >HM >II  IM "IIM `BII &II .II 6IM <:IM U FPgw,mAF3@YFyFHSd?6?@0|h?b???ɨF3@F;DyVBV8"II^~I^T_4٢r: vK=9z49Q ~>| G٣y'; > =Nusing accuracyPremultiplier from config9EY59=]Z?EY5Y=F^ i=AIMC@M@=DE=:= :=Y5Q U@QDNOT Ignoring new targets: 82.40 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. jjjjihhhhf1f9fArfAbfuP@ɛ'B% I BeɚiI =Iis։;i;) ))*F2F:FBF_5JF $?IG e;E Will construct direction to contact in vehicle frame from tetrahedron phase data.I M =U BDAT read: Response Not Received U *response not received-U {mw,PmA63@Y60A@696 >y6H@`ކ4?`f?zh? ԑ? [2?z?ɨ63@6;6CyNBN:"IMb@Mb@Mb@ )Yx&1? ףp= ?{Gz?yA?Q8=#< A ;@)AIhAyI`I(*4٢; >=9$:Q > G٣y1 > Nusing accuracyPremultiplier from configY59{Z?Y5Y] iAA?:D@@DE;j;;Y5B @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBf!f!f!rf!bf%JP@ɛQU¼ QUIY ]AfɚYiYI] =Iiim܉;imȔ;)i)q*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GCQ;GBO > $?I ftw,tmA6#3@Y6sBA@6N96 >y6HVD`k? ?{?@?g+? ?ɨ6#3@6,M;6CyR݃BV0"I^A\Ib}Ib]4٢j-! jY=9jE:Q n>ll nG٣nMGyre;; r> vNusing accuracyPremultiplier from configt~Will construct direction to contact in vehicle frame from tetrahedron phase data.~Y59vcZ?~Y5Yv<] ivÙAD@@vDEv4X;vwX;vY5   @ E=DNOT Ignoring new targets: 82.40 m. jAjAjAjAiAhAhAhIhIfIfIfQrfQbfU|P@ɛ}(BBʼ 隅bI nhɚiIB=IIiM;iU;)Q)QzKBHK9KKK*F?2F:FBFJFH>IC I"IIPBI/ =&I.I6I<:Ia FJJJJJܫ:JJJJ;aJ;aJnN;aJnN;aG5@;GM ?GM ?Will construct direction to contact in vehicle frame from tetrahedron phase data.G! BQ O >zw,_@mAVg3@YVQ4A@V9V >yVH?)?X??z?"?AC?` ?ɨVg3@Vn;VCyb܃B` E$?IA]Mb@Mb@Mb@YYY Y)YY]NbX9?Zd;O?~jt?y]E?]j<=]D<] A ]Q@)YI]AYy]AIusIuK4٢ @=9:Q > G٣y > Nusing accuracyPremultiplier from configY59GZ?Y5Y\ iޙAF?:D@@DE9;Z8;>Y5B @"EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfqfyfyrfybf}@Q@ɛ)BBƼ xI jɚiI=I i 0;i h;) )1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFX0JFG CQ;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.j{w,a7nA6&3@Y6EA@6z96M >y6H`N>??@{?ྯ? 2??ɨ6&3@6y\;6CyBփBB("IINtINM4٢Rb VY=9V9Q V> G٣yt0; > %Nusing accuracyPremultiplier from config!-Y59%.Z?-Y5Y%&\ i%A15D@5@%DE%P ;% ;%Y59 =y@=%EmDNOT Ignoring new targets: 82.40 m. jijijijiiihqhqhyhyfyfyfrfbf)Q@ɛּ 隵%I lɚiI\#=Ii ;iq;))*FA2FA:FABFM_0JFI -$?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.GMG;G!B)OM>zK} BoHK} h9Ky K} K} BK :K H >I  I "II ABI &I .I 6I <:I FQw,8nA6,3@Y6KA@6?96 >y6H`N(Jp??`| ?·?H(??JJJJJHJHJJ,:JJ:JHJHJJ;JJ;JJJ;JJJ;ɨ6,3@6;6Cy^҃Bb#"IIj}Ij]4٢nP rH=9r9Q r>tt vG٣vMGyv|: z> ~Nusing accuracyPremultiplier from configxY59zZ?Y5Yz[ izAD@@zDEze ;z ;zY5 @DNOT Ignoring new targets: 82.40 m. jjjjihhhAhAfIWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbf'FQ@c~G =Y9y=Aɛxϼ 隝.I dQoɚiI}I=Ii6;iC;))*F?2F:FBFJF %$?I)- Will construct direction to contact in vehicle frame from tetrahedron phase data.G G G Gy B O >ɍw,9nA>x,3@Y>bKA@>ゼ9> >y>H@r+[? \?z|@@?F\?'??ɨ>x,3@>=;11 5G٣1y=X => UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]Y59MY?]Y5YM[ iM)Ae+:ae^:ae@MDEM)K;M'>MY5mB m@m(EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf@]Q@ɛ*B1 隵.I p $?I 谔w,SnA653@Y6yTA@6q96b >y6H? AQ?Dپ?1}c?``?`f"?6?ɨ653@6N;4yVЃBV "II^I^_v4٢fu fQ=9j;Q j>hh jG٣lrWill construct direction to contact in vehicle frame from tetrahedron phase data.yv: v> ~bBottom track data is 0.8 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configxY59zCY?Y5YzZ izAA : 4: D@ @zDEz%H;zO?zNY5 @+EuDNOT Ignoring new targets: 82.40 m. jqjqjqjyihhhhfffrfbf@RwQ@ɛb 5I ssɚ i I =Iiq;i;))zKUKQKQKUKURK]?JK]?HI I"II7BI&I.I6I<:Ia F*F2F:FBF2JFJJJJJ:J:JJJ;J;JBr;JCr;Will construct direction to contact in vehicle frame from tetrahedron phase data.GO;G B1 O >ܚw,?mnA PIPypp u u uu uu  u u uMb@Mb@Mb@qqq q)qYum?V-?~jtx?yuN?uh=u;u A u;@)uQAIuAqyuAIrIJ49Q > G٣MGy > Nusing accuracyPremultiplier from configY59Y?Y5YAZ iZAT:eO?:F@@DEP ; ;Y5B @.E}DNOT Ignoring new targets: 82.40 m. jyjyjyjyiyhhhhڃBfffrfbf{Q@ɛۼ d5I }vɚ)i)I-=I1i5;i54s;)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP5JFG) G- ?G- >G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. áw,(dnA6$3@Y6CA@6y*96&>y6H = M$I?z? }\?@"E???ɨ6$3@6`;6CyRɃBR"IIZIZ1h4٢+ <99Q >!! %G٣!y-C/ -> 5Nusing accuracyPremultiplier from config1=Y595Y?=Y5Y5Y i5qA9=F@E@5DE5 ;5e ;5oY5I M0@M1E}DNOT Ignoring new targets: 82.40 m. jyjyjjihhhhfffrfbfQ@ɛ* (CI DxɚiIQ=Ii;i;))*FU?2FQ:FQBFUP0JFQ $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GGiByO>H >I  I "II -BI &I .I 6I ް<:I FBIuəCJIuəCRIqZIu/ =bIu/ =jIu5zK BHK 9K K K BK :K >w,B?nAJ2J2J21J0J2:J2:J23J0J2<J2<J2wp;J2xp;>)3@Y>oHA@>(9>f{>y>H`9`M? ?}i?@_??N?ɨ>)3@>;>Cy^ŃBb"IIjtIjM4٢zM zM=9Q  >    G٣ yB: > Nusing accuracyPremultiplier from configY59$Y?Y5YY iAF@@DEE;V;Y5B ^@4E-DNOT Ignoring new targets: 82.40 m.eWill construct direction to contact in vehicle frame from tetrahedron phase data. jjjjihhhhf1f9fArfIbfuQ@ɛr II |{ɚiIS =I i Ί;i 1;) ) $?I*F?2F:FBF.4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ;G G Gy B O >_w,3nA6 3@Y6+A@6װ96w >y6H@< ?`z?Zz@?`u?/?@?ɨ6 3@6†;6Cy>ʃBB"IiFpIQ UG٣UMGyU U> eNusing accuracyPremultiplier from configYeY59]oY?mY5Y]cY i]AmW?m{:m/G@m@]DE] ;];]Y5y }@}7EDNOT Ignoring new targets: 82.40 m. j!j!j)j)i)h)h1h1h5ʃBf1f9f9rf9bf=`Q@ɛ 隵?I "}ɚiI8 =Iizъ;iм;))*FM?2FI:FIBFM]0JFQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.G~q; a Ia Gi Bq O >zw,nA23@Y28A@292;>y2H t t?.H?| ģ??@? ,?ɨ23@2;2CyR΃BV"I^Will construct direction to contact in vehicle frame from tetrahedron phase data.blp rG٣pyr; r> vNusing accuracyPremultiplier from configtzY59vaTY?~Y5Yv$Y ivA|~=G@@vDEv< ;v ;vY5  @=DNOT Ignoring new targets: 82.40 m. j9j9jAjAiAhAhAhIhIfIfIfIrfQbfU`Q@ɛy 隅9I ?ɚiI^ =Ii݊;iC;))*F-?2F):F1BF5`0JF1He>Ia Ie"IIe(BIe0 =&Ia.Ia6Ie<:Iei FzKKh9KKK Gu 1;GQuWill construct direction to contact in vehicle frame from tetrahedron phase data.BO= > ] $?IY /w,nAyɃB"IMb@Mb@Mb@ )YbX9?~jt? G٣y > Nusing accuracyPremultiplier from configY59?5Y? Y5YX iܚA *W? |: F@ @DE9;;Y5B @:EEDNOT Ignoring new targets: 82.40 m. jAjAjAjAiAhIhIhIhMɃBfQfQfQrfQbfU@ R@ɛ 隍AI %;ɚiI =IiY;i ;))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F!:F!BF%o0JF!Ge@;G9 BI JSK[ـ3 K[ .KSKS"KSJ J J 0J J J :J ـ3J a @a @a @a @O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.w,oAy%ȃB%"II=I=k4٢Me US=9QQ U>QY ]G٣]MGyY ]> mNusing accuracyPremultiplier from configiuY59mY?uY5YmX imAqy}@mDEm:m:m,Y5 @=EDNOT Ignoring new targets: 82.40 m. jj!j!j!i!h!h!h)h)f)f)f)rf1bf5-R@ɛe)Be aeCIa m-{ɚiiiIm =Iqiu;iq)q)q $?I*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G~q;GBO>H= >I9  I= "II= #BI9 &I9 .I9 6I= n<:I= 3 FzKM DRLKM 9KI KM KM `=w,\"oAF2@YFA@FG9F >yFHm$d?ʿ?`)z?t?M??ɨF2@F};FCyn΃Bn"IIv|Iv[4٢~>< Q=9ׅQ >    G٣ y E > Nusing accuracyPremultiplier from config%Y59@X?%Y5Y4X iA!%F@%@DE::Y55B 5@5@EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf&FR@ɛV H6I Ěɚi=Will construct direction to contact in vehicle frame from tetrahedron phase data.Iv =Ii;iO;))*F?2F:FBF2JF $?IG@;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ew,cy6H@ ?U? (z@?c? ? ?ɨ62@6|;6Cy>ԃB>%"I=Mb@Mb@Mb@999 9)9Y=I +?I +?{Gz?y=9T?=9==#<= A 9)9I99y=AIUkIU=4٢m< mD=9m!9Q m>qq uG٣qy} }> Nusing accuracyPremultiplier from configY59X?Y5YX i.AnU?~:G@@EEY;4X;_Mw,:=VoARWill construct direction to contact in vehicle frame from tetrahedron phase data.y݃B1"IIgI64٢U?= UL=9UQ ]>Ya eG٣eMGye e> uNusing accuracyPremultiplier from configi}Y59mX?}Y5YmW imLA@mEEmD;mE;mY5B @FEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfGzR@ɛ(Bbټ  NI  ɚ i I v$!=Ii-Ċ;i&G;))H>I I"II(BI&I.I6I<:Id F*F?2F:FBFP0JFzKMBoHKM9KIKMKMG!j;)F= ]CWill construct direction to contact in vehicle frame from tetrahedron phase data.աiեAGNGvAB O > #Y vAy A $?I d|w,,poAyB;"I-Uonly read 3 of 4 data items for beam range. Device response is::RA, 86.31, 74.76, 80.88, 80.54  ]@] ]@] ]@]  ]@] IeoIeD4٢u|= uH=9qQ u>yy }G٣yy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configY59#X?Y5YW iiA+:N:@EEd<*>Y5) M*@UIEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfWR@ɛ'Bͼ !%<IA mɚiiiIuxC!=Iyi};iy)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F92F9:F9BFAJFAG :Ja Je BAG B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data._w,IoA62@Y6@@6Y96>y6Hd@[?@B?@w?@? "??ɨ62@6lF;6Cy^B^M"IIriIr:4٢zD= zS=9zٺQ z>|| ~G٣|y6ʻ >  bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config Y59 X?Y5Y jW i A :%':%G@%@ EE WH; kL? Y5-B -3@-LE]DNOT Ignoring new targets: 82.40 m. jYjYjYjYiahahahahafififirfibfu@2R@ɛSü 隝ɽI .ɚiIV!=Ii;iT:)) e$?Ia*F12F1:F1BF5_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.GU.A;G] ?G]>G)B9O]>jHbH<H>I I"II2BI/ =&I.I6I<:Ij FzK K 9K K K 'w,1ͣoA ,.@^2@Y^@@^$*9^*>y^H`g?w?ve?@ ? ?@y?ɨ^2@^8;\yfBj\"I)l lIkI=4٢%i= -G=9-/9Q ->11 5G٣5MGy5ǁ => EbBottom track data is 1.2 s old, using for 20.0 s. ENusing accuracyPremultiplier from configAMY59E.pX?MY5YE.W iEAU9QU:UjG@U@EEEE;(;E?EY5Y es@aDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbflR@ɛ&Bh pI xɚiIf!=I i3;iiy˹)))eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJF M$?IIGM7:G) B9 O] > Will construct direction to contact in vehicle frame from tetrahedron phase data.mw,WoA:ϸ2@Y:@@:Z9:C>y:H@O뿿b?d?(x p?ˑ?:?@h?ɨ:ϸ2@:Ň;:CyF BFi"I        Mb@Mb@Mb@ )YV-?I +?y&1?yhQ?94=`e< A )AIyAI[IK!4٢G= @=9VQ > G٣IyU: U> ]Nusing accuracyPremultiplier from configYeY59]QX?eY5Y]rV i]›AmT:mQ?m:mD@m@]EE]r;]s;]Y5 @OEDNOT Ignoring new targets: 82.40 m. jjjjihhh h Bfffrfbf`gR@J5J5J1J1J5ܫ:J5 :J1J1ɛ]%Ben aeOIa ɚiIo!=Ii;i 9))*F=?2FA:FABFE`0JFAmWill construct direction to contact in vehicle frame from tetrahedron phase data. 1I1Ge >G9 BI Oe >>w,؃oA:)2@Y:@@:ь9:,>y:H {>?9w?x2F???ո?ɨ:)2@:;:CbWill construct direction to contact in vehicle frame from tetrahedron phase data.yzBz{"IIgI64٢= W=9:Q >! %G٣!y%Ӻ %> -Nusing accuracyPremultiplier from config)5Y59-8X?5Y5Y-U i-ܛA9=D@=@-#EE-M;-;-Y5MB M@MREuDNOT Ignoring new targets: 82.40 m. jqjyjyjyiyhyhhhfffrfbfR@ɛ$B 隽़I  ,ɚiIr!=Ii<;i֒))H>I I"IIFBI&I.I6I<:Ih FBIaJIaRIaZIe0 =bIajIe;5*F2F:FBF3JFzKKh9KKKRKJK?GzQGG}Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOu > = $?IA Vw,^oAy~%B~"Ii G٣MGy > Nusing accuracyPremultiplier from configY59X?Y5YT iAJ?:B@@(EE;N;Y5 @UE-DNOT Ignoring new targets: 82.40 m. j)j)j)j1i1h1h1h9h=9BfAfAfArfIbfMdS@ɛu#Bu3# q}m;Iy }%ɚyiyI}o!=Ii@Z;i@Z))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFQ5JFG5SnG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.@w,&: pAJ 2@YJ@@J_9J>yJH0'?q?@=y?A?`tv?/?@ ?ɨJ 2@JE);JCyb4Bb"IIn]In$4٢v= vZ=9v9Q v>xx zG٣xyz9 ~> Nusing accuracyPremultiplier from config Y59X? Y5YT i A  B@@-EE;:&:Y5%B %@%XEMDNOT Ignoring new targets: 82.40 m. jIjIjQjQiQhQhQhQhYfYfafarfabfeb.S@ɛ"Be 隕=I 퇼ɚiIf!=Ii;i^)) $?I*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GzQGHI I"II`BI0 =&I.I6I<:I FBO>zK k3IK 9K K K BK :K J] J] JY JY J] :J] :JY JY J] ;am J] ;am J] U;am J] U;am w,R%pAV2@YVp@@V9V>yVH`ɺ ?v?x`?IB?@? ?ɨV2@Va;VCy=9B="IIMcIMy/4٢eC< eA=9e9Q m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configyY59}W?Y5Y} S i}&AB@@}2EE}:} :}Y5 @[EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf^IS@%Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ!BF] 隭;=I zɚiIY!=Ii%\Ĉ;i-om)))a I*F?2F:FBF75JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G !G ?G >GY Bi O >w,1>pA>w2@Y>`@@>횉9>6>y>H`R z+?v?vmo?(3? ?@?ɨ>w2@>=F;>CyJIBJ"I)L L%Mb@Mb@Mb@!!! !)!Y% r?{GztMb?y%C?%ף%QQ UG٣UMGyUߺ ]> mNusing accuracyPremultiplier from configauY59etW?uY5YeQ ie6AuC?u:uB@@u@e7EEe;e1;eY5B @^EDNOT Ignoring new targets: 82.40 m. jjjjihhhQhUNBfYfYfYrfYbf]!dS@ɛ,3 ̢=I ɚiIE!=Ii7r;i/]))*F?2F:FBFP0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IGFG B O >Xw,lXpA6̛2@Y6@@6C96>y6H`3E??v e?7??@?ɨ6̛2@6R;4RWill construct direction to contact in vehicle frame from tetrahedron phase data.PR G٣y" > %Nusing accuracyPremultiplier from config!-Y59%DW?-Y5Y%P i%FA)-9@@-@% PExceeded connect timeout, disconnecting. $?I hw,LrpA2|2@Y2e@@292g>y2H@2?`Q?w`PW?Ð? ?r?ɨ2|2@2;2CyR`BR"I]Mb@Mb@Mb@YYY Y)YY]MbX9?Q롿Mbp?y]A?]\];Y Y)YI]QAYy]AIu[IuK!4٢>= C=9OQ > G٣y8 > Nusing accuracyPremultiplier from configY59W?Y5Y`O iPAB?:=@@AEE9;I8;Y5B W@DNOT Ignoring new targets: 82.40 m. jjjjihhhh`Bfffrfbf S@ɛ)- )5>I1 5đɚ1i1I=!=I9i=J‡;iEꛘ)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFG5ïG B O5 >e Will construct direction to contact in vehicle frame from tetrahedron phase data."w,pA2'2@Y2@@2Ղ92>y2H @G_? ۮ?v2N?@uZ?ɵ?ָ?ɨ2'2@25 ;2Cy>lB>"IIJFIJ%3٢R^{= RZ=9V:Q V>TT VG٣VMGyZƺ Z> bNusing accuracyPremultiplier from config\bY59^KW?bY5Y^N i^YAdf=@f@^FEE^;:^:^`Y5h j@naEDNOT Ignoring new targets: 82.40 m. j j j j i h h hhfffrfbfS@ɛEBEd IM>II MRɚIiIIM =IQ $?IiUg;ij_))*FM?2FI:FIBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.G5˴GBH9I9 I="#II=BI=0 =&I9.I96I=r<:I=5 FO]>zK &~JK 9K K K J= J= J= 0J9 J= :J= ,:J= ـ3J9 J= L<J= M<J= ;J= ;%)w,^pAZGdp EYAyEA2@Y@@Ӏ9O>yH=.@? ?`ix`7? K?c? ?ɨ2@z;騍CWill construct direction to contact in vehicle frame from tetrahedron phase data.y%wB-"IIm[ImK!4٢8= ,=9:Q > G٣y : > Nusing accuracyPremultiplier from configY59[eW?Y5YcL idA=@@KEE&::Y5 B @ dEeDNOT Ignoring new targets: 82.40 m. nManaging dock network, ignoring radio surface power off ji $?Ijjjihhh h fffIrfQbfUS@ɛR />I ɚiI =Ii;iW l))*F2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G} <GQ Ba O} >J"0w,ҏpAyn{Bn"ImMb@Mb@Mb@iii i)iYm-?V-ym5>?mmmm A i)mhAImAiympAIPI 4٢h< ^=9Q > G٣y > Nusing accuracyPremultiplier from configZ59NW?Z5YJ igA>?:;@@PEE;U;Z5 @gEDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrf bf S@ɛ 9>I %*ɚ)i)I-2 =I1i5;i5,)1)9*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. u$?IqG'HGY Bi O >(I6w,J]pA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:H2@Y:0@@:\t9:q>y:Hɹ`9/?Ҝ? wJ??`?=?ɨ:H2@:H;8yN|BN"IVAVAIZeIZ34٢b}; bY=9b;Q b>dd fG٣dyf6= j> nNusing accuracyPremultiplier from configlrZ59n7W?rZ5YnbI injApr;@r@nTEEn :n:n Z5x z@xHI IH#IIBI&I.I6I<:IR FDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf S@ɛeBe8 ae(:>Ia mɚiiiIms =IqiuW;iu)q)y*F%?2F!:F!BF-4JF)zK}BoIK}h9KyK}K}RK ?JK?JJJJJ:Jz:JJJ;J;Jl;Jl;Will construct direction to contact in vehicle frame from tetrahedron phase data.G-GRG B O- > I {qy:H`1M@?(? v.V? m? B? ?ɨ:2@:*;:CyF~BF"IMb@Mb@Mb@ )Y~jt?i|?5Mbpy;?qI A @)@IhAyAI-fI-44٢=6< =C=9EG:Q E>AI MG٣MMGyM M> ]Nusing accuracyPremultiplier from configQeZ59U5W?mZ5YUG iUiAmAI \ɚiqIuK =Iyi};i}ll)y)}Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFMP0JFIGGGGBO >% Will construct direction to contact in vehicle frame from tetrahedron phase data.iZCw,oqA6~2@Y6f@@6 e96B>y6H@`X&?8?`>vU?䵌?`? ?ɨ6~2@6z;6CyNvBN"IIV_IVb(4٢f$ fR=9f#:Q f>hh jG٣hynO& n> rNusing accuracyPremultiplier from configpvZ59rW?vZ5YrF irhAtz;@z@r^EEr:re:r Z5 E$?IEh]B ]@]mEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf`,2T@ɛ!% p !-/>I) -X}ɚ)i)I-' =IQiU;i])Y)Y*F?2F:FBFV0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}=yZHRH@AHI IZ#IIτBI/ =&I.I6Iݰ<:I FBIyJIyRIyZIyGpbIyjI}4GBO5 >zK a3JK s9K K K YIw,'qA^ו2@Y^@@^]c9^ȱ>y^H @KKS?@?wK?{k???ɨ^ו2@^;^Cyr{Br"Ii~AA MG٣Iy·: >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configZ59AV?Z5Y^D igA;@@cEE;0;Z5 @pE}DNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfMT@ɛQUp5\ Y AII隽8>IQ ]wzɚ!i)I- =IQi};i}?Ǻ))*F-?2F):F)BF-P0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >lPw,AqA6N2@Y66@@6]966>y6Hdb"??`u+\?Z?@-?@?ɨ6N2@65ۇ;6Cy>jBB"IMMb@Mb@Mb@III I)IYMV-?Zd;~jtyM|??MyMM A MZ@)MQAIIIyMAImlImm?4٢}â }F=9}a:Q }> G٣MGy< > Nusing accuracyPremultiplier from configZ59V?Z5YB iYA/@?:;@@hEE;@;^Z5 @DNOT Ignoring new targets: 82.40 m. jjjjihhhhoBfffrfbf fT@ɛ-B-ݑ )-&>I1 5xɚ1i1I5 =I9i=˄;i=A)A)AJJJJJ:J :JJa@a@a@a@*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.i =$?I9G˴G B O >Vw,[qA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:72@Y:@@:^9:;>y:Hո?`@>?`?@iuh?׋???ɨ:72@: ;8yFbBF"IINpINF4٢V  VX=9Z2LQ Z>XX ZG٣Xy^9 ^> bNusing accuracyPremultiplier from config`fZ59bfV?fZ5Yb3A ibLAhj;@j@blEEb:b;bZ5nB r@rsEDNOT Ignoring new targets: 82.40 m. jjjjihhHe>Ia Iea#IIeԄBIa&Ia.Ia6Ie°<:Ieo Fhhfffrfbf T@ɛIMDĻ IUn>Iq uG9wɚqiyI}=Ii`;i ))*Fe?2Fi:FiBFm0JFizKK 9KKK  &guof^N=1(# RK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi"G B O > M $?IQ e\w,uqA @2x2@Y2@@2G]92>y2H@?b?4r?`???ɨ2x2@2qG;2CyNeBN"IPRA-Mb@Mb@Mb@))) )))Y-jt?X9v~jty-@?--D- A -Q@)-AI-@)y-AIEuIEaO4٢U2a< ]@=9]]9Q ]>aa eG٣ayec- e> uNusing accuracyPremultiplier from configiZ59mV?Z5Ym? imGA@?: >@ @mqEEmI9 EGuɚAiAIE=MWill construct direction to contact in vehicle frame from tetrahedron phase data.IiimF;imxO)i)q*F2F:FBF0JFJJJJJ:J:JJG! G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data.Fcw,RqA>2@Y>i@@>b`9>>y>H0pX??r? 3? k ?E?ɨ>2@>;;>CyRYBR"II^hI^V84٢fĂ fT=9fQ f>hh jG٣jMGyn: n> pIp zNusing accuracyPremultiplier from configtzZ59vV?~Z5Yvu> ivCA|'>@@vvEEv;v';vZ5 B @ yE=DNOT Ignoring new targets: 82.40 m. j9j9j9j9iAhAhAhAhAfIfIfIrfIbfUMT@ɛ} B}T1ֻ y隅|=I tɚiI:=Ii;i%&))*F?2F:FBF 5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.jH]<bH]<He>Ia IeZ#IIeτBIa&Ia.Ia6Ie<:Iem FGj-GqByO>zK] 2MKY KY K] K] iw,dXqABK:KqAn g2@Yn@@n$]9n >ynHu p@E?`v?oW?e?]2??ɨn g2@nF;nCyKB"IIeI34٢- -C=9-(9Q 5>11 5G٣1y=| => ENusing accuracyPremultiplier from configAMZ59EdoV?MZ5YE = iE>AQU >@U@E{EEE;E ;Eh!Z5Y ]d@]|EDNOT Ignoring new targets: 82.40 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. jjjjihhhhfffrfbfT@ɛ / L=I }rɚiI=Ii;i7)) $?I*F}?2F:FBF4JFG}*U Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Bi O >zpw, qA>Zb2@Y>B@@>K\9>L >y>H ' v??]nW?C?L??ɨ>Zb2@>{;;>CyJ=BJ"I%Mb@Mb@Mb@!!! !)!Y%p= ף?Mbpy&1y%E?%%`e! %@)%QAI%QA!y%zAI=`I=(*4٢M MI=9M9Q U>Q G٣y1 > Nusing accuracyPremultiplier from configZ59=TV?Z5Y; i:A'E?:U@@@EE=;<;%Z5 ;@MDNOT Ignoring new targets: 82.40 m. jIjIjQjQiQhYhYhYh]3BfafafarfabfeMT@JJJ/JJ :J:J(N3Jɛ!B4 `b=I rɚiIE=Ii Z`;i Ӊ) )IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFG GrA $?IG g{G ?G >G B O >vw, qAWill construct direction to contact in vehicle frame from tetrahedron phase data.<I IA#IIBI&I.I6I<:Ig FIxIx٢M6 MJ=9UQ ]>YY eG٣eMGye e> mNusing accuracyPremultiplier from configiuZ59m?;V?uZ5Ym: im7Ayy@mEEmO/;m/;m~(Z5B @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfU@ɛ15wG 9==I9 =ţqɚ9i9I=,~=IAiEށ;iMR9)I)I*F 2F :F BF [0JF ) vA YvAy"AzK=VBJK=+9K9K=K=Will construct direction to contact in vehicle frame from tetrahedron phase data.GGB O- >  I !}w,}qAFV2@YFt@@Fu]9F >yFHQ ? 5(?@Lm@V??`T?ͳ?ɨFV2@F:;FCyb'Bf"IuMb@Mb@Mb@qqq q)qYuZd;O?X9v?~jtxyu~J?u G٣y > Nusing accuracyPremultiplier from configZ59V?Z5Y9 i?AJ?:C@@EE;#;,Z5 @EDNOT Ignoring new targets: 82.40 m. jjjjihhh h 'Bf ffrfbf`gU@ɛ"Bg  Will construct direction to contact in vehicle frame from tetrahedron phase data.ew,|rA:X2@Y:lw@@:db9: >y:H@t6? :#? m ?bL? {M? ?ɨ:X2@:V;:C V$?ITyZ#BZ"IIfeIf34٢E݊ EP=9M)IQ M>IQ UG٣QyU(9 U> eNusing accuracyPremultiplier from configYeZ59]V?mZ5Y]69 i]FAimC@m@]EE]:]:]/Z5y }@}EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf 4U@ɛ#Bp :I OqɚiI7=Ii ;inv) ) *F?2F:FBFo0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHAAH>I I#IIBI. =&I.I6I<:Il FG)GGGBO>!!w,_|*rAzK"BHK"9K K"K" d E 'GcI~bM1^^2@Y^}@@^_h9^ >y^H׵`s-`?@?(n@? ?eO??ɨ^^2@^;^CyjBjw"IIrWIr44٢z zO=9~rQ ~>| G٣MGy: > Nusing accuracyPremultiplier from config Z59 U?Z5Y q8 i NA C@@ EE  ; 6; 2Z5%B -@-EUDNOT Ignoring new targets: 82.40 m. jQjQjQjQWill construct direction to contact in vehicle frame from tetrahedron phase data.ihhhhfffrfbf`NU@ɛm$Bm= iu ռIq uqɚqiqIu=Ii&;iˎ)) $?I*FQ2FQ:FYBF]0JFaGԑM Will construct direction to contact in vehicle frame from tetrahedron phase data.I M <G B O > w,^DrARHN2@YR0m@@Rk9RG >yRH@nԙ? y7?Ml`S?\{? :g??ɨRHN2@Rc;RCyZ BZj"IMMb@Mb@Mb@III I)IYMQ?Zd;?~jtxyM\O?My=IM A M@)Mv@IMQAIyM(AIegIe64٢uiI }B=9}Q }> G٣y1 > Nusing accuracyPremultiplier from configZ59U?Z5Y7 iZAO?:AE@@EE";;6Z5 +@E]DNOT Ignoring new targets: 82.40 m. jYjYjYjYiahahahyh}Bfffrfbf9jU@J)J-J)J)J)J-:J)J)ɛm%BmS˓ iuEIq urɚqiqIuØ=Iyi};i}ߧ)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:F!BF%0JF! IGA G B) OE >U Will construct direction to contact in vehicle frame from tetrahedron phase data.6w,%?^rA:S2@Y:ir@@:p9:B >y:H@?-?l?P? g??ɨ:S2@:+;:CyB BBh"I J=Ja=HN>IL IN"IINBIN/ =&IL.IL6IN<:INg FBIaJIaRIaZIe/ =bIajIeJ4If^If&4٢} }J=9!DQ > G٣y0N: > Nusing accuracyPremultiplier from configZ59U?Z5Ye7 ieAGE@@EE.::4:Z5 E@DNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf`U@ɛ!%4阼 !-0VI) -.sɚ)i)I-=I9i=};i=O)9)A*F?2F:FBF@5JFzKPK9KKKj^K/iO>-! Will construct direction to contact in vehicle frame from tetrahedron phase data.GXG ?G/? $?I G B O >l^w,xrAy]Be\"IMb@Mb@Mb@ )Y/$?/$?Mb`?y&Q?=; )IyIUI4٢A A=9Q %>!! %G٣%MGy- -> 5Nusing accuracyPremultiplier from config1=Z595͕U?=Z5Y57 i5{AEAR?E:EF@E@5EE5&;5;5=Z5M~B M@UEuDNOT Ignoring new targets: 82.40 m. jyjyjyjyiyhyhyhhBfffrfbfঝU@ɛ&B I 2tɚiIc=Iiǹ|;i|)) Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FI:FIBFM[4JFIGmGa Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Dw,\rA $?IhuoV2@YuWu@@u~9u0 >yuH`|@6?<'?@xl` ??w? \?ɨuoV2@u~;uCyޕBޕU"IIcIy/4٢+ Q=9hQ > G٣y9 > Nusing accuracyPremultiplier from config5Z59zU?5Z5Y6 iA9=F@=@EEth<}h<PAZ5A E7@EEmDNOT Ignoring new targets: 82.40 m. jqjqjqjqiqhqhyhyhfffrfbfyU@ɛx 隽஽I RuɚiIX=IiӒ{;i>))*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.jHbH4<H>IC I"IIoBI- =&I.I6I<:Im FGXG B O >J J J J J J :J J J 5;a J 7;a J yE;a J yE;a nw,frA6c2@Y6@@6v96IC >y6H=%p? ? mn?@?Z?H?ɨ6c2@6ϴ;6CyBBBV"IIJKIJ4zKnNKnػ9KlKnKn  "2٢ŧ; V=9HQ  >    G٣ yS ; > ENusing accuracyPremultiplier from configAMZ59E `U?MZ5YE6 iEAIMF@M@EEEE:E~:EDZ5}Will construct direction to contact in vehicle frame from tetrahedron phase data.}B  @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf  =U@ɛ! 8I pvɚiI=I $?Ii-{z;i-g)))1*F?2F:FBFX0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.GE )GI GI G! B) O} >Uw,ęrA6V2@Y6hu@@6e96W >y6H`Ƕ&? '?~m ?@̐?`\?.?ɨ6V2@6 u;6Cy>B>N"I]Mb@Mb@Mb@YYY Y)YY]Q?Cl?{Gzt?y]\O?];=]ף;] A Y)]@IYYyYIurIuJ4٢ B=9Q > G٣MGy? > Nusing accuracyPremultiplier from configZ59CU?Z5Y6 iœA;Q?:H@@EEr;;QHZ5~B @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf U@ɛ-'B-s )5lȽI1 5ˬwɚ1i1I5\=I9i=fy;iE)A)I*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕA $?IGg{GBO >= Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,qrAH&>I$ I&"II&`BI$&I$.I$6I&<:I&P Fj\`2@YjD@@j_9j8 >yjH ޠ@ϡ?w?@Zn?k?@X?`:?ɨj\`2@jE_;jCyvBvT"IITI4٢ < R=9̺Q > G٣!y-: -> 5Nusing accuracyPremultiplier from config1=Z595(U?=Z5Y56 i5ܜAAEH@E@5EE5;5 ;5KZ5I MD@MEuDNOT Ignoring new targets: 82.40 m. jqjqjyjyiyhyhyhhfffrfbf`V@ɛf LI! %_xɚ!i)I-=I1i5:Px;iU")Q)Y*F2F:FBFo0JFJuJqJu/JqJu:JqJu(N3JqJu;Ju;JqJqzKLK 9KKK3/)$  RK ?JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.G5T  $?I G B! OE >jw,0brAyޭB޵X"IMMb@Mb@Mb@III I)IYMn?)\(? G٣y > Nusing accuracyPremultiplier from configZ59 U?Z5Y}6 iABP?:I@@EE@;;OZ5 @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhԃBfWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbf V@ɛ!-Ϩ )-DI) -yɚ)i1I5g =I1i= w;i=)9)9*F2F:FBF0JFG XG ?G ?G B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I +w,'sA6?2@Y6^@@6?w96/ >y6HFC?TU?:k@??Ew??ɨ6?2@67;6CyBBBd"IIJmIJ3A4٢RQ= Rn=9VQ V?TT ZG٣ZMGyZ;» Z? bNusing accuracyPremultiplier from config\bZ59^aT?fZ5Y^w6 i^AdfH@f@^EE^:^P:^RZ5h js@lDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf6V@ɛͣ LI [zɚiI =I i u;i >;һ))*F2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHARHE?AHM>II IM"IIMUBII&II.II6IM<:IMT FGԑGBO >9 U vAy gY vAy :AJ J J 0J J J :J ـ3J J J J R;J R;ϻw,%-sA602@Y6N@@6 96W >y6H9 @ss?@s?@i ?@!?? ?ɨ602@6;6CyPPIZlIZm?49jkQ j>hh nG٣lyn r> vNusing accuracyPremultiplier from configpvZ59rTT?zZ5Yro6 ir:AxzH@z@rEErz:r":r;VZ5zK~{]LK~9K|K~K~ >VRKDEINSXX[]adimonlnmkjklmmkhdc`]WXXSBK :K }B l@E]Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf`HQV@ɛ9Eu AEIA E:{ɚAiAIM =IIiMt;iU)Q)q $?I*F5?2F1:F1BF5@5JF1Gm~Ի Will construct direction to contact in vehicle frame from tetrahedron phase data.GI BQ O > w,FsA692@Y6X@@696UY >y6H`ܲ{{?_?`j ?O?g|??ɨ692@6;6CyBBBl"I=Mb@Mb@Mb@999 9)9Y=@5^I ?&1?{Gzt?y=bP?===ף;= A =@)=@I99y=@IMfIM44٢]{< e<9eݹQ e>ai mG٣iym*: m> }Nusing accuracyPremultiplier from configyZ59}T?Z5Y}P6 i}WAR?:3H@@}EE}/;}j;}YZ5 @=EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf lV@ɛL HI  N|ɚ)i)I5 =I9i=s;i=$л)9)AEIuWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JF $?IGM GQ GQ G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. = H9 I= C I= "II= [BI9 &I9 .I9 6I= <:I= F Fw,`sAV]*2@YVDI@@VX9Vb >yVH@΢?\~? is?`ƾ?`'?@?ɨV]*2@VK;VCyzBzy"IIxIT4٢%M= %N=9%Q ->)) -G٣-MGy5 5> =Nusing accuracyPremultiplier from config9EZ59=T?EZ5Y=06 i=rAIM$H@M@=EE=":=.:=c]Z5U|B ]H@]EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf`dV@ɛ&B̓  I |ɚiI =Iiq;i^))*F?2F:FBFP0JFJIJMJM/JIJIJM:JM(N3JIJIJIJML;JML;zK=VNK= 9K9K=K=ONMOOOLKLNPOK?796.($!$&%%%%%#&&(&$$$%&&%&$&'(&''((&&&%%%'&%"RK] ?JK]?uWill construct direction to contact in vehicle frame from tetrahedron phase data.G }$?IyGB O% >w,ޫzsAMm!2@YMU@@@Mqؔ9M >yMH'@U΢??g@&?˚?r??ɨMm!2@M!E;MCymBm"IMb@Mb@Mb@ )YL7A`?~jt?~jt?y+G?=D< A @)v@IQAyIlIm?4٢%< %;=9%r9Q ->)) 5G٣1y5- 5> =Nusing accuracyPremultiplier from config9EZ59=݀T?EZ5Will construct direction to contact in vehicle frame from tetrahedron phase data.Y=6 i=AH?:G@@=EE=+<=<=6aZ5 @E-DNOT Ignoring new targets: 82.40 m. j)j1j1j1i1h1h1h9h=Bf9f9fArfabfm V@ɛ 隝iI #|ɚiI| =Ii p;i))*F}?2Fy:FyBFyJFyGE UG B! O= >} Will construct direction to contact in vehicle frame from tetrahedron phase data. ] $?IY w,qsA6!2@Y6?@@6J!96 >y6H` ??@g(?? +?`j?ɨ6!2@6;6CyR+BR"IIZrIZJ4٢b= be=9jKQ j>hh jG٣lynzr n> vNusing accuracyPremultiplier from configpvZ59r1iT?vZ5Yr5 irAxzG@z@rEEr:rX:rYdZ5{B @E-DNOT Ignoring new targets: 82.40 m. j)j)j)j)i)h1h1h1h1f1ffrfbfV@ɛDq I I"IIjBI. =&I.I6I<:IP FBIŚCJIRIZI- =bI- =jI5G>uG ?G?GBO> w,OsA:2@Y:l8@@:m9:| >y:H #@nߢ?`?tg$?@z?m??ɨ:2@:{U;:CyF4BF"IIR^IR&4٢ZB= ^K=9b::Q b>`` bG٣bMGyf f> jNusing accuracyPremultiplier from confighnZ59jNT?nZ5Yj5 ijӝAprG@r@jEEjy;j;jgZ5t vj@vEDNOT Ignoring new targets: 82.40 m. jjjjihh!h!h!f)f1=Will construct direction to contact in vehicle frame from tetrahedron phase data.f1rfIbfM=V@ɛu%Bu ZzK}|$NKyKyK}K}#$&('%'()())())(()*(''('! 隍w,+sA6k2@Y6R:@@6;96u >y6H`p Pע??g &$????ɨ6k2@6r;6CyNGBN"IUMb@Mb@Mb@QQQ Q)QYU~jt?㥛 ?~jt?yUD?U=QUA U@)QIU@QyU@ImcImy/4٢ҩ= ==98Q > G٣yW9 > Nusing accuracyPremultiplier from configZ592T?Z5YU5 iAE?:F@@EE;w;kZ5 D@DNOT Ignoring new targets: 82.40 m. jjjjihhhh Bf JJJJJ:JJJa-@a-@a-@a-@f f1rf1bf5V@ɛael2 am=Ii mn{ɚiiiIm=Iqiuyk;iu+)y)y*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IG-G B O5 >H >I  I "II ~BI &I .I 6I <:I J F Will construct direction to contact in vehicle frame from tetrahedron phase data.w,sA:+2@Y:-@@:|=9:, >y:H`ү`9@?@6?Yf-?k??:?ɨ:+2@:rԆ;:CyFZBF"I)H HIRZIR4٢Z<= Z[=9ZtgQ Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdjZ59fVT?jZ5Yf4 ifAhn F@n@fEEf;f|;fnZ5p r@rEDNOT Ignoring new targets: 82.40 m. jjjjihhh!h!f!f!f)rf)bf-@W@ɛU$BY 4=I *zɚiI=Iij;i%))*F?2F:FBFS5JF"G=G=]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]AG} $?IzKmMK9KKK   GiByO>Kw,wsA}1@Y}@@}l9}pQ>y}Hg`Md@|? ?Qd >?DM?κ?`?ɨ}1@}P;yyޕdBޕ"IEMb@Mb@Mb@AAA A)AYE)\(?J +?yy }G٣}MGy6 > Nusing accuracyPremultiplier from configZ59S?Z5YB4 i*AA?:D@@EEw;;rZ5Will construct direction to contact in vehicle frame from tetrahedron phase data.zB `@EDNOT Ignoring new targets: 82.40 m. jjjjihhhhEBfffrfbfy"W@ɛ-#B-H )->I1 5] Will construct direction to contact in vehicle frame from tetrahedron phase data. I 0w,;tAysB"II5XI54٢E= Ea=9EQ E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configYeZ59]S?eZ5Y]3 i]@Aaae@]EE]":] :]!vZ5q um@uEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf@9W@ɛg  >I FbvɚiIb=Iif;i% ))*Fm?2Fi:FiBFuP0JFqZHRH@AHI I#IIBI/ =&I.I6I<:IG FWill construct direction to contact in vehicle frame from tetrahedron phase data.GjGiByO>W w,-/tA:62@Y: @@:+9:> >y:H `S ?@?`Ge 2?#?? ?ɨ:62@:};:CyBBF#IIVZIV4٢Zھ= ^T=9^MQ ^>`` bG٣`yf: f> jNusing accuracyPremultiplier from confighnZ59jPS?nZ5Yj3 ijWApr!D@r@jEEj>;j>;jyZ5vyB z@@zEmWill construct direction to contact in vehicle frame from tetrahedron phase data. e$?IqDNOT Ignoring new targets: 82.40 m. jjjjihhzKLK]9KKK  1>FHHFEDAA<31/-(! e`shhfffrfbfSW@ɛ]"B]3Ⱥ Y]E>IY esɚaiaIe)=Iiimd;im)i)q*F5?2F1:F1BF1JF9G GsAGmGu?Gu> Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi B O >Aw,vItAy~B~ #IMb@Mb@Mb@ )Yx&1?S㥛?{Gz?yA?/<#< A @)@I@yIgI64JJJJJ :JJJ٢= 6=9Q > %G٣%MGy% %> -Nusing accuracyPremultiplier from config)=Z59-ްS?=Z5Y-)2 i-pA=A?=:=EB@=@-FE-";-@;-l}Z5I M@I}DNOT Ignoring new targets: 82.40 m. jyjyjyjyiyhyhhhoBfffrfbf oW@ɛ 隽"W>I pɚiI=Iic;i)) M$?II*FU?2FQ:FQBFU_0JFQeWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiG Ga Bq O >H >I  I A#II BI &I .I 6I <:I ` F Will construct direction to contact in vehicle frame from tetrahedron phase data.ziw,VHctAZ2@YZ&@@Z9Z5>yZHU=F@l ? 7?ZdY???@??ɨZ2@ZG;ZCybBb#IInIInd4٢vM= v`=9zQ z>x| ~G٣|y: >  Nusing accuracyPremultiplier from config Z59 S?Z5Y d1 i AKB@@ FE : .: Z5! %@-EMDNOT Ignoring new targets: 82.40 m. jQjQjQjQiYhYhahahafafifirfibfm@W@ɛ(1; 隝\j>I nɚiIp=Iia;i"_)))) )c~GvA*FM?2FQ:FQBFU`0JFQ EYuvAy}A AIIGU"Will construct direction to contact in vehicle frame from tetrahedron phase data.G1B9zKu,NKu 9KqKuKuutWzaJ1 RK?JK?O>w,!:}tA"!2@Y @@@ 9q2>yH U.?@?`ex?`-?@G??ɨ"!2@$;騙yB#I}Mb@Mb@Mb@yyy y)yY}?Mbp G٣yoa; >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configZ59|S?Z5Y0 iA@?:?@@ FE2d;b;Z5 @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBff!f)rf)bf- W@ɛY]h/: Y]y>Ia eamjɚaiaIei^=Iiim_;im)q)q*F?2F:FBFJFJ J J J J :J :J J GjGGG B O > % $?I! } Will construct direction to contact in vehicle frame from tetrahedron phase data.z|%w,tA6u2@Y6\5@@6%96>y6H@\%5?ƥ? cƋ?`? ?ج?ɨ6u2@6qÆ;4yNBN0#IIZHIZ<3٢b= bo=9b69Q f?dd fG٣dyj j? nNusing accuracyPremultiplier from configlrZ59ngS?rZ5Yn/ inAtv?@v@nFEn:n:nZ5zzB z@z¹EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfW@ɛ); >I >gɚiI =I i I5C I5m#II5߄BI5- =&I1.I16I5<:I1Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>h+w,ݰtA2j@2@Y2Q_@@2옼92>y2H`1.? R?gi?O?:? ?ɨ2j@2@2V;0yBBB4#IIJNIJ@ 4٢R_< VL=9VVQ V>XX ZG٣ZMGyZ; ^> b$?I` fNusing accuracyPremultiplier from configdjZ59f\NS?jZ5Yf- ifAln?@n@fFEfu;f;f&Z5ryB v@vŹEDNOT Ignoring new targets: 82.40 m. jjjj!i!h!h!h!h)f)f)f)rf)bf5@W@=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛae; im̍>Ii mrcɚiiiIm=Ii)];iZWȻ))zK1VNK9KKKBK!:K%rA*F?2F:FBFR5JFG׹GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.2w,ȶtA:E2@Y:d@@:9:f>y:H`@(?`[H? h@k?dV??@?ɨ:E2@:ч;8y^BbE#IMMb@Mb@Mb@III I)IYM}?5^I?Zd;O~jtxyMMB?MjMĻM A M@)M`@IIIyM\@IeiIe:4٢u= u>=9}Q }>y G٣y@: > Nusing accuracyPremultiplier from configZ59O3S?Z5Y, iAfB?:>@@FE;;Z5 @DNOT Ignoring new targets: 82.40 m. jjjjiqhqhqhyh}Bfyfyfrfbf7W@ɛZ; >I C_ɚiI:f=IiY[;i/ʻ)) $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF@5JFGVG ?G(?G B O >H- >I- C I- #II- BI- . =&I) .I) 6I- Ͱ<:I- z FBIʙCJIRIZI. =bI. =jI=<5 Will construct direction to contact in vehicle frame from tetrahedron phase data. < 8w,[tA6EW2@Y6,v@@6DԚ96O>y6H ,@;?V%?Hij?=Z?G?`?ɨ6EW2@6h;6Cy>BBB#IDFAAIJ[IJK!4٢R?\ RY=9R'#Q V>TT VG٣TyZn;; Z> bNusing accuracyPremultiplier from config`fZ59bjS?fZ5YbV+ ibĞAhj>@j@bFEb:bb;b2Z5l n@rǹEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf`X@ɛ  < >I1 =8[ɚ9iAIEI=IIiMZ;iM^Ѫ)I)q*F)2F):F)BF-P0JF)J#K+>w,N}tA_2@Y~@@49>yHAb.? a?hh b?r? !??ɨ_2@;騍Cy„BJ#IMb@Mb@Mb@ )YˡE?lMbpyG?Will construct direction to contact in vehicle frame from tetrahedron phase data./ A @)v@IyAImI3A4٢{< ,=9HQ > G٣MGyɏ: > Nusing accuracyPremultiplier from configZ59R?Z5Y) iɞA)H?:=@@#FE; ;XZ5 j@ʹEDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfAfAfArfIbfU'X@ɛ; >I ҊVɚiI=IiTY;iW))*F2F:FBF1JF $?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >Ew,jPuABKW2@YB2v@@Bb9Bw>yBHj0?K%?Mg? aR?? ?ɨBKW2@BŇ;BCyJɄBNS#IIVfIV44٢^R0= ^s=9b9Q b?`d fG٣dyf6˺ f? nNusing accuracyPremultiplier from confighrZ59jR?rZ5YjX( ij͞Apr=@r@j(FEj;j:jGZ5zxB z@z͹EUDNOT Ignoring new targets: 82.40 m. jQjYjYjYiYhahahahafafifqrfybf};X@ɛ#BFT< <>I 9SɚiI T=IqiugX;iu!)q)yZHRHAAH>IC I#IIBI- =&I.I6Iq<:I7 F*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G M.G G G B O >J! J% J! J! J! J% :J! J! J! J! J% yE;J% yE;EKw,#2uA $I$yĄBM#IIbI-4%Will construct direction to contact in vehicle frame from tetrahedron phase data.٢-μ -D=95Q 5>11 G٣y > Nusing accuracyPremultiplier from configZ59R?Z5Y& iҞA@-FE:A;Z5 >@йEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfVX@ɛ)-^< 15٠>I1 5pNɚ9i9I=#=IAiEFW;iE&()A)A'TFailed to parse incomplete device message.*F2F:FBF_0JFG5QpWill construct direction to contact in vehicle frame from tetrahedron phase data.=%=G B OU >GRw,LuA2j2@Y2Q@@292)a>y2HehQ`??@j@̢?`ԏ??`?ɨ2j2@2͇;0yNBNE#I-Mb@Mb@Mb@))) )))Y-sh|??S㥛:vy-I?-/ݼ-T- A )))I-v@)y-\@IMTIM4٢] ]G=9eQ e>aa eG٣eMGymH; m> }Nusing accuracyPremultiplier from configq}Z59uݰR?Z5Yuh% iuўA!J?:>@@u2FEuL;uf;uZ5 @UDNOT Ignoring new targets: 82.40 m. jQjYjYjYiYhYhYhaheBfafafarfibfmRqX@ɛ$Bg< >I JɚiIҒ=IihWV;iK 5$?I1))9-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFG )G B O >H I  I #II !BI &I .I 6I s<:I 9 F Will construct direction to contact in vehicle frame from tetrahedron phase data.Yw,euAJ2@YJ@@Jȝ9J>yJH`?s? =mڒ?@?L ?ຬ?ɨJ2@JJ;JCyTVF#IIbcIby/4٢fG; jT=9jӹQ j>ll rG٣pyre; r> zNusing accuracyPremultiplier from configtzZ59vzR?zZ5Yv$ ivОA|~>@~@v7FEv;v;vZ5wB @ ӹE=DNOT Ignoring new targets: 82.40 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfMԈX@ɛy}"< y}>I 7GɚiI9=Ii!U;i))JJJJJ:J :JJJ;J;J8P;J9P;E"=EEsA !I!EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA*F?2F:FBF_0JFzK )OK 9K K K $,G} V'SG ?G >GQ Bi O >H`w, juA2@Y@@=9#>yH`d@쿿@u?w?Gm Y?b?? [?ɨ2@T;Cy%B-I#IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y/$?{GzQyL?#u @)I@IQAy @IaI+4٢vD< '=9 9Q > G٣y%._: %> -Nusing accuracyPremultiplier from config)5Z59-wR?=Z5Y-" i-ϞA=L?E:E-@@E@-=FE-sU;-4T;-(Z5I M_@MֹEuDNOT Ignoring new targets: 82.40 m. jqjyjyjyiyhyhyhhBfffrfbfX@ɛ%Bư; 隝>I BɚiIQ=IiU;i)) $?IE< Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF JF G˴GBO?Fhw,GuAB2@YB@@BG9BOR>yBH@@fﱢ?y2?Tp??@-?K?ɨB2@B&j;@HR>IP IPIPIP&IP.IP6IR<:IRg FyB=#II5TI54٢E6. E2=9M9Q M>II UG٣UMGyU; U> ]Nusing accuracyPremultiplier from configYeZ59]qXR?eZ5Y]c! i]ΞAimP@@m@]CFE]:];]+Z5y }@}ٹEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf|X@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ&B^; 7>I >ɚiI.h=I i T;i H:) )EE*E"Eu~G YyAJ=J9J9J9J=,:J9J9J9J=;J=;J9J9*FU?2FQ:FQBFQJFQ -$?I1 Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 zK dLK h9K K K 2;@A@@9845310/*,('%%  G B OU >*nw,rluA6m2@Y6TA@6]96>y6H RQ? ?erq?@v ?@?D?ɨ6m2@6oņ;6CyBBB3#IIJiIJ:4٢R8/ RU=9V=:Q V>TT ZG٣XyZ|W; ^> bNusing accuracyPremultiplier from config\bZ59^>R?fZ5Y^L  i^̞Adfd@@f@^HFE^:^:^Z5nvB ny@nܹEDNOT Ignoring new targets: 82.40 m. jjj j i h!h)h9h9fAfAfIrfQbf]zX@ɛ 'B ; 15>I1 5::ɚ1i1I==I9i=xkT;iEgC:)A)A*F?2F:FBFR5JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.GE}:GIGMsAG! B1 OU >  $?I uw,3uA"Will construct direction to contact in vehicle frame from tetrahedron phase data. i bq2@YbXA@bU9b>ybH@ܡ?`_?@s]?~J?? :?ɨbq2@b ;bCyjBn/#IMb@Mb@Mb@ )Y/$?y&1? G٣yk: > Nusing accuracyPremultiplier from configZ59!R?Z5YX i˞AL?:^B@@MFEw;;TZ5Y ]@]߹EDNOT Ignoring new targets: 82.40 m. jjjjihhhhiBfffrfbf@>X@ɛ(B; >I 6ɚiI=I!i%=T;i% ;)!))*F?2F:FBF@5JFH>IC I#IIBI. =&I.I6Ig<:I/ FWill construct direction to contact in vehicle frame from tetrahedron phase data.G:G B O >w9{w,/uA>2@Y>A@>9C9>Z >y>HO?(Ơ? ? >t*9? ;(?@m??ɨ>2@>꾆;>CyrBv(#II~hI~V84٢ /  U=9;Q > G٣MGy%ܺ %> -Nusing accuracyPremultiplier from config)5Z59- R?5Z5Y-~ i-ȞA9=SB@=@-RFE-,;-;-Z5A E@ME}DNOT Ignoring new targets: 82.40 m. jyjyjyjyiyhyhhhfffrfbfY@ $?Iɛ)B~; z>I 3ɚiIt=IiT;i:))]Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FqBFuP0JFqzKijMKػ9KKK    &X ^BK:KG:GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. w,vAy-B-)#IMb@Mb@Mb@ )YMbX?Q?y&1|yJ?\=`vA @)II@y(@IQI4٢"1; ==9Q > G٣y > Nusing accuracyPremultiplier from config Z59VQ? Z5Y iҞA J? : C@@XFE;/;vZ5uB @EMDNOT Ignoring new targets: 82.40 m. jIjIjIjIiIhIhQhQhUPBfYfYfYrfYbf]@ .Y@ɛ*B©; 隍|y>I ~0ɚiI&=IiS;i:))JJJJJl:J:JJa%@a%@a%@a%@*FM?2FI:FIBFMT0JFI $?IeWill construct direction to contact in vehicle frame from tetrahedron phase data.GG ?G6?Gi Bq O >Jw,m"vAZH RH"@AH$I$ I&#II& BI$&I$.I$6I&Ѱ<:I&| FBI CJI CRI ZI - =bI - =jI c4Vu2@YV[@@VZD9V >yVHvs`{??sk;?`d?ɏ??ɨVu2@VS;VCynBr(#IIzZIz4٢檻 Z=9R$    G٣y9 > -Nusing accuracyPremultiplier from config!-Z59%NQ?5Z5Y%! i%מA15C@5@%]FE%:%;:%Z5A E@AmDNOT Ignoring new targets: 82.40 m. jijijijiiihqhqhqhqWill construct direction to contact in vehicle frame from tetrahedron phase data.fffrfbftGY@ɛm+Bm; quu>Iq uZ-ɚyiyI}=IiS;im:))*Fi2Fi:FiBFm_0JFi $?IG7:m Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >zK5 aOK1 K1 K5 K5 qBuuP4" RKM ?JKM ?yw,зy^H@M??jv ?rτ?`W? ?ɨ^2@^)k;^CyjBj##IIrbIr-4٢~ ~J=9~;Q ~> G٣MGyT;  > Nusing accuracyPremultiplier from configZ59uQ?Z5Yu iܞA!%C@%@bFE::DZ5) -(@5E]DNOT Ignoring new targets: 82.40 m. jYjYjYjYiYhYhahahafafafirfqbfu_Y@ɛU,BUҹ; Y]k>IY ])R*ɚYiYI]=IaieOYS;im;)i)i*F ?2F :FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gx:GY Bi O >J% J% J! J! J% ,:J% :J! J! } $?I \w,~VvAWill construct direction to contact in vehicle frame from tetrahedron phase data.B2@YBo@@B9B2 >yBH@f +ƙ?!?[u? ?`I??ɨB2@Bή;@yJBJ(#IMb@Mb@Mb@ )Y?J +?~jtxyL?H=Ļ A @)@I`@y@IaI+4٢I< @=9;Q > G٣yA > Nusing accuracyPremultiplier from configZ59ǚQ?Z5Y iA0M?:D@@gFE]Z;X;Z5 @EDNOT Ignoring new targets: 82.40 m. jjjjihhh!h%YBf!f!f!rf)bf-@{Y@ɛ.B^; o>I c'ɚiIU=I i  S;i O:)))1E9E=rA*F2F:FBFo0JF"G=G=HE>IA IE#IIEBIA&IA.IA6IE<:IE FWill construct direction to contact in vehicle frame from tetrahedron phase data.G :G! G% rAG B O >w,[pvA:2@Y:A@:|ջ9:F >y:H:q@W? ?u p?þz?E? ?ɨ:2@:K;:CyFBF#IINYIN4٢Vh Z\=9^;Q ^>`` bG٣`yb: f> jNusing accuracyPremultiplier from configdjZ59fQ?nZ5Yf_ ifAprD@r@flFEfI;f2I;f=Z5vtB z@zE %$?I!DNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf`Y@ɛ/B%,; !%DW>I! %1{$ɚ!i!I-]=I)i-R;i5:)1)95Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JFzKXNKh9KKKG}:GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.nw,4vAB92@YB @@Bƣ9Bv. >yBH/迿@2?G0?s?xt? X?`X?ɨB92@B*;BCyNBN$#I-Mb@Mb@Mb@))) )))Y-|?5^?x&?y-M?-7=--A -@)-3@I-@)y-@IEwIER4٢UX= U@=9]l;Q ]>YY eG٣eMGye1 e> mNusing accuracyPremultiplier from configiuZ59mdQ?uZ5Ym imAN?:7F@@mqFEmI X!ɚiI8=I1i5qR;i5P9)1)9JJJJJJ:JJ $?I*F?2F:FBF_5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.GM 7:G! B) OM >jH= <bH= 4=HE >IE C:w,vA Iu#IIuBIq&Iq.Iq6Iu<:Iu FV2@YV@@VzHS9VM >yVHD@)@꫔?b-?t ?@ ij?`Btt zG٣xy~q9 ~> Nusing accuracyPremultiplier from config Z59YJQ? Z5Y iA9F@@vFE:q:[Z5%sB %o@%EMDNOT Ignoring new targets: 82.40 m. jIjIjQjQiQhQhQhYhYfYfYfarfabfe4Y@ɛ2B; 隕DT>Will construct direction to contact in vehicle frame from tetrahedron phase data.I OɚiI=Ii$R;id*:))*Fi2Fq:FqBFuP0JFq $?IGf8G ?G?GiByO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.®w,BvAzK"k3IK"9K K"K"J2@YJ@@J@Һ9J  >yJHɽ`L?g=?eu`@? HZ?-?ƶ?ɨJ2@JϮ;JCynBn$#IIv\Iv#4٢E< I=9C;Q >    G٣ y > }Nusing accuracyPremultiplier from configZ59.Q?Z5Y7 iA1F@@|FEn<u:Z5 @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfY@ɛ=4B=,]; AE]>IA EɚAiAIE=IIiMPQ;iMw:9)Q)Y*F5?2F1:F9BF9JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.ս<ս<G}:G B O > $?I J- J- J) J) J- :J- :J) J) ] Will construct direction to contact in vehicle frame from tetrahedron phase data.5w,vAv2@Yv@@vO99v! >yvH׼5e{?`6[?t4?3>`?শ?ɨv2@v}@;vCy5B5"#IMb@Mb@Mb@ )Y rh?L7A`?MbPyCK?+=vA @)`@I3@yz@I gI 64٢c 9=9l;Q >! %G٣%MGy-3 -> =Nusing accuracyPremultiplier from config1EZ595Q?EZ5Y5 i5 AEK?M:M!F@M@5FE5;5;5Z5Q U@QDNOT Ignoring new targets: 82.40 m. jjjjihhhhPBfffrfbf Y@ɛ6Bn; V>I ɚiIt=Ii7Q;i))*F}?2Fy:FyBFyJFyHI I#IIBI- =&I.I6I<:Ia FWill construct direction to contact in vehicle frame from tetrahedron phase data.) mNGvAG! #Y vAy A} ? =AG B O >ջw,vA>2@Y>@@>::9>>y>H@7o?`X?5tk? GTP?`Ѷ?ɨ>2@>;< PITyVBV2#IIbYIb4٢fً= jc=9j;7;Q j>ll nG٣)y5^9 5> ENusing accuracyPremultiplier from configAMZ59E2P?MZ5YEp iEAIU#F@U@EFEE:EG:EZ5a eJ@eEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfYZ@ɛ8B; l>I X)ɚiI=IiP;i))EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF^0JFzK}BHK}9KyK}K} G'HGGGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.Bw,J} wA:S2@Y:9@@:J;9:f >y:Hdi l?g?q@&?V`t0?`ǵ?ɨ:S2@:r;:CybBb0#IMb@Mb@Mb@ )Ym?p= ף?MbP?yN?=:`A @)I@y@I`I(*4٢ ==9P;Q > G٣y_ > Nusing accuracyPremultiplier from configZ59P?Z5Y iABO?:E@@FED;;Z5rB e@E DNOT Ignoring new targets: 82.40 m. j j j jihhhhKBfff!rf!bf% 40Z@ɛM:BMu; QUd>IQ UɚQiQI]=IYi]P;ieP")a)a $?I*F?2F:FBF`0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G-u4GBO >H >I C I I I . =&I .I 6I <:I f FDw,ٖ%wAJ2@YJ@@JF;9J# >yJH0`Uf%?Fn?lr i?h`*?@?ɨJ2@Jqi;JCyrBr4#IIzIIzd4٢ g<  S=9 K);Q  > G٣MGy; > %Nusing accuracyPremultiplier from config!-Z59%&P?-Z5Y% i%A)5E@5@%FE%:%q:%Z5A M)@ME]Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 82.40 m. jj!j!j!i!h)h)h)h1f1f9f9rfAbfEJZ@ɛI $ɚiI?=I i5w,5?wAzK6RKK6]9K4K6K6V2@YVl@@Vw;9VV >yVHͻ :e T? y?q`?.q 1??ɨV2@V;VCy^B^3#IIf]If$4٢nف nO=9r@;Q r>pt vG٣tyv] v> zNusing accuracyPremultiplier from configx~Z59zFP?Z5Yz* iz"AE@@zFEz ;z ;zZ5  1@E=DNOT Ignoring new targets: 82.40 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM`)bZ@ɛ}=B4< 隅c>I dV ɚiI=IiO;iik))*F?2F:FBF_5JFG  G rAWill construct direction to contact in vehicle frame from tetrahedron phase data.G5'HG= ?G=?GBO5> q Iq = Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 2w, YwAF~2@YFd@@FW;9Fz >yFHUX@{g?@Ig?gr?u ~'? ?ɨF~2@F ;FCyRBR=#IMb@Mb@Mb@ )Y rh?A`"?Mb`yL?Y=vA )I3@y@ITI4٢ =  9=9&+;Q > %G٣!y-o: -> ENusing accuracyPremultiplier from config9MZ59=>P?]Z5Y= i=#A]L?e:eE@e@=FE=B;=;=jZ5qB @E%DNOT Ignoring new targets: 82.40 m. j!j!j!j!i!hIhIhQhUjBfQfQfYrfYbf]SZ@ɛ?B; o>I ] ɚiI=Ii+eN;igSM))*F?2F:FBF3JFH>IC III&I.I6I<:IX FBIIJIMřCRIIZIM. =bIM. =jIM5Will construct direction to contact in vehicle frame from tetrahedron phase data.G ˴G B O > ] $?Ia *w,)swAJ2@YJ@@Jt;9JP >yJH`o@Y ?@vb?r?@z`?H?ɨJ2@J瓉;HyRBRB#IJ^J^J\J\J^ܫ:J^-.:J\J\J^;J^;J^v;J^v;InSIn4٢vE< v^=9zKI;Q z>|| ~G٣~MGye9 >  Nusing accuracyPremultiplier from config Z59 oP?Z5Y  i E@@ FE ; ; Z5! %Y@% EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfZ@ɛAB݊<  v>I UɚiIn=I)i5M;i5 ;)1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JFzK BoIK 9K K K BK:KqAG'HGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. w,njwAR2@YR@@RW;9R8>yRHK@Վ?bP?s r?@~ ?ն?ɨR2@RB;RCynBlmMb@Mb@Mb@iii i)iYmMbX?J +?~jthymJ?mH=mDm`A m@)mv@Im@iym@IcIy/4٢Wp A=9<$;Q > G٣y: > Nusing accuracyPremultiplier from configZ59ISP?Z5Y i!A$K?:D@@FE;;RZ5 ]@DNOT Ignoring new targets: 82.40 m. jjjjihhhh_Bfffrfbf`ԲZ@ $?Iɛ=CBE; AEzq>IA EKɚAiAIM#=IQiUVtM;iUr)Q)Y*F2F:FBF P0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G G G G B O >H >I  I #II BI &I .I 3D6I <:I F FW5w,fwAJ2@YJ@@J` <9J>yJHBMq ?L?t&?򫁿`?೷?ɨJ2@J;JCyfBfH#IIrUIr4٢z< zU=9z[9;Q z>|| ~G٣|y9 >  Nusing accuracyPremultiplier from config Z59 9P?Z5Y  i AD@@ FE ; b; Z5! %@% EeWill construct direction to contact in vehicle frame from tetrahedron phase data.uDNOT Ignoring new targets: 82.40 m. jqjqjyjyiyhhhhfffrfbfGZ@ɛDB$< w>I ϤɚiI=I i M;i 7\O))*F2F:FBF_0JF IJKـ3 KKK"KJJJJJJ:JJJJJI;JI;GuFG1B9O]> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,|wAzKnBoHKn 9KlKnKn    RKv?JKv?=2@Y=@@=8Z!<9=$G>y=H+@J|?D?`iu?1+@?9?ɨ=2@=;=CyUȄBUQ#IIeeIe34٢u= uB=9}=;Q }>yy }G٣MGy: > Nusing accuracyPremultiplier from configZ59P?Z5Yh iAD@@FE3;(4;VZ5 @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfZ@ɛFBw < >I ɚiI=I!i%L;i%v8 7)!))*F2F:FBFJFG G"GG}Will construct direction to contact in vehicle frame from tetrahedron phase data.GiByO> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,XwAy]ʄB]U#Iie%=Ie4=Mb@Mb@Mb@ )YK7?y&1?y&1|yIL?`<` A @)Iyp@I%ZI%4٢5.Q< 5?=95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIUZ59MP?UZ5YM iMAUkL?]:]4C@]@MFEMS;M;MZ5epB e]@eEDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf)[@ɛIB< >I DhɚiI=Ii}2L;i[))E*F2F:FBF`0JFG ?G>H->I) I-#II-BI-+ =&I).I)6I-<:I- FGBOA>}Will construct direction to contact in vehicle frame from tetrahedron phase data.}=}< $?I qw,2wAJPJRJPJPJPJR:JPJPJPJPJRL;JRL;2@Y@@|D<9>yHB,t?@?3?`Hud?w??ɨ2@;y΄BY#II-_I-b(4٢=S< =\=9=;Q =>AA EG٣AyMx: M> UNusing accuracyPremultiplier from configQ]Z59UO?]Z5YU iUAY]=C@e@UFEU ;U ;UTZ5i u"@uEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf@ [@ɛKBTG9< >I Y'ɚiIӨ=IiFK;iԛ9))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fq2Fq:FqBFu0JFqGqBO>zKUgLKU+9KQKUKU BKeqA:KerA Will construct direction to contact in vehicle frame from tetrahedron phase data.]w,xAZ[2@YZ@@@ZَU<9ZF>yZH `2n?? 6v3?@??ɨZ[2@Z;ZCynȄBnR#IMb@Mb@Mb@ )YFx?y&1?:vyK?T`A @)I@y(@IPI 4٢̼ B=9!;Q > G٣MGyE: > Nusing accuracyPremultiplier from config[59O?[5Y iAK?:YC@@FE;B;[5 s@E%DNOT Ignoring new targets: 82.40 m. j!j!j!j!i!h!h)h)h-qBf1f1f1rf1bf= 2[@ U$?IUhɛuMBu< y}Vv>Iy }qyɚyiyI}=IizK;iר:))*F)2F1:F1BF53JF9GB O%,>Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH AAH% >I!  I% #II% BI% , =&I! .I! 6I% <:I% F w,'(xArG-Will construct direction to contact in vehicle frame from tetrahedron phase data.! u4YqyuA]2@YB@@sf<9Dm>yHU>f?%?`u%? 5Ό??ɨ]2@Qg;y-фB5\#IIESIE4٢U*= U@=9U;Q ]>YY ]G٣YyeY e> mNusing accuracyPremultiplier from configiu[59mhO?u[5YmH imAy}UC@}@mFEm;ml;m[5oB @EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf4N[@ɛPB(< ݀>I ߻ɚiIO=Ii:K;i 3:)) EE*F?2F:FBFP5JF -~$?I1uPExceeded connect timeout, disconnecting.JuJuJu/JqJu,:JuU:Ju(N3JqJu;Ju;Jue;Jue;Will construct direction to contact in vehicle frame from tetrahedron phase data.GGRGGG B O >kw,LAxA:V2@Y:;@@:Tcx<9:>y:HA\?#? 9u? `?@/?ɨ:V2@:҉;8yV΄BVZ#II^QI^4٢fH fi=9fM;Q j>hh jG٣hyn19 n> rNusing accuracyPremultiplier from configpv[59rO?v[5Yr ir՞AxzVC@z@rFErz:re:r[5| ~@5DNOT Ignoring new targets: 82.40 m. j1j1j1j1i1h1h9h9hAfAfAfArfAbfMd[@zK]^KK]h9KYK]K]ɛRB<<< 隅Fy>I ٻɚiI/=IiYJ;iN(H:))*F]?2FY:FYBFeP0JFamWill construct direction to contact in vehicle frame from tetrahedron phase data.im%=GU>|: =}$?I9G9BIOe> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,˝[xAyЄB\#IMb@Mb@Mb@ )Y rh?y&1?I +yCK?`e<94 @)@I@y@IZI4٢%< 9=9Q > G٣MGy >  Nusing accuracyPremultiplier from config [59 zO?[5Y  i žAPK?:4B@@ FE ,; ;  [5! %@%EMDNOT Ignoring new targets: 82.40 m. jQjQjQjQiQhQhYhYh]BfYfafarfabfe@ހ[@ɛUTB]< aew>Ia mһɚiiiI_=IiDJ;i))HI I#IIBI- =&I.I6I<:Io F*Fa2Fa:FaBFaJFa}Will construct direction to contact in vehicle frame from tetrahedron phase data.G }:G B O > % |$?I) \w,wuxA nManaging dock network, ignoring radio surface power offF2@YF@@Fo<9F >yFH `db@R>?`r @0?Ԟ ?͵?ɨF2@F];FCyNքBNc#IIVbIV-4٢^[< ^`=9b˷;Q b>`d fG٣dyj j> rNusing accuracyPremultiplier from configpv[59rLbO?v[5Yr irAtv'B@v@rFEr:r:r[5zpB ~@~E%DNOT Ignoring new targets: 82.40 m. j!j!j!j!i)h)h)h)h)f1f1f1rf1bf=?[@ɛ WB ^B<  ~>I  ߡ̻ɚiI=IYi]=J;i]ڷ)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F1:F1BF5^0JF9"GER=GEa=zKK+9KKKGiGu ?Gu?GI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.Y#w,xxAyޕ҄Bޕ^#I I5Mb@Mb@Mb@111 1)1Y5K7?/$?I +y5IL?5<153@ 5@)5QAI5@1y5@IM_IMb(4٢]K ]2=9eQ e>aa mG٣iym m> uNusing accuracyPremultiplier from configq}[59uCO?[5Yu iuA`L?:B@@uFEu;u;u[5 @"EDNOT Ignoring new targets: 82.40 m. jjjjihhhh8Bfffrfbf@[@JJJ0JJJ:Jـ3Ja@a@a@a@ɛYB:X< k=隽jp>I aŻɚiI=IiI;i 8))*F2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G ǹG B H >I  I I I , =&I .I 6I <:I e FBIyJI}ʚCRIyZI}, =bI}, =jI}=5O >)w,4xA^I2@Y^.@@^"<9^>y^H ~XZ@2Q?q E=?d?Y?ɨ^I2@^X`;^Cyv΄BvY#IIhIV84٢%A %b=9%;Q %>)) -G٣)y5Ӻ 5>=Will construct direction to contact in vehicle frame from tetrahedron phase data. ENusing accuracyPremultiplier from configAM[59EU+O?M[5YE iEAQUB@U@EFEE ;E ;E[5Y e@e%EDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf[@ɛ[B5.< e>I ΏɚiI)=IihI;i))*F?2F:FBFp0JF y$?IG_:GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.0w, xAbY2@Yb>@@b%<9bѣ>ybHf.hPd:7?s@Q5?K$`? ?ɨbY2@bb;bCy]ՄB]a#IzKK]9KKKIVIn4٢eT< e8=9m:Q m>ii G٣MGy): > Nusing accuracyPremultiplier from config[59 O?[5Y'  iuAB@@FE~::[5 @ (EUDNOT Ignoring new targets: 82.40 m. jQjQjQjYiYhYhYhYhafafafarfabfmj[@ɛ^B*\< m>I !aɚiIaS=uWill construct direction to contact in vehicle frame from tetrahedron phase data.I iWH;i0~9)) x$?I*F?2F:FBF_0JFG%rA G%rAJ J J J J :J :J J % Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! GU >GY GY G1 B9 OU >c7w,&xA62@Y6}@@6<96 >y6H@{k@F?@qF?`O?`?ɨ62@64;6CyB҄BB^#IMb@Mb@Mb@ )YK7?y&1|? G٣y > Nusing accuracyPremultiplier from config[59FN?[5Y/  iZAI?:A@@FE%;*$;[5 @DNOT Ignoring new targets: 82.40 m. jjj!j!i!h!h!h)h-Bf)f)f1rf1bf5\@ɛe`BeU(< i b>I  *˳ɚ i I t=Ii%H;i,X))HqIq Iu#IIuBIq&Iq.Iq6Iu<:IuH F}Will construct direction to contact in vehicle frame from tetrahedron phase data.EM<*F?2F:FBFJF w$?I G 9G B O >l>w,xA Will construct direction to contact in vehicle frame from tetrahedron phase data.:2@Y: A@:2<9:I>y:H`;ot?pu*"?⅖?,?ɨ:2@:1;:CyJ̈́BJX#IIRiIR:4٢Zó Z?=9ZS;Q ^>\\ ^G٣^MGyb0; b> jNusing accuracyPremultiplier from configdj[59fN?j[5Yf.  ifI %oɚ!i!I%=IIiMSUH;iMz:)I)QE==*F2F:FBF0JFzKBHKh9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.G% !G9 BY O > I ZMEw,%=yA23@Y2e%A@2m<92>y2HJ`B 1y?x??-mI?`?ɨ23@2-Љ;0yN˄BRV#IJbJbJ`J`Jb,:Jb:J`J`EMb@Mb@Mb@AAA A)AYEK7?~jt? rhyAEq G٣yw; >  Nusing accuracyPremultiplier from config [59߸N?[5YK  iAI?:B@@FEN;M; %[59 =:@=.EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf<\@5Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛUfBU@< Y]lK>IY ]觻ɚYiYI]s=IaieNPH;ie;K;)i)iEqEq*Eq"EqEEH>IC I#IIBI+ =&I.I6I<:Iq F*F?2F:FBFn0JF"G=Gp= Will construct direction to contact in vehicle frame from tetrahedron phase data.G :G B O >)Lw,3yA v$?I :3@Y:~"A@:\=<9:r>y:H>|`t?@w ?' ?Զ?ɨ:3@:m;:CyFȄBFR#IIjIjk4٢rl r==9v:Q v>xx zG٣|y~޹ ~>  Nusing accuracyPremultiplier from config [59XN?[5Yt  iAB@@FE;;([5 %i@%0EMDNOT Ignoring new targets: 82.40 m. jIjIjIjQiQhQhQhQhYfYfYfYrfYbfe !V\@ɛhBZ< 隝@>I bɚiI=Ii#GH;i4;))*FE?2FA:FABFE 5JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.iGe']?;GABIOm>zK K 9K K K RK ?JK ?Sw,LyAWill construct direction to contact in vehicle frame from tetrahedron phase data.3@Y#A@<9r>yHG~뙿? w"??`?ɨ3@W;騵Cy„BK#IIehIeV84٢Ǽ 0=9y:Q > G٣MGyR9 > Nusing accuracyPremultiplier from config[59~N?[5Y iAB@@FE6;;,[5nB @3E t$?I-DNOT Ignoring new targets: 82.40 m. j)j)j)j1i1h1h1hAhAfIfQfQrfYbf]!t\@ɛkB5; 隵*.>I ѝɚiI*Y=IiG>H;i":;))*FY2FY:FYBF]05JFYJJJJJJ:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.G Gy B O >4Yw,VfyAH >I I#II BI* =&I.I4D6I<:I F)  SCy ΄B Y#IH~G  MFYIyUAMb@Mb@Mb@ )Yq= ףp?/$?MbyK?< A )I@yf@I-OI- 4٢=Y= =C=9EQ E>AI MG٣I]Will construct direction to contact in vehicle frame from tetrahedron phase data.y] ]> mNusing accuracyPremultiplier from configau[59ebN?u[5Ye ieǝAuK?u:uB@}@eGEe1;e;e~0[5 @6EDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf\@ɛnB< Z?>I ƘɚiI=Ii 6H;i ) )*F?2F:FBFO0JFG G s$?I G ;G G G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >`w,pyyAN 3@YN*A@N<9N&>yNH Z@k |?|x@[?^@_??ɨN 3@N;NCyZÄBZL#IIfgIf64٢n n{=9r9:Q r?pp vG٣tyvӵ: v ? zNusing accuracyPremultiplier from configx~[59zMN?~[5Yz  izAC@@zGEz ;z ;zR3[5  @ 9EEDNOT Ignoring new targets: 82.40 m. jAjAjAjAiAhAhIhIhIfIfIfQrfQbfU }\@ɛ}pBD< 隅r%>I [ɚiIB=Ii<:H;iSU;))*FQ2FQ:FQBFU^0JFQzKeBHKe9KaKeKe!'..,,)))+/>D@:10+'  BKurA:KuqAmWill construct direction to contact in vehicle frame from tetrahedron phase data.GGqB  I! O] >Ifw,_yA2)3@Y2~HA@26<92ƽ>y2H2+I?@0{ ? R?ݷ?ɨ2)3@2k;2Cy885Mb@Mb@Mb@111 1)1Y5J +?L7A`?{Gzy5H?5+=5#5vA 5@)5AI11y1IMdIM?14٢]v: ]B=9e Q e>aa eG٣eMGymB; m> uNusing accuracyPremultiplier from configq}[59uS1N?}[5Yu^ iuAH?:D@@uGEu3\;u ;u7[5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 82.40 m. jj!j!j!i!h)h)h)h-Bf)f1f1rf1bf5S\@ɛ}sB}; 隅>I wɚiI=IixH;i6;))*F=?2F9:F9BFE_0JFAjH!bH%<H-#>I-C I-#II-BI-) =&I).I)6I-<:I-_ Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm !j;GQ Bq O > q$?I qlw,1yA6'3@Y6tFA@6<96tH>y6H`NY`?{?tϛ?c?ɨ6'3@6;6Cy^BbF#Iif=Id f=f=IjgIj64٢r vS=9v#Q z>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config [59N? [5Y iA D@@GE::g:[5 @I A ɚiIg==IiH;iy8;))*F2F:FBFd0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.G 1;G B O >zK MK ]9K K K 6Ysw,g yAWill construct direction to contact in vehicle frame from tetrahedron phase data.b?3@Yb^A@b_<9bz>ybH :7@g 0?@}? 3`>??ɨb?3@b>;`y„BJ#IQU@AIesIeK4٢m< 3= p$?I9 Q > G٣y5J; 5> =Nusing accuracyPremultiplier from config9E[59=OM?E[5Y= i=qAAE%D@E@=GE=z:=:=>[5UmB U@U?EDNOT Ignoring new targets: 82.40 m. jjjjihhhh f ffrfbf\@ɛexB; 隝8>I ֳɚiI=Ii&I;i?;))*F}?2Fy:FyBF}`0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.G @;G B O >H- %>I)  I- #II- BI) &I) .I) yw,tyA6I]<:I]o FBICJICRIZI* =bI* =jI 5f:3@YfrYA@f<9f >yfHldFRp}oľ?@}?ൟ`J???ɨf:3@f;fCyvBzI#IMb@Mb@Mb@ )YZd;O?Mb?:vy~J?=T A @)I@y\@IXI4٢- -P=95Q 5>99 =G٣9yE%Y E> MNusing accuracyPremultiplier from configIU[59MvM?U[5YM` iM]A]J?]:] D@]@MGEM;M5;MA[5a e@eBEB*** querying acoustic contact ***jjDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf ]@ɛ{B;  >I ɚiI=IiGUI;i;))5Will construct direction to contact in vehicle frame from tetrahedron phase data. =2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF`2JF o$?IJ}J}JyJyJ}:J} :JyJyJ}h;J}j;J}U;J}U;G{/;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2716>  BDAT read: Tx time:22:36:23.2081  $Ping request sent. yfH n}Uy?`)?`R@a?}?ɨf{M3@ff;fCyll)t tIz[IzK!4٢MR; _=9@SQ  > G٣MGyN; > -Nusing accuracyPremultiplier from config!-[59%M?-[5Y% i%HA15 D@5@%"GE%:%C:%E[5a e@eEEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf`%]@ɛ-}BUܶ; qu>Iq }*.ɚyiyI}H=Ii[I;i$;))EE*Fa2Fi:FiBFm05JFizK%2KK%9K!K%K%=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:22:36:23.2073 Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251770Gq n$?IGq B O w,zAy||Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502920Mb@Mb@Mb@ )YE?X9v?y&1|yF?<` A $@)hAIyII3٢2 >=9Q > G٣y > Nusing accuracyPremultiplier from config[59M?[5Y i6AF?:D@@'GE6;@;H[5  @HE=DNOT Ignoring new targets: 82.40 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfM @]@ɛ}B}{; y隅>I s}ɚiI,=Ii3J;i1;))*F ?2F :F BF P0JF ZH?ARH@AH&>I III( =&I.I6I<:Iq FGO;GB O= >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756219 m$?I kw,w5zA>d3@Y>A@>u<9>a>y>H@qㇾG5s !?l@?b??ɨ>d3@> ;\\ ^G٣\yb~; b> jNusing accuracyPremultiplier from configdn[59f,M?n[5Yf if(AlrD@r@f,GEf*;f;fK[5t v@tDNOT Ignoring new targets: 82.40 m. jjjj!i!h!h!h!h)f)f)f)rf)bf5`0X]@ɛeBezH; ae>Ii mFwɚiiiImPY=Iqiu{J;iu&;)q)yJEJEJAJAJE:JE :JAJAJE;JE;JER;JER;*F5?2F1:F1BF5W0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006864GGBO>zK= BIK9 K9 K= K=  #] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258749Yw,LlOzA2Q3@Y26A@2<92a>y2H@<νxjt?ф~?.@*V?@?ɨ2Q3@2;0y>BB?#IiR=IR6?IE7IE3٢4 %5=9UВQ ]> I G٣MGy; > Nusing accuracyPremultiplier from config E[59 sM?E[5Y  i AIMJD@M@ 2GE #< ; +P[5UlB U>@UKEDNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbfw]@ɛBN3; 隝=I ypɚiI=IiK;i"<))*Fm?2Fq:FqBFuP0JFq"G}=G}=Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514960Gu 1X<GQ Ba O} >H (>I  I I I &I .I 5D6I <:I Fҙw,4izAv3@YvA@vS<9v>>yvH`y`eo@ _? f? ";?@j?ɨv3@v|;vCyMb@Mb@Mb@ )YuV?L7A`?y&1|yrH?+= A ;@)zAIy(AIaI+4٢ ǁ:  L=9 ß:Q  > G٣y+b: %> -Nusing accuracyPremultiplier from config!-[59%I[M?5[5Y%; i% A5H?5:5rD@=@%6GE%;%V;%pS[5A E7@ENEmDNOT Ignoring new targets: 82.40 m. jijqjqjqiqhqhqhyh}Bfyfyfyrfbf]@ɛB}; 隽=I kɚiI|=IiL;iye#<))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763243*Fa2Fa:FaBFm_0JFi k$?IG-jx<JK|3 KS}-KK"KJeJeJaJaJeL:Je:JaJaJeO;JeP;JeL;JeL;G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015242w, zA2?3@Y2#A@24<923>y2H zٽr`t?`2T?F擿&??ɨ2?3@2E;2CyRBR<#IIZgIZ64٢bdh jG٣hyjr j> rNusing accuracyPremultiplier from configlr[59nwCM?v[5Yn vtIinAtvmD@v@n;GEnE9;nQ:;nV[5 Y@QE-DNOT Ignoring new targets: 82.40 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bfE`]@ɛmBm/N; im=Ii ugɚyiyI}=IiV_M;iƽ<))*F5?2F1:F1BF50JF1zK}KK}9KyK}K}A?( BKqA:KrAWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266837Gu)<G9Ba j$?IOE >Jw,zA 6s3@Y6ՒA@6<96g>y6HW eJ@qu ?@~2?@䜔 I??ɨ6s3@6;6CyBBB?#IEMb@Mb@Mb@AAA A)AYEL7A`?/$?:vyE+G?Eq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519181q G٣MGy > Nusing accuracyPremultiplier from config[59'M?[5Y iADG?:kC@@@GE5;;TZ[5 ,@TEDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfffrfbf 0]@ɛB 3; !%=I! %ڋbɚ!i!I%'5=I)i-BN;i-<)))1*F2F:FBF<1JFG GjHm<bHmp<HqIq Iu#IIuBIu' =&Iq.Iq6Iu<:Iu FuNG zYyBG<GBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770848 I :w,P¶zA6Ճ3@Y6A@6<96˫=y6HI < 9u?$?v ݾ??ɨ6Ճ3@6M;6Cy>BB;#IIJlIJm?4٢R  VX=9VɹQ V>X\ ^G٣\yb(; b> fNusing accuracyPremultiplier from configdj[59fM?j[5Yf? ifҜAhj{C@n@fEGEf* ;f ;f][5rkB rb@rWEDNOT Ignoring new targets: 82.40 m. jjjjihhhhf!f!f!rf!bf%g]@ɛUB; =I ^ɚiI%m=IiN;i<) ) *F?2F:FBFR5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.խAiթBDAT read: Rx Time:22:36:25.8727 TRx dataTimestamp_ set to:1736375787.012330checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033861Gl<G B O5 >zK < LK 9K K K RK >JK = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274897w,_zAbs3@YbɒA@bޥ<9bK=ybH`Q*K@hv8? ?z?`?ɨbs3@b;bCy~B~>#II I Ho4٢%7< -C=95M#:Q 5>99 EG٣AyU! U> Nusing accuracyPremultiplier from config[59L?[5Yy iAkC@@JGE< 5g$?I1<_a[5 <@DNOT Ignoring new targets: 82.40 m. jjjjihhhhfffrfbf]@ɛ=B=0: 9=0=IA EJPYɚAiAIE=Iqi}JO;iO<))J5J5J1J1J5:J5:J1J1a=@a=@a=@a=@*F}?2Fy:FyBF}3JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526991G <GY Hm '>Ii  Ii Ii Ii &Ii .Im 4D6Im <:Im z FB O > w,{zAJx3@YJA@Jf<9J=yJH`e81vwн?@ܿ? z?`/?ɨJx3@J;JCyRBV<#IeMb@Mb@Mb@aaa a)aYe%C?{Gz?~jtyeZD?e# G٣MGy#: > Nusing accuracyPremultiplier from config[59L?[5Y iAdD?:B@@OGE4;=3;d[5 K@ZEDNOT Ignoring new targets: 82.40 m. jjjjihhhhBfff rf bf ^@ɛ=B=K`; 9=Ԙ=I9 =VɚAiAIE=IAiMLP;iMy= <)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 22:36:25.8727 LVL= 24112, 18913, 15586, 23283, AGC= 65, IDX= 264, 0.08, 1.850,-2.215, 2.580, 1.930, PHS= 0.009, 2.186, 0.648, RAW= 313.4, -27.4, CAL= 312.0, -41.1, ROT= 198.0, 41.1 UYgot valid direction response: 22:36:25.8727 LVL= 24112, 18913, 15586, 23283, AGC= 65, IDX= 264, 0.08, 1.850,-2.215, 2.580, 1.930, PHS= 0.009, 2.186, 0.648, RAW= 313.4, -27.4, CAL= 312.0, -41.1, ROT= 198.0, 41.1 ]PDAT read: Bearing 198.0, 41.1 (Local) e~Local bearing/azimuth received: Bearing 198.0, 41.1 (Local) DAT read: Range 10 to 50 : 195.3 m (Round-trip 260.5 ms) speed -0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.601464,0.502018,-0.621465]Fpublishing direction and range info*F?2F:FBFP0JF"G=Gp=9:1??a?0# yLCC0^I <)ZIAit<m @T%? @G @@)7I +]@i7?&-뿜 @ZʿD`i 2?*+? -f$?I)GaS<G ?G?GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,Q{A6o3@Y6ΎA@6<96@=y6H X[v??`{`2?@J?ɨ6o3@6,;6CyRBPIZiIZ:4٢bK bX=9b霸Q f>dd fG٣dyj j> rNusing accuracyPremultiplier from configpv[59rWL?v[5Yr irAtvB@z@rTGEr:r;:r@h[5| ~Q@]Ek-T #?k-U k) k-zA:k-LCCBk-ACZk-r@"-1/[]]@ȉӂX@ H>W^-:1??a?0# Jk- 2?Rk-*+?*-2p'_1ސvX" [-jbU俖pŌr)"k-*k-0k-Z-"?k-! 2k-1k-G~o?k-O k-!vk-Bk-@M addTargetRange:: Added new target pos. range: 195.300003 m, deltaT: 120.264462 s, deltaX: 103.200005 m, approachRate: 0.858109 m/s, rangeRepo size: 4 } Added new target pos. range: 195.300003 m, bearing: 217.484599 deg, lat: 36.903990 deg, lon: -122.119937 deg, deltaT: 139.178556 s, deltaX: 112.900002 m, approachRate: 0.811188 m/s, posRepo size: 4 FNOT Ignoring new targets: 195.30 m.Completed rollout at range: 195.30 m. Resuming terminal guidance.bTransitioning guidance mode to: TERMINAL_GUIDANCE*j? j@jjjihhhhfffrfih@bf [?ɛB 2I: x=I RɚiIr/=I?@ii%<)%@)!*F?2F:FBFJFzKBoHK+9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data. )I1G5 P <G B1 Ou >J9 J= AAJE JE JA JA JE ܫ:JE :JA JA i1w,o+{AJq3@YJA@Jܿ<9J=yJH@7`hQ2w?@\g?H? ?ɨJq3@J;JCynBn1#I]Will construct direction to contact in vehicle frame from tetrahedron phase data.uMb@Mb@Mb@qqq q)qYuL7A`?:v?:vyu+G?u G٣yF9 > Nusing accuracyPremultiplier from config[594L?[5Y! i{ANG?:C@@YGED;LC;l[5 @`EMmmAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal1Nm}Entering Terminal tracking update period 2.000000 s sec at 195.300003 m (mode 1.000000 count ).1N}qN} jjjjihhhhBfffrfbf`?ɛ5B5@9 15K=I9 =pOɚ9i9I=r=IM<@iIim=)i)q*F?2F:FBFQ0JF ZH-@ARH)H5)>I1 I1I1I5( =&I1.I55D6I5{<:I5N FBIĜCJIĜCRIZI( =bI( =jI?5G<GBOj> Will construct direction to contact in vehicle frame from tetrahedron phase data. % e$?I! [w,8{A:z3@Y:A@:#S<9:=y:H+vvƽ? (a#?` JV? ?ɨ:z3@:k;:CyRBR-#IIZyIZxV4٢zD zV=9~JQ ~> G٣MGyy:  > Nusing accuracyPremultiplier from config [59 )L?[5Y ~ i gA!%C@%@ ^GE 6; 7; [o[5) -@5cEZlE@qNENEMB*** querying acoustic contact ***jIjI jYjYjYjYiYhahahahafififirfibfmc?ɛB#: 隥@#=I 2MɚiI=I 59@iiC{=))*F}?2Fy:FyBF}i0JFymWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.GN<GGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. %= 4=% ,DAT read: user:2717> - BDAT read: Tx time:22:36:28.5081 - $Ping request sent.- hh jG٣hyn n> rNusing accuracyPremultiplier from configpv[59rqL?v[5Yr irSAtvC@z@rcGEr:re:rr[5| ~@|blNN d$?I jjjjiihqhyhhfffrfbf@^?ɛ=B=) 9=))J J J J J :J :J J *F=?2F9:F9BF=]0JF9G/7=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:36:28.5073 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251491GBO>HU 0>IU C IU #IIU BIU & =&IU GD.IQ 6IU I<:IU / Fxw,k{AB8j3@YBA@B`Ϟ<9B=yBH @hu@?@%_a?ٓ??ɨB8j3@BO ;BCyNBN)#IuMb@Mb@Mb@qqq q)qYuPn?{Gz?QyuD?u# G٣y > Nusing accuracyPremultiplier from config[59JUL?[5Y i9A&D?:B@@hGE;-;v[5jB >@fEjlNrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal jjjji h h h hBfffrfbf M?ɛEBE&x AE0)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504943*F?2F:FBFQ1JF c$?IG湬=GBOD>u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755228Uw,p{A6*3@Y6IA@6<96=y6HXWT@q5? l?`VN?C?ɨ6*3@65A;6CyRBR"#IIZ_IZb(4٢f fZ=9faQ f>hh jG٣jMGyn-) n> rNusing accuracyPremultiplier from configpv[59rG=L?v[5Yr! ir$AtzAB@z@rmGEr:r:ry[5| ~@iE j!j!j!j)i)h)h)h)h)f1f1f1rf1bf= y@ɛmBm im`C))E *F?2F:FBF@5JFG=G?G>GaBiO9>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006658zK>BKK 9KKK b$?IJ- J- J) J) J- :J- :J) J) w,s{AB 2@YB@@Bb<9B˱=yBHz@mq ]?@?` JI?k?ɨB 2@Bv;BCyRBR#I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258574EMb@Mb@Mb@AAA A)AYES㥛?S㥛?{GzyE$F?E/qq }G٣yy}m }> Nusing accuracyPremultiplier from config[59!L?[5YW i ATF?:>C@@rGE;;}[5 5@lE jjjjihhhhBfffrfbf@V@ɛBv6 @FI 9LɚiI =I,"@ii))*F?2F:FBF 5JFH1>IC Is#IIBI% =&I.I6D6Iӯ<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510348G w=G B O > a$?I w,eS{A2@2@Y2$8@@2<92OA=y2H@s Y?`? .?C?ɨ2@2@2v;0yBBB#IIJaIJ+4٢bូ fU=9f_Q f>hh jG٣hyjԼ n> =Nusing accuracyPremultiplier from config1=[595L?E[5Y5 i5AAEB@E@5wGE5` ;5 ;5 [5I Mo@UoEmB*** querying acoustic contact ***jiji jyjyjyjihhhhfffrfbf` @ɛBpN `I MɚiI=I @ii))*Fu?2Fq:FqBFuP0JFqGE}=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763244G!B1OM1> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014591 w,|+{A6K1@Y6j?@6<961=y6HYÿ@(`u6?˦?Va? ?ɨ6K1@6;4'BTFailed to parse incomplete device message.y@B#IIJiIJ:4٢R): VL=9V;Q V>XX ZG٣ZMGyZk ^> bNusing accuracyPremultiplier from config`f[59bK?f[5Yb ib֛AdfA@j@b|GEbe:b:bs[5niB ne@nrE jjjjihh h h f ffrfbf @ E`$?IAɛMBM} IM ļIQ UsMNɚQiQIUOk=I%@i)i))Y)iEEqA*F?2F:FBFQ0JFG GGeK'>G9BQOuX>UWill construct direction to contact in vehicle frame from tetrahedron phase data.YiY]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266632) U c~G vA Y vAy BH 2>I  I m#II ߄BI &I .I 6I <:I Fͻw,{ABp0@YB>@BIZ<9BSr=yBH` ſ ׇ?@@2?*Q?@?ɨBp0@B3;BCynBn#IMb@Mb@Mb@ )YˡE?:v?MbyG?<vA @)II@yAIhIV84٢96 :=9;;Q > G٣y > ENusing accuracyPremultiplier from config9E[59=^K?M[5Y=m i=AUH?U:U@@U@=GE=M;=%L;=g[5Y ]@a jjjjihhhhBfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518610ɛB̻ =I JQɚiI=I@ii)) =^$?I9*Fm?2Fi:FiBFm_0JFiGEU>GB)OER>JJJJJl:J :JJJ;aJ;aJS;a JS;a e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770420w,|A2Z/@Y2y=@2`'<92ec2=y2Hw`\'ǿA& k ?pY?[ I??ɨ2Z/@2t;2CyBBB#IIJqIJJH4٢n nZ=9r;Q r>pp vG٣tyv8 v> zNusing accuracyPremultiplier from configx~[59zѹK?~[5YzV izA?@@zGEz?;zb;z[51 5@5uE jYjajajaiahahahihifififirfqbfu@Z@ɛB߰ 隥(SI >SɚiI2 =I @ii))*FU?2FQ:FQBFUo0JFQG-n|>GB O-->Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022579 ]$?I!zK%̭KK%9K!K%K%w, |AB.@YB8<@B=<9B YY ]G٣]MGy]Q1 ]> mNusing accuracyPremultiplier from configau[59eK?u[5Ye ie}AuE?u:uT?@u@eGEe;e5;e[5 R@xE jjjjihhhhoBfffrfbf@if@ɛB> PzI !RWɚiI =I%vp@i!i))))1H3>I Ia#IIԄBI&I.I6IB<:I- F*F?2F:FBF_0JF"G>GR>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526484G 0P>  I G ?G (?G B O >. w,:|A6,@Y6e:@6U<96M{(;y6H - ̿͜隿@ȗ?@0? 7 \ e??ɨ6,@6;6CyV~BV"II^I^i4٢f: fg=9j>;Q j>hl nG٣lyn r> zNusing accuracyPremultiplier from configtz[59vK?z[5Yv iv_A|~=@@vGEv!;v!;v[5  @ {E%B*** querying acoustic contact ***j!j! j1j1j1j1i1h9h9h9h9fAfAfArfAbfM>@JJJJJJ:JJJJJnN;JoN;ɛ B h G=I ZɚiI!=I=@i9i9)9)A*F?2F:FBFt3JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: Range 10 to 50 : 198.9 m (Round-trip 265.3 ms) speed -0.3 m/s -=X#Rx 1: Read range message, but no direction.)y-FC)ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.GGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2718>  BDAT read: Tx time:22:36:32.5082  $Ping request sent. !) -G٣)y-9 -> mNusing accuracyPremultiplier from configa[59eqiK?[5Ye ie4A9@@eGEeI9  I= Z#II= τBI9 &I9 .I9 6I= n<:I= N FBI]˞CJI]˞CRIYZI]% =bI]% =jI]5G G B O >=w,9&o|A @r&@Yr5@r0 =9r>TyrH Kp tӿ ?h eS'e$?ɨr&@rq;pyUyB]"IaeAMb@Mb@Mb@ )Y{Gz?/$?~jtyC?,=QA hA)AIyAI!Ii3٢ < E=9l;Q > G٣MGy{ >-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502099 5Nusing accuracyPremultiplier from config!=[59%OK?=[5Y%j i% AE1D?E:E8@E@%GE%|;%{;%$[5UjB U@UE jyjyjyjyiyhhhhtBf f f rfbf@? -Z$?I-hɛ]Be!$ 隅ܲI +eɚiI T"=ICo?ii))*F?2F:FBF35JFJuJuJu1JqJu:Ju:Ju3JqJu;Ju;Ju.Y;Ju/Y;G] (K> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755096GY Ba O > "w,S|A6%@Y6z%3@6L_=96ַy6HRAGտ y?lOߊ O?ɨ6%@6#;6Cy>rBB"IIJFIJ%3٢Rl& Rf=9Rc;Q R>TX ZG٣XyZN ^> bNusing accuracyPremultiplier from config`f[59b9K?f[5Yb\ ibAhj6@j@bGEb\:b:bD[5l n@l jj j j i h h hhfffrfbf?ɛMBM; IMӽII UiɚQiQIU"=I?ii))MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006729 )I)EU"=zKK+9KKK*F?2F:FBFP5JFG >G B O >(w,ߣ|AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258157:/#@Y:N1@:0=9:y:HqT׿(1?Pզ@ܣ ?ɨ:/#@:;:CyDH%Mb@Mb@Mb@!!! !)!Y%\(\?)\(?~jty%:?%Ga=%ļ%@ %3A)!I!!y%QAI=>I=3٢M: M9=9M;Q M> G٣yP > Nusing accuracyPremultiplier from config [59K?[5Y iA;?:5@@GE ;l;D[5! %~@%E jjjjihhhhcBfffrfbf ?ɛ]Bm"' imԽIq uVpɚqiqIu#=Ij?ii))H5>I IN#IIńBI&I.I6I<:I FE+E=*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510059 Y$?IG >G B O >.w,&|A6$!@Y6C/@6%02=964>y6HVh7ؿ@έ?`mHd@8DΧ@a?ɨ6$!@6@;6CJbJ`Jb0J`Jb:J`Jbـ3J`Jb;Jb;J`J`ynvBn"IIvvIv&Q4٢\< O=9gC    G٣ MGy[ > Nusing accuracyPremultiplier from config%[59K?%[5Ym iA)-3@-@GE::[51 5?@5EUB*** querying acoustic contact ***jQjQ jajajajaiahihihihifqfqfqrfqbf}^[?ɛ>!5 隭ǽI tɚiIA$=IU~-?iQiY)Y)YEaEa*Ea"Ea5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762040*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. ~? %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018359 X$?I G >GQ Ba O} >5w,U|AzKJBoHKJ9KHKJKJy5uB5"IIEwIER4٢]Ի ]B=9]Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configq}[59umJ?}[5Yu iuTA@uGEu&:u:u=[5 U@ jjjjih)h)h9h9fafifqrfybf}'z@ɛ5B= ' 9=ϽIY ]X{ɚaiaIe> %=Ieh?iiii)i)i*F?2F:FBF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267825H 7>I  I H#II BI $ =&I .I 6I q<:I R FG >G B O >;w,|A6+@Y6oJ+@6wY=96Iy6H:@fܿy(?c@:? +)?ɨ6+@6;6Cy>vB>"IUMb@Mb@Mb@QQQ Q)QYU`"?X9v?yU7?U}=U̼U@ U`A)U3AIU3@QyUAIm_Imb(4}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518288٢u%; I=9F G٣y > Nusing accuracyPremultiplier from config[59nJ?[5Y iA8?:0@@GE$;#;Ы[5 <@E jjjji W$?Ihhhh Bf f f rf bfFS@ɛAE; El=E˽II MNɚIiIIM%=IU߸?iQiQ)Y)Y*F?2F:FBF0JFG1G B - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770114OM >Bw,| }A2`3@Y2DR)@2o=92Og0y2H@Cr޿@/g?%?8f?ɨ2`3@2驇;2Cy>{BB"IIJrIJJ4٢R5< RY=9V%pTT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b[59^J?b[5Y^  i^Adf.@f@^GE^T:^i:^[5h j@jE jjjjihhh h f f frfbf`L @ɛH, I RɚiI&=IGe?ii))*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:36:35.1811 TRx dataTimestamp_ set to:1736375796.329498checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023965 IzKK59KKKG>GBOm >J J J J J :J :J J a @a @a @a @E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276121Hw,]%}AyUxB]"I Mb@Mb@Mb@    ) NGY V-?p= ף?Zd;Oy h1? = j v@ zA) IA Yy%3BI @ y AH-8>I-C I-A#II-BI)&I).I)6I-_<:I-F FIExIET4٢U5 U&=9UQ ]>YY ]G٣]MGye > Nusing accuracyPremultiplier from config[595J?[5Yy iA H2? : R/@ @GE,;|;[5 @E j9j9j9j9iAhAhAhIhMBfIfIfIrfQbfUOw,1?}A6P7@Y64V%@6:ސ=96i̹y6H! ̮`+?$`b?|9`?ɨ6P7@6;4yfzBf"IInuInaO4٢v 1< v|=9v3=Q z ?xx zG٣xy~ND ~ ?  Nusing accuracyPremultiplier from config [593J?[5Y i{AY+@@GE::9[5 %@!=B*** querying acoustic contact ***jAjAe addTargetRange:: Added new target pos. range: 201.600006 m, deltaT: 3.794852 s, deltaX: 2.700012 m, approachRate: 0.711493 m/s, rangeRepo size: 2  jajajajaiahahihihififqfqrfu@33i@bfu` ?ɛNC= 隥I j2ɚiI5(=I?ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:2719> BDAT read: Tx time:22:36:36.3082 $Ping request sent.G%]> T$?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246974G9 GE ?GE "?G B! OE >Uw,X}AZwD@YZ[c#@ZN\=9ZƕԺyZH@ 咰? !?~Z?ɨZwD@Zn;ZCyj}Bj"IIrcIry/4zKvBoHKv9KtKvKv Kq}ufWI=3*# 1HSVOIE=63/(٢/}< J=9v    G٣y꙽ > Nusing accuracyPremultiplier from config%[59mJ?%[5Yw iIA  IE 5#IIE BIE # =&IA .IE 7D6IE 7<:IE + F*Fu ?2Fq :Fq BFu 0JFq I MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752441G>GBO?]w,[|z}A6n@Y6!@6C=96;;y6H` ّ@u?@?`0cs??ɨ6n@6F;6CyFBJ"IMb@Mb@Mb@ )Y(\? G٣MGyX > Nusing accuracyPremultiplier from config[59TiJ?[5Y iA$/?:[(@@GE<;f;[5kB @E jjjjihhhhBfffrfbf ?ɛ)5 15LI1 5ɚ1i9I=o+=IE:?iAiA)A)IEIEI*EQ"EQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004109*Fe?2Fa:FaBFe1JFaG >Gi Bq O >dw,֔}A :S$?I<>Ȋ@Y>@>Hy=9> =;y>HoJ 6?ÇU?@ Dg?-?ɨ>Ȋ@>`;>CyJBJ"IIV9IV3٢^y< ^T=9^_`` bG٣`yfD f> jNusing accuracyPremultiplier from confighn[59jqVJ?n[5Yj+ ijAprw&@r@jGEj:j:j[5t v@x Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255099 j)j)j)j)i)h1h1h1h1f9f9f9rf9bf=N?ɛm" (= I  |ɚ i I ,=I qi?ii))EEmAzKMK9KKK# *F%?2F!:F)BF-P0JF)JJJJJ :JU:JJG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509081GB O% >H =>I  I .#II BI &I .I 6I <:I  FBI ˟CJI ˟CRI ZI $ =bI $ =jI bQ5ukw,}A:@Y:@: =9:y>;y:H0@)mp?a@h`?`0g?`P?ɨ:@:u;:CyF|BF"I)H H%Mb@Mb@Mb@!!! !)!Y%|?5^?㥛 ?y&1y%-?%=%`! !)% AI%@!y%fAI=I=<4٢MF MC=9M}QQ UG٣UMGy] ]> eNusing accuracyPremultiplier from configam[59e7BJ?m[5Ye& ieVAm.?u:u$@u@eGEe;eU;e[5y }@}E jjjjihhhhBfffrfbf ?ɛae+ imظIi m ɚiiiIm{,.=IR?ii)) }R$?I}h5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759850*FI2FI:FIBFIJFIG5>G B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011153rw,j}A2 @Y2n@2=92^P;y2H@3C\? a@F?@i??ɨ2 @2ש;2CyPPIZpIZF49=XtAA EG٣AyMz M> UNusing accuracyPremultiplier from configQ][59U?/J?][5YU  iUAae"@e@UGEUR;U;U [5q u@uEB*** querying acoustic contact ***jj jjjjihhhhfffrfbf@ɛ2 4I \ɚiI/=I  R>?i i ) ) *F?2F:FBF^0JF eQ$?IaEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264340G>GBO >zK Y_LK ŷ9K K K BK pA:K rAJ J J J J :J :J J b/xw,T}Ab @Yb @b"=9by';ybHR\t-S?`?XTc??ɨb @b].;bCynwBr"IMb@Mb@Mb@ )YˡE?㥛 ?X9vy'?A 3A)E AI@yAI|I[4٢( <9kL G٣y%L %> -Nusing accuracyPremultiplier from config)5[59-J?5[5Y-ɿ i-A5()?=:=9!@=@-GE-;-";-[5A E9@A jijijijiiihqhqhqhuӄBfyfyfyrfybf}@*@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527134ɛY]l;7 ae˽I LBɚiIN1=I*%?ii))H>>I I#IIBI" =&I.I6I,<:I& FE8k= I IQ *F ?2F :F BF P0JF "G Y>G Y>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771025G >G ?G 7?GaBiO>Q4w,n~A2 @Y2j@2!==92Ͷ;y2H]`*@/? (t?X9r??ɨ2 @2w;0yBvBB"IiF=IFR=IJbIJ-4٢R R>=9b:11 5G٣5MGy=e => ENusing accuracyPremultiplier from configAM[59E\J?M[5YE iEPAQUM@U@EGEE ;E? ;E[5Y ]G@]E jjjjihhhhfffrfbf`= @ɛB< нI 'ɚiIf 3=I?H?ii))E=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:36:38.9540 TRx dataTimestamp_ set to:1736375800.130170checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026166*Fy2Fy:FyBF}_0JFyGGy B O > P$?I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275034Ww,ݙ~Arx@Yr[.@r;=9rJ=9} G٣y > Nusing accuracyPremultiplier from config[59:I?[5Yz iAc@@GEO;;T[5 @zKK9KKK jjjjihhhhfffrfbf @ɛ)-hX 5l=5I1 5 }ɚ9i9I=4=I=.>iAiA)A)AJJJJJ1JJL:J :J3JEeK5=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530291*F?2F:FBFJFHU?>IQ IU #IIUBIU# =&IQ.IQ6IU<:IU FG >G B I O >،w,&5~A6@Y6=@6p=961;4yBiBB"IMWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 22:36:38.9540 LVL= 19232, 14225, 7938, 21027, AGC= 59, IDX= 151, 0.10,-0.539, 1.605, 1.688, 0.897, PHS=-1.348, 0.754, 0.788, RAW= 269.2, -1.9, CAL= 271.8, -4.1, ROT= 238.2, 4.1 Ygot valid direction response: 22:36:38.9540 LVL= 19232, 14225, 7938, 21027, AGC= 59, IDX= 151, 0.10,-0.539, 1.605, 1.688, 0.897, PHS=-1.348, 0.754, 0.788, RAW= 269.2, -1.9, CAL= 271.8, -4.1, ROT= 238.2, 4.1 PDAT read: Bearing 238.2, 4.1 (Local) ~Local bearing/azimuth received: Bearing 238.2, 4.1 (Local) DAT read: Range 10 to 50 : 181.2 m (Round-trip 241.6 ms) speed -0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.118997,-0.123084,-0.985236]Fpublishing direction and range infoI9M-gv?x/~:gAT~ yM35CIM KM7 M)M#RIM;iMDM%A?M^I?MY@M M@͗@)MCIM6 @iMC=IIM03yԊ~_?So)M&@IM=iM bMM) ?IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )Y#~j? rh?Q롿y%?C=\A )rAI@yAIxIT4٢WX -=9+;Q >   G٣ y끽 > -Nusing accuracyPremultiplier from config)5[59-II?5[5Y- i-A= '?=:U@]@-GE-)<-'<-[5 @EkM3O?kM+] kI kM8~A:kM35CBkM3CZkM0?"M h5@Zo=M6hPfM-gv?x/~:gAT~ JkM bMRkM) ?*M͡zEl/@ e)@BGޡfM |2?aCR? "kMOA*kMb{AkMξBO?kMND[ 2kMkM^n?kIkMkMCBkM 2@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 181.199997 m, deltaT: 4.037079 s, deltaX: -20.400009 m, approachRate: -5.053161 m/s, rangeRepo size: 2 jjjjihhhhBfffrf`ff@bfY?ɛUBUS Y]IY ]@ɚYiYIe-7=Iej>iaii)i)ErAEqAEm8=*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2720>  BDAT read: Tx time:22:36:40.3582  $Ping request sent. W+w,|Q~A "@"@>+@Y>J@>`>9>j-H o`?S.?O???ɨ>+@> ;\` bG٣bMGybӯ b> jNusing accuracyPremultiplier from configdj[59fI?n[5Yf if2Aln@n@fGEf*:f:f[5rmB v@vEB*** querying acoustic contact ***jj jjjjihhhhf!f!f!rf!bf%N?ɛ  I DQɚiIDZ8=I>ii) O$?I)IEmEm*Ei"EiWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:36:40.3574 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251767zKJK9KKK*F?2F:FBFJF= Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505226) ]CH @>I C I "II yBI " =&I .I 6I <:I z FGY u G tA A "Y tAyBGyBO>{w,)p~Abf@Yb@bs>9b G٣yiZ > Nusing accuracyPremultiplier from config [59I? [5Y} iA#?:@@GE4;;"[5lB @E jAjAjAjAiAhAhIhQhUBfQfYfYrfYbf]C? N$?IhɛB/  2I  ɚ i I;=I@?>ii))uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760597*F?2F:FBF0JFG>JJJ0JJJ:Jـ3JJ@  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010625T_w,R~AB?YB֖ @B>9BNdd fG٣hyjO j> rNusing accuracyPremultiplier from configlr[59n׶I?r[5Yn indAtv@v@nGEn:ne:nT[5x z @x jj!j!j!i!h!h!h)h)f)f)f)rf1bf5 ?ɛǜ 隭TCI ɚiI<=I~=ii))*Fm?2Fi:FiBFuB5JFq I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264169G>GBO>zK K @9K K K w,@٣~Ay5?B5"Ii==I=a= ====Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515556Mb@Mb@Mb@ )YX9v?Zd;?ˡEy?y='A IA)+AI@y=AI==I==3٢UT U'=9]Q ]>a G٣MGy > Nusing accuracyPremultiplier from config[59I?[5Y iA?:H1I1 I5"II5eBI1&I1.I16I5<:I5i Fe@e@GE=k<j<[5i m@mE jjjjihhhhBfffrfbfd?ɛ=BU QUv_IQ U)ɚQiYI]zV?=I ii))*F]?2Fa:FaBFm1JFi I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769079G} >G} qAG} pAGQ BY O} >QȮw,~A63?Y6|@6H3>96lh/ ] M$?IY dw,~A6?Y6 @6H>96y60TT VG٣XyZ Z> bNusing accuracyPremultiplier from config`f[59bzI?f[5Ybޒ ib=Adj @j@bHEb:b:b[5EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.275189I M@MEuB*** querying acoustic contact ***jqjq jjjjihhhhfffrfbf}W@ɛMBM" IMII U ɚYiYI]7B=Im<}Ƚiiii)i)q*F 2F :F BF Z0JF zKjIK9KKKBK:KG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527267GB1 O] >H A>I  I "II FBI &I .I 6I Q<:I D FBIɠCJIɠCRIZI" =bI" =jIɩf4ջw,~Ay~"B~"IMb@Mb@Mb@ )Yrh|?Q?~jty?\= A)XAI@y\AIIi4٢d 9=9Q > G٣MGy > Nusing accuracyPremultiplier from config[59ҁI?[5YS iՓA;?:@@HE; ;[5 IhnB @ E j1j1j1j1i9h9h9h9h=BfAfAfArfAbfM@ @ɛuBu!XѼ quIy })ɻɚyiyI}D=I ii))EUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779682*Fe?2Fa:FiBFm_0JFi"GyG}]>GJJJJJ[:J&:JJJf<Jg<J1;J1;G?G?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:36:43.0058  TRx dataTimestamp_ set to:1736375804.168599 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031728(w,| A%%?Y%1@%R>9%aaa eG٣aym m> uNusing accuracyPremultiplier from configq}[59uvI?[5Yu1 iu{A @@u HEu=;u/>;u-[5 @ jjjjihhhhfffrfbf@ @ɛuB}-" y}1Iy }ѻɚyiIG=Iii))*FM?2FI:FIBFM`0JFI K$?I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282779GiG) B1 OU >zK JK @9K K K RK ?JK ?w,f%A6C?Y}@@=9`T G٣ym >  Nusing accuracyPremultiplier from config [59 hI?[5Y A i A?:@@ HE ; ; [5! %@-E jIjIjIjIiIhQhQhQhǗBfYfYfYrfabfe@ɛB 隕^I FݻɚiII=I5ii))*F5?2F1:F1BF5^0JF1 I] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 22:36:43.0058 LVL= 30912, 27713, 20306, 32755, AGC= 63, IDX= 458, 0.15, 0.010, 1.307, 2.570, 1.309, PHS=-1.211, 0.045, 1.258, RAW= 240.6, -0.9, CAL= 242.9, -1.6, ROT= 267.1, 1.6  Ygot valid direction response: 22:36:43.0058 LVL= 30912, 27713, 20306, 32755, AGC= 63, IDX= 458, 0.15, 0.010, 1.307, 2.570, 1.309, PHS=-1.211, 0.045, 1.258, RAW= 240.6, -0.9, CAL= 242.9, -1.6, ROT= 267.1, 1.6  PDAT read: Bearing 267.1, 1.6 (Local)  ~Local bearing/azimuth received: Bearing 267.1, 1.6 (Local)  DAT read: Range 10 to 50 : 182.6 m (Round-trip 243.5 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages.- `direction in FSK: [0.046618,-0.569816,-0.820449]- Fpublishing direction and range infoa 9e i 5Pާ?Y+;⿋gAye 6Ca e xe Al e RO)e Ie ?ie e Q8=e %?e [`@e e 4@)e Ie B-@ie v9w,#?AymBuR"IInIB4٢$ =9Q ?    G٣ MGy  ?J-J-J)J)J-:J-$:J)J)J-Z<J-Z<J-~;J-~; =Nusing accuracyPremultiplier from configE[59_I?E[5Y } iAIIM@HE;;[5Q U`@QkEoh?kE+ kA kEh ;A:kE6CBkEY5CZkEK>"Ev@b?_!@8Z}=,t bEi 5Pާ?Y+;⿋gAJkERkE}Rv?*EʽaX@fͳSA@њ]bErR1H?X򾡁?ӌ6 BDAT read: Tx time:22:36:44.4082 $Ping request sent.w,`YA2j?Y2ǧ?2 =92L    G٣y* > %Nusing accuracyPremultiplier from config%[59VI?-[5Yw iaA)-@-@HE2:T:[51 =@9UB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 182.60 m.BjuEJjuE  ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.015205 m, bearing: 347.163198 deg, approach rate: 0.428731 m/s, LOS rate: -0.276742 deg/s, cmd heading: 347.258565 deg, new cmd heading: 347.163198 deg. HeadingCmd: 6.059141 target range: 182.600006 and range: 182.60 m. j{@jjjihhhhfffrfbf?ɛB! ƾI fɚiI M=I|'ii){@)*F?2F:FBF@5JFzKKs9KKKGGqBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501504O>H I  I s"II BI &I .I 6I ^<:I N FfBw,fksA2o?Y24?2D=92$qq uG٣qyS > Nusing accuracyPremultiplier from config\59LI? \5Yr iA ? : @ @HE;';\5 @EZjaeFNOT Ignoring new targets: 182.60 m.BjmJjm  ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.180283 m, bearing: 347.052329 deg, approach rate: 0.378099 m/s, LOS rate: -0.253517 deg/s, cmd heading: 347.163189 deg, new cmd heading: 347.052329 deg. HeadingCmd: 6.057206 target range: 182.600006 and range: 182.60 m. j@jjjihhhh߄Bfffrfbf`#?ɛeBe am(ԾIiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753108 ɚ i I bO=ICggii)@)*F?2F:FBFP5JFG >G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005187*w,IAR?YRD?RB=9R;yRH@,Կ cH@zb@T?Կͻ?ؼ@y? ?ɨR?Ra;RCy~ЃB~ "II KI 4٢ʽ %O=9%Q ->)1 5G٣5MGy5 5> ENusing accuracyPremultiplier from configAM\59EDI?M\5YEl iEAIM@M@EHEE:E":E\5]pB ]@eEZjFNOT Ignoring new targets: 182.60 m.BjJj򖻝  ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.320602 m, bearing: 346.952941 deg, approach rate: 0.373167 m/s, LOS rate: -0.263937 deg/s, cmd heading: 347.052321 deg, new cmd heading: 346.952941 deg. HeadingCmd: 6.055471 target range: 182.600006 and range: 182.60 m. jk@jjjihhhhfffrfbf>t?ɛBuW+ I ɚiI0Q=I!ii)k@) IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256870E+=*Fa 2Fi :Fi BFm 1JFi "Gu ]>Gq Ja Je Ja Ja Ja Je !:Ja Ja am @am @am @am @zK k3IK 9K K K G y|uAAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514266 Y|uAyBGajHm<bHm<HuB>Iq IuN"IIuBIq&Iq.Iq6IuZ<:IuK FBO?w,&ABv?YB?B5=9B. G٣yU > Nusing accuracyPremultiplier from config\599I?\5YWe iHA @ @"HE;; \5 @ZjYmFNOT Ignoring new targets: 182.60 m.Bjm땻Jjm땻}  ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.511436 m, bearing: 346.810702 deg, approach rate: 0.352376 m/s, LOS rate: -0.262141 deg/s, cmd heading: 346.952928 deg, new cmd heading: 346.810702 deg. HeadingCmd: 6.052989 target range: 182.600006 and range: 182.60 m. j@jjjihhhhfffrfbf?ɛB^}  /I  p ɚ i I tS=I&ii)@) I$?IE=*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765347G >G B O >&w,GA:D?Y:K?:{=9:11pp rG٣pyr\ v> zNusing accuracyPremultiplier from configtz\59v2I?~\5Yv ` ivA|~?@v&HEv;v0;v\5   @ Zj1=FNOT Ignoring new targets: 182.60 m.BjEJjEM  ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.639397 m, bearing: 346.709214 deg, approach rate: 0.351235 m/s, LOS rate: -0.278215 deg/s, cmd heading: 346.810696 deg, new cmd heading: 346.709214 deg. UHeadingCmd: 6.051218 target range: 182.600006 and range: 182.60 m. jU@jQjYjYiYhYhahahafafifirfibfm@ɛBv ; 隝VI jɚiIךU=Igii)@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017391*Ep="E= IE =E *F?2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268844G >G B O >w,¤AJJJJJHJHJJ:JJ&:JHJHVQ?YV-?V=9VfIj4<InIn]4٢vƻ v5=9vIzKEBHKE9KAKEKEQ z> G٣MGy > mNusing accuracyPremultiplier from config9\59=*I?\5Y=X i=Au?@=*HE=<=<= \5) -5@-EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 182.60 m.BjBJjB  ProNav pure pursuit: ac range: 182.600006 m, nav range: 99.793655 m, bearing: 346.569218 deg, approach rate: 0.291880 m/s, LOS rate: -0.264483 deg/s, cmd heading: 346.709227 deg, new cmd heading: 346.569218 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521035HeadingCmd: 6.048774 target range: 182.600006 and range: 182.60 m. j@jjjihhhhfff!rf!bf% E@HI I5"IIBI&I.I6IY<:IɛB`! I 3ɚiI-X=I pii)@)E E *E"E 1I1*F9 2F9 :F9 BF= u1JF9 GA  GA  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772820 PExceeded connect timeout, disconnecting.GAGB)OE>%w,A6?Y6!?6=96M;y6HſP@`_? ſ` ?/0}? ?ɨ6?6;6Cy^B^!I @ @ @  @ ItIM4٢Ng =9ڻQ > G٣yD >  bBottom track data is 0.5 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config\59#I?\5YQ i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276881Aw,oA>[Ծ?Y> ?>=9>D;y>Hx@?`*?7@ou? &?ɨ>[Ծ?>$F;`` bG٣dyf f> nbBottom track data is 0.9 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr\59jI?r\5Yj+L ijAr :prj:rM?v@j2HEj49;j[?j\5ztB z[@zEZj%FNOT Ignoring new targets: 182.60 m.Bj%Jj-5 ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.044258 m, bearing: 346.319660 deg, approach rate: 0.300076 m/s, LOS rate: -0.310459 deg/s, cmd heading: 346.426730 deg, new cmd heading: 346.319660 deg. =HeadingCmd: 6.044418 target range: 182.600006 and range: 182.60 m. j=k@jAjAjAiAhAhAhIhIfIfIfQrfQbfU @ɛĄBAX I I(ɚiI\=I Fti i ) k@)9EEqAEErAJK KKK"KJJJJJ;:J#:JJ*F2F:FBFS0JFzKjIK}9KKK-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532186ZHRHHC>I I""IIуBI! =&I.I6Ir<G:I_ FBIAJIARIAZIAbIAjIE]v4GqByO> ! I% htk w,VI8A2?Y2)?2|=92V;y2H` u ?`J T%?c'@6s?U?ɨ2?2sx;2CyNBR!I)T T - - -- --  5 5 5Mb@Mb@Mb@111 1)1Y5n?bX9ȶ?S㥛y5V?5E=5/ݼ1 5 A)5AAI5A1y5p AIEwIER4٢Uq< UA=9qQ > G٣MGy" > Nusing accuracyPremultiplier from config\59=I?\5YE iAT:P?:?@6HE=;;x\5! -(@)ZjiuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 183.3 m (Round-trip 244.5 ms) speed 0.0 m/s -X#Rx 1: Read range message, but no direction.yy}L7CyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. nManaging dock network, ignoring radio surface power offFNOT Ignoring new targets: 182.60 m.Bj蜻Jj蜻  ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.164261 m, bearing: 346.196951 deg, approach rate: 0.268630 m/s, LOS rate: -0.274358 deg/s, cmd heading: 346.319660 deg, new cmd heading: 346.196951 deg. 5HeadingCmd: 6.042277 target range: 182.600006 and range: 182.60 m. j5UZ@j1j1j1i1h9h9h9h=BfAfAfArfEf@bfEV?ɛƄBQD "I l1ɚiI!^=I%vi!ii)mUZ@)i*F2F:FBFT0JFG- >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 ,DAT read: user:2722> = BDAT read: Tx time:22:36:48.4583 = $Ping request sent.= Sw,%RAb)?Yb ?bk=9bԚ;ybH`} @(a?@ `&3?@n,@Gs?@?ɨb)?b0:;bCynBr!IIzIzb4٢-C P=9 &Q  >    G٣y > Nusing accuracyPremultiplier from config%\59 I?%\5Y@ iyA)-?-@:HEX::\51 5@1m addTargetRange:: Added new target pos. range: 183.300003 m, deltaT: 4.036065 s, deltaX: 0.699997 m, approachRate: 0.173435 m/s, rangeRepo size: 4 ZjiuFNOT Ignoring new targets: 182.60 m.Bj}Jj} ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.261795 m, bearing: 346.090019 deg, approach rate: 0.263523 m/s, LOS rate: -0.288634 deg/s, cmd heading: 346.196963 deg, new cmd heading: 346.090019 deg. HeadingCmd: 6.040411 target range: 182.600006 and range: 183.30 m. j K@jjjihhhhfffrfbf? H$?IɛDŽBOe I 8ɚiIm_=Ixii) K@)*Fq2Fq:FqBFu`0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:36:48.4575 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250785GGBO>J J J J J :J $:J J zK BHK ŷ9K K K w,WlArWill construct direction to contact in vehicle frame from tetrahedron phase data.pipvchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503172 !?Y P_? t=H!I! I%"II%ƒBI!&I!.I!6I%J<:I%A F9  G٣y > Nusing accuracyPremultiplier from config\59qI?\5Y9 i8AQ?:?@>HE;;#\5 !@ B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 182.60 m.Bj Jj - ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.376450 m, bearing: 345.955828 deg, approach rate: 0.237874 m/s, LOS rate: -0.278090 deg/s, cmd heading: 346.090029 deg, new cmd heading: 345.955828 deg. 5HeadingCmd: 6.038068 target range: 182.600006 and range: 183.30 m. j57@j1j9j9i9h9h9hAhBfffrfbf ~ ? IɛʄBV/L I  BɚiIa=I {i i ) 7@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753668G >G B O >e!w,bمA63l?Y6?60=96'B>!I J=Jp=INJIN)4٢VN Vv=9Z^Q Z?XX ^G٣^MGy^B b? fNusing accuracyPremultiplier from config`j\59b I?j\5Yb4 ib AhjL?j@bAHEb:b:b&\59 E@EEZjFNOT Ignoring new targets: 182.60 m.BjJj ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.454330 m, bearing: 345.858289 deg, approach rate: 0.235718 m/s, LOS rate: -0.294987 deg/s, cmd heading: 345.955830 deg, new cmd heading: 345.858289 deg. HeadingCmd: 6.036366 target range: 182.600006 and range: 183.30 m. j)@jjjihhhhfffrfbf%?ɛM˄BM{ IU IQ ޴HɚiIg\c=I6|ii))@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006476*Fm?2Fi:FiBFm0JFi IG>Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ >՝ = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257827m'w,A2z?Y2??2=92&!IIvUIv4٢8 E=9 Q  >   G٣y > %Nusing accuracyPremultiplier from config%\59 I?-\5Y. i؎A)-?-@DHE:7:\*\55vB ]@]EZjFNOT Ignoring new targets: 182.60 m.BjJj ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.545647 m, bearing: 345.735207 deg, approach rate: 0.224152 m/s, LOS rate: -0.301852 deg/s, cmd heading: 345.858295 deg, new cmd heading: 345.735207 deg. HeadingCmd: 6.034218 target range: 182.600006 and range: 183.30 m. jP@jjjihhhhfffrfbfŨ?ɛ}̈́Bg>h 隅"I 0DQɚiIIMPe=IUJ~iQiQ)UP@)YzKBoHK9KKK*F?2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.jH%<bH%p<HMD>II IM "IIMBII&II.II6IM]<:IMP Fmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.523157G >G B O > I ɹ-w,⑹Ay~B~!IMb@Mb@Mb@ )YS?kt? rhy? =C A  A)IAy AIzI=X4٢  >=9Q > G٣y > Nusing accuracyPremultiplier from config\59I?\5Y( iA?:?@HHEK;I;.\5 i@Zj!-FNOT Ignoring new targets: 182.60 m.Bj-Jj5E ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.638550 m, bearing: 345.608363 deg, approach rate: 0.220616 m/s, LOS rate: -0.300938 deg/s, cmd heading: 345.735215 deg, new cmd heading: 345.608363 deg. EHeadingCmd: 6.032004 target range: 182.600006 and range: 183.30 m. jE-@jIjIjIiIhIhI]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761824haheBfafafirfibf}(@ɛ΄Bo 隵^'I  ZɚiI%f=Iߚii)-@)*F5?2F1:F1BF54JF1JJJJJJ(:JJJaJaJ;aJ;aGm>GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0143454w,HnӀA6Cl?Y6?6=96uB>!IIFIFk4٢NV R_=9RQ R>TT VG٣VMGyVt4 Z> ^Nusing accuracyPremultiplier from configXb\59Z@I?f\5YZ# iZAdfZ?f@ZLHEZD;ZuE;ZM1\5h n@l aIehZjyFNOT Ignoring new targets: 182.60 m.Bj٥Jj٥ ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.705887 m, bearing: 345.497408 deg, approach rate: 0.176111 m/s, LOS rate: -0.289992 deg/s, cmd heading: 345.608364 deg, new cmd heading: 345.497408 deg. HeadingCmd: 6.030067 target range: 182.600006 and range: 183.30 m. jP@jjjihhhhfffrfbf{C@ɛeτBem{ ae,Ia mbɚiiiImh=Iii)P@)*F?2F:FBFO0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265750G) G! B) OM >)a e SCzK K K K K A o:w,uW퀿ANvAHhIh Ij!IIjBIh&Ih.Ih6Ij0<:Ij/ FvWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.524019 =Z"Y=vAyEBUH?YUG?Uz=9UR)) -G٣)y5~ 5> MbBottom track data is 0.5 s old, using for 20.0 s. MNusing accuracyPremultiplier from config9U\59=I?U\5Y=g i=JAU+:Q]:].?]@=PHE=;=.?=4\5a e@aB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 182.60 m.BjJj ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.793144 m, bearing: 345.338295 deg, approach rate: 0.170418 m/s, LOS rate: -0.310486 deg/s, cmd heading: 345.497415 deg, new cmd heading: 345.338295 deg. HeadingCmd: 6.027290 target range: 182.600006 and range: 183.30 m. j@jjjihhhhff f rf bf  O@ɛeфBei ae-Ii m7mɚiiiIm}j=Iuiqiq)@)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777636Gq GQ Ba O} >Aw,AJJJ1JJ;:J%:J3JJ<J<JK;JL;R(?YRYf?Rp=9Rd;yRHo?o RU?`5??M/? S@}?`?ɨR(?RVގ;RCyZqB^!IIf\If#4٢~O ~=9~JQ ~? G٣y Nؽ  ? UbBottom track data is 0.8 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe\59UI?e\5YU iU+Am :iv:?@USHEU{G qAG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:36:51.1071  TRx dataTimestamp_ set to:1736375812.496773 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282828Gw,@!AN?YN[?NBa=9N7UIZp<IbqIbJH4٢jؠ nM=9n0Q r>pp rG٣rMGyvT v> zbBottom track data is 1.2 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx~\59z$I?\5Yz izA9G:?@zWHEz6;z?z8\5 @ZjFNOT Ignoring new targets: 182.60 m.Bj Jj  ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.893433 m, bearing: 345.120297 deg, approach rate: 0.131845 m/s, LOS rate: -0.302718 deg/s, cmd heading: 345.241610 deg, new cmd heading: 345.120297 deg. 5HeadingCmd: 6.023486 target range: 182.600006 and range: 183.30 m. j5e@j1j1j9i9h9h9h9hAfAfAfArfAbfM @ɛ=ӄB=Ɂ 9=83IA E~ɚAiAIEuvm=IMWiiiq)ue@)q*F?2F:FBFJFzKk3IK 9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data.iA-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538981HYIY IYIYIY&IY.IY6I]k<:I]Z FG > I G B O >Nw,6;Aj?Yj{D?jyS=9j6=9Q > G٣yǗ > Nusing accuracyPremultiplier from config\59I?\5Y  iߍAT:Q?:@?@[HE;;[<\5xB o@EZjFNOT Ignoring new targets: 182.60 m.Bj SJj S ProNav pure pursuit: ac range: 182.600006 m, nav range: 100.944527 m, bearing: 344.987755 deg, approach rate: 0.124307 m/s, LOS rate: -0.322299 deg/s, cmd heading: 345.120306 deg, new cmd heading: 344.987755 deg. %HeadingCmd: 6.021172 target range: 182.600006 and range: 183.30 m.MWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:36:51.1071 LVL= 19632, 27057, 14098, 28611, AGC= 59, IDX= 438,-0.07, 1.793, 2.242,-2.209, 2.748, PHS=-0.867,-0.459, 1.324, RAW= 220.1, 0.0, CAL= 220.0, -5.4, ROT= 290.0, 5.4 Ygot valid direction response: 22:36:51.1071 LVL= 19632, 27057, 14098, 28611, AGC= 59, IDX= 438,-0.07, 1.793, 2.242,-2.209, 2.748, PHS=-0.867,-0.459, 1.324, RAW= 220.1, 0.0, CAL= 220.0, -5.4, ROT= 290.0, 5.4 PDAT read: Bearing 290.0, 5.4 (Local) ~Local bearing/azimuth received: Bearing 290.0, 5.4 (Local) DAT read: Range 10 to 50 : 183.5 m (Round-trip 244.7 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.012249,-0.808554,-0.588294]Fpublishing direction and range infoI9M?#+鿻:3NyM7CIMLMi M7)MoIM;iM]M 뾩Mx?Mu@M M u@)MIMp@iM=IIMk ]hƿ-|Hx?;6?)M?IMܱiM<˿M!?IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. j%q@j!j!j)i1h1hyhhBfffrff@bf7?ɛԄB 녽  9I  }ɚ i Io=I&ii9)Eq@)Q*F?2F:FBF`0JFJ]J]J]0JYJ][:J]7/:J]ـ3JYJ]f<J]g<J][;J][;G > Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2723>  BDAT read: Tx time:22:36:52.5083  $Ping request sent. FUw, TA6?Y6e[?6TD=96opp vG٣tyv v> ]Nusing accuracyPremultiplier from configx]\59zdI?]\5Yz+ izAaeX?e@z^HEz=l6CZk{@"DKR=ؠԋb0OpZ?#+鿻:3NJk<˿Rk!?*ĜS]a@_0D+x[ch^?uٽ̿t,|fF)"k]$*k Cke zw?k? 2k0kk[- kkLBk޿@5 addTargetRange:: Added new target pos. range: 183.500000 m, deltaT: 4.040112 s, deltaX: 0.199997 m, approachRate: 0.049503 m/s, rangeRepo size: 4 E Added new target pos. range: 183.500000 m, bearing: 343.764048 deg, lat: 36.903816 deg, lon: -122.119956 deg, deltaT: 8.076177 s, deltaX: 0.899994 m, approachRate: 0.111438 m/s, posRepo size: 2 ZjAMFNOT Ignoring new targets: 183.50 m.BjMJjI ProNav: ac range: 183.500000 m, nav range: 101.648933 m, bearing: 343.540676 deg, approach rate: 0.000000 m/s, LOS rate: -0.322299 deg/s, cmd heading: 344.987746 deg, new cmd heading: 344.597874 deg. 2j0]HeadingCmd: 6.014368 target range: 183.500000 and range: 183.50 m. ju@jjjihhhhfffrfbf@3?ɛEՄBE+ Am,9Ii mɚiiiImp=Iu{iqiq)}u@)y*FA2FA:FABFE0JFA"GMY>GMY>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:36:52.5075 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253361G Ga Bq O >zK5 BoHK5 59K1 K5 E0[w,nAK]    HJE>IH IJ!IIJBIH&IH.IJ8DnWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5068606IJ <:IJ$ FBIJIRIZI! =bI! =jIs45'?Yd?lO7=9Yaa eG٣eNGym5 m> uNusing accuracyPremultiplier from configq}\59u I? Ih\5Yu> iuAn ?:?@ubHEuI;u%;uC\5 x@B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 183.50 m.BjJj ProNav: ac range: 183.500000 m, nav range: 101.696152 m, bearing: 343.394043 deg, approach rate: 0.100041 m/s, LOS rate: -0.310526 deg/s, cmd heading: 344.597879 deg, new cmd heading: 344.158192 deg. 2jUHeadingCmd: 6.006694 target range: 183.500000 and range: 183.50 m. j6@jjjihhhhBfffrfbf@?ɛmׄBmƃ im;Ii ɚiIBr=IEii)6@)*F)2F):F)BF-0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756787Gm >GI BQ Ju Ju Jq Jq Ju :Ju &:Jq Jq Ju Z<Ju Z<Ju 1;Ju 1;O >28bw,/OA>.?Y>?>:(=9>GIHa?Ve?@?Qt?`t?™?`y?ɨ>.?>ʎ;>CyJUBJ!IIV#IV%x3٢^L ^{=9^5Q ^?`` bG٣`ybR f ? jNusing accuracyPremultiplier from confighn\59j I?n\5Yj ij}Alny?r@jeHEjL:j:jF\5t v,@tZjFNOT Ignoring new targets: 183.50 m.Bj%ʲJj%ʲ ProNav: ac range: 183.500000 m, nav range: 101.723206 m, bearing: 343.295392 deg, approach rate: 0.085756 m/s, LOS rate: -0.312623 deg/s, cmd heading: 344.158206 deg, new cmd heading: 343.862334 deg. 2jVHeadingCmd: 6.001530 target range: 183.500000 and range: 183.50 m. j @jjjihhhh f f f rfbfg?ɛiu qu AIq uFɚqiyI}{s=I}/5ii) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009835*F}?2Fy:FyBF}4JFy 1I1GGy B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260507Yhw,_AZl?YZ?Z =9ZVtx zG٣|y~k >  Nusing accuracyPremultiplier from config \59 I?\5Y  i _Ac?@ hHE  : TJ\5! %@!ZjIMFNOT Ignoring new targets: 183.50 m.BjUJjUe ProNav: ac range: 183.500000 m, nav range: 101.750534 m, bearing: 343.171219 deg, approach rate: 0.067019 m/s, LOS rate: -0.304434 deg/s, cmd heading: 343.862322 deg, new cmd heading: 343.489910 deg. 2jePmHeadingCmd: 5.995030 target range: 183.500000 and range: 183.50 m. jmI׿@jijijiiihqhqhyhyfyffrfbf ?ɛ؄B 隵GI =lɚiIt=Iii ) I׿@) *F}?2Fy:FyBF}P0JFyG GsAzKLK9KKK jHM<bHM<HuD>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514815Iq Iu!IIuBIq&Iq.Iu7D6Iu2<:Iu1 FGGBO > A IM hnw,:漁A:=U?Y:b?:O=9:~Iz)> z=z=Mb@Mb@Mb@ )Yp= ף?Dl?~jty?O=ļ A  A) AI`Ay AII1h4٢9 >=9»Q > G٣NGyq > Nusing accuracyPremultiplier from config\59"I?\5Y i;Am?:?@lHEO+;2;N\5zB @EZj Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764474FNOT Ignoring new targets: 183.50 m.Bj%Jj%E ProNav: ac range: 183.500000 m, nav range: 101.767365 m, bearing: 343.045365 deg, approach rate: 0.039176 m/s, LOS rate: -0.292899 deg/s, cmd heading: 343.489913 deg, new cmd heading: 343.112419 deg. 2jEIMHeadingCmd: 5.988441 target range: 183.500000 and range: 183.50 m. jMP@jIjIjIiQhhhhBfffrfbf@d@ɛلB< 隕HI aɚiIzv=I薾ii)P@)*FE?2FA:FABFAJFAGe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016438GA BQ Om > 9 IA luw,MցA:v?Y:?: =9:2BFm!IIRoIRD4٢Zc ^\=9b~Q b>dd fG٣dyf嶽 j> nNusing accuracyPremultiplier from confighr\59jDI?r\5Yj ijAtv?v@joHEj;j ;jVQ\5x z@xZjFNOT Ignoring new targets: 183.50 m.Bj%먻Jj%먻5 ProNav: ac range: 183.500000 m, nav range: 101.775917 m, bearing: 342.935309 deg, approach rate: 0.022954 m/s, LOS rate: -0.295359 deg/s, cmd heading: 343.112422 deg, new cmd heading: 342.782284 deg. 2j=JMHeadingCmd: 5.982679 target range: 183.500000 and range: 183.50 m. jMr@jIjIjIiIhQhQhQhQff!f!rf!bf-g@ɛ=f MI  TɚiIfw=Iۙii)r@) *F2F:FBF]0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269276GJ% J% J% 1J! J% :J% ':J% 3J! a5 @a5 @a5 @a= @G B O >zK= :KK= ŷ9K9 K= {w,AH$I$ I&!II&BI&" =FWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523102&I$.I$6I&O<:I&F FKe- ' y ! , A w /  I}t6a4*$## BK1:K5qAedf?Ye p?e6<9eH G٣y > Nusing accuracyPremultiplier from config\59#I?\5Y iA?:?@sHE;;U\5 7@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 183.50 m.BjJj ProNav: ac range: 183.500000 m, nav range: 101.769417 m, bearing: 342.791323 deg, approach rate: -0.012946 m/s, LOS rate: -0.286772 deg/s, cmd heading: 342.782278 deg, new cmd heading: 342.350303 deg. 2jDHeadingCmd: 5.975140 target range: 183.500000 and range: 183.50 m. jY4@jjjihhhhoBf f frfbfi@ɛڄB뇒 QI v#ɚiIuy=Iii)Y4@)ErAE*Fq2Fq:FqBFuW0JFq5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773577G >Gq By O >ew, Ayz9Bzh!IIxIT4٢=< =s=9EQ E?AI MG٣MNGyM U? ]Nusing accuracyPremultiplier from configYe\59]"I?m\5Y]d i]ٌAy@]vHE];]1;]X\5 @ZjFNOT Ignoring new targets: 183.50 m.BjJj ProNav: ac range: 183.500000 m, nav range: 101.765388 m, bearing: 342.694055 deg, approach rate: -0.011945 m/s, LOS rate: -0.288437 deg/s, cmd heading: 342.350309 deg, new cmd heading: 342.058497 deg. 2jEHeadingCmd: 5.970047 target range: 183.500000 and range: 183.50 m. j @jjjihhhhfff rf bf  @ɛ9=E AEVPIA E'ɚAiAIEz=IMSiQiQ)U @)QMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025063*F2F:FBF0JF IG>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. = < BDAT read: Rx Time:22:36:55.1562  TRx dataTimestamp_ set to:1736375816.532949 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277764VȈw,4$A6i^?Y6Jr?6<96um2BB_!IIJ\IJ#4٢V ZT=9Z Q Z>\\ ~G٣|yb >  Nusing accuracyPremultiplier from config \59 (I?\5Y g i A?@ yHE /; )0;  \\5A Mz@QZjy}FNOT Ignoring new targets: 183.50 m.BjJj ProNav: ac range: 183.500000 m, nav range: 101.754776 m, bearing: 342.580505 deg, approach rate: -0.026980 m/s, LOS rate: -0.288706 deg/s, cmd heading: 342.058496 deg, new cmd heading: 341.717814 deg. 2j"FHeadingCmd: 5.964101 target range: 183.500000 and range: 183.50 m. jپ@jjjihhhhfffrfbf  @ɛۄB TI VcɚiI|=I _ii)پ@) JJJJJ:J+:JJa*F2F:FBF3JF Q!YyBZHRH?AHC>I I!IIBI&I.I6I{<:If FzKEEnPmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531060KEж9KAKEKE G5> IG) B1 OU >.w,)>A.*V?Y.@S?.a<9.e 0=aa e A)eE AIevAaye= AIwIR4٢Γ; ==9=yQ > G٣yE > Nusing accuracyPremultiplier from config\5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:36:55.1562 LVL= 24608, 28849, 14578, 30803, AGC= 59, IDX= 429, 0.13, 0.695, 0.421, 2.386, 1.288, PHS=-0.505,-0.820, 1.095, RAW= 201.2, 2.6, CAL= 201.2, -4.9, ROT= 308.8, 4.9 Ygot valid direction response: 22:36:55.1562 LVL= 24608, 28849, 14578, 30803, AGC= 59, IDX= 429, 0.13, 0.695, 0.421, 2.386, 1.288, PHS=-0.505,-0.820, 1.095, RAW= 201.2, 2.6, CAL= 201.2, -4.9, ROT= 308.8, 4.9  PDAT read: Bearing 308.8, 4.9 (Local) ~Local bearing/azimuth received: Bearing 308.8, 4.9 (Local) DAT read: Range 10 to 50 : 182.8 m (Round-trip 243.8 ms) speed 0.2 m/s %R#Rx 1: Read range and direction messages.-bdirection in FSK: [-0.098824,-0.944325,-0.313822]-Fpublishing direction and range infoع9ؽ;nZKL57&TƦԿyؽ6Cعؽ `ؽp9/I?5\5Yh iA5>=:=?=@}HE<<_\5A Ej@A ٽ8)ٽSxIٹiٽGٽQٽ(?ٽ`@ٽ9= ڽ`@)ڽ%Iڽiw@iڽ%=ڹڹ۽˜?l}?hb?)۽Y?I۽$;i۽hֿ۽-p>۹۹eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.k_Iv?kG0 k kLBA:k6CBk5CZkw@"H2e|7L;nZKL57&TƦԿJkhֿRk-p>*ga ra@T|UY}L3F@N)`~o?RU4ῡe.տ"k*k Ckp "w?krRB 2k+@kk? kk*Bkӹ@ addTargetRange:: Added new target pos. range: 182.800003 m, deltaT: 4.035909 s, deltaX: -0.699997 m, approachRate: -0.173442 m/s, rangeRepo size: 4 u Added new target pos. range: 182.800003 m, bearing: 324.019568 deg, lat: 36.903816 deg, lon: -122.120094 deg, deltaT: 4.035909 s, deltaX: -0.699997 m, approachRate: -0.173442 m/s, posRepo size: 3 Zjq}FNOT Ignoring new targets: 182.80 m.Bj}Jjy ProNav: ac range: 182.800003 m, nav range: 106.082176 m, bearing: 336.121881 deg, approach rate: 0.000000 m/s, LOS rate: -0.288706 deg/s, cmd heading: 341.717807 deg, new cmd heading: 341.332591 deg. 2jHeadingCmd: 5.957377 target range: 182.800003 and range: 182.80 m. j֢@jjjihhhhaBfffrff@bf`?ɛ w SI A&ɚiI}=IeEЦiaia)e֢@)i*F?2F:FBF0JF!m Will construct direction to contact in vehicle frame from tetrahedron phase data.u ,DAT read: user:2724> } BDAT read: Tx time:22:36:56.5083 } $Ping request sent.} `ӕw,HoXAE?Y2R~?<9za mG٣iyu/ }> Nusing accuracyPremultiplier from config\59D8I?\5Y izA?@HE7::c\5|B @EZjFNOT Ignoring new targets: 182.80 m.Bj ΝJj Ν= ProNav: ac range: 182.800003 m, nav range: 106.067284 m, bearing: 336.008358 deg, approach rate: -0.036193 m/s, LOS rate: -0.275928 deg/s, cmd heading: 341.332584 deg, new cmd heading: 340.991972 deg. 2j=]=EHeadingCmd: 5.951433 target range: 182.800003 and range: 182.80 m. jE#r@jAjIjIiIhIhIhQhQfQfQfQrfYbf}l?ɛ:M UI L3ɚiIs =I۩ii)#r@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:36:56.5075 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253456*Fu?2Fq:FqBFu@5JFqJJJ0JJ:J%:Jـ3JG >G B O >H I  I !II BI &I .I 6I ^<:I Q Fw,8-rA&Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505214zK:KK8K8K:K: AIEhy+BV!IMb@Mb@Mb@ )Y +?:v?y></ A  A)\ AI`Ay AI\I#4٢ v .=9Q > G٣NGy > Nusing accuracyPremultiplier from config\59`AI?\5Y iYAy>:3?@HE;;rg\5  @-B*** querying acoustic contact ***j)j)ZjIUFNOT Ignoring new targets: 182.80 m.Bj]Jj]} ProNav: ac range: 182.800003 m, nav range: 106.045090 m, bearing: 335.891931 deg, approach rate: -0.049985 m/s, LOS rate: -0.262270 deg/s, cmd heading: 340.991976 deg, new cmd heading: 340.642626 deg. 2j}3HeadingCmd: 5.945335 target range: 182.800003 and range: 182.80 m. j0@@jjjihhhhdBfffrfbfɻ?ɛ WI {2ļɚiIKD=Iii)0@@)*F}?2Fy:FyBF}4JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754561G G B O >ܢw,AF,7?YFuo?FI<9FGyG} ?GIBYO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258540qw,ޥAZ/?YZ+h?Z{3<9Z || ~G٣|y >  Nusing accuracyPremultiplier from config \59 QI?\5Y  i 'A'v?@ HE  ;  ; m\5) -@-EZjQUFNOT Ignoring new targets: 182.80 m.Bj]Jjem ProNav: ac range: 182.800003 m, nav range: 105.985634 m, bearing: 335.709207 deg, approach rate: -0.089968 m/s, LOS rate: -0.258201 deg/s, cmd heading: 340.403869 deg, new cmd heading: 340.094290 deg. 2ju31}HeadingCmd: 5.935765 target range: 182.800003 and range: 182.80 m. j}@jyjyjyiyhyhhhfffrfbf?JJJJJ[:J&:JJɛx qWI μɚiIM=I ᱾ii)%@)!*F?2F:FBFJFjHqbHu<HI I!II{BI&I.I6I&<:I' FBIQJIQRIQZIU" =bIU" =jIUb4zK]k3IK]K9KYK]K] Will construct direction to contact in vehicle frame from tetrahedron phase data.թiխAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.522828 IG>G B O >2w,fA2%&?Y2j_?2i<92<M G٣NGy죽 > Nusing accuracyPremultiplier from config\59\I?\5Yھ iA>:i?@HE;;\q\5 @ZjFNOT Ignoring new targets: 182.80 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770672  ProNav: ac range: 182.800003 m, nav range: 105.938904 m, bearing: 335.602647 deg, approach rate: -0.110777 m/s, LOS rate: -0.252719 deg/s, cmd heading: 340.094298 deg, new cmd heading: 339.774480 deg. 2j p-%HeadingCmd: 5.930183 target range: 182.800003 and range: 182.80 m. j%Ľ@j!j)j)i)h)h)h1h5`Bf1f1f9rf9bf=`]C@ɛae- imDTIi bӼɚiIA8=Iii)Ľ@)*F?2F:FBF`0JFGGa Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023568  I {w,!قA6@?Y6=V?6U<96_٪dd fG٣dyj1 j> rNusing accuracyPremultiplier from configlz\59neI?z\5Yn, inAxza?z@nHEnT{;n0;nt\5 `@Zj)-FNOT Ignoring new targets: 182.80 m.Bj5LJj5L ProNav: ac range: 182.800003 m, nav range: 105.891373 m, bearing: 335.507915 deg, approach rate: -0.124785 m/s, LOS rate: -0.248812 deg/s, cmd heading: 339.774481 deg, new cmd heading: 339.490162 deg. 2j*HeadingCmd: 5.925221 target range: 182.800003 and range: 182.80 m. ji@jjjihhhhf!f!f)rf)bf- x@ɛh 隥?RI KټɚiI=I!Gii)i@)EEpA*FM?2FI:FIBFM0JFI Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274976Gm>GI Bi O >H I  I !II BI &I .I 6I <:I | F)Fw,-{A2Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528925zKnJ3KKn@9KlKnKn M"([u~{sojfea]`b`][WSTWVTSUVVVTSRURPPPNMIJNLJJGA@ K$?I?YM?_<9."Bލm!Ii8>I= a=a=mMb@Mb@Mb@iii i)iYmV-?{Gz?{Gzym>mף G٣yӌ > Nusing accuracyPremultiplier from config\59sI?\5YR iA/>:pX?@HE ;;y\5 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 182.80 m.BjJj- ProNav: ac range: 182.800003 m, nav range: 105.819412 m, bearing: 335.380534 deg, approach rate: -0.143783 m/s, LOS rate: -0.254691 deg/s, cmd heading: 339.490154 deg, new cmd heading: 339.107755 deg. 2j5.5HeadingCmd: 5.918547 target range: 182.800003 and range: 182.80 m. j=d@j9j9j9i9h9hAhAhEgBfAfIfIrfIbfME@ɛ}ڄB}p y隅MI o߼ɚiI=I뱺ii)d@)*F92F9:FABFE0JFA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778536Gy GQ Ba O >JK3 K.KK"KJ J J J J :J ':J J J % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282521Ww,0'A2s?Y24=?2)<92qhh nG٣lyn n> rNusing accuracyPremultiplier from configpv\59rrI?v\5Yr irϋAx~G?~@rHEr&@;r"\;rG\5 ~B  @EZjI]FNOT Ignoring new targets: 182.80 m.BjeJje} ProNav: ac range: 182.800003 m, nav range: 105.699944 m, bearing: 335.200068 deg, approach rate: -0.172527 m/s, LOS rate: -0.249406 deg/s, cmd heading: 338.853662 deg, new cmd heading: 338.566037 deg. 2j*+HeadingCmd: 5.909092 target range: 182.800003 and range: 182.80 m. jH@jjjihhhhfffrfbf @ɛلB Ĭ 隭EI 0ɚiI=I/ii)H@)*F?2F:FBFw3JF"GGZHRH@AH I  I !II BI &I .I 6I <:I  FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538949zKfNKKKK?I{!8 uR({U-tO.|tph`]XTQJGB><8442-('' M$?IG>G B O >1@w,= AAJ>YJg4?Jǜ<9J} n?@?ɨJ>Jm\;JCyRWBR!I)T T-only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V  @ @ @   @  I jI ;4٢<= E=9%Q %>!) -G٣)y-_ -> =bBottom track data is 0.4 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E\595I?E\5Y5 i5AE+:IM:Mk??M@5HE5q';5>57\5 o@EWill construct direction to contact in vehicle frame from tetrahedron phase data.=4=DAT read: 22:36:59.1547 LVL= 30704, 28753, 14658, 32035, AGC= 64, IDX= 429,-0.01,-0.487,-1.417, 0.839,-0.208, PHS=-0.191,-1.162, 1.044, RAW= 183.9, 3.3, CAL= 184.0, -5.1, ROT= 326.0, 5.1 Ygot valid direction response: 22:36:59.1547 LVL= 30704, 28753, 14658, 32035, AGC= 64, IDX= 429,-0.01,-0.487,-1.417, 0.839,-0.208, PHS=-0.191,-1.162, 1.044, RAW= 183.9, 3.3, CAL= 184.0, -5.1, ROT= 326.0, 5.1 %PDAT read: Bearing 326.0, 5.1 (Local) %~Local bearing/azimuth received: Bearing 326.0, 5.1 (Local) 5DAT read: Range 10 to 50 : 181.6 m (Round-trip 242.2 ms) speed -0.1 m/s 5R#Rx 1: Read range and direction messages.=bdirection in FSK: [-0.142785,-0.989340,-0.028597]=Fpublishing direction and range info9tHF¿F_IZ↓'Hy5CwQp B9)#}I@iCjˡ?kM@k= M@)KI@iK=\l?.OY=?əM)?) ߎ?IjiihۿL<T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.kB4i?kG[% k k;DA:k5CBk[4CZk]˨@")P9kAuf tHF¿F_IZ↓'HJkhۿRkL<*dB.X@O?|.cḿ. < ? ,|ħ"ku*kwBkli?kAv% 2kdBkli?kk0kBkE@- addTargetRange:: Added new target pos. range: 181.600006 m, deltaT: 4.040308 s, deltaX: -1.199997 m, approachRate: -0.297006 m/s, rangeRepo size: 4 = Added new target pos. range: 181.600006 m, bearing: 302.225182 deg, lat: 36.903824 deg, lon: -122.120094 deg, deltaT: 4.040308 s, deltaX: -1.199997 m, approachRate: -0.297006 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 181.60 m.BjeJja} ProNav: ac range: 181.600006 m, nav range: 106.468010 m, bearing: 335.308419 deg, approach rate: 0.000000 m/s, LOS rate: -0.249406 deg/s, cmd heading: 338.566029 deg, new cmd heading: 338.221937 deg. 2jyHeadingCmd: 5.903086 target range: 181.600006 and range: 181.60 m. j@jjjihhhhfffrf@3f@bf_?ɛIM* QU@IQ UɚQiQI]=IY¾ii)@)JJJJJ;:J%:JJJ<J<JK;JL;*F?2F:FBF2JF Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2725>  BDAT read: Tx time:22:37:00.5583  $Ping request sent. 0gw,@ZA6>Y6J,?6z<96X,6ێ;4y=YB=!IIrIJ4٢&< @=98Q > G٣NGy >  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config5\59I?=\5YQ iA= :9=:=h7?=@HE;Z?\5A MK@IZjFNOT Ignoring new targets: 181.60 m.BjJj󖻝 ProNav: ac range: 181.600006 m, nav range: 106.380943 m, bearing: 335.204165 deg, approach rate: -0.220251 m/s, LOS rate: -0.263945 deg/s, cmd heading: 338.221925 deg, new cmd heading: 337.908911 deg. 2j$5HeadingCmd: 5.897623 target range: 181.600006 and range: 181.60 m. jT@j j j i h)h)h1h1f1f1f9rf9bf=@^?ɛ؄B 隍J?I AɚiIU=Ichžii)T@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:37:00.5576 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251779*Fe?2Fa:FiBFmP0JFi) 5c~GM|uAY Y|uAy)BGe >G! B1 OM >H I  I !II BI &I .I 6I )<:I ) Fw,ۿtA&Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503845zKnwOKn9KlKn Kn')()'!!    (M|{R BK qA 1I9:K rA%>Y%K^%?%<9%%#-;%CygB!I        Mb@Mb@Mb@ )Y'1Z?~jt?~jthy?D=D ) AIyf AI-VI-n4٢M[= U(=9]hQ e>iq uG٣qy}qy }> Nusing accuracyPremultiplier from config\59/I?\5Yߣ iAT:d?:`=?@HE;{;\5 v@EB*** querying acoustic contact ***jjZj]FNOT Ignoring new targets: 181.60 m.BjeJjeu ProNav: ac range: 181.600006 m, nav range: 106.284081 m, bearing: 335.079739 deg, approach rate: -0.204851 m/s, LOS rate: -0.263383 deg/s, cmd heading: 337.908911 deg, new cmd heading: 337.535297 deg. 2ju4uHeadingCmd: 5.891102 target range: 181.600006 and range: 181.60 m. j郼@jjjihhhhBfffrfbf?ɛׄB-꛽ 15!8IY ]$ɚYiYIe=IuȾii)郼@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754956*Fm?2Fi:FqBFqJFqJ J J 1J J :J $:J 3J J <J <J ~;J ~;G G rAG G B O >.w,A:n>Y:?:r<9:9w:/;:CyBsBB!IIN1IN3٢V#= Zw=9ZHQ ^?\\ ^G٣\yb$ b? fNusing accuracyPremultiplier from configdj\59fI?j\5Yf ifAln5?n@fHEf:f:fʋ\5p r@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005555ZjaeFNOT Ignoring new targets: 181.60 m.Bjm~Jjm~} ProNav: ac range: 181.600006 m, nav range: 106.215012 m, bearing: 334.997525 deg, approach rate: -0.187169 m/s, LOS rate: -0.222933 deg/s, cmd heading: 337.535299 deg, new cmd heading: 337.288501 deg. 2j}HeadingCmd: 5.886795 target range: 181.600006 and range: 181.60 m. j`@jjjihhhh N$?Ifffrf!bf%`?ɛuքBuT 隝r1I $ɚiIy=Iʾii)`@)*F?2F:FBF^0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.ե Y?ե Y? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260022G >G B O >bOw,`>A:O>Y:|#?:t<9::{;:CyVoBV!II^ I^b3٢f: fI=9j[Q j>hl nG٣nNGyn+ r> vNusing accuracyPremultiplier from configpv\59rI?z\5Yr irAxz$.?z@rHEpr=Ia Ie "IIeBIe! =&Ia.Ia6Ied<:IeT F*F}?2Fy:FyBF}0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509786 O$?IzKOK9KK K)1/""*' yOe@iP>)ytnjgd_]ZWURQNJGG}>GQBiO>8w,mŃA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762543Mݫ>YM|j?MX<9M7Mc;MCyޅ|Bޅ!I%Mb@Mb@Mb@!!! !)!Y%Q?Q?{Gzty%?%u=%ף! % A)%/ AI%vA!y%= AI=JI=)4٢MHp= M4=9U ;Q U>YY ]G٣Yy]D e> mNusing accuracyPremultiplier from configau\59eI?u\5Ye ieAu ?u:u+?}@eHEe,;e;eK\5 "@EZjFNOT Ignoring new targets: 181.60 m.BjuJju ProNav: ac range: 181.600006 m, nav range: 106.014893 m, bearing: 334.778764 deg, approach rate: -0.244771 m/s, LOS rate: -0.264830 deg/s, cmd heading: 336.985660 deg, new cmd heading: 336.631615 deg. 2j5HeadingCmd: 5.875330 target range: 181.600006 and range: 181.60 m. j@jjjihhhhBfffrfbf@ɛԄB%Ϝ !%,I! %ɚ!i)I-r=I5kоi1i1)5@)1JUJUJU0JQJU:JU":JUـ3JQJU<JU<JU8{;JU8{;*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013568 IGG ?G>G B O >bw,nރA6 >Y6?6;<96-?` ? 4? y`?@?ɨ6 >6f@;6Cy^vBb!IIjYIj4٢vB  vd=9va:Q v>xx zG٣xy   > Nusing accuracyPremultiplier from config\59I?\5Y ixA!%&#?%@HEE;w;p\5) -@)ZjQUFNOT Ignoring new targets: 181.60 m.BjefJjef ProNav: ac range: 181.600006 m, nav range: 105.923248 m, bearing: 334.686419 deg, approach rate: -0.255556 m/s, LOS rate: -0.257734 deg/s, cmd heading: 336.631611 deg, new cmd heading: 336.354337 deg. 2j0HeadingCmd: 5.870491 target range: 181.600006 and range: 181.60 m. jۻ@jjjihhhhfffrfbfz@ɛӄBPȦ 隝.I 6*ɚiI흉=ILӾii)ۻ@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267081*Fe?2Fi:FiBFmP5JFiGHQ IQ  IU "IIU ̃BIU " =&IQ .IQ 6IU k<:IU X FBIJIRIZIbIjIQ4Gi By O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521003 I w,AzK&OK9K K KB?A@@;875320/../-)('$%# %C\{fR9sU,mZPKHDW>YN>f<9Uj;騭CyxB!IMb@Mb@Mb@ )Y#~j?{Gz?~jty?ף=D A  A)E AI Ay AIWI44٢K< /=9:Q > G٣NGy} > Nusing accuracyPremultiplier from config\59=I?\5Y idAz?:(&?@HE;u;~\5B d@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 181.60 m.BjuJju ProNav: ac range: 181.600006 m, nav range: 105.810196 m, bearing: 334.568580 deg, approach rate: -0.235369 m/s, LOS rate: -0.245597 deg/s, cmd heading: 336.354332 deg, new cmd heading: 336.000442 deg. 2j(HeadingCmd: 5.864314 target range: 181.600006 and range: 181.60 m. jv@j j j i h h hhBfffArfIbfM@ʝ@ɛ҄BЫ ,I ɚiI:`=IOv־ii)v@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770550*F?2F:FBF_5JFJ J J J J l:J !:J J J <J <J my;J ny;G G B O >Irw,PAB|>YBP>BF:<9B=xBNx;BCyJwBN!IIZ^IZ&4٢z  ~n=9 ;Q  ?  G٣yĭ ? -Nusing accuracyPremultiplier from config!5\59%J?5\5Y%ԏ i%UA15?5@%HE%';%&%;%\5EB E@EEZjimFNOT Ignoring new targets: 181.60 m.BjuJju ProNav: ac range: 181.600006 m, nav range: 105.721535 m, bearing: 334.481986 deg, approach rate: -0.268421 m/s, LOS rate: -0.262380 deg/s, cmd heading: 336.000446 deg, new cmd heading: 335.740450 deg. 2j4HeadingCmd: 5.859776 target range: 181.600006 and range: 181.60 m. jJ@jjjihhhhfffrfbf ( @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021744ɛфBNO -I O ɚiI =I ؾii)J@) }P$?Iy*Fu?2Fy:FyBF}P0JFyGGqAGGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:37:03.2612  TRx dataTimestamp_ set to:1736375824.604599 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274661 w,`,A2\_>Y2>2<922M;0y:vB>!IiB,>IB=IF_IFb(4٢Nj» NP=9Rϲ:Q R>PT VG٣TyVٕ V> ^Nusing accuracyPremultiplier from config\b\59^>J?b\5Y^ˌ i^DA`bR?b@^HE^L:^n:^\5h j@jEZj1=FNOT Ignoring new targets: 181.60 m.Bj=׊Jj=׊M ProNav: ac range: 181.600006 m, nav range: 105.616402 m, bearing: 334.385470 deg, approach rate: -0.264183 m/s, LOS rate: -0.242772 deg/s, cmd heading: 335.740462 deg, new cmd heading: 335.450627 deg. 2jM&UHeadingCmd: 5.854718 target range: 181.600006 and range: 181.60 m. jUY@jYjYjYiYhYhYhahafafafirfibfmS @ɛЄBX -I  ɚ!i!I%=I-`۾i)i))-Y@)1ZHRHAAHI I""IIуBI# =&I.I6II<:I? F*F2F:FBFW0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531118 eQ$?IazKQOKKK K?83.,+($%# G>GBO>w,]FA"Will construct direction to contact in vehicle frame from tetrahedron phase data.>DAT read: 22:37:03.2612 LVL= 22128, 26865, 16738, 27491, AGC= 59, IDX= 193,-0.07,-3.054, 2.305,-2.243,-3.010, PHS= 0.044,-0.921, 0.764, RAW= 175.2, 1.6, CAL= 175.7, -6.8, ROT= 334.3, 6.8 BYgot valid direction response: 22:37:03.2612 LVL= 22128, 26865, 16738, 27491, AGC= 59, IDX= 193,-0.07,-3.054, 2.305,-2.243,-3.010, PHS= 0.044,-0.921, 0.764, RAW= 175.2, 1.6, CAL= 175.7, -6.8, ROT= 334.3, 6.8 FPDAT read: Bearing 334.3, 6.8 (Local) F~Local bearing/azimuth received: Bearing 334.3, 6.8 (Local) NDAT read: Range 10 to 50 : 224.0 m (Round-trip 298.7 ms) speed 0.7 m/s NR#Rx 1: Read range and direction messages.R`direction in FSK: [-0.124630,-0.984315,0.124867]RFpublishing direction and range info 9"h#翿fρ듀?B?y"`C "pV"h "bA)"ckI";i"X94="k"C?"EC@"< "?BD@)"I"U@i"= "vF`A?_g5xD?.?)"tv?I"p߼i".ٿ"2 vT****** received valid address query ******vR****** received valid ping request ******vQuerying Benthos address 50 with one ping in standard two-way mode.ytB!IeMb@Mb@Mb@aaa a)aYeS㥛?㥛 ?Zd;Oye?e=eje/ A a)e AIeAaye AIoID4٢Ȼ  =9 Q  > G٣ NGy > %Nusing accuracyPremultiplier from configM\59B&J?M\5Y i!AMM?M:M_?M@HE;;n\5Y ]@Yk"C`?k"Z8-+ k  k"FA:k"`CBk"w^CZk" @""~;9O𕑏knY;@"h#翿fρ듀?B?Jk".ٿRk"2*"&i FQ@D% wjg}7@"_u T?+X?^!k'?"k"S*k"4Bk"[`?k"`S+ 2k"Bk k"rRB k"+@k" Ck"s@MaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 224.000000 m, deltaT: 4.031715 s, deltaX: 42.399994 m, approachRate: 10.516615 m/s, rangeRepo size: 4ZjIeFNOT Ignoring new targets: 181.60 m.Bjm慻Jjm慻 ProNav: ac range: 181.600006 m, nav range: 105.477028 m, bearing: 334.260123 deg, approach rate: -0.259982 m/s, LOS rate: -0.234126 deg/s, cmd heading: 335.450616 deg, new cmd heading: 335.074084 deg. 2j HeadingCmd: 5.848146 target range: 181.600006 and range: 181.60 m. j$@jjjihhhhBfffrfl@bf`?ɛE΄BM IM,II MɚQiQIUp~=IU}޾iyiy)$@)Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:2726> BDAT read: Tx time:22:37:04.6083 $Ping request sent.G ?G ?Gq By O >Tw,bA2V$>Y2T">2<922v;2CyRdBR!II^bI^-4٢b fn=9j;Q j?hh jG٣hyne- n? rNusing accuracyPremultiplier from configpv\59rG3J?v\5Yr ir Axz?z@rHEr;rV;rg\5 @ EZj15FNOT Ignoring new targets: 181.60 m.Bj=OJj=OM ProNav: ac range: 181.600006 m, nav range: 105.376549 m, bearing: 334.180141 deg, approach rate: -0.321082 m/s, LOS rate: -0.255825 deg/s, cmd heading: 335.074082 deg, new cmd heading: 334.833910 deg. 2jU/UHeadingCmd: 5.843954 target range: 181.600006 and range: 181.60 m. j]@jYjYjYiYhYhYhahafififirfqbfu?ɛ̈́Bώ 0=隭74I ɚiIO=Iii)@) Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:37:04.6076 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249801*F2F:FBF_0JFJJJJJ:J":JJa@a@a@a@HI I"IIǃBI" =&I.I6Ic<:IR FG>GB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500310 I zKm 8hMKm 9Ki Km Km   !!"" Ouw,j|Ay XB !I)Q QYYMb@Mb@Mb@ )Yx&1?J +?X9vy?H=  A)I Ay AIHI<3٢%S %7=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E\59=3DJ?E\5Y=Ѓ i=AMb?M:M5>M@=HE=D;=;=L\5Q U@YuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 181.60 m.BjO~JjO~U ProNav: ac range: 181.600006 m, nav range: 105.241371 m, bearing: 334.081434 deg, approach rate: -0.304091 m/s, LOS rate: -0.222333 deg/s, cmd heading: 334.833905 deg, new cmd heading: 334.537406 deg. 2j]HeadingCmd: 5.838779 target range: 181.600006 and range: 181.60 m. jG׺@jjjihhhhBfffrfbf ?ɛ˄B槽 %Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752373隥'9IA En_ɚAiAIE9=IMAiIiI)UG׺@)Q*F12F1:F9BF9JF9G! G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004169O >%w,KA R$?I !=Y> S<9Ya eG٣e NGym m> uNusing accuracyPremultiplier from configq}\59uSJ?}\5Yu iuAy}>@uHEun:u:uï\5 @~EZjFNOT Ignoring new targets: 181.60 m.BjnJjn ProNav: ac range: 181.600006 m, nav range: 105.112740 m, bearing: 333.997156 deg, approach rate: -0.318364 m/s, LOS rate: -0.208844 deg/s, cmd heading: 334.537393 deg, new cmd heading: 334.284251 deg. 2jS%HeadingCmd: 5.834361 target range: 181.600006 and range: 181.60 m. j%@j!j!j!i!h)h1hhfffrfbf`"?ɛEɄBEw AEJ J J J J J J J :J J X+w,^A6b&=Y6>6<96fhh jG٣hyn n>jHpbHr4<HvA>It Iv!IIvBIt&It.It6IvN<:IvC F  Nusing accuracyPremultiplier from config \59bJ?\5Y iA>@HE::&\5! %v@!ZjFNOT Ignoring new targets: 181.60 m.Bj#gJj#g% ProNav: ac range: 181.600006 m, nav range: 104.982864 m, bearing: 333.916418 deg, approach rate: -0.324656 m/s, LOS rate: -0.202075 deg/s, cmd heading: 334.284239 deg, new cmd heading: 334.041726 deg. 2j% -HeadingCmd: 5.830128 target range: 181.600006 and range: 181.60 m. j-i@j)j)j)i)h1h1hyhyfyfyfyrfbf`? S$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509724ɛDŽB" >I VɚiI.f=I5i1i9)=i@)QzK 9$MK ŷ9K K K RK= ?JK=>Eu=*F 2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761028GIG!B1Om?74w,фAB^Bb<9B#-T<-t- A - A)-/ AI-A)y- AIExIET4٢U ]=9];Q ]>aa eG٣aye+ m> uNusing accuracyPremultiplier from configi}\59mwJ?}\5Ym} imkA}7>}:}B>@mHEm;m;m\5 @{EZjFNOT Ignoring new targets: 181.60 m.BjTJjTU ProNav: ac range: 181.600006 m, nav range: 104.789963 m, bearing: 333.823588 deg, approach rate: -0.386232 m/s, LOS rate: -0.186209 deg/s, cmd heading: 334.041739 deg, new cmd heading: 333.762738 deg. 2jUuHeadingCmd: 5.825259 target range: 181.600006 and range: 181.60 m. juh@jqjqjqiqhyhyhyh}TBfffrfbfX@ɛńB H II VɚiIG= Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012691I_uii!)Mh@)IE%=*F?2F:FBFo0JFG >Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264325(`:w,넿A:@Y:qU>:<9:@͕?(?ɨ:@:~;:CyF(BFR!IIRIRa4٢Z߅ ZV=9Z:Q ^>\\ bG٣b NGyb b> fNusing accuracyPremultiplier from configdj\59fkJ?=\5Yf| ifEAAEq>E@fHEf~Aw,AzWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769841yeBeG!IMb@Mb@Mb@ )Y^I +?y&1+yX>`弹 A vA) AI`Ayp AIwIR4٢C /=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)5\59-TJ?5\5Y-{ i-A=>=:=>>=@-HE- ;-;-\5A M@MxEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 181.60 m.Bj4Jj4 ProNav: ac range: 181.600006 m, nav range: 104.458015 m, bearing: 333.685760 deg, approach rate: -0.409304 m/s, LOS rate: -0.157458 deg/s, cmd heading: 333.563216 deg, new cmd heading: 333.348613 deg. 2jػHeadingCmd: 5.818031 target range: 181.600006 and range: 181.60 m. jO-@jjjihh!h!h%4Bf!f)f)rf)bf-@ɛ}B 隥PI  ɚiI=I(ii)O-@)*Fu?2Fq:FqBFu_5JFy AIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020202G >G G Gq B O >Gw,"8 A:@Y:>:j<9:hl nG٣lynG( r> vNusing accuracyPremultiplier from configpz\59rJ?z\5YrW{ irAxzX=z@rHEr;r;r?\5Y e@aZjFNOT Ignoring new targets: 181.60 m.Bj?Jj? ProNav: ac range: 181.600006 m, nav range: 104.308907 m, bearing: 333.635224 deg, approach rate: -0.397325 m/s, LOS rate: -0.134855 deg/s, cmd heading: 333.348612 deg, new cmd heading: 333.196786 deg. 2jHeadingCmd: 5.815381 target range: 181.600006 and range: 181.60 m. j@jjjihhh1h1f9f9f9rf9bf=@ @ɛB˽ 15ZHQ RHQ HY IY  I] !II] vBIY &IY .IY 6I] 2<:I] / FBIJIRIZIbIjIɐ3GY Bi O > E V$?IA  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524252Mw,^:AJ@YJH=J;<9J_ʼ G٣ NGy  >zK[eMK9KKK  !RKU ?JKU? Nusing accuracyPremultiplier from config\59»J?\5Yz iA += @HE<p<?\5i mf@uuEZjFNOT Ignoring new targets: 181.60 m.BjJj5 ProNav: ac range: 181.600006 m, nav range: 104.116066 m, bearing: 333.573990 deg, approach rate: -0.408231 m/s, LOS rate: -0.129868 deg/s, cmd heading: 333.196790 deg, new cmd heading: 333.012750 deg. 2j5AEHeadingCmd: 5.812169 target range: 181.600006 and range: 181.60 m. jEJ@jijijiiihqhqhqhqfyfyfyrfybf}@'@ɛBý XI e&ɚiI=I)ii)J@)*F?2F:FBF4JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:37:07.3083 LVL= 27840, 32673, 23282, 32755, AGC= 61, IDX= 418, 0.00,-0.582,-1.698,-0.524,-1.482, PHS= 0.987,-0.170, 0.955, RAW= 148.6, -28.8, CAL= 152.2, -34.5, ROT= 357.8, 34.5 Ygot valid direction response: 22:37:07.3083 LVL= 27840, 32673, 23282, 32755, AGC= 61, IDX= 418, 0.00,-0.582,-1.698,-0.524,-1.482, PHS= 0.987,-0.170, 0.955, RAW= 148.6, -28.8, CAL= 152.2, -34.5, ROT= 357.8, 34.5 PDAT read: Bearing 357.8, 34.5 (Local) ~Local bearing/azimuth received: Bearing 357.8, 34.5 (Local) DAT read: Range 10 to 50 : 221.8 m (Round-trip 295.8 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.427539,-0.734174,0.527446]Fpublishing direction and range info)9- >\?cZ~2t?y-]C)-l- -Z)-I-=i-|?-{.-zt?-%@- -P*@)-%I-M@i-%?))-'ۅ~?*?x޿)-D>I-?i-7-@;))UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.GY G B) OE >Tw,\SAbC@Yb@6=beV<9bC& I  G٣ y  > %bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from confige\5Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:2727> BDAT read: Tx time:22:37:08.6583 $Ping request sent.<L>\5 P@km_/xo?km"`r% ki km IA:km]CBkmH\CZkm@"mD/W@foZd&3?]@m >\?cZ~2t?Jkm7Rkm@;*mc)~ \@l(cg-[@mbs/?$}hPY?"km9*km^Bkmv1o?km9C% 2km/Ckmv1o?kmAv% kmdBkm?CkmЪ@u addTargetRange:: Added new target pos. range: 221.800003 m, deltaT: 8.065227 s, deltaX: 40.199997 m, approachRate: 4.984360 m/s, rangeRepo size: 4  Added new target pos. range: 221.800003 m, bearing: 305.682251 deg, lat: 36.903996 deg, lon: -122.121320 deg, deltaT: 8.065227 s, deltaX: 40.199997 m, approachRate: 4.984360 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 221.80 m.BjJj ProNav: ac range: 221.800003 m, nav range: 191.603149 m, bearing: 305.839267 deg, approach rate: 0.000000 m/s, LOS rate: -0.129868 deg/s, cmd heading: 333.012758 deg, new cmd heading: 332.860450 deg. 2jHeadingCmd: 5.809511 target range: 221.800003 and range: 221.80 m. j@jjjihhhhYfafifqrfk@bf`e?ɛMBMvʽ IMVII U)ɚQiqIu]=I}iyiy)}@)*F-?2F):F)BF-P0JF)= Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:22:37:08.6576 M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252690Gm >Gu ?Gu >GQ BY Ou >NZw,mA6@Y6>q=6-t<96 BB-!IIJ^IJ&4٢RP R^=9RVQ R>TT VG٣tyzP z> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|\59~J? \5Y~z i~iA  :  : @M; @~HE~B.;~A?~\5 y@rEZjaFNOT Ignoring new targets: 221.80 m.Bj Jj  ProNav: ac range: 221.800003 m, nav range: 191.497711 m, bearing: 305.795280 deg, approach rate: -0.307992 m/s, LOS rate: -0.128559 deg/s, cmd heading: 332.860445 deg, new cmd heading: 332.728412 deg. 2juHeadingCmd: 5.807206 target range: 221.800003 and range: 221.80 m. jԹ@jjjihhhhfffrfbf VF?HB>I I!IIbBI# =&I.I6I|<:Ie FɛEBE ؽ IM WII MF+ɚIiIIUTD=IUiYiY)]Թ@) W$?I*F5?2F1:F1BF5_0JF1uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503059zK+!MK9KKKhHJe& Gy GY Bq O >law,QAJ@YJ<J><9Jj/ݼ `A) AIyAISI4٢ ;=9|Q > G٣ NGy > Nusing accuracyPremultiplier from configu\59J?u\5Y{ iEA}T:}?}:}}@HE<n<\5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 221.80 m.BjJj꺝 ProNav: ac range: 221.800003 m, nav range: 191.347733 m, bearing: 305.749767 deg, approach rate: -0.337736 m/s, LOS rate: -0.102571 deg/s, cmd heading: 332.728403 deg, new cmd heading: 332.591758 deg. 2jɌHeadingCmd: 5.804821 target range: 221.800003 and range: 221.80 m. j@jjjihhh!h%Bf!f!f!rf)bf-K?ɛBν 隝YI .ɚiI=I%ii)@)JJJJJ:J&:JJJ G B O- >gw,Ay~B6!II CI 3٢= %T=9%Q %>)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E\59=J?M\5Y=n| i=&AIIM@=HE=;=D;=<\5UB @oEZjFNOT Ignoring new targets: 221.80 m.BjJj  ProNav: ac range: 221.800003 m, nav range: 191.212524 m, bearing: 305.708642 deg, approach rate: -0.355500 m/s, LOS rate: -0.108206 deg/s, cmd heading: 332.591745 deg, new cmd heading: 332.468282 deg. 2jHeadingCmd: 5.802666 target range: 221.800003 and range: 221.80 m. jq@jj!j!i!h!h!h)h)f)f)f1rf9bf=@E?ɛeBe"5ӽ aePIi mO1ɚiiiImޖ=Iuiyiy)}q@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259647*F ?2F :FBF0JFG! G%rAG5>G5rAG1jHbH<HA>I I!IIWBI" =&I.I6I4<:I1 FG B O] > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510702C'nw,]A6e@Y6 @6"<96GB5!I)1 1Im8Im3٢ B=9Q > G٣y >zK=ANK=9K9K=K= Nusing accuracyPremultiplier from config\59;K?5\5Y} iA9E"]E@HE<<.\5 @ZjFNOT Ignoring new targets: 221.80 m.BjUߺJjUߺ ProNav: ac range: 221.800003 m, nav range: 191.044983 m, bearing: 305.663513 deg, approach rate: -0.362118 m/s, LOS rate: -0.097626 deg/s, cmd heading: 332.468282 deg, new cmd heading: 332.332776 deg. 2jHeadingCmd: 5.800301 target range: 221.800003 and range: 221.80 m. j@jjjihhIhYhYfaffrfbf?ɛBΖ 隍OI p4ɚiIї=Ipuw,_օA6@Y6@6%/<96!Y$?I@ybBb>!IUMb@Mb@Mb@QQQ Q)QYUCl?B`"۹ G٣NGy菽 >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017395 Nusing accuracyPremultiplier from config\59kK?\5Y iAi?:@HE;;\5 @lEZjFNOT Ignoring new targets: 221.80 m.Bj)Jj)麝u ProNav: ac range: 221.800003 m, nav range: 190.890991 m, bearing: 305.625722 deg, approach rate: -0.414989 m/s, LOS rate: -0.101923 deg/s, cmd heading: 332.332772 deg, new cmd heading: 332.219308 deg. 2ju勻HeadingCmd: 5.798321 target range: 221.800003 and range: 221.80 m. j؋@jjjihhhhBfffrfbf`h@ɛBhս JI 6ɚiI=I%#@i)i))-؋@))*F?2F:FBFP5JFG% >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272078) = G BI G vA Y vAy BO >E F@E Bt{w,5A6<@Y6)@6#e<96dd fG٣dyj j> 5Nusing accuracyPremultiplier from configl=\59n.K?=\5Yn} inӈAAE핾E@nHEn`I I!IIbBI&I.I6IK<:IA FɛBnν BI 39ɚiI<=I +i i )}@) yI*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523131zKKKKKG)G B O= >w,${ AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774797y-BY!I Mb@Mb@Mb@    ) Y Zd;O?sh|?  t  A `A)  AI A y (AI%nI%B4٢5= 55=9=Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU\59M@K?U\5YM iMA]?]:]]@MHEM);M;M\5a eI@eiEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 221.80 m.BjJjຝ ProNav: ac range: 221.800003 m, nav range: 190.568985 m, bearing: 305.548072 deg, approach rate: -0.393117 m/s, LOS rate: -0.098178 deg/s, cmd heading: 332.116255 deg, new cmd heading: 331.986167 deg. 2jHeadingCmd: 5.794252 target range: 221.800003 and range: 221.80 m. jj@jjjihhhhBfffrfbf >@ɛB޿ +=I  <ɚiI =IwUii) j@) JEJEJAJAJEl:JE:JAJAJE <JE <JExp;JEyp;*F?2F:FBFO0JF eZ$?IiWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027024G >G B O >w,P$A6=@Y6+M@6ZÄ<96|dd fG٣fNGyj' j> 5Nusing accuracyPremultiplier from config1=\595OK?=\5Y5 i5AAEiE@5HE5 ;5 ;5\5I M@IZjq}FNOT Ignoring new targets: 221.80 m.Bj̺Jj̺ ProNav: ac range: 221.800003 m, nav range: 190.421112 m, bearing: 305.515273 deg, approach rate: -0.403325 m/s, LOS rate: -0.089528 deg/s, cmd heading: 331.986180 deg, new cmd heading: 331.887708 deg. 2juHeadingCmd: 5.792533 target range: 221.800003 and range: 221.80 m. jo\@jjjihhhhfffrfbf @ɛBʽ 1I )=ɚiI=I6ii)o\@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:22:37:11.3264 MTRx dataTimestamp_ set to:1736375832.674251Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.281993*Fu?2Fq:FqBFu_0JFqG>ZHRHHI I!II{BI&I.I6Iv<:Ia FGiBO> Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530719Ҏw,,>AU@Yde@~{<9cm A ) AIAyAIjI;4٢j< =9ϺQ > G٣yX > Nusing accuracyPremultiplier from config\59dK?\5Y} iA>:z@HE5;;\5 o@fEZjFNOT Ignoring new targets: 221.80 m.Bj%ѺJj%Ѻ5 ProNav: ac range: 221.800003 m, nav range: 190.214951 m, bearing: 305.467358 deg, approach rate: -0.393854 m/s, LOS rate: -0.091636 deg/s, cmd heading: 331.887716 deg, new cmd heading: 331.743816 deg. 2j5{=HeadingCmd: 5.790022 target range: 221.800003 and range: 221.80 m. j=G@j9jjihhhhKBfffrfbf@MWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:37:11.3265 LVL= 24272, 32753, 30162, 32755, AGC= 66, IDX= 107, 0.34,-2.385, 2.292,-2.917,-2.867, PHS= 0.570,-1.077,-0.053, RAW= 128.0, 7.8, CAL= 134.8, 2.5, ROT= 15.2, -2.5 Ygot valid direction response: 22:37:11.3265 LVL= 24272, 32753, 30162, 32755, AGC= 66, IDX= 107, 0.34,-2.385, 2.292,-2.917,-2.867, PHS= 0.570,-1.077,-0.053, RAW= 128.0, 7.8, CAL= 134.8, 2.5, ROT= 15.2, -2.5 PDAT read: Bearing 15.2, -2.5 (Local) ~Local bearing/azimuth received: Bearing 15.2, -2.5 (Local) DAT read: Range 10 to 50 : 197.9 m (Round-trip 263.9 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.274053,-0.525117,0.805697]Fpublishing direction and range infoIɛBv *9MjPѿmfzV9D?yMECIM^M Mu)IIMBiM?M#ۉMYM5@M'g > M@)M¸2=IMԇ>iM¸2IIMI룬d?Ļ,զ?N:UCn?)M>IM^ iMPMwoIIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I @ɚiI%=I5i=;i=;>)EG@)y*F1 2F1 :F1 BF5 P0JF1 JM JM JI JI JM :JM !:JI JI JM <JM <JM my;JM ny; = [$?IA GU >G] qAGY  Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2728>  BDAT read: Tx time:22:37:12.6584 GBO5>w,[A $Ping request sent.  [=9Q > G٣y > -Nusing accuracyPremultiplier from config)5\59-sK?5\5Y- i-A11=@-IE- :-P:-\5A EX@EcEkPH4?kͤ.U k kTKA:kECBkDCZkv@"zjKvVYQc@jPѿmfzV9D?JkPRkwo*;]jsQ~&W9{c@iֿ8ȍK߿D͘?"k*kk z4?k̀yf 2k`Ckli?kkBk3CkΧ@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 197.899994 m, deltaT: 4.035562 s, deltaX: -23.900009 m, approachRate: -5.922349 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 221.80 m.BjȺJjȺ ProNav: ac range: 221.800003 m, nav range: 190.066391 m, bearing: 305.432745 deg, approach rate: -0.376359 m/s, LOS rate: -0.087756 deg/s, cmd heading: 331.743818 deg, new cmd heading: 331.639899 deg. 2jpHeadingCmd: 5.788208 target range: 221.800003 and range: 221.80 m. j9@jjAjAiAhAhAhIhQfQfQfYrf]̼h@bf]?ɛB I BɚiIP=ImiԎ;i֔>)9@)*F2F:FBF^0JFGu >GIBauWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:22:37:12.6577 }checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242499O~>H I  I !II BI &I .I 6I <:I m FBIJIRIZIbIjI32Мw,#uA2e@Y2֣@2S<92)H\\ ^G٣^NGyb- b> fNusing accuracyPremultiplier from configdj\59fK?j\5Yf ifAhjn@fIEf|;f;f\5p r@p \$?IZjFNOT Ignoring new targets: 221.80 m.BjºJjº ProNav: ac range: 221.800003 m, nav range: 189.919968 m, bearing: 305.402283 deg, approach rate: -0.408596 m/s, LOS rate: -0.085070 deg/s, cmd heading: 331.639890 deg, new cmd heading: 331.548434 deg. 2jiHeadingCmd: 5.786612 target range: 221.800003 and range: 221.80 m. j+@jjjihhhhfff!rf!bf%`o?ɛmBmc` 隕I DɚiI=I>ig;i1V>)+@)Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.493529*FU?2FY:FaBFm`0JFqzKBHK}9KKKBKqA:KqAGM)́>G) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745076=w,ȕA>o@Y>@>Q/<9>|H@? r?2t?pп?Wꅿގ??ɨ>o@>;>CyFBJ!IMMb@Mb@Mb@III I)IYMK? rh~jth?yM^>MCMD;I MvA)IIM`AIyMG AY]AAIeUIe4٢u۴= u>=9uOQ u>yy }G٣yy > Nusing accuracyPremultiplier from config\59ǒK?\5Y! iA>:ږ@IEH;\G;\5 @`EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 221.80 m.BjO׺JjO׺ ProNav: ac range: 221.800003 m, nav range: 189.754257 m, bearing: 305.363576 deg, approach rate: -0.402585 m/s, LOS rate: -0.094120 deg/s, cmd heading: 331.548447 deg, new cmd heading: 331.432224 deg. 2j/HeadingCmd: 5.784584 target range: 221.800003 and range: 221.80 m. jO@jjjihhhhBfff rf bf 0!?ɛEBE AECIA M)UO@)Y*F?2F:FBF0JF IG2}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996975GBO J>vw,yA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248902yEBE!IiM=IM7?I]I]m?3٢< G=9Q > G٣y > Nusing accuracyPremultiplier from config\59K?\5Y iA@ IE:n:h\5 *@ZjFNOT Ignoring new targets: 221.80 m.BjϺJj Ϻ ProNav: ac range: 221.800003 m, nav range: 189.595367 m, bearing: 305.326384 deg, approach rate: -0.387416 m/s, LOS rate: -0.090760 deg/s, cmd heading: 331.432225 deg, new cmd heading: 331.320555 deg. 2j&yHeadingCmd: 5.782635 target range: 221.800003 and range: 221.80 m. jX @jjjihhhhfffrfbf?ɛmBm_੽ imIi u=HɚqiqIuS:=I}$ij;i(K>)X @)*F!2F!:F!BF%t1JF!JUJUJU1JQJU;:JU:JU3JQa]@a]@a]@a]@jH<bH<HI I"IĨBI&I.I6It<:I_ FGZ>GB ]$?IhOg>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501093аw,hÆAzK<K>@9K<K>K>RKR ?JKR?yB!IMb@Mb@Mb@ )YI +?:v?MbP?y9>T<:/ A A) AIvAyp AIYI4٢= 5=9 Q  >   G٣NGy > %Nusing accuracyPremultiplier from config%\59K?-\5Y iA-P>-:-%n-@IE;a;X\55B 5@=]EZjiFNOT Ignoring new targets: 221.80 m.Bj ٺJj ٺ=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753142M ProNav: ac range: 221.800003 m, nav range: 189.434036 m, bearing: 305.283425 deg, approach rate: -0.357467 m/s, LOS rate: -0.095266 deg/s, cmd heading: 331.320565 deg, new cmd heading: 331.191580 deg. 2jU‚UHeadingCmd: 5.780384 target range: 221.800003 and range: 221.80 m. j}@jyjyjyiyhyhyhhBfffrfbf 2@ɛ=B=톢 AE II MIɚIiIIU"=Ii,;iT}M>)@)*Fu?2Fq:FqBFu0JFy I G V> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005041Ga Bq O >w,݆Ab@Ybt"@b}<9b5 G٣ya > Nusing accuracyPremultiplier from config\59K?\5Yj iA頾@IE2I;I;\5  @ ZjFNOT Ignoring new targets: 221.80 m.BjJj ProNav: ac range: 221.800003 m, nav range: 189.291840 m, bearing: 305.251326 deg, approach rate: -0.370634 m/s, LOS rate: -0.083730 deg/s, cmd heading: 331.191583 deg, new cmd heading: 331.095212 deg. 2jeeHeadingCmd: 5.778702 target range: 221.800003 and range: 221.80 m. je @jijijiiihihihqhqfqfqfyrfybf@6@ɛB ھI KɚiIr=I%i];iE9>)E @)AEQ*F?2F:FBF@5JFG qA G GѰP>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257422GBO>J% J% J% 0J! J% :J% $:J% ـ3J! HY IY  I] N"II] BIY &IY .IY 6I] x<:I] a F;w,=A ^$?IN#[@YNj@N ;9N[tt vG٣tyv.w z> ~Nusing accuracyPremultiplier from configx]59zK?]5Yz izA i @zIEzx;z;z]5 j@ZEZj9=FNOT Ignoring new targets: 221.80 m.BjEǺJjEǺU ProNav: ac range: 221.800003 m, nav range: 189.147293 m, bearing: 305.220139 deg, approach rate: -0.402919 m/s, LOS rate: -0.087000 deg/s, cmd heading: 331.095223 deg, new cmd heading: 331.001590 deg. 2jUneHeadingCmd: 5.777068 target range: 221.800003 and range: 221.80 m. jeݸ@jajajaiahahihihififqfqrfqbfuw@ɛ=B=) AE+оIA EZELɚAiAIM=IMiM;iU?r=)Uݸ@}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509329)*FU?2FQ:FQBF]P0JFYzKUKU9KQKUKUBKa:KerAG5N>G! BA Oe >- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761021.'w,LkAyB "IMb@Mb@Mb@ )YtV?L7A`?~jtxy>+=Ļ A ) AIAyG AIiI:4٢Hw< :=9Q > G٣NGy > Nusing accuracyPremultiplier from config ]59K?]5Y iAK>:@IEg;;]5B %@%\EEB*** querying acoustic contact ***jAjAZjYmFNOT Ignoring new targets: 221.80 m.BjɺJjɺ ProNav: ac range: 221.800003 m, nav range: 188.982727 m, bearing: 305.181246 deg, approach rate: -0.372817 m/s, LOS rate: -0.088187 deg/s, cmd heading: 331.001595 deg, new cmd heading: 330.884815 deg. 2jrHeadingCmd: 5.775030 target range: 221.800003 and range: 221.80 m. j ͸@jjjihhhhτBfffrfbf`uv @ɛBSZ ɾI `$?I רMɚiI=I~il;iC|=) ͸@)*FU?2FQ:FQBFQJFQWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:37:15.3253 TRx dataTimestamp_ set to:1736375836.455886checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017377G=%B>G= ?G=?GBOn>Ow,_@+AT`rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265415t .YyaB= @Y=@=.׷;9==y=H]?`n?L`oٿX?av@)?k?ɨ= @=Q;=CyMăBM"II]8I]3٢mA< mS=9u嚻Q u> G٣y > Nusing accuracyPremultiplier from config%]59K?U]5Y9 iAQ]{]@IEld<}d<.]5a e@eYEZjFNOT Ignoring new targets: 221.80 m.BjJj ProNav: ac range: 221.800003 m, nav range: 188.827591 m, bearing: 305.147780 deg, approach rate: -0.369815 m/s, LOS rate: -0.079843 deg/s, cmd heading: 330.884826 deg, new cmd heading: 330.784345 deg. 2j-.[5HeadingCmd: 5.773276 target range: 221.800003 and range: 221.80 m. j5@j1j1j1i1h9h9h9h9fAfAfArfAbfEv @ɛBۛ ¾I OɚiI=Iki;iѨ=)@)IEQEUrAJJJ1JJ:J :J3ZHRHHI Is"IIBI&I.I6I\<:IM FJJGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516984:w,(EAzK1K59K1K5K5/Ic}:@Y}&J@}1;9}=y}H@? б?`Wㅿڿ@?m`;fr@3??ɨ}:@}W;}CyޕÃBޕ"Ii=I4<}Mb@Mb@Mb@yyy y)yY}v?Q?Qy}>}\=}u}E A }A)} AI} Ayy} AIAIk3٢} 8=9!%Q > G٣yM > Nusing accuracyPremultiplier from config]59L?]5Y) isA>:@IE;>; ]5 @Zj FNOT Ignoring new targets: 221.80 m.BjȺJjȺE ProNav: ac range: 221.800003 m, nav range: 188.654175 m, bearing: 305.111746 deg, approach rate: -0.422293 m/s, LOS rate: -0.087827 deg/s, cmd heading: 330.784340 deg, new cmd heading: 330.676141 deg. 2jEqUHeadingCmd: 5.771388 target range: 221.800003 and range: 221.80 m. jU5@jYjYjYiYhYhahihm܄Bfififirfqbfu@F@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:37:15.3253 LVL= 23520, 32753, 32754, 32755, AGC= 65, IDX= 429, 0.45, 0.535,-1.169,-0.452,-0.078, PHS= 0.701,-1.044,-0.378, RAW= 112.2, 9.5, CAL= 121.6, 6.7, ROT= 28.4, -6.7 Ygot valid direction response: 22:37:15.3253 LVL= 23520, 32753, 32754, 32755, AGC= 65, IDX= 429, 0.45, 0.535,-1.169,-0.452,-0.078, PHS= 0.701,-1.044,-0.378, RAW= 112.2, 9.5, CAL= 121.6, 6.7, ROT= 28.4, -6.7 %PDAT read: Bearing 28.4, -6.7 (Local) %~Local bearing/azimuth received: Bearing 28.4, -6.7 (Local) 5DAT read: Range 10 to 50 : 197.0 m (Round-trip 262.7 ms) speed 0.4 m/s 5R#Rx 1: Read range and direction messages.=`direction in FSK: [-0.293599,-0.265872,0.918211]EFpublishing direction and range info9Qҿbk ѿ/Pa?yEC[ )IAit3?ˡ7>?)> @)|=I>i|h-ُE?X֫/?)5 I.)i.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ɛBě HI `PɚiIF=I0i;i=)5@)!*F?2F:FBF_0JFGj=GiBqO> I Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2729>  BDAT read: Tx time:22:37:16.7084  $Ping request sent. -Nusing accuracyPremultiplier from config!-]59%L?5]5Y%Җ i%hA15L5@% IE%7<%a<%]5 @kU2?kx k kLMA:kECBkCCZko_@"aLE#=0J⭴)gf@Qҿbk ѿ/Pa?Jk.Rk*_H>QSB,<&=22`f@ٿlN¿oH?"ke*kkt˞2?k*} 2ktCk[`?kk/Ck&CkA@ addTargetRange:: Added new target pos. range: 197.000000 m, deltaT: 8.066330 s, deltaX: -24.800003 m, approachRate: -3.074509 m/s, rangeRepo size: 4  Added new target pos. range: 197.000000 m, bearing: 200.031058 deg, lat: 36.903591 deg, lon: -122.121320 deg, deltaT: 8.066330 s, deltaX: -24.800003 m, approachRate: -3.074509 m/s, posRepo size: 4 Zj%FNOT Ignoring new targets: 197.00 m.Bj%Jj!U ProNav: ac range: 197.000000 m, nav range: 166.746872 m, bearing: 292.311765 deg, approach rate: 0.000000 m/s, LOS rate: -0.087827 deg/s, cmd heading: 330.676150 deg, new cmd heading: 330.571465 deg. 2jQ]HeadingCmd: 5.769560 target range: 197.000000 and range: 197.00 m. j]=@jYjYjaiahahahhfffrfh@bf0&?ɛB#  I  zQɚ i I 3=I|i;i}"a=)=@)*F=?2FA:FABFEo0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:37:16.7077 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252263Ge 3=Gm rAGi J J J 0J J :J z:J ـ3J a @a @a @a @H- A>I)  I- "II- BI- # =&I) .I) 6I) :I- L FGA BI Oe > a$?I Êw,xA:@Y:@:Ћ:9:ŝ1=y:HZ??`eܿ@L?y1S1? K?ɨ:@:K;:CyRBV "II^I^F2٢r  rI=9vnQ v>tt vG٣xyz8 z> Nusing accuracyPremultiplier from config|]59~L? ]5Y~˘ i~]A  gʾ @~#IE~:~:~]5 0@VEZjFNOT Ignoring new targets: 197.00 m.BjJj ProNav: ac range: 197.000000 m, nav range: 166.609695 m, bearing: 292.264507 deg, approach rate: -0.380261 m/s, LOS rate: -0.131109 deg/s, cmd heading: 330.571457 deg, new cmd heading: 330.429567 deg. 2jHeadingCmd: 5.767084 target range: 197.000000 and range: 197.00 m. j@jjjihhhhfffrfbf`f?]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502216ɛuB}( y}YIy }RɚiI'=I2i(;i1=)@)*F2F:FBF2JFGrA GGj=GB!zKuLKus9KqKuKuz|tmlgfaZXURRNJHFEDCA@===:64320/0.O~> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755029Hrw,LA2~@Y2@2Ű692K=y2HP??;<Uݿ gH?@]ۥf?|s?@?ɨ2~@2Ȩ;2CyVBV "I)` bAMb@Mb@Mb@ )YZd;?~jt?S㥛y>D</ݼ A)vAIyAIRIW4٢K; ;=9GQ > G٣y > Nusing accuracyPremultiplier from config ]59{.L? ]5YT iGAl>:i꾑@&IE;K;R]5  @!EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 197.00 m.Bj]7Jj]7m ProNav: ac range: 197.000000 m, nav range: 166.446579 m, bearing: 292.214807 deg, approach rate: -0.378999 m/s, LOS rate: -0.115591 deg/s, cmd heading: 330.429580 deg, new cmd heading: 330.280334 deg. 2jm }b$?IyHeadingCmd: 5.764479 target range: 197.000000 and range: 197.00 m. jv@jjjihhhhBfffrfbf@?ɛ}Bٝ I MSɚQiQIU-=I]i];i])=)]v@)Y*F2F:FBFA5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007135Gh=GBOc>w,A2W @Y2/@2Bǻ92o=y2H`F$?Rd?@Cv޿s? ݨ`Ux? ??ɨ2W @2;2CyBBB!IIJ4IJV3fWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260052٢ X=9%Q %>!! -G٣-NGy-Q -> ]Nusing accuracyPremultiplier from configQ]]59UE PExceeded connect timeout, disconnecting.w,nƇAzKSNK}9KKK.,+*+,(%$%&%$$!  yލBލ!IMb@Mb@Mb@ )Yw/?{Gz rhy?#C  A 3A) AIvAyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762488I[IK!4٢= %=9Q > G٣y > Nusing accuracyPremultiplier from config%]59OL?%]5Y iA%7?-:--@.IE!;@;]51 5@1ZjFNOT Ignoring new targets: 197.00 m.BjJj ProNav: ac range: 197.000000 m, nav range: 166.098679 m, bearing: 292.115744 deg, approach rate: -0.418877 m/s, LOS rate: -0.115270 deg/s, cmd heading: 330.151100 deg, new cmd heading: 329.982815 deg. 2j7HeadingCmd: 5.759286 target range: 197.000000 and range: 197.00 m. jL@jjjihhhhBfffrfbf׮@ɛ-xB- QUѾIQ U&VɚYiYI]8E=I]Aie;ie6<)eL@)aJJJJJ:J!:JJ*F?2F!:F!BF%05JF!"G-=G-%> Uc$?IQG&=G B O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014058zw,8Aj<@YjL@j29j겒=yjH ,??@`@$?@LK !Ƒ?Q??ɨj<@jN;jCyvBv!Iiz=Iz> ~=~=IUI4٢d˽ =9Q ? %G٣!y%D %? -Nusing accuracyPremultiplier from config)5]59-[L?5]5Y-& i-A9= =@-0IE-;-;- ]5MB U@UPEZjq}FNOT Ignoring new targets: 197.00 m.Bj}Jj ProNav: ac range: 197.000000 m, nav range: 165.969299 m, bearing: 292.082020 deg, approach rate: -0.420375 m/s, LOS rate: -0.109659 deg/s, cmd heading: 329.982804 deg, new cmd heading: 329.881555 deg. 2jHeadingCmd: 5.757519 target range: 197.000000 and range: 197.00 m. j=@jjjihhhhfffrfbf@ɛ=wB=|ط AE>IA EWɚAiAIMd=I]i];i]8;)]=@)a*F ?2F :F BF \0JFGe~<GBOF>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267102H I  I m"II BI " =&I .I 6I <:I z F A IA w,_A: @Y: @:u9:X=y:H`ř?@?@4--? B .??`?ɨ: @:"^;:CyFBF!IIR`IR(*4٢ZZB ZN=9ZaZQ ^>\\ ^G٣\ybĀ b> fNusing accuracyPremultiplier from configdj]59fjL?j]5Yf ifAlnd n@f4IEf;f;f"$]5p r@pZjFNOT Ignoring new targets: 197.00 m.BjJj- ProNav: ac range: 197.000000 m, nav range: 165.801773 m, bearing: 292.038823 deg, approach rate: -0.423008 m/s, LOS rate: -0.109185 deg/s, cmd heading: 329.881553 deg, new cmd heading: 329.751830 deg. 2j-ݕ5HeadingCmd: 5.755255 target range: 197.000000 and range: 197.00 m. j5 +@j9j9j9i9h9h9hAhAfAfAfIrfIbfM7@ɛuBd I IMYɚiI=Ik&i g;i ϥ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518186)- +@)1*F2F:FBF_0JF nManaging dock network, ignoring radio surface power offG<zKMK9KKK        GqAGBKpA:KqAGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771306w,(A6ް@Y6D@696B9=y6H@?W;? @dQ`N}?`"??8?ɨ6ް@6'ɉ;6CyRBR!ImMb@Mb@Mb@iii i)iYmQ?{Gz+ym\?m#mm A mzA)mAIm AiymAI\I#4٢n >=9/^Q > G٣NGyG > Nusing accuracyPremultiplier from config]59{L?]5Y i܇A?:@7IE[;;']5B @ME d$?IJJJJJ:J :JJ B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 197.00 m.BjHJjH꺝 ProNav: ac range: 197.000000 m, nav range: 165.600800 m, bearing: 291.992800 deg, approach rate: -0.446676 m/s, LOS rate: -0.102413 deg/s, cmd heading: 329.751834 deg, new cmd heading: 329.613598 deg. 2jHeadingCmd: 5.752842 target range: 197.000000 and range: 197.00 m. jI@jjjihhhhhBfffrfbf$ @ɛsB 隭4I [ɚiIh=Ii;i"B;)I@)E qAE MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:22:37:19.3427 ]TRx dataTimestamp_ set to:1736375840.486500echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025607*F?2F:FBFJFGqA GG]:m]<GB)OMt> w,`-A6A@Y6ȷ@6Z96r=y6H*n?AW? cp`k?<9?`?s?ɨ6A@6W!;6CNWill construct direction to contact in vehicle frame from tetrahedron phase data.R%=R%=Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274151yVtBV!I)X XIbWIb44٢j jX=9jQ j>ll nG٣pyrEF r> zNusing accuracyPremultiplier from configx~]59zRL?~]5Yzͬ izˇA&@z;IEzB;z;z2+]5  @ Zj1=FNOT Ignoring new targets: 197.00 m.Bj=Jj=M ProNav: ac range: 197.000000 m, nav range: 165.422272 m, bearing: 291.952199 deg, approach rate: -0.498921 m/s, LOS rate: -0.113588 deg/s, cmd heading: 329.613591 deg, new cmd heading: 329.491657 deg. 2jM蛻UHeadingCmd: 5.750714 target range: 197.000000 and range: 197.00 m. j]@jYjYjYiYhYhYhahafafifirfqbfu`"p @ɛ]qB]븽 Y]cIY eƑ\ɚaiaIej=ImPimm<;i[s:)@)*F)2F):F)BF-1JF)HqIq IuT"IIuBIu# =&Iq.Iq6Iu<:Iu F I]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528618G}~q;G B O- >w,GA`@YѴ@b.9ə=yHa?b??@&b?@|ܥ?#0?v?ɨ`@A;CynB!IzK AMK h9K K K RK?JK?Mb@Mb@Mb@ )Y`"?㥛 ly? )3AIyAI`I(*4٢ű .=9xQ > G٣NGyԩ > Nusing accuracyPremultiplier from config]59L?]5YQ iA??:(@?IE;;G/]5}B @LEZjFNOT Ignoring new targets: 197.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:37:19.3427 LVL= 18992, 32689, 26194, 32755, AGC= 67, IDX= 113,-0.12,-0.436,-2.103,-1.508,-1.073, PHS= 0.725,-0.983,-0.437, RAW= 108.2, 9.2, CAL= 117.9, 7.0, ROT= 32.1, -7.0 Ygot valid direction response: 22:37:19.3427 LVL= 18992, 32689, 26194, 32755, AGC= 67, IDX= 113,-0.12,-0.436,-2.103,-1.508,-1.073, PHS= 0.725,-0.983,-0.437, RAW= 108.2, 9.2, CAL= 117.9, 7.0, ROT= 32.1, -7.0  PDAT read: Bearing 32.1, -7.0 (Local) ~Local bearing/azimuth received: Bearing 32.1, -7.0 (Local) EDAT read: Range 10 to 50 : 172.5 m (Round-trip 230.1 ms) speed 0.1 m/s MR#Rx 1: Read range and direction messages.U`direction in FSK: [-0.284578,-0.198582,0.937859]]Fpublishing direction and range infoBjeJje纙ة9حY6ҿHv%kɿW?yح,Cةح0Jح ٭Rf)٩I٭Ci٭9?٭{٭w߾٭?٭l$> ڭ@)ڭ5=Iڭl?iڭ5ککۭ`?t?D5ɿ?)ۭ7RIۭ%iۭ"ۭL۩۩T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ProNav: ac range: 197.000000 m, nav range: 165.180756 m, bearing: 291.903324 deg, approach rate: -0.499341 m/s, LOS rate: -0.101197 deg/s, cmd heading: 329.491659 deg, new cmd heading: 329.344820 deg. 2j抻HeadingCmd: 5.748151 target range: 197.000000 and range: 197.00 m. j@jjjihhhhKBf f f rf e@bf ?ɛ5oB=VB 9=IA E)^ɚIiIIM=IUiU/;i]}޷:)]@)a e$?IhJJJJJ :J^:JJ*F-?2F):F)BF-o0JF)U Will construct direction to contact in vehicle frame from tetrahedron phase data.] ,DAT read: user:2730> e BDAT read: Tx time:22:37:20.7584 e $Ping request sent.e w, cAF@YF@FqO9F˥=yFH`U?`i?B˵(Y?3?߬??ɨF@Fy;FCyfaBf!IllIn]In$4٢v vY=9zdQ z>x| ~G٣|y~ƻ ~>  Nusing accuracyPremultiplier from config%]59L?%]5Y iA15W)5@CIE];ʿ;2]59 =@9kdd4?kuA k k]OA:k,CBkQ+CZkUsR@"*)~HS A08d@Y6ҿHv%kɿW?Jk"RkL*埛GQR$Ex% c1yc@A?/ۿC~Oj"EP?"k;-*kkb"4?kO5 2kz]Ckb"4?k̀yf kz]CkBkܣ@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 172.500000 m, deltaT: 4.032307 s, deltaX: -24.500000 m, approachRate: -6.075926 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 197.00 m.BjJj ProNav: ac range: 197.000000 m, nav range: 164.985947 m, bearing: 291.863946 deg, approach rate: -0.528608 m/s, LOS rate: -0.106976 deg/s, cmd heading: 329.344810 deg, new cmd heading: 329.226537 deg. 2jՒHeadingCmd: 5.746087 target range: 197.000000 and range: 197.00 m. j߷@jjjihhhhfffrfbf`;?ɛEmBe 隍,I D`ɚiIKT=IG ii;i#n:)߷@)) C*FM?2FQ:FBF@5JF Y y BWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:37:20.7577 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252841GHm @>Ii  Im ;"IIm BIi &Ii .Ii 6Im <:Im  F I G B! OE >+w,d}A6·@Y6?@6r96됳=y6H L?`i? c; 9T?@ףtN?``? 9?ɨ6·@6҈;6CyBdBB!IiF=IF%=IR+IRn3٢V< ZO=9ZQ Z>\\ ^G٣\yb/\ b> fNusing accuracyPremultiplier from configdj]59fL?j]5Yfʸ ifAhj)j@fGIEf:f:f6]5%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5031539 E@EIEZjFNOT Ignoring new targets: 197.00 m.Bj&Jj&뺝 ProNav: ac range: 197.000000 m, nav range: 164.781982 m, bearing: 291.822679 deg, approach rate: -0.507424 m/s, LOS rate: -0.102792 deg/s, cmd heading: 329.226538 deg, new cmd heading: 329.102583 deg. 2jHeadingCmd: 5.743924 target range: 197.000000 and range: 197.00 m. j9η@jjjihhhhfffrfbf ?ɛ}kB} }=隅pI yaɚiI=I i!;iJ;)9η@)*FE?2FI:FQBFU&3JFQzKudLKu9KqKuKuBKqA:KGiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757144GI Bq O >%w,AA *f$?I,Z@YZ @Z֋9ZP=JcKc KcKcKc"KcJ`JbJ`J`J`Jbz:J`J`yZHO?W?^?'[Ww? J`?|?ɨZ@Zs;ZCyvXBv!IMb@Mb@Mb@ )Y~jt?B`"۹Mby?ν A QA)AI AyAIRIW4٢Y 6=9 Q  >   G٣yv; > %Nusing accuracyPremultiplier from config%]59bL?-]5Y iA-?-:-4-@KIE;;9]59 =U@9UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 197.00 m.BjmJjm} ProNav: ac range: 197.000000 m, nav range: 164.537659 m, bearing: 291.777674 deg, approach rate: -0.565146 m/s, LOS rate: -0.104255 deg/s, cmd heading: 329.102584 deg, new cmd heading: 328.967370 deg. 2jHeadingCmd: 5.741564 target range: 197.000000 and range: 197.00 m. j亷@jjjihhhhBfffrfbf@X?ɛiB큼 mI "cɚiI=I i1;i;)亷@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008427*F?2F:FBFP0JFG ?:G rAG pAG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258939+w, A6!@Y6@6V96n=y6H`AL? qF? ߽@݂@\`? !??mڸ?R?ɨ6!@67;4yNWBN!IIVIV[3٢^ ba=9b%ڼQ b>dd fG٣fNGyf^: j> mNusing accuracyPremultiplier from configiu]59mL?u]5Ym imAy}3}@mOIEm;m;mB=]5 d@FEZjFNOT Ignoring new targets: 197.00 m.BjhJjh纝 ProNav: ac range: 197.000000 m, nav range: 164.329987 m, bearing: 291.739207 deg, approach rate: -0.545415 m/s, LOS rate: -0.101156 deg/s, cmd heading: 328.967373 deg, new cmd heading: 328.851826 deg. 2j؊HeadingCmd: 5.739547 target range: 197.000000 and range: 197.00 m. j_@jjjihhhhfffrfbfn?ɛgBÕ I }FeɚiIlͦ=I%+ i%;i->;)-_@))jH<bH<H!I! I%."II%܃BI!&I!.I!6I%C<:I%9 F ]g$?Ia*F2F:FBF^0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511170Gm;GI BQ O >2w,ˈA]П@Y]B@]睮9]Z=y]HL? 3?0yd?Dc`̵?ޥ?`?ɨ]П@]M;YzKmKKm9KiKmKmyޅXBޅ!I) AMMb@Mb@Mb@III I)IYMCl?T㥛 S㥛yM;?MM/ݼM\ A Mv@)MhAIIIyMAIeVIen4٢u$; u1=9u6Q }>yy }G٣yya; >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763115 Nusing accuracyPremultiplier from config]59L?]5Y iA"?:<@SIE;R;#A]5 [@ZjFNOT Ignoring new targets: 197.00 m.Bj޺Jj޺ ProNav: ac range: 197.000000 m, nav range: 164.076599 m, bearing: 291.695993 deg, approach rate: -0.570501 m/s, LOS rate: -0.097446 deg/s, cmd heading: 328.851834 deg, new cmd heading: 328.721993 deg. 2jHeadingCmd: 5.737281 target range: 197.000000 and range: 197.00 m. jϗ@jjjihhh h Bf f f rfbf@C@ɛ=dBE IM5II U-gɚQiYI]ئ=I[ i/;i"<)ϗ@) QIQJMJMJIJIJM:JMB:JIJIE!== Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982*F] ?2FY :FY BF] 4JFa G=2<GE?GE?GB1O]?Q:w,H눿A:є@Y:C@:׏9:=y:H A?1?T@g`?ȯR? r??ɨ:є@:%;8yB`BF!IIRCIR3٢V= Z7=9Z+Q Z>\\ ^G٣\ybKE b> fNusing accuracyPremultiplier from configdj]59fL?j]5Yf ifˇAIM<U@fXIEf7I C I 5"II BI &I .I 6I V<:I F FBIJIRI =i$?I9GABIOmV>ZI# =bIjI4E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5195206Aw,YA2@Y2t@2R˽92=y2H`9?/?@R¿`8@^?e_@n?`>ۼ??ɨ2@22;2CyNcBR!IIVVIVn4٢b|< bJ=9bmQ b>dd fG٣fNGyj) j> nNusing accuracyPremultiplier from configlr]59nM?r]5Yn in܇Apv)=v@n\IEn ;n":nH]5z|B z@zEEZj!-FNOT Ignoring new targets: 197.00 m.Bj-eJj5e麝E ProNav: ac range: 197.000000 m, nav range: 163.592148 m, bearing: 291.613244 deg, approach rate: -0.596038 m/s, LOS rate: -0.102026 deg/s, cmd heading: 328.592095 deg, new cmd heading: 328.473393 deg. 2jE MHeadingCmd: 5.732942 target range: 197.000000 and range: 197.00 m. jMCt@jIjIjIiIhIhQhQhQfQffrfbf`c3@ɛ_B D=I jɚiI3Ħ=I i3;iي9<)Ct@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771088zKKK9KKKE5l= A II *F ?2F :F BF P0JF U Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:22:37:23.3906 m TRx dataTimestamp_ set to:1736375844.518255u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026122GM9)<G BO->Hw,g$A>s@Y>c@>ڽ9>=y>H&?@ s@>~;>CyNoBN!I Ra=Ra=-Mb@Mb@Mb@))) )))Y-+?p= ף/$y-?---A -@)-v@I-\ A)y-=AIE<IE3٢U,C= U=9]iQ ]>Ya eG٣aye» e> uNusing accuracyPremultiplier from configiu]59m$M?}]5Ym imA}C#?}:}?}@maIEmU;m;mM]5 @BE-B*** querying acoustic contact ***j)j)Zj9mFNOT Ignoring new targets: 197.00 m.BjmպJjuպ ProNav: ac range: 197.000000 m, nav range: 163.295044 m, bearing: 291.563526 deg, approach rate: -0.557103 m/s, LOS rate: -0.093395 deg/s, cmd heading: 328.473387 deg, new cmd heading: 328.323964 deg. 2j1HeadingCmd: 5.730334 target range: 197.000000 and range: 197.00 m. j^@jjjih h hhBfffrfAbfe; @ɛ[B} 隕I JlɚiI=I i;i31<)^@)Et=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276237*FU?2FQ:FQBFUU0JFQZH! RH% ?AH- =>I)  I- N"II- BI) &I) .I) 6I- <:I-  F e j$?Ie hJE JE JA JA JE ̶:JE U:JA JA JE ;a] JE ;a] JE e;ae JE e;ae Gm <<GQ BY Ou >aNw,ͬ>A6e@Y6Au@696co=y6H ?@?Ŀ? P??` ˽?s?ɨ6e@6 ;4yRBR!II^:I^3٢f= fU=9fIQ f>hh jG٣jNGyj* n> rNusing accuracyPremultiplier from configpv]59r3M?v]5Yr[ irAtv@z@reIEr:r:rnP]5| ~}@=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526824?EZjIFNOT Ignoring new targets: 197.00 m.BjJj ProNav: ac range: 197.000000 m, nav range: 163.074203 m, bearing: 291.526602 deg, approach rate: -0.506363 m/s, LOS rate: -0.084778 deg/s, cmd heading: 328.323970 deg, new cmd heading: 328.213046 deg. 2jhHeadingCmd: 5.728398 target range: 197.000000 and range: 197.00 m. j O@jjjih)h)h1h1f1f1f1rf9bf=Y@ɛXB( -ӾI) -tOnɚ)i)I-_`=I5i5%;i=4<)= O@)9EAEA*EI"EIWill construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 22:06 LVL= 21008, 32753, 28274, 32755, AGC= 65, IDX= 426,-0.03, 0.707,-0.947,-0.483,-0.043, PHS= 0.838,-0.857,-0.443, RAW= 103.6, 6.1, CAL= 113.7, 4.2, ROT= 36.3, -4.2 - !unknown deviceResponse_: 22:06 LVL= 21008, 32753, 28274, 32755, AGC= 65, IDX= 426,-0.03, 0.707,-0.947,-0.483,-0.043, PHS= 0.838,-0.857,-0.443, RAW= 103.6, 6.1, CAL= 113.7, 4.2, ROT= 36.3, -4.2 5 PDAT read: Bearing 36.3, -4.2 (Local) = ~Local bearing/azimuth received: Bearing 36.3, -4.2 (Local) E DAT read: Range 10 to 50 : 170.9 m (Round-trip 227.9 ms) speed 0.3 m/s -M X#Rx 1: Read range message, but no direction.y*CM T****** received valid address query ******M R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.zK JK 9K K K *F 2F :F BF O0JF a Ia G2<GBO ?Ww,M`A:7@Y:G@:Gt9:x=y:H o? [?‘ſ =?^@?R?`?ɨ:7@:;8yFBF!INWill construct direction to contact in vehicle frame from tetrahedron phase data.N,DAT read: user:2731> RBDAT read: Tx time:22:37:24.7585 R$Ping request sent.R G٣y > Nusing accuracyPremultiplier from config]59IM?]5Y iQA?:eA@kIE;;U]5Q U@Q addTargetRange:: Added new target pos. range: 170.899994 m, deltaT: 8.064608 s, deltaX: -26.100006 m, approachRate: -3.236364 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 197.00 m.Bj Jj 亝M ProNav: ac range: 197.000000 m, nav range: 162.750824 m, bearing: 291.473043 deg, approach rate: -0.603103 m/s, LOS rate: -0.100085 deg/s, cmd heading: 328.213047 deg, new cmd heading: 328.052052 deg. 2jU`}HeadingCmd: 5.725588 target range: 197.000000 and range: 170.90 m. j8@jjjihhhh%Bfffrf\e@bf(?ɛTB  I=þI r pɚiI=I-i-TH;i <)8@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:22:37:24.7578 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251569*Fa2Fa:FaBFmP0JFiH} <>Iy  I} "II} BI} $ =&Iy .Iy 6I} P<:I} ? F k$?I G J J J 1J J J $:J 3J J J J ~;J ~;GI BQ Ou >n^w,|AR@YR1&@R~9R=yRH`?`q?`,;ƿp0?ƈv?Y?(?ɨR@R;RCy^B^!IIjIj ٢r> rY=9r2Q r>tt vG٣tyz. z> ~Nusing accuracyPremultiplier from config| ]59~VM? ]5Y~ i~xA rB@~oIE~mC;~C;~X]5 @5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754803zK a3JK s9K K !K BK :K pA Mew,;Ay B  "I !I)Mb@Mb@Mb@ )Y(\?J +Mbyz?ȽrA @)@IrAyAI?IT3٢= <=9Q > G٣NGy > Nusing accuracyPremultiplier from config]59fM?%]5Yc iA%?-:-9-@sIE;%;\]5A E@AZjiuFNOT Ignoring new targets: 197.00 m.Bj}ԺJj}Ժ ProNav: ac range: 197.000000 m, nav range: 162.318024 m, bearing: 291.398330 deg, approach rate: -0.516188 m/s, LOS rate: -0.093058 deg/s, cmd heading: 327.950467 deg, new cmd heading: 327.827621 deg. 2juHeadingCmd: 5.721672 target range: 197.000000 and range: 170.90 m. j@jjjihhhhIBfffrfbf@?ɛuOBu q}Iy }3qɚyiyI}[=I^i6_;i Q<)@)*FE?2FA:FABFE`0JFIGMrA GMqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006861G P <Ga Bi O >  tA e Ye tAye #Bvkw,A^y@Y^@^9^1=y^H`?~?h4ǿ`` ? ?eԽ?u?ɨ^y@^;^CyzփBz("I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259759II٢= N=9ѼQ > G٣yO > Nusing accuracyPremultiplier from config]59uM?]5Yx i݈A:@vIE.;.;-`]5}B g@9E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 197.00 m.Bj%׺Jj%׺5 ProNav: ac range: 197.000000 m, nav range: 162.110687 m, bearing: 291.361375 deg, approach rate: -0.527856 m/s, LOS rate: -0.094203 deg/s, cmd heading: 327.827633 deg, new cmd heading: 327.716627 deg. 2j5M=HeadingCmd: 5.719734 target range: 197.000000 and range: 170.90 m. j=@j9j9j9i9hAhAhAhAfIfIfIrfIbfM?ɛMBAۚ 隅mI rɚiI/=IS>i1N;i[;)@) l$?IjH<bH<H%;>I! I%"II%KBI!&I!.I!6I%F<:I%6 FJuJuJu0JqJu:Ju:Juـ3JqJu;Ju;Ju.Y;Ju/Y;E`=*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511650G jx<G B O >$rw,ˉAFٯ@YFd@Fi9F=yFH 0?(?@ǿ`j ?0ɗto?@(?Uq?ɨFٯ@F(;FCyRBR?"IIb6Ibm3٢ζ= I=9uQ }> G٣y > 5Nusing accuracyPremultiplier from config)m]59-M?]5Y- i-A;@-zIE-fq<-Eo<-c]5{B  @;EZj15FNOT Ignoring new targets: 197.00 m.Bj=ǺJj=ǺEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762804m ProNav: ac range: 197.000000 m, nav range: 161.882355 m, bearing: 291.320798 deg, approach rate: -0.490050 m/s, LOS rate: -0.087211 deg/s, cmd heading: 327.716629 deg, new cmd heading: 327.594725 deg. 2jmhouHeadingCmd: 5.717607 target range: 197.000000 and range: 170.90 m. ju@jqjyjyiyhhhhfffrfbf4@zKKK9KK"KRK-?JK-!?ɛEJBMU IMpBII M]sɚIiQIUY=IUi]3;i};)}@)Eetn= IIQ*F?2F:FBFo0JFG;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014683xw,剿AJ˯@YJg۶@J(9JgK=yJH? z?]ǿ z?6̳??n?ɨJ˯@J;JCyVBVU"IEMb@Mb@Mb@AAA A)AYEX9v?Ky&1|yE?E^E`E A E@)E@IAAyE(AI]$I]<3٢m>= mB=9u䩻Q u>q G٣NGy > 5Nusing accuracyPremultiplier from config =]59 M?E]5Y  i NAM?M:MJ9M@ ~IE < mb; g]5y }@}8EZjFNOT Ignoring new targets: 197.00 m.BjۺJjۺU ProNav: ac range: 197.000000 m, nav range: 161.672073 m, bearing: 291.282476 deg, approach rate: -0.526671 m/s, LOS rate: -0.096106 deg/s, cmd heading: 327.594724 deg, new cmd heading: 327.479609 deg. 2j]郻]HeadingCmd: 5.715598 target range: 197.000000 and range: 170.90 m. je-@jajajaiahahahihmfBfqfqfqrfqbfu@"m@ɛHBfޏ 隥I DsɚiI;ޣ=ImMi";it;)-@)EE*E"EEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267129*F ?2F :F BF JF E m$?IU hHi Ii  Im #IIm BIi &Ii .Im 6D6Im E<:Im 5 F"G =G p=J J J J J J :J J J J J L;J L;G ; Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520446GBO>w,AB@YB@Bk9B=yBH@͛?`?\ȿw!V?򄔿r??5l?ɨB@B;BCyNBNy"I)P PIV&IV3٢b= b0=9bMQ f>dd fG٣dyj j> rNusing accuracyPremultiplier from configlr]59nΤM?v]5Yn inAtv:v@nIEnU:n:ntk]5x ~-@|ZjFNOT Ignoring new targets: 197.00 m.Bj׺Jj׺ ProNav: ac range: 197.000000 m, nav range: 161.441544 m, bearing: 291.240659 deg, approach rate: -0.518777 m/s, LOS rate: -0.094238 deg/s, cmd heading: 327.479622 deg, new cmd heading: 327.353992 deg. 2jYHeadingCmd: 5.713405 target range: 197.000000 and range: 170.90 m. j7Զ@jjjihhhhfffrfbf0@ɛ%EB%J% %W8p=-I) -'tɚ)i)I5E=I=i=;i=v;)E7Զ@)A*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771437GO;zKEBoIKE9KAKE#KEBKQ:KUrAGBO > I \Dw,zAy7B"IMb@Mb@Mb@ )YʡE? rh:vy-?CT A @)Q@IAy3AI,I3٢ > 8=9Q  >    G٣y > %Nusing accuracyPremultiplier from config!-]59%^M?-]55Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:22:37:27.3888 =TRx dataTimestamp_ set to:1736375848.548961Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024096Y% i%ljAE??M:M 0M@%IE%;%N;%Wo]5Q UG@]5EZjyFNOT Ignoring new targets: 197.00 m.BjJj ProNav: ac range: 197.000000 m, nav range: 161.219910 m, bearing: 291.196342 deg, approach rate: -0.517603 m/s, LOS rate: -0.103639 deg/s, cmd heading: 327.354001 deg, new cmd heading: 327.220868 deg. 2j@HeadingCmd: 5.711082 target range: 197.000000 and range: 170.90 m. j.@jjjihhhhBfffrfbfW @ɛCBz I kw,I8A 2n$?I46@Y6@696=y6H?`p?u~ȿ`D.?i(k?`'2?Lg?ɨ6@6;ZH@RHBAAHF8>ID IFN#IIFńBID&ID.ID6IF<:IFe FBI=CJI=CRI9ZI=$ =bI=$ =jI=44yZLBZ"IIbIbm?3٢j= j`=9nQ n>aa eG٣eNGyen m> uNusing accuracyPremultiplier from configi}]59mtM?}]5Ym imAy1@mIEmmC;mD;mr]5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 197.00 m.BjYJjY㺝 ProNav: ac range: 197.000000 m, nav range: 161.030014 m, bearing: 291.158754 deg, approach rate: -0.501479 m/s, LOS rate: -0.099382 deg/s, cmd heading: 327.220867 deg, new cmd heading: 327.107968 deg. 2jhHeadingCmd: 5.709111 target range: 197.000000 and range: 170.90 m. j @jjjihhhhfffrfbf] @ɛ-AB-m )-Ww,3RAVWill construct direction to contact in vehicle frame from tetrahedron phase data.nDAT read: 22:37:27.3888 LVL= 20064, 32753, 28578, 32755, AGC= 58, IDX= 424, 0.32, 2.212, 0.587, 0.952, 1.429, PHS= 0.871,-0.795,-0.480, RAW= 100.2, 5.3, CAL= 110.3, 3.7, ROT= 39.7, -3.7 rYgot valid direction response: 22:37:27.3888 LVL= 20064, 32753, 28578, 32755, AGC= 58, IDX= 424, 0.32, 2.212, 0.587, 0.952, 1.429, PHS= 0.871,-0.795,-0.480, RAW= 100.2, 5.3, CAL= 110.3, 3.7, ROT= 39.7, -3.7 vPDAT read: Bearing 39.7, -3.7 (Local) v~Local bearing/azimuth received: Bearing 39.7, -3.7 (Local) ~DAT read: Range 10 to 50 : 169.5 m (Round-trip 226.1 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages. `direction in FSK: [-0.201512,-0.065765,0.977276] Fpublishing direction and range infoT9VV%ɿwհֆ0E?yV)CTV`NV Vo)TIV:iV^?VKVVT?Vq= Vi?)V A=IVa1?iV ATTV!/?P}bտ~z ?)Vp{IVUFiVd4VܸTT%T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.n@YR~@a9:=yH Zr??@ȿJV1?(됿o? u4?e?ɨn@;騅CyޕbBޕ"Ii=I; =zK5BoHK59K1K5$K5 IIQuMb@Mb@Mb@qqq q)qYutV?S㥫y&1yu?u/]u`eu A u;@)u@Iu AqyupAI8I3٢= "=93Q >)) -G٣1y=T > Nusing accuracyPremultiplier from config]59M?]5YN i@Aa?:+@IEa;;w]5 @2EJJJJJJ :JJa @a @a @a @kVά@8?kV~q_ kT kVSA:kV)CBkVV(CZkVpB@"VqA4dRK&G!_`d@VV%ɿwհֆ0E?JkVd4RkVܸ*V|P-Ɋ@y83`c@V v%ؿ#U?IAOؘr?"kV@*kV kV .8?kVq^^ 2kV,^CkTkV*} kV,^CkVBkV^\@m addTargetRange:: Added new target pos. range: 169.500000 m, deltaT: 4.033318 s, deltaX: -1.399994 m, approachRate: -0.347107 m/s, rangeRepo size: 4  Added new target pos. range: 169.500000 m, bearing: 174.462697 deg, lat: 36.902380 deg, lon: -122.119902 deg, deltaT: 12.097926 s, deltaX: -27.500000 m, approachRate: -2.273117 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 169.50 m.BjJj ProNav: ac range: 169.500000 m, nav range: 80.453918 m, bearing: 197.285226 deg, approach rate: 0.000000 m/s, LOS rate: -0.099382 deg/s, cmd heading: 327.107977 deg, new cmd heading: 326.951634 deg. 2jHeadingCmd: 5.706382 target range: 169.500000 and range: 169.50 m. j@jjjihhQhahevBfafafirfm0e@bfm!?ɛ>Bb 0=I sɚiI .=IYi;i@;)@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.U,DAT read: user:2732> UBDAT read: Tx time:22:37:28.8085 ]$Ping request sent.] f,=9fe»Q f>dh jG٣hyn n> rNusing accuracyPremultiplier from configlv]59nM?v]5Yn  inAtv-v@nIEn: ~o$?I~hnU:n{]5 @ H=4>I=C I=#II=BI=% =&I9.I96I=J<:I=3 FZjY]FNOT Ignoring new targets: 169.50 m.Bje6ŻJje6Żu ProNav: ac range: 169.500000 m, nav range: 80.598816 m, bearing: 197.131863 deg, approach rate: 0.326385 m/s, LOS rate: -0.344832 deg/s, cmd heading: 326.951621 deg, new cmd heading: 326.492369 deg. 2jul}HeadingCmd: 5.698367 target range: 169.500000 and range: 169.50 m. j}Y@jyjyjyiyhhhhfffrfbf@bf?ɛI bsɚiIt=Iii#;)Y@)Ew=*Fe?2Fa:FaBFe4JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502942GCQ;G B O > w,󐊿AuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755452yB#IMb@Mb@Mb@ )YzG?y&1:vy ?`eT A $@)@IE AyQAI(I̍3٢= +=9Q >    G٣ NGy > Nusing accuracyPremultiplier from config%]59M?%]5Y? iȊA%?-:---@IEy;;>]55zB 5@51EzKEk3IKEs9KAKE%KEBKI:KMpAZjiuFNOT Ignoring new targets: 169.50 m.BjuǻJjuǻ ProNav: ac range: 169.500000 m, nav range: 80.755821 m, bearing: 196.966639 deg, approach rate: 0.332346 m/s, LOS rate: -0.349063 deg/s, cmd heading: 326.492359 deg, new cmd heading: 325.997664 deg. 2joHeadingCmd: 5.689733 target range: 169.500000 and range: 169.50 m. jJ@jjjihhhhBfffrfbf`]@? p$?Iɛm:Bm*2@ imG>Iq urɚqiqIu=Iii3aS<)J@)JJJJJ:J :JJE fm=% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007020*F ?2F :F BF 0JF G{/;G ?G>GBO?Nw,wA @@6(Ӯ@Y6@6#960=y6H>?k?@Rɿ ?LT`?o+?]?ɨ6(Ӯ@6;6CyBBB@#IIJIJ̍٢R= R7=9RwQ V>TT VG٣TyZ׼ ^> bNusing accuracyPremultiplier from config\b]59^ N?f]5Y^ i^ Adf0f@^IE^a:^:^%]5nWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259122t v@tZjFNOT Ignoring new targets: 169.50 m.BjƻJjƻ- ProNav: ac range: 169.500000 m, nav range: 80.900841 m, bearing: 196.811340 deg, approach rate: 0.324702 m/s, LOS rate: -0.347094 deg/s, cmd heading: 325.997662 deg, new cmd heading: 325.532611 deg. 2j-5n5HeadingCmd: 5.681616 target range: 169.500000 and range: 169.50 m. j5ϵ@j9j9j9i9hAhAhAhAfIfIfIrfIbf@6?ɛ58B=]F- =zC=E>IA EqɚAiAIMN=IuxiqiuY<)uϵ@)yEE*E"E )I1jHbH<H0>IC I#II?BI' =&I.I5D6I<:IV F*F2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510811GiG<Gy B O >cw,B̊A6}@Y6@6A,$96m=y6H?@?Lɿm?*~ o??*^?ɨ6}@6c;4yR҄BR^#IIZ1IZ3٢bl= fH=9fYQ f>dh jG٣jNGyjH j> 5Nusing accuracyPremultiplier from config1E]595N?E]5Y5 i5LAAE2E@5IE5/;5/;5̆]5Q U{@U.EmB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 169.50 m.BjƻJjƻ ProNav: ac range: 169.500000 m, nav range: 81.036140 m, bearing: 196.666252 deg, approach rate: 0.324754 m/s, LOS rate: -0.347667 deg/s, cmd heading: 325.532608 deg, new cmd heading: 325.098078 deg. 2jnHeadingCmd: 5.674032 target range: 169.500000 and range: 169.50 m. j@jjjihhhhfffrfbf`O&?ɛ 6B   3>I  ԫpɚiIk=I}ii]L<)@)!*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765431zKJK+9KK&KRK ?JK ? !I!GzQ<JmJmJiJiJml:Jm(:JiJiGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014966w,d"抿A2ԗ@Y2F@2"92F=y2H??`%%ɿ s?%~C?>ս?`&`?ɨ2ԗ@2U;2Cy:B:#I Mb@Mb@Mb@    ) Y V-?i|?5~jty ? q D `A @) @I  A y @I%I%[3٢5> 5C=9K;Q > G٣yX > Nusing accuracyPremultiplier from config]59+N?]5Y1 iA?:B3@IEm;U<~]5  q@1ZjFNOT Ignoring new targets: 169.50 m.BjĻJjĻ ProNav: ac range: 169.500000 m, nav range: 81.177963 m, bearing: 196.513676 deg, approach rate: 0.319221 m/s, LOS rate: -0.342823 deg/s, cmd heading: 325.098071 deg, new cmd heading: 324.641154 deg. 2jFkHeadingCmd: 5.666057 target range: 169.500000 and range: 169.50 m. jWP@jjjihhhhBf) !f)fArfic~Gbf ;:@vA YvAy Bɛ-4B57 15>I1 5&9oɚ9i9I==I=iE~?;iE])<)WP@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268125 q$?I H ->I  I /$II |BI &I HD.I 6I ?<:I $ FG G! G! G B O >9@w,A6[@Y6͐@6!96=y6H@v??Xɿ f?&~h ? н?`a?ɨ6[@6>[;6CyBBB#IiF=IFa=IN*IN3٢Vz= VT=9VC@;Q Z>XX ZG٣Xy^ ^> %Nusing accuracyPremultiplier from config!-]59%:N?-]5Y%-! i%͋A)-35@%IE%:%:%֍]5Y ](@]+EZjFNOT Ignoring new targets: 169.50 m.BjԻJjԻ ProNav: ac range: 169.500000 m, nav range: 81.306274 m, bearing: 196.375796 deg, approach rate: 0.346720 m/s, LOS rate: -0.371989 deg/s, cmd heading: 324.641159 deg, new cmd heading: 324.228179 deg. ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5190072jJHeadingCmd: 5.658849 target range: 169.500000 and range: 169.50 m. jK@jjjihhhhfffrfbfG@ɛ=3B= 9E>IA EmɚAiAIE$=IMii<)K@)*F ?2F :F BF _0JF G}t<GBOf> Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775002  I +w,+AzK.RIK.9K,K.'K.%Q]f<w[? <vBK:pA:K:qAve@Yvxt@v 9v=yvHr??ȿI-U?Իy@n??`d?ɨve@vӇ;vCy%"B%#IMb@Mb@Mb@ )YMb?y&1y&1|y ?`e`IA @)-@IAyG@I%I)3٢= 7=9;Q > JmJmJiJiJmL:Jm :JiJi G٣NGy > Nusing accuracyPremultiplier from config]59MN?]5Y& iA)!?:_3@IE0;0;ӑ]5 @Zj9=FNOT Ignoring new targets: 169.50 m.BjEѻJjEѻ ProNav: ac range: 169.500000 m, nav range: 81.463844 m, bearing: 196.208591 deg, approach rate: 0.346361 m/s, LOS rate: -0.366830 deg/s, cmd heading: 324.228178 deg, new cmd heading: 323.727545 deg. 2j{HeadingCmd: 5.650112 target range: 169.500000 and range: 169.50 m. jʹ@jjAjAiAhAhIhIhMBfIfQfYrfYbfR @ɛ1Bܼ >I /lɚiI(*=I"ii?<)ʹ@) uWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:37:31.4370 TRx dataTimestamp_ set to:1736375852.585856checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030780E `k=*F ?2F :F BF 2JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274921 s$?IG c<G?G=?ZHRH?AH,>I Iz$IIBI( =&I.I6Ix<:IL FGBO%?C;w,;AFk-@YF<@Fu9F=yFHֽ?`#?ȿ [ 5?pv`?`U?@[g?ɨFk-@F^;FCy^AB^#IIf0If(3٢n= r%=9v^;Q v>xx zG٣xy~k ~> Nusing accuracyPremultiplier from config ]59_N? ]5Y+ imA  5 @IEe ; ;]5{B @(EZjFNOT Ignoring new targets: 169.50 m.BjлJjл ProNav: ac range: 169.500000 m, nav range: 81.625778 m, bearing: 196.035662 deg, approach rate: 0.342796 m/s, LOS rate: -0.365343 deg/s, cmd heading: 323.727553 deg, new cmd heading: 323.209812 deg. 2jzHeadingCmd: 5.641076 target range: 169.500000 and range: 169.50 m. j@jjjihhhhfffrfbf` @ɛ0BZ 隥T?I @jɚiaIe2=ImQa$iqiur<)}@)yE}B=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530357*F2F:F BF S0JFG 5<GBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.nw,*VA*DAT read: 22:37:31.4370 LVL= 18928, 32753, 25650, 32755, AGC= 58, IDX= 421, 0.45,-0.541,-2.123,-1.848,-1.367, PHS= 0.914,-0.709,-0.483, RAW= 97.4, 3.7, CAL= 106.9, 1.8, ROT= 43.1, -1.8 .Ygot valid direction response: 22:37:31.4370 LVL= 18928, 32753, 25650, 32755, AGC= 58, IDX= 421, 0.45,-0.541,-2.123,-1.848,-1.367, PHS= 0.914,-0.709,-0.483, RAW= 97.4, 3.7, CAL= 106.9, 1.8, ROT= 43.1, -1.8 2PDAT read: Bearing 43.1, -1.8 (Local) 6~Local bearing/azimuth received: Bearing 43.1, -1.8 (Local) :DAT read: Range 10 to 50 : 168.2 m (Round-trip 224.3 ms) speed 0.4 m/s I%h%R#Rx 1: Read range and direction messages.-`direction in FSK: [-0.166670,-0.017403,0.985859]-Fpublishing direction and range info9xmmUſёޥ(?y3(CI 2d)Iii?5K? A= ?)=I@?i*5mz?yؿ_}?)+ʾIiPgBT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zK `OK+9KK(KlaULEB<762.+*)&&% "    RK?JK ?y5WB5$IMb@Mb@Mb@ )Yy&1?i|?5y&1|y`%?qA )@Iy@I!Ii3٢U= ]=9Q > G٣y > Nusing accuracyPremultiplier from config ]59wN? ]5Y{1 iӌA&?=:=5=@IEv<a< ]5EyB M#@Ikv%Sտ}.7r?$Q?"kmLA*k.`k  =BDAT read: Tx time:22:37:32.9085 E$Ping request sent.EIC I$IIBI&I.I6I<:Ik FBIНCJIНCRIZI' =bI' =jIӪ5GE<GGGBO?w,}AB@YBp@Bg9Bt=yBH?.-?@7ȿ@P?uY?@'?k?ɨB@B n;BCyJ{BN.$IiR%=IPIV)IVW3JSK[m3 K[S}-KSKS"KSJ\J^J\J\J\J^:J\J\J^O;anJ^P;anJ^.Y;anJ^.Y;an٢rh> v/=9v;Q v>xx zG٣z NGy~o ~> Nusing accuracyPremultiplier from config ]59mN? ]5Y6 i!A T7@IE ;` ;]5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 168.20 m.BjAĻJjAĻ ProNav: ac range: 168.199997 m, nav range: 79.174866 m, bearing: 184.280034 deg, approach rate: 0.468453 m/s, LOS rate: -0.343161 deg/s, cmd heading: 322.549864 deg, new cmd heading: 322.098837 deg. 2jk HeadingCmd: 5.621685 target range: 168.199997 and range: 168.20 m. j @jjjihhhhfffrf!bf%j?ɛ-B8t? 隝6'?I eɚiI=IX)iij=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499954*F?2F:FBFP0JFG}e~<G9BAO]T> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս %=Ս R= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754777/w,ƗA2ƭ@Y2 ִ@2%920w=y2H@F?mW? ȿܰK?Tl?? ɼ?Mn?ɨ2ƭ@2;2C Ru$?IPy~B~M$IMb@Mb@Mb@ )Y(\?V-~jthy'?mDA @)@IAy@I IV2٢= ==9:Q > G٣y ` > Nusing accuracyPremultiplier from config]59@N?]5Ym; ipAV(?:X8@IE;;Ǣ]5 P@%EzKKMK9KK)K yW=-! ZjamFNOT Ignoring new targets: 168.20 m.BjmlJjml ProNav: ac range: 168.199997 m, nav range: 79.372223 m, bearing: 184.135053 deg, approach rate: 0.461539 m/s, LOS rate: -0.338209 deg/s, cmd heading: 322.098826 deg, new cmd heading: 321.664973 deg. 2jhHeadingCmd: 5.614113 target range: 168.199997 and range: 168.20 m. jЦ@jjjihhhhBfffrfbf@?ɛ%,B- 5=5#4?I1 5bɚ1i1I5x=I=XH+i9iE=)EЦ@)A*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002815Gm=GI Bi O >w,A2F@Y2@292=y2H@t?`fw?'ǿ@&?XE`@?`5? r?ɨ2F@2܈;2Cy>B>l$IIFIF[٢R > R_=9Rګ;Q V>TT VG٣TyZB6 Z> ^Nusing accuracyPremultiplier from config\b]59^JN?b]5Y^? i^Adfc9f@^IE^ ;^:^]5h j@hZj|~FNOT Ignoring new targets: 168.20 m.BjûJjû ProNav: ac range: 168.199997 m, nav range: 79.539001 m, bearing: 184.012386 deg, approach rate: 0.466634 m/s, LOS rate: -0.342492 deg/s, cmd heading: 321.664972 deg, new cmd heading: 321.297749 deg. 2j kHeadingCmd: 5.607704 target range: 168.199997 and range: 168.20 m. jOr@jjjihhhhfffrfbf`v?=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254892ɛ+B@l: 隝\A?I 0W`ɚiI=I],i=;i8> =)Or@) IjH}<bHyH&>I I %II.BI* =&I.I6Im<:I? F*F?2F:FBF_0JFJJJJJ:J:JJJ;J;JL;JL;GV=G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506846O >w,x~ˋA @6n@Y6v}@696Y=y6HT?V?VǿT?S?'?vo?v?ɨ6n@6Cj;6Cy^ƅBb$I)d dIjIj)٢r= rF=9rz;Q v>tt vG٣v!NGyz z> Nusing accuracyPremultiplier from config|]59~.N? ]5Y~QD i~A  ; @~IE~:~:~]5 7@"EZjAEFNOT Ignoring new targets: 168.20 m.BjMJjM] ProNav: ac range: 168.199997 m, nav range: 79.726616 m, bearing: 183.873463 deg, approach rate: 0.453854 m/s, LOS rate: -0.335275 deg/s, cmd heading: 321.297754 deg, new cmd heading: 320.881972 deg. 2j]feHeadingCmd: 5.600447 target range: 168.199997 and range: 168.20 m. je6@jajajaiahihihihifqfqfqrfybf} {=?ɛ*B ,; 隭M?I ]ɚiIQ=I.iio!=)6@)*FI2FQ:FQBFU~0JFQUWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764490 v$?IGU=GB)OE>zKm0NKm9KiKm*Kmzw,]勿AF/V@YFe@F9F G=yFH =K??Oƿ  5?7B?J??}?ɨF/V@F$;FCNWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010819yVԅBV$IeMb@Mb@Mb@aaa a)aYeS㥛?Zd;y&1|ye$&?eye`eQA e@)aIezAaye@II3٢5-z= =6=9=*AA MG٣IyugԻ u> Nusing accuracyPremultiplier from config]59{N?]5YI iFA&?:=@IE;;]5 W@ZjquFNOT Ignoring new targets: 168.20 m.Bju.Jj}. ProNav: ac range: 168.199997 m, nav range: 79.930199 m, bearing: 183.721567 deg, approach rate: 0.428038 m/s, LOS rate: -0.318552 deg/s, cmd heading: 320.881959 deg, new cmd heading: 320.427442 deg. 2jZHeadingCmd: 5.592514 target range: 168.199997 and range: 168.20 m. j@jjjihhhhʄBfffrfbf&@ɛ5)B= 9=SU?I9 =kZɚ9i9IE=IE0iMw;iM3=)M@)IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263387EtE=E I *F 2F :F BF W0JF Hm #>Im C Im N%IIm fBIi &Ii .Im 4D6Im Y<:Im - FJ J J J J ,:J :J J J ;J ;J DG;J DG;Ges=GmqAGmqAGIBqO?kw,A:Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514827B1 @YB@Bf 9Bv=yBH` %?@?aſ`Q ?IV4<IZIZb1٢b= b1=9fIQ UG٣QyU$ U> eNusing accuracyPremultiplier from configYe]59]\N?e]5Y]O i]Aq?@]IE];]!;]]5zB @EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 168.20 m.BjûJjûM ProNav: ac range: 168.199997 m, nav range: 80.140579 m, bearing: 183.562914 deg, approach rate: 0.453539 m/s, LOS rate: -0.341127 deg/s, cmd heading: 320.427451 deg, new cmd heading: 319.952753 deg. 2jMjUHeadingCmd: 5.584229 target range: 168.199997 and range: 168.20 m. jU@jQjYjYiYhYhYhahafffrfbfg@ɛ=; Na?I  WɚiIeђ=Ie2imS;imC.=)m@)iE-;=*F2F:FBF_0JFGm/=GaBO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770261 M w$?IM hzK JK +9K K +K  ,=CDB@?@@<<=98542.+&" Fw, A2@Y2]@2:92O[=y2H?{/?jĿ`o@k?2^??@5? ?ɨ2@2;2CyBBB$IMb@Mb@Mb@ )YPn?p= ףy&1y$?`e3@ @)b@IQAyz@IIM3٢= :=9' G٣"NGy;% > %Nusing accuracyPremultiplier from config%]59N?-]5YS iŎA-$?-:-B-@IE8;;f]5]xB ]@]EZjFNOT Ignoring new targets: 168.20 m.BjFJjF ProNav: ac range: 168.199997 m, nav range: 80.327560 m, bearing: 183.420044 deg, approach rate: 0.436444 m/s, LOS rate: -0.332704 deg/s, cmd heading: 319.952753 deg, new cmd heading: 319.525150 deg. 2jTd%HeadingCmd: 5.576766 target range: 168.199997 and range: 168.20 m. j%t@j!j!j!i)h)h)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020305h h Bf ffrfbfhT @ɛ(B@=< 隕k?I Sɚ!i!I-ʑ=I54i5A;i5:=)=t@)9EqEq*Eq"Eq~G Y y = B*F ?2F :F BF W0JF E Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:22:37:35.5351 U TRx dataTimestamp_ set to:1736375856.865363] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272957 A IA ZH9 RH= AAHM >II  IM %IIM BIM + =&II .II 6IM d<:IM 1 FG1=G?G>GaBqO?w,^J@AJ.J.J./J,J.L:J.:J.(N3J,J.O;J.P;J.yE;J.zE;B@YB+Ƴ@B,9B*=yBH?*[?4Ŀ Y}L?a[?? i? F?ɨB@Bt;@yNBN$IIVIV(*3٢b= b-=9bdd fG٣dyj+N j> nNusing accuracyPremultiplier from configlr]59n^O?r]5YnoY inAtvCv@nIEn:n:n|]5x ~P@|Zj%FNOT Ignoring new targets: 168.20 m.Bj%ŻJj%Ż ProNav: ac range: 168.199997 m, nav range: 80.531738 m, bearing: 183.263385 deg, approach rate: 0.451303 m/s, LOS rate: -0.345393 deg/s, cmd heading: 319.525156 deg, new cmd heading: 319.056379 deg. 2j mHeadingCmd: 5.568584 target range: 168.199997 and range: 168.20 m. j1@jjjihhhhfffrfbf @ɛ%'B%^< !-u?I) M- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 <5 < DAT read: 22:37:35.5351 LVL= 16752, 29057, 23842, 31411, AGC= 62, IDX= 417,-0.11,-1.570,-3.116,-2.929,-2.359, PHS= 0.877,-0.710,-0.573, RAW= 94.5, 5.4, CAL= 103.1, 4.2, ROT= 46.9, -4.2  x$?I ;w,$ZA}Ygot valid direction response: 22:37:35.5351 LVL= 16752, 29057, 23842, 31411, AGC= 62, IDX= 417,-0.11,-1.570,-3.116,-2.929,-2.359, PHS= 0.877,-0.710,-0.573, RAW= 94.5, 5.4, CAL= 103.1, 4.2, ROT= 46.9, -4.2 RPDAT read: Bearing 46.9, -4.2 (Local) R~Local bearing/azimuth received: Bearing 46.9, -4.2 (Local) ZDAT read: Range 10 to 50 : 166.7 m (Round-trip 222.3 ms) speed 0.3 m/s 5R#Rx 1: Read range and direction messages.=^direction in FSK: [-0.193964,0.035231,0.980376]=Fpublishing direction and range infoq9u E&ȿy ?EGG=_?yu&CqupAuq u"])uzIu>iu`?u5u!ur?u= uS?)uQ =IuQ?iuQ qqu7I`?#vۿ{?)u(Iuvpiu=@uxqqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@Y@91=yH@|?E?ÿ 0?P=E????ɨ@>s;CyB$IzKmMKm 9KiKm,Km, 7MA+ Mb@Mb@Mb@ )Y'1Z?Mb rhy"?C@ @)K@I@yQ@I#I%x3٢U6< U=9ex!qq }G٣}#NGy > Nusing accuracyPremultiplier from config]59O?]5Y_ i9A#?:D@IE!;<]5 @Eku??ku# kq kunWA:ku&CBku%CZku)@"u;j*@ܩ.}@e md@u E&ȿy ?EGG=_?Jku=@Rkux*u_J cFG-@W8@m|c@u`!ѿ&F6?Ts%\?"kuZA*ku3:kur??ku 2ku5aCku .8?kuq^^ ku`Cku Bku?/@@ addTargetRange:: Added new target pos. range: 166.699997 m, deltaT: 4.035349 s, deltaX: -1.500000 m, approachRate: -0.371715 m/s, rangeRepo size: 4 = Added new target pos. range: 166.699997 m, bearing: 152.078487 deg, lat: 36.902477 deg, lon: -122.119561 deg, deltaT: 4.035349 s, deltaX: -1.500000 m, approachRate: -0.371715 m/s, posRepo size: 4 Zj9=FNOT Ignoring new targets: 166.70 m.BjEJjAe ProNav: ac range: 166.699997 m, nav range: 70.524506 m, bearing: 172.052565 deg, approach rate: 0.000000 m/s, LOS rate: -0.345393 deg/s, cmd heading: 319.056386 deg, new cmd heading: 318.472208 deg. 2jamHeadingCmd: 5.558389 target range: 166.699997 and range: 166.70 m. jmRޱ@jijiji}Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:2734> BDAT read: Tx time:22:37:36.9086 $Ping request sent.3qw,paxA Ny$?IL\@Yl@c9W=yH? ? ¿?4?'?`DZ?ݦ?ɨ\@;yU(BU%IIe-Ie3٢}Ε= }X=9}f G٣H>IC I%IIBI, =&I.I3D6IV<:I$ Fy1 > Nusing accuracyPremultiplier from config]59\'O?]5Y d iaA F@IEn::k]5  @ ZjQ]FNOT Ignoring new targets: 166.70 m.Bj]Jj] ProNav: ac range: 166.699997 m, nav range: 70.720810 m, bearing: 171.935418 deg, approach rate: 0.556936 m/s, LOS rate: -0.331436 deg/s, cmd heading: 318.472214 deg, new cmd heading: 318.121752 deg. 2jvcHeadingCmd: 5.552272 target range: 166.699997 and range: 166.70 m. j6@jjjihhhhfffrfbfj-?ɛ< j?I %HɚAiAIE͎=IM(;iIiMR=)M6@)Q*F?2F:FBF0JFGM=GBOb>mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499962HS$w,F$A6i&@Y65@696!=y6H%? c?`?¿@?IM?z ? O?ɨ6i&@6Tۇ;6CyB2BB%IIJIJ٢bN= bW=9fSdd jG٣hyj j> Nusing accuracyPremultiplier from config ]595O? ]5Y~h iA G@IE::]5yB h@E%B*** querying acoustic contact ***j)j)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756416Zj1=FNOT Ignoring new targets: 166.70 m. IBjѠJjѠ} ProNav: ac range: 166.699997 m, nav range: 70.913193 m, bearing: 171.819819 deg, approach rate: 0.469248 m/s, LOS rate: -0.281195 deg/s, cmd heading: 318.121743 deg, new cmd heading: 317.775893 deg. 2j}@HeadingCmd: 5.546236 target range: 166.699997 and range: 166.70 m. jz@jjjihhhhfffrfbf?ɛ&Bd< ?I DɚiIOǍ=I%<*w,/ᬌA6@Y6_@6vؽ96n=y6H ?@K?V<1$?J??@?|?ɨ6@6|`;4y>3BB%IMb@Mb@Mb@ )Y#~j?㥛 Zd;Oy%?j~@ b@)I~@y@I-I-(*٢=x: ===9E<AA MG٣M$NGy& > Nusing accuracyPremultiplier from config]59FO? ]5Ym iA  '? : K @IE;3;]5 b@ZjFNOT Ignoring new targets: 166.70 m.BjJj ProNav: ac range: 166.699997 m, nav range: 71.143227 m, bearing: 171.678076 deg, approach rate: 0.552231 m/s, LOS rate: -0.339174 deg/s, cmd heading: 317.775890 deg, new cmd heading: 317.352045 deg. 2jhHeadingCmd: 5.538838 target range: 166.699997 and range: 166.70 m. j)>@jjjihhhhkBfffrfbf?ɛqu:< y} ?Iy AɚiIC=I>iiY\=))>@)*F}?2Fy:FyBF}P5JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261533 =z$?I9jH-<bH-<H5>I1 I5%II5ˆBI5- =&I1.I16I5m<:I53 FBIǛCJIǛCRIZI+ =bI+ =jIp5G} 1w,ƌA:ͫ@Y: ݲ@:D8Ͻ9:==y:Hzz?c-?`[߰? C۹?˄??ɨ:ͫ@:;:CyF?BF%IININn٢V+z= VU=9V?EXX ZG٣Xy^ ^> jNusing accuracyPremultiplier from configdj]59fTO?n]5Yfr ifŏAlnvMn@fIEf};f;f]5vwB v@vE~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512130Zj!%FNOT Ignoring new targets: 166.70 m.Bj-Jj-= ProNav: ac range: 166.699997 m, nav range: 71.333740 m, bearing: 171.560060 deg, approach rate: 0.534171 m/s, LOS rate: -0.330015 deg/s, cmd heading: 317.352036 deg, new cmd heading: 316.998938 deg. 2j=|bEHeadingCmd: 5.532675 target range: 166.699997 and range: 166.70 m. jE @jAjIjIiIhQhQhQhafafafirfibfm`m?ɛ= 隝 ?I )?ɚiI8E=Io!@iiZ=) @)*Fm?2Fi:FiBFmP0JFqGeYW=GABIOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767198 Q IY .7w,~A6 @Y6@696 =y6Hk?I?` 5u@-?m ?W8?T?ɨ6 @6h;6CzK>ROK>+9K<K>.K>8,'&%?Ud@{j[MC93-&# yFABJ"%I)L LJpJrJpJpJpJr:JpJp-Mb@Mb@Mb@))) )))Y-/$?ʡES㥛y-1(?---/ݼ-@ -5@)-@I-$@)y-@IE%IE)3٢U_4< U@=9]\aa eG٣aym m> uNusing accuracyPremultiplier from configi]59mdO?]5Ymw imޏA)?:9S@mIEm Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272477 = |$?I= hh=w,]A2R@Y2Ď@2$92c=y2HP?r?ľ`6y?mx`%??z?ɨ2R@2b;0y:LB:/%IIPIP٢Z%e= ZU=Hr>Ip Ir%IIrֆBIr/ =&Ip.Ip6Irx<:Ir9 F9=vAA EG٣AyM~s M> UNusing accuracyPremultiplier from configQ}]59UtO?}]5YU} iUAy}T@UIEUd;U;U]5 @EZjFNOT Ignoring new targets: 166.70 m.BjPȻJjPȻ= ProNav: ac range: 166.699997 m, nav range: 71.759491 m, bearing: 171.285310 deg, approach rate: 0.543097 m/s, LOS rate: -0.350253 deg/s, cmd heading: 316.576290 deg, new cmd heading: 316.177159 deg. 2j=`pEHeadingCmd: 5.518332 target range: 166.699997 and range: 166.70 m. jE.@jAjAjIiIhIhIhqhqfqfqfyrfybf}`@ɛ'BiB= Y?I 7ɚiIq=IaCiiEj=).@)*J"J=*F2F:FBF\0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523918G% Cf=G B O% >Dw,@AJUQ@YJ`@Jt9Jij=yJH@5??՟|Y??"??ɨJUQ@J;JCyROBR3%II\I\٢fۅ< fI=9fzhh jG٣j%NGynk n> vNusing accuracyPremultiplier from configtz]59vO?~]5Yv0 ivA|~.V~@vIEv ;v%;vp]5 @ Zj)5FNOT Ignoring new targets: 166.70 m.Bj5+ŻJj=+ŻE ProNav: ac range: 166.699997 m, nav range: 71.960800 m, bearing: 171.154605 deg, approach rate: 0.532477 m/s, LOS rate: -0.344755 deg/s, cmd heading: 316.177161 deg, new cmd heading: 315.786151 deg. 2jMlMHeadingCmd: 5.511508 target range: 166.699997 and range: 166.70 m. jUF^@jQjYjYiYhYhYhahafafifirfqbfu@ɛ] = &?I \4ɚiI=I]Eiai}jn=)F^@Will construct direction to contact in vehicle frame from tetrahedron phase data.՝>՝<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780243 I)*F?2F:FBF_0JFzKsNK9KK/KO]f,\"MPu`SE4%JJJJJ:J:JJGG B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031317Jw,+.Ay~ZB~@%I a=R=Mb@Mb@Mb@ )Yoʡ?1ZdQy-?"۽@ @)@I@y @I!Ii3٢9= :=9Q > G٣y > Nusing accuracyPremultiplier from config]59O?]5Y. iA`/?:\@JE;#;C]5 xB @E-B*** querying acoustic contact ***j)j)Zj9EFNOT Ignoring new targets: 166.70 m.BjE)ɻJjE)ɻ] ProNav: ac range: 166.699997 m, nav range: 72.188904 m, bearing: 171.000053 deg, approach rate: 0.520774 m/s, LOS rate: -0.351736 deg/s, cmd heading: 315.786146 deg, new cmd heading: 315.323966 deg. 2j]dqeHeadingCmd: 5.503441 target range: 166.699997 and range: 166.70 m. je1@jajajaiahihihihu1Bfqfqfqrfqbf}k @ɛt< 隥?I x0ɚiI=IKGii<-=)1@)*Fe?2Fa:FiBFmo0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:37:39.5333 TRx dataTimestamp_ set to:1736375860.904854checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281269 }$?IZHRHH>I I%IIBI&I.I6Iu<:I7 FGl=Ga By O >Qw,GA:<ު@Y:@:NP9:"=y:H`?@X? ?X`e???ɨ:<ު@:f;:CyBeBBN%IININ2٢VQv= Va=9Z\\ bG٣`yb b> fNusing accuracyPremultiplier from configdj]59fO?j]5Yf= ifAln4`n@fJEf`;f;ft]5p r/@tWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532087ZjFNOT Ignoring new targets: 166.70 m.BjʻJjʻe ProNav: ac range: 166.699997 m, nav range: 72.377327 m, bearing: 170.869694 deg, approach rate: 0.514202 m/s, LOS rate: -0.354821 deg/s, cmd heading: 315.323961 deg, new cmd heading: 314.933907 deg. 2jesHeadingCmd: 5.496634 target range: 166.699997 and range: 166.70 m. jl@jjjihhh9hAfIfqfyrfybf}`n@ɛ(B!= O?I 5e,ɚ i I [=Ix[IiArWill construct direction to contact in vehicle frame from tetrahedron phase data. I% DAT read: 22:37:39.5333 LVL= 15952, 26993, 21186, 29939, AGC= 57, IDX= 431, 0.37, 3.053, 1.296, 1.383, 2.014, PHS= 1.127,-0.671,-0.634, RAW= 91.0, 2.0, CAL= 98.6, -0.7, ROT= 51.4, 0.7 U Ygot valid direction response: 22:37:39.5333 LVL= 15952, 26993, 21186, 29939, AGC= 57, IDX= 431, 0.37, 3.053, 1.296, 1.383, 2.014, PHS= 1.127,-0.671,-0.634, RAW= 91.0, 2.0, CAL= 98.6, -0.7, ROT= 51.4, 0.7 m PDAT read: Bearing 51.4, 0.7 (Local) } ~Local bearing/azimuth received: Bearing 51.4, 0.7 (Local)  DAT read: Range 10 to 50 : 165.4 m (Round-trip 220.6 ms) speed 0.2 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.125238,0.091725,0.987877] Fpublishing direction and range infoر9ص+:'AL{?^8?yصf%CرصP>صqi ٵR)ٵtIٵ9iٵA?ٵ+ٵM"ٵK?ٵ5= ڵFF?)ڵ+HIڵLe?iڵ+H<ڱڱ۵m?ڴB޿:J?)۵nI۵i۵ɚ @۵p۱۱- T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.! Xw,aAJnJlJlJlJn:JlJlJlzKvNKvh9KtKv0Kv      RK~?JK~>yjBT%I Mb@Mb@Mb@    ) Y  rh?PnX9vy ,?   @ @) @I Z@ y (@I%+I%n3٢< 0=9Q > G٣&NGy  > %Nusing accuracyPremultiplier from config]59O?]5Y i A/?:\h@ JE<f<]5vB @EWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:2735> %BDAT read: Tx time:22:37:40.9586 %$Ping request sent.%@";,H4CW.@-@ld@+:'AL{?^8?Jkɚ @Rkp*ܘU6U0J47@TudEd@ĺ. 5?dnx_?"kA*krkRP/H?k0 2k`eCk r_w,AF^@YFgn@F]9F=yFHE?`"]?`?iW???ɨF^@F6ψ;FCy~rB~^%I  AI%I)3٢E= ED=9E{II MG٣Iyuw u> }Nusing accuracyPremultiplier from configy]59}пO?]5Y} i}!A[l@}JE}L:}:}-]5 A@ZjFNOT Ignoring new targets: 165.40 m.Bj%Jj%= ProNav: ac range: 165.399994 m, nav range: 62.231129 m, bearing: 164.394632 deg, approach rate: 0.615618 m/s, LOS rate: -0.432144 deg/s, cmd heading: 314.367789 deg, new cmd heading: 313.903220 deg. 2j=IEHeadingCmd: 5.478645 target range: 165.399994 and range: 165.40 m. jEQ@jAjAjAiIhIhqhqhqfqfyfyrfybf} ?ɛP= ?I $ɚiI =IZMiiv=)Q@)*F?2F:FBFS5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505964G=G B O >gew,˘A dIfh Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760588y}~Bޅm%I@AII?13٢iT= 2=9Q >  G٣ 'NGy  -> =Nusing accuracyPremultiplier from config1=]595O?=]5Y5 i5"AAAE@5JE5;:5G:50]5q u~@qZjFNOT Ignoring new targets: 165.40 m.BjٻJjٻ ProNav: ac range: 165.399994 m, nav range: 62.482506 m, bearing: 164.219267 deg, approach rate: 0.546392 m/s, LOS rate: -0.379639 deg/s, cmd heading: 313.903227 deg, new cmd heading: 313.379264 deg. 2jEHeadingCmd: 5.469500 target range: 165.399994 and range: 165.40 m. j%@jjjihhh)h)f)f1f1rf1bf5`?ɛۘ= ?I e@ ɚiI2-=IMPiic=)%@) zKLK9KK1KBKqA:KlAJJJ/JJl:J":J(N3J*FU?2FY:FYBF]3JFYG5s=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010117G) B9 OU >lw,yAJk@YJ{@JR9Jn=yJH?T?=q4` ?R?Ȳ??ɨJk@Jˆ;JCyVBV|%I=Mb@Mb@Mb@999 9)9Y=B`"?HzG~jty=.?== =ļ=Z@ 9)9I=@9y==@IMIM(*٢]*= ei=9eCii mG٣iym u> }Nusing accuracyPremultiplier from configy]59}O?]5Y}ť i}#AV2?:u@}JE};};}9]5wB @ EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 165.40 m.BjJj껝] ProNav: ac range: 165.399994 m, nav range: 62.670155 m, bearing: 164.079347 deg, approach rate: 0.551967 m/s, LOS rate: -0.410339 deg/s, cmd heading: 313.379270 deg, new cmd heading: 312.960775 deg. 2j]ΌeHeadingCmd: 5.462196 target range: 165.399994 and range: 165.40 m. jeOʮ@jajajaiihihihhBfffrfbf?ɛ,T= ?I ɚiI5=I5\,Ri9i=@=)=Oʮ@)9 $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261596jH<bH4<H>IC I%IIBI&I.I6I<:IT F*F?2F:F!BF%O0JF!Ge vpx=Gm ?Gm >GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514980rw,̍A22%@Y24@2h@92?}=y2H? K?r h`?;@?df?`?ɨ22%@2b;2Cy>BB%IIJIJ<٢Rnc= RW=9RCTT VG٣TyZD Z> ^Nusing accuracyPremultiplier from config\b]59^/O?b]5Y^ i^"Adfwf@^JE^:^:^]5h j@hZjAEFNOT Ignoring new targets: 165.40 m.BjM+JjM+⻝} ProNav: ac range: 165.399994 m, nav range: 62.874390 m, bearing: 163.925635 deg, approach rate: 0.527159 m/s, LOS rate: -0.395464 deg/s, cmd heading: 312.960770 deg, new cmd heading: 312.501142 deg. 2j}HeadingCmd: 5.454174 target range: 165.399994 and range: 165.40 m. j@jjjihhhhfffrfbf`j?ɛ[L= !%T?I! %!ɚ!i!I%=I-:Ti)iU"K=)U@)Q*F?2F:FBFY0JFGnp_=GBOB> Ih%Will construct direction to contact in vehicle frame from tetrahedron phase data.-D?-'?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769086zK yJK 9K K 2K ~%yw,\捿A2:@Y2@2*92=y2H4?gy?Qʪ?`.Y?7?e?ɨ2:@20;2CyVBV%I=Mb@Mb@Mb@999 9)9Y=Gz?(\¿ %G٣!y%센 -> =Nusing accuracyPremultiplier from config1E]595O?M]5Y5 i1M4?M:M }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019906@5"JE5AR<5Q<5~]5uB @ EZjY]FNOT Ignoring new targets: 165.40 m.BjeJje㻝 ProNav: ac range: 165.399994 m, nav range: 63.116779 m, bearing: 163.737448 deg, approach rate: 0.513387 m/s, LOS rate: -0.397052 deg/s, cmd heading: 312.501153 deg, new cmd heading: 311.938781 deg. 2j?HeadingCmd: 5.444359 target range: 165.399994 and range: 165.40 m. j08@jjjihhhhBfffrfbf @ɛQUo1= QUО?IY ]KKɚYiYI]T=IeVViaiT=)08@)*F!2F!:F!BF%V0JF! $?I - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270209G @A=G G rAH >I  I &II BI 0 =&I .I 6I f<:I ) FBIʚCJIʚCRIZI/ =bI/ =jI4Gy B O= >Bw,PAJ-@YJ¯@J9Jd]=yJH}??)@?􆘿`?`yD?z?ɨJ-@Jh;JCyzB~%II I [3٢Gb= Z=9K!! %G٣%(NGy- -> 5Nusing accuracyPremultiplier from config1=]595P?E]5Y5A i5 AAE~E@5&JE5O+;5+;5]5I Ur@QZjFNOT Ignoring new targets: 165.40 m.BjjJjj ProNav: ac range: 165.399994 m, nav range: 63.313168 m, bearing: 163.584398 deg, approach rate: 0.578027 m/s, LOS rate: -0.449075 deg/s, cmd heading: 311.938783 deg, new cmd heading: 311.481065 deg. 2jHeadingCmd: 5.436370 target range: 165.399994 and range: 165.40 m. j@jjjihhhhfffrfbfz.@ɛ = ?I EɚiI̓=IXiiY=)@)J=J=J=0J9J=:J=+:J=ـ3J9J=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521458F(w,_A $I(:}@Y:@:9:=y:H@X?@? Q-@@Z?K훿@Iڠ?n?`?ɨ:}@:=R;:CyrBr%I)t txzA~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773397Iz!Izi3٢kb= K=9^(!! %G٣!y% %> 5Nusing accuracyPremultiplier from config)5]59-P?=]5Y- =tIi-AAE<M@-*JE-;-;-9]5i u@yZjFNOT Ignoring new targets: 165.40 m.BjwٻJjwٻm ProNav: ac range: 165.399994 m, nav range: 63.528065 m, bearing: 163.416216 deg, approach rate: 0.487514 m/s, LOS rate: -0.380243 deg/s, cmd heading: 311.481078 deg, new cmd heading: 310.978255 deg. 2jmzHeadingCmd: 5.427595 target range: 165.399994 and range: 165.40 m. jۮ@jjjihhhhfffrfbf@ɛLE= o?I  ɚiI+=I%[iIiMV`=)Mۮ@)I*F?2F:FBFi0JFzK-k3IK-9K)K-3K-Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025333G R`U=G B O >hTw,3An&I@YnX@nk9no=ynH3?? Zܲ3?v\̝?`l??ɨn&I@nd;lyv؆Bz%IMb@Mb@Mb@ )Y(\?㥛 ¿{Gzy.?ף@ )@I@y@I I<2٢> @=9# G٣yv > ]Nusing accuracyPremultiplier from confige]59P?e]5Y+ iAe2?e:em@/JEY<;]5q uֹ@u EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 165.40 m.BjJj ProNav: ac range: 165.399994 m, nav range: 63.750088 m, bearing: 163.240435 deg, approach rate: 0.549792 m/s, LOS rate: -0.433767 deg/s, cmd heading: 310.978267 deg, new cmd heading: 310.452776 deg. 2jؔHeadingCmd: 5.418423 target range: 165.399994 and range: 165.40 m. jc@jjjihhhh*Bfffrfbfd @ɛ 'B 6g= "?I ɚiI?=I a]iij=)c@)! =$?I9 Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:37:43.5822 TRx dataTimestamp_ set to:1736375864.941964-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280471H>I I6&II"BI&I.I2D6I^<:I" F*F?2F:FBF1JFJQJQJKcw3 K.-KK"KJ]J]JYJYJ]:J]-.:JYJYJ]<J]<J]v;J]v;G.H_=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529452>w,NMAy5B=%III[3٢= H=9Q >  G٣)NGy% %> ENusing accuracyPremultiplier from config9U^59=)P?U^5Y= i=AQQ]@=4JE=r];=8S;=^5a e@aZjFNOT Ignoring new targets: 165.40 m.BjfJjf󻝊 ProNav: ac range: 165.399994 m, nav range: 63.969357 m, bearing: 163.068490 deg, approach rate: 0.544590 m/s, LOS rate: -0.425589 deg/s, cmd heading: 310.452780 deg, new cmd heading: 309.938727 deg. 2j HeadingCmd: 5.409451 target range: 165.399994 and range: 165.40 m. j:@jjjihhhhfffrfbf\)@ɛIMBkt= IUа?IQ UBɚQiQIUW=I]_ii==):@) !I!*F5?2F1:F1BF52JF9"GE=GAWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 22:37:43.5822 LVL= 15312, 32113, 25474, 32755, AGC= 58, IDX= 435, 0.36,-3.076, 1.482, 1.354, 2.108, PHS= 1.187,-0.579,-0.757, RAW= 85.2, 1.6, CAL= 91.4, -1.8, ROT= 58.6, 1.8 UYgot valid direction response: 22:37:43.5822 LVL= 15312, 32113, 25474, 32755, AGC= 58, IDX= 435, 0.36,-3.076, 1.482, 1.354, 2.108, PHS= 1.187,-0.579,-0.757, RAW= 85.2, 1.6, CAL= 91.4, -1.8, ROT= 58.6, 1.8 ]PDAT read: Bearing 58.6, 1.8 (Local) ]~Local bearing/azimuth received: Bearing 58.6, 1.8 (Local) eDAT read: Range 10 to 50 : 164.5 m (Round-trip 219.4 ms) speed 0.2 m/s uR#Rx 1: Read range and direction messages.^direction in FSK: [-0.107879,0.190245,0.975791]Fpublishing direction and range info9x|5򝻿S$Y?Q9?y$C;q} c)I:i?X9AV?< 0?)I?i= 3H?WY?;ʸ?)3DIiw@׬T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G} Rk=GQ Ba O >dw,fgAzK"&~JK"h9K K"4K"o A:C t^O@6,! y5B=%I}Will construct direction to contact in vehicle frame from tetrahedron phase data.yiy,DAT read: user:2736> BDAT read: Tx time:22:37:44.9086 $Ping request sent. %G٣!y! -> 5Nusing accuracyPremultiplier from config)5^59-o9P?=^5Y-N i-A=/?=:==@-9JE-;-;-^5utB u@}EkMAO?kMU@ kI kMGq\A:kM$CBkM[#CZkMK?"M-#1̘K?@qd@Mx|5򝻿S$Y?Q9?JkMw@RkM׬*M" !Y]=@:d@M@Wg?qMz?"kMbA*kMܿkM_㎨O?kMq 2kMJeCkMr??kM0 kM5aCkM`BkM*@ addTargetRange:: Added new target pos. range: 164.500000 m, deltaT: 4.036309 s, deltaX: -0.899994 m, approachRate: -0.222974 m/s, rangeRepo size: 4  Added new target pos. range: 164.500000 m, bearing: 93.329968 deg, lat: 36.902686 deg, lon: -122.119432 deg, deltaT: 4.036309 s, deltaX: -0.899994 m, approachRate: -0.222974 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 164.50 m.BjJj- ProNav: ac range: 164.500000 m, nav range: 56.153664 m, bearing: 152.872859 deg, approach rate: 0.000000 m/s, LOS rate: -0.425589 deg/s, cmd heading: 309.938740 deg, new cmd heading: 309.250551 deg. 2j)5HeadingCmd: 5.397440 target range: 164.500000 and range: 164.50 m. j5շ@jQjQjQiQhYhYhYh]@Bfafafarfed@bfmt?ɛVsd= ?I ɚiI7==I/biiI6=)շ@)  $?I h*F ?2F :F BF 0JF % Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:22:37:44.9079 E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249476H I  I [&II @BI 1 =&I .I 6I a<:I # FG Pă=JJJJJ:J+:JJJ <J <JƄ;JƄ;GBO>uw,1Ay5 B5&IIMIMF٢] > ]\=9aQ e>aa mG٣iyi m> }Nusing accuracyPremultiplier from configq}^59uDP?^5Yu iuA@u=JEu:u:u* ^5 v@ZjFNOT Ignoring new targets: 164.50 m.Bj"Jj"㻝 ProNav: ac range: 164.500000 m, nav range: 56.371017 m, bearing: 152.743054 deg, approach rate: 0.667594 m/s, LOS rate: -0.397154 deg/s, cmd heading: 309.250557 deg, new cmd heading: 308.862649 deg. 2jHHeadingCmd: 5.390670 target range: 164.500000 and range: 164.50 m. j_@jjjihhhhfffrfbf@+?ɛ!%4= !-N?I) - ɚ)i)I5言=I5{di1i=D=)=_@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499394*F?2F:FBF05JFGmԍ=GBOj> i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7512497w,Aua@Yup@uww9u놣=yuH]? '?䱿Цc?r[?j??ɨua@u a;uCyޅ"Bލ6&IMb@Mb@Mb@ )Y%C?p= ף:vyZ$?T@ S@)@IK@y@I=I=?13٢Er= M<=9MQQ UG٣U*NGy]c ]> eNusing accuracyPremultiplier from configam^59e)QP?m^5YeS ieAu'?u:uău@eBJEe ;e;e ^5y }$@}EZjFNOT Ignoring new targets: 164.50 m.BjƻJjƻ ProNav: ac range: 164.500000 m, nav range: 56.612961 m, bearing: 152.591799 deg, approach rate: 0.557802 m/s, LOS rate: -0.347229 deg/s, cmd heading: 308.862657 deg, new cmd heading: 308.410841 deg. 2jLnHeadingCmd: 5.382785 target range: 164.500000 and range: 164.50 m. j?@jjjihhhhZBfffrfbfm`?ɛ(B$= 隝?I ɚiI=IfiiRw=)?@)ErAEqAzKOK9KK5K*FE?2FA:FABFEj0JFAGMrA GMqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005065c~G|uA {Y|uAy#BG% =G B O5 > Y IY nw,F{A2@Y2O&@2Zsn92s=y2HU?*?>1L? x᤿@&΍?@Qϳ??ɨ2@2z;2Cy>*B>@&I)@ @IJIJ<٢R"6= Ri=9R;Q R>TT VG٣TyZ|Լ Z> ^Nusing accuracyPremultiplier from config\b^59^ZP?b^5Y^ i^A`f񄿑f@^FJE^m ;^%;^^5h j@hMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255127HI I&IIiBI&I.I6Iy<:I5 FB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 164.50 m.Bj-6Jj-6= ProNav: ac range: 164.500000 m, nav range: 56.807999 m, bearing: 152.468477 deg, approach rate: 0.508396 m/s, LOS rate: -0.320352 deg/s, cmd heading: 308.410854 deg, new cmd heading: 308.042164 deg. 2j=[eHeadingCmd: 5.376350 target range: 164.500000 and range: 164.50 m. je @jajajaiahahihihififqfqrfqbfuo?ɛ!%L= )-?I) -޼ɚ)i)I-2~=I5^&hi5%"Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507023[дw,0ԎA:@Y:[@:*9:=y:H.??:$?IEX? A?`?ɨ:@:;:CyFABF\&IININm?3٢V@= VK=9Z'XX ZG٣Xy^ ^> fNusing accuracyPremultiplier from config`f^59b*fP?j^5Yb ib֏AhjŅj@bJJEb:bn:b^5l r8@pZj FNOT Ignoring new targets: 164.50 m.BjٻJjٻ- ProNav: ac range: 164.500000 m, nav range: 57.031296 m, bearing: 152.326510 deg, approach rate: 0.600983 m/s, LOS rate: -0.380594 deg/s, cmd heading: 308.042160 deg, new cmd heading: 307.617935 deg. 2j-5HeadingCmd: 5.368946 target range: 164.500000 and range: 164.50 m. j5gΫ@j1j1j1i1h1h1h9h9fAfAfArfAbfE?ɛq}nܷ= y}2?Iy 9ռɚiI}=I jii[}=)gΫ@) $?I*F5?2F1:F1BF5_0JF1mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759300Gkt=GBO>zK ]JK K K 6K RK >JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011952w,AyޅPBޅn&IMb@Mb@Mb@ )YMb?i|?5Qy#?u )@I@yp@IEIE2٢]ǀ= ]2=9eQ e>aa mG٣m+NGym u> }Nusing accuracyPremultiplier from configq}^59u sP?^5YuI iuƏA%?:@uOJEu;u;u^5sB 5@EZjFNOT Ignoring new targets: 164.50 m.BjqJjq ProNav: ac range: 164.500000 m, nav range: 57.286186 m, bearing: 152.171988 deg, approach rate: 0.554645 m/s, LOS rate: -0.334746 deg/s, cmd heading: 307.617923 deg, new cmd heading: 307.156430 deg. 2jeHeadingCmd: 5.360891 target range: 164.500000 and range: 164.50 m. jk@jjjihhhhBfffrfbf Y@ɛ= 隝?I FȼɚiI5W|=Ili{w,A6*r@Y6@6gQ96o=y6H@?5? n`)F ?`D6j? ??ɨ6*r@6w;4y>`BB&IiFa>IFp<IJ%IJ)3٢R?= Rk=9VM I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767205w,H!Aug9@YuH@u9p9u=yuH?[? Z0k? .?O̱?-?ɨug9@u;uCyލkBލ&IEMb@Mb@Mb@AAA A)AYES?y&1QyE/?E`役AE@ Ej@)E@IAAyE@IU&IU3٢e== m0=9m;Q m>qq uG٣qyuIu }>JJJ1JJ;:Jy6:J3Ja@a@a@a@ Nusing accuracyPremultiplier from configy^59}P?^5Y} i}A?:@}WJE}];};}^5 @ZjFNOT Ignoring new targets: 164.50 m.BjJj  ProNav: ac range: 164.500000 m, nav range: 57.722534 m, bearing: 151.901520 deg, approach rate: 0.523017 m/s, LOS rate: -0.322854 deg/s, cmd heading: 306.801552 deg, new cmd heading: 306.348144 deg. 2j]HeadingCmd: 5.346784 target range: 164.500000 and range: 164.50 m. j@jjjihh!h!h%Bf!f)f)rf)bf-& @ɛU*B]= Y]D?IY e1ɚaiaIey=Imoiiim=)m@)qzK]K]9KYK]7K]BKmpA:KmqA*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:37:47.5313 TRx dataTimestamp_ set to:1736375868.721038checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020542G=GG ?G B O > $?I 6w,;A2L@Y2 @2G;92=y2H ?@?`pZs?൛c?j?ɨ2L@2};2Cy>qB>&IIFIFF3٢Ny= Nn=9R;Q R?PT VG٣V,NGyV V? ZNusing accuracyPremultiplier from configX^^59Z͑P?b^5YZ iZA`bᆿb@ZZJEZ ;Z ;Z!^5d f(@jE=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271065ZHYRH]?AHaIa Ie&IIeBIe0 =&Ia.Ia6Ie<:Iee FBI%CJI%CRI!ZI%1 =bI%1 =jI%}4B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 164.50 m.Bj<Jj<= ProNav: ac range: 164.500000 m, nav range: 57.903824 m, bearing: 151.788282 deg, approach rate: 0.497696 m/s, LOS rate: -0.309900 deg/s, cmd heading: 306.348136 deg, new cmd heading: 306.009490 deg. 2j=TEHeadingCmd: 5.340873 target range: 164.500000 and range: 164.50 m. jEo@jAjIjIiIhIhIhQhfffrfbf @ɛ= ?I WɚiIx=I_;qi. Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 22:37:47.5313 LVL= 12128, 24865, 18530, 25843, AGC= 61, IDX= 425,-0.41, 1.939, 0.458, 0.101, 1.051, PHS= 0.976,-0.546,-0.953, RAW= 78.5, 6.0, CAL= 82.8, 6.4, ROT= 67.2, -6.4 } Ygot valid direction response: 22:37:47.5313 LVL= 12128, 24865, 18530, 25843, AGC= 61, IDX= 425,-0.41, 1.939, 0.458, 0.101, 1.051, PHS= 0.976,-0.546,-0.953, RAW= 78.5, 6.0, CAL= 82.8, 6.4, ROT= 67.2, -6.4  PDAT read: Bearing 67.2, -6.4 (Local)  ~Local bearing/azimuth received: Bearing 67.2, -6.4 (Local)  DAT read: Range 10 to 50 : 163.8 m (Round-trip 218.4 ms) speed 0.1 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.177166,0.304860,0.935774] Fpublishing direction and range info 9  ]ƿߎт?O?y #C `/ !a bH) dI =i #y? s ^? Pw= ?) =I Q ?i ٶ?@'PηGF?) 9I ->ֽi 9@   T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.w,~UAJĥ@YJOԬ@J74;9J,=yJH!U?.?-@G?@{@u`0B???ɨJĥ@J_ш;JCyftBf&I)h hI.I3٢s< C=9;Q >!! %G٣!y%g -> 5Nusing accuracyPremultiplier from config)]^59-P?]^5Y- i-{AY]Ƈe@-^JE-;-;-Q%^5i m@ik51T?k5#= k1 k5NA:k5#CBk5"CZk5~?"5Ȕ =soH@o(c@5 ]ƿߎт?O?Jk5 9@Rk5*51()@}ÒCnG@xET\c@5(ߠ?ȋIO?>Y?"k5r;B*k5AIAk5T?k5{Y5 2k5-`Ck5RP/H?k5 k1k5 Bk5ʣ@ addTargetRange:: Added new target pos. range: 163.800003 m, deltaT: 3.782753 s, deltaX: -0.699997 m, approachRate: -0.185050 m/s, rangeRepo size: 4 aIa- Added new target pos. range: 163.800003 m, bearing: 74.974889 deg, lat: 36.902916 deg, lon: -122.119393 deg, deltaT: 3.782753 s, deltaX: -0.699997 m, approachRate: -0.185050 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 163.80 m.Bj}Jjy ProNav: ac range: 163.800003 m, nav range: 40.245899 m, bearing: 129.488286 deg, approach rate: 0.000000 m/s, LOS rate: -0.309900 deg/s, cmd heading: 306.009496 deg, new cmd heading: 305.623977 deg. 2jHeadingCmd: 5.334145 target range: 163.800003 and range: 163.80 m. jP@jjjihhhhfffrfyd@bf`ۆ?ɛU+B]RM= Y]F?Ia e ɚaiaIew=ITri8 eBDAT read: Tx time:22:37:48.7087 m$Ping request sent.mzK BHK K K 8K RK ?JK > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:37:48.7080  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249521Hw,UoANچ@YNM@N;9NAX=yNH%? ~?wx???ɨNچ@N 7;NCy={B=&I5Mb@Mb@Mb@111 1)1Y5K?Mb rhy5^?55C5@ 5@)55@I5@1y5p@IM$IM<3٢]7= ]7=9e;Q e>aa mG٣iym2 m> Nusing accuracyPremultiplier from config^59VP?^5Y8 iaAK?:l@cJEe;Sd;H)^5 @Zj!%FNOT Ignoring new targets: 163.80 m.Bj-"Jj-"] ProNav: ac range: 163.800003 m, nav range: 40.519085 m, bearing: 129.425646 deg, approach rate: 0.624119 m/s, LOS rate: -0.142143 deg/s, cmd heading: 305.623972 deg, new cmd heading: 305.437320 deg. 2j]ûeHeadingCmd: 5.330887 target range: 163.800003 and range: 163.80 m. je@jajajaiahahihhBfffrfbfl?ɛM,BM= QU?IQ UWɚQiQIUTv=I]si]C 0w,^0A>5@Y>mE@><9>:=y>H?`?JC?4r ??ɨ>5@>ʦ;>Cy^Bb&IIfIf(٢n,= rf=9roA;Q r>tt vG٣v-NGyv v> ~Nusing accuracyPremultiplier from configx^59z+P?^5Yz izLA   @zfJEzh-;z-;zO,^5rB @%EZjAMFNOT Ignoring new targets: 163.80 m.BjM{&JjM{&] ProNav: ac range: 163.800003 m, nav range: 40.727516 m, bearing: 129.375444 deg, approach rate: 0.607406 m/s, LOS rate: -0.145549 deg/s, cmd heading: 305.437317 deg, new cmd heading: 305.287482 deg. 2jeǻeHeadingCmd: 5.328272 target range: 163.800003 and range: 163.80 m. je4@jijijiiihihihqhqfqfqfyrfybf} N?ɛ= 隭G?I uɚiI:u=I6uti 9I9e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004448dw,?5Am@Ym@mP.<9mT=ymHԴ?,?E5` ?@@o ?e?ɨm@m%;mCyB&IiC=Il>]Mb@Mb@Mb@YYY Y)YY]^I +?(\µQy]X?]]uY ]j@)]@I]@Yy](@JJJJJ:JJJI}I}٢Wx< 0=9J;Q > G٣yT > Nusing accuracyPremultiplier from config^59P?^5Yu i3A?:򅿑@kJE:;;]0^5 ˮ@ZjFNOT Ignoring new targets: 163.80 m.Bj Jj  ProNav: ac range: 163.800003 m, nav range: 41.004425 m, bearing: 129.311856 deg, approach rate: 0.594305 m/s, LOS rate: -0.135552 deg/s, cmd heading: 305.287490 deg, new cmd heading: 305.098015 deg. 2jHeadingCmd: 5.324965 target range: 163.800003 and range: 163.80 m. jf@jjjihh!h!h%Bf!f)f)rf)bf-Y?ɛ.Bd= 隭?IzKK+9KK9K ~wɚiIs=IMuiqw,¾A2@Y2tɫ@2I<92߃=y2H ?eR?`Ef[t?D 7x?@g?ɨ2@2np;2Cy>B>&IIFIF<٢Nn Rj=9Rמ;Q R?TT VG٣TyV V?ZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508496 bNusing accuracyPremultiplier from config`f^59bP?f^5YbP ibAhj醿j@bnJEb;b5;bn3^5l n@pB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 163.80 m.Bjn"Jjn"% ProNav: ac range: 163.800003 m, nav range: 41.213440 m, bearing: 129.262178 deg, approach rate: 0.600533 m/s, LOS rate: -0.142007 deg/s, cmd heading: 305.098021 deg, new cmd heading: 304.949745 deg. 2j-»jH1bH1H9I9 I='II=هBI=1 =&I9.I96I=G<:I= F-HeadingCmd: 5.322377 target range: 163.800003 and range: 163.80 m. j-P@j)j)j)i)h1h1h1h1f9f9f9rf9bf=@?ɛ/Bg= 隝?I dɚiIr=Iui nManaging dock network, ignoring radio surface power offeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760465w,׏AyB&II-I-[3٢=< =A=9EQ E>AA MG٣M.NGyM M> UNusing accuracyPremultiplier from configQe^59UpP?e^5YU%$ iUAiim@UrJEU>;Un?;U7^5q u@ $?IuEZjFNOT Ignoring new targets: 163.80 m.BjJj ProNav: ac range: 163.800003 m, nav range: 41.464497 m, bearing: 129.203181 deg, approach rate: 0.593355 m/s, LOS rate: -0.138592 deg/s, cmd heading: 304.949751 deg, new cmd heading: 304.773831 deg. 2j:HeadingCmd: 5.319307 target range: 163.800003 and range: 163.80 m. j7@jjjihhQhQhQfYfYfYrfabfe@ɛ=0B=2= 9EV?IA ENMɚAiAIEq=Ievi  U GYU vAyU B Will construct direction to contact in vehicle frame from tetrahedron phase data.ե Aiե A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269159Zw,^ANdf@YNu@N<9N=yNHA? ?@Ϥ`r/?oϒ ?s?ɨNdf@N;NCyVwBV&I)X XMb@Mb@Mb@ )Y333333?T㥛 !) -G٣)y-E -> =Nusing accuracyPremultiplier from config1=^595P?E^5Y5* i5AE?E:EE@5vJE5;5<;5:^5I U@QZjy}FNOT Ignoring new targets: 163.80 m.BjJj= ProNav: ac range: 163.800003 m, nav range: 41.722797 m, bearing: 129.152819 deg, approach rate: 0.599954 m/s, LOS rate: -0.116252 deg/s, cmd heading: 304.773832 deg, new cmd heading: 304.623682 deg. 2j=EHeadingCmd: 5.316686 target range: 163.800003 and range: 163.80 m. jEK"@jAjIjIiIhIhqhqhuBfyfyfyrfybf}MD@ɛ-1B-\= 15?I1 5,>6ɚ1i1I5np=I=zlwi=8I9 I9I9I=0 =&I9.I96I=<:I=a FG F=G B O >:w, : A:l9@Y:H@:<9:=y:H@?`?x`] ?@ hڰ?`{?ɨ:l9@:(*;8y@DIRIR2٢ZƎ: Ze=9Z>;Q Z>\\ ^G٣`ybl{ b> fNusing accuracyPremultiplier from configdj^59fP?j^5Yf. ifЎAln;n@fzJEfT ;f ;f>^5p r@pZj  FNOT Ignoring new targets: 163.80 m.Bj,Jj,- ProNav: ac range: 163.800003 m, nav range: 41.935951 m, bearing: 129.110108 deg, approach rate: 0.597180 m/s, LOS rate: -0.119053 deg/s, cmd heading: 304.623678 deg, new cmd heading: 304.496196 deg. 2j-h5HeadingCmd: 5.314461 target range: 163.800003 and range: 163.80 m. j5@j1j1j9i9h9h9hAhAfAfAfIrfIbfM@ɛu2Bun= y}L?Iy }c%ɚiIio=IOwi yIy Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:37:51.3306  TRx dataTimestamp_ set to:1736375872.504607 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025439w,_E%A@Y@T#<94d=yH`?? b?N`#܇?@?ɨ@;騥Cy޵nB޵&IMb@Mb@Mb@ )YʡE?x&~jty?7ļ@ j@)K@I@y@I IV2٢U U&=9]ł;Q ]>YY ]G٣e/NGye* e> mNusing accuracyPremultiplier from configi}^59mP?}^5Ym5 imA?:G@mJEmxP;mO;mRB^5qB 2@EZj FNOT Ignoring new targets: 163.80 m.Bj Jj% E ProNav: ac range: 163.800003 m, nav range: 42.237339 m, bearing: 129.047046 deg, approach rate: 0.596355 m/s, LOS rate: -0.123889 deg/s, cmd heading: 304.496199 deg, new cmd heading: 304.308365 deg. 2jE UHeadingCmd: 5.311183 target range: 163.800003 and range: 163.80 m. jU6@jQjYjYiYhYhYhizKiJK9KK;KhmBfffrfbf# @ɛ4BK= !%o?I! %>G ɚ!i!I%?n=I-$xi5C!$w,?AFWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHPRHRAAH\I\ I^ 'II^χBI\&I\.I\6I^-<:I^ Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.544024yjB&Ii>I;I!Ii3٢, K=9Q > %G٣!y- -> 5Nusing accuracyPremultiplier from config1=^595P?=^5Y5; i5AAAE@5JE5:5:5E^5Q Ur@QmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 163.80 m.BjJj ProNav: ac range: 163.800003 m, nav range: 42.483711 m, bearing: 128.996169 deg, approach rate: 0.629672 m/s, LOS rate: -0.129276 deg/s, cmd heading: 304.308369 deg, new cmd heading: 304.156623 deg. 2jqHeadingCmd: 5.308535 target range: 163.800003 and range: 163.80 m. jߩ@jjjihhhhfffrfbf@ɛ5B= ?I ɚiIz2m=Iyi5-Will construct direction to contact in vehicle frame from tetrahedron phase data.-Ai-AeDAT read: 22:37:51.3306 LVL= 8688, 23457, 15266, 25299, AGC= 60, IDX= 434, 0.07,-2.947, 2.097, 1.382, 2.471, PHS= 0.953,-0.326,-1.092, RAW= 68.3, 5.3, CAL= 70.0, 5.6, ROT= 80.0, -5.6 mYgot valid direction response: 22:37:51.3306 LVL= 8688, 23457, 15266, 25299, AGC= 60, IDX= 434, 0.07,-2.947, 2.097, 1.382, 2.471, PHS= 0.953,-0.326,-1.092, RAW= 68.3, 5.3, CAL= 70.0, 5.6, ROT= 80.0, -5.6 uPDAT read: Bearing 80.0, -5.6 (Local) }~Local bearing/azimuth received: Bearing 80.0, -5.6 (Local) DAT read: Range 10 to 50 : 163.2 m (Round-trip 217.7 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.143379,0.462581,0.874906]Fpublishing direction and range info195] \YA \IbhyzZB~|&III[3٢% %p=9!Q -?)) -G٣)y1 5? =Nusing accuracyPremultiplier from config9E^59=Q?E^5Y=G@ i=eAIIM@=JE=:=:=H^5Q Uh@Qken`^?ke ka ke PA:ke3#CBke"CZke٠n?"eݒ?f7&MR@uՊa@e] BDAT read: Tx time:22:37:52.7587 $Ping request sent.2w,)sAy LB k&I=Mb@Mb@Mb@999 9)9Y=%C?ai mG٣m0NGyi m> }Nusing accuracyPremultiplier from configq}^59uQ?^5YuF iu7A%?:@uJEu;uI;uL^5 N@EZjFNOT Ignoring new targets: 163.20 m.Bj;Jj; ProNav: ac range: 163.199997 m, nav range: 34.201576 m, bearing: 97.199135 deg, approach rate: 0.599401 m/s, LOS rate: 0.426223 deg/s, cmd heading: 304.023222 deg, new cmd heading: 304.584493 deg. 2jA<HeadingCmd: 5.316002 target range: 163.199997 and range: 163.20 m. j@jjjihhh h Bf ffrfbf@z?ɛ=9BE== AE?IA EyɚAiIIMk=IUKwiQiUX=)U@)QEaEa $?I*F?2F:FBF^0JFG GG,=GaBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502074HI I&IIBI&I.I2D6ID<:I FBIaJIaRIaZIe0 =bIe0 =jIeƣ4J J J J J :J $-:J J J <J <J ;J ;a#w,AB0a@YBp@B<9Bс=yBH@m??ը@%/R?`, ? ?ɨB0a@B;BCyb:BfT&I)h hIUIU(٢g U=9:<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754069Q >   G٣ y ^  > Nusing accuracyPremultiplier from config%^59Q?%^5YL i A!%I%@JE::P^51 5t@QZjFNOT Ignoring new targets: 163.20 m.Bj;Jj; ProNav: ac range: 163.199997 m, nav range: 34.436214 m, bearing: 97.355161 deg, approach rate: 0.587758 m/s, LOS rate: 0.388174 deg/s, cmd heading: 304.584500 deg, new cmd heading: 305.049377 deg. 2j3<HeadingCmd: 5.324116 target range: 163.199997 and range: 163.20 m. j)_@jjjihhhhfffrfbf?ɛe:Be= ae?Ia mH/gɚiiiImFj=Iuii/;))_@)*F ?2F :F BF _0JF  IhGM a.= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006281G) B9 OU >G)w,릐Ayu)Bu?&IMb@Mb@Mb@ )Y%C?{Gzy&1yף`@ )x@I@y@II 2٢-薽 55=95Q =>99 =G٣9yE E> UNusing accuracyPremultiplier from configIU^59M'Q?]^5YMDS iMݍA]%?]:]牿]@MJEM;M;MS^5mpB mj@mEZjFNOT Ignoring new targets: 163.20 m.Bj;Jj; ProNav: ac range: 163.199997 m, nav range: 34.704342 m, bearing: 97.524239 deg, approach rate: 0.614577 m/s, LOS rate: 0.384550 deg/s, cmd heading: 305.049390 deg, new cmd heading: 305.552691 deg. 2j<HeadingCmd: 5.332901 target range: 163.199997 and range: 163.20 m. j@jjjihhhhlBfffrfbfn?ɛ I 30w,AjH<bH<HI I&IIBI&I.I6Is<:I/ F*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510084^@Y^ @^/<9^H=y^H@?@Y?_? ?u#?R?ɨ^@^;^CyjBj0&IIr"Irq3٢z zv=9~:Q ~?   G٣ 1NGyC ? Nusing accuracyPremultiplier from config%^59/Q?%^5YHX iA!%%@JE::V^51 5-@1ZjY]FNOT Ignoring new targets: 163.20 m.BjeJ;JjeJ;u ProNav: ac range: 163.199997 m, nav range: 34.906139 m, bearing: 97.644909 deg, approach rate: 0.606722 m/s, LOS rate: 0.360707 deg/s, cmd heading: 305.552693 deg, new cmd heading: 305.912604 deg. 2juw<}HeadingCmd: 5.339182 target range: 163.199997 and range: 163.20 m. jڪ@jjjiAhIhIhIhIfQfQfQrfQbf].D?ɛ>B= ?I ɚiI-9h=I*qiia)ڪ@)*F?2F:FBF1JF"GG=JJJJJ:J-.:JJJ<J<Jv;Jv;Gu)<GIBYOuX>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761915PW6w,ڐA $?IJ@YJ @Jm<9J2=yJH?Y? ᨿ@`a`?@cO ` ??ɨJ@J;HyfBf$&Iij>Ij]>Ir7Ir3٢z> zK=9~Y;Q ~> G٣y  > Nusing accuracyPremultiplier from config ^59 9Q?^5Y U^ i A!%%@ JE &; .'; fZ^5) -̵@-EMB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 163.20 m.Bj];Jj];u ProNav: ac range: 163.199997 m, nav range: 35.149715 m, bearing: 97.788516 deg, approach rate: 0.606167 m/s, LOS rate: 0.354907 deg/s, cmd heading: 305.912616 deg, new cmd heading: 306.340446 deg. 2j}s<HeadingCmd: 5.346649 target range: 163.199997 and range: 163.20 m. j@jjjihhhhfffrfbfȧ@ɛ@B[m= ۴?I LɚiI"Rg=Ioii~)@)*FU?2FQ:FQBFU5JFQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.}V?}<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016029Gu2<GqBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266468zK MK 9K K >K c$h5 lYG- +B3 RK ?JK >)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E^59=pFQ?E^5Y=?e i=eAE\.?E:MTM@=JE=;=;=F^^5Q U@YZjFNOT Ignoring new targets: 163.20 m.Bj;Jj; ProNav: ac range: 163.199997 m, nav range: 35.429966 m, bearing: 97.968159 deg, approach rate: 0.626635 m/s, LOS rate: 0.398499 deg/s, cmd heading: 306.340432 deg, new cmd heading: 306.875080 deg. 2j<HeadingCmd: 5.355980 target range: 163.199997 and range: 163.20 m. j1d@jjjihhhhBfffrfbf`M:@ I ɛ BBz0= ?I -:ɚ)i)I5Jcf=I=L]miAiE+ټ)E1d@)I*F?2F:FBF4JFGXH9I9 I=&II=nBI9&I9.I96I=+<:I= F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519196GBOi>JKm3 KS}-KK"KJ J J J J J J1:J J J J J %;J &;hCw,KA2@Y2@2<92N=y2H ?@s\? :Fj?'r ~޷??ɨ2@2`M;2CyBBB&IIJ$IJ<3٢- ^=9g)Q >!! %G٣%2NGy%a %> 5Nusing accuracyPremultiplier from config1=^595PQ?E^5Y5k i5BAAEtE@5JE5;5;5a^5I ME@UEZjq}FNOT Ignoring new targets: 163.20 m.Bj;Jj; ProNav: ac range: 163.199997 m, nav range: 35.663696 m, bearing: 98.115229 deg, approach rate: 0.640490 m/s, LOS rate: 0.400376 deg/s, cmd heading: 306.875072 deg, new cmd heading: 307.313384 deg. 2jc<HeadingCmd: 5.363630 target range: 163.199997 and range: 163.20 m. jܢ@jjjihhhhfffrfbfz%@Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770275ɛCB= ?I fs;ɚiIme=IgkiiR )ܢ@)*Fq2Fq:FqBFuQ0JFqG}qA GyGM?CG!B1OU2> I Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:22:37:55.3801  TRx dataTimestamp_ set to:1736375876.536671 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023041Iw,yX(AyޅBޅ%I)  G!9 }aYyy} BMb@Mb@Mb@ )Yl?q= ףply7?뽹-@ =@)I@y@BAI3Iʴ3٢C} "=9Q > %G٣!y% %> 5Nusing accuracyPremultiplier from config)5^59- ^Q?=^5Y-s i-A=#:?=:==@-JE-5;-t;-e^5EoB E+@MEZjquFNOT Ignoring new targets: 163.20 m.Bj};Jj}; ProNav: ac range: 163.199997 m, nav range: 36.012222 m, bearing: 98.288726 deg, approach rate: 0.690906 m/s, LOS rate: 0.340605 deg/s, cmd heading: 307.313379 deg, new cmd heading: 307.828818 deg. 2ji<HeadingCmd: 5.372626 target range: 163.199997 and range: 163.20 m. j@jjjihhhh4Bfffrfbf / @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274024ɛFB}= zK-%NK-9K)K-?K-隍?I `];ɚiId=Ifii6#cQw, EAR@YR@R<9RAY=yRHY ? O?ii?Λ }y?L?ɨR@R;RCy^B^%IIf%If)3٢n rf=9rMQ r>tt vG٣tyva: v> ~Nusing accuracyPremultiplier from configx^59zigQ?^5Yzy izʌA珿@zJEzu ;z ;zi^5  [@Zj9EFNOT Ignoring new targets: 163.20 m.BjE;JjE;U ProNav: ac range: 163.199997 m, nav range: 36.258011 m, bearing: 98.409626 deg, approach rate: 0.690305 m/s, LOS rate: 0.337248 deg/s, cmd heading: 307.828812 deg, new cmd heading: 308.189047 deg. 2jUsg%Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 22:37:55.3801 LVL= 9040, 23537, 16994, 23715, AGC= 59, IDX= 429,-0.21,-2.214, 3.011, 1.906, 3.121, PHS= 1.036,-0.063,-1.218, RAW= 59.2, 2.5, CAL= 59.9, 1.0, ROT= 90.1, -1.0 eYgot valid direction response: 22:37:55.3801 LVL= 9040, 23537, 16994, 23715, AGC= 59, IDX= 429,-0.21,-2.214, 3.011, 1.906, 3.121, PHS= 1.036,-0.063,-1.218, RAW= 59.2, 2.5, CAL= 59.9, 1.0, ROT= 90.1, -1.0 ePDAT read: Bearing 90.1, -1.0 (Local) m~Local bearing/azimuth received: Bearing 90.1, -1.0 (Local) uDAT read: Range 10 to 50 : 162.9 m (Round-trip 217.2 ms) speed 0.0 m/s }R#Rx 1: Read range and direction messages.^direction in FSK: [-0.074786,0.589659,0.804182]Fpublishing direction and range info!9%H 3%x1|?yܻ?y%"C!%P#%[ %bB)%\I%;i%?%%%m盿% A?%¸2= %aх?)%5hh jG٣j3NGynY: n> vNusing accuracyPremultiplier from configtz^59vqQ?z^5Yv ivAxzÏz@vJEv:vl;vll^5 @Ekzk`Le?k>/ k kdRA:k"CBk!CZkZ5?"%(m](&eX@Q ``@H 3%x1|?yܻ?Jk5?Rk4.o*}S^N@*uJ@a;a@?nq?c?"k'PB*krBkoe?k% 2k\QCkT?k{Y5 k-`CkQBk]? addTargetRange:: Added new target pos. range: 162.899994 m, deltaT: 4.031638 s, deltaX: -0.300003 m, approachRate: -0.074412 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:2739> BDAT read: Tx time:22:37:56.7587 $Ping request sent.]w,xAJ[@YJ @J<9J[>yJH?5?ir`?ɷS?`?ɨJ[@J;JCyRنBR%IiV%=IV4< I=Mb@Mb@Mb@999 9)9Y=333333?p= ף G٣yjx; %> UNusing accuracyPremultiplier from configI]^59M[}Q?]^5YMj iMSA]sdw,aA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754041:F@Y:@:/<9:6>y:H ?'?@.[^5? U?ܩ?ɨ:F@:f';:Cy^ՆBb%IIj/Ij3٢r r\=9vQ v>tt zG٣xyzL: z> Nusing accuracyPremultiplier from config|^59~Q? ^5Y~Ž i~ A   @~JE~X:~":~s^5 @Zj!-FNOT Ignoring new targets: 162.90 m.BjU';Jju'; ProNav: ac range: 162.899994 m, nav range: 52.895134 m, bearing: 79.323037 deg, approach rate: 0.554631 m/s, LOS rate: 0.428656 deg/s, cmd heading: 309.230340 deg, new cmd heading: 309.730728 deg. 2j<HeadingCmd: 5.405821 target range: 162.899994 and range: 162.90 m. j|@jjjihhhhfffrfbf]?ɛ LB -= h?I ;ɚiI`=I`i!i%ᅽ)%|@)! $?I*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006059G- _NG B O- >Ju Ju Ju /Jq Ju ;:Ju +:Ju (N3Jq jw,&A~@Y~H+@~<9~m>y~HJ5? ?"OR? [Ry?p?ɨ~@~p ;|y ؆B%IMb@Mb@Mb@ )YK?x&Q롿y^:?7 \@ @)@Iy @II٢-6< -3=9-Q ->11 5G٣54NGy5; => MNusing accuracyPremultiplier from configAU^59EQ?U^5YEЖ iEAU=?U:UU@EJEEf;E;E~w^5enB ea@eEZjFNOT Ignoring new targets: 162.90 m.Bj <Jj < ProNav: ac range: 162.899994 m, nav range: 53.169716 m, bearing: 79.533392 deg, approach rate: 0.642926 m/s, LOS rate: 0.489996 deg/s, cmd heading: 309.730719 deg, new cmd heading: 310.358500 deg. 2j#<HeadingCmd: 5.416778 target range: 162.899994 and range: 162.90 m. j>V@jjjihhhh/Bfffrfbf?ɛMBr= ?IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258127 % <ɚ i I  _=I]ii命)>V@)zKLK9KKAK   )*F?2F:FBF3JFGrA GG!rG ?G%?GQBq IhO]>jH <bH H I  I /&II BI &I .I 6I |<:I 7 FBI JI RI ZI bI jI ʔ4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509944 qw,ƑA6`=@Y6L@6Cp<96]#>y6HP?`?X9`;<L?`Q `T??ɨ6`=@6a;6CyN׆BR%I)X XIbIb3٢M  `=9 aʻQ  > G٣y7< > Nusing accuracyPremultiplier from config^59Q?^5Ys iA"@JE:;:z^5 q@ZjFNOT Ignoring new targets: 162.90 m.Bj<Jj< ProNav: ac range: 162.899994 m, nav range: 53.396393 m, bearing: 79.706699 deg, approach rate: 0.599684 m/s, LOS rate: 0.456543 deg/s, cmd heading: 310.358496 deg, new cmd heading: 310.876193 deg. 2j<HeadingCmd: 5.425813 target range: 162.899994 and range: 162.90 m. jC@jjjihhhhfffrfbf ?ɛ=NB= = 9=1?I9 E|<ɚAiAIE^=IM|[iIiM^)MC@)Q*F?2F:FBF4JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762376GbGBO> $?I ww,A6v@Y6]@6Q<96bu(>y6H,? ?p+M@2?#຿ 20??ɨ6v@6R;6CyV݆BV%II^I^(*3٢f< fN=9jQ j>hl nG٣lyn< r> vNusing accuracyPremultiplier from configpv^59rϦQ?z^5Yr2 irzAxz/z@rJEr:r ;r$~^5 @Zj)5FNOT Ignoring new targets: 162.90 m.Bj5l<Jj=lJJ@AJJJJJ[:J(:JJ5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266658zK} LKy Ky K} BK} ;CHKKMNOSYbjnomkgd`]XNA<4.,*%" RK JK ?l}w,aA I^@Y^*ʪ@^Ú.<9^t'.>y^Hq?`3?@ f?`k@=Ӆ ʩ?Z?ɨ^@^;\yzBz%IMb@Mb@Mb@ )Y9v?QMby4?\Q@ @)I@y@I)IW3٢= ;=9Q > G٣5NGyv< > Nusing accuracyPremultiplier from config^59 Q?^5Y iBA8?:Ր@JEW;);^5 @EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 162.90 m.Bj;Jj; ProNav: ac range: 162.899994 m, nav range: 53.882992 m, bearing: 80.076277 deg, approach rate: 0.586954 m/s, LOS rate: 0.439036 deg/s, cmd heading: 311.405072 deg, new cmd heading: 311.979870 deg. 2j<HeadingCmd: 5.445076 target range: 162.899994 and range: 162.90 m. j>@jjjihhhhVBfffrfbf@ɛePB= 隕G?I 4d?<ɚH>I I)&IIBI&I.I6I<:IL FiI82\=I%VVi)i-)->@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518121*F?2F:FBFJFG ,G pAG G B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770109߄w,irA6@Y6k @65;962>y6H`&?o?U?Ϛ?ݻ`@7?`e?ɨ6@6b;4y@@iFt>IF<IJIJT3٢R> R_=9VPQ V>TT VG٣XyZ< Z> ^Nusing accuracyPremultiplier from config\b^59^Q?b^5Y^ i^Adjj@^JE^J4;^Z4;^&^5nmB rw@rEZj FNOT Ignoring new targets: 162.90 m.Bj (;Jj (;% ProNav: ac range: 162.899994 m, nav range: 54.097179 m, bearing: 80.238387 deg, approach rate: 0.584861 m/s, LOS rate: 0.440905 deg/s, cmd heading: 311.979873 deg, new cmd heading: 312.464266 deg. 2j%K<%HeadingCmd: 5.453530 target range: 162.899994 and range: 162.90 m. j-R@j)j)j)i)h)h)h1h1f1f1frfbf @ɛ QB 8= <?I 5GN<ɚ1i1I5[=I=CdTi9iE n)ER@)A AIA*F ?2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:22:37:59.3801 TRx dataTimestamp_ set to:1736375880.571665checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026078G5kG B) O] >J% J% J% 0J! J% ;:J% -.:J% ـ3J! w,c`.A=I@Y=AY@=;9=&F8>y=H*? A:?ࠟ?@ yt?{?ɨ=I@=PȈ;=CyMBU%IMb@Mb@Mb@ )YB`"?333333ÿL7A`堿y.?+ @)@I5@y@I"Iq3٢e*=  5=9 :ĻQ  > G٣ym< > %Nusing accuracyPremultiplier from config!-^59%Q?5^5Y%k i%ڊA563?5:5 5@%JE%f9;%7;%^59 Eݷ@AZjaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274023 FNOT Ignoring new targets: 162.90 m.Bj Q;Jj Q; ProNav: ac range: 162.899994 m, nav range: 54.355488 m, bearing: 80.427666 deg, approach rate: 0.573796 m/s, LOS rate: 0.418458 deg/s, cmd heading: 312.464270 deg, new cmd heading: 313.029390 deg. 2jw,AHA؝!` ٝI)ٝ#gIٝ=iٝТ?ٝn>ٝj|ٝ ?ٝnF ڝC?)ڝ+Iڝ)?iڝ+>ڙڙ۝{Lw?m?>yeH *e? ?I¿s ?0{oa`ʺ?q?ɨe@e;ay}B}%III٢#< L=9Q > G٣y< > Nusing accuracyPremultiplier from config%^59'Q?-^5Y  iA)-ԏ-@JE(<(<^51 5@=Ek,0d?k}q \ k k DA:k"CBk!CZk??"Jd!@cE_:W@!ͬ`@w%Y?*GC?v[{8?Jk?Rku*"Ml4M@ m&@@#db@D9t?q?Rw &?"kB*kiBk[ e?kU 2kWCkox^?kkWCkTBkks? addTargetRange:: Added new target pos. range: 162.800003 m, deltaT: 3.782572 s, deltaX: -0.099991 m, approachRate: -0.026435 m/s, rangeRepo size: 4 E Added new target pos. range: 162.800003 m, bearing: 29.598938 deg, lat: 36.903525 deg, lon: -122.119215 deg, deltaT: 3.782572 s, deltaX: -0.099991 m, approachRate: -0.026435 m/s, posRepo size: 4 ZjAMFNOT Ignoring new targets: 162.80 m.BjUJjQ ProNav: ac range: 162.800003 m, nav range: 66.165039 m, bearing: 54.480591 deg, approach rate: 0.000000 m/s, LOS rate: 0.418458 deg/s, cmd heading: 313.029400 deg, new cmd heading: 313.574145 deg. 2jHeadingCmd: 5.472901 target range: 162.800003 and range: 162.80 m. j"@j!j!j!i!h!h!h)h)f)f)f1rf5Yd@bf`?ɛTB= ?I! %v<ɚ!i!I%uX=I-nOiQiUݠ)U"@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:2740> BDAT read: Tx time:22:38:00.6088 $Ping request sent.;w,bA6@Y6@6$Ź96D>y6H?`g?Rÿ@BH?D8?p?Fi?ɨ6@6;4ynBn&I)p rAIzIzV83Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:22:38:00.6081 -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251559٢]&= ]P=9ehӻQ e>ai mG٣m6NGym-< m> }Nusing accuracyPremultiplier from configq}^59u;Q?^5Yu iuwA@uJEu* ;u:u^5 @ZjFNOT Ignoring new targets: 162.80 m.Bj"<Jj"< ProNav: ac range: 162.800003 m, nav range: 66.293724 m, bearing: 54.686721 deg, approach rate: 0.354424 m/s, LOS rate: 0.566619 deg/s, cmd heading: 313.574149 deg, new cmd heading: 314.191312 deg. 2jnw,)%AyB &I U@U U@U ]@]  ]@] H>I IO&II6BI&I.I6It<:I1 FI]I]b٢2= )=9 Q  >   G٣y > %bBottom track data is 0.5 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-^59Q?-^5Y i;A-+:)-u:15@JE^;;)>q^59 =g@9eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754938mB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 162.80 m.Bj!<Jj!< ProNav: ac range: 162.800003 m, nav range: 66.455338 m, bearing: 54.942564 deg, approach rate: 0.334673 m/s, LOS rate: 0.528515 deg/s, cmd heading: 314.191325 deg, new cmd heading: 314.956939 deg. 2j[<HeadingCmd: 5.497036 target range: 162.800003 and range: 162.80 m. j@jjjihhhhfffrfbf_>?ɛVB|= ?I QW<ɚiIf?U=IAIii_)@)E<*F-?2F):F)BF-o0JF)JJJJJ{:JS2:JJJ'w,tљA6Vr@Y6ʁ@6 ޻96TL>y6H`? _d?vIĿŷ?酾){?'_?C]?ɨ6Vr@6,;6C R$?ITy^ B^&IIjIjq٢r= r`=9r菼Q r>tt vG٣tyzD= z> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| ^59~Q? ^5Y~s i~A  :  G: +@~JE~`F;~Y?~^5lB @EZjAMFNOT Ignoring new targets: 162.80 m.BjU<JjUQw,ŬA6@Y6DЬ@6b96SP>y6HQ?`,?Ŀ `?N̂?? 7W?ɨ6@6<;4yBBB3&IiF=IF6?rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510884        Mb@Mb@Mb@ )YS?ˡEĿMby/?'@ )@Ib@y@I5I5M٢U= U5=9]WQ ]>Ya eG٣e7NGyeí< e> mNusing accuracyPremultiplier from configi^59mQ?^5YmC imىAT:"?:t@mJEmkI In&IIPBI&I.I6Ie<:I& FWill construct direction to contact in vehicle frame from tetrahedron phase data.Օt?ՕA?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763150G 5G B O >>w,͒A2@Y2*,@2#92`Q>y2H@?@?@ߨĿ`?} 7?у?4? T?ɨ2@2È;0y:&B><&IJNJNJLJLJN:JN8:JLJLJN<JN<JNk;JNk;IJ+IJn3٢^~= ^g=9bQ b>`` bG٣dyf<= f> jNusing accuracyPremultiplier from confighn^59j,R?n^5Yj ijAprr@jJEj*:jn:j^5t vW@tZjFNOT Ignoring new targets: 162.80 m.Bj%<Jj%<5 ProNav: ac range: 162.800003 m, nav range: 66.826309 m, bearing: 55.516474 deg, approach rate: 0.331885 m/s, LOS rate: 0.503689 deg/s, cmd heading: 316.174784 deg, new cmd heading: 316.675394 deg. 2j5֬<=HeadingCmd: 5.527028 target range: 162.800003 and range: 162.80 m. j=jݰ@j9jAjAiAhAhAhIhIfIfIfQrfQbfUDs@ɛZB[&> < ?I) -<ɚ)i)I5iP=I5Ai9i=oF)=jݰ@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015331*F?2F:FBFP0JFGٲG?G?GBO@> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266727cw,b璿AN@YNc@NAY9NFS>yNH`??Ŀ G<?8k?8?Q?ɨN@Nn;NCyV'BZ=&IIb!Ibi3٢j=; jJ=9j8Q j>lp rG٣pyv\< z> Nusing accuracyPremultiplier from config| ^59~ R? ^5Y~ i~~Ai@~JE~hL;~L;~^5! %M@)ZjiuFNOT Ignoring new targets: 162.80 m.Bju<Jj<% ProNav: ac range: 162.800003 m, nav range: 66.951118 m, bearing: 55.710041 deg, approach rate: 0.302549 m/s, LOS rate: 0.468348 deg/s, cmd heading: 316.675382 deg, new cmd heading: 317.254980 deg. 2j%<-HeadingCmd: 5.537144 target range: 162.800003 and range: 162.80 m. j-I0@j)j1j1i1hQhQhYhYfYfYfarfabfe@`@ɛ%\B-TW= )-?IQ US<ɚQiQIUڥN=I]>iYie垦)eI0@)i*FE?2FA:FABFAJFAGMqA GMsAWill construct direction to contact in vehicle frame from tetrahedron phase data.Ai checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520610zKm Km 9Ki Km FKm  $?I Ge <;GA Bi O >Kw,=AJ`ߦ@YJ@J0!9JU>yJH`+?m?`kĿ .?v0:??M?ɨJ`ߦ@JѼ;HyR1BRH&I)T VAXZAHM>II IM&IIMiBIM1 =&II.II6IMC<:IM FBIJIRIZIbIjIx4Mb@Mb@Mb@ )Y^I +?S㥛L7A`堿yX?$+3@ @)I@y@II3٢2= ==9pQ > G٣8NGy5< =>]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772286 Nusing accuracyPremultiplier from configI^59MzR?^5YM iMLA2?:@MJEM/vw,A I&h:0C@Y:R@:/#9:W>y:Hcv?@)? Ŀ஻ ? e?9? J?ɨ:0C@:;8y^3B^L&IIjIj<2٢r"l< rX=9r fQ v>tt vG٣tyz= z> ~Nusing accuracyPremultiplier from config|^59~"R?^5Y~ i~%A | @~JE~ :~ :~.^5kB u@EZjAMFNOT Ignoring new targets: 162.80 m.BjU <JjU 隽?I N<ɚiI-4K=IU9iiCd)Upӱ@)QeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:22:38:03.2299 mTRx dataTimestamp_ set to:1736375884.600571uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275815E <*F) 2F) :F) BF- P0JF) "G5 =G5 =G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527629G% qAG! GBO%>w,:A 4I8zK>BHK>9K<K>GK>y?BZ&Ii=I=uMb@Mb@Mb@qqq q)qYu9v?T㥛 Q롿yu?uu\u@ u@)qIu@qyu(@I%I)3٢A#= =9Q > G٣9NGy > Nusing accuracyPremultiplier from configu^59m1R?u^5Yq iAu?u:u}@KE4<<^5 Ų@EZjFNOT Ignoring new targets: 162.80 m.Bj;Jj; ProNav: ac range: 162.800003 m, nav range: 67.307816 m, bearing: 56.348443 deg, approach rate: 0.248284 m/s, LOS rate: 0.445698 deg/s, cmd heading: 318.396098 deg, new cmd heading: 319.166637 deg. 2j<HeadingCmd: 5.570508 target range: 162.800003 and range: 162.80 m. jA@jjjihhhhBfffrfbf@@ɛ-bB5= 15?I1 =W<ɚ9i9I=I=IEq6iAiEɮ)EA@)IH]>IY I]&II]}BIY&IY.IY6I]<:I]R FWill construct direction to contact in vehicle frame from tetrahedron phase data.E<5DAT read: 22:38:03.2299 LVL= 15184, 23361, 20466, 27011, AGC= 61, IDX= 441, 0.04,-0.085,-1.448,-2.259,-1.438, PHS= 1.441, 0.038,-0.824, RAW= 67.9, -6.7, CAL= 76.6, -13.5, ROT= 73.4, 13.5 =Ygot valid direction response: 22:38:03.2299 LVL= 15184, 23361, 20466, 27011, AGC= 61, IDX= 441, 0.04,-0.085,-1.448,-2.259,-1.438, PHS= 1.441, 0.038,-0.824, RAW= 67.9, -6.7, CAL= 76.6, -13.5, ROT= 73.4, 13.5 ]PDAT read: Bearing 73.4, 13.5 (Local) e~Local bearing/azimuth received: Bearing 73.4, 13.5 (Local) DAT read: Range 10 to 50 : 162.6 m (Round-trip 216.9 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.079938,0.456040,0.886362]Fpublishing direction and range infoء9إwv?/?U]?yإ"CءإP;إA[ ٥O)٥iI١i٥r?٥=٥R٥?٥| ڥD ?)ڥ:FqIڥ(?iڥ:Fq>ڡڡۥB}?%)O=1)ۥHiIۥ o=iۥٲ?ۥZrۡۡT****** received valid address query ******R****** received valid ping request *******F2F:FBFJFQuerying Benthos address 50 with one ping in standard two-way mode.J J J J J :J S2:J J J #<J #<J ;J ;G #G B O- >6cw,ԘVAWill construct direction to contact in vehicle frame from tetrahedron phase data.Ai ,DAT read: user:2741> BDAT read: Tx time:22:38:04.6588 $Ping request sent. G٣y > MNusing accuracyPremultiplier from configIU^59M;R?]^5YM iMAYY]@MKEM5;M5;M^5 $?I ~@kD_?kՔ k kFA:k"CBkx!CZkOM>"(m{)@0GfR@:b@wv?/?U]?Jkٲ?RkZr*=Y+C@%ً| 3@bJk~fc@A`?kKX? s?"kIA*kIBk2n_?kEd 2k5`Ck2n_?kkkBkv? addTargetRange:: Added new target pos. range: 162.600006 m, deltaT: 4.031674 s, deltaX: -0.199997 m, approachRate: -0.049606 m/s, rangeRepo size: 4  Added new target pos. range: 162.600006 m, bearing: 27.003096 deg, lat: 36.903542 deg, lon: -122.119215 deg, deltaT: 4.031674 s, deltaX: -0.199997 m, approachRate: -0.049606 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 162.60 m.BjJj ProNav: ac range: 162.600006 m, nav range: 68.478043 m, bearing: 55.209707 deg, approach rate: 0.000000 m/s, LOS rate: 0.445698 deg/s, cmd heading: 319.166626 deg, new cmd heading: 319.719411 deg. 2jEHeadingCmd: 5.580156 target range: 162.600006 and range: 162.60 m. jE@jAjAjAiIhIhIhIhIfQfQfQrf@3Sd@bfF>?ɛeBF= 隵?I (<ɚiIG=I3ii 'ɽ)@)EE*EQ"EQWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:22:38:04.6581 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251691*F ?2F :F BF 2JF G ]G B O >w,%rA%-@Y%@%09%"Y>y%Hl?C?@)Ŀ"`?@y@?`? H?ɨ%-@%0;%Cy5JB5g&I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502644Mb@Mb@Mb@ )YQ?rh|~jty(?`@ )x@Iy@IIỳ٢< $=92ݺQ > G٣yb= > Nusing accuracyPremultiplier from config^59IR?^5Yh iA?:y@ KE+;;س^5 @ZjFNOT Ignoring new targets: 162.60 m.Bj<Jj < ProNav: ac range: 162.600006 m, nav range: 68.585403 m, bearing: 55.440552 deg, approach rate: 0.233857 m/s, LOS rate: 0.502046 deg/s, cmd heading: 319.719407 deg, new cmd heading: 320.410821 deg. 2jF<%HeadingCmd: 5.592224 target range: 162.600006 and range: 162.60 m. j%@j!j)j)i)h)h)h1h5Bf1f1f1rf9bf=V?ɛegBm4b> im?Ii u<ɚqiqIu0E=I}0iyi}kb)@ I)'5TFailed to parse incomplete device message.*F?2F:FBF_0JFHI I&IIBI&I.I6IY<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. = p= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756186G .qG B O >gw,ϼA6֨@Y6@6;96V>y6H?v? ÿҥ(*?;x?@? L?ɨ6֨@6/;6Cy>IBVf&I)X XXZAIbIbF3٢fy j=9j Q j?hl nG٣lyrT< r? zNusing accuracyPremultiplier from configtz^59vSR?~^5Yv  iv]Aw@vKEv7;v7;v^5 lB +@ E-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 162.60 m.BjEH <JjEH ?I ><ɚiIҙC=Ia.iiTΖ)3@) JJJJJK:J@0:JJJ<J<J@;J@;*Fm?2Fi:FiBFm0JFiG]ٲWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007784G!B)OEQ> $?I0w,A2S&@Y25@2!392X>y2H ??"ÿ4m^?`'¿}???I?ɨ2S&@2C;2CyBJBBh&IIJIJ<٢f; fJ=9f:Q j>hh jGnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258665٣r:NGyv< v> zNusing accuracyPremultiplier from configx^59zE_R?^5Yz iz/A  au @zKEzP;zP;z^5 @ZjAEFNOT Ignoring new targets: 162.60 m.BjM= <JjM= <] ProNav: ac range: 162.600006 m, nav range: 68.742661 m, bearing: 55.786410 deg, approach rate: 0.218240 m/s, LOS rate: 0.483429 deg/s, cmd heading: 320.858846 deg, new cmd heading: 321.447150 deg. 2j] 隽?I ><ɚiIA=I~A,ii)@)*Fu?GtAA2F:F YtAy BBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510499Ge $Gi Gm pAGI BY Ou > I hzK BoHK K K IK km  w,2sA2a}@Y2Ռ@292~Y>y2H?a?ÿ.@ ?`(¿@J??`? VH?ɨ2a}@2F։;2CyRQBRp&IMb@Mb@Mb@ )Y+?"~j~jtyv?S㽹3@ )@Iy@II3٢)< :=9l;Q > G٣yr< > Nusing accuracyPremultiplier from config^59#mR?^5Y iAI!?:Em@KEa;;^5 jB @EZj9=FNOT Ignoring new targets: 162.60 m.BjEz <JjEz 9=͸?I9 E4=ɚAiAIE?=IM])iIiM)m @)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762766*F%?2F!:F)BF-P5JF)GTGBOg> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014835O w,UٓA2!Щ@Y2߰@2!92V>y2HH?&o?`0¿`?+¿@}??L?ɨ2!Щ@2ւ;2Cy:OB>n&IiFV>IF> F=F=IJ IJb3 AIA٢Uoƻ US=9]2;Q ]>YY eG٣aye< e> mNusing accuracyPremultiplier from configi}^59myR?}^5Ym imчAy}j}@mKEm<;mcQ;mG^5kB @EZjFNOT Ignoring new targets: 162.60 m.Bj <Jj < ProNav: ac range: 162.600006 m, nav range: 68.909454 m, bearing: 56.193622 deg, approach rate: 0.200124 m/s, LOS rate: 0.493126 deg/s, cmd heading: 322.093799 deg, new cmd heading: 322.667245 deg. 2j6<HeadingCmd: 5.631606 target range: 162.600006 and range: 162.60 m. j6@jjjihhhhfffrfbf@%@ɛpB%x > !%?I! %l=ɚ)i)I-==I&iiȘ)6@)*FA2FI:FIBFMP0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266653G5ۂG B O5 >J J AAJKcw3 K.-KK"KJ J J J J :J +:J J a @a @a @a @2w,*A$$@Y3@ɪ93U>yH ;?C7? m¿A?ÿ@Ts??5N?ɨ$$@;騥CyNBl&IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518674Mb@Mb@Mb@ )Y r?V-+y#?@ z@)x@I@y@I*I3٢ +=9f;Q > G٣;NGy@< > Nusing accuracyPremultiplier from config^59R?^5YL  iA&?:h@!KE;;w^5 б@Zj FNOT Ignoring new targets: 162.60 m.Bj<Jj<% ProNav: ac range: 162.600006 m, nav range: 69.007500 m, bearing: 56.438499 deg, approach rate: 0.204611 m/s, LOS rate: 0.510306 deg/s, cmd heading: 322.667234 deg, new cmd heading: 323.400779 deg. 2j%< 5$?I15HeadingCmd: 5.644408 target range: 162.600006 and range: 162.60 m. j5@j9j9j9i9h9h9hAhEBfAfIfIrfIbfM5@ɛ}sB} = 隅?I ( =ɚiI;=I#iiP)@)zKALKKKJKRK?JK?*F2F:FBFj0JFHqIq Iu&IIuBIq&Iq.Iq6Iuh<:Iu& F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770417G nG ?G >G B O >}w,S AyOBm&II+In3٢%q; %~=9-Q - ?)) -G٣1y5 5 ? =Nusing accuracyPremultiplier from config9E^59=xR?M^5Y=$ i=pAQQU@=$KE=2;=3;=G^5Y ]Ʊ@eE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 162.60 m.Bj<Jj< ProNav: ac range: 162.600006 m, nav range: 69.074089 m, bearing: 56.602645 deg, approach rate: 0.206616 m/s, LOS rate: 0.508827 deg/s, cmd heading: 323.400769 deg, new cmd heading: 323.892719 deg. 2j<HeadingCmd: 5.652994 target range: 162.600006 and range: 162.60 m. jT@jjjihhhhfffrfbf; @ɛuB> {?I  =ɚiI[:=I2T!ii:ŭ)T@)*F2F:FBF_0JFGmvG)B1OM1>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022683 I!E w,i&A6ŭ@Y69@696|T>y6H? ?JOV]?@7ÿ@qW?@^?AP?ɨ6ŭ@6Ş;6CyVTBVs&I)X XbWill construct direction to contact in vehicle frame from tetrahedron phase data.fBDAT read: Rx Time:22:38:07.2792 fTRx dataTimestamp_ set to:1736375888.632798fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275790hjAInIn?13٢v< vN=9zI xx zG٣|y-= >  Nusing accuracyPremultiplier from config ^59 R?^5Y ) i ?Atd%@ )KE o; p; ^51 5v@1ZjyFNOT Ignoring new targets: 162.60 m.Bj&<Jj&< ProNav: ac range: 162.600006 m, nav range: 69.152946 m, bearing: 56.805832 deg, approach rate: 0.195869 m/s, LOS rate: 0.504106 deg/s, cmd heading: 323.892707 deg, new cmd heading: 324.501547 deg. 2j<HeadingCmd: 5.663620 target range: 162.600006 and range: 162.60 m. ja<@jjjihhhhfffrfbf ~ @ɛxB^> ?I =ɚiIw8=Iϛii)a<@)*F?2F:FBFJFJMJMJIJIJM:JM=:JIJIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527065GG B % $?I) O >zK m$JK h9K K KK BK! :K! ,w,@AyMb@Mb@Mb@ )YNbX9?:vQy%?Խ @)b@Ib@y3@I H5>I1 I1I1I51 =&I1.I16I5D<:I5 FBIJIRIZI1 =bI1 =jI 4I  39]Q ]>aa eG٣e uNusing accuracyPremultiplier from configi}^59mR?}^5Ym/ imA}'?}:} `@m-KEmx;m;m^5 }@EZj1=FNOT Ignoring new targets: 162.60 m.BjE<JjE<} ProNav: ac range: 162.600006 m, nav range: 69.239357 m, bearing: 57.038628 deg, approach rate: 0.194948 m/s, LOS rate: 0.524546 deg/s, cmd heading: 324.501550 deg, new cmd heading: 325.199030 deg. 2j}<HeadingCmd: 5.675794 target range: 162.600006 and range: 162.60 m. j@jjjihhhhBfffrfbf o@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 22:38:07.2792 LVL= 13952, 26609, 18674, 28195, AGC= 61, IDX= 435, 0.11,-2.760, 2.023, 1.668, 2.367, PHS= 1.244,-0.297,-0.702, RAW= 78.6, -2.8, CAL= 86.1, -8.5, ROT= 63.9, 8.5 5Ygot valid direction response: 22:38:07.2792 LVL= 13952, 26609, 18674, 28195, AGC= 61, IDX= 435, 0.11,-2.760, 2.023, 1.668, 2.367, PHS= 1.244,-0.297,-0.702, RAW= 78.6, -2.8, CAL= 86.1, -8.5, ROT= 63.9, 8.5 5PDAT read: Bearing 63.9, 8.5 (Local) =~Local bearing/azimuth received: Bearing 63.9, 8.5 (Local) EDAT read: Range 10 to 50 : 162.2 m (Round-trip 216.3 ms) speed 0.2 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [-0.012785,0.295561,0.955238]UFpublishing direction and range info9Ɖ/uz?ΥuO?y3"C6g H)#nIid;?bF3?+H hY?)I?i>Ut_ ?N 抟v訿)8IWG=il?uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.ɛ{B> 隭7?I c=ɚiIw6=I~iiyj)@)*F]?2FY:FYBFaJFaG ̞GY  Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2742>  BDAT read: Tx time:22:38:08.6088  $Ping request sent. w,du[A ,I,jV:@YjI@jmn:9j=S>yjH;?v?@;ີ? ĿM\XA? Q?ɨjV:@jh=;jCyvUBvu&II I #3٢X; <9@ !! %G٣!y-m:= -> 5Nusing accuracyPremultiplier from config1=^595R?=^5Y54 i5AAE[E@51KE5z:5C:5^5MjB UP@UEk*@U?kl- k kٳHA:k3"CBk!CZkY$z?"u bSTG@l^c@Ɖ/uz?ΥuO?Jkl?Rk*ҭ!@uF)@tek/d@w.?h?oŻ?"k0JA*kuAk=U?k2 2k&eCkkU kkwTBk/fI? addTargetRange:: Added new target pos. range: 162.199997 m, deltaT: 4.029898 s, deltaX: -0.400009 m, approachRate: -0.099260 m/s, rangeRepo size: 4  Added new target pos. range: 162.199997 m, bearing: 55.984687 deg, lat: 36.903542 deg, lon: -122.119448 deg, deltaT: 4.029898 s, deltaX: -0.400009 m, approachRate: -0.099260 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 162.20 m.BjJj ProNav: ac range: 162.199997 m, nav range: 53.117069 m, bearing: 45.075474 deg, approach rate: 0.000000 m/s, LOS rate: 0.524546 deg/s, cmd heading: 325.199021 deg, new cmd heading: 325.801362 deg. 2jHeadingCmd: 5.686306 target range: 162.199997 and range: 162.20 m. j9@jjjihhhhfffrf`fFd@bf`?ɛ}B K> ?I م=ɚiI|4=I ii9)9@)*F}?2Fy:FyBF}0JFGU*GB)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:22:38:08.6081 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253373OmV>J J J J J +:J 7/:J J _w,YuAWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.506837r@Y|@\;9[S>yH_?`M?@-``(?p7Ŀc SH?@lQ?ɨr@D;Cy!)i5%=I54< 5=5p=Mb@Mb@Mb@ )Y rh?|?5^ rhy,?ҽC @ M@)x@IK@yG@IIF٢Z: /=9:Q > G٣yn< > Nusing accuracyPremultiplier from config 5$?I5h^59TR?^5Y; iA.?:W@6KE!<< ^5 S@EZj%FNOT Ignoring new targets: 162.20 m.Bj%=I<Jj-=I<5 ProNav: ac range: 162.199997 m, nav range: 53.136761 m, bearing: 45.416868 deg, approach rate: 0.040607 m/s, LOS rate: 0.703745 deg/s, cmd heading: 325.801362 deg, new cmd heading: 326.825052 deg. 2j=|  ?I f"=ɚiIS2=I&:iiHS)@)9zKK+9KKLK*F2F:FBF0JFHI III&I.I6IR<:I Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754819G= NG B O% >N#w,ABi@YB̲@BeK;9B8G>yBH@O?#?@ @F?>ÿ`li?ie?ɨBi@B];BCynQBnq&IIzIz٢ -s=9-;Q -?11 5G٣5=NGy5< =? ENusing accuracyPremultiplier from config9m^59=iR?m^5Y=? i=AimUu@=:KE=;=E;=^5y }@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 162.20 m.Bjp[<Jjp[< ProNav: ac range: 162.199997 m, nav range: 53.150410 m, bearing: 45.665819 deg, approach rate: 0.042084 m/s, LOS rate: 0.767388 deg/s, cmd heading: 326.825044 deg, new cmd heading: 327.571659 deg. 2j=HeadingCmd: 5.717204 target range: 162.199997 and range: 162.20 m. jV@jjjihhhhfffrfbf ?ɛB->> 隅?I &=ɚiI21=I#ii#Hý)V@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007573*F?2F:FBFP5JF U$?IQG G B O% >)w,A6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259661N@YN["@N@UW;9N{L>yNH@?? `\@]E?ÿj d?*]?ɨN@NaG;NCy^OB^n&IIrIr٢/ L=9 9Q  >  G٣y< > Nusing accuracyPremultiplier from config^59R?^5YE i\AR@?KE"::^5 @Zj!-FNOT Ignoring new targets: 162.20 m.Bj-uU<Jj-uU<= ProNav: ac range: 162.199997 m, nav range: 53.165649 m, bearing: 45.975015 deg, approach rate: 0.036803 m/s, LOS rate: 0.746476 deg/s, cmd heading: 327.571665 deg, new cmd heading: 328.498902 deg. 2jE=EHeadingCmd: 5.733387 target range: 162.199997 and range: 162.20 m. jEw@jIjIjIiIhIhIhQhQfQfYfarfabfe;?ɛB8> 隕??I T*=ɚiIz/=I iiwͽ)w@)JJJ1JJ:J;:J3J*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513759G r Q IQ G B O >zK] BoHKY KY K] MK]  _0w,פ”Ay-QB-p&I)1 199Hu>Iq IqIqIu0 =&Iq.Iq6Iuf<:Iu$ FeMb@Mb@Mb@aaa a)aYeZd;O?Zd;OV-ye~*?ejee@ ez@)eb@Ie5@aye@I}I}M3٢; 3=9Q > G٣y > Nusing accuracyPremultiplier from config^59R?^5YJ i1AF,?:O@CKE;;y^5kB @ݹEZjFNOT Ignoring new targets: 162.20 m.BjN<JjN< ProNav: ac range: 162.199997 m, nav range: 53.178860 m, bearing: 46.286423 deg, approach rate: 0.030687 m/s, LOS rate: 0.723200 deg/s, cmd heading: 328.498904 deg, new cmd heading: 329.432809 deg. 2j)<HeadingCmd: 5.749687 target range: 162.199997 and range: 162.20 m. jp@jj j i h h hhքBfffrfbfP @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770916ɛB > ٱ?I  :/=ɚiIΙ-=IEUiAiE)Ep@)I*Fm?2Fq:FqBFqJFqG wȽ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023709G B O > 1 I1 f6w,5bܔA^Xݬ@Y^@^T;9^W>y^HD? G٣>NGy_=  > Nusing accuracyPremultiplier from config ^59  S?%^5Y O i  A!%1I%@ GKE @; =; ^5) -J@1ZjQFNOT Ignoring new targets: 162.20 m.Bj-N<Jj-N< ProNav: ac range: 162.199997 m, nav range: 53.184776 m, bearing: 46.539570 deg, approach rate: 0.016854 m/s, LOS rate: 0.721016 deg/s, cmd heading: 329.432810 deg, new cmd heading: 330.192119 deg. 2j i< HeadingCmd: 5.762939 target range: 162.199997 and range: 162.20 m. j j@jjjihhh!h!f!f!f)rf)bf-@ɛUB]F> Y]f?IY ] v3=ɚYiaIe+=Ie.iiim]н)mj@)i*F ?2F :F BF _0JF "G=G>G`KҽGBOB>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275869) C G5 vAA 6 Y vAy B @ ByZH}? ?`E@WWA?@Nƿ@@ր8?SD?ɨZ\;@Z;ZCy5NBEm&III 3Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528987٢Y ==9L;Q > $?I G٣y< > Nusing accuracyPremultiplier from config-^59 S?-^5YT i؅A151F5@LKEW;;^5=jB =@=ܹEZjFNOT Ignoring new targets: 162.20 m.BjI<JjI< ProNav: ac range: 162.199997 m, nav range: 53.190632 m, bearing: 46.878157 deg, approach rate: 0.012165 m/s, LOS rate: 0.703331 deg/s, cmd heading: 330.192108 deg, new cmd heading: 331.207646 deg. 2jX<HeadingCmd: 5.780664 target range: 162.199997 and range: 162.20 m. j3@jjjihhh!h!f)f)f)rf)bf-@ɛuB}g> y}v?I9 E]8=ɚAiAIE)=IM?iIiM_޽)M3@)IzK=nLK=h9K9K=NK=/#*F?2F:FBF[0JFHIC I&IIBI1 =&I.I6IJ<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. > = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781033GU G1 B9 OU >hCw,J)A6@Y6z@6<96]>y6H?ϩ?Ӿ ?`ƿ2? ]@?ɨ6@6);6Cy>UB>u&IiB>IBp; Fp=D]Mb@Mb@Mb@YYY Y)YY] rh?333333L7A`堿y]C+?]]+Y Y)]@IYYy]@Iu Iu2٢ < O=9p;Q > G٣y< > Nusing accuracyPremultiplier from config^59/S?^5YY iA,?:<JJJ/JJ:J>:J(N3JJ# T;A?I z<=ɚiI\(=I-HUi1i5{)5j@)9*F?2F:FBFo0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:22:38:11.2284 5TRx dataTimestamp_ set to:1736375892.422517=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033830 $?IhGGBOa>*Jw,M)ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.283422Z@YZ @ZS)<9Z)b>yZH`?_?۾%>?@ ǿX*`?7?ɨZ@Z^A;ZCyjKBji&IIvIvm?3٢z? ~T=9~;Q > G٣?NGy  <  > Nusing accuracyPremultiplier from config^59?S?^5Y] iA!%9%@TKE ;u ;!^5) -@-ٹEZjQFNOT Ignoring new targets: 162.20 m.BjQ<JjQ< ProNav: ac range: 162.199997 m, nav range: 53.181980 m, bearing: 47.416451 deg, approach rate: -0.013990 m/s, LOS rate: 0.733962 deg/s, cmd heading: 331.986262 deg, new cmd heading: 332.822552 deg. 2j<HeadingCmd: 5.808849 target range: 162.199997 and range: 162.20 m. j@jjjihhh h f f f rfbf5` @ɛBɕ> 隍?I A=ɚiI8&=I2iiEf)@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IDAT read: 22:38:11.2283 LVL= 16112, 29217, 18610, 30019, AGC= 58, IDX= 425, 0.32, 1.092,-0.565,-0.705,-0.062, PHS= 1.242,-0.457,-0.647, RAW= 84.8, -1.6, CAL= 92.1, -6.9, ROT= 57.9, 6.9 Ygot valid direction response: 22:38:11.2283 LVL= 16112, 29217, 18610, 30019, AGC= 58, IDX= 425, 0.32, 1.092,-0.565,-0.705,-0.062, PHS= 1.242,-0.457,-0.647, RAW= 84.8, -1.6, CAL= 92.1, -6.9, ROT= 57.9, 6.9 PDAT read: Bearing 57.9, 6.9 (Local) ~Local bearing/azimuth received: Bearing 57.9, 6.9 (Local)  DAT read: Range 10 to 50 : 161.4 m (Round-trip 215.3 ms) speed 0.1 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.046925,0.195514,0.979578] Fpublishing direction and range infoء9إ>#?7~\X?yإf!Cءإ>إ!r ٥H)٥CuI٥:i٥?٥龩٥ˡ%٥q?٥ ڥ?)ڥϢIڥY?iڥϢ=ڡڡۥ#B ?pV?!u%␇)ۥtIۥPw,CA'.TFailed to parse incomplete device message.yzLB~j&IHIC III&I.I6I <:I FMb@Mb@Mb@ )YQ?Zd;OX9vy(?j3@ )Iy3@I%I)3٢: >=9Q > G٣y > Nusing accuracyPremultiplier from config^59QS?^5Yb iRA*?:@@YKE;:^5kB ֹEkj~Q?k#?7~\X?Jkn6?Rk&*)L#0`? 'd@Izq*kekZP?kWZ 2kdCkkEd k5`Ck+Bkp? addTargetRange:: Added new target pos. range: 161.399994 m, deltaT: 3.801841 s, deltaX: -0.800003 m, approachRate: -0.210425 m/s, rangeRepo size: 4 5 Added new target pos. range: 161.399994 m, bearing: 177.549716 deg, lat: 36.903542 deg, lon: -122.119624 deg, deltaT: 3.801841 s, deltaX: -0.800003 m, approachRate: -0.210425 m/s, posRepo size: 4 Zj1=FNOT Ignoring new targets: 161.40 m.Bj=JjA ProNav: ac range: 161.399994 m, nav range: 42.914261 m, bearing: 33.519672 deg, approach rate: 0.000000 m/s, LOS rate: 0.733962 deg/s, cmd heading: 332.822551 deg, new cmd heading: 333.830798 deg. 2jHeadingCmd: 5.826447 target range: 161.399994 and range: 161.40 m. j@r@jjjihWill construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:2743> BDAT read: Tx time:22:38:12.4088 $Ping request sent. &?I  SF=ɚiI$=Iii)@r@)*F?2F:FBF0JFGuJJJ0JJk:J<:Jـ3JJ"<J"<J;J;GiBqO> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:22:38:12.4081  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249521$Ww,H]A @2@Y2{@2q=<92* l>y2HQY?`?ξ ' ? ȿ`+>?&?ɨ2@2j;2Cy)    AII ٢ N=9%O;Q > G٣yp= > Nusing accuracyPremultiplier from config^59CbS?^5Ycg i"AN:@]KE::b^5 @ZjAMFNOT Ignoring new targets: 161.40 m.BjMG<JjMG< ProNav: ac range: 161.399994 m, nav range: 42.847221 m, bearing: 33.863311 deg, approach rate: -0.176122 m/s, LOS rate: 0.904193 deg/s, cmd heading: 333.830796 deg, new cmd heading: 334.863209 deg. 2j"=HeadingCmd: 5.844466 target range: 161.399994 and range: 161.40 m. j@jjjihhhhfffrfbf?ɛB6> %S?I! %1J=ɚ!i!I%$#=I-֟iiiu)u@)q Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502730E<*F) 2F) :F) BF- 0JF) GQ Gq Gu ?GQByWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755239 IO>d^w,yv}A L@Y l\@ +<9  ;u>y H?7?S K=? ʿu`(\??ɨ L@  ; y-HB-e&IMb@Mb@Mb@ )Y~jt? ףp= ~jty$?QI@ d@)@Iy@I-I-0٢=j ==9E Q E>AA MG٣M@NGyM= U> ]Nusing accuracyPremultiplier from configQ]^59UwS?e^5YUm iU݄Ae&?e:e4e@UbKEU;U;U^5q u5@uӹEZjFNOT Ignoring new targets: 161.40 m.Bjr<Jjr< ProNav: ac range: 161.399994 m, nav range: 42.758110 m, bearing: 34.294097 deg, approach rate: -0.175280 m/s, LOS rate: 0.849106 deg/s, cmd heading: 334.863220 deg, new cmd heading: 336.158038 deg. 2j=HeadingCmd: 5.867064 target range: 161.399994 and range: 161.40 m. j@jjjihhhhBfffrfbf?ɛBX< >  S?I  O=ɚ i I )%!=I վii4)@)zKBoHK+9KKPKRK  ?JK >Ej;EHQIUC IU&IIUBIQ&IQ.IQ6IUL<:IU FBIJIRIZIbIjI5*F?2F:FBFQ5JFG=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004595GQBqO}>J% J! J% 1J! J% :J! J% 3J! J% ?%<J% ?%<J! J! ew,QAJN@YJ¾@J%<9Js>yJH?`n?]T\?(ʿ糄`V0?w?ɨJN@Jي;HyvKBvh&IIIM٢ 5s< ^=9Q > G٣y%g= %> -Nusing accuracyPremultiplier from config)5^59- S?5^5Y-q i-A1515@-fKE- ;- ;-^5EjB E@EչEmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 161.40 m.Bjn<Jjn<5 ProNav: ac range: 161.399994 m, nav range: 42.693214 m, bearing: 34.601855 deg, approach rate: -0.175813 m/s, LOS rate: 0.835029 deg/s, cmd heading: 336.158033 deg, new cmd heading: 337.082625 deg. 2j5D==HeadingCmd: 5.883202 target range: 161.399994 and range: 161.40 m. j=0C@j9jAjAiAhAhAhIhIfIfIfIrfQbfu&? $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263279ɛB> 2?I S=ɚiIJc=I̾iiK)0C@)E E *E "E *F?2F:FBFO1JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515343G UG qAG qAG B O >܅lw,YA6@Y6*@6TN<96tr>y6H7?ؕ?r4 B`3Q?Gʿgʉ ??ɨ6@6>;6CyBABB]&IININT3٢Rj' V:=9V;Q V>XX ZG٣Xy^ < ^> fNusing accuracyPremultiplier from config`f_59bəS?j_5Ybu ibqAhjX.n@bkKEb5;b;b_5p r@rҹEZjFNOT Ignoring new targets: 161.40 m.Bjve<Jjve< ProNav: ac range: 161.399994 m, nav range: 42.613735 m, bearing: 34.969500 deg, approach rate: -0.173155 m/s, LOS rate: 0.802448 deg/s, cmd heading: 337.082622 deg, new cmd heading: 338.187470 deg. 2j =HeadingCmd: 5.902485 target range: 161.399994 and range: 161.40 m. j(@jjjihhhhfffrfbf*?ɛ-B-y> 15?I1 5jyX=ɚ1i1I5=I=$¾i9i= )=(@)I*F?2F:FBFP0 %$?I)JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.771245G=#GBOL>jHbH4<HI I&IIBI&I.I6IJ<:I FzKBoIKKKQK Will construct direction to contact in vehicle frame from tetrahedron phase data. ? < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019342isw,QΕA27@Y2@2r<92&s>y2H`\?@7??ʿW?D?ɨ27@2J;2CyB?BBZ&I Mb@Mb@Mb@    ) Y Mb? ףp= y #? ̽ Q8 @ ) @I  y @I%*I%3٢5 ) =4=9=I;Q =>AA EG٣EANGyMq= M> UNusing accuracyPremultiplier from configQ]_59UܬS?]_5YUz